CN117636695A - Unmanned aerial vehicle airspace monitoring device and method based on ADS-B technology - Google Patents
Unmanned aerial vehicle airspace monitoring device and method based on ADS-B technology Download PDFInfo
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- G—PHYSICS
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- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The invention discloses an unmanned aerial vehicle airspace monitoring device and method based on an ADS-B technology, comprising an interconnection airborne ADS-B device, a fixed control device, a maneuvering control device and an airspace management platform; the onboard ADS-B equipment is used for sending flight information of the unmanned aerial vehicle to the fixed control equipment and the mobile control equipment; the fixed control equipment and the mobile control equipment are used for receiving and processing ADS-B messages broadcast by the aircrafts in the target airspace and air condition information in the target airspace; the airspace management platform is used for processing the air condition information in the target airspace and generating the using dynamic information of the airspace according to the flight plan and the ADS-B message. The state of the unmanned aerial vehicle is obtained through the airborne ADS-B equipment and is subjected to data fusion processing, the state of the airspace of the unmanned aerial vehicle is monitored in the airspace management platform, the real-time monitoring of the unmanned aerial vehicle in the airspace is realized, the airspace situation is mastered, and the management capability of the airspace situation burst state is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle monitoring, in particular to an unmanned aerial vehicle airspace monitoring device and method based on an ADS-B technology.
Background
In the 80 s of the 20 th century, aviation technology has been rapidly developed, the flight speed, passenger capacity and range of an aircraft are greatly improved, and radar is controlled as a main control means for civil aviation. The broadcast automatic correlation monitoring (ADS-B) technology is an airspace monitoring technology that uses satellite navigation and vhf data link technology to perform downlink transmission of data information such as aircraft identity, location, altitude, etc. The position information of the aircraft is determined by means of a satellite navigation system, then the position and other information are automatically broadcast and sent from the aircraft through a data link on a fixed frequency point through the frequency of a plurality of times per second, and other aircraft or ground stations in an effective communication range can receive the data broadcast by the aircraft and display the data on a human-computer interface through processing and analysis. Therefore, the ground can monitor the aircraft, and the mutual monitoring between the aircraft can be realized, so that the flight safety is greatly improved. Compared with the traditional radar, the ADS-B can provide more accurate and real-time monitoring information of the position of the airplane and the like, and meanwhile, the ADS-B has the advantages of low construction cost, low maintenance cost, long service life and the like, and is widely used at home and abroad at present, so that the ADS-B becomes a main means of airspace monitoring.
At present, the unmanned aerial vehicle industry in China rapidly develops, the application range of the unmanned aerial vehicle is gradually widened, the unmanned aerial vehicle is widely applied to the fields of military, civil aviation, agriculture, environmental monitoring and the like, and the balance of the relation between the free development of the unmanned aerial vehicle and the safety control becomes important.
Although corresponding regulations are issued for frequent unmanned aerial vehicle events, unmanned aerial vehicle drivers are regulated and managed, unmanned aerial vehicle registration mechanisms are established, unmanned aerial vehicle isolation areas are marked, electronic fences are established around airports to prevent unmanned aerial vehicles from entering, and the like. However, the establishment of the isolation area of the unmanned aerial vehicle and the establishment of the electronic fence near the airport are both limitations on the flight range of the unmanned aerial vehicle under the condition that the flight dynamic information of the unmanned aerial vehicle is not known. After the corresponding measures are implemented, the unmanned aerial vehicle events are reduced, but the space available for the unmanned aerial vehicle is limited to be extremely limited, the development of the unmanned aerial vehicle industry is restrained, the unmanned aerial vehicle cannot be utilized to the greatest extent to create greater value for society, and the monitoring capability of the unmanned aerial vehicle in the control space is improved by utilizing the prior art means.
Currently, for traffic control of large-scale airplanes/organic machines in the flight process, the air traffic control department can monitor the flight state of the large-scale airplanes/organic machines through means such as primary monitoring radar, secondary monitoring radar, ADS-B and the like. The unmanned aerial vehicle is limited by various factors such as take-off weight, energy, economy and the like, and most of unmanned aerial vehicles are not provided with empty pipe equipment such as an airborne transponder, an ADS-B and the like, and do not have the 'sensing-avoiding' capability. By independently utilizing the primary monitoring radar, unmanned aerial vehicles with smaller volumes and lower flying heights are difficult to discover and track in time, and information such as target azimuth, altitude, longitude and latitude cannot be accurately obtained, so that the monitoring capability of unmanned aerial vehicles in an airspace is greatly reduced, and control command of air-ground coordination and ground coordination of the aircrafts in the airspace is difficult to realize.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle airspace monitoring device and method based on an ADS-B technology, which can not accurately obtain flight data in a target airspace and has weak monitoring capability, and the unmanned aerial vehicle airspace monitoring device and method based on the ADS-B technology can obtain the state and position monitoring information of an unmanned aerial vehicle through airborne ADS-B equipment, send the monitoring information to ground ADS-B equipment for data fusion processing, monitor the airspace state of the unmanned aerial vehicle on an airspace management platform, realize real-time monitoring of the unmanned aerial vehicle in the airspace, grasp the airspace situation, improve the management capability of the airspace situation burst state, and ensure that various tasks of the unmanned aerial vehicle in the airspace are smoothly, safely and orderly carried out.
The invention is realized by the following technical scheme:
the first aspect of the invention provides an unmanned aerial vehicle airspace monitoring device based on an ADS-B technology, which comprises an on-board ADS-B device, a fixed control device, a maneuvering control device and an airspace management platform which are connected with each other;
the onboard ADS-B equipment is used for sending flight information of the unmanned aerial vehicle to the fixed control equipment and the mobile control equipment;
the fixed control equipment and the mobile control equipment are used for receiving and processing ADS-B messages broadcast by aircrafts in a target airspace and air condition information in the target airspace;
the airspace management platform is used for processing the air condition information in the target airspace and generating airspace using dynamic information according to the flight plan and the ADS-B message.
According to the invention, the state and position monitoring information of the unmanned aerial vehicle are obtained through the airborne ADS-B equipment, the monitoring information is sent to the ground ADS-B equipment for data fusion processing, the airspace state of the unmanned aerial vehicle is monitored on the airspace management platform, so that the real-time monitoring of the unmanned aerial vehicle in the airspace can be realized, the airspace situation can be mastered, the management capability of the airspace situation burst state is improved, and the smooth, safe and orderly performance of various tasks of the unmanned aerial vehicle in the airspace is ensured.
Further, the fixed control equipment comprises a voice command subsystem, an ADS-B ground station subsystem, a position time management subsystem, a data communication subsystem and an information and service processing subsystem.
Further, the mobile control equipment comprises a voice command subsystem, an ADS-B ground station subsystem, a position time management subsystem, a vehicle-mounted subsystem and an information and service processing subsystem.
Further, the voice command subsystem is configured to provide ground-to-ground voice communications and ground-to-air voice communications for fixed/mobile policing equipment.
Further, the ADS-B ground station subsystem specifically comprises an ADS-B ground station host, an ADS-B receiving antenna and a GPS receiving antenna;
the ADS-B ground station subsystem is used for acquiring an ADS-B message broadcast by the unmanned aerial vehicle, extracting flight data of the unmanned aerial vehicle according to the ADS-B message, assembling the flight data into a report conforming to an ASTERIX standard, and transmitting the report to fixed/mobile control equipment;
the fixed/mobile control equipment determines unmanned aerial vehicle status parameters by converting ADS-B track reports into intuitive unmanned aerial vehicle track curves.
Further, the position time management subsystem comprises Beidou navigation device and is used for positioning and time synchronizing fixed/mobile control equipment.
Further, the data communication subsystem is used for data communication.
Further, the information and service processing subsystem is used for providing a data processing function and a man-machine operation interface, performing control command and flight service functions, wherein,
the control command function comprises situation monitoring, early warning and alarming, pairing of a flight plan and a flight path, flight conflict identification and flight path consistency monitoring;
the flight services include a navigation information service, a weather information service, and a flight information service.
Further, the airspace management platform comprises an airspace planning module and an airspace activity management module;
the airspace planning module is used for airspace basic planning, airspace adjustment and limit division;
the airspace activity management module is used for airspace setting and airspace state management of the flight area.
The second aspect of the present invention provides a monitoring method of an unmanned aerial vehicle airspace monitoring device based on an ADS-B technology, including the following specific steps:
acquiring the state and position parameters of the unmanned aerial vehicle;
carrying out data processing on the state and position parameters of the unmanned aerial vehicle, and determining the flight situation of the unmanned aerial vehicle in the target air space;
monitoring the flight situation of the unmanned aerial vehicle according to the flight plan;
and when the situation of the unmanned aerial vehicle is changed, controlling the unmanned aerial vehicle to change the flight plan until the flight task is finished.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the unmanned aerial vehicle airspace monitoring method and device based on the ADS-B technology provide a sensor and a management means for the unmanned aerial vehicle specific airspace flight, realize the full monitoring coverage of the unmanned aerial vehicle in the flight airspace, and monitor the flight conditions of other airplanes in the peripheral airspace at the same time, so as to avoid flight conflict, thereby more effectively utilizing the airspace and realizing safe flight.
The device has the air-ground cooperative control capability, realizes the real-time air condition monitoring of a control airspace, can grasp the flight state of an unmanned aerial vehicle and knows the state information of an aircraft in a nearby airspace; meanwhile, the flight control of the unmanned aerial vehicle can be realized through the communication capacity of the device, so that the ground-air cooperative control capacity is realized, and the orderly safe flight of various unmanned aerial vehicles is ensured. The device has the ground air coordination capability, and the air management platform is used for coordinating the air requirements of all users, including the capabilities of airspace planning, airspace activity management, information receiving and processing, flight plan conflict detection, dangerous pre-warning reminding, airspace use planning and management and the like.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are needed in the examples will be briefly described below, it being understood that the following drawings only illustrate some examples of the present invention and therefore should not be considered as limiting the scope, and that other related drawings may be obtained from these drawings without inventive effort for a person skilled in the art. In the drawings:
FIG. 1 shows the device constitution of an embodiment of the present invention;
FIG. 2 is a diagram of a fixed control apparatus in an embodiment of the present invention;
FIG. 3 is a network topology of a fixed policing equipment in an embodiment of the present invention;
FIG. 4 is a diagram of a motorized control arrangement in an embodiment of the present invention;
FIG. 5 is a network topology of a mobility management device in an embodiment of the invention;
FIG. 6 is a diagram of a airspace management platform according to an embodiment of the present invention;
FIG. 7 is a task application flow of the airspace management platform according to an embodiment of the present invention;
fig. 8 is a device workflow diagram in an embodiment of the invention.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
As a possible embodiment, as shown in fig. 1, the present embodiment provides an unmanned aerial vehicle airspace monitoring device based on ADS-B technology, including an on-board ADS-B device, a fixed control device, a mobile control device, and an airspace management platform that are connected to each other; the air-ground cooperative control strategy is adopted, the air-ground cooperative control functions such as air-ground cooperative monitoring, planning, allocation and command are realized, the effective monitoring of an airspace is realized through loading ADS-B and ground control equipment, the receiving of monitoring data of the unmanned aerial vehicle in the airspace is realized through ground fixed control equipment and maneuvering control equipment, the flight situation of the unmanned aerial vehicle in the airspace is monitored through an airspace management platform, the effective monitoring is carried out on the unmanned aerial vehicle in the airspace, and the orderly efficient and safe operation of the unmanned aerial vehicle in flight is ensured.
Specifically, the onboard ADS-B equipment is used for sending flight information of the unmanned aerial vehicle to the fixed control equipment and the mobile control equipment; the fixed control equipment and the mobile control equipment are used for receiving and processing ADS-B messages broadcast by the aircrafts in the target airspace and air condition information in the target airspace; the airspace management platform is used for processing the air condition information in the target airspace and generating the using dynamic information of the airspace according to the flight plan and the ADS-B message.
As shown in fig. 2, the fixed policing equipment includes a voice command subsystem, an ADS-B ground station subsystem, a location time management subsystem, a data communication subsystem, an information and traffic handling subsystem, wherein,
voice command subsystem: comprises an air radio, a seat internal telephone system and a data recording device, which are used for providing ground-ground voice communication and ground-air voice communication capability for fixed control equipment;
ADS-B ground station subsystem: the system comprises an ADS-B ground station host, an ADS-B receiving antenna and a GPS receiving antenna, wherein after receiving an ADS-B message broadcast by an unmanned aerial vehicle, an ADS-B ground station subsystem extracts an S mode address, identification Information (ID), longitude and latitude, altitude, speed and course information of the unmanned aerial vehicle from the ADS-B message, assembles a report conforming to an ASTERIX standard, and transmits the report to control equipment through a network. The fixed control equipment obtains detailed state parameters of the unmanned aerial vehicle by converting the ADS-B track report into an intuitive unmanned aerial vehicle track curve, and provides guarantee for air traffic control command;
position and time management subsystem: the system comprises an NTP network time server, a network switch and a GNSS antenna, wherein the NTP network time server, the network switch and the GNSS antenna are used for providing positioning and time synchronization functions for fixed control equipment and guaranteeing accurate operation of the equipment;
a data communication subsystem: the data communication subsystem is utilized to realize interconnection and intercommunication of various devices in the device, ensure correctness of air condition monitoring in the air space, and provide powerful support for safe operation of equipment;
information and business processing subsystem: the system comprises a command and dispatch seat, a plan management seat, a server, a KVM control console, an ADS-B information access gateway and a printer, wherein an information and business processing subsystem provides a data processing function and a working seat man-machine operation interface to complete the functions of control and command and flight service. Wherein the control command function includes: situation monitoring, early warning and alarming, pairing of flight plans and tracks, identification of flight conflict, track consistency monitoring and the like; the flight services include: navigation information service, weather information service, and flight information service.
As shown in fig. 3, the fixed control equipment adopts an internal local area network, and NTP network time service, seat internal telephone system, planning management seat, command and dispatch seat, ADS-B information access gateway, printer and the like are all accessed to an internal working network. The equipment receives GNSS positioning and time synchronization data through a GNSS receiver and receives monitoring data through an ADS-B ground station; the equipment carries out voice communication with the operator of the measurement and control station through the multi-band radio station and the radio station networking equipment to complete the control command.
As shown in fig. 4, the motor control equipment includes a voice command subsystem, an ADS-B ground station subsystem, a location time management subsystem, an on-board subsystem, an information and traffic processing subsystem, wherein,
voice command subsystem: comprises an air radio, a seat internal telephone system and a data recording device, which are used for providing ground-ground voice communication and ground-air voice communication capability for fixed control equipment;
ADS-B ground station subsystem: the system comprises an ADS-B ground station host, an ADS-B receiving antenna and a GPS receiving antenna, wherein after receiving an ADS-B message broadcast by an unmanned aerial vehicle, an ADS-B ground station subsystem extracts an S mode address, identification Information (ID), longitude and latitude, altitude, speed and course information of the unmanned aerial vehicle from the ADS-B message, assembles a report conforming to an ASTERIX standard, and transmits the report to control equipment through a network. The maneuvering control equipment obtains detailed state parameters of the unmanned aerial vehicle by converting the ADS-B track report into an intuitive unmanned aerial vehicle track curve, and provides guarantee for air traffic control command;
position and time management subsystem: the Beidou navigation device comprises Beidou navigation equipment, an antenna and a cable, wherein the Beidou navigation device is used for providing positioning and time synchronization functions for fixed control equipment and guaranteeing accurate operation of the equipment;
information and business processing subsystem: the system comprises a command and dispatch seat, a plan management seat, a server, a KVM control console, an ADS-B information access gateway and a printer, wherein an information and business processing subsystem provides a data processing function and a working seat man-machine operation interface to complete the functions of control and command and flight service. Wherein the control command function includes: situation monitoring, early warning and alarming, pairing of flight plans and tracks, identification of flight conflict, track consistency monitoring and the like; the flight services include: navigation information service, weather information service, flight information service;
and the vehicle-mounted subsystem: the device comprises a vehicle-mounted chassis, an equipment cabinet and an air conditioner, and is used for providing mechanical capability, a power supply, an equipment installation space and an operation space for equipment.
As shown in fig. 5, the internal local area network is adopted in the motor control equipment, and the man-machine interface of the airspace management platform, the ethernet switch, the ADS-B ground station, the printer and the like are all connected to the internal working network. The equipment receives positioning and time synchronization data through Beidou navigation equipment, receives an ADS-B message through an ADS-B ground station and generates a target track; the equipment performs voice communication with an operator of the measurement and control station through the air voice radio station to complete the control command function.
As shown in fig. 6, the airspace management platform may implement storage and management of airspace basic data; and receiving, approving and releasing basic airspace data, change information and the like. Generating the using dynamic information of the airspace according to the aircraft flight plan and the dynamic message, monitoring the using dynamic of the airspace in real time, processing and displaying the actual using condition of the corresponding airspace, and effectively improving the effective utilization rate of the airspace;
the airspace management platform comprises an airspace planning module and an airspace activity management module; the airspace planning module is used for airspace basic planning, airspace adjustment and limit division; the airspace activity management module is used for airspace setting and airspace state management of the flight area.
As shown in fig. 7, the flight user applies for airspace and queries information from the airspace management platform through on-line, off-line and other official channels; and the management personnel performs management operation through the airspace management platform to obtain airspace dynamic information and airspace evaluation information.
As a possible embodiment, as shown in fig. 8, a monitoring method of an unmanned aerial vehicle airspace monitoring device based on ADS-B technology, includes the following specific steps: acquiring the state and position parameters of the unmanned aerial vehicle; carrying out data processing on the state and position parameters of the unmanned aerial vehicle, and determining the flight situation of the unmanned aerial vehicle in the target air space; monitoring the flight situation of the unmanned aerial vehicle according to the flight plan; and when the situation of the unmanned aerial vehicle is changed, controlling the unmanned aerial vehicle to change the flight plan until the flight task is finished.
Specifically, firstly, when a flight mission starts, an onboard ADS-B device acquires unmanned aerial vehicle state and position parameters from an onboard navigation device, and related parameters of the unmanned aerial vehicle are sent to ground control equipment through an ADS-B out function of the onboard ADS-B device; secondly, the ground control equipment carries out data processing on relevant parameters of the unmanned aerial vehicle, the flight situation of the airspace is displayed on a human-computer interface of an airspace management platform, and meanwhile, flight situation information is shared to an unmanned aerial vehicle measurement and control station through a ground communication link; and finally, the command decision-making personnel monitors the unmanned aerial vehicle flight condition of the relevant airspace according to the unmanned aerial vehicle flight situation and the flight plan, and if necessary, controls the unmanned aerial vehicle through the unmanned aerial vehicle measurement and control station, and changes the flight plan until the flight task is finished.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. An unmanned aerial vehicle airspace monitoring device based on an ADS-B technology is characterized by comprising an airborne ADS-B device, a fixed control device, a maneuvering control device and an airspace management platform which are connected with each other;
the onboard ADS-B equipment is used for sending flight information of the unmanned aerial vehicle to the fixed control equipment and the mobile control equipment;
the fixed control equipment and the mobile control equipment are used for receiving and processing ADS-B messages broadcast by aircrafts in a target airspace and air condition information in the target airspace;
the airspace management platform is used for processing the air condition information in the target airspace and generating airspace using dynamic information according to the flight plan and the ADS-B message.
2. The ADS-B technology based unmanned aerial vehicle airspace monitoring device of claim 1, wherein the fixed regulatory equipment includes a voice command subsystem, an ADS-B ground station subsystem, a location time management subsystem, a data communication subsystem, an information and traffic processing subsystem.
3. The ADS-B technology based unmanned aerial vehicle airspace monitoring device of claim 1, wherein the mobile control equipment includes a voice command subsystem, an ADS-B ground station subsystem, a location time management subsystem, a vehicle-mounted subsystem, an information and business processing subsystem.
4. An ADS-B technology based unmanned aerial vehicle airspace monitoring device according to claim 2 or 3, wherein the voice command subsystem is for providing ground-to-ground voice communications and ground-to-air voice communications for fixed/mobile regulatory equipment.
5. An ADS-B technology based unmanned aerial vehicle airspace monitoring device according to claim 2 or 3, wherein the ADS-B ground station subsystem specifically comprises an ADS-B ground station host, an ADS-B receiving antenna and a GPS receiving antenna;
the ADS-B ground station subsystem is used for acquiring an ADS-B message broadcast by the unmanned aerial vehicle, extracting flight data of the unmanned aerial vehicle according to the ADS-B message, assembling the flight data into a report conforming to an ASTERIX standard, and transmitting the report to fixed/mobile control equipment;
the fixed/mobile control equipment determines unmanned aerial vehicle status parameters by converting ADS-B track reports into intuitive unmanned aerial vehicle track curves.
6. An ADS-B technology based unmanned aerial vehicle airspace monitoring device according to claim 2 or 3, wherein the location time management subsystem comprises a beidou navigation device, and is used for locating and time synchronisation of fixed/mobile regulatory equipment.
7. The unmanned aerial vehicle airspace monitoring device based on ADS-B technology according to claim 2, wherein the data communication subsystem is for communicating data.
8. An ADS-B technology based unmanned aerial vehicle airspace monitoring device according to claim 2 or 3, wherein the information and business processing subsystem is for providing data processing functions and man-machine operation interfaces, performing regulatory command and flight services functions, wherein,
the control command function comprises situation monitoring, early warning and alarming, pairing of a flight plan and a flight path, flight conflict identification and flight path consistency monitoring;
the flight services include a navigation information service, a weather information service, and a flight information service.
9. The ADS-B technology based unmanned aerial vehicle airspace monitoring device of claim 1, wherein the airspace management platform includes an airspace planning module and an airspace activity management module;
the airspace planning module is used for airspace basic planning, airspace adjustment and limit division;
the airspace activity management module is used for airspace setting and airspace state management of the flight area.
10. A monitoring method applied to an unmanned aerial vehicle airspace monitoring device based on ADS-B technology as claimed in any one of claims 1 to 9, comprising the following specific steps:
acquiring the state and position parameters of the unmanned aerial vehicle;
carrying out data processing on the state and position parameters of the unmanned aerial vehicle, and determining the flight situation of the unmanned aerial vehicle in the target air space;
monitoring the flight situation of the unmanned aerial vehicle according to the flight plan;
and when the situation of the unmanned aerial vehicle is changed, controlling the unmanned aerial vehicle to change the flight plan until the flight task is finished.
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| CN202311651272.3A CN117636695A (en) | 2023-12-04 | 2023-12-04 | Unmanned aerial vehicle airspace monitoring device and method based on ADS-B technology |
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| CN202311651272.3A CN117636695A (en) | 2023-12-04 | 2023-12-04 | Unmanned aerial vehicle airspace monitoring device and method based on ADS-B technology |
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