TWM609087U - Drone flight management system - Google Patents

Abstract

An unmanned aerial vehicle flight management system, which is mainly equipped with a type of automatic report monitoring communicator (ADS-B Like) on the drone, and uses this type of automatic report monitoring communicator (ADS-B Like) to actively send out the flight of the drone in a fixed period The data is received and relayed through the built and distributed communication receiving gateway devices (Gateway), and the flight data and real-time data of the drone are transmitted to the drone flight management system (UTM) through the Internet (Internet) The UAV’s flight information is integrated into the local UAV flight management center (RUTM) and the national UAV flight management center (NUTM) via the Internet. ), to achieve the purpose of comprehensive monitoring and management.

Description

UAV flight management system

This creation is a flight management system, especially a flight management system that plans and builds the flight management and monitoring of UAVs.

Press, the drone will be open to flying at low altitudes for various purposes. However, a large number of unmanned aerial vehicles flying into the sky will cause security concerns in the airspace. Therefore, UAVs must establish return monitoring technology similar to manned aircraft to fully monitor the flight of UAVs to ensure air safety. Although UAS Traffic Management (UAS Traffic Management, UTM) and Air Traffic Management (Air Traffic Management, ATM) of drones monitor and manage aircraft with different attributes, the flight operations and safety regulations are roughly the same. Flight management (UTM) technology should be built from the basic specifications of manned flight management (ATM) to maintain overall flight safety.

The flight management (UTM) system of this creative drone will be separated by 400 feet in accordance with the regulations of the Civil Aviation Administration. The low altitude will be returned to the regional UTM flight management center (Regional UTM, RUTM) under the jurisdiction of the local government, or the high altitude will be returned to civil aviation. The National UTM Flight Management Center (National UTM, NUTM) under the jurisdiction of the Bureau performs its duties.

The main purpose of this creation is to provide a drone flight management system that can monitor all drones uniformly.

The main feature of this creation is to plan and build a set of drone flight management system, which is mainly equipped with a type of automatic report monitoring communicator (ADS-B Like) on the drone, using this type of automatic report monitoring communicator (ADS-B Like). B Like) actively sends out the flight data of the drone in a fixed period, and receives and relays the drone's flight data and real-time data through the Internet (Internet). ) Is sent to the cloud database of the UAV flight management system (UTM), and then the flight information of the UAV is integrated into the local UAV flight management center (RUTM) via the Internet. ) And the National UAV Flight Management Center (NUTM) to achieve the purpose of comprehensive monitoring and management.

Regarding the technical means used in this creation to achieve the above-mentioned purposes and effects, the following examples are used in conjunction with the drawings to explain as follows.

Please refer to Figure 1. The UAV flight management system 1 of this creative embodiment mainly includes a type of automatic reporting and monitoring communicator 10, a plurality of communication receiving gateway devices (Gateway) 11, and a cloud database (cloud database). ) 12. Set up at the local UAV flight management center (RUTM) 13, and the national UAV flight management center (NUTM) 14. among them,

該類自動回報監視通訊器(Automatic dependent surveillance – broadcast Like，ADS-B Like)10，係配置於無人機2上。該類自動回報監視通訊器10配置有無人機2操作員的個人編號(Pilot)、無人機2的註冊登記編號。該類自動回報監視通訊器10的通訊系統可為行動通訊的4G、長距離無線傳輸的LoRa與XBee、自動封包回報的APRS等通訊技術。利用該類自動回報監視通訊器10於固定周期主動發出無人機2的飛行數據，發送給分布在所在的通訊接收閘道裝置11接收。依據不同通訊系統特性，該類自動回報監視通訊器10的回報通訊週期設定5~17秒，以避免數據流壅塞。該無人機2所發送飛航資訊、數據，可包含無人機2操作員的個人編號(Pilot)、無人機2註冊登記編號(ID)、GPS數據之X、Y座標、無人機2的飛行高度H、無人機2即時的六個自由度數據                        、(無人機2的電源電壓與電流或汽油燃料存量，數據以壓縮封包方式傳送，節省資訊流量。

This type of Automatic dependent surveillance-broadcast Like (ADS-B Like) 10 is installed on the UAV 2. This type of automatic reporting and monitoring communicator 10 is configured with the personal number (Pilot) of the operator of the drone 2 and the registration number of the drone 2. The communication system of this type of automatic report monitoring communicator 10 can be 4G for mobile communication, LoRa and XBee for long-distance wireless transmission, APRS for automatic packet report and other communication technologies. Using this type of automatic reporting and monitoring communicator 10, the flight data of the UAV 2 is actively sent out in a fixed period and sent to the communication receiving gateway device 11 distributed in the location for reception. According to the characteristics of different communication systems, the reporting communication cycle of this type of automatic reporting monitoring communicator 10 is set to 5-17 seconds to avoid data flow congestion. The flight information and data sent by the drone 2 may include the personal number (Pilot) of the drone 2 operator, the registration number (ID) of the drone 2, the X and Y coordinates of the GPS data, and the flight altitude of the drone 2 H. UAV 2 real-time six degrees of freedom data, (UAV 2's power supply voltage and current or gasoline fuel stock, data is transmitted in compressed packets, saving information flow.

A plurality of communication receiving gateway devices 11 are used as receiving relay stations for automatically reporting the flight data sent by the monitoring communicator 10, and they are set up at appropriate locations in various places, and one can be set up 15 kilometers apart. If the aforementioned communication system is 4G for mobile communication, it can cooperate with telecom operators to share base stations; other LoRa, XBee, APRS and other communication technologies can share base stations with telecom operators or use Forest Service Workstations in mountainous areas. Come to erect. As shown in Figure 2, each circle represents the 15-kilometer radius receiving range set by APRS, LoRa, and XBee. The blue circle and the red circle use the carrier base station, and the yellow circle uses the forest service station. After the layout shown in Figure 2, Tainan In the region, from Chiayi in the north, Kaohsiung in the south, and Taitung in the east, the deployment of about a dozen of the communication receiving gateway devices 11 can cover all the communications of the UAV 2 in the above range.

The cloud database 12 is used for the automatic reporting of the flight data of the monitoring communicator 10 received by the plurality of communication receiving gateway devices 11, and sending to the cloud data via the Internet Store in library 12.

The local UAV flight management center (RUTM) 13 is subordinate to the local competent unit to manage the UAV 2 flying within the scope of local management; the national UAV flight management center (NUTM) 14 is subordinate to The national authority (such as the Civil Aviation Administration) is used to manage all UAVs flying in the airspace of the country2. The local drone flight management center 13 and the national drone flight management center (NUTM) 14 can be connected to the cloud database 12 through the Internet, and the cloud database 12 downloads real-time flight data. And display the UAV 2 in the area on the computer screen of the local UAV flight management center (RUTM) 13 under its jurisdiction. In addition, according to the regulations of the Civil Aviation Administration, a 400-foot limit is used as a division. The configuration of low altitude is under the jurisdiction of the Local UAV Flight Management Center (RUTM) 13, and the high altitude above 400 feet is owned by the Civil Aviation Administration’s national drone flight. The Management Center (NUTM) 14 is under the jurisdiction and each performs its own duties. The local drone flight management center (RUTM) 13 and the national drone flight management center (NUTM) 14 can be connected to the cloud database 12 through the Internet, and the cloud database 12 downloads real-time flight Airborne data, showing local, regional or nationally flying drones 2 on the computer screen. The computer screen of the National UAV Flight Management Center (NUTM) 14 has a large number of UAVs 2, so the displayed UAVs 2 can be displayed on multiple screens according to the region, and automatically aggregated on the adjacent map screen. , The map screen can also be automatically divided into smaller areas of monitoring range to form a multi-window split screen. The multi-screen, multi-window screen allows two or more controllers to monitor more UAV 2 flight operations at the same time. As shown in Figures 4 to 6, the different UAV 2 monitoring display screens, the multi-machine appearance screens, and the monitoring screens displayed in different regions can clearly display the UAV 2 real-time monitoring. The local UAV flight management center (RUTM) 13 and the national UAV flight management center (NUTM) 14 control the tracking map screen, in which UAV 2 can be presented with a specific image (icon), as shown in Figure 3. The screen can display the dynamic information of UAV 2, including the registration number (ID) of UAV 2, GPS position, flight direction arrow and its representative speed length, trajectory data (the trailing dotted line is the trajectory data ).

The operating architecture of the UAV flight management system 1 is as follows:

1. In order to effectively manage UAV2, the Civil Aviation Administration has established a "Remote Control UAV Management Information System", in which flight operators and UAVs are included in the management, and the data of qualified personnel and aircraft can be linked and obtained legally. Apply for flight qualification. The applied flight plan and route plan will be verified in the no-flight-restricted zone database to obtain a flight permit. Figure 9 shows the connection process between the UAV flight management system 1 and the "Remote Control UAV Management Information System". For drone 2 to fly, the operator must first go through a personal application procedure, as shown in Figure 8. Through a simple application procedure, make task description, documentation of drone 2, confirmation of flight operator registration information, flight plan and route Plan and log in the flight record. After the flight data is activated, the encrypted process will start to send the data to the cloud database 12. Enter the computer screen of the local UAV flight management center 13 to observe the weather at that time.

2. Before UAV 2 takes off, as shown in Figure 10, it needs to be certified by the Civil Aviation Administration’s "Remote Control UAV Management Information System" to confirm the suitability of Meteorological Observation, apply for a flight plan, and fly Flight Schedule. After obtaining the approval, you should first perform the electronic payment (e-pay) action, and test the real-time data reported by the drone 2 using the automatic reporting monitoring communicator 10, and through the flight operator’s mobile communications (such as mobile phones). ) After confirming and making necessary communication with the local UAV flight management center (RUTM) 13 and the national UAV flight management center (NUTM) 14 controllers, UAV 2 will obtain the take-off permission. After UAV 2 applies for a flight permit and is approved, the flight plan time can be adjusted, but the flight path cannot be changed. Once the route changes or the departure is delayed for more than two hours, you will have to re-apply for registration.

3. After the drone (UAV) takes off, as shown in Figure 11, the real-time data of the drone 2 is reported to the cloud database 12 through the communication receiving gateway device 11 where the drone 2 is automatically reported by the monitoring communicator 10, and then through After monitoring and management by the local UAV flight management center (RUTM)13 and the national UAV flight management center (NUTM)14, they will be included in comprehensive monitoring, and electronic fence isolation, airspace consultation, sensing and avoidance will be initiated ( Detect and Avoid, DAA), is fully displayed on the surveillance displays of the local UAV flight management center (RUTM) 13 and the national UAV flight management center (NUTM) 14. The cloud database 12 is sent to the local UAV Flight Management Center (RUTM) 13 and the National UAV Flight Management Center (NUTM) 14 computers to filter and decrypt the repeatedly received data. Figures 7 and 8 are the information flow diagrams of the local UAV flight management center (RUTM) 13 and the national UAV flight management center (NUTM) 14. Figure 8 represents the system architecture from the low altitude level below 400 feet in each region. The local drone flight management center (RUTM) 13 is connected to the national drone flight management center (NUTM) 14 at an altitude of more than 400 feet, and is combined with the manned flight management (ATM) to allow manned flight management (ATM) Flight Management (ATM) is able to grasp the exact information of the complete UAV2. As shown in Fig. 7, the data of UAV 2 sent up from various local UAV flight management centers (RUTM) 13. If the flight altitude exceeds 400 feet, it must be controlled by manned flight management (ATM). Flight data recording, data streaming, big data storage, and comprehensive monitoring of UAV 2 are all necessary procedures to enter the National UAV Flight Management Center (NUTM) 14. When flying at an altitude of 400 feet or higher, it must be Through an effective communication medium, the flight data of UAV 2 flying to the upper altitude is notified to the manned flight management (ATM) system, so that the manned flight management (ATM) can have complete and accurate flight data. After UAV 2 takes off, the local UAV flight management center 13 and the national UAV flight management center 14 can download the real-time flight data of UAV 2 from the cloud database 12 and display all flights in the jurisdiction. The UAV 2 is on a computer monitor. The monitor is constructed with an appropriate electronic map, which will generate Situation Awareness, Air Navigation Service, Detect and Avoid (DAA), and notify flight operations Notifications for crew members, Detour, Waypoint Management, Landing Report, Mission Complete, Auto Logbook, Automatic and Civil Aviation Administration’s "Remote Control Unmanned Machine Management Information System" link to report to complete a mission. Moreover, during the flight, GPS position calculation is used to establish the UAV 2 sensing and collision avoidance (DAA) function, which can instantly evaluate the approach distance of multiple UAVs 2, and issue a warning when the two aircraft are close to less than the safety regulations of the aviation system. For the controller, let the controller coordinate the control of the flight operator with mobile communication (such as mobile phone) to avoid.

The above-mentioned UAV flight management system 1 of this creation has at least the following advantages and functions in application:

1. Use an Internet cloud database 12 to create real-time flight information of UAV 2 and send it to UAV flight management center (Local UAV Flight Management Center (RUTM) 13 and nationwide UAV flight management) Management Center (NUTM) 14) to display the flight control of multiple UAVs 2 in multiple regions.

2. It adopts the automatic report monitoring communication technology of the similar automatic report monitoring communicator 10, which is mounted on the UAV 2, and broadcasts and reports real-time flight information at any time after takeoff.

3. The cloud database 12 reports the GPS position and altitude based on the drone 2 and uses 400 feet as the boundary to automatically distinguish between different flight areas and automatically assign to the local drone flight management center (RUTM) 13 in each region. Regional controller management, or National UAV Flight Management Center (NUTM)14, is responsible for management in layers.

4.無人機2的飛航數據，包含無人機2操作員個人編號(Pilot)、無人機2的註冊登記編號(ID)、GPS數據之X、Y座標、無人機2的飛行高度H、無人機2即時的六個自由度數據                       、電源電壓與電流或汽油燃料存量，數據及顯示可以完全掌握無人機2動態，達到無人機2監視的目的。

4. Flight data of drone 2, including the personal number of drone 2 operator (Pilot), the registration number (ID) of drone 2, the X and Y coordinates of GPS data, the flying height of drone 2 H, and the drone The real-time six-degree-of-freedom data, power supply voltage and current, or gasoline fuel inventory, data and display of the drone 2 can fully grasp the dynamics of the drone 2 and achieve the purpose of the drone 2 monitoring.

5. Use GPS position calculations to establish the UAV Sensing and Collision Avoidance (DAA) function to assess the proximity distance of multiple UAVs in real time. When the two UAVs are close to less than the safety regulations of the aviation system, a warning signal will be issued to the controller to allow The controller coordinates the control of the flight operator to avoid using mobile communications.

6. The cloud database 12, the local drone flight management center (RUTM) 13 and the national drone flight management center (NUTM) 14 systems are automatically integrated with the "Remote Control Drone Management Information System" of the Civil Aviation Administration of , Approval before takeoff, and flight record (Logbook) notification after completion of the flight.

7. The exclusive UAV 2 image (icon) display, as shown in Figure 3, contains the UAV registration number (ID), GPS location displayed on the map, the flight direction arrow and the length of its representative speed, and the dotted trajectory data.

8. The establishment of the cloud database 12 data database allows the complete preservation of UAV data, which can provide a basis for UAV accident tracking in the future.

9. This creative drone flight management system 1 constructs a complete cloud database 12 information system, and incorporates all drones flying in the air into monitoring management. The information reported by UAV 2 includes flight trajectory and six degrees of freedom data, all of which will be collected and stored in the database system. The complete flight trajectory coordinates and six degrees of freedom data will provide the basis for UAV 2 flight performance analysis, and can also be used to analyze flight operation quality assurance when UAV 2 fails, incidents, or crashes. (Flight Operation Quality Assurance, FOQA) data basis.

1: UAV flight management system 10: Automatic report monitoring communicator 11: Communication receiving gateway device 12: Cloud database 13: Local UAV Flight Management Center (RUTM) 14: National UAV Flight Management Center (NUTM) 2: drone

Figure 1 shows a system architecture diagram of this authoring embodiment. Fig. 2 shows the deployment diagram of the communication receiving gateway device of this creative embodiment. Fig. 3 shows an icon of the drone located on the computer screen in this creative embodiment. Figures 4, 5, and 6 show the real-time monitoring images of the drone on the computer screen of this creative embodiment. FIG. 7 shows the information flow chart of the local UAV flight management center (RUTM) connected to the manned flight management (ATM) of the national drone flight management center (NUTM) of this creative embodiment. FIG. 8 shows the information flow chart of the local UAV flight management center (RUTM) of this creative embodiment. Figure 9 shows the connection diagram between the UAV flight management system (UTM) of this creative embodiment and the "Remote Control UAV Management Information System" of the Civil Aviation Administration. Fig. 10 shows a flow chart of UAV take-off, registration and permission of the UAV flight management system (UTM) of this creative embodiment. Fig. 11 is a flow chart of the UAV flight management system (UTM) of the present creative embodiment after taking off.

1: UAV flight management system

10: Automatic report monitoring communicator

11: Communication receiving gateway device

12: Cloud database

2: drone

Claims (5)

An unmanned aerial vehicle flight management system includes a type of automatic reporting and monitoring communicator, a plurality of communication receiving gateway devices, and a cloud database; wherein this type of automatic reporting and monitoring communicator is configured on the drone and configured Have the personal number of the drone operator and the registration number of the drone, and use communication technology to actively send out the flight data of the drone in a fixed period, and send it to the communication receiving gateway device where it is located; the plural communication receivers The gateway devices are set up in various places to receive the flight data sent by the automatic reporting and monitoring communicator, as a flight data receiving relay station; the cloud database is received through the Internet with the above-mentioned multiple communications Gateway device link, the multiple communication receiving gateway devices will automatically report the flight data received by the monitoring communicator through the Internet to the cloud database for storage; real-time flight data of the cloud database The aerial data is available in the local UAV flight management center of each local authority, and the national UAV flight management center deployed in the national authority to manage all the drones flying in the national airspace. It is downloaded via the Internet and displayed on the computer screen to monitor and manage the drone. The drone flight management system described in claim 1, wherein the flight data sent by the automatic report monitoring communicator includes the personal number of the drone operator, the registration number of the drone, The X and Y coordinates of GPS data, the flight altitude of the drone, the real-time six degrees of freedom data of the drone (p, q, r, α, β, γ), the power supply voltage and current of the drone, and gasoline fuel Inventory, data is transmitted in compressed packets. The unmanned aerial vehicle flight management system described in claim 1, wherein the communication system of this type of automatic reporting and monitoring communicator is the communication technology of 4G for mobile communication or LoRa or XBee for long-distance wireless transmission or APRS for automatic packet reporting get on. The UAV flight management system according to claim 1, wherein the local UAV flight management center (RUTM) and the national UAV flight management center (NUTM) are displayed on the computer screen The UAV image also contains the UAV’s registration number (ID), GPS location, the flight direction arrow and the length of its representative speed, and the trajectory data of the dashed line. The UAV flight management system described in claim 1, wherein the local UAV flight management center (RUTM) and the national UAV flight management center (NUTM) use GPS position calculations to establish the unmanned flight management system. Aircraft Sensing and Collision Avoidance (DAA) prevention mechanism to assess the proximity of multiple drones in real time. When the two drones are close to less than the safety regulations of the aviation system, a warning signal will be issued to the controller to allow the controller to operate the flight. The officer uses mobile communication to coordinate the control of avoidance.

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