RU2647390C1 - Method of automated control and management of remotely piloted systems - Google Patents

Abstract

FIELD: radio engineering and communications.

SUBSTANCE: invention relates to method for the automated control and management of unmanned aerial systems (BAS), in which radio communication with ground control stations, each of which is assigned its own identification number. Ground control station transmits control commands and its identification number to each of the RPAS within its radio visibility, as well as the coordinates and parameters of the movement of other RPAS, which also exchange messages with each other containing the identification number of that terrestrial station that is currently making traffic control. Upon receipt of the ground station identification number from the surrounding RPAS, the received message is relayed to the address of the ground control station to form the control channel. If it is impossible to organize the control channel, the RPAS goes into autonomous flight mode in anticipation of alert signals from the surrounding RPAS.

EFFECT: it is ensured increased controllability of RPAS and the safety of their flights.

1 cl, 3 dwg

Description

FIELD OF TECHNOLOGY

The technical solution relates to the field of information-measuring equipment, namely to automated control and monitoring systems. The method relates to control systems and unmanned aircraft systems to ensure the safety of their flight, but can be used on other vehicles.

BACKGROUND

Currently, various systems and methods for the delivery of goods and cargo using UAS (unmanned aerial systems) are widely used.

A known UAS navigation system is described in US patent No. 8626361, published November 25, 2008. In a known system, the first UAS contains data representing the flight path of the first UAS and a ground station. The ground station receives UAS data representing the flight path of the first UAS, calculates the flight route for the second UAS, so that the flight paths of the first UAS and the second UAS do not intersect, and transmits the calculated flight route to the second UAS.

A known system for recording the position of ALS is described in US patent No. 8386175, published 03/18/2010. The known system includes an air traffic control (ATC) reporting system in combination with a ground control station (NSI), an air traffic control system includes an automatic broadcast of UAS surveillance and broadcast service traffic information, a transceiver and one or more telecommunication modems. The NSO is configured to receive data on the position of the UAS in the airspace and reports the position of the UAS in the airspace to the air traffic controller or to the communication center through the transceiver. ATC can also be configured to display the position of the UAS in midair, on one or more screens.

A known UAV control system described in US patent No. 8521339, published 08.04.2010. In the known system organized remote communication between the UAS and the base station. The UAS transmits its coordinates to the base station with reference to the map, the base station determines the velocity vectors for the UAS and sends the UAS in accordance with the determined velocity vector until the UAS reaches the target.

A known security system for UAS flights in civilian airspace is described in US patent No. 8838289, published on 02/07/2008. The known system includes: a ground station equipped with a vision system; BASS; remote operator managing the ground station; communication channel between the UAS and the ground station; a system on board the UAS to detect the presence and position near aircraft and transmit this information to a remote operator.

The prior art method for controlling an unmanned aerial vehicle and a device for its implementation (see patent RU No. 2390815, published May 27, 2010) characterizing the control of one or more unmanned aerial vehicles, each of which is equipped with an on-board automatic control system, satellite navigation system, high-precision synchronized clock, as well as an on-board computer and a radio transceiver, with the help of which digital radio communication is carried out with the base rad station, with a stationary or mobile control station, which is equipped with an automated workstation for the operator, while transmitting commands for controlling the movement of an unmanned aerial vehicle, transmitting data on the coordinates and parameters of its movement, as well as transmitting identification numbers and data on the coordinates and parameters of the movement of other moving objects equipped with transceiver radios and within radio visibility, is made into one or more common radio channels, moreover, trans yatsiya each transmitting radio messages produced in a predetermined segment of the discrete single timeline with the delay time, which is sufficient to compensate for the delay in the receipt and execution of these commands.

The typical structure of a control system for UAS consists of various data sources. The data obtained fall into the on-board control system (BASU) block, where the object's motion parameters are evaluated and control actions are generated on the facility's actuators. As input, the control unit can also take external control actions. The generated control signal values are fed to the UAS flight controls. The UASU memory contains flight execution programs and control unit configurations that change under the influence of certain events that occur on the UAS in flight.

A disadvantage of the known method for controlling an unmanned aerial vehicle is that the UAS is controlled and controlled from a ground control point within radio visibility. This creates circumstances that reduce flight safety.

ESSENCE OF TECHNICAL SOLUTION

This technical solution is aimed at eliminating the disadvantages inherent in existing analogues. The objective of the proposed method for automated control and management of aircraft unmanned systems is to expand the control zones of the UAS, including outside the radio visibility zone, which will increase the level of flight safety in all areas of the UAS flight.

The technical result from the use of this technical solution is to improve the UAS controllability and increase the safety of UAS operation during flights.

The technical result of the proposed method is ensured by giving the UAS the functions of a “flying” repeater for receiving and transmitting information from the UAS located in its radio visibility zone and subsequent delivery of this information to the ground control point from which the UAS is monitored and controlled. Communication signal traffic can be carried out through several UAS, as well as other available and allowed communication lines and will be determined by the loading of these communication lines.

A method for the automated monitoring and control of aviation unmanned systems that are equipped with an on-board automatic control system, satellite navigation system, high-precision synchronized clocks, as well as an on-board computer and a transceiver radio station, with which digital radio communication is made with the base radio station, with stationary or mobile control centers, which equipped with an automated workstation operator, characterized in that all ground stations control and monitoring of UAS flights are assigned identification numbers that are transmitted when transmitting commands for controlling the movement of an unmanned aerial vehicle, transmitting data on the coordinates and parameters of its movement, as well as transmitting identification numbers and data on the coordinates and parameters of the movement of other mobile objects equipped with transceiver radios and within radio visibility with the identification numbers of ground control and monitoring stations for their flight, and in transmission The message from the UAS indicates the identification number of the ground station, which monitors and controls its flight, which indicates the need to relay the received message to this address, and the generated traffic of the communication signal serves as a control and monitoring channel for the UAS, and when traffic of the control signal it is impossible to organize the control, the UAS goes into autonomous flight mode, receiving warning signals from approaching UAS.

A shared channel with time division can be organized in various ways. Its advantages are most fully manifested in the case of a system of automatic dependent monitoring (ADS) in the broadcast mode. The use of a common narrow-band radio channel with time division will significantly increase the noise immunity compared to broadband LPDs.

This will allow an effective way to solve the problems of information content of airborne surveillance tools, as well as the use of effective UAS control methods.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a control diagram and control of a UAS flight from a ground control point, outside of direct radio visibility;

FIG. 2 is a diagram of an autonomous UAS flight in the absence of other UAS within direct radio visibility;

FIG. 3 is a diagram of an autonomous UAS flight in the presence of other UAS within direct radio visibility.

DETAILED DESCRIPTION OF THE TECHNICAL SOLUTION

This technical solution provides improved UAS controllability and increased safety of UAS operation during flights.

The technical result of the proposed method is ensured by giving the UAS the functions of a “flying” repeater for receiving and transmitting information from the UAS located in its radio visibility zone and subsequent delivery of this information to the ground control point from which the UAS is monitored and controlled. Communication signal traffic can be carried out through several UAS, as well as other available and allowed communication lines, and will be determined by the loading of these communication lines.

This goal is achieved by the fact that in the known method of controlling unmanned aerial vehicles that are equipped with an on-board automatic control system, satellite navigation system, high-precision synchronized clocks, as well as an on-board computer and a radio transceiver, through which digital radio communication with a control center is carried out, which equipped with an automated workstation of the operator, which is endowed with an identification number, while transmitting control commands The movement of an unmanned aerial vehicle, the transmission of data on the coordinates and parameters of its movement, as well as the transmission of identification numbers and data on the coordinates and parameters of the movement of other moving objects equipped with transceiver radios and within radio visibility, is carried out in one or more common radio channels, and the transmitted message from the BAS indicates the identification number of the ground station, which monitors and controls its flight, which is certified t about the need to relay the received message to this address, and the generated signal traffic serves as a control and monitoring channel for the UAS, and when the traffic of the monitoring and control signal cannot be organized, the UAS goes into autonomous flight mode, receiving warning signals from approaching UAS ensuring flight safety.

A shared channel with time division can be organized in various ways. Its advantages are most fully manifested in the case of a system of automatic dependent monitoring (ADS) in the broadcast mode. The use of a common narrow-band radio channel with time division will significantly increase the noise immunity compared to broadband LPD (data transmission lines).

This will allow an effective way to solve the problems of information content of airborne surveillance tools, as well as the use of effective UAS control methods.

The claimed method is illustrated by drawings, which show the control and management of UAS that implements the claimed method.

Management and control of UAS flight from a ground control point, even outside of direct radio visibility, is carried out as follows.

In FIG. 1 shows a control and monitoring scheme for UAS flight from a ground control point, outside of direct radio visibility.

The ground station NS _{1 is} controlled in the radio visibility zone of the sector in which the BAS - B ₁₁ , B ₁₂ , B _{23 are located} .

The ground station NS _{2 is} controlled in the radio visibility zone of the sector in which the BAS - B _23, B ₃₄ , B _{45 are located} .

The ground station NS _{3 is} controlled in the radio visibility zone of the sector in which the BAS - B ₄₅ , B ₅₆ , B _{67 are located} .

BAS B ₇₇ is located outside the radio visibility zones of the ground stations NS ₁ , NS ₂ , NS ₃ .

The diagram shows two possible traffic (dashed and dash-dotted) signals of monitoring by the ground station NS _{1 of the} B ₇₇ drone, which is outside the zone of all ground stations.

In FIG. 2 shows a diagram of autonomous flight of UAS B _33, in the absence of other UAS within direct radio visibility and outside the area of all ground stations.

In FIG. 3 shows a diagram of autonomous flight BAS B _34, B _45, B _56, which are within direct radio visibility, but outside the area of all ground stations.

These schemes clearly show how the UAS flight is controlled and controlled from a ground control point, even outside of direct radio visibility, ensuring the safety of UAS flights located in direct radio visibility zones, areas of no direct visibility, and also in areas completely free from flight.

It will be apparent to those skilled in the art that specific embodiments of the method for automated control and management of aviation unmanned systems have been described herein for purposes of illustration, various modifications are permissible without departing from the scope and essence of the technical solution.

Claims (2)

1. A method for the automated control and management of aviation unmanned systems that are equipped with an on-board automatic control system, satellite navigation system, high-precision synchronized clocks, as well as an on-board computer and a radio transmitter-receiver, with the help of which digital radio communication is made with the base radio station, with stationary or mobile control points that are equipped with an automated workstation of the operator, characterized in that the entire ground station UAS flight control and control pins are assigned identification numbers that are transmitted when transmitting commands for controlling the movement of an unmanned aerial vehicle, transmitting data on the coordinates and parameters of its movement, as well as transmitting identification numbers and data on the coordinates and parameters of the movement of other moving objects equipped with transceiver radios and within radio visibility with the identification numbers of ground control and monitoring stations for their flight, and in front of The message sent from the UAS indicates the identification number of the ground station that monitors and controls its flight, which indicates the need to relay the received message to this address, and the generated traffic of the communication signal serves as a control and monitoring channel for the UAS flight, and when the traffic of the control signal it is impossible to organize the control, the UAS goes into autonomous flight mode, receiving warning signals from approaching UAS. 2. The method according to p. 1, characterized in that as the traffic of the communication signal using a common narrow-band radio channel with time division.

Images