CN110503856A - Unmanned plane during flying supervisory systems and method - Google Patents
Unmanned plane during flying supervisory systems and method Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 claims abstract 6
- 238000007689 inspection Methods 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 238000012550 audit Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims description 2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/25—Integrating or interfacing systems involving database management systems
- G06F16/252—Integrating or interfacing systems involving database management systems between a Database Management System and a front-end application
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
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- G06Q50/40—
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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 belongs to unmanned plane during flying supervision area, in particular to a kind of unmanned plane during flying supervisory systems and method.System operation is respectively present three phases: the stage after flight last stage, in-flight stage, flight.Page end supervision subsystem will preset subscribed area and no-fly zone range, fly hand and applied in the flight last stage by mobile phone terminal user subsystem progress site polling and flight, avoided the occurrence of with this and disorderly fly phenomenon；The stage in unmanned plane during flying, page end supervises subsystem according to unmanned plane during flying data, early warning or warning note whether are sent based on unmanned plane during flying supervision early warning technology decision, and situations such as crossing the border, is higher, is overtime of flying can effectively be avoided by mobile phone terminal user subsystem real-time monitoring unmanned plane during flying state by flying hand；Stage after unmanned plane during flying, page end supervise subsystem and generate flight scoring report according to unmanned plane history flying quality and flight standards of grading, and winged hand can check flight scoring report by mobile phone terminal user subsystem.
Description
Technical field
The invention belongs to unmanned plane supervision area, in particular to a kind of unmanned plane during flying supervision early warning technology and unified management
System.
Background technique
Unmanned vehicle abbreviation unmanned plane (UAV) is a kind of program control for utilizing radio robot and providing for oneself
The not manned aircraft of device manipulation processed.With the gradually development that unmanned air vehicle technique is studied, manufacturing cost is greatly reduced, therefore nothing
Man-machine application gradually expands to every field by previous military field.Popular at present is a kind of small volume, spirit
The low-latitude flying unmanned plane that sensitivity is high, is easily manipulated, is widely used in performing art shooting, competitive sports relay, pesticide spraying, electricity
The fields such as power inspection, forest extinguishing.While unmanned plane provides convenient for human lives, the without supervision of unmanned plane is flown to the people
The flight order in boat field threatens.Nearly 2 years, has on the multiple airports in the whole nation and unmanned plane unrest airport clearance zone thing occurs
Part causes more flights to prolong winged, forced landing, not only affects the trip of passenger, return airport, airline brings immeasurable warp
Ji loss, the most serious is there are the risk of unmanned plane and plane collision, seriously threatens personal safety.
Undoubtedly, the unrest of unmanned plane flies to bring huge negative effect and loss to society and Civil Aviation Industry, proposes one
Kind unmanned plane during flying system for unified management is very urgent.In view of presence disorderly flies the winged hand of unmanned plane and is unaware of the flight of oneself
Behavior belongs to the phenomenon that illegal flight, it is important that winged hand is allowed to be known in advance the range in no-fly region after supervision, while
Fly to provide to fly hand during control unmanned plane and the state of flight of unmanned plane is monitored and the service of flight early warning.
Summary of the invention
The purpose of the present invention is to provide a kind of unmanned plane during flying supervision early warning technology and system for unified management, on solving
State proposed in background due to flying the unknown no-fly zone of hand, and fly hand in flight course and cannot effectively monitor the flight of unmanned plane
Range and lead to the problem of being of disorderly flying.
To achieve the above object, the invention provides the following technical scheme:
The unmanned plane during flying last stage fly hand inquiry can flight range and current no-fly zone range, and mentioned to supervisor
Hand over flight application to realize legal flight；The stage real time inspection unmanned plane during flying state in unmanned plane during flying receives page end
It supervises subsystem and the pre-warning signal obtained or alarm signal is calculated based on unmanned plane supervision early warning technology, avoid crossing flight application
Region；The stage obtains flight scoring report after unmanned plane flies, and can adjust back flying quality at any time.
It is achieved through the following technical solutions:
A kind of unmanned plane during flying supervision early warning technology and system for unified management, which is characterized in that supervise son including page end
System, mobile phone terminal user subsystem and database, database carries out data interaction for two subsystems, storage provides support, is
System operation is related to:
The unmanned plane during flying last stage；
Stage in unmanned plane during flying；
Stage after unmanned plane during flying；
The unmanned plane during flying last stage: page end supervision subsystem preset unmanned plane during flying subscribed area longitude,
The information such as latitude, height, open hour, and real-time update no-fly zone range information, can be used for subsequent winged hand by mobile phone terminal
Family subsystem inquiry can flight range, complete flight application；
Stage in unmanned plane during flying: the mobile phone terminal user subsystem can real time inspection state of flight, including working as
Longitude, latitude, flying speed, flying height, time where preceding unmanned plane, and the map of display flight early warning or flight alarm
Information, flight early warning and warning note carry out decision based on the supervision early warning technology of page end supervision subsystem；
Stage after unmanned plane during flying: according to history flying quality, page end supervises subsystem and is based on flight grading system pair
Flying quality generates corresponding flight scoring report, and flight scoring report can be looked by mobile phone terminal user subsystem by flying hand
It askes.
In addition, unmanned plane system for unified management can callback history flying quality.
Detailed description of the invention
Attached drawing is and to constitute part of specification for proposing a further understanding of the present invention, with following tool
Body embodiment is used to explain together the disclosure, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 unmanned plane system for unified management
Fig. 2 flight last stage system operational flow diagram
Fig. 3 in-flight stage system operational flow diagram
Stage system operational flow diagram after Fig. 4 flight
Fig. 5 unmanned plane supervises current unmanned plane position and application zone boundary schematic diagram in early warning technology.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation introduction.Obviously, the embodiment is only a part of the embodiment in the present invention, can not represent all embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, protection scope of the present invention is belonged to.
Content included by the present invention: a kind of unmanned plane during flying supervision early warning technology and system for unified management include two sons
It is two subsystems that system and database include page end supervision subsystem, mobile phone terminal user subsystem and cdr database
System carries out data interaction, storage provides support, collectively constitutes whole system with two subsystems.As shown in Figure 1.
It is respectively present three phases: the stage after flight last stage, in-flight stage, flight.
First stage: flight last stage unmanned plane supervises the operation of management platform system, as shown in Figure 2.
1.6 supervision unmanned plane during flyings mechanism by page end supervision subsystem to the longitude of subscribed area, latitude, can fly
Height and open hour are stated, and the longitude to current no-fly zone, latitude, no-fly height, no-fly time are updated；
1.7 subscribed areas and no-fly zone data input database；
1.8 winged hands download simultaneously query-reservation area and no-fly zone information from database by mobile phone terminal user subsystem；
1.9 winged hands mobile phone terminal user subsystem to database transmissions fly apply, including winged hand information (name,
ID card No., phone number), flight range, flight maximum height, flight time range；
1.10 supervisors supervise the flight application of subsystem from the winged hand of database downloading by page end, according to unmanned plane
Flight relevant institutions audit flight application, and the feedback information for being given by or rejecting simultaneously transmits it to database, with
Just fly hand and check flight application result.
Second stage: in-flight stage unmanned plane supervision system for unified management operation, as shown in Figure 3.
2.1 winged hands by mobile phone terminal user subsystem can unmanned plane during flying state with real time inspection based on GPS receiver, and
By state of flight information real-time synchronization to database.Wherein comprising longitude where unmanned plane, latitude, flying speed, present level,
Flight time, current time, cartographic information etc.；
2.2 supervisors supervise subsystem by page end and obtain unmanned plane during flying data in real time from database；
2.3 propose a kind of unmanned plane supervision early warning technology, based on unmanned plane during flying position (warp, latitude), flight application area
Whether domain boundary, current flight velocity information calculate and need to issue early warning or warning note.
Known application flight horizontal zone boundary (polygon, circle) longitude and latitude data (xi,yi) (i=1,2 Λ), currently
Unmanned plane position (x0,y0), current drone flying height H0(unit: m), the flying height H (unit: m) of application, maximum can
Flying speed VMax(unit: km/h).
2.3.1 current unmanned plane position (x0,y0) issue ray and application flight horizontal zone boundary (xi,yi) intersection,
It calculates intersection point number N and judges parity, if N=2K, K=0,1 Λ, then issue warning note；If N=2K+1, K=0,
1, Λ, then calculate pre-warning time t (unit: s)；
Star represents unmanned plane in Fig. 5, draws a horizontal rays by unmanned plane current location, if the ray and winged hand Shen
The number N of the point of flight horizontal zone (polygon, circle) intersection please is odd number N=2K+1, K=0,1, Λ, then this nobody
Machine belongs to legal flight inside region, further calculates the time t for needing to issue early warning；Otherwise (N=2K, K=0,1 Λ)
Unmanned plane in region exterior, need to issue warning note.
2.3.2 current drone flying height H is calculated0With the difference of the flying height H of application, if H-H0≤ 0, superelevation
Limit is spent, then issues warning note；If H-H0> 0, non-hypervelocity limit then further calculate pre-warning time t (unit: s)；
2.3.3t∈{th,tv, as t≤t0(thFor horizontal pre-warning time, tvFor vertical pre-warning time, t0For threshold value), then
Issue early warning.
Wherein, MinD ((x0,y0),(xi,yi)) (unit: km) be current unmanned plane positional distance flight boundary it is most short
Distance, if t0- t≤10 item issue three-level early warning；If t0- t≤15 item issue second level early warning；If t0- t≤20 item issue
Level-one early warning.
2.4 early warning and warning message input database.
Phase III: stage unmanned plane supervision system for unified management operation after flight, as shown in Figure 4.
3.1 supervisors supervise subsystem by page end and carry out flight scoring to winged hand state of flight, it is known that application flies
Row height H, flight time T, the number that crosses the border (alarm times) NB, then scoring of flying
Wherein, wj∈ (0,1), j=1,2,3,HhFor unmanned plane during flying maximum height (unit: m),It is winged
The row time difference multiplies (unit: min),
Wherein, t 'a、t′eRespectively at the beginning of practical flight unmanned plane and the end time, ta、teRespectively application flies
At the beginning of row unmanned plane and the end time.
3.2 flight scoring report input databases；
3.3 supervisors can be supervised subsystem and be adjusted back from database by page end flies hand history flying quality；
3.4 winged hands can be downloaded by mobile phone terminal user subsystem checks scoring report of having flown；
3.5 winged hands can adjust back my history flying quality from database by mobile phone terminal user subsystem.
Innovative point
Propose a kind of unmanned plane during flying supervision early warning technology and system for unified management, unmanned plane different from the past is black fly it is anti-
Technology processed, the present invention are reduced by information such as the ranges and open hour of statement unmanned plane during flying subscribed area and no-fly zone in advance
Unmanned plane disorderly flies phenomenon incidence.Meanwhile by crossing the border to unmanned plane during flying, higher, overtime progress early warning and warning note, have
Effect avoids the unmanned plane for flying hand unconscious generation in flight course from disorderly flying problem.Unmanned plane is appreciated more fully in order to make to fly hand
State of flight is also convenient for the flight examination and approval work of supervisor, raw based on unmanned plane history flying quality and flight scoring criterion
At flight scoring report, the flight credit worthiness of winged hand is improved, provides important leverage for safety, legal unmanned plane during flying.
Claims (6)
1. a kind of unmanned plane during flying supervisory systems, which is characterized in that supervise subsystem, mobile phone terminal user subsystem including page end
And database, database carries out data interaction for two subsystems, storage provides support, and system operation is related to:
The unmanned plane during flying last stage；
Stage in unmanned plane during flying；
Stage after unmanned plane during flying；
The unmanned plane during flying last stage: page end supervision subsystem preset the longitude of unmanned plane during flying subscribed area, latitude,
Highly, the information such as open hour, and real-time update no-fly zone range information can pass through mobile phone end subscriber subsystem for subsequent winged hand
System inquiry can flight range, complete flight application；
Stage in unmanned plane during flying: the mobile phone terminal user subsystem can real time inspection state of flight, including current nothing
Man-machine place longitude, latitude, flying speed, flying height, time, and the map letter of display flight early warning or flight alarm
Breath, flight early warning and warning note carry out decision based on the supervision early warning technology of page end supervision subsystem；
Stage after unmanned plane during flying: according to history flying quality, page end supervises subsystem and is based on flight grading system to flight
Data generate corresponding flight scoring report, and flight scoring report can be inquired by mobile phone terminal user subsystem by flying hand.
2. a kind of unmanned plane during flying monitoring and managing method realized based on claim 1 system, which is characterized in that including three phases,
The unmanned plane during flying last stage；
Stage in unmanned plane during flying；
Stage after unmanned plane during flying.
3. unmanned plane during flying monitoring and managing method as claimed in claim 2, which is characterized in that the unmanned plane during flying last stage:
1.1 supervision unmanned plane during flyings mechanism by page end supervision subsystem to the longitude of subscribed area, latitude, can flying height
And the open hour are stated, and the longitude to current no-fly zone, latitude, no-fly height, no-fly time are updated；
1.2 subscribed areas and no-fly zone data input database；
1.3 winged hands download simultaneously query-reservation area and no-fly zone information from database by mobile phone terminal user subsystem；
1.4 winged hands, which fly in mobile phone terminal user subsystem to database transmissions, to be applied, including winged hand information (name, identity
Demonstrate,prove number, phone number), flight range, flight maximum height, flight time range；
1.5 supervisors supervise the flight application of subsystem from the winged hand of database downloading by page end, according to unmanned plane during flying
Relevant institutions audit flight application, and the feedback information for being given by or rejecting simultaneously transmits it to database, to fly
Hand checks flight application result.
4. unmanned plane during flying monitoring and managing method as claimed in claim 3, which is characterized in that the stage in the unmanned plane during flying:
2.1 winged hands by mobile phone terminal user subsystem can unmanned plane during flying state with real time inspection based on GPS receiver, and will fly
Row status information real-time synchronization is to database, wherein comprising unmanned plane place longitude, latitude, flying speed, present level, having flown
Row time, current time, cartographic information etc.；
2.2 supervisors supervise subsystem by page end and obtain unmanned plane during flying data in real time from database；
2.3, based on unmanned plane during flying position (warp, latitude), flight application zone boundary, current flight velocity information, are supervised
Early warning technology carries out decision；
2.4 early warning and warning message input database.
5. unmanned plane during flying monitoring and managing method as claimed in claim 4, which is characterized in that the supervision that the step 2.4) carries out is pre-
Alert technology carries out decision:
Known application flight horizontal zone boundary (polygon, circle etc.) longitude and latitude data (xi,yi) (i=1,2 Λ), current nothing
Man-machine position (x0,y0), current drone flying height H0(unit: m), the flying height H (unit: m) of application, maximum can fly
Scanning frequency degree VMax(unit: km/h).
2.3.1 current unmanned plane position (x0,y0) issue ray and the application flight horizontal zone boundary (xi,yi) intersection,
It calculates intersection point number N and judges parity, if N=2K, K=0,1 Λ, then issue warning note；If N=2K+1, K=0,
1, Λ, then calculate pre-warning time t (unit: s)；
2.3.2 current drone flying height H is calculated0With the difference of the flying height H of application, if H-H0≤ 0, hypervelocity limits
Degree, then issue warning note；If H-H0> 0, non-hypervelocity limit then further calculate pre-warning time t (unit: s)；
2.3.3t∈{th,tv, as t≤t0(thFor horizontal pre-warning time, tvFor vertical pre-warning time, t0For threshold value), then it issues
Early warning.
Wherein, MinD ((x0,y0),(xi,yi)) (unit: km) be current unmanned plane positional distance flight boundary the shortest distance,
If t0- t≤10 item issue three-level early warning；If t0- t≤15 item issue second level early warning；If t0It is pre- that-t≤20 item issue level-one
It is alert.
6. unmanned plane during flying monitoring and managing method as claimed in claim 5, which is characterized in that the stage after the unmanned plane during flying:
3.1 pairs of winged hand state of flights carry out flight scoring, it is known that application flying height H, flight time T, (alarm is secondary for the number that crosses the border
Number) NB, then scoring of flying
Wherein, wj∈ (0,1), j=1,2,3,HhFor unmanned plane during flying maximum height (unit: m),When for flight
Between difference multiply (unit: min),
Wherein, t 'a、t′eRespectively at the beginning of practical flight unmanned plane and the end time, ta、teRespectively apply for flight nothing
At the beginning of man-machine and the end time.
3.2 flight scoring report input databases；
3.3 supervisors can be supervised subsystem and be adjusted back from database by page end flies hand history flying quality；
3.4 winged hands can be downloaded by mobile phone terminal user subsystem checks scoring report of having flown；
3.5 winged hands can adjust back my history flying quality from database by mobile phone terminal user subsystem.
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| CN112365707A (en) * | 2020-09-22 | 2021-02-12 | 合肥工业大学 | Evaluation method and system for traffic patrol service of unmanned aerial vehicle |
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| CN111780620B (en) * | 2020-06-16 | 2022-07-26 | 暨南大学 | Unmanned aerial vehicle potential threat determination method |
| CN112365707A (en) * | 2020-09-22 | 2021-02-12 | 合肥工业大学 | Evaluation method and system for traffic patrol service of unmanned aerial vehicle |
| CN113325879A (en) * | 2021-08-04 | 2021-08-31 | 中国航天空气动力技术研究院 | Aircraft airspace judgment method and device, electronic equipment and medium |
| CN113537838A (en) * | 2021-08-16 | 2021-10-22 | 上海志茗航空科技有限公司 | Product full-data intelligent management system for large-load mooring unmanned aerial vehicle |
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