TWM609087U - Drone flight management system - Google Patents
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Abstract
一種無人機飛航管理系統,主要係無人機上配置一類自動回報監視通訊器(ADS-B Like),利用該類自動回報監視通訊器(ADS-B Like)於固定周期主動發出無人機的飛行數據,透過建置及分布在各地的通訊接收閘道裝置(Gateway)接收及中繼,將無人機的飛行數據、即時數據通過網際網路(Internet)傳送至無人機飛航管理系統(UTM)的雲端資料庫(cloud database),之後再經過網際網路(Internet)將該無人機的飛航資訊整合到地方性無人機飛航管理中心(RUTM)與全國型無人機飛航管理中心(NUTM),達到全面監控及管理的目的。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
本創作是一種飛航管理系統,尤指針對無人機的飛航管理、監控加以規劃、建置的飛航管理系統。This creation is a flight management system, especially a flight management system that plans and builds the flight management and monitoring of UAVs.
按,無人機將開放可以在低空做各種用途的飛行。惟,大量的無人機飛上天空,將造成空域安全的隱憂。因此無人機必須建立類似有人機的回報監視技術,全面監視無人機的飛行,保障空中安全。雖然無人機的飛航管理(UAS Traffic Management, UTM)與有人機的飛航管理(Air Traffic Management, ATM)針對不同屬性的飛行器進行監控管理,但是飛行作業與安全規範大致相同,因此無人機的飛航管理(UTM)的技術應該從有人機的飛航管理(ATM)的基本規範來建設,以維護整體飛航安全。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.
本創作無人機的飛航管理(UTM)系統,將依據民航局法規以400呎高度區隔,低空歸地方政府管轄的區域型無人機飛航管理中心(Regional UTM,RUTM)、或高空歸民航局管轄之全國型無人機飛航管理中心(National UTM, NUTM),各司其職。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.
本創作的主要創作目的,是在提供一種可對所有無人機進行統一監控的無人機飛航管理系統。The main purpose of this creation is to provide a drone flight management system that can monitor all drones uniformly.
本創作的主要特徵係在規劃及建置一套無人機飛航管理系統,主要係無人機上配置一類自動回報監視通訊器(ADS-B Like),利用該類自動回報監視通訊器(ADS-B Like)於固定周期主動發出無人機的飛行數據,透過建置及分布在各地的通訊接收閘道裝置(Gateway)接收及中繼,將無人機的飛行數據、即時數據通過網際網路(Internet)傳送至無人機飛航管理系統(UTM)的雲端資料庫(cloud database),之後再經過網際網路(Internet)將該無人機的飛航資訊整合到地方性無人機飛航管理中心(RUTM)與全國型無人機飛航管理中心(NUTM),達到全面監控及管理的目的。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.
有關本創作為達成上述目的、功效所採用的技術手段,茲舉以下實施例配合圖式說明如下。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.
請參閱圖1所示,本創作實施例之無人機飛航管理系統1,主要包含有一類自動回報監視通訊器10、複數座通訊接收閘道裝置(Gateway)11、一雲端資料庫(cloud database)12、設置在地方性無人機飛航管理中心(RUTM)13,及全國型無人機飛航管理中心(NUTM)14。其中,Please refer to Figure 1. The UAV
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
複數個通訊接收閘道裝置11,係做為該類自動回報監視通訊器10所發送的飛航數據之接收中繼站,分別架設在各地適當的地點上,可相隔15公里即設置一個。前述通訊系統若為行動通訊的4G,可與電信業者合作共用基地台;其他LoRa、XBee、APRS等通訊技術在架設選址上,可與電信業者共用基地台,或在山區使用林務局工作站來架設。如圖2,每一個圓圈代表APRS、LoRa、XBee設定的15公里半徑接收範圍,藍圈及紅圈使用電信業者基地台、黃圈使用林務局工作站,經過圖2所示的佈局,大台南地區、北至嘉義、南至高雄、東至台東,約十來個該通訊接收閘道裝置11的佈設即可以涵蓋上述範圍的全部無人機2之通訊。A plurality of communication receiving
該雲端資料庫(cloud database)12,係供上述複數個通訊接收閘道裝置11所接收到的該類自動回報監視通訊器10的飛航數據,透過網際網路(internet)傳送至該雲端資料庫12儲存。The
該地方性無人機飛航管理中心(RUTM)13,係隸屬地方主管單位,用以管理飛行在地方管理範圍內的該無人機2;該全國型無人機飛航管理中心(NUTM)14,隸屬國家主管單位(如民航局),用以管理所有在地國領空飛行的無人機2。該地方性無人機飛航管理中心13及全國型無人機飛航管理中心(NUTM)14,可透過網際網路連線至該雲端資料庫12,由該雲端資料庫12下載即時飛航數據,並顯示所在區域的無人機2於所管轄的地方性無人機飛航管理中心(RUTM)13的電腦螢幕上。而且依據民航局法規規定,以400呎限定高度做區隔,配置低空歸地方性無人機飛航管理中心(RUTM)13管轄,限定高度400呎以上的高空歸民航局的全國型無人機飛航管理中心(NUTM)14管轄,各司其職。該地方性無人機飛航管理中心(RUTM)13及全國型無人機飛航管理中心(NUTM)14,可透過網際網路連線至該雲端資料庫12,由該雲端資料庫12下載即時飛航數據,顯示地方區域性或全國正在飛行的無人機2於電腦螢幕上。該全國型無人機飛航管理中心(NUTM)14的電腦螢幕,因無人機2總數較多,可將所顯示的無人機2依所在地區,以多螢幕呈現,自動彙整在鄰近的地圖畫面上,該地圖畫面也可自動分割為較小區域的監視範圍,形成多視窗分割畫面。該多螢幕、多視窗畫面,可讓兩位以上的管制員同時監控更多的無人機2飛行作業。如圖4至6所示為不同的無人機2監視顯示畫面、多機出現的畫面、不同地區顯示的監視畫面,可清楚顯示無人機2的即時監視。該地方性無人機飛航管理中心(RUTM)13及該全國型無人機飛航管理中心(NUTM)14管制追蹤地圖畫面,其中無人機2可以一特定圖像 (icon)呈現,如圖3所示,而且由畫面可顯示無人機2之動態訊息,包括無人機2的註冊登記編號(ID)、GPS位置、飛行方向箭號及其代表速度的長度、軌跡資料(後面尾隨的虛線為軌跡資料)。The local UAV flight management center (RUTM) 13 is subordinate to the local competent unit to manage the
該無人機飛航管理系統1的操作架構如下:The operating architecture of the UAV
1. 民航局為了有效管理無人機2,已建立一套『遙控無人機管理資訊系統』,其中飛行操作員、無人機納入管理,獲得合格認證的人、機資料都可以連結,以合法取的申請飛行資格。申請的飛行計畫與路徑規劃將進入禁限航區資料庫中驗證,以獲得飛行許可。本創作的無人機飛航管理系統1與『遙控無人機管理資訊系統』連結流程如圖9所示。無人機2要飛行,操作員須先進行個人申請程序,如圖8,透過簡易的申請程序,作任務描述、無人機2的造冊資料、飛行操作員註冊資料的確認、飛行計畫與路徑規劃,並且登錄飛航記錄。飛航數據啟用後,將經過加密的程序,開始傳送資料到雲端資料庫12。進入地方性無人機飛航管理中心13的電腦螢幕將可觀測當時的氣象。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
2. 無人機2起飛前,如圖10,需先經過民航局的『遙控無人機管理資訊系統』的認證,確認氣象狀況(Meteorological Observation)合適否、申請飛航計畫(Flight Plan)、飛行時程規劃(Flight Schedule)。在獲得核准後,應先做電子繳費(e-pay)的動作,並對無人機2使用類自動回報監視通訊器10通訊回報的即時數據進行測試,以及透過飛行操作員的行動通訊(如手機)與地方性無人機飛航管理中心(RUTM)13及該全國型無人機飛航管理中心(NUTM)14管制員確認及做必要的通訊聯繫後,無人機2將獲得起飛許可。無人機2申請飛行許可並核准後可以調整飛行計畫時間,但是不能變更飛行路徑。一旦路徑變更或延遲起飛超過兩小時以上,將必須重新申請登錄。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
3.無人機( UAV)起飛後,如圖11,該無人機2的即時數據以類自動回報監視通訊器10透過飛行所至的通訊接收閘道裝置11通訊回報到雲端資料庫12,再經地方性無人機飛航管理中心(RUTM)13及全國型無人機飛航管理中心(NUTM)14監視管理後,納入全面監控,並啟動電子圍籬的屏障隔離、空域諮詢、感測與避讓(Detect and Avoid, DAA),完整的呈現在地方性無人機飛航管理中心(RUTM)13及全國型無人機飛航管理中心(NUTM)14的監視顯示器上。雲端資料庫12送至地方性無人機飛航管理中心(RUTM)13及全國型無人機飛航管理中心(NUTM)14電腦,對重複接收的數據加以篩選及解密。圖7、圖8為地方性無人機飛航管理中心(RUTM)13及全國型無人機飛航管理中心(NUTM)14的資訊流程圖,圖8代表系統架構從各地區400呎以下低空層的地方性無人機飛航管理中心(RUTM)13連結到400呎以上高空層的全國型無人機飛航管理中心(NUTM)14,並與有人機的飛航管理(ATM)結合,讓有人機的飛航管理(ATM) 得以掌握完整無人機2的確實資訊。如圖7,是從各地方性無人機飛航管理中心(RUTM)13往上送的無人機2資料,飛行高度若超過400呎,必須經過有人機的飛航管理(ATM)管制。無人機2的飛航數據紀錄、數據串流、大數據儲存以及全面監視,都是進入全國型無人機飛航管理中心(NUTM)14的必要程序,飛行高度在400呎更往上時,必須過透有效的通訊媒介,將飛往高空層的無人機2飛行數據通報到有人機的飛航管理(ATM)系統中,讓有人機的飛航管理(ATM)得以掌握完整確實的飛行數據。無人機2起飛後,各地方性無人機飛航管理中心13及全國型無人機飛航管理中心14從雲端資料庫12可下載無人機2的即時飛航數據,並顯示所有飛行在該管轄區域的無人機2於電腦顯示器上,該顯示器以適當的電子地圖建構,將產生狀況顯示(Situation Awareness)、領航服務(Air Navigation Service)、感測與避讓(Detect and Avoid, DAA)、通知飛行操作員、改道迴避(Detour) 的通知、航點管理(Waypoint Management)、落地報告(Landing Report)、任務完成(Mission Complete)、自動飛航記錄資料(Auto Logbook)、自動與民航局的『遙控無人機管理資訊系統』連結通報,完成一趟任務。而且在飛行途中,利用GPS位置演算,建立無人機2感測與避撞(DAA)功能,即時評估多架無人機2的接近距離,當兩機接近小於航空系統之安全規範時,發出警訊給管制員,讓管制員對飛行操作員以行動通訊(如手機)做避讓的管制協調。3. After the drone (UAV) takes off, as shown in Figure 11, the real-time data of the
上述本創作之無人機飛航管理系統1,於應用上至少具有下列的優點及功效:The above-mentioned UAV
1.以一個網際網路的雲端資料庫12,建立無人機2即時飛航訊息,傳送到無人機飛航管理中心(地方性無人機飛航管理中心(RUTM)13及全國型無人機飛航管理中心(NUTM)14),以顯示多地區、多架無人機2的飛航管制。1. Use an
2.採用類自動回報監視通訊器10自動回報監視通訊技術,掛載於無人機2上,起飛後隨時廣播回報即時飛航資訊。2. It adopts the automatic report monitoring communication technology of the similar automatic
3. 雲端資料庫12依據無人機2回報GPS位置與高度,以400呎為界線,自動區分於不同飛行區域、自動分派到各地區之地方性無人機飛航管理中心(RUTM)13,接受各地區管制員管理,或全國型無人機飛航管理中心(NUTM)14,分層負責管理。3. The
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
5.利用GPS位置演算,建立無人機感測與避撞(DAA)功能,即時評估多架無人機的接近距離,當兩機接近小於航空系統之安全規範時,發出警訊給管制員,讓管制員對飛行操作員以行動通訊做避讓的管制協調。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. 雲端資料庫12、地方性無人機飛航管理中心(RUTM)13及全國型無人機飛航管理中心(NUTM)14系統自動與民航局之『遙控無人機管理資訊系統』結合,進行人、機起飛前核准、及完成飛行後的飛航記錄(Logbook)通報。6. The
7.專屬的無人機2圖像(icon)顯示,如圖3,包含無人機註冊登記編號(ID)、GPS位置顯示於地圖上、飛行方向箭號及其代表速度的長度、虛線軌跡資料。7. The
8. 雲端資料庫12數據資料庫的架設,讓無人機數據完整保存,未來可以提供無人機事故追蹤的依據。8. The establishment of the
9.本創作無人機飛航管理系統1建構完整的雲端資料庫12資訊系統,將空中飛行的無人機1全部納入監控管理。無人機2回報的資訊包括飛行軌跡及六個自由度數據,將全部收集儲存於資料庫系統中。完整的飛航中的軌跡座標與六個自由度數據,將可以提供無人機2飛航性能分析的依據,更可以在無人機2發生失效、事件、失事時,用以分析飛航作業品質保證(Flight Operation Quality Assurance, FOQA)的資料依據。9. This creative drone
1:無人機飛航管理系統 10:類自動回報監視通訊器 11:通訊接收閘道裝置 12:雲端資料庫 13:地方性無人機飛航管理中心(RUTM) 14:全國型無人機飛航管理中心(NUTM) 2:無人機 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
圖1所示是本創作實施例的系統架構圖。 圖2所示是本創作實施例的通訊接收閘道裝置佈署圖。 圖3所示是本創作實施例無人機位於電腦螢幕上的圖像(icon)。 圖4、5、6所示是本創作實施例無人機於電腦螢幕上的即時監視畫面。 圖7所示是本創作實施例地方性無人機飛航管理中心(RUTM)連結到有人機的飛航管理(ATM)的全國型無人機飛航管理中心(NUTM)的資訊流程圖。 圖8所示是本創作實施例的地方性無人機飛航管理中心(RUTM)資訊流程圖。 圖9所示是本創作實施例的無人機飛航管理系統(UTM)與民航局的『遙控無人機管理資訊系統』連結圖。 圖10所示是本創作實施例無人機飛航管理系統(UTM)之無人機起飛、登錄與許可流程圖。 圖11所示是本創作實施例無人機飛航管理系統(UTM)之無人機起飛後流程圖。 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:無人機飛航管理系統 1: UAV flight management system
10:類自動回報監視通訊器 10: Automatic report monitoring communicator
11:通訊接收閘道裝置 11: Communication receiving gateway device
12:雲端資料庫 12: Cloud database
2:無人機 2: drone
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TWI765710B (en) * | 2021-05-19 | 2022-05-21 | 長榮大學 | Sensing and Collision Avoidance Methods for UAVs |
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