CN111028549A - Automatic monitoring and approving system and method for civil light unmanned aerial vehicle flight - Google Patents
Automatic monitoring and approving system and method for civil light unmanned aerial vehicle flight Download PDFInfo
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- G08G5/003—Flight plan management
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G5/0073—Surveillance aids
- G08G5/0082—Surveillance aids for monitoring traffic from a ground station
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The invention discloses a civil light unmanned aerial vehicle flight automatic supervision and approval system and a method, and belongs to the field of unmanned aerial vehicle supervision. The method comprises the following steps: the civil light unmanned aerial vehicle is suitable for flying the automatic approval process of airspace flight; managing and controlling an airspace flight approval process by the civil light and micro unmanned aerial vehicle; the civil light and micro unmanned aerial vehicle real-time flight dynamic monitoring process. The invention organically combines the flight users, airspace management and public safety management of the unmanned aerial vehicle, divides the flight comprehensive supervision system of the unmanned aerial vehicle into a user service subsystem, an airspace management subsystem, a public safety management subsystem and a flight information service subsystem, establishes an automatic and manual approval method, and meets the requirements of flight comprehensive supervision business of the unmanned aerial vehicle, such as rapid flight approval, real-time flight path visibility, rapid control and verification, comprehensive information release and the like.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle supervision, and particularly relates to an automatic supervision and approval system and method for civil light unmanned aerial vehicle flight.
Background
The civil light unmanned aerial vehicle flight integrated management and service elements generally comprise:
the user:
mainly comprises unmanned aerial vehicle flying personal users and commercial operators. Wherein, the individual users comprise unmanned aerial vehicle users of entertainment, sports, aerial photography and the like; commercial operators mainly comprise unmanned aerial vehicle users or use units such as sports, aerial photography, agricultural plant protection, logistics transportation, patrol, search and repair, performance demonstration, movie and television production and the like.
Unmanned aerial vehicle:
according to the 'temporary flight management regulations of unmanned aircrafts' drafted by the office of the State air traffic control Committee, the unmanned aerial vehicle is divided into three types, namely two-stage five types, and the unmanned aerial vehicle is suitable for the civil light unmanned aerial vehicle.
And (3) airspace:
according to the flight range and the height of the civil light and micro unmanned aerial vehicle, the civil light and micro unmanned aerial vehicle is divided into a suitable flight airspace and a control airspace, and the airspace division and the range are provided by an airspace management department. The civil light and micro unmanned aerial vehicle flies in the suitable flight airspace, and a user only reports flight position information and unmanned aerial vehicle identity information without applying for a flight plan; the civil light and micro unmanned aerial vehicle flies in a control airspace, and a user must apply for a flight plan and a flying application in advance and can fly after approval.
At present, no method for carrying out supervision and approval by combining the comprehensive management and service elements exists, so that the civil light unmanned aerial vehicle can be comprehensively supervised and managed in a targeted manner.
Disclosure of Invention
In order to solve the problems, the invention provides a civil light unmanned aerial vehicle flight automatic supervision and approval system and a method, which organically combine unmanned aerial vehicle flight users, airspace management and public safety management, divide the unmanned aerial vehicle flight comprehensive supervision into a user service subsystem, an airspace management subsystem, a public safety management subsystem and a flight information service subsystem, establish an approval flight method, and meet the requirements of unmanned aerial vehicle flight comprehensive supervision services such as quick flight approval, flight path real-time visibility, control and quick verification, comprehensive information release and the like.
According to a first aspect of the invention, there is provided a method for automatic supervision and approval of flight of a civil light unmanned aerial vehicle, the method comprising:
the civil slight unmanned aerial vehicle is suitable for flying the automatic approval process of airspace flight: the civil light and micro unmanned aerial vehicle flies in the flight-suitable airspace without examining and approving a flight plan, only needs to send the real-time position of the unmanned aerial vehicle and the identity information of the unmanned aerial vehicle and check, and gives a flight alarm of a control airspace and a prompt for applying the flight plan if the civil light and micro unmanned aerial vehicle does not fly in the flight-suitable airspace; if the unmanned aerial vehicle flies in the suitable flying airspace, the real-time flying position of the recorded unmanned aerial vehicle and the identity verification result of the unmanned aerial vehicle are automatically recorded;
the civil light and micro unmanned aerial vehicle control airspace flight approval process comprises the following steps: submitting flight plan information, checking and evaluating the flight plan information, and carrying out flight plan examination and approval according to the checking and evaluating result, the flight plan information and the airspace operation condition, if the flight plan examination and approval is passed, submitting a flying application and carrying out examination and approval, if the flying application examination and approval is passed, giving a flying command and automatically recording and filing the flying time of the unmanned aerial vehicle and the flying real-time position of the unmanned aerial vehicle;
the civil light and micro unmanned aerial vehicle real-time flight dynamic monitoring process comprises the following steps: according to the real-time dynamic position information provided by the unmanned aerial vehicle, the public safety management rule and the civil aviation operation management rule are combined to perform civil aviation warning information/warning event release judgment and public security warning information/warning event release judgment, and according to the real-time dynamic position information, airspace warning information/warning event release judgment is performed.
Further, the method utilizes a civil light and micro unmanned aerial vehicle flight comprehensive supervision system to carry out unmanned aerial vehicle flight approval, and the system comprises a user service subsystem, an airspace management subsystem, a public safety management subsystem and a flight information service subsystem.
Further, the automatic approval process of the civil light unmanned aerial vehicle suitable for flying in the airspace specifically comprises the following steps:
the unmanned aerial vehicle flight controller sends a takeoff command moment to the unmanned aerial vehicle, and the unmanned aerial vehicle automatically sends the real-time position of the unmanned aerial vehicle to the flight controller;
the flight controller automatically sends the real-time position of the unmanned aerial vehicle and identity information of the unmanned aerial vehicle to the flight information service subsystem through the user service subsystem;
the flight information service subsystem automatically and simultaneously sends the real-time position of the unmanned aerial vehicle and the identity information of the unmanned aerial vehicle to the public safety management subsystem and the airspace management subsystem;
the public safety management subsystem checks whether the identity of the unmanned aerial vehicle is legal or not, and sends the checking result of the identity of the unmanned aerial vehicle to the flight information service subsystem, and the flight information service subsystem automatically sends the checking result to the user service subsystem and the airspace management subsystem;
the airspace management subsystem automatically judges whether the unmanned aerial vehicle flies in the suitable flying airspace according to the real-time position of the unmanned aerial vehicle, if the unmanned aerial vehicle does not fly in the suitable flying airspace, gives a control airspace flight alarm and a prompt for applying a flight plan, and sends the control airspace flight alarm and the prompt to the user service subsystem through the flight information service subsystem for displaying; if the unmanned aerial vehicle flies in the suitable flying airspace, the airspace management subsystem automatically records the real-time flying position of the recorded unmanned aerial vehicle and the identity checking result of the unmanned aerial vehicle;
the unmanned aerial vehicle automatically sends real-time position information and landing dynamic state of the unmanned aerial vehicle to the flight controller at the moment when the flight controller sends a landing command to the unmanned aerial vehicle, and the flight controller automatically sends the real-time position and landing dynamic state of the unmanned aerial vehicle to the flight information service subsystem through the user service subsystem;
the flight information service subsystem automatically sends the real-time position and landing dynamic state of the unmanned aerial vehicle to the airspace management subsystem, and the airspace management subsystem automatically records and records the landing time of the unmanned aerial vehicle and the flight real-time position of the unmanned aerial vehicle.
Further, the identity information of the unmanned aerial vehicle is arranged in the flight controller.
Further, the public safety management subsystem checks whether the identity of the unmanned aerial vehicle is legal or not through comparison of database information of the public safety management subsystem.
Further, civil light and miniature unmanned aerial vehicle management and control airspace flight approval process includes:
the user submits flight plan information through the user subsystem to apply for a flight plan and sends the flight plan information to the flight information service subsystem;
the flight information service subsystem automatically sends flight plan information to the public safety management subsystem and the airspace management subsystem;
the public safety management subsystem checks and evaluates the flight plan information and sends a checking and evaluating result to the flight information service subsystem;
the flight information service subsystem automatically sends the checking and evaluating result to the user service subsystem and the airspace management subsystem;
the airspace management subsystem carries out examination and approval according to the checking and evaluating result, the flight plan information and the airspace operation condition, and sends the flight plan examination and approval result to the user service subsystem through the flight information service subsystem;
if the flight plan is not approved, the process is ended; if the flight plan passes the examination and approval, the user service subsystem reports the release application at the moment before the flight, the release application is sent to the airspace management subsystem through the flight information service subsystem, and after the flight plan is examined and approved by the airspace management subsystem, the release examination and approval result is sent to the user service subsystem through the flight information service subsystem;
if the flying application examination and approval is not passed, the process is ended; if the flying application approval passes, the unmanned aerial vehicle flight controller sends a flying command moment to the unmanned aerial vehicle, the unmanned aerial vehicle automatically sends the real-time position information of the unmanned aerial vehicle to the flight controller, and the flight controller automatically sends the real-time position and the flying dynamic state of the unmanned aerial vehicle to the flight information service subsystem through the user service subsystem;
the flight information service subsystem automatically sends the real-time position and the take-off dynamic state of the unmanned aerial vehicle to the airspace management subsystem;
the airspace management subsystem automatically records and records the takeoff time of the unmanned aerial vehicle and the flight real-time position of the unmanned aerial vehicle;
the unmanned aerial vehicle automatically sends real-time position information of the unmanned aerial vehicle to the flight controller from the moment when the flight controller sends a landing command to the unmanned aerial vehicle, and the flight controller automatically sends the real-time position and landing dynamic state of the unmanned aerial vehicle to the flight information service subsystem through the user service subsystem;
the flight information service subsystem automatically sends the real-time position and landing dynamic state of the unmanned aerial vehicle to the airspace management subsystem, and the airspace management subsystem automatically records and records the landing time of the unmanned aerial vehicle and the flight real-time position of the unmanned aerial vehicle.
Further, the flight plan information includes: flight time, flight range, flight altitude, enterprise identity, flyer identity, unmanned aerial vehicle identity information.
Further, the checking and evaluating of the flight plan information by the public safety management subsystem specifically includes: the public safety management subsystem compares and checks whether the enterprise identity and the flyer identity of the unmanned aerial vehicle accord with the flight qualification or not through the database information of the public safety management subsystem; the identity of the unmanned aerial vehicle and the identity of the flying hand are checked to be legal or not through the information comparison of the self database; through flight time, flight range, flight height and self database information, the influence that unmanned aerial vehicle flight will produce to civil aviation operation safety is aassessment.
Further, the civil light and micro unmanned aerial vehicle real-time flight dynamic monitoring process comprises the following steps:
the unmanned aerial vehicle flight controller continuously and automatically sends real-time dynamic position information of the unmanned aerial vehicle to the flight controller from the moment when the unmanned aerial vehicle flight controller sends a takeoff command to the unmanned aerial vehicle;
the flight controller automatically sends real-time dynamic position information of the unmanned aerial vehicle to the flight information service subsystem every 1 second through the user service subsystem;
the flight information service subsystem simultaneously sends real-time dynamic position information of the unmanned aerial vehicle to the user service subsystem, the public safety management subsystem and the airspace management subsystem and displays the information;
the public safety management subsystem carries out civil aviation warning information/warning event issuing judgment and public safety warning information/warning event issuing judgment according to real-time dynamic position information of the unmanned aerial vehicle, public safety management rules and civil aviation operation management rules, and generates warning information or warning events according to the influence degree;
and the airspace management subsystem performs civil aviation alarm information/alarm event release judgment and public security alarm information/alarm event release judgment according to the real-time dynamic position information of the unmanned aerial vehicle, and generates alarm information or alarm events according to the influence degree.
Further, the generating of the alarm information or the generating of the alarm event by the public safety management subsystem according to the influence degree specifically includes: the method comprises the steps of carrying out manual or system automatic judgment according to real-time dynamic position information of the unmanned aerial vehicle, public safety management rules and civil aviation operation management rules, grading the influence degree of the real-time dynamic position of the unmanned aerial vehicle, dividing the real-time dynamic position of the unmanned aerial vehicle into low-level dynamic state with lower influence degree and high-level dynamic state with higher influence degree, generating alarm information aiming at the low-level dynamic state, sending the alarm information to a user service subsystem and an airspace management subsystem, and generating alarm events aiming at the high-level dynamic state, and sending the alarm events to the public safety.
Further, the generating of the alarm information or the alarm event by the airspace management subsystem according to the influence degree specifically includes: if the real-time flight exceeds the range of the flight plan, the flight information service subsystem collects and distributes a user service subsystem, a public safety management subsystem and an airspace management subsystem for displaying, generates an alarm event for behaviors with serious influences, and sends the alarm event to the public safety management subsystem for disposal and release.
According to a second aspect of the present invention, there is provided an automatic supervision and approval system for the flight of a civil light unmanned aerial vehicle, characterized in that it is adapted to implement the method according to one of the above aspects, and it comprises:
the user service subsystem is used for automatically reporting flight report information, applying a flight plan, applying for flying, displaying flight dynamic and prompting alarm information;
the airspace management subsystem is used for recording a flight plan, examining and approving the flying, dynamically monitoring the flight and issuing airspace alarm events;
a public safety management system comprising: the system comprises a civil aviation terminal and a public security terminal, wherein the civil aviation terminal is used for civil aviation business safety evaluation, human-computer enterprise qualification inspection, flight dynamic monitoring, civil aviation warning information release and civil aviation warning event release, and the public security terminal is used for personnel safety inspection, public safety warning information, public safety warning event release and warning event disposal;
and the flight information service subsystem is used for a channel for information transmission between a civil light unmanned aerial vehicle flight user and the airspace management subsystem and the public safety management subsystem, and provides related information services.
The invention has the beneficial effects that:
the invention relates to a comprehensive monitoring method for civil light unmanned aerial vehicle flight, which is designed by taking unmanned aerial vehicle flight management and service as the core and taking a user, an unmanned aerial vehicle and an airspace as management and service elements.
Drawings
Fig. 1 shows a flow chart of an automatic supervision and approval method for flight of a civil light micro unmanned aerial vehicle according to the invention;
FIG. 2 shows a flow chart of automatic recovery of the civil light and micro unmanned aerial vehicle in flight space according to an embodiment of the invention;
fig. 3 shows a flow chart of the civil light and micro unmanned aerial vehicle management and control airspace flight approval according to the embodiment of the invention;
fig. 4 shows a flow chart of real-time flight dynamic monitoring of the civil light micro unmanned aerial vehicle according to the embodiment of the invention.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that technical features or combinations of technical features described in the following embodiments should not be considered as being isolated, and they may be combined with each other to achieve better technical effects. In the drawings of the embodiments described below, the same reference numerals appearing in the respective drawings denote the same features or components, and may be applied to different embodiments.
The invention provides a method for automatically supervising and approving the flight of a civil light unmanned aerial vehicle, which depends on a comprehensive supervising system for the flight of the civil light unmanned aerial vehicle, the system comprises a user service subsystem, an airspace management subsystem, a public safety management subsystem and a flight information service subsystem,
as shown in fig. 1, the method for automatically supervising and approving the flight of the civil light and micro unmanned aerial vehicle comprises the following steps:
the civil slight unmanned aerial vehicle is suitable for flying the automatic approval process of airspace flight:
the civil light and micro unmanned aerial vehicle flies in the suitable flight airspace without examining and approving a flight plan, and only the flight real-time position and the identity information of the unmanned aerial vehicle are automatically reported. Unmanned aerial vehicle flight controller sends the command moment of taking off to unmanned aerial vehicle, pass through the control link between unmanned aerial vehicle and the flight controller by unmanned aerial vehicle, send unmanned aerial vehicle real-time position information to the flight controller automatically, the flight controller passes through cell-phone APP, computer website, unmanned aerial vehicle cloud service etc. that network connection user service subsystem provided, automatic unmanned aerial vehicle real-time position of sending and the built-in unmanned aerial vehicle identity information of flight control to the flight information service subsystem. The flight information service subsystem automatically sends the real-time position and the identity information of the unmanned aerial vehicle to the public safety management subsystem and the airspace management subsystem at the same time. The public safety management subsystem checks whether the identity of the unmanned aerial vehicle is legal or not through the information comparison of the database of the public safety management subsystem, the unmanned aerial vehicle identity checking result is sent to the flight information service subsystem, and the flight information service subsystem automatically sends the checking result to the user service subsystem and the airspace management subsystem. The airspace management subsystem automatically judges whether the unmanned aerial vehicle flies in the flight-suitable airspace according to the real-time takeoff position of the unmanned aerial vehicle, gives a flight alarm of a control airspace (namely outside the flight-suitable airspace) and a prompt for applying a flight plan for the requirement when the unmanned aerial vehicle does not fly in the flight-suitable airspace, and sends the flight alarm to the user service subsystem through the flight information service subsystem for displaying; and automatically recording the real-time flight position of the recorded unmanned aerial vehicle and the identity checking result of the unmanned aerial vehicle for a flight airspace management subsystem in the suitable flight airspace. Unmanned aerial vehicle flight controller sends the descending command moment to unmanned aerial vehicle, pass through the control link between unmanned aerial vehicle and the flight controller by unmanned aerial vehicle, send unmanned aerial vehicle real-time position information and descending developments to the flight controller automatically, the flight controller passes through the cell-phone APP that network connection user service subsystem provided, the computer website, unmanned aerial vehicle cloud service etc. and to the automatic unmanned aerial vehicle real-time position of sending of flight information service subsystem and descending developments. The flight information service subsystem automatically sends the real-time position and landing dynamic state of the unmanned aerial vehicle to the airspace management subsystem. And the airspace management subsystem automatically records the landing time of the unmanned aerial vehicle and the flight real-time position of the unmanned aerial vehicle.
The civil light and micro unmanned aerial vehicle control airspace flight approval process comprises the following steps:
the civil light and micro unmanned aerial vehicle flies in a control airspace and needs to be examined and approved by a flight plan. The civil light and micro unmanned aerial vehicle personal user or enterprise user applies for flight plan at a mobile phone APP, a computer website, unmanned aerial vehicle cloud service and the like provided by a user subsystem, fills information such as flight time, flight range, identity of a flyer, identity of an unmanned aerial vehicle and the like, sends the information to a flight information service subsystem after confirmation, and the flight information service subsystem automatically sends the flight plan application to a public safety management subsystem and an airspace management subsystem. The public safety management subsystem compares and checks whether the enterprise identity and the flier identity accord with the flight qualification or not through the database information of the public safety management subsystem; the identity of the unmanned aerial vehicle and the identity of the flying hand are checked to be legal or not through the information comparison of the self database; the influence of the unmanned aerial vehicle flying on the civil aviation operation safety is evaluated through the flying time, the flying range and the self database information, the checking result and the evaluation result are sent to the flying information service subsystem, and the flying information service subsystem automatically sends the checking result and the evaluation result to the user service subsystem and the airspace management subsystem. And the airspace management subsystem carries out manual examination and approval according to the checking result and the evaluation result as well as the flight plan and the airspace operation condition, and sends the flight plan examination and approval result to the user service subsystem through the flight information service subsystem. And the flight plan approves the passing flight, a flying application is filled in through the user service subsystem at the moment before the flight, the flying application is sent to the airspace management subsystem through the flight information service subsystem, and after the flying application is manually approved by the airspace management subsystem, the flying application approval result is sent to the user service subsystem through the flight information service subsystem. The fly-away application may begin flying upon approval. Unmanned aerial vehicle flight controller sends the command moment of taking off to unmanned aerial vehicle, passes through the control link between unmanned aerial vehicle and the flight controller by unmanned aerial vehicle, sends unmanned aerial vehicle real-time position information to the flight controller automatically, and the flight controller passes through cell-phone APP, computer website, unmanned aerial vehicle cloud service etc. that network connection user service subsystem provided, and to the automatic unmanned aerial vehicle real-time position of sending of flight information service subsystem and the developments of taking off. The flight information service subsystem automatically sends the real-time position and the take-off dynamic state of the unmanned aerial vehicle to the airspace management subsystem. And the airspace management subsystem automatically records the takeoff time of the unmanned aerial vehicle and the flight real-time position of the unmanned aerial vehicle. The unmanned aerial vehicle flight controller sends the descending command to unmanned aerial vehicle and plays the command moment, passes through the control link between unmanned aerial vehicle and the flight controller by unmanned aerial vehicle, sends unmanned aerial vehicle real-time position information to the flight controller automatically, and the flight controller passes through cell-phone APP, computer website, unmanned aerial vehicle cloud service etc. that network connection user service subsystem provided, sends unmanned aerial vehicle real-time position and descending developments to the flight information service subsystem is automatic. The flight information service subsystem automatically sends the real-time position and landing dynamic state of the unmanned aerial vehicle to the airspace management subsystem. And the airspace management subsystem automatically records the landing time of the unmanned aerial vehicle and the flight real-time position of the unmanned aerial vehicle.
The civil light and micro unmanned aerial vehicle real-time flight dynamic monitoring process comprises the following steps:
the civil light and micro unmanned aerial vehicle dynamically monitors the flight in real time. The unmanned aerial vehicle flight controller sends the command of taking off to unmanned aerial vehicle and plays the command moment, passes through the control link between unmanned aerial vehicle and the flight controller by unmanned aerial vehicle, and the real-time dynamic positional information of unmanned aerial vehicle is sent to the flight controller in succession automatically, and the flight controller passes through the cell-phone APP that network connection user service subsystem provided, computer website, unmanned aerial vehicle cloud service etc. to flight information service subsystem fixed time interval automatic sending unmanned aerial vehicle real-time dynamic positional information. And the flight information service subsystem simultaneously sends and displays the real-time dynamic position information of the unmanned aerial vehicle to the user service subsystem, the public safety management subsystem and the airspace management subsystem. The public safety management subsystem generates an alarm for real-time flight of the unmanned aerial vehicle influencing public safety and civil aviation operation safety according to real-time dynamic position information of the unmanned aerial vehicle, a public safety management rule and a civil aviation operation management rule, sends the alarm to the user service subsystem and the airspace management subsystem, generates an alarm event for behaviors seriously influenced, and sends the alarm event to the public safety management subsystem for disposal and release. The airspace management subsystem gives an alarm for real-time flight of the unmanned aerial vehicle which exceeds the suitable flight airspace range and is not approved by a flight plan and a release application; and giving an alarm when the real-time flight of the unmanned aerial vehicle exceeds the range of the flight plan although approval agreement of the flight plan and the release application is obtained, sending the alarm to a user service subsystem and a public safety management subsystem, generating an alarm event for the action which seriously affects, and sending the alarm event to the public safety management subsystem for disposal and release.
Example 1
The automatic flight supervision and approval system for the civil light and micro unmanned aerial vehicle comprises:
user service subsystem
The user carries out automatic reporting of flight provision information, application of a flight plan, application of flying, dynamic display of flight, prompt of alarm information and the like through the user service subsystem, and related services can be provided by a mobile phone APP, a computer website or an unmanned aerial vehicle commercial cloud.
Airspace management subsystem
The military aviation air management department is mainly responsible for carrying out flight plan filing, flight plan examination and approval, flying off examination and approval, dynamic flight monitoring, airspace alarm information and alarm event release.
Public safety management system
The system is mainly responsible for civil aviation and public security related departments and mainly carries out civil aviation business safety evaluation, human-computer enterprise qualification verification, flight dynamic monitoring, civil aviation alarm information release, civil aviation alarm event release, personnel safety verification, public safety alarm information, public safety alarm event release and alarm event handling; .
Flight information service subsystem
The information transmission channel is used as a channel for information transmission between the civil light unmanned aerial vehicle flight user and airspace management and public safety management, and related information services are provided.
The civil light and micro unmanned aerial vehicle flight comprehensive supervision method comprises the following three parts:
automatic reporting method for civil light unmanned aerial vehicle flying-suitable airspace flight
The specific flow is shown in fig. 2, the civil light unmanned aerial vehicle flying user does not need to apply for a flight plan, the user service subsystem automatically reports information such as flight position and unmanned identity to the public safety management subsystem and the airspace management subsystem during flying, the public safety management subsystem strips information such as unmanned identity from the reported information to check the qualification and personnel safety of the human-computer enterprise, the check result is fed back to the user service subsystem and the airspace management subsystem, the airspace management subsystem judges whether the unmanned aerial vehicle is in the flying space according to the flight position and the check information which are automatically reported, and if the unmanned aerial vehicle is not in the flying space, the airspace flight control warning and the flight plan application prompt which need to be carried out are given to the user service subsystem.
Civil light and micro unmanned aerial vehicle control airspace flight approval method
The specific flow is shown in fig. 3, the civil light and micro unmanned aerial vehicle controls airspace flight, a user needs to submit a flight plan application, a user service subsystem submits flight plan information to a public safety management subsystem and an airspace management subsystem, the public safety management system evaluates the safety influence of civil aviation business, checks the qualification of human-computer enterprises and checks the safety of personnel, evaluation results and safety check results are fed back to the user service subsystem and the airspace management system, and the airspace management subsystem manually examines and approves the flight plan by combining the evaluation results, the safety check results and the airspace use conditions. After the flight plan passes the examination and approval, the user service subsystem submits the application for flying, after the examination and approval of the airspace management subsystem, the flight can be started, and the user service subsystem automatically reports the dynamic information of taking off, landing and the like.
Real-time flight dynamic monitoring method for civil light and micro unmanned aerial vehicle
The specific flow is shown in fig. 4, the civil light and micro unmanned aerial vehicle automatically reports real-time dynamic information by the user service subsystem whether flying in the suitable flight space or the limited flight space, the public safety management subsystem and the space management subsystem issue civil aviation business safety alarm, public safety alarm, space usage alarm and other information according to related rules, the public safety management subsystem and the space management subsystem can manually judge whether the civil light and micro unmanned aerial vehicle is upgraded to an alarm event, if the civil light and micro unmanned aerial vehicle is upgraded to the alarm event, the public safety management subsystem issues disposal information to the related systems, and the disposal is performed by a public security department.
While several embodiments of the present invention have been presented herein, it will be appreciated by those skilled in the art that changes may be made to the embodiments herein without departing from the spirit of the invention. The above examples are merely illustrative and should not be taken as limiting the scope of the invention.
Claims (10)
1. A civil light unmanned aerial vehicle flight automatic supervision and approval method is characterized in that a civil light micro unmanned aerial vehicle flight comprehensive supervision system is used for carrying out unmanned aerial vehicle flight supervision, the system comprises a user service subsystem, an airspace management subsystem, a public safety management subsystem and a flight information service subsystem,
the method specifically comprises the following steps:
aiming at the automatic approval of the civil light unmanned aerial vehicle for flying in the suitable flying airspace, the civil light micro unmanned aerial vehicle does not need to carry out flight plan approval when flying in the suitable flying airspace, and only needs to check the real-time position of the unmanned aerial vehicle and the identity information of the unmanned aerial vehicle through a public safety management subsystem and/or an airspace management subsystem, if the civil light micro unmanned aerial vehicle does not fly in the suitable flying airspace, the airspace management subsystem gives a control airspace flight alarm and prompts for flight plan application; if the unmanned aerial vehicle flies in the suitable flying airspace, the airspace management subsystem automatically records the real-time flying position of the recorded unmanned aerial vehicle and the identity checking result of the unmanned aerial vehicle;
for the civil light unmanned aerial vehicle control airspace flight approval, the flight plan information is submitted and checked and evaluated through a public safety management subsystem, the airspace management subsystem carries out flight plan approval according to the checking evaluation result, the flight plan information and the airspace operation condition, if the flight plan approval passes, the release application is submitted and approved through the airspace management subsystem, and if the release application approval passes, an unmanned aerial vehicle flight controller gives a take-off command and automatically records and records the take-off time of the unmanned aerial vehicle and the real-time flight position of the unmanned aerial vehicle through the airspace management subsystem;
aiming at the real-time flight dynamic monitoring of the civil light unmanned aerial vehicle, the public safety management subsystem is used for carrying out civil aviation warning information/warning event release judgment and public safety warning information/warning event release judgment by combining the public safety management rule and the civil aviation operation management rule according to the real-time dynamic position information provided by the unmanned aerial vehicle, and the airspace management subsystem is used for carrying out airspace warning information/warning event release judgment according to the real-time dynamic position information.
2. The method for automatic supervision and approval of civil light and miniature unmanned aerial vehicle flight according to claim 1, wherein the automatic approval of civil light and miniature unmanned aerial vehicle flight in suitable airspace specifically comprises:
the unmanned aerial vehicle flight controller sends a takeoff command moment to the unmanned aerial vehicle, and the unmanned aerial vehicle automatically sends the real-time position of the unmanned aerial vehicle to the flight controller;
the flight controller automatically sends the real-time position of the unmanned aerial vehicle and identity information of the unmanned aerial vehicle to the flight information service subsystem through the user service subsystem;
the flight information service subsystem automatically and simultaneously sends the real-time position of the unmanned aerial vehicle and the identity information of the unmanned aerial vehicle to the public safety management subsystem and the airspace management subsystem;
the public safety management subsystem checks whether the identity of the unmanned aerial vehicle is legal or not, and sends the checking result of the identity of the unmanned aerial vehicle to the flight information service subsystem, and the flight information service subsystem automatically sends the checking result to the user service subsystem and the airspace management subsystem;
the airspace management subsystem automatically judges whether the unmanned aerial vehicle flies in the suitable flying airspace according to the real-time position of the unmanned aerial vehicle, if the unmanned aerial vehicle does not fly in the suitable flying airspace, gives a control airspace flight alarm and a prompt for applying a flight plan, and sends the control airspace flight alarm and the prompt to the user service subsystem through the flight information service subsystem for displaying; if the unmanned aerial vehicle flies in the suitable flying airspace, the airspace management subsystem automatically records the real-time flying position of the recorded unmanned aerial vehicle and the identity checking result of the unmanned aerial vehicle;
the unmanned aerial vehicle automatically sends real-time position information and landing dynamic state of the unmanned aerial vehicle to the flight controller at the moment when the flight controller sends a landing command to the unmanned aerial vehicle, and the flight controller automatically sends the real-time position and landing dynamic state of the unmanned aerial vehicle to the flight information service subsystem through the user service subsystem;
the flight information service subsystem automatically sends the real-time position and landing dynamic state of the unmanned aerial vehicle to the airspace management subsystem, and the airspace management subsystem automatically records and records the landing time of the unmanned aerial vehicle and the flight real-time position of the unmanned aerial vehicle.
3. The method for automatic supervision and approval of civil light and miniature unmanned aerial vehicle according to claim 2, wherein the public safety management subsystem checks whether the identity of the unmanned aerial vehicle is legal through self database information comparison.
4. The method according to claim 1, wherein the automatic supervision and approval of the civil light and micro unmanned aerial vehicle comprises:
the user submits flight plan information through the user subsystem to apply for a flight plan and sends the flight plan information to the flight information service subsystem;
the flight information service subsystem automatically sends flight plan information to the public safety management subsystem and the airspace management subsystem;
the public safety management subsystem checks and evaluates the flight plan information and sends a checking and evaluating result to the flight information service subsystem;
the flight information service subsystem automatically sends the checking and evaluating result to the user service subsystem and the airspace management subsystem;
the airspace management subsystem carries out manual examination and approval according to the checking and evaluating result, the flight plan information and the airspace operation condition, and sends the flight plan examination and approval result to the user service subsystem through the flight information service subsystem;
if the flight plan is not approved, the process is ended; if the flight plan passes the examination and approval, the user service subsystem reports the release application at the moment before the flight, the release application is sent to the airspace management subsystem through the flight information service subsystem, and after the flight plan is examined and approved by the airspace management subsystem, the release examination and approval result is sent to the user service subsystem through the flight information service subsystem;
if the flying application examination and approval is not passed, the process is ended; if the flying application approval passes, the unmanned aerial vehicle flight controller sends a flying command moment to the unmanned aerial vehicle, the unmanned aerial vehicle automatically sends the real-time position information of the unmanned aerial vehicle to the flight controller, and the flight controller automatically sends the real-time position and the flying dynamic state of the unmanned aerial vehicle to the flight information service subsystem through the user service subsystem;
the flight information service subsystem automatically sends the real-time position and the take-off dynamic state of the unmanned aerial vehicle to the airspace management subsystem;
the airspace management subsystem automatically records and records the takeoff time of the unmanned aerial vehicle and the flight real-time position of the unmanned aerial vehicle;
the unmanned aerial vehicle automatically sends real-time position information of the unmanned aerial vehicle to the flight controller from the moment when the flight controller sends a landing command to the unmanned aerial vehicle, and the flight controller automatically sends the real-time position and landing dynamic state of the unmanned aerial vehicle to the flight information service subsystem through the user service subsystem;
the flight information service subsystem automatically sends the real-time position and landing dynamic state of the unmanned aerial vehicle to the airspace management subsystem, and the airspace management subsystem automatically records and records the landing time of the unmanned aerial vehicle and the flight real-time position of the unmanned aerial vehicle.
5. The civil light unmanned aerial vehicle flight automatic supervision approval method according to claim 4, wherein the flight plan information comprises: flight time, flight range, flight altitude, enterprise identity, flyer identity, unmanned aerial vehicle identity information.
6. The method for automatic supervision and approval of civil light and micro unmanned aerial vehicle flight according to claim 5, wherein the checking and evaluation of flight plan information by the public safety management subsystem specifically comprises: the public safety management subsystem compares and checks whether the enterprise identity and the flyer identity of the unmanned aerial vehicle accord with the flight qualification or not through the database information of the public safety management subsystem; the identity of the unmanned aerial vehicle and the identity of the flying hand are checked to be legal or not through the information comparison of the self database; through flight time, flight range, flight height and self database information, the influence that unmanned aerial vehicle flight will produce to civil aviation operation safety is aassessment.
7. The method for automatic supervision and approval of civil light and micro unmanned aerial vehicle flight according to claim 1, wherein the real-time flight dynamic monitoring of civil light and micro unmanned aerial vehicle comprises:
the unmanned aerial vehicle flight controller continuously and automatically sends real-time dynamic position information of the unmanned aerial vehicle to the flight controller from the moment when the unmanned aerial vehicle flight controller sends a takeoff command to the unmanned aerial vehicle;
the flight controller automatically sends real-time dynamic position information of the unmanned aerial vehicle to the flight information service subsystem every 1 second through the user service subsystem;
the flight information service subsystem simultaneously sends real-time dynamic position information of the unmanned aerial vehicle to the user service subsystem, the public safety management subsystem and the airspace management subsystem and displays the information;
the public safety management subsystem and the airspace management subsystem perform civil aviation alarm information/alarm event release judgment and public security alarm information/alarm event release judgment, and generate alarm information or alarm events according to the influence degree.
8. The method according to claim 7, wherein the public safety management subsystem performs civil aviation warning information/warning event issuing judgment and public safety warning information/warning event issuing judgment according to real-time dynamic position information of the UAV, public safety management rules and civil aviation operation management rules, and generates warning information or warning events according to the degree of influence.
9. The method according to claim 7, wherein the airspace management subsystem performs civil aviation warning information/warning event issuing judgment and public security warning information/warning event issuing judgment according to the real-time dynamic position information of the unmanned aerial vehicle, and generates warning information or warning events according to the degree of influence.
10. An automatic supervision and approval system for the flight of a civil light unmanned aerial vehicle, characterized in that it is adapted to implement the method according to any one of claims 1 to 9, and in that it comprises:
the user service subsystem is used for automatically reporting flight report information, applying a flight plan, applying for flying, displaying flight dynamic and prompting alarm information;
the airspace management subsystem is used for recording a flight plan, examining and approving the flying, dynamically monitoring the flight and issuing airspace alarm events;
a public safety management system comprising: the system comprises a civil aviation terminal and a public security terminal, wherein the civil aviation terminal is used for civil aviation business safety evaluation, human-computer enterprise qualification inspection, flight dynamic monitoring, civil aviation warning information release and civil aviation warning event release, and the public security terminal is used for personnel safety inspection, public safety warning information, public safety warning event release and warning event disposal;
and the flight information service subsystem is used for a channel for information transmission between a civil light unmanned aerial vehicle flight user and the airspace management subsystem and the public safety management subsystem, and provides related information services.
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