RU2676519C1 - Automatic control method of traffic of unmanned aerial vehicles and vehicles by air and surface traffic control centre - Google Patents

Abstract

FIELD: control systems.

SUBSTANCE: invention relates to a method for automatically controlling the traffic of unmanned aerial vehicles – vehicles (UAV – V) by the regional Traffic Control Centre (TCC). For the implementation of the method according to the application of the operator UAV–V, the model of the route the UAV–V is included, it is included in the daily plan of movement and sent in the form of a formalized plan of movement to the autopilot of the UAV–V for movement along the route. When traveling along a route, the dynamic coordinates are determined by GNSS signals and transmitted by means of the UAV–V transponder at the TCC, where they are compared with the coordinates of the traffic plan and the route model. In case of a mismatch of coordinates, the commands of the UAV–V autopilot are transmitted via a secure communication channel to adjust the motion and route parameters throughout the entire cycle of motion until the UAV–V stops.

EFFECT: provides automation of the management process of the UAV–V, minimization of the human factor in the process of managing a large number of UAV–V.

9 cl, 5 dwg

Description

Description of the invention

The field of technology.

The invention relates to the field of automated control and motion control of unmanned aerial vehicles and unmanned vehicles (UAV-TS) in the lower segment of the air, ground and surface space.

The level of technology.

The increasing traffic density of unmanned vehicles, primarily UAVs, and the growing danger of drone incidents require the creation of an air traffic control system for unmanned vehicles.

The mass production of cars with the function of a flying vehicle complicates air and ground movement even more and requires new forms of organizing air and ground coordination of vehicle operation, based on centralized planning and control of the general regulation of traffic flows, the use of a licensing system for air and ground traffic BLA-TS.

Currently, the UAV-TS are not under the control system for the use of air and ground space. Internal Affairs Bodies (MVD), the Unified Air Traffic Management System (EU ATM), other structures do not control the UAV-TS movement, the technical capabilities for their detection at the present stage are limited.

Indication and display of UAVs for monitoring by authorized bodies of the use of airspace (AIR) and ATM at the present stage can be carried out in several ways based on the translation of UAVs of their coordinates established using signals from the global navigation satellite system (GNSS) GLONASS / GPS / other satellite navigation systems . The signals can be transmitted by UAVs using the secondary radar and ADS-B (AZN-B) aeronautical communication systems, described by ICAO Cir326 / AN188, and also by streaming signals by airborne transponders via mobile GSM / GPRS communication networks (patent RU 2609625), using combined ways.

The indication provides a one-sided solution to the task of monitoring the airspace and air traffic control, reflecting the dynamics of movement and the violation by the UAV-TS operator of the flight rules, for example, failure to comply with the prohibition of the airspace introduced in a separate segment. The air traffic authority cannot influence or warn the drone operator about airspace restrictions, because technically, a channel for direct communication, as well as a display indication, is not currently provided.

Thus, to ensure the organization of air and ground movement of unmanned vehicles and vehicles, there is a need to provide electrical communication between the structures that regulate the movement of vehicles and the operators (owners) of unmanned vehicles to control, prevent and eliminate unauthorized actions. The implementation of a full-fledged ATM for unmanned vehicles will create reliable conditions for their accelerated integration into a single airspace with manned aircraft and the expansion of their use.

Considering the small number of proposals on the systems for the overall coordination of the movement of unmanned vehicles, especially since hybrid flying unmanned vehicles have not yet been put into operation, the author examined patents and publications that are closest to the topic with separate solutions to questions of route modeling and organization of flows of unmanned and manned vehicles .

The well-known "Method for remote control of the flight of an unmanned aerial vehicle and an unmanned aerial system" (patent RU 2523613, G08G 5/00 (2006.01), published July 20, 2014), in which UAV flight control is carried out autonomously along a programmed route, command transmission is also provided from the control point. The UAV has the ability to independently control the landing taking into account these data and the transmission of flight information from the board to the control point. A significant disadvantage of this method is that the control is carried out by the operator, data is transmitted over a radio channel in the direct radio-visibility zone, which reduces the range of use of UAVs, direct radio channels for transmitting commands are less noise-immune.

The known "Method for controlling an unmanned aerial vehicle" (patent RU 2562890, 2014, B64C 39/00 (2006.01), published September 10, 2015), in which the UAV equipped with an onboard automatic control system is also controlled from a ground control station using a satellite communication channel to receive and transmit motion coordinates. The method for small UAVs is costly, requiring expensive and energy-intensive satellite communications equipment, expensive communication lines, which makes the drone less efficient. The disadvantages also include the lack of a routing system, human participation, the inability to control a set of drones.

The well-known "Method for determining the optimal route of movement of the vehicle" (Patent RU 2377658, 2008, IPC G08G 1/0969, published December 27, 2009), which consists in the fact that the computer of the central station (CA) generates a model electronic speed map of the road network of the village, also, through radio channels, the CA receives information about its location and speed from the TS equipped with navigation devices, on the basis of which the CA computer determines the occurrence of traffic jams on the road network, calculates the optimal route and transfers it to the computer CU subscribers ry for the driver. This method applies only to automobile vehicles controlled by drivers; unmanned vehicles are not considered. The disadvantages include a low reference and statistical base based only on the vehicle speed, which does not effectively reflect traffic traffic.

The well-known "Method of forming recommended routes of vehicles" (patent RU 2459259, 2012, IPC G06Q, published 08/20/2012), in which the authors propose to use a central station (CA), equipped with radio communications, telecommunications and computer, forming a model digital map and transmitting it to the computers of the head vehicles of the columns (KTS). Further, the computer of the CA forms the recommended routes and also transfers them to the head TS of the columns, while it is assumed that other TS will be regulated by the service that ensures the priority of the CCC. This method does not imply the presence of unmanned vehicles, on-board navigation equipment for orientation. The disadvantages of this system are the lack of an assessment of the location of the vehicle and the control by the CA of the execution of the route by the convoy, the mandatory enforcement by the special traffic service of the vehicle, which reduces the efficiency of general traffic.

The closest in their technical essence to the claimed are the airflow planning and ATM modeling systems used by the EU ATM of the Russian Federation ([Electronic resource]. - URL: https://www.gkovd.ru/, accessed 05.01.2018). The technical solution of the systems was developed and implemented by the State Research Institute of Aviation Systems (GosNII AS) on the basis of the “Automated Air Traffic Planning System (AS LDP)” and the “ATM Simulation Modeling Complex” ([Electronic resource]. - URL: http: // atm.gosniias.ru/ru/instruments.html, accessed 07.10.2016). However, these systems are designed to simulate and plan the flows of manned long-range planes in class A and C airplanes, the presence of dispatching personnel is mandatory in the planning and control loop, existing systems and systems cannot technically implement UAV-TC control based on monitoring the correspondence of the dynamic coordinates of UAVs given flight plan. Disclosure of the invention.

Modern UAV-TSs have remote control systems, divided into operator control, control of the flight-navigation complex (autopilot with automatic piloting program) or using a combined control method.

In all methods, it is assumed that there is an operator or operator-programmer who performs a direct or delayed programmed control method for the UAV-TS. Given the significant gap between the annual increase in the number of UAVs in the world and the number of trained operators, as well as the lack of standards, rules and technical control systems for the use of drones, it is proposed to automate the control of unmanned aerial vehicles as much as possible, to minimize the human factor in the processes of simultaneously controlling a large number of UAVs .

The result is achieved by the following technology:

- a unified regional planning and modeling system for routing and motion control of the UAV-TS is being implemented by the regional Center for Traffic Control and Management (TsKUD);

- according to the formalized application of the BLA-TS operator, the regional TsKUD is planned and modeled in space and time (graph) 4-D BLA-TS movement route;

- TsKUD transmits a formalized plan and a calculated 4-D route model on board to the system of the flight-navigation complex (autopilot) BLA-TS;

- under the control of an autopilot, which includes hardware and software for elements of artificial vision and intelligence, a UAV-TS movement is made according to the program and calculation model received from TsKUD plan 4-D routes;

- the dynamic coordinates of the UAV motion, established by GNSS signals (GLONASS / GPS / other systems), by which the Central Control Center automatically monitors the correspondence of UAV movement to the route and the schedule established by the movement plan, are transmitted from the UAV aboard the UAV via streaming broadcasting;

- in case of a deviation of the UAV-TS from the 4-D route, trajectory and schedule established by the plan, formalized signals for adjusting movement parameters, such as acceleration, braking, other autopilot commands, are automatically sent to the BLA-TS autopilot from the TsKUD via a secure channel ensuring compliance with the coordinates of motion specified by the plan;

- in case of a significant deviation from the traffic plan, unforeseen circumstances, or at the command of the operator, the TsKUD will stop / land the UAV-TS with subsequent modeling and planning a new route taking into account the remaining fuel / charge on board for the power plant.

Thus, the UAV-TS automated control system allows you to organize the movements of unmanned and manned vehicles in a single space, in the future, gradually switch completely to an automatic vehicle flow control system with safe movement, eliminating conflicts and incidents during the movement. For this, it is also necessary to introduce a system of legal support, new technical standards and regulations for the UAV-TS, a new G-Class airspace structure, a system of rules and restrictions on movement in certain sections of space and transport infrastructure, and other types of regulation.

The main elements of the system are:

- The main and regional centers for traffic control and management (TsKUD) BLA-TS, including a system of automated route modeling, traffic control and management, created and having functions similar to the structures of the EU ATM system, planning the flow of main planes in the airspace of classes A, C;

software and hardware of TsKUD, which has sufficient computing power, for planning and 4-D modeling of UAV-TS routes, including software for calculating throughput (PS), analysis of airspace utilization, organization of air traffic flows;

- regulatory support, including the legislative framework, legal and technical regulations that define the requirements for equipment and technologies for organizing the movement of the UAV-TS, the structure and infrastructure of air and ground space;

- databases located on application servers and including UAV-TS registration data, airspace structures, 3D mapping, digital display of territorial and spatial infrastructure, aeronautical, technical, meteorological information collections for UAVs, established restrictions, prohibitions on airspace, statistical, archived flight data, other data;

- aircraft, ground, surface and hybrid unmanned vehicles and vehicles (UAV-TS), controlled by the flight-navigation complex (autopilot);

- on-board equipment of the autopilot (flight-navigation complex) BLA-TS with elements of artificial vision and intelligence, combined with a transponder (GLONASS / GPS-signal transceiver), relaying dynamic coordinates and other data via GSM / GPRS networks to telematic TsUD servers, also supplemented a secure channel for receiving control signals from regulatory authorities (TsKUD);

- A network of the service for receiving applications for the management of the CCA BLA-TS, providing the initial processing of formalized declared flight plans in C / G class airspace;

- global navigation satellite systems (GNSS) with the transmission of GLONASS signals or in a combination of GLONASS / GPS / others. systems and others;

- A network of mobile GSM / GPRS communication with distributed base stations, special equipment for receiving and relaying mobile radio signals in the region.

A brief description of the drawings.

The description is presented with links to graphic images on which:

FIG. 1 is a schematic view of a technological sequence of actions illustrating a system for organizing automatic control of air, ground, surface movement of unmanned vehicles based on automated planning, modeling and control of routes;

FIG. 2 - a logical block diagram of strategic planning for the organization of UAV flow movement by the Main Center for Regional Controlled Aviation;

FIG. 3 - a logical block diagram of tactical planning and modeling 4D-routes of UAV movement by the Main / Regional Center of KUD of the region;

FIG. 4 is a block diagram of an algorithm for interaction and automatic control of UAVs by the KUD Center of the region;

FIG. 5 - illustration of the UAV flight route with the bypass of restricted areas above urban structures (cathedral, tower, stadium).

Detailed description of an embodiment of the invention.

Shown in FIG. 1 a schematic view of a technological sequence of actions illustrates a system for organizing automatic control of air, ground, surface movement of unmanned vehicles. The organization’s system is based on the BLA-TS Main and Regional Traffic Control and Management Centers (TsKUD), which, after receiving a formalized application from the operator, automatically simulate the air situation for the duration of the flight / drone movement, evaluate the network capacity, and model the route using digital cartography. The centers control and organize the control of the movement of flows of unmanned aerial vehicles, similar to the structures of the ATM system, which plan the flows of main manned aircraft in the airspace of Class A and C.

The UAV-TS automated route modeling, motion control and control system is based on flow planning and 4-D drone route modeling, which are provided by the TsKUD hardware and software system, including software for calculating the throughput (PS), analysis and planning of IWPs, and planning of organization of flows air traffic. To harmonize the data and comply with the time intervals of the databases, including the schedule, recurring flights and routes, planning is carried out in three stages:

- strategic planning with the start of development from a few months to a year;

- tactical planning with the preparation of a daily flight plan 2 days before the calendar date of the desired day;

- operational planning and modeling of UAV-TS routes for a day based on the tactical daily traffic plan and operational requests received from operators in real time.

In FIG. 2 shows the main components of the strategic planning of the organization of the movement of the UAV-TS flows by the Central Central Control Center of the region. Strategic planning is carried out on the basis of an extensive database of digital 3-D maps of the surface of the earth and profiles of classified airspace, regulatory documents, regulations and requirements, current schedules, flight plans and other data, including accessory data, certification and licensing of UAV-TC operation. The main and regional TsKUD should maintain and control systems of prohibitions and restrictions on the use of segments and parts of airspace, land and surface territories, and coordinate issues related to the movement of unmanned aerial vehicles with related centers.

It is assumed that automation is based on the reliability and modernity of equipment, hardware and software. The strategic planning system should reflect the development strategy of technical and technological support for the management of drones. This provision is shown in FIG. 2 block "Technical support".

The result of strategic planning should be an analysis of the needs of future periods in the use of air and ground space, an assessment of the throughput capacity of segments and space elements, forecasts for the regulation of UAV-TS flows.

In FIG. Figure 3 shows the procedure for the formation of the tactical daily movement plan of the UAV-TS by the Main and / or zonal / regional TsKUD a day before its calendar offensive. The structure of the tactical daily plan formation units is similar to the strategic ones. The database of the latest data on the formation of the movement plan is used.

In FIG. 4 presents a block diagram of the algorithm for interaction and automatic control of the UAV-TS Center KUD region. At the stage of sending an application from the UAV-TS operator for servicing and management to the TsKUD of the region, the application formalized according to the current protocol falls into the network of the service for receiving applications for UAV-TS management, which performs initial processing of the declared flight plans in class G VP and / or routes movement on ground (surface) space. After identifying the UAV-TS and the operator, assessing the technical condition and the degree of satisfaction of the requirements for the required level of fueling / charging of fuel / energy for the on-board power plant to the declared route, the application is submitted to the TsKUD region.

The ACC center automatically simulates the route and integrates the route data into the daily traffic plan model, while evaluating the capacity of the space.

The object of the invention is the allocation of a separate operation at the stage of development of a daily plan resource modeling 4-D routes with a simultaneous assessment of the throughput of the segments of air and ground space through which this route is modeled.

Based on the results of the model’s integration into the plan, the departure time is automatically assigned and the UAV-TS movement begins, which can be interrupted by a special command of the central control center or the operator. Simultaneously with the start of movement, the BLA-TS transponder, setting its location using GNSS signals (GLONASS / GPS / other systems), starts broadcasting its own signals with dynamically changing coordinates through a GSM / GPRS mobile network or another network, for example, through a network of certified terrestrial ADS-B receivers (АЗН-В), to telematic servers of TsKUD.

The KUD center, receiving signals with current coordinates from the UAV-TS transponder, automatically compares them with the set coordinates of the route model in the daily plan. If acceptable discrepancies between dynamic coordinates and 4-D route data are found, including the time factor of the established traffic schedule, the central control center automatically sends signals correcting the movement along the protected GSM / GPRS channel of the communication network or another network to the UAV-TC autopilot. If there is a significant deviation from the movement plan / route model, unforeseen circumstances, or at the operator’s command, the TsKUD will stop / land the UAV-TS with subsequent modeling and planning a new route taking into account the remaining fuel / charge on board for the power plant.

The object of the invention is the principle of automatic control and adjustment of the UAV-TS movement by the KUD Center by comparing the actual dynamic coordinates of the UAV with the established coordinates and the schedule of its movement plan and route model, with subsequent adjustment of the motion parameters when the coordinates and / or the motion chart diverge.

In FIG. Figure 5 shows an illustration of a UAV flight route with a bypass of restricted areas above urban structures (a cathedral, a tower, a stadium). A system for modeling 4-D routes, calculating the throughput of segments of air and ground space should take into account prohibitions and restrictions on the use of space.

Claim.

1. The automatic control system for the movement of unmanned aerial vehicles - vehicles (BLA-TS) by the regional Center for Traffic Control and Management (TsKUD) of unmanned vehicles upon request of the BLA-TS operator, based on the route model calculated by TsKUD included in the daily traffic plan and directed by TsKUD in the form of a formalized movement plan for the UAV-TS autopilot, and performed by the UAV-TS autopilot with the transfer of dynamic coordinates established by GNSS signals (GLONASS / GPS / other systems), transponder The drone operator in the TsKUD, under the control of the TsKUD, constantly comparing the BLA-TS dynamic coordinates with the coordinates of the movement plan and route model, and controlling the BLA-TS autopilot with the commands for adjusting the movement and route parameters coming from the TsKUD by signals through the secure communication channel until the UAV stops -TS.

2. The automatic control system for the movement of unmanned aerial vehicles - vehicles (BLA-TS) by the regional Center for Traffic Control and Control (CCUD) of unmanned vehicles according to claim 1, characterized in that the transmission of dynamic coordinates established by GNSS signals (GLONASS / GPS / other systems), a drone transponder in TsKUD through the channels of a mobile GSM / GPRS communication network.

3. The automatic control system for the movement of unmanned aerial vehicles - vehicles (BLA-TS) by the regional Center for the control and management of unmanned vehicles under item 1, characterized in that the transmission of dynamic coordinates established by GNSS signals (GLONASS / GPS / other systems) by the UAV transponder in the central control center via the channels of the aviation communication network used in secondary radar systems and ADS-B (AZN-V).

4. The automatic control system for the movement of unmanned aerial vehicles - vehicles (UAV-TS) by the regional Center for the control and management of unmanned vehicles under item 1, characterized in that the transmission of dynamic coordinates established by GNSS signals (GLONASS / GPS / other systems) by a combined UAV transponder in the central control center via channels of mobile GSM / GPRS communication networks, ADS-B (AZN-V) aeronautical communication systems, combined electrical communication networks.

5. The automatic control system for the movement of unmanned aerial vehicles - vehicles (BLA-TS) by the regional Center for Traffic Control and Management (TsKUD) of unmanned vehicles according to claim 1, characterized in that the autopilot of the UAV-TS controls the movement and route parameters, signals coming from the central control center via secure channels of the GSM / GPRS mobile networks and / or aviation communications of the ADS-B system (AZN-V).

6. The automatic control system for the movement of unmanned aerial vehicles - vehicles (UAV-TS) by the regional Center for the control and management of unmanned vehicles under item 1, characterized in that the UAV-TS route model calculated by TsKUD included in the daily the traffic plan and directed by the TsKUD in the form of a formalized motion plan for the UAV-TS autopilot, can reflect a combined 4-D route, including the movement of the drone (s) on the ground, surface, motion in the air.

7. The automatic control system for the movement of unmanned aerial vehicles - vehicles (UAV-TS) by the regional Center for the control and management of unmanned vehicles under item 1, characterized in that the 4-D model of the UAV-TS route, calculated by TsKUD with taking into account the required throughput capacity of the segments of air and ground space, and the TsKUD included in the daily traffic plan, which is an updated result of strategic and operational planning.

8. The system of automatic control of the movement of unmanned aerial vehicles - vehicles (UAV-TS) by the regional Center for the control and management of unmanned vehicles under item 1, characterized in that the Center for the control and management of traffic (TsKUD) unmanned vehicles, interacting and subordinate to the Main / Zone / regional TsKUD district / country.

9. The automatic control system for the movement of unmanned aerial vehicles - vehicles (UAV-TS) by the regional Center for the control and management of unmanned vehicles under item 1, characterized in that based on the 4-D model of the UAV-TS route, calculated TsKUD included in the daily traffic plan, which is drawn up taking into account the priority and categorization of routes for emergency services and other types of vehicles with lettering advantages.

10. The automatic control system for the movement of unmanned aerial vehicles - vehicles (UAV-TS) by the regional Center for the control and management of unmanned vehicles under item 1, characterized in that according to the application of the operator UAV-TS, based on the route model, calculated by TsKUD for the movement of UAV-TS in air and ground space, including transport communications and transport infrastructure of all types of transport.

Claims (9)

1. The method of automatic control of the movement of unmanned aerial vehicles - vehicles (UAV-TS) by the regional Center for the control and management of unmanned vehicles (TsKUD), which consists in the fact that in the TsKUD at the request of the BLA-TS operator, a model of the UAV-TS route is calculated, include it in the daily movement plan and send the BLA-TS autopilot in the form of a formalized movement plan with the help of which the movement along the route is carried out; when moving along the route, dynamic coordinates are determined by the signal GNSS and transmit them using the BLA-TS transponder to the Central Control Center, in which the obtained dynamic coordinates are compared with the coordinates of the movement plan and the route model, in case of coordinate mismatch from the Central Control Center, the commands are transmitted to the BLA-TS autopilot via a secure communication channel to adjust the movement parameters and route throughout the cycle to the stop of the UAV-TS. 2. The method according to p. 1, characterized in that the transmission of dynamic coordinates determined by GNSS signals from the UAV to the central control center is carried out using a transponder via the channels of a mobile GSM / GPRS communication network. 3. The method according to claim 1, characterized in that the transmission of dynamic coordinates determined by GNSS signals from the UAV to the central control center is carried out using a transponder through the channels of the aviation communication network used in secondary radar systems and ADS-B (AZN-V). 4. The method according to p. 1, characterized in that the transmission of dynamic coordinates determined by GNSS signals from UAVs to the central control center is carried out by a UAV combined transponder via channels of mobile GSM / GPRS communication networks, ADS-B (AZN-V) aviation communication networks, satellite or combined electrical communications network. 5. The method according to claim 1, characterized in that the UAV-UA autopilot is controlled by the movement and route parameters adjustment commands coming from the central control system by signals over the protected channels of the GSM / GPRS mobile networks and / or ADS-B (AZN) aeronautical communication networks -B), and / or satellite communications. 6. The method according to claim 1, characterized in that the UAV-TS route model calculated in the TsKUD included in the daily traffic plan and directed by the TsKUD in the form of a formalized plan of movement for the UAV-TS autopilot can reflect a combined 4-D route including movement BLA-TS on the surface, surface and in the air. 7. The method according to claim 1, characterized in that the central control center calculates a 4-D model of the UAV-TS route taking into account the required throughput of the segments of air and ground spaces and includes it in the daily traffic plan, which is an updated result of strategic and operational planning. 8. The method according to claim 1, characterized in that on the basis of the 4-D model of the UAV-vehicle route in the Central Control Center, a daily traffic plan is calculated taking into account the priority and categorization of routes for emergency services and other types of vehicles having letter advantages. 9. The method according to claim 1, characterized in that, according to the application of the UAV-TS operator in TsKUD, a route model is calculated for the UAV-TS movement through the air and / or ground space, including transport communications and transport infrastructure of all types of transport.

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