CN105869442A - Civil-unmanned-aerial-vehicle control system and method based on mobile communication network - Google Patents
Civil-unmanned-aerial-vehicle control system and method based on mobile communication network Download PDFInfo
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- CN105869442A CN105869442A CN201610380260.5A CN201610380260A CN105869442A CN 105869442 A CN105869442 A CN 105869442A CN 201610380260 A CN201610380260 A CN 201610380260A CN 105869442 A CN105869442 A CN 105869442A
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- management
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- unmanned plane
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
Abstract
The invention relates to the technical field of unmanned aerial vehicles, in particular to a civil-unmanned-aerial-vehicle control system and method based on a mobile communication network. The system mainly comprises a user terminal and a control server which are connected through the mobile communication network. The user terminal comprises more than one mobile terminals. An aviator or a task user sends a flight mission application to the control server through the mobile communication network and the mobile terminals, after the mobile terminals receive approval information of a flight-mission approval server, a flight mission can be carried out, and otherwise, commissioning debugging can only be carried out on the ground, or test flight is carried out within the limited range. In addition, the control server can also conduct flight-state radio monitoring and task execution supervision of an unmanned aerial vehicle through the mobile communication network. In this way, the system is a complete control system that flight mission declaring is carried out, light-state radio monitoring is carried out, and then task execution monitoring is carried out and till a task is completed, and the problem that executive control measures of the civil unmanned aerial vehicle at the present stage is incomplete is effectively solved.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, in particular to a kind of people based on mobile communications network
By unmanned plane managing and control system and method.
Background technology
Along with the fast development of technology, unmanned air vehicle technique is the most ripe.The application of unmanned plane is also from military affairs
Application is gradually permeated to civil area.Increasing unmanned plane is used for performing aerophotography, the earth is surveyed
Paint, the monitoring of power-line patrolling, electric stringing, petroleum pipeline, the people's livelihood such as the long potential analysis of vegetation, pesticide spraying neck
Territory.Development at blowout also exists problem the most too.As vehicle and manned aircraft, the people
With unmanned plane as a kind of general vehicle, equally its peripheral facility and personnel are had when it performs task
Have potential menace, this except flight stability own with aircraft is very different have outside the Pass, also with fly hands
Lack relevant flight safety knowledge and flying experience, it is often more important that, aircraft itself also lacks can be to sky
The equipment of pipe department real-time report self-position, the army's of causing Civil Aviation ATM Sector can not monitor its flight progress.
And in the unmanned plane field quickly grown, the management and control measure temporarily carried out civilian unmanned plane the most still can not be with
Ripe vehicle or the management and control measure of manned aircraft are the most ripe.But without complete management and control measure, appoint
The unordered flight of civilian unmanned plane, certainly will be the grave danger to public security.How to provide according to existing technology
Source, the civilian unmanned plane of management and control comprehensively and effectively, become a urgent society need.
Summary of the invention
It is an object of the invention to provide a kind of civilian unmanned plane managing and control system based on mobile communications network and side
Method, to solve the incomplete problem of management and control measure that present stage civilian unmanned plane is carried out.
The invention provides a kind of civilian unmanned plane managing and control system based on mobile communications network, comprising: logical
Cross user side and management and control server that mobile communications network connects；
Described user side includes that more than one mobile terminal, described mobile terminal arrange aerial mission application editor
Module and sending module；
Described management and control server includes: be sequentially connected with puts data base, aerial mission examination & approval server, sky on record
Middle traffic control service device and civil aviaton airway traffic control ATC data base, and air traffic control service device and
Put data base on record to connect.
In certain embodiments, being preferably, described mobile communications network includes: mobile communication network operator
Server, and base station or wireless router, mobile communication network operator server and base station or without circuit
Connected by device；Described base station or wireless router are connected with described mobile terminal by cordless communication network；Institute
State aerial mission examination & approval server and air traffic control service device by cordless communication network and described operator
Server connects.Described aerial mission examination & approval server and air traffic control service device respectively with authorities
Terminal connects.
Above-mentioned unmanned plane managing and control system also includes unmanned aerial vehicle onboard management and control device, described unmanned aerial vehicle onboard management and control device bag
Include the state of flight Auto broadcast monitor being arranged on unmanned plane, described state of flight Auto broadcast monitor
By cordless communication network respectively with described mobile terminal, air traffic control service device and civil aviaton's air traffic
Control ATC data base connects；
Described state of flight Auto broadcast monitor includes the GPS that is sequentially connected with or Beidou satellite receiver, micro-
Controller and mobile communication transceiver device, described GPS or Beidou satellite receiver, microcontroller and mobile communication
Transceiver is connected with power management module and reserve battery respectively；
Described microcontroller connects memorizer, and described mobile communication transceiver device passes through described mobile communications network
It is connected with described air traffic control service device.
Described state of flight Auto broadcast monitor also includes the pressure altitude being connected respectively with described microcontroller
Table and micro-electromechanical system (MEMS) inertial navigation equipment.
Described unmanned aerial vehicle onboard management and control device includes the steering wheel management and control device being arranged on unmanned plane, described steering wheel management and control
The management and control Micro-processor MCV of device is connected with microcontroller by external communication interface；Described steering wheel management and control device is also
Including field programmable gate array FPGA, described field programmable gate array FPGA and described pipe
Control Micro-processor MCV connects, and connection has steering wheel signal input interface and steering wheel signal output interface.
Present invention also offers a kind of civilian unmanned plane management-control method based on mobile communications network, comprising:
S1: mobile terminal is connected by mobile communications network with management and control server, and mobile terminal is to management and control service
Device sends aerial mission application；
S2: management and control server determines whether to examine the authority of described aerial mission application, if there is no authority,
Carry out S3, otherwise, carry out S4；
Whether S3: authorities' terminal judges ratifies described aerial mission application, if ratifying described aerial mission
Application, carries out S5, otherwise, carries out S6；
S4: management and control server judges whether to ratify described aerial mission application, if ratifying described aerial mission Shen
Please, carry out S5, otherwise, carry out S6；
S5: performing in aerial mission, whether aerial mission described in management and control server real-time monitoring flies according to described
Row task application is carried out, if not carrying out according to described aerial mission application, carrying out S7, otherwise, carrying out S8；
S6: in ground run debugging or taking a flight test in limited range, fly described in management and control server real-time monitoring
Whether row task, beyond described limited range, if without departing from described limited range, then continues in ground run
Debug or take a flight test in limited range, otherwise, carrying out S7；
S7: management and control server sends warning by mobile communications network to described mobile terminal；
S8: pilot or task user continues executing with aerial mission until task completes.
In certain embodiments, being preferably, described S3 and S4 also including: if ratifying described aerial mission
Application, then send approval key to mobile terminal, and puts approval key storage on record number to management and control server
According to storehouse；S5 also includes, mobile terminal receives described approval key.
Management and control server sends primary warning by mobile communications network to described mobile terminal；
According to primary warning corrigendum aerial mission, then carry out S8, or continue in ground run debugging or limited
In the range of take a flight test；Otherwise, management and control server sends two grades of polices by mobile communications network to described mobile terminal
Accuse；
According to secondary warning corrigendum aerial mission, then carry out S8, or continue in ground run debugging or limited
In the range of take a flight test；Otherwise, management and control server takes to force the measure of forced landing unmanned plane, investigates pilot or appoints
The responsibility of business user.
Management and control server take force forced landing unmanned plane measure include: management and control server send landing instruction to
Management and control Micro-processor MCV；Landing instruction is transferred on unmanned plane the steering wheel carried by steering wheel signal output interface,
Described steering wheel is the general name of all actuators controlling unmanned plane action；The manipulation unmanned plane landing of described steering wheel.
Above-mentioned unmanned plane management-control method also includes:
S9: if the data that send according to state of flight Auto broadcast monitor of air traffic control service device and
Carrying out the data of civil aviaton airway traffic control ATC data base, carry out computational analysis, real-time rendering goes out spatial domain traffic
Situation figure；
Traffic situation figure in spatial domain is sent to mobile terminal by S10: air traffic control service device.
Based on mobile communications network the civilian unmanned plane managing and control system of embodiment of the present invention offer and method, with
Prior art is compared, including the user side connected by mobile communications network and management and control server, and user
End includes that more than one mobile terminal, pilot or task user by mobile terminal and use mobile radio communication
Network sends aerial mission application to described management and control server.Mobile terminal is appointed in the flight receiving management and control server
After the approval in-formation of business examination & approval server, just can carry out aerial mission, otherwise can only in ground run debugging or
Take a flight test in limited range.And, the air traffic control service device of management and control server and civil aviaton's air traffic
Control ATC data base can carry out flight operation monitoring to unmanned plane in real time, if finding that violation operation is then to shifting
Dynamic terminal sends a warning, and compels it and corrects.This unmanned plane managing and control system automaticity is high, whole system
Running can be automatically performed, and control ownership is clear, and the flight operation of unmanned plane all can be by supervisor portion
The management and control server of door determines or monitoring, and authorities can get involved its management and control right of enforcement at any time, with
Protection social safety.Thus, this unmanned plane managing and control system effectively solves present stage civilian unmanned plane and carries out
The incomplete problem of management and control measure.
Accompanying drawing explanation
Fig. 1 is civilian unmanned plane managing and control system structure based on mobile communications network in one embodiment of the invention
Figure schematic diagram；
Fig. 2 is unmanned aerial vehicle onboard management and control device structural representation in one embodiment of the invention；
Fig. 3 is civilian unmanned plane management-control method based on mobile communications network signal in one embodiment of the invention
Figure.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that
Described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on the present invention
In embodiment, the institute that those of ordinary skill in the art are obtained on the premise of not making creative work
There are other embodiments, broadly fall into the scope of protection of the invention.
The incomplete problem of management and control measure carried out for the civilian unmanned plane of present stage, the present invention proposes one
Plant civilian unmanned plane managing and control system based on mobile communications network and method.As it is shown in figure 1, based on mobile logical
The civilian unmanned plane managing and control system of communication network specifically includes: the user side 10 connected by mobile communications network 20
With management and control server 31, mobile communications network 20 is mobile communication network operator, and it includes mobile radio communication
Network carrier server 140, and base station or wireless router 130.Mobile communication network operator server
140 are connected with base station or wireless router 130；Base station or wireless router 130 by cordless communication network with
Mobile terminal connects.User side 10 includes that more than one mobile terminal, pilot or task user are by mobile
Terminal sends aerial mission application to management and control server 31；Management and control server 31 includes: the report being sequentially connected with
Standby data base 151, aerial mission examination & approval server 150, air traffic control service device 152 and civil aviaton's aviation
Traffic control ATC data base 153, and air traffic control service device 152 and put data base 151 on record and connect.
Aerial mission examination & approval server 150 and air traffic control service device 152 are by cordless communication network and movement
Communication network operator server 140 connects.
Task user 120 in user side 10 and pilot 110 are promoter and the operations of aerial mission
Person.For applying civilian unmanned plane to perform navigation task, its ground control hands (" flying hands ") is believed by remote control
Number control civilian unmanned plane 800, with pilot 110, there is identical status.Submitting aerial mission to is to be used by task
Family 120 and/or pilot 110 pass through mobile terminal 111, mobile terminal 121 via mobile communications network 20
Submit to aerial mission examination & approval server 150 be accomplished.The function of aerial mission examination & approval server 150 is
The aerial mission that examination & verification is submitted to by user side 10, and judge whether to ratify.Above examination & verification and judgement
Being completed by aerial mission examination & approval server 150, approval results backs up in putting data base 151 on record.Tool
With reference to patent, " all purpose aircraft based on mobile communications network flies the unmanned plane during flying task declaration method of body
Task report and rigister system and method " or other relevant regulations content required for protection.If aerial mission is examined
Criticize server 150 approved flight task application, then pilot or task user perform aerial mission, and manage
Control server 31 monitors whether aerial mission is carried out according to aerial mission application in real time.If aerial mission is not examined
Server 150 approved flight task application, then pilot or task user are in ground run debugging or limited
In the range of take a flight test, management and control server 31 monitors aerial mission in real time whether beyond limited range.This limited range
By the scope of taking a flight test that in the scope of taking a flight test of relevant regulations or industry, everybody is admitted.
Air traffic control service device 152 and civil aviaton ATC data base 153 and put data base 151 on record and be connected,
Information sharing.Air traffic control service device 152 is by computational analysis, and real-time rendering goes out spatial domain traffic situation
Figure.Traffic situation figure in spatial domain demonstrates that all lift-launch all purpose aircraft state of flights movable in this spatial domain are automatic
Flight movable in this spatial domain that the airborne vehicle of commentator's monitor 100 and civil aviaton ATC data base 153 provide
Status information.Pilot 110 can judge according to spatial domain traffic situation map analysis, sends out evading hazard event
Raw.The public and relevant departments can obtain the spatial domain traffic situation figure of there and then by the way of reception is broadcasted,
To meet information requirement.Concrete unmanned plane during flying state Auto broadcast monitors that method reference patent is " based on shifting
The aircraft state Auto broadcast monitoring system of dynamic communication network " content required for protection.
Aerial mission is examined server 150, is put data base 151 and air traffic control service device 152 company on record
Being connected to authorities' terminal 40, authorities' terminal 40 is for supervisor's General Aviation Flight task examination & approval and management and control
Control aerial mission that the government department of civilian unmanned plane, security department set up examination & approval server 150 and aerial
The interface of traffic control server 152.Automatically the relevant regulations of examination & approval is by authorities by authorities eventually
Hold 40 typings.The report and rigister project that minority aerial mission examination & approval server 150 can not be automatically performed will be by leading
Pipe department is manually examined by authorities' terminal 40, and examination & approval structure examines server 150 by aerial mission
Send to mobile terminal, and examination & approval structure is stored to putting data base 151 on record.If flight thinks that application obtains
Authorities' terminal 40 is ratified, then, in aerial mission is carried out, authorities' terminal 40 can be handed over by aerial
Siphunculus control server 152 is monitored control to aerial mission.
Performing in task process at civilian unmanned plane 800, air traffic control server 152 finds its behavior
Run counter to this aerial mission declared to approve, will by mobile communications network 20 to task user 120,
The mobile terminal 121,111 of pilot 110 sends warning respectively.If pilot 110 does not correct, empty
Middle traffic control server 152 2 times warning task users 120, pilot 110 at spatial domain traffic situation figure
This civilian unmanned plane 800 of labelling is dangerous object, mentions the public and this unmanned plane constitutes the concern of potential danger,
Authorities are reminded to note its trend.According to the answer of pilot 110, authorities can take to arrange accordingly
Execute.If pilot 110 replies statement, he loses the control to civilian unmanned plane 800, it is impossible to controlling should
Unmanned plane safe falling, or pilot 110 still reacts also no reply without repenting and mending one's ways under secondary alerts, that
Authorities can take over the control to civilian unmanned plane 800 according to phase by unmanned aerial vehicle onboard management and control device 65
Close regulation unmanned plane civilian to this violation 800 and take to force the measure of forced landing, to guarantee public security.Force
The method of forced landing includes: open the side such as airborne parachute, helicopter spin landing, fixed-wing flat spin landing
Formula.And, unmanned aerial vehicle onboard management and control device 65 has standby power supply device, and all do not having the feelings of external power supply
Still can the location information of the civilian unmanned plane of continual broadcast 800 under condition.Manipulate civilian unmanned plane 800
Pilot 110 can and location information search reclaim this unmanned plane.
As in figure 2 it is shown, unmanned aerial vehicle onboard management and control device 65 includes that the state of flight being arranged on unmanned plane is the widest
Broadcast monitor 100 and steering wheel management and control device 600.State of flight Auto broadcast monitor 100 passes through wireless communication networks
Network and mobile terminal, air traffic control service device 152 and civil aviaton airway traffic control ATC data base 153
Connect.Further, state of flight Auto broadcast monitor 100 includes that the GPS being sequentially connected with or big-dipper satellite connect
Receipts machine 501, microcontroller 504 and mobile communication transceiver device 505.GPS or Beidou satellite receiver 501,
Microcontroller 504 and mobile communication transceiver device 505 connect power management module and reserve battery 508, power supply
Management module or reserve battery 508 provide stable for all purpose aircraft state of flight Auto broadcast monitor 100
And lasting power supply supply, even if it is also ensured that continue work for a long time in the case of there is no externally fed
Make.Microcontroller 504 connects has memorizer 506, mobile communication transceiver device 505 to pass through mobile communications network
20 are connected with air traffic control service device 152.In order to improve state of flight to civilian unmanned plane 800
Certainty of measurement, and ensure still can measure state of flight, flight shape when not receiving satellite navigation data
State Auto broadcast monitor 100 also includes the pressure altimeter 502 that is connected respectively and micro-with microcontroller 504
Mechatronic Systems MEMS inertial navigation equipment 503.State of flight Auto broadcast monitor 100 is defended by the GPS/ Big Dipper
Star receiver 501 receives the navigation data from GPS/ Beidou satellite navigation system and time service data, is used for really
The location in fixed civilian this moment of unmanned plane 800, highly, the information such as course and the speed of a ship or plane.Further, in microcontroller
Under the control of device 504, GPS/ Beidou satellite receiver 501, pressure altimeter 502 and MEMS inertial navigation set
Standby 503 co-ordinations, the offer lasting for all purpose aircraft state of flight Auto broadcast monitor 100 is civilian
The high accuracy Flight Condition Data of unmanned plane 800.Memorizer 506 is connected with microcontroller 504, stores
Represent the aerial mission approval secret key that this flight secures permission.By external communication interface 507, microcontroller
504 can communicate with other airborne equipments.Mobile communication transceiver device 505 is connected with microcontroller 504,
Receive the data sent from mobile communications network 20, send the data from microcontroller 504 simultaneously.
The management and control Micro-processor MCV 601 of steering wheel management and control device 600 is by external communication interface 507 and microcontroller
Device 504 connects；Steering wheel management and control device 600 also includes field programmable gate array FPGA602, and scene can
Programmed logic gate array FPGA 602 is connected with management and control Micro-processor MCV 601, and connection has steering wheel signal defeated
Incoming interface 603 and steering wheel signal output interface 604.Management and control Micro-processor MCV 601 and external communication interface
507 are connected, to obtain the state of flight information of civilian unmanned plane 800.Under the control of management and control MCU601
FPGA 602 can be with the input and output of management and control multichannel steering wheel signal.Here steering wheel signal refers to by civilian unmanned
The remote-control receiver of machine 800 lift-launch or flight controller are sent to all types of airborne actuator and control letter
Number general name, there is generalization.FPGA 601 exports with steering wheel signal input interface 603 and steering wheel signal and connects
Mouth 604 is connected.Remote-control receiver that steering wheel signal input interface 603 carries with civilian unmanned plane 800 or fly
Line control unit is connected, and the remote-control receiver or the flight controller that receive the lift-launch of civilian unmanned plane 800 are sent to rudder
The control signal of machine.Steering wheel signal output interface 604 is connected with the steering wheel carried on civilian unmanned plane 800,
To control the action of steering wheel, thus directly control civilian unmanned plane 800.Here steering wheel refers to for controlling the people
By the general name of all actuators of unmanned plane 800 action, there is generalization too.
The invention also discloses a kind of civilian unmanned plane management-control method based on mobile communications network, such as Fig. 3 institute
Show, including:
S1: mobile terminal is connected by mobile communications network 20 with management and control server 31, pilot or task
User sends aerial mission application by mobile terminal to management and control server 31；
S2: management and control server 31 determines whether to examine the authority of aerial mission application, if not having authority, enters
Row S3, otherwise, carries out S4；
S3: authorities personnel judge whether approved flight task application by authorities' terminal 40, if batch
Quasi-aerial mission application, carries out S5, then transmission approval key is to mobile terminal, and is arrived by approval key storage
Management and control server 31 put data base 151 on record；Otherwise, S6 is carried out；
S4: management and control server 31 judges whether approved flight task application, if approved flight task application, enters
Row S5, then transmission approval key is to mobile terminal, and will approval key storage putting on record to management and control server 31
Data base 151；Otherwise, S6 is carried out；
S5: mobile terminal receives approval key, and pilot or task user perform aerial mission, management and control service
Device 31 monitors whether aerial mission is carried out according to aerial mission application in real time, if not according to aerial mission application
Carry out, carry out S7, otherwise, carry out S8；
S6: pilot or task user in ground run debugging or take a flight test in limited range, management and control server
31 monitor whether aerial mission exceeds limited range in real time, if without departing from limited range, then continue on ground
Test run is debugged or takes a flight test in limited range, otherwise, carries out S7；
S7: management and control server 31 sends primary warning by mobile communications network 20 to mobile terminal；Flight
Member or task user according to primary warning corrigendum aerial mission, then carry out S8, or continue to debug in ground run
Or take a flight test in limited range；Otherwise, management and control server 31 passes through mobile communications network 20 to mobile terminal
Send two grades of warnings；
Pilot or task user according to secondary warning corrigendum aerial mission, then carry out S8, or continue on ground
Test run is debugged or takes a flight test in limited range；Otherwise, management and control server 31 is taked to force arranging of forced landing unmanned plane
Execute, investigate pilot or the responsibility of task user.
S8: pilot or task user continues executing with aerial mission until task completes, or abort task.
S9: if what air traffic control service device 152 sent according to state of flight Auto broadcast monitor 100
Data and carry out the data of civil aviaton airway traffic control ATC data base 153, carry out computational analysis, paint in real time
Make spatial domain traffic situation figure；
Traffic situation figure in spatial domain is sent to mobile terminal by S10: air traffic control service device 152.
Above-mentioned management and control server 31 takes the measure forcing forced landing unmanned plane to include:
Management and control server 31 sends landing instruction to management and control Micro-processor MCV；
Landing instruction is transferred on unmanned plane the steering wheel carried by steering wheel signal output interface 604, and steering wheel is control
The general name of all actuators of unmanned plane action processed；Steering wheel manipulation unmanned plane landing.The method forcing forced landing
Including: open the mode such as airborne parachute, helicopter spin landing, fixed-wing flat spin landing.
The principle of this civilian unmanned plane management-control method and operating process are with above-mentioned civilian unmanned plane managing and control system phase
With, therefore do not remake statement in detail.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for this area
For technical staff, the present invention can have various modifications and variations.All within the spirit and principles in the present invention,
Any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (10)
1. a civilian unmanned plane managing and control system based on mobile communications network, it is characterised in that including: logical
Cross user side (10) and management and control server (31) that mobile communications network (20) connects；
Described user side (10) includes that more than one mobile terminal, described mobile terminal arrange aerial mission Shen
Please editor module and sending module；
Described management and control server (31) including: be sequentially connected with put on record data base (151), aerial mission examine
Criticize server (150), air traffic control service device (152) and civil aviaton airway traffic control ATC data base
(153), and air traffic control service device (152) and put on record data base (151) connect.
2. civilian unmanned plane managing and control system based on mobile communications network as claimed in claim 1, its feature
Being, described mobile communications network (20) including: mobile communication network operator server (140), with
And base station or wireless router (130), mobile communication network operator server (140) and base station or wireless
Router (130) connects；Described base station or wireless router (130) pass through cordless communication network with described
Mobile terminal connects；
Described aerial mission examination & approval server (150) and air traffic control service device (152) pass through network
It is connected with described carrier server (140)；
And/or,
Described aerial mission is examined server (150), is put data base (151) and air traffic control service on record
Device (152) is connected with authorities' terminal (40) respectively.
3. civilian unmanned plane managing and control system based on mobile communications network as claimed in claim 1, its feature
It is, also includes that unmanned aerial vehicle onboard management and control device (65), described unmanned aerial vehicle onboard management and control device (65) include arranging
State of flight Auto broadcast monitor (100) on unmanned plane, described state of flight Auto broadcast monitor
(100) by cordless communication network respectively with described mobile terminal, air traffic control service device (152)
Connect with civil aviaton's airway traffic control ATC data base (153)；
Described state of flight Auto broadcast monitor (100) includes that the GPS being sequentially connected with or big-dipper satellite connect
Receipts machine (501), microcontroller (504) and mobile communication transceiver device (505)；Described GPS or big-dipper satellite
Receiver (501), microcontroller (504) and mobile communication transceiver device (505) respectively with power management mould
Block and reserve battery (508) connect；
Described microcontroller (504) connects memorizer (506), described mobile communication transceiver device (505)
It is connected with described air traffic control service device (152) by described mobile communications network (20).
4. civilian unmanned plane managing and control system based on mobile communications network as claimed in claim 3, its feature
Be, described state of flight Auto broadcast monitor (100) also include respectively with described microcontroller (504)
The pressure altimeter (502) connected and micro-electromechanical system (MEMS) inertial navigation equipment (503).
5. civilian unmanned plane managing and control system based on mobile communications network as claimed in claim 3, its feature
Being, described unmanned aerial vehicle onboard management and control device (65) includes steering wheel management and control device (600) being arranged on unmanned plane,
The management and control Micro-processor MCV (601) of described steering wheel management and control device (600) passes through external communication interface (507)
It is connected with microcontroller (504)；Described steering wheel management and control device (600) also includes field programmable gate battle array
Row FPGA (602), described field programmable gate array FPGA (602) and the micro-process of described management and control
Device MCU (601) connects, and connection has steering wheel signal input interface (603) and steering wheel signal output interface
(604)。
6. a civilian unmanned plane management-control method based on mobile communications network, it is characterised in that including:
S1: mobile terminal is connected by mobile communications network (20) with management and control server (31), mobile whole
Hold and send aerial mission application to management and control server (31)；
S2: management and control server (31) determines whether to examine the authority of described aerial mission application, if not having
Authority, carries out S3, otherwise, carries out S4；
S3: authorities' terminal (40) judges whether to ratify described aerial mission application, if flying described in Pi Zhun
Row task application, carries out S5, otherwise, carries out S6；
S4: management and control server (31) judges whether to ratify described aerial mission application, if ratifying described flight
Task application, carries out S5, otherwise, carries out S6；
S5: perform in aerial mission, management and control server (31) monitor in real time described aerial mission whether according to
Described aerial mission application is carried out, if not carrying out according to described aerial mission application, carries out S7, otherwise,
Carry out S8；
S6: in ground run debugging or taking a flight test in limited range, management and control server (31) monitors in real time
Whether described aerial mission, beyond described limited range, if without departing from described limited range, then continues on ground
Interview car is debugged or takes a flight test in limited range, otherwise, carries out S7；
S7: management and control server (31) sends warning by mobile communications network (20) to described mobile terminal；
S8: continue executing with aerial mission until task completes.
7. civilian unmanned plane management-control method based on mobile communications network as claimed in claim 6, its feature
Be, described S3 and S4 also include: if ratifying described aerial mission application, then send approval key to
Mobile terminal, and put approval key storage on record data base (151) to management and control server (31)；
S5 also includes, mobile terminal receives described approval key.
8. civilian unmanned plane management-control method based on mobile communications network as claimed in claim 6, its feature
Being, described S7 includes:
Management and control server (31) sends primary warning by mobile communications network (20) to described mobile terminal；
According to primary warning corrigendum aerial mission, then carry out S8, or continue in ground run debugging or limited
In the range of take a flight test；Otherwise, management and control server (31) is moved eventually to described by mobile communications network (20)
End sends two grades of warnings；
According to secondary warning corrigendum aerial mission, then carry out S8, or continue in ground run debugging or limited
In the range of take a flight test；Otherwise, management and control server (31) takes to force the measure of forced landing unmanned plane, calls to account.
9. civilian unmanned plane management-control method based on mobile communications network as claimed in claim 8, its feature
Being, management and control server (31) takes the measure forcing forced landing unmanned plane to include:
Management and control server (31) sends landing instruction to management and control Micro-processor MCV；
Landing instruction is transferred on unmanned plane the steering wheel carried, described rudder by steering wheel signal output interface (604)
Machine is the general name of all actuators controlling unmanned plane action；
The manipulation unmanned plane landing of described steering wheel.
10. civilian unmanned plane management-control method based on mobile communications network as claimed in claim 6, it is special
Levy and be, also include:
S9: air traffic control service device (152) is according to by state of flight Auto broadcast monitor (100)
The data sent and the data coming civil aviaton's airway traffic control ATC data base (153), real-time rendering goes out sky
Territory traffic situation figure；
S10: traffic situation figure in spatial domain is sent to mobile terminal by air traffic control service device (152).
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