CN108922248A - A kind of civilian unmanned plane air traffic control system of distribution, blank pipe method and collaboration method - Google Patents

A kind of civilian unmanned plane air traffic control system of distribution, blank pipe method and collaboration method Download PDF

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Publication number
CN108922248A
CN108922248A CN201810695626.7A CN201810695626A CN108922248A CN 108922248 A CN108922248 A CN 108922248A CN 201810695626 A CN201810695626 A CN 201810695626A CN 108922248 A CN108922248 A CN 108922248A
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China
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unmanned plane
base station
module
section
flight
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CN108922248B (en
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马炎军
陆英玮
陈赟康
朱峥
傅恒
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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]
    • G08G5/04—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0043—Traffic management of multiple aircrafts from the ground
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication

Abstract

The present invention provides a kind of civilian unmanned plane air traffic control system of distribution, blank pipe method and collaboration methods.The civilian unmanned plane air traffic control system of distribution, including three-decker, wherein, the upper layer of the civilian unmanned plane air traffic control system of distribution is that unified civilian unmanned plane manages platform, the middle layer of the civilian unmanned plane air traffic control system of distribution is distributed civilian unmanned plane during flying network, and the lower layer of the civilian unmanned plane air traffic control system of distribution is that distributed civilian unmanned plane runs section；The civilian unmanned plane management platform of unification connects all civilian unmanned plane during flying networks of the distribution, and each civilian unmanned plane during flying of distribution is connected to the network the civilian unmanned plane of distribution and runs section.The present invention also provides a kind of blank pipe methods and collaboration method based on distributed civilian unmanned plane air traffic control system.

Description

A kind of civilian unmanned plane air traffic control system of distribution, blank pipe method and collaboration method
Technical field
The invention belongs to computer science and technology field, more particularly to a kind of civilian unmanned plane air traffic control system of distribution, Blank pipe method and collaboration method.
Background technique
With civilian unmanned plane performance and function gradually mature and it is perfect, there is considerable enterprise to have begun pair Civilian unmanned plane carries out the exploration of application aspect, can live and generate to social production in the large-scale application of the following civilian unmanned plane Strong influence and facilitation.But at present unmanned plane quantity is not kept up with for the control administrative skill of civilian unmanned plane With the development speed of performance, with the increase at full speed of unmanned plane future quantity, if without effective unmanned plane blank pipe method, will It can be easy to that the collision of flight unmanned plane occurs, continuation of the journey totally waits dangerous situations, causes the security of the lives and property of society greatly hidden Suffer from.The invention proposes a kind of civilian unmanned plane air traffic control system of distribution and methods, and the prior art and equipment is being made full use of to provide In the case where source, the unmanned plane of different model, different company can be united and carry out integrated management, ensure low altitude airspace Safety, save a large amount of fund and cost.
Summary of the invention
It is an object of the invention in view of the drawbacks of the prior art or problem, provide a kind of civilian unmanned plane blank pipe of distribution System, blank pipe method and collaboration method.
Technical scheme is as follows：A kind of civilian unmanned plane air traffic control system of distribution, including three-decker, wherein The upper layer of the civilian unmanned plane air traffic control system of distribution is that unified civilian unmanned plane manages platform, the distribution it is civilian nobody The middle layer of machine air traffic control system is distributed civilian unmanned plane during flying network, under the civilian unmanned plane air traffic control system of distribution Layer runs section for distributed civilian unmanned plane；The civilian unmanned plane management platform of unification connects all distributed people With unmanned plane during flying network, each civilian unmanned plane during flying of distribution is connected to the network a civilian unmanned plane of distribution Run section.
The civilian unmanned plane management platform of unification connects all civilian unmanned plane during flying networks of the distribution, each The civilian unmanned plane during flying of distribution is connected to the network the civilian unmanned plane of distribution and runs section.
A kind of basis a kind of blank pipe method of the civilian unmanned plane air traffic control system of distribution as described above, for managing each The operation of civilian unmanned plane in area, and including flight authorisation step, monitoring unmanned step, illegal unmanned plane processing step and Flight path planning step.
A kind of collaboration method is suitable for distributed civilian unmanned plane air traffic control system as described above and civilian unmanned plane application Cooperation between system is carried out for effectively integrating the civilian unmanned plane of not homologous ray, different application and different enterprises Unified management, and include the following steps：Step 11：External unmanned plane application system is by applying interactive module to unified civilian nothing Man-machine management platform proposes that platform application is added；Step 92：Unified civilian unmanned plane management platform application auditing module audit is answered With system, addition is disapproved, executes step 93；Approval is added, and executes step 94-912；Step 93：Unified civilian unmanned plane pipe Platform disapproves information to external unmanned plane application system informing using application interactive module；Step 94：It is unified it is civilian nobody Machine manages platform and uses flight network control module, and the logical of air traffic control system is added to specified flight network transmission new opplication system Know；Step 95：Control centre in each flight network, takes orders, to unified civilian unmanned plane management platform feedback message after to Life；Step 96：Unified civilian unmanned plane management platform is by informing each to external unmanned plane application system using interactive module Area's auditing result；Step 97：Unified civilian unmanned plane management platform is asked using flight network control module, is numbered according to section, Order section flight network and external unmanned plane application system are established and are cooperated；Step 98：The control centre for receiving order utilizes piece Area's unmanned plane application interactive module and external unmanned plane application system establish cooperation connection；Step 99：External unmanned plane application system System issues unmanned plane application request by section of the section unmanned plane application interactive module to connection.Step 3, section control centre Receive application request, is audited using unmanned plane application auditing module；If audit passes through, step 112 is executed, if audit is not led to It crosses, executes step 113 step 111, section control centre uses section unmanned plane during flying route planning module according to application requirement Flight course planning is carried out, specified unmanned plane executes flight, by operation data result by section unmanned plane application interactive module, sends To external unmanned plane application system；Step 112, section control centre hands over audit failure result by the application of section unmanned plane Mutual module is sent to external unmanned plane application system；If unified civilian unmanned plane management platform is periodically to external unmanned plane application System is checked, equally 91~912 steps of execution.
Technical solution provided by the invention has the advantages that：
The civilian unmanned plane air traffic control system of distribution proposed by the present invention, blank pipe method and collaboration method, make up current low latitude The blank of civil unmanned plane air control, moreover, the civilian unmanned plane air traffic control system of distribution proposed by the present invention and blank pipe side The blank pipe range of method can be extended to it is intercity, it is provincial or even intercontinental.
Detailed description of the invention
Fig. 1 is a kind of civilian unmanned plane air traffic control system structure diagram of distribution in the embodiment of the present invention.
Fig. 2 is a kind of civilian unmanned plane management platform feature function structure chart of unification in the embodiment of the present invention.
Fig. 3 is a kind of civilian unmanned plane during flying network structure schematic diagram of distribution in the embodiment of the present invention.
Fig. 4 is a kind of unmanned plane identification authentication mode figure in the embodiment of the present invention.
Fig. 5 is a kind of control centre's functional module structure figure in the embodiment of the present invention.
Fig. 6 is a kind of base station functions function structure chart in the embodiment of the present invention.
Fig. 7 is a kind of unmanned plane functional module structure figure in the embodiment of the present invention.
Fig. 8 is a kind of civilian unmanned plane operation section Structure Planning schematic diagram of distribution in the embodiment of the present invention.
Fig. 9 is a kind of in-flight shifting method flow chart beyond voyage in the embodiment of the present invention.
Figure 10 is across the section flying method successful instance flow chart of one kind in the embodiment of the present invention.
Figure 11 is across the section flying method failure situation flow chart of one kind in the embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.
Although the step in the present invention is arranged with label, it is not used to limit the precedence of step, unless Based on the execution of the order or certain step that specify step needs other steps, otherwise the relative rank of step is It is adjustable.It is appreciated that term "and/or" used herein be related to and cover in associated listed item one Person or one or more of any and all possible combinations.
The invention proposes a kind of civilian unmanned plane air traffic control system of distribution, system structure is as shown in Figure 1, the distributed people It is divided into three layers of upper, middle and lower with unmanned plane air traffic control system, the civilian unmanned plane management platform of the unification on upper layer is system monitoring layer, intermediate The civilian unmanned plane during flying network of distribution of layer is system interaction and decision-making level, and the civilian unmanned plane of distribution of lower layer runs section For system entity and execution level, the distributed civilian unmanned plane air traffic control system of three-decker composition.
Unified civilian unmanned plane management platform belongs to the upper layer of distributed civilian unmanned plane air traffic control system, as the distributed people With " monitor " in unmanned plane air traffic control system；It connects all civilian unmanned plane during flying networks of distribution.For monitoring each fly The operating condition of row network, if it find that flight network goes wrong and abnormal conditions, unified civilian unmanned plane management platform can To force the operation of flight network to be controlled；Unified civilian unmanned plane management platform, which also stores, to be updated in different flight networks respectively The operation data of device node；The collaboration request of external unmanned plane application system is audited, data interaction is provided for it and connects Mouthful；
As shown in Fig. 2, unified civilian unmanned plane management platform includes flight network data memory module 201, flight network Monitoring modular 202, flight network control module 203, using interactive module 204 and apply auditing module 205.
Wherein, flight network data memory module 201：For storing in all civilian unmanned plane during flying networks of distribution Operation data；Flight network monitoring modular 202：All distributed people are inquired and received by communication links such as internet With the real-time running data in unmanned plane during flying network, and compare and update flight network data memory module；Flight network control Molding block 203：Pressure control can be carried out to the civilian unmanned plane during flying network of arbitrary distribution；Using auditing module 204：With It is audited in the request to external unmanned plane application system access unmanned plane air traffic control system, inspects periodically its qualified qualification； Using interactive module 205：For providing data interaction interface for external unmanned plane application system, unmanned plane application system is assisted With the data interaction of the civilian unmanned plane during flying network of each distribution.
Distributed civilian unmanned plane during flying network belongs to the middle layer of distributed civilian unmanned plane air traffic control system, as distribution In civilian unmanned plane air traffic control system " interactive decision making device ".As shown in figure 3, the civilian unmanned plane during flying network of distribution is divided into In lower three-decker, and the upper layer of the civilian unmanned plane during flying network of distribution is control centre, the civilian nothing of distribution The middle layer of man-machine flight network is one or more base station, and the lower layer of the civilian unmanned plane during flying network of distribution is One or more unmanned plane.Wherein, unmanned plane is used as " terminal ", and base station is used as " repeater ", and control centre is as " processing Device ".
For convenience different flight networks to unmanned plane carry out orderly management, need to carry out the identity of unmanned plane identification and Certification, authorizes its grade in a network, as shown in figure 4, the identification authentication mode of the unmanned plane includes：
Unmanned plane coding 401：This identification code just needs to give when dispatching from the factory, and acts as " identity card " of unmanned plane, has There is uniqueness, permanently.The model of unmanned plane, parameter, the relevant parameters such as historical data can be found according to unmanned plane coding.
Base station temporary code 402：This identification code is generated by the base station of section, and is stored in control centre, base station and unmanned plane Among, base station temporary code can generate at any time, update.Base station interim identity includes section code and base station code, and piece position is responsible for Section where identifying unmanned plane, gives unmanned plane in this section flight status；It is responsible for identifying nobody connecting with base station in base station position Machine gives the qualification that unmanned plane is stopped in the affiliated platform in the base station and base station.It is subordinate to the 1 section base station A as 1-A represents unmanned plane, 2-B represents unmanned plane and is subordinate to the 2 section base stations B.Base station temporary code can be convenient control centre to unmanned plane in flight network Management facilitates unmanned plane quantity and flow direction distribution in monitoring section；It issues part administration authority and is supplied to base station, formed further Distribution management；Form fence association, effective directorial area flight behavior；It reduces unmanned plane coding to use, reduction is divulged a secret.
Unmanned plane Permission Levels 403, this number is that control centre authorizes, and authorizes 1-3 different brackets, unmanned plane can obtain Corresponding flight freedom and permission in the section, the high unmanned plane of grade can fly to the low not fly able airspace of grade, And the low unmanned plane of grade must have the obligation of the limited flight of the unmanned plane for making grade high.
In distributed civilian unmanned plane during flying network, regulation institute is responsible in the one or more base station of control centre's connection There are base station and unmanned plane operation, stores the operation data of each equipment in flight network, provided certainly for external unmanned plane application system Plan and data interactive interface play the role of " processor " in distributed civilian unmanned plane during flying network.
As shown in figure 5, the control centre includes：
Section operation control module 501 is responsible for connection, is coordinated, all devices section in the flight network of control place section The operation of point and the control centre of other sections are communicated and are negotiated；
The unmanned identity integration module 502 in section is responsible for storage and is updated, assist process unmanned plane identity data, and including： Area's unmanned plane code storage module 503 is responsible for storage and updates deletion unmanned plane coded data；Section unmanned plane base station temporary code Memory module 504 is responsible for storage and updates deletion base station temporary code data；Section unmanned plane Permission Levels module 505, is responsible for depositing Storage, which updates, deletes section unmanned plane Permission Levels data；
The unmanned identity auditing module 506 in section, by with area's unmanned plane code storage module 503, section unmanned plane base The cooperation of temporary code memory module 504 of standing and section unmanned plane Permission Levels module 505 carries out audit to unmanned identity and sentences Certainly；Moreover, the unmanned identity auditing module 506 in section includes：The unmanned identity judging module 507 in section, audits nobody Machine coding, audits unmanned identity；Unmanned plane coded key module 508, be responsible for unmanned plane coding carry out encryption or Decryption；
Section unmanned plane during flying authorization module 509 is responsible for auditing the request that unmanned plane flies in section, and is awarded Give the different grades of flight permission of unmanned plane；
The illegal unmanned plane identification module 510 in section is responsible for carrying out legal judgement to unauthorized unmanned plane in section, and is authorized Its danger classes；
Section unmanned plane during flying route planning module 511 is responsible for establishing or correcting the flight road of unmanned plane in section in real time Line；
Section unmanned plane application interactive module 512 is responsible for carrying out real-time data interaction with external unmanned plane application；
Section unmanned plane application auditing module 513 is responsible for auditing external unmanned plane application request；
Section data memory module 514 is responsible for the operation data of each equipment in the flight network of storage place section；
In distributed civilian unmanned plane during flying network, base station connects one or more unmanned planes, and base station is as flight net The relay point of information exchange in network, in its communication coverage unmanned plane and control centre information exchange service is provided, Detection differentiates the legitimacy of the unmanned plane in its communication coverage；And base station temporary code and positioning are provided for legal unmanned plane Service provides shutdown charging license for unmanned plane；Play the role of " repeater " in distributed civilian unmanned plane during flying network.
Base station is from the transformation of mobile communication base station in the present invention, and as shown in fig. 6, the base station includes：
Base station flight network trunk module 601 is responsible for carrying out direct communication with each device node in flight network, and is filled When flight network relay node, the information of deliver in relays unmanned plane and control centre；
Base station Unmanned Aerial Vehicle Data memory module 602 is responsible for memory module, storage, the operation number for updating and deleting unmanned plane According to；
The unmanned identity integration module 603 in base station is responsible for carrying out unmanned identity audit update and storage, and including： Base station unmanned plane code storage module 604 is responsible for storage and updates deletion unmanned plane coded data；It goes to the station to meet somebody unmanned plane coded key mould Block 605 is responsible for that unmanned plane coding is encrypted or decrypted；Base station unmanned plane base station temporary code memory module 606, is responsible for depositing Storage, which updates, deletes base station temporary code data；Base station unmanned plane Permission Levels module 607, be responsible for storage update delete section nobody Machine Permission Levels data；
Unmanned plane inquiry module 608 is responsible for carrying out inquiry and base to ambient airspace unmanned plane by 4G or 5G communication link Stand Unmanned Aerial Vehicle Data memory module 602, base station unmanned plane code storage module 604, unmanned plane coded key module 605 of going to the station to meet somebody, The data comparison of base station unmanned plane base station temporary code memory module 606 and base station unmanned plane Permission Levels module 607, is verified Its identity authorizes base station temporary code after the unmanned plane verifying identity for needing to be directly connected to base station；
Unmanned plane detecting module 609, the legal and illegal unmanned plane being responsible in monitoring detection airspace, and including：It is legal Unmanned plane detection module 610 is responsible for that the work state information of unmanned plane is inquired or received by 4G or 5G communication link, and to nothing The data of man-machine data memory module are compared and are updated, and are warned to the unmanned planes for being likely to occur collision and other danger It accuses, real time correction unmanned plane during flying course line；And illegal unmanned plane detecting module 611, it is responsible for utilizing earth horizon sensor and radar installations, Real time scan is carried out to airspace to inquire its identity when hanging in the air the unmanned plane of identity by 4G or 5G communication link, will obtain Data be uploaded to control centre, and the row such as electromagnetic interference is directly carried out to illegal unmanned plane according to the feedback message of control centre For.
In distributed civilian unmanned plane during flying network, every frame unmanned plane is connected with specified base-station node.Unmanned plane is gathered around There is the ability of autonomous flight, the instruction execution aerial mission of base station and control centre can be received, while also data can will be allowed to return It is transmitted to network higher level.In addition to this, a certain range of unmanned plane can also form shared network, share flying quality, carry out Flight early warning plays the role of " terminal " in distributed civilian unmanned plane during flying network.
From unmanned plane is transformed by civilian unmanned plane in the present invention, as shown in fig. 7, the unmanned plane includes：
Unmanned Aerial Vehicle Data memory module 701 is responsible for all data that storage updates unmanned plane self-operating；
UAV Communication module 702, is responsible for through 4G or 5G communication link, carries out information with device node in flight network Interaction；
Unmanned plane identity response module 703 is responsible for processing requirement related with unmanned identity, stores unmanned identity number According to；Moreover, the unmanned plane identity response module 703 includes：Unmanned plane code storage module 704 is responsible for storage and updates deletion Unmanned plane coded data, unmanned plane coded key module 705 are responsible for that unmanned plane coding is encrypted or decrypted；Section nobody Machine base station temporary code memory module 706 is responsible for storage and updates deletion base station temporary code data；Section unmanned plane Permission Levels Module 707 is responsible for storage and updates deletion section unmanned plane Permission Levels data；
Flight path memory module 708, the flight path be responsible for receiving, store and update itself.
Each flight network connects the civilian unmanned plane of a distribution and runs section, is responsible for unmanned planes all in section And relevant device forms communication network, to realize interaction in time, further controls the orderly function of device therefor, is being distributed Interactive and Decision-making Function is played in the civilian unmanned plane air traffic control system of formula；
Distributed civilian unmanned plane runs section, is obtained using distributed civilian unmanned plane operation section partitioning technology, Thought is, according to the communication flows situation in a sheet of region, to be marked off different size of section (the big area of communication flows It is required that unmanned plane quantity is more, it can according to circumstances increase base station number in section or reduce section area, it is made to meet nobody Machine communicating requirement), distributed civilian unmanned plane during flying network, including a control are established on each section basis marked off Center processed, one or more base station, two aprons, a frame or the above unmanned plane of two framves.Each unmanned Bigpian Area connects up the civilian unmanned plane during flying network of a distribution, belongs to the lower layer of distributed civilian unmanned plane air traffic control system, makees For " actuator " in distributed civilian unmanned plane air traffic control system, entity space is provided for all relevant devices of flight network, Unmanned plane is set to execute the behaviors such as ground mooring charging in the section；It is played in distributed civilian unmanned plane air traffic control system The carrying of entity acts on.Further include apron in addition to the equipment and node in flight network, be responsible for unmanned plane provide charging and The service of berthing etc., apron can directly be built using the idle place of base station, or in other idle surface constructions；Apron It controls and communicates and control is responsible for by nearest or specified base station.
For example, Fig. 8 provides the example of a distribution civilian unmanned plane operation piece Division, section 1 in figure, section 2, Section 3 is to divide the distribution got civilian unmanned plane operation section, and base station 1 and base station refer mainly to mobile communication 2 early period in figure Base station, the shape area planning of each section also depend on mobile communication base station and are distributed to be arranged.According to existing 4G base station distribution, base Distance between standing is as shown in the table：
Area type Dense urban General urban district Suburb/small towns Rural area
Station spacing (m) 300-400 400-500 500-800 800-2000
Logistics radius of society is generally 1km in urban district, and logistics radius of society then reaches 2-5km in rural area.And embodiment Later period independent base station can be set according to actual needs, freely divide logistics small area shape and area.Base station and nearby stop The information exchange of airport and control centre apart from nearest base station by being responsible for, such as apron 1-1-A home base station 1, apron 1- 2-A and apron 1-2-B home base station 2.
On distributed civilian unmanned plane air traffic control system basis, the invention proposes a kind of civilian unmanned plane of distribution is empty The blank pipe method of guard system, for managing the operation of the civilian unmanned plane in each section.Moreover, the blank pipe method includes：Fly Row authorisation step, monitoring unmanned step, illegal unmanned plane processing step and flight path planning step.
Specifically, flight authorisation step is responsible for authenticating unmanned identity, authorizes unmanned plane during flying qualification and permission, And including unmanned plane during flying permission step and unmanned plane during flying grade authorisation step：
One, unmanned plane during flying permission step
The unmanned plane during flying permission step is responsible for authorizing the Licensing Authority of unmanned plane during flying, the unmanned plane during flying license Step includes the following steps to execute：
Step 901, whether control centre obtains unmanned plane A coding, have in 507 detection module 502 of module of control centre The unmanned plane of unmanned plane A encodes relevant base station temporary code, thens follow the steps 910, nothing thens follow the steps 902
Step 902, control centre decides whether to agree to nobody using unmanned plane coding inquiry unmanned plane A information, module 506 Machine A flies in section, agrees to that flight executes step 905~909, disagrees flight and executes step 903~904；
Step 903, control centre numbers encryption using unmanned plane of the module 508 to unmanned plane A, and unmanned plane A will be forbidden to fly Row and the unmanned plane of encryption coding pass through module 501 and are sent to the base station 1 nearby unmanned plane A；
Step 904, base station 1 obtains the unmanned plane coding of unmanned plane A after receiving data deciphering using 605 pairs of module, uses Module 608 calls unmanned plane A, it is forbidden to fly in section
Step 905, control centre numbers unmanned plane A using module 506 and encrypts, and will have agreed to unmanned plane A flight and encryption Unmanned plane coding by module 501 be sent to unmanned plane A nearby base station 1；
Step 906, base station 1 obtains the unmanned plane coding of unmanned plane A after receiving data deciphering using 605 pairs of module, is nothing Man-machine A establishes base station temporary code, calls unmanned plane A using module 608, authorizes its base station temporary code；
Step 907, the base station unmanned plane A temporary code is sent to control centre using module 601 by base station 1；
Step 908, control centre stores the base station unmanned plane A temporary code to module 514 and module 504；
Step 909, base station 1 calls unmanned plane A using module 608, agrees to that it flies in section, establishes with it and directly connect It connects；
Step 910, the module 506 of control centre adjudicates whether unmanned plane A flies, and agrees to, order is sent out by module 501 It send to base station 1, executes step 911；It disagrees, order is sent to base station 1 by module 501, executes step 912；
Step 911, after base station 1 receives control centre's order, unmanned plane A is called using module 608, agrees to that unmanned plane A exists Section flight, establishes with it and is directly connected to；
Step 912, after base station 1 receives control centre's order, unmanned plane A is called using module 608, forbids flying in section Row；
Two, unmanned plane during flying grade authorisation step
The unmanned plane during flying grade authorisation step is responsible for authorizing unmanned plane different grades of flight permission, it is made to possess phase The flight freedom and priority answered, the unmanned plane during flying grade authorization include the following steps：
Step 1001, control centre according to superior instructions or itself uses module 509, to the nothing in unmanned plane A module 707 Man-machine Permission Levels establish or update；
Step 1002, control centre uses module 501, and unmanned plane A Permission Levels are sent to the base connecting with unmanned plane A Stand 1；
Step 1003, after base station 1 receives unmanned plane A Permission Levels, using module 601 call unmanned plane A, for it establishes or Update unmanned plane Permission Levels.
The monitoring unmanned step is responsible for carrying out real time inquiring to legal unmanned plane, stores and updates legal unmanned plane Flight and resting state information, adjust the flight path of all legal unmanned planes in time, correct the flight behavior being potentially dangerous, Forbid unmanned plane in the flight of certain sensitive areas；The monitoring unmanned step includes the following steps：
Step 1101, base station 1 calls the unmanned plane A that base station 1 is responsible in airspace using module 609；
Step 1102, itself base station temporary code and operation data are passed through into module 702 by the unmanned plane A called It is sent to base station 1；
Step 1103, base station 1 using module 606 and the screening of module 602 and updates unmanned plane A data, and by all data Control centre is uploaded to by module 601；
Step 1104, control centre receives data and is updated to module 514, and there are flight hazards for the discovery of module 511 Unmanned plane A, corrects flight path, will correct data by module 501 and is sent to base station 1；
Step 1105, base station 1 receives data, is alerted using module 610 unmanned plane A, corrects its flight behavior.
The illegal unmanned plane processing step is responsible for detecting and finds unauthenticated unmanned plane, inquires its identity, and judgement is illegal The danger classes of unmanned plane is carried out illegal unmanned plane and is alerted, and the different grades of punishment such as recycling are forced in interference；It is described illegal Unmanned plane processing step includes the following steps：
Step 1201, base station 1 is responsible for the unmanned plane in airspace to base station 1 using module 609 and is detected；
Step 1202, base station 1 is by data comparison in detecting result and module 603 and module 602, find it is unauthenticated nobody Machine B；
Step 1203, base station 1 calls unauthenticated unmanned plane B using module 611, obtains result；
Step 1204, base station 1 will inquire that result is transmitted to control centre by module 601；
Step 1205, control centre uses module 510, judges whether unmanned plane B legal and danger classes；If legal, Execute step 1206~1207；If illegal grade is 1, step 1208~1210 are executed；If illegal grade is 2, step is executed 1211~1213；If illegal grade is 3, step 1214~1216 are executed；
Step 1206, the control centre's notice unmanned plane of base station 1 B is legal, and there are the legal of flight hazard for the discovery of module 511 Unmanned plane A corrects its flight path, and data are sent to base station 1 by module 501；
Step 1207, after base station 1 receives data, the legal unmanned plane in responsible airspace is prompted by module 610, Adjust the course line unmanned plane A；
Step 1208, control centre's notice 1 unmanned plane B of base station is illegal, but is temporarily not processed, and the discovery of module 511 exists The legal unmanned plane A of flight hazard, corrects flight path, and data are sent to base station 1 by module 501；
Step 1209, after base station 1 receives data, the legal unmanned plane in responsible airspace is prompted by module 610, Adjust the course line unmanned plane A；
Step 1210, control centre's notice blank pipe personnel searching unmanned plane B owner punishes it；
Step 1211, control centre's notice 1 unmanned plane B of base station is illegal, and interferes unmanned plane B；Module 511 is found There are the legal unmanned plane A of flight hazard, correct to flight path, and data are sent to base station 1 by module 501；
Step 1212, after base station receives data, the legal unmanned plane in responsible airspace is prompted by module 610, Related unmanned plane course line is adjusted, and forces to interfere illegal unmanned plane B, reduces its hazardous flight degree；
Step 1213, control centre's notice blank pipe personnel searching unmanned plane B owner punishes it；
Step 1214, control centre's notice 1 unmanned plane B of base station is illegal, and interferes unmanned plane B, notifies blank pipe people Member takes measures to it；Module 511 finds to correct its flight path there are the legal unmanned plane A of flight hazard, will count Base station 1 is sent to according to by module 501；
Step 1215, after base station 1 receives data, the legal unmanned plane A in responsible airspace is mentioned by module 610 Show, adjusts the course line unmanned plane A, and force to interfere illegal unmanned plane B, reduce its hazardous flight degree；
Step 1216, control centre notice blank pipe personnel take the measures such as pressure control forced landing to illegal unmanned plane B, and seek Unmanned plane B owner is looked for punish it.
The flight path planning step is responsible for that the flight path of each unmanned plane is pre-designed and is planned, according to piece The variation of each device node in area, real-time update flight path, the flight path planning step include the following steps：
Step 1301, control centre's enquiry module 514, the unmanned plane A data in module 502, pass through module 509 and module 511, create and correct course line；
Step 1302, control centre is by unmanned plane A is newly-built or revised course line and unmanned plane temporary code pass through module 501 are transmitted to base station 1；
Step 1303, after base station 1 receives data, using module 609, course line after newly-built or amendment is transmitted to unmanned plane A；
Step 1304, after unmanned plane A receives data, using module 708, itself flight path is modified in storage；
Step 1305, unmanned plane A executes aerial mission according to flight path.
Wherein, the flight line, which is planned, includes：Point-to-point direct module, the flight transfer mode beyond voyage and across piece Area's offline mode.
Flight line planning under the point-to-point direct module includes the following steps：
Step 1401, control centre's module 511 judges flight initial point position, and according to initial point position judgement flight away from From flying distance is in unmanned plane voyage；
Step 1402, control centre specifies the frame unmanned plane A from the nearest base station 1 of takeoff point or affiliated apron to take off, Base station 1 is issued into instruction by module 501；
Step 1403, base station 1 receives instruction, and order unmanned plane A takes off；
Step 1404, unmanned plane A is flown to end using Beidou GPS positioning and base station location from takeoff point according to module 708 Stop completes task, is up to information and sends the base station 2 nearest from unmanned plane；
Step 1405, the information that unmanned plane reaches is sent to control by module 601 by the base station 2 nearest from unmanned plane A Center；
Step 1406, the module 501 of control centre, determine unmanned plane A whether backhaul, backhaul execute step 1407~ 1408, not backhaul executes step 1409-1415；
Step 1407, instruction is issued nearest base station 2 by module 501 by control centre；
Step 1408, nearest base station 2 takes orders, by using module 609, order unmanned plane backhaul；
Step 1409, control centre is utilized to number unmanned plane A using module 506 and be encrypted, and will encrypt number by module 501 According to nearest base station 2 is sent to, ordering nearest base station 2 is that unmanned plane updates base station temporary code, and stops the base station 2；
Step 1410, base station 2 obtains the unmanned plane coding of unmanned plane A after receiving data deciphering using 605 pairs of module, is it Base station temporary code is updated, unmanned plane B is called using module 608, updates its base station temporary code；
Step 1411, updated base station temporary code is transmitted to control centre by module 601 by base station 2
Step 1412, control centre receives data, the data of update module 514 and module 502；
Step 1413, the closing of base station 1 of control centre's order original link and being directly connected to for unmanned plane A, message is passed through Module 501 is sent to former link base station 1；
Step 1414, former link base station 1 receives data, and the unmanned plane A related data of removing module 514 and module 502 is closed Close the connection with unmanned plane A；
Step 1415, unmanned plane A updates its base station temporary code, and new connection is established in base station 2 nearby, stop base station 2 or Affiliated apron；
According to Fig. 9, the flight line planning under the flight transfer mode beyond voyage includes the following steps：
Step 1501, control centre's module 511 judges flight initial point position, and according to initial point position judgement flight away from From flying distance exceeds unmanned plane voyage；
Step 1502, the module 511 of control centre finds the base station 2 near flight path and is set as transfer base station, specifies Affiliated frame unmanned plane B is that transfer unmanned plane is awaited orders, and order is sent to transfer base station 2 by module 501；
Step 1503, control centre specifies the frame unmanned plane A from the nearest base station 1 of takeoff point and affiliated apron to take off, Base station 1 is issued into instruction by module 501；
Step 1504, base station 1 receives instruction, and order unmanned plane A takes off；
Step 1505, unmanned plane A is according to module 708, using Beidou GPS positioning and base station location, flies to from takeoff point Turn base station 2 and transfer unmanned plane B completes transfer task, transfer successful information is sent into transfer base station 2；
Step 1506, transfer successful information is sent to control centre by module 601 by transfer base station 2；
Step 1507, the module 501 of control centre, determine unmanned plane A whether backhaul, backhaul execute step 1408~ 1409, not backhaul executes step 1410-1416；
Step 1508, transfer unmanned plane B is continued to complete winged according to module 708 using Beidou GPS positioning and base station location Mission Success information is sent base station 2 by row task；
Step 1509, the information that unmanned plane B is reached is sent to control centre by module 601 by base station 2；
Step 1510, the module 501 of control centre, unmanned plane B backhaul；
According to Figure 10 and Figure 11, the flight line planning under across the section offline mode includes the following steps：
Step 1601,1 control centre's module 511 of section judges flight initial point position, and discovery flight is across section 2；
Step 1602, control of the control centre of section 1 where takeoff point by its module 501 to section 2 where takeoff point Center processed sends transregional transport request；
Step 1603,1 control centre of section where takeoff point by module 501 specify base station 1-1 nearest from takeoff point and One frame unmanned plane A of affiliated apron takes off, and sends instructions to the nearest base station 1-1 of takeoff point；
Step 1604, the nearest base station 1-1 of takeoff point takes orders, and by module 702, specified unmanned plane A takes off；
Step 1605,1 control centre of section where takeoff point encrypts unmanned plane A using module 506, passes through module Encryption unmanned plane number is sent to terminating point place 2 control centre of section by 501；
Step 1606, unmanned plane A is according to module 708, and using Beidou GPS positioning and base station location, flight to two sections is handed over At boundary；
Step 1607, unmanned plane A using module 705 to unmanned plane coding encrypting, by module 702 to piece where terminating point The base station 2-1 that distance is nearest in area 2 sends transregional request and encrypted unmanned plane number；
Step 1608, the nearest base station 2-1 of distance by transregional request and is added by module 601 in section where terminating point The control centre of section where the unmanned plane number of close unmanned plane A is sent to terminating point；
Step 1609, where takeoff point is proofreaded by module 506 by 2 control centre of section where terminating point in the control of section 1 The unmanned plane number that the heart and unmanned plane A are sent, verifies unmanned plane A identity；
Step 1610, if 2 control centre of section where terminating point verifies successfully, terminating point place is specified by module 501 The base station 2-1 nearest apart from unmanned plane and unmanned plane are attached in section 2, execute step 1611- step 1613；If terminated 2 control centre of section verifies failure where point, by 2 control centre's module 501 of section specify in section 2 where terminating point distance without Man-machine A nearest base station 2-1 sends to unmanned plane and verifies failure notification, executes step 1614- step 1618；
Step 1611, base station 2-1 nearest apart from unmanned plane A in section 2 where terminating point is unmanned plane by module 608 A establishes base station temporary code, establishes and contacts with the direct of unmanned plane A；
Step 1612, unmanned plane A closes contacting for 1 control centre of section where with takeoff point, establishes and terminating point place The communication connection of 1 control centre of section；
Step 1613, unmanned plane A enters section 2 where terminating point, using Beidou GPS positioning and base station location, complete across Section aerial mission will complete mission bit stream and be sent to control centre 2-1；The module 501 of control centre determines that unmanned plane A is No backhaul, backhaul execute step 1608-1609, and not backhaul executes step 1610-1617；
Step 1614, after unmanned plane A receives verification failure information, section 1 where passing through specified takeoff point using module 702 The middle base station 1-2 nearest apart from unmanned plane A sends connection failure message to 1 control centre of section；
Step 1615,1 control centre of section receives message, searches for 1 free time nearest apart from unmanned plane A in takeoff point section Base station 1-2 and its affiliated platform transmit and receive unmanned plane order to idle base station；1 control centre of section is specified by module 501 Base station 1-2 nearest apart from unmanned plane A in section 1 where takeoff point sends the idle base station aircraft gate 1-2 to unmanned plane A and positions；
Step 1616, unmanned plane A goes to the idle affiliated aircraft gate base station 1-2, by module 702 to idle base station 1-2 into Row connection, idle base station 1-2 are that unmanned plane A establishes base station interim identity by module 608；
Step 1617, unmanned plane A reaches the idle base station aircraft gate 1-2 and stops charging, waits next takeoff point control centre Transregional flight directive.
The invention discloses a kind of civilian unmanned plane air traffic control systems of distribution and the application of civilian unmanned plane as shown in Figure 1 to be The civilian unmanned plane of not homologous ray, different application, different enterprises can be effectively integrated, be united by the collaboration method of system One management, has ensured the safety of low altitude airspace, has saved a large amount of fund and cost；, and include the following steps：
Step 1701, external unmanned plane application system X manages platform to unified civilian unmanned plane by module 205 and proposes to add Enter platform application；
Step 1702, unified civilian unmanned plane management console module 204 audits application system X, disapproves addition, executes step Rapid 1703；Approval is added, and executes step 1704~1712；
Step 1703, unified civilian unmanned plane management platform is informed not using module 205 to external unmanned plane application system X Approval in-formation；
Step 1704, unified civilian unmanned plane management platform uses module 203, newly answers to specified flight network A transmission The notice of air traffic control system is added with system X；
Step 1705, the control centre of flight network A, takes orders, and disappears to unified civilian unmanned plane management platform feedback It awaits orders after breath；
Step 1706, unified civilian unmanned plane management platform, which is informed by module 205 to external unmanned plane application system X, flies 1 auditing result of section where row network A；
Step 1707, unified civilian unmanned plane management platform uses module 203, and 1 flight network A of order section and application are The X that unites establishes cooperation；
Step 1708,1 control centre of section for receiving order is established using module 512 and outside unmanned plane application system X Cooperation connection；
Step 1709, the section 1 that external unmanned plane application system X is connected by 512 Duis of module issues unmanned plane application and asks It asks；
Step 1710,1 control centre of section receives application request, is audited using module 513；If audit passes through, hold Row step 1712 executes step 1713 if the audit fails；
Step 1711,1 control centre of section requires according to external unmanned plane application system X, carries out course line using module 511 Planning executes application service, by operation data result by module 512, is sent to external unmanned plane application system X and uniformly The module 201 of civilian unmanned plane management platform；
Step 1712,1 control centre of section is sent to external unmanned plane application by audit failure result by module 512 The module 201 of system X and unified civilian unmanned plane management platform；
If unified civilian unmanned plane management platform periodically carries out review to external unmanned plane application system, 1701 are equally executed ~1712 steps.
A typical case scene of the invention is to find more preferably substitution for some specific open source software to realize.Example Such as：The open source application software that deep learning method base is depended on for some, can be with frequency daily, weekly, monthly for this A application software recommends new deep learning method base, if some the new deep learning method base recommended is than currently used Deep learning method base has more methods or more preferably performance, then can be this new deep learning method base It is imported into this application software as dependence, and removes or retain original deep learning method base.Based on theme correlation Degree be open source software make recommendations, can preferably be realized in software development process code reuse, function add, realize it is excellent The operation such as change, so that the development process for open source software provides help.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art The other embodiments being understood that.

Claims (16)

1. a kind of civilian unmanned plane air traffic control system of distribution, it is characterised in that：Including three-decker, wherein the distribution people Upper layer with unmanned plane air traffic control system is unified civilian unmanned plane management platform, the civilian unmanned plane air traffic control system of distribution Middle layer is distributed civilian unmanned plane during flying network, and the lower layer of the civilian unmanned plane air traffic control system of distribution is the distributed people Section is run with unmanned plane；
The civilian unmanned plane management platform of unification connects all civilian unmanned plane during flying networks of the distribution, each described Distributed civilian unmanned plane during flying is connected to the network the civilian unmanned plane of distribution and runs section.
2. the civilian unmanned plane air traffic control system of a kind of distribution according to claim 1, which is characterized in that the unification is civilian Unmanned plane manages platform for monitoring all device node operations in the middle layer and the lower layer, and stores in described All device node operation datas in interbed and the lower layer, and data interaction is carried out with external unmanned plane application system；
The civilian unmanned plane of unification manages platform and includes：Flight network data memory module, flight network monitoring modular, flight Network control module, using interactive module and apply auditing module；
The flight network data memory module, for storing the operation number in all civilian unmanned plane during flying networks of distribution According to；
The flight network monitoring modular, for obtaining all civilian unmanned planes of distribution by communication links such as internet The real-time running data of flight network；
The flight network control module, for carrying out pressure control to all civilian unmanned plane during flying networks of distribution；
It is described to apply auditing module, it is examined for the request to external unmanned plane application system access unmanned plane air traffic control system Core inspects periodically its qualified qualification；
It is described to apply interactive module, for providing data interaction interface for external unmanned plane application system, unmanned plane is assisted to answer With the data interaction of system and the civilian unmanned plane during flying network of each distribution.
3. the civilian unmanned plane air traffic control system of a kind of distribution according to claim 1, which is characterized in that the distribution people It include three-decker with unmanned plane during flying network, and the upper layer of the civilian unmanned plane during flying network of the distribution is control centre, The middle layer of the civilian unmanned plane during flying network of distribution is one or more base station, the civilian unmanned plane of distribution The lower layer of flight network is one or more unmanned plane,
Each civilian unmanned plane during flying of the distribution is connected to the network the civilian unmanned plane of distribution and runs section, by institute Unmanned plane and relevant device composition communication network all in distributed civilian unmanned plane operation section are stated, realizes communication control Function.
4. the civilian unmanned plane air traffic control system of a kind of distribution according to claim 3, which is characterized in that the control centre The base station for connecting one or more, in the middle layer and lower layer for regulating and controlling the civilian unmanned plane during flying network of the distribution All base stations and unmanned plane；
The control centre includes：
Section data memory module, the operation data for each equipment in the flight network of section where storing；
Section operation control module, operation for each equipment in the flight network of section where connecting, coordinate, controlling and its He carries out data communication in section；
The unmanned identity integration module in section, including section unmanned plane code storage module, section unmanned plane base station temporary code Memory module, section unmanned plane Permission Levels module；
Section unmanned plane code storage module deletes unmanned plane coded data for storing to update；Section unmanned plane base station is interim Code storage module deletes base station temporary code data for storing to update；The section unmanned plane Permission Levels module, is used for Storage, which updates, deletes section unmanned plane Permission Levels data；
The unmanned identity auditing module in section, including the unmanned identity judging module in section and unmanned plane coded key module；
The unmanned identity judging module in section, for being carried out by verification unmanned plane coding to the new unmanned identity that section is added Audit；
Unmanned plane coded key module, for unmanned plane coding to be encrypted or decrypted；
Section unmanned plane during flying authorization module for auditing to the request that unmanned plane flies in section, and authorizes nobody The different grades of flight permission of machine；
The illegal unmanned plane identification module in section authorizes its danger classes for judging unmanned plane illegal in section；
Section unmanned plane during flying route planning module, for establishing or correcting the flight path of unmanned plane in section；
Section unmanned plane application interactive module, for carrying out data interaction with the application of external unmanned plane；And
Section unmanned plane application auditing module, for being audited to external unmanned plane application request.
5. the civilian unmanned plane air traffic control system of a kind of distribution according to claim 3, which is characterized in that the base station connection One or more unmanned plane provides relaying for the information exchange in flight network and supports, unmanned plane legitimacy is known in detection, is Legal unmanned plane provides base station temporary code and positioning service；
The base station includes：
Base station flight network trunk module is logical for serving as flight network for communicating with each device node in flight network Believe relay node；
Base station Unmanned Aerial Vehicle Data memory module is used for memory module, storage, the operation data for updating and deleting unmanned plane；
The unmanned identity integration module in base station, including base station unmanned plane code storage module, base station unmanned plane coded key module, Base station unmanned plane base station temporary code memory module, base station unmanned plane Permission Levels module；
Base station unmanned plane code storage module deletes unmanned plane coded data for storing to update；
Base station unmanned plane coded key module, for unmanned plane coding to be encrypted or decrypted；
Base station unmanned plane base station temporary code memory module deletes base station temporary code data for storing to update；The base station Unmanned plane Permission Levels module deletes unmanned plane Permission Levels data for storing to update；
Unmanned plane inquiry module authorizes base station temporary code for verifying identity to unmanned plane；
Unmanned plane detecting module includes legal unmanned plane detection module and illegal unmanned plane detecting module；
Legal unmanned plane detection module, for collecting the work state information of legal unmanned plane, to be likely to occur collision and other Dangerous unmanned plane is alerted, real time correction unmanned plane during flying course line；
Illegal unmanned plane detecting module carries out real time scan to airspace, discovery inquiry is not tested using earth horizon sensor and radar installations Unmanned plane is demonstrate,proved, and electromagnetic interference directly can be carried out to illegal unmanned plane.
6. the civilian unmanned plane air traffic control system of a kind of distribution according to claim 3, which is characterized in that it is each it is described nobody Machine connects a base station, receives the instruction autonomous flight of the control centre, and collect itself operation data and flight net Environmental data in network；
The unmanned plane includes：
Unmanned Aerial Vehicle Data memory module, for storing all data for updating unmanned plane self-operating；
UAV Communication module, for passing through 4G or 5G communication link, the information exchange with device node in flight network；
Unmanned plane identity response module, including unmanned plane code storage module, unmanned plane coded key module, section unmanned plane base Temporary code memory module of standing and section unmanned plane Permission Levels module, the unmanned plane code storage module, for storing more It is new to delete unmanned plane coded data；The unmanned plane coded key module, for unmanned plane coding to be encrypted or decrypted；Institute Section unmanned plane base station temporary code memory module is stated, deletes base station temporary code data for storing to update；The section without Man-machine Permission Levels module deletes section unmanned plane Permission Levels data for storing to update；
Flight path memory module, for storing and updating itself flight path.
7. a kind of a kind of blank pipe method of the civilian unmanned plane air traffic control system of distribution according to claim 1, feature exist In for managing the operation of the civilian unmanned plane in each section, and including flight authorisation step, monitoring unmanned step, illegal Unmanned plane processing step and flight path planning step.
8. blank pipe method according to claim 7, which is characterized in that the flight authorisation step includes the following steps：
One, unmanned plane during flying permission step
Step 11：Control centre obtains unmanned plane coding, the unmanned identity auditing module in the section of control centre detection section without Whether there is unmanned plane to encode relevant base station temporary code in man-machine identity integration module, thens follow the steps 3, nothing then executes step Rapid 12；
Step 12：Unmanned machine information is inquired using unmanned plane coding by control centre, and the unmanned identity auditing module decision in section is No agreement unmanned plane flies in section, agrees to flight, executes step 15-19；Disagree flight；Execute step 13-14；
Step 13：Control centre numbers unmanned plane using the unmanned identity auditing module in section and encrypts, and unmanned plane will be forbidden to fly Row and the unmanned plane of encryption, which are numbered, is sent to unmanned plane base station nearby by section operation control module；
Step 14：Base station, to unmanned plane coding is obtained after receiving data deciphering, is used using the unmanned identity integration module in base station The unmanned plane inquiry calls unmanned plane forbids it to fly in section；
Step 15：Control centre numbers unmanned plane using the unmanned identity auditing module in section and encrypts, and will have agreed to unmanned plane and flies Row and the unmanned plane of encryption, which are numbered, is sent to unmanned plane base station nearby by section operation control module；
Step 16：Base station, to unmanned plane coding is obtained after receiving data deciphering, is it using the unmanned identity integration module in base station Base station temporary code is established, using the unmanned plane inquiry calls unmanned plane, authorizes its base station temporary code；
Step 17：The unmanned plane base station temporary code is sent to control centre using base station flight network trunk module by base station；
Step 18：Control centre stores the unmanned plane base station temporary code to the unmanned fuselage of section data memory module and section Part integration module；
Step 19：Base station utilizes the unmanned plane inquiry calls unmanned plane, agrees to that it flies in section, establishes with it and directly connect It connects；
Step 3：Whether the unmanned identity auditing module judgement unmanned plane in the section of control centre flies, and agrees to, order is passed through Section operation control module is sent to base station, executes step 111；It disagrees, order is sent by section operation control module To base station, step 112 is executed；
Step 111：After base station receives control centre's order and unmanned plane base station temporary code, unmanned plane inquiry calls are used The unmanned plane agrees to that unmanned plane flies in section, authorizes base station temporary code, establish and be directly connected to it；
Step 112：After base station receives control centre's order and unmanned plane base station temporary code, unmanned plane inquiry calls are used The unmanned plane is forbidden in section unmanned plane during flying；
Two, unmanned plane during flying grade authorisation step
Step 21：Control centre is according to superior instructions or itself uses section unmanned plane authorization module, comprehensive to Unmanned Aerial Vehicle Data Unmanned plane Permission Levels in module establish or update
Step 22：Control centre uses section operation control module, and unmanned plane Permission Levels are sent to and are connect with unmanned plane Base station；
Step 23：After base station receives unmanned plane Permission Levels, the unmanned plane is called using base station flight network trunk module, is it Establish or update unmanned plane Permission Levels.
9. blank pipe method according to claim 7, which is characterized in that the monitoring unmanned step be used for it is legal nobody Machine is monitored and flight management, and includes the following steps：
Step 31：Unmanned plane of the base station using unmanned plane detecting module to base station in airspace calls；
Step 32：By the unmanned plane called by itself base station temporary code and operation data, pass through UAV Communication module It is sent to base station；
Step 33：Base station using the unmanned identity integration module in base station and base station Unmanned Aerial Vehicle Data memory module screening and update with The Unmanned Aerial Vehicle Data oneself being directly connected to, and all data are uploaded to control centre by base station flight network trunk module；
Step 34：Control centre receives data and is updated to section data memory module, section unmanned plane during flying route planning Module finds to correct flight path there are the unmanned plane of flight hazard, will correct data by section and runs control mould Block is sent to base station；
Step 35：Base station receives data, is alerted using unmanned plane detecting module the unmanned plane, corrects its flight behavior.
10. blank pipe method according to claim 7, which is characterized in that the illegal unmanned plane processing step is used for non- Method unmanned plane is judged and is handled, and is included the following steps：
Step 41：Unmanned plane of the base station using unmanned plane detecting module to base station in airspace is detected；
Step 42：Base station will count in the unmanned identity integration module of detecting result and base station and base station Unmanned Aerial Vehicle Data memory module According to comparison, unauthenticated unmanned plane is found；
Step 43：Base station calls unauthenticated unmanned plane using unmanned plane detecting module, obtains result；
Step 44：Base station will inquire that result is transmitted to control centre by base station flight network trunk module；
Step 45：Control centre uses the illegal unmanned plane identification module in section, judges the whether legal danger classes of unmanned plane； If legal, step 46-47 is executed；If illegal grade is 1, step 48-410 is executed；If illegal grade is 2, step 411- is executed 413；If illegal grade is 3, step 414-416 is executed；
Step 46：Control centre notifies the base station unmanned plane legal, and unmanned plane during flying route planning module discovery in section, which exists, to fly The dangerous legal unmanned plane of row, corrects flight path, data is sent to base station by section operation control module；
Step 47：It after base station receives data, is prompted by unmanned plane detecting module for the unmanned plane in airspace, is adjusted Related unmanned plane course line；
Step 48：Control centre notifies the base station unmanned plane illegal, but is temporarily not processed, section unmanned plane during flying route planning Module finds to correct flight path there are the legal unmanned plane of flight hazard, and data are run control mould by section Block is sent to base station；
Step 49：It after base station receives data, is prompted by unmanned plane detecting module for the unmanned plane in airspace, is adjusted Related unmanned plane course line；
Step 410：Control centre notice blank pipe personnel searching unmanned plane owner punishes it；
Step 411：Control centre notifies the base station unmanned plane illegal, interferes unmanned plane, section unmanned plane during flying route Planning module finds to correct flight path there are the legal unmanned plane of flight hazard, and data are run by section and are controlled Molding block is sent to base station；
Step 412, it after base station receives data, is prompted by unmanned plane detecting module for the unmanned plane in airspace, is adjusted Whole correlation unmanned plane course line, and force to interfere illegal unmanned plane, reduce its hazardous flight degree；
Step 413：Control centre notice blank pipe personnel searching unmanned plane owner punishes it；
Step 414：Control centre notifies the base station unmanned plane illegal, and notice blank pipe personnel take measures to it, section unmanned plane Flight path planning module finds to correct flight path there are the legal unmanned plane of flight hazard, data are passed through piece Area's operation control module is sent to base station；
Step 415：It after base station receives data, is prompted by unmanned plane detecting module for the unmanned plane in airspace, is adjusted Whole correlation unmanned plane course line, and force to interfere illegal unmanned plane, reduce its hazardous flight degree；
Step 416：Outworker takes the measures such as pressure control forced landing to illegal unmanned plane, and finds unmanned plane owner It is punished.
11. blank pipe method according to claim 7, which is characterized in that the flight path planning step for advising in advance It draws and updates unmanned plane during flying route, and include the following steps：
Step 51：Unmanned Aerial Vehicle Data in control centre's inquiry section data memory module, the unmanned identity integration module in section, By creating and correcting course line to section unmanned plane during flying authorization module and section unmanned plane during flying route planning module；
Step 52：Control centre transmits in course line after newly-built or amendment and unmanned plane temporary code by section operation control module To base station；
Step 53：After base station receives data, using unmanned plane detecting module, course line after newly-built or amendment is transmitted to unmanned plane；
Step 54：After unmanned plane receives data, using flight path memory module, itself flight path is modified in storage；
Step 55：Unmanned plane executes aerial mission.
12. a kind of blank pipe method according to claim 11, which is characterized in that flight line, which is planned, includes：It is point-to-point straight Expression patterns, the flight transfer mode beyond voyage and across section offline mode.
13. a kind of blank pipe method according to claim 12, which is characterized in that the flight under the point-to-point direct module Layout of roads includes the following steps：
Step 61：Control centre's section unmanned plane during flying route planning module judges flight initial point position, and according to starting point Position judges flying distance, and flying distance is in unmanned plane voyage；
Step 62：Control centre specifies the frame unmanned plane from the nearest base station of takeoff point and affiliated apron to take off, and passes through section Instruction is issued base station by operation control module；
Step 64, base station receives instruction, and order unmanned plane takes off；
Step 65：Unmanned plane is flown to using Beidou 7PS positioning and base station location from takeoff point according to flight path memory module Terminating point completes task, is up to information and sends the base station nearest from unmanned plane；
Step 66：The information that unmanned plane reaches is sent to by the base station nearest from unmanned plane by base station flight network trunk module Control centre；
Step 67：The section operation control module of control centre, determine unmanned plane whether backhaul, backhaul execute step 68~69, Not backhaul executes step 610-616；
Step 68：Instruction is issued nearest base station by section operation control module by control centre；
Step 69：Nearest base station takes orders, by using unmanned plane detecting module, order unmanned plane backhaul；
Step 610：Control centre is utilized to number unmanned plane using the unmanned identity auditing module in section and be encrypted, and is transported by section Encryption data is sent to nearest base station by row control module, and ordering nearest base station is that unmanned plane updates base station temporary code, and stops By the base station；
Step 611：Base station, to unmanned plane coding is obtained after receiving data deciphering, is it using the unmanned identity integration module in base station It updates base station temporary code and updates its base station temporary code using the unmanned plane inquiry calls unmanned plane；
Step 612：Updated base station temporary code is transmitted to control centre by base station flight network trunk module by base station
Step 613：Control centre receives data, updates the number of section data memory module and the unmanned identity integration module in section According to；
Step 614：The base station closing of control centre's order original link and being directly connected to for unmanned plane, pass through section for message and run Control module is sent to former link base station；
Step 615：Original link base station receives data, deletes base station unmanned plane memory module and the unmanned identity integration module in base station Base station temporary code related data, close and the connection of unmanned plane；
Step 616：Unmanned plane updates its base station temporary code, and new connection is established in base station nearby, stops nearest airport or affiliated Apron.
14. a kind of blank pipe method according to claim 13, which is characterized in that the flight transfer mode beyond voyage Under flight line planning include the following steps：
Step 71：Control centre's section unmanned plane during flying route planning module judges flight initial point position, and according to starting point Position judges that flying distance, flying distance exceed unmanned plane voyage；
Step 72：The section unmanned plane during flying route planning module of control centre is found during the base station sets near flight path are Turn base station, it is specified belonging to a frame unmanned plane be that transfer unmanned plane is awaited orders, will be during order be sent to by section operation control module Turn base station；
Step 73：Control centre specifies the frame unmanned plane from the nearest base station of takeoff point and affiliated apron to take off, and passes through section Instruction is issued base station by operation control module；
Step 74：Base station receives instruction, and order unmanned plane takes off；
Step 75：Unmanned plane is flown to using Beidou 7PS positioning and base station location from takeoff point according to flight path memory module Transfer base station and transfer unmanned plane complete transfer task, and transfer successful information is sent transfer base station；
Step 76：Transfer successful information is sent to control centre by base station flight network trunk module by transfer base station；
Step 77：The section operation control module of control centre, determine unmanned plane whether backhaul, backhaul execute step 68-69, no Backhaul executes step 610-616；
Step 78：Transfer unmanned plane is continued to complete according to flight path memory module using Beidou 7PS positioning and base station location Aerial mission sends Mission Success information from the nearest base station of unmanned plane；
Step 79：The information that unmanned plane reaches is sent to by the base station nearest from unmanned plane by base station flight network trunk module Control centre；
Step 710：The section operation control module of control centre, determine unmanned plane whether backhaul, backhaul execute step 68-69, Not backhaul executes step 610-616.
15. a kind of blank pipe method according to claim 13, which is characterized in that the flight under across the section offline mode Layout of roads includes the following steps：
Step 81：Control centre's section unmanned plane during flying route planning module judges flight initial point position, and discovery flight is across piece Area；
Step 82：Control of the control centre of section by its area's operation control module to section where takeoff point where takeoff point Center sends transregional transport request；
Step 83：Section control centre where takeoff point is specified by section operation control module from the nearest base station of takeoff point and institute The frame unmanned plane for belonging to platform takes off, and sends instructions to the nearest base station of takeoff point；
Step 84：The nearest base station of takeoff point takes orders, and by UAV Communication module, specified unmanned plane takes off；
Step 85：Section control centre where takeoff point encrypts unmanned plane using the unmanned identity auditing module in section, Control centre where unmanned plane number is sent to terminating point will be encrypted by its area's operation control module；
Step 86：Unmanned plane utilizes Beidou 7PS positioning and base station location, flight to two sections according to flight path memory module Intersection；
Step 87：Unmanned plane using unmanned plane identity response module to unmanned plane coding encrypting, by UAV Communication module to The nearest base station of distance sends transregional request and encrypted unmanned plane number in section where terminating point；
Step 88：In section where terminating point the nearest base station of distance by base station flight network trunk module by transregional request with And encryption unmanned plane number is sent to the control centre of terminating point place section；
Step 89：Section where takeoff point is proofreaded by the unmanned identity auditing module in section by section control centre where terminating point The unmanned plane number that control centre and unmanned plane are sent, verifies unmanned identity；
Step 810：If section control centre where terminating point verifies successfully, terminating point institute is specified by section operation control module The base station nearest apart from unmanned plane and unmanned plane are attached in section, execute step 811-813；If piece where terminating point Control centre of area verifies failure, is specified where terminating point in section apart from unmanned plane most by control centre's section operation control module Close base station sends to unmanned plane and verifies failure notification, executes step 814-817；
Step 811：Base station nearest apart from unmanned plane in section is built by unmanned plane inquiry module for unmanned plane where terminating point Vertical base station temporary code is established and is contacted with the direct of unmanned plane；
Step 812：Unmanned plane closing is contacted with section control centre where takeoff point, is established and section control where terminating point The communication connection at center；
Step 813：Unmanned plane enters section where terminating point, using Beidou GPS positioning and base station location, completes across section flight Task will complete mission bit stream and be sent to control centre；The section operation control module of control centre, determines whether unmanned plane returns Journey, backhaul execute step 68-69, and not backhaul executes step 610；
Step 814：After unmanned plane receives verification failure information, section where passing through specified takeoff point using UAV Communication module The middle base station nearest apart from unmanned plane sends connection failure message to control centre；
Step 815：Control centre receives message, the idle base station and its affiliated in search takeoff point section apart from unmanned plane recently Platform transmits and receives unmanned plane order to idle base station；Takeoff point control centre takes off by the way that section operation control module is specified Base station nearest apart from unmanned plane in section where point sends idle base station down position to unmanned plane and positions；
Step 816：Unmanned plane goes to the affiliated aircraft gate in idle base station, is connected by UAV Communication module to idle base station It connects, idle base station is that unmanned plane establishes base station interim identity by unmanned plane inquiry module；
Step 817：Unmanned plane reaches idle base station down position and stops charging, waits the transregional flight of next takeoff point control centre Instruction.
16. a kind of collaboration method, which is characterized in that be suitable for the civilian unmanned plane air traffic control system of distribution described in claim 1 Cooperating between civilian unmanned plane application system, and for by not homologous ray, different application and different enterprise it is civilian nobody Machine is effectively integrated, and is managed collectively, and is included the following steps：
Step 11：External unmanned plane application system proposes to be added by managing platform to unified civilian unmanned plane using interactive module Platform application；
Step 92：Unified civilian unmanned plane management platform application auditing module audits application system, disapproves addition, executes step 93；Approval is added, and executes step 94-912；
Step 93：Unified civilian unmanned plane management platform, which is utilized, not to be criticized using interactive module to external unmanned plane application system informing Calibration information；
Step 94：Unified civilian unmanned plane management platform uses flight network control module, new to specified flight network transmission The notice of application system addition air traffic control system；
Step 95：Control centre in each flight network, takes orders, to unified civilian unmanned plane management platform feedback message after to Life；
Step 96：Unified civilian unmanned plane management platform is by informing each to external unmanned plane application system using interactive module Area's auditing result；
Step 97：Unified civilian unmanned plane management platform is asked using flight network control module, is numbered according to section, order section Flight network and external unmanned plane application system are established and are cooperated；
Step 98：The control centre for receiving order is built using section unmanned plane application interactive module and external unmanned plane application system Vertical cooperation connection；
Step 99：External unmanned plane application system issues unmanned plane by section of the section unmanned plane application interactive module to connection Application request.
Step 3, section control centre receives application request, is audited using unmanned plane application auditing module；If audit passes through, Step 112 is executed, if the audit fails, executes step 113
Step 111, section control centre carries out course line rule using section unmanned plane during flying route planning module according to application requirement Draw, specified unmanned plane executes flight, and operation data result is passed through section unmanned plane application interactive module, be sent to outside nobody Machine application system；
Step 112, section control centre is sent to outside by audit failure result by section unmanned plane application interactive module Unmanned plane application system；
If unified civilian unmanned plane management platform periodically checks external unmanned plane application system, 91~912 are equally executed Step.
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