CN105867272A - Safety monitoring method for universal aerial vehicle and unmanned aerial vehicle - Google Patents
Safety monitoring method for universal aerial vehicle and unmanned aerial vehicle Download PDFInfo
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- CN105867272A CN105867272A CN201610230347.4A CN201610230347A CN105867272A CN 105867272 A CN105867272 A CN 105867272A CN 201610230347 A CN201610230347 A CN 201610230347A CN 105867272 A CN105867272 A CN 105867272A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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Abstract
The invention provides a safety monitoring method for a universal aerial vehicle and an unmanned aerial vehicle. The safety monitoring method aims at problems of single safety monitoring facility and low strength in existing low-altitude flight. Beidou RNSS and GPSL1 combined passive positioning technology, RDSS and ground cellular network communication technology are used for finishing flight state reporting and flight route service pushing of the universal aerial vehicle and the unmanned aerial vehicle. The safety monitoring method is characterized in that in cities and areas with large population density and ground cellular network coverage, comprehensive monitoring is performed through a ground secondary surveillance radar, ADS-B ground station equipment and Beidou/GPS double-mode positioning technology, thereby ensuring high accuracy of an aerial vehicle track; and in undeveloped and remote mountainous regions and areas without secondary surveillance radar or ADS-B ground station coverage, a lowest monitoring performance standard of the aerial vehicle is kept by means of Beidou/GPS double-mode positioning and Beidou RDSS communication. The safety monitoring method according to the invention is the low-altitude space domain safety monitoring method which has advantages of high universality, easy disposition and Chinese proprietary intellectual property right.
Description
Technical field
The present invention relates to field of satellite navigation, field of data communication, it is a kind of fixed based on the Big Dipper and GPS to particularly relate to
Position, common aero vehicle and the security monitoring of unmanned plane and controlling technical method.
Background technology
From horse boat the missing accident of MH370 since, country using transport aviation global safety operation monitoring as
Emphasis planning is brought into schedule, and proposes and open gradually low altitude airspace development strategy.Existing low altitude airspace pipe
Reason, substantially only relies upon navigation management secondary radar station, ground and ADS-B technology, and low altitude airspace management relies only on
In VHF radio mechanics of communication, the interrogation frequency unified due to radar station and answer frequency, easily bring different
The problems such as step interference, and construction cost is higher, and coverage is limited.Therefore China's independent research is carried out
The development of onboard satellite navigator and blank pipe monitoring equipment is significantly.
Based on Big Dipper RNSS/GPSL1 location and RDSS, the communication of fusion terrestrial cellular network packet, General Aviation
The safety monitoring technology method of aircraft, it is possible to resolve ground maneuvers system monitor in real time administrative aircraft position,
The status informations such as speed, and it is commanded and controls.
Summary of the invention
It is an object of the invention to provide a kind of reliability height, equipment complexity General Aviation relatively low, easy deployment flies
The method that row device and unmanned plane real-time status monitor and control, solves the supervision of domestic low altitude airspace flight safety
The weak problem of the single and strength of means.The present invention utilizes Big Dipper RNSS to combine the passive fixed of GPSL1
Position technology, RDSS Large Copacity go out inbound and terrestrial cellular network packet communication technology, carry out common aero vehicle
And unmanned plane during flying state reporting, and air route service Push Service.
The object of the present invention is achieved like this: utilizes common aero vehicle and UAV system passive location terminal
Carry out satellite fix, utilize Data-Link that by fixing retransmission protocol, positioning result is sent to ground control and control
Center processed, ground control control centre can be by protocol conventions content to common aero vehicle and unmanned plane
It is controlled and business service.Comprise the following steps:
(1) common aero vehicle and unmanned aerial vehicle onboard module carry out passive location；
(2) onboard modules of common aero vehicle and unmanned plane by positioning result according to agreement air-ground communication
Protocol format carries out framing；
(3) onboard modules passes through Air-Ground routing policy, by common aero vehicle and unmanned plane positioning states
The packet that result framing completes, utilizes the RDSS data link of the Big Dipper or terrestrial cellular net to be sent to ground
Command and control center；Ground control control centre is simultaneously introduced ground navigation management secondary radar scan data and ground
ADS-B data；
(4) ground control control centre, by dispatching polynary Monitoring Data Track Fusion, framing is complete
Positioning states result, ground navigation management secondary radar scan data and the ground ADS-B data become carry out merging meter
Calculate, obtain common aero vehicle and unmanned plane the most accurate real-time positioning result and state；
(5) ground control control centre is by the real-time positioning result of common aero vehicle and unmanned plane and state
It is marked on the chart delivery equipment of ground control control centre；
(6) ground control control centre delivers equipment to common aero vehicle and the reality of unmanned plane by chart
Time state of flight be monitored, send Comprehensive Control information on services to common aero vehicle and unmanned plane；
(7) common aero vehicle and UAV system module are according to the air-ground communications protocol form of agreement, carry out
The solution frame of Comprehensive Control information on services, then performs information content；
Complete the security monitoring of common aero vehicle and unmanned plane.
Wherein, in described step (3) Air-Ground routing policy particularly as follows:
(301) common aero vehicle and unmanned plane onboard modules detection terrestrial cellular networks health status with
And Big Dipper RDSS communication port health status；
(302) if terrestrial cellular net signal health status reaches threshold denominators, onboard modules uses terrestrial cellular
Netcom crosses http agreement and transmits positioning result to ground control control centre；Otherwise, Big Dipper RDSS is used to lead to
Letter link transmits positioning result to ground control control centre.
Wherein, described step (4) particularly as follows:
(401) associating by heterogeneous platform technology of the ground control control centre, determines that data fusion system is adopted
Use distributed framework；
(402) data fusion system in ground control control centre utilize common aero vehicle wail and
The Big Dipper number of unmanned plane completes identification；
(403) data fusion system of ground control control centre, is respectively completed common aero vehicle and nothing
Man-machine in Big Dipper supervision data source, ground navigation management secondary radar supervision data source and ground ADS-B supervision data
State estimation and flight track under source calculate；
(404) by the Big Dipper, the data fusion system of ground control control centre, monitors to navigate in data source, ground
Pipe secondary radar monitors that data source and ground ADS-B monitor the update cycle of data source, determines that multi-source data melts
The conjunction cycle；
(405) data fusion system of ground control control centre, by the local tracks in each supervision source with
System flight path merges, and completes the precision revision of aircraft's flight track.
Wherein, described step (7) particularly as follows:
(701) common aero vehicle or unmanned aerial vehicle onboard module receive Comprehensive Control information on services, according to
The air-ground communications protocol of agreement carries out message and disassembles frame；
(702) onboard modules of common aero vehicle, is play by speech or word for navigation crew
Solve the Comprehensive Control information on services after frame；The onboard modules of unmanned plane, the Comprehensive Control service after solving frame is believed
Breath is translated as the instruction format of UAV Flight Control device, is then sent to the flight of unmanned plane by data port
Controller module, completes the control of unmanned plane.
The present invention having the beneficial effect that compared with prior art
(1) providing a kind of new low altitude airspace aircraft monitoring method, the method passes through RNSS/GPS
Multimode location technology, associating Big Dipper RDSS satellite-based communication and terrestrial cellular net mechanics of communication, by passive for satellite-based fixed
Position and existing navigation management secondary radar surveillance technology, ADS-B IN technology carry out data fusion, and then realize ground
Monitor the full-time territory of control centre, the seamless supervision in full spatial domain, full region.Propose based on Big Dipper satellite-based simultaneously
And the two-way ground-air universal data link routing policy of terrestrial cellular net, with navigation and unmanned plane business phase
The communication protocol techniques being closely related, for effectively managing low altitude airspace, opens new thinking and means.
(2) present invention method is proposed can single use or be applied in combination secondary radar, ADS-B and the Big Dipper
/ GPS positioning result, and effectively combine Big Dipper RDSS communication link and terrestrial cellular net mechanics of communication carries out data
Transmitting, and carry aviation management CPDLC air control instruction set, the application of this technology is the most extensive.
(3) city and population density be big and the area that has terrestrial cellular networks to cover, by ground aviation management two
The 4s high speed fusion cycle that secondary radar, ADS-B earth station equipment and the Big Dipper/GPS dual-mode location technology determine,
May insure that accuracy and the turnover rate of aircraft's flight track；Less-developed remote mountain region and without secondary radar,
The area that ADS-B earth station covers, the available Big Dipper/GPS dual-mode location equipment and Big Dipper RDSS communication chain
Road ensures the minimum performance standards of aircraft monitors.
Accompanying drawing explanation
Fig. 1 is the ultimate principle of the safety monitoring technology of common aero vehicle of the present invention.
Fig. 2 is common aero vehicle of the present invention and UAV system module position fixing process.
Fig. 3 is the present invention polynary supervision data anastomosing algorithm flow process.
Detailed description of the invention
Be that no-fly zone sets electronic grille fence with ground control control centre below, forbid aircraft enter and
As a example by leaping process, in conjunction with accompanying drawing, the present invention is further described.
The ultimate principle of the safety monitoring technology of common aero vehicle of the present invention as it is shown in figure 1,
(1) common aero vehicle and UAV system module carry out passive location；
(101) global positioning satellite spread-spectrum signal is down-converted to intermediate-freuqncy signal, and carry out if sampling, complete
Become signal digitized；
(102) capture of signal is completed, it is achieved carrier wave and the thick synchronization of code；
The acquisition procedure of satellite navigation signals is code phase and the mistake of carrier frequency two-dimensional search of the docking collection of letters number
Journey, basic thought launches input signal exactly and finds carrier frequency.Detailed process can be described as in intermediate frequency digital
Frequently signal xIFT () replicates carrier wave with in the in-phase branch of a reception passage and the cosine of quadrature branch the most respectively
Being mixed, then carry out relevant by mixing results to the local code of duplication, then I and Q branch road is relevant
The result elapsed time is TcohThe data that generate of coherent integration obtain integration amplitude V through non-coherent integration, logical
The amplitude crossing detection non-coherent integration determines whether to capture signal.
(103) capture and the tracking of intermediate-freuqncy signal are realized, it is achieved code and the relatively accurate observation of carrier phase
Estimate；
According to acquisition procedure obtains set frequency initial value and the rough estimate phase place of code, code tracking loop is generally adopted
With delay lock loop (DLL), pseudo-code signal and reception that the most locally generated phase place is advanced, instant and delayed are believed
Number it is correlated with, the advanced correlation peak with delayed branch road of contrast, draw code phase error, thus move in real time
Yard NCO that makes of state produces the local signal consistent with receiving signal phase.
(104) flight state estimated result is obtained by Kalman filtering algorithm.
Fig. 2 show the Big Dipper/GPS passive location signal through channel front-end low noise amplification, down coversion, filter
After the sampling of ripple, intermediate frequency digital, signal capture and tracking, then through common aero vehicle and unmanned plane
Carry resume module module and obtain the observation of C/A code and carrier phase.Then federated Kalman filtering state
Estimate and real observation, carry out Posterior estimator and the filtering of state, complete flight state amount and (include
The parameters such as position, speed, clock correction, clock drift) estimate the most accurately.
Utilizing pervasive non-linear Kalman filtering device to carry out state estimation, its step is defined as:
xk=f (xk-1,uk-1,wk-1) it is Discrete time Nonlinear Systems state estimation model, yk=h (xk,vk) it is non-
Linear measure,U=uk-1, carry out linearisation at w=0, obtain state priori estimatesAnd try to achieve model state transfer Jacobian matrix:
Thus can obtain the estimation Square Error matrix of priori:
Exist equallyPlace carries out linearisation to observed quantity equation, obtains:
Try to achieve Kalman filtering gain matrix
Kalman filtering gain is utilized to obtain current optimal estimation valueWith
Rear checking covariance matrixValue is passed to next epoch simultaneously, carries out the most once
Iteration, the most round.
(2) by common aero vehicle and the positioning result of UAV system module, according to the air-ground communication of agreement
Protocol format carries out framing；
(3) common aero vehicle and UAV system module are by Air-Ground routing policy, are flown by General Aviation
The packet that row device and unmanned plane positioning states result framing complete, utilize the Big Dipper RDSS data link or
Terrestrial cellular net is sent to ground control control centre；Ground control control centre is simultaneously introduced ground aviation management two
Secondary radar scanning data and ground ADS-B data；
(301) common aero vehicle and unmanned plane onboard modules detection terrestrial cellular networks health status with
And Big Dipper RDSS passage health status: terrestrial cellular net must not be less than adjacent to BCCH minimum-signal level
-90dBm；Big Dipper RDSS signalling channel number is no less than 2, receives RDSS signal level and must not be less than-128dBm；
(302) by the transmission path of routing policy regioselective result, preferential use terrestrial cellular Netcom mistake
Http agreement transmits common aero vehicle and the positioning result of unmanned plane module, during ground commander controls
The heart receives common aero vehicle and UAV system module positioning result by WWW；Cover at non-cellular net
Area, or terrestrial cellular net signal health status do not reaches lasting http agreement transmission and requires thresholding, uses
Big Dipper RDSS communication link completes the transmission of the positioning result of common aero vehicle and unmanned plane module, ground
Command and control center receives common aero vehicle and UAV system module by Big Dipper ground control's type subscriber computer
Positioning result.
(4) ground control control centre is by dispatching polynary Monitoring Data Track Fusion, is completed by framing
Positioning states result, ground navigation management secondary radar scan data and ground ADS-B data carry out fusion calculation,
Obtain common aero vehicle and unmanned plane the most accurate real-time flight state；
(401) associating by heterogeneous platform technology of the ground control control centre, determines that data fusion system is adopted
Use distributed framework；
(402) data fusion system in ground control control centre utilizes common aero vehicle to wail and nothing
The man-machine Big Dipper number completes identification；
(403) data fusion system of ground control control centre, is respectively completed common aero vehicle and nothing
Man-machine in Big Dipper supervision data source, ground navigation management secondary radar supervision data source or ground ADS-B supervision data
State estimation and flight track under source calculate；
Ground navigation management secondary radar track data as shown in Figure 2 and ADS-B IN track data, by outside
Local level air traffic control radar station, ground and region class ADS-B earth station provide, and track data has been completed phase
Identification, the flight state answered are estimated and the reckoning process in single source, and by the platform of isomery
Feature, determines that the data fusion system of the present invention is distributed structure/architecture.
(404) by the Big Dipper, the data fusion system of ground control control centre, monitors to navigate in data source, ground
Pipe secondary radar monitors that data source and ground ADS-B monitor the update cycle of data source, determines that multi-source data melts
The conjunction cycle；
(405) data fusion system of ground control control centre, by boat of flying the local in each supervision source
Mark merges with system flight path, completes the precision revision of aircraft's flight track；
Assuming that the estimated difference of two Reciprocal course is Pij=PjiWhen → 0, thus obtain the state estimation of flight path:
And systematic error covariance: P=Pi(Pi+Pj)-1Pj=(Pi -1+Pj -1)-1。
(5) ground control control centre is by the real-time positioning result of common aero vehicle and unmanned plane and state
It is marked on the chart delivery equipment of ground control control centre；
(6) ground control control centre delivers equipment to common aero vehicle and the reality of unmanned plane by chart
Time state of flight be monitored, send Comprehensive Control information on services to common aero vehicle and unmanned plane；
(7) common aero vehicle and UAV system module are according to the air-ground communications protocol form of agreement, carry out
The solution frame of Comprehensive Control information on services, then performs information content；
(701) common aero vehicle or unmanned aerial vehicle onboard module receive Comprehensive Control information on services, according to
The air-ground communications protocol of agreement carries out message and disassembles frame；
(702) common aero vehicle onboard modules, by the no-fly region of labelling in memory, then determines that
Whether common aero vehicle current location falls within no-fly zone boundary, or passes through, if really
Recognizing, then warned pilot by navigation or UAV system module sound, signal is sailed out of at once；Unmanned plane
Onboard modules, the in memory no-fly region of labelling, then judge whether unmanned plane current location falls in no-fly zone
Within border, territory, or pass through, if it is confirmed that, directly will be controlled program to unmanned plane by module core
Flight control core is assigned unmanned plane and is delayed the flight control instruction of fall, completes the control of unmanned plane.
Complete the security monitoring of common aero vehicle and unmanned plane.
Claims (4)
1. a common aero vehicle and the method for safety monitoring of unmanned plane, it is characterised in that include following
Step:
(1) onboard modules of common aero vehicle and unmanned plane carries out passive location；
(2) onboard modules of common aero vehicle and unmanned plane by positioning result according to agreement air-ground communication
Protocol format carries out framing；
(3) onboard modules of common aero vehicle and unmanned plane passes through Air-Ground routing policy, will position shape
The packet that state result framing completes, utilizes the RDSS data link of the Big Dipper or terrestrial cellular net to be sent to ground
Command and control center, face；Ground control control centre is simultaneously introduced ground navigation management secondary radar scan data and ground
Face ADS-B data；
(4) ground control control centre, by dispatching polynary Monitoring Data Track Fusion, framing is complete
Positioning states result, ground navigation management secondary radar scan data and the ground ADS-B data become carry out merging meter
Calculate, obtain common aero vehicle and unmanned plane the most accurate real-time positioning result and state；
(5) ground control control centre is by the real-time positioning result of common aero vehicle and unmanned plane and state
It is marked on the chart delivery equipment of ground control control centre；
(6) ground control control centre delivers equipment to common aero vehicle and the reality of unmanned plane by chart
Time state of flight be monitored, send Comprehensive Control information on services to common aero vehicle and unmanned plane；
(7) common aero vehicle and UAV system module are according to the air-ground communications protocol form of agreement, carry out
The solution frame of Comprehensive Control information on services, then performs information content；
Complete the security monitoring of common aero vehicle and unmanned plane.
A kind of common aero vehicle the most according to claim 1 and the method for safety monitoring of unmanned plane,
It is characterized in that: Air-Ground routing policy in described step (3) particularly as follows:
(301) common aero vehicle and unmanned plane onboard modules detection terrestrial cellular networks health status with
And Big Dipper RDSS communication port health status；
(302) if terrestrial cellular net signal health status reaches threshold denominators, onboard modules uses terrestrial cellular
Netcom crosses http agreement and transmits positioning result to ground control control centre；Otherwise, Big Dipper RDSS is used to lead to
Letter link transmits positioning result to ground control control centre.
A kind of common aero vehicle the most according to claim 1 and the method for safety monitoring of unmanned plane,
It is characterized in that: described step (4) particularly as follows:
(401) associating by heterogeneous platform technology of the ground control control centre, determines that data fusion system is adopted
Use distributed framework；
(402) data fusion system in ground control control centre utilize common aero vehicle wail and
The Big Dipper number of unmanned plane completes identification；
(403) data fusion system of ground control control centre, is respectively completed common aero vehicle and nothing
Man-machine in Big Dipper supervision data source, ground navigation management secondary radar supervision data source and ground ADS-B supervision data
State estimation and flight track under source calculate；
(404) by the Big Dipper, the data fusion system of ground control control centre, monitors to navigate in data source, ground
Pipe secondary radar monitors that data source and ground ADS-B monitor the update cycle of data source, determines that multi-source data melts
The conjunction cycle；
(405) data fusion system of ground control control centre, by the local tracks in each supervision source with
System flight path merges, and completes the precision revision of aircraft's flight track.
A kind of common aero vehicle the most according to claim 1 and the method for safety monitoring of unmanned plane,
It is characterized in that: described step (7) particularly as follows:
(701) common aero vehicle or unmanned aerial vehicle onboard module receive Comprehensive Control information on services, according to
The air-ground communications protocol of agreement carries out message and disassembles frame；
(702) onboard modules of common aero vehicle, is play by speech or word for navigation crew
Solve the Comprehensive Control information on services after frame；The onboard modules of unmanned plane, the Comprehensive Control service after solving frame is believed
Breath is translated as the instruction format of UAV Flight Control device, is then sent to the flight of unmanned plane by data port
Controller module, completes the control of unmanned plane.
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