CN107132852A - A kind of unmanned plane supervision cloud platform based on Big Dipper geography fence Differential positioning module - Google Patents
A kind of unmanned plane supervision cloud platform based on Big Dipper geography fence Differential positioning module Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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Abstract
Cloud platform is supervised the invention discloses a kind of unmanned plane based on Big Dipper geography fence Differential positioning module, mainly it is made up of three parts, Part I Big Dipper difference geography fence locating module, Part II flies control terminal, Part III unmanned plane flies control supervision cloud platform, and Part I is mainly responsible for the execution communication and the offer of precise position data of geography fence information.Part II is mainly responsible for forcing registration, login, flight path, the planning of flight range, and flight applies for that the work such as submission and Big Dipper difference geography fence locating module and unmanned plane fly the data communication between control supervision cloud platform.Part III is mainly responsible for forcing the registration of supervision, the logic of login authentication to perform, and is responsible for the generation of geography fence data, preserves and issued to module；It is responsible for flight path, the examination ＆ verification in region, flight plan application examination ＆ verification and is issued to module, is responsible for providing targetedly different types of data, services to the different user of platform in addition.
Description
Technical field
The present invention relates to a kind of Big Dipper geography fence Differential positioning module and thus a kind of unmanned plane supervision cloud of framework is put down
Platform, is carried out mandatory especially for the civilian unmanned function based on Big Dipper difference geography fence locating module Navigation Control to it
The unmanned plane supervision cloud platform of supervision.
Background technology
Unmanned plane (Unmanned Aerial Vehicle) is exactly that specific boat is performed using wireless remote control or programme-control
The aircraft of idle task, is a kind of power airborne aircraft for not carrying operating personnel, uses air force to be provided for aircraft
Required lift, can automatically fly or remotely guide；Disposable it can also can be reclaimed；Can carry mortality and
Non-lethal pay(useful) load.
Unmanned plane is referred to as " air-robot ", is born nearly 100 year, nothing till now from first unmanned plane in 1917
Man-machine technology continuous advancement, the especially technology such as microelectronics, navigation, control, communication, have greatly promoted the hair of UAS
Exhibition, promotes application of the UAS in military and civilian field.
The civilian Development of UAV of China is very swift and violent, and the coming years are national in 2014 by the growth of holding more than 50%
4,000,000,000 yuan have been reached with unmanned plane marketing scale.It is expected that the advantage opened gradually by low altitude airspace, to the year two thousand twenty China nobody
Machine year sales volume is up to 290,000 framves.
With the development of unmanned plane industry, what is brought is the confusion of the unordered flight of unmanned plane, and violation fly event is in year by year
Ascendant trend.Stop 55, Chengdu airport flight event as unmanned plane in 2016 is forced, and in fact, unmanned plane " black to fly " not only has
Chinese Government feels headache.
A lot of unmanned plane accident events occur in the range of world in recent years.Such as：The German frame of Lufthansa Group one boat in 2015
Class meets unmanned plane in Warsaw overhead；, the unmanned plane Si Chuan White House in 2015；2015, unmanned plane fell at Japanese PM official residence；
New Zealand's unmanned plane approaches fire control helicopter within 2015.
Unmanned plane " black to fly " event rises supervision into global problem year by year.For global point, unmanned plane accident thing
It is also Po Ling national governments worry that part, which takes place frequently,.
While eruptive growth is presented in unmanned plane market, there is also flight range is indefinite, invasion of privacy, peace is deposited
The problems such as full hidden danger, how unmanned plane is supervised into global problem.
The U.S. is as one of flourishing country of aircraft industry, in relatively leading status in terms of the supervision of unmanned plane.FAA
(Federal Aviation management board) has formulated strict unmanned plane management method as supervision responsible party, for different types of
Unmanned plane has formulated different management policies.
The management of FAA refinements has been specification unmanned plane is used, while not suppressing the development of this industry again.FAA 2015
On December 21, in carries out unmanned plane registration system, and on the other hand in view of unmanned plane occurs so frequent in US airports, FAA can
One kind, which can be ratified, makes " anti-unmanned plane defence system " (AUDS) to come into operation as early as possible.The management of unmanned plane is a need as can be seen here
The industry for wanting active management and passive management to combine.Registration is managed by legal requirement unmanned plane, to the nothing without registration
Man-machine carry out civil penalty or criminal penalty.FAA is proposed whole new set of applications program B4UFLY simultaneously, and B4UFLY is by using position
Data are that unmanned plane and other model of an airplanes user provide real-time flight information service and points for attention.
In face of severe unmanned plane " black to fly " event, China promulgates《Civil Aviation Law》、《General Aviation Flight control bar
Example》、《The temporary provisions of relevant issues are managed on civilian unmanned plane》Deng multi-section regulation.In order to further solve unmanned plane classification
The problems such as management, airspace management, airworthiness management, driver's qualification management.
In November, 2013, office of CAAC issues《Civilian push-button aircraft system driver management temporary provisions》,
Guiding management is implemented to the driver of unmanned plane and its system.
On December 29th, 2015, flight standard department of Civil Aviation Administration of China issued《Light small unmanned plane operating provisions are tried》, consult
Ask notice.
On July 11st, 2016 is issued《Civilian unmanned plane driver management regulation》.To primary cloth《Civilian unmanned boat
Pocket system driver management temporary provisions》Revised.
In fact black winged problem can not thoroughly be solved under existing regulation technique condition and policy by training and obtain driving license,
Key is without a set of enforceable technology regulatory measure, therefore difficulty of implementation is very big.And the current prison of another aspect
Pipe is focused in the unmanned plane supervision to industry mechanism, mainly for 15-150 kilograms (total launching weights), flying height 150
The unmanned plane of the following operation of rice.It is required that being declared during flight, do not required for substantial amounts of less than 15 kilograms of unmanned planes.
At present for flying height is low, speed is slow, small volume unmanned plane, the air traffic control safeguards technique hand of domestic current
Duan Wufa carries out real-time tracking monitoring to it, and radar " be can't see ", and radio is protruded the problem of " connection ".This present situation is not only
Homeland air defense and flight safety have been had a strong impact on, the opening of low altitude airspace and the development of General Aviation is also seriously govern.
In order to solve unmanned plane supervision problems faced, Chinese Patent Application No.：201510107809.9, Chinese patent Shen
Please number：201510222453.3, Chinese Patent Application No.：201510242490.0, Chinese Patent Application No.：
201510448354.7, Chinese Patent Application No.：201510512563.3, Chinese Patent Application No.：201610075393.1 all
The characteristics of sets forth the solution of unmanned plane supervision, these schemes is will to carry out depth transformation to unmanned plane, so as to
Supervision is adapted to, such as：The scheme that increases identification module on unmanned plane, the scheme for installing on unmanned plane tracking module additional, by
The scheme of management platform control unmanned plane shielding remote control, unmanned plane apply for that the scheme in spatial domain etc., its solution lack automatically
Systematicness and operability, the social cost that its scheme is performed are higher, and technology path is relatively obscured, and unmanned plane industry is sent out first
Open up to today, its degree of modularity is at a relatively high, it is impossible to change existing unmanned plane production enterprise because of a supervision scheme
The unmanned plane structure of industry increases other modules, because requirement of the unmanned plane to weight is very high, what can be changed is exactly to substitute
Chip or module.Therefore existing disclosed solution is the demand that can not solve to carry out unmanned plane mandatory supervision.
On April 18th, 2016, the unmanned plane cloud system U-Cloud (the excellent cloud of palm) of civil aviation authority's approval starts to reach the standard grade.This
Unmanned plane cloud system is by China Aviation device owner and drives NAB National Association 0f Broadcasters (AOPA) promotion foundation, it is therefore an objective to solve unmanned plane
The problem of application procedures are complicated, supervision is inconvenient.
U-Cloud solution is to install a U-Box additional on unmanned plane, be a specification for 50*35*16mm,
Weigh about 35 grams of box shaped object.It is powered using independent battery, without external power source, and it can be charged.It goes back simultaneously
Support access airborne power supply.Only need to that U-box is fixed at the top of unmanned plane with VELCRO, then by unmanned plane first in excellent cloud
System carries out airborne vehicle and operation people's registration, and selection is by the registration of U-Box device numbers during registration, while by the positive equipment of U-Box
IMEI number is used as the excellent cloud system of device number typing.Excellent cloud system can be formally accessed after succeeding in registration.
U-Box needs the support of GSM network, and its ceiling altitude depends on the coverage of flight range mobile network
And stability.U-Cloud is similar on SIM card tracking and managing platform, unmanned plane and is assembled with U-Box, is provided according to U-Box
Position data just can be monitored and enforce the law to the unmanned plane of lift-off.
Flight standard department of Civil Aviation Administration of China approval on April 20th, 2016 U-Care unmanned plane cloud trial operations, its purpose
As U-Cloud, and technology path is essentially the same, is also the box that a U-Agent is mounted with unmanned plane.For adopting
Collection transmission unmanned plane during flying data, compatible big boundary, hundred million endurance unmanned planes in terms of current brand access.
It is provided to strengthen the supervision to unmanned plane for the purpose of both clouds, its technical scheme is all at nobody
External position collecting device on machine, to realize the supervision to unmanned plane.That is such solution does not possess technology-forcing
External position collecting device is not added with property, existing solution, unmanned plane is not registered still can fly.For regulator
Comprehensively and effectively mandatory supervision covering can not be accomplished.On the other hand GPRS network is both used as unique communication chain
Road, and high-level unmanned plane during flying regional location can have no GPRS network signal, main cause is that launching tower is more
Using directional aerial, at an angle transmitting, therefore the situation of GPRS jitters just occurs downwards, GPRS signals are not
It is stable directly to influence the effect that such scheme is supervised to unmanned plane.Other both external position collecting devices, it is impossible to and
The flight control system of unmanned plane carries out data link, and it is the weight that unmanned plane is different from general aviation model that whether flight control system, which is housed,
Indicate, flight control system is the core control devices of unmanned plane, be mainly responsible for sensor data acquisition, GPS information is obtained, and is received
Machine signal acquisition, servos control, with ground station communications, flight control rate is calculated, Navigation Control, the work such as task control.Wherein
Position data the taking off in unmanned plane that GPS provides for flight control system, navigates by water, and hovering, any one stage of return is required for
The support of position data.High accurately position data is for unmanned plane and its important as can be seen here.Both above-mentioned solutions
In, whether U-Cloud or U-Care is due to being external position equipment, it is impossible to which direct and flight control system carries out data friendship
Change, also just unmanned plane can not be forced to make any change in state of flight.The intelligent hand in driver can only be accomplished at this stage
Reminded or alerted in machine terminal.Contemplated monitoring function can not be realized if GPRS network signal interruption.
In January, 2016, the world-leading big boundary of unmanned plane manufacturing enterprise was also proposed GEO (Geospatial
Environment Online) self intercepting system can provide real-time no-fly zone information for American UAV user, and GEO makes
With geography fence (Geo-fencing) technology, geography fence is a kind of LBS application, is exactly crossed with a virtual fence
One virtual geographic boundary, provides dynamic data by the geographical spatial data company AirMap of California, USA and supports.It is only at present
The user of big boundary innovation unmanned plane product is provided about information such as the flight restriction of region and safety instructions in real time, makes big boundary
Unmanned plane can avoid these no-fly regions automatically.But this relevant technology also has two major issues to need to solve at present.
First, not all unmanned plane manufacturer can all allow this function built in unmanned plane；Second, the user of big boundary unmanned plane has the right
Authority temporarily can be opened for oneself to fly to the spatial domain of no-fly zone.And in Chinese big boundary by the way that in unmanned plane ROM, (ROM image are (only
Rdma read mirror image) method of no-fly zone data is write to realize the avoidance to sensitizing range.But this mode is for each place
Government or the military require that no-fly region can not real-time update.No matter big boundary uses that technical scheme, big boundary is only at present
The unmanned plane service of itself production, does not possess social versatility, and another aspect GEO uses dynamic used in geography fence technology
Data by California, USA geographical spatial data company AirMap provide, its geography fence packet containing government, the military it is no-fly
Position data, therefore the problem of China is using this information security is certainly existed, so GEO can not provide one for Chinese management person
Individual comprehensively and effectively supervising platform.
In summary, therefore it is badly in need of wanting one to coordinate unmanned plane laws and regulations on the management to perform, has from the angle of unmanned plane industry
The unmanned plane supervising platform of mandatory monitoring function solves the deficiency of existing solution.This solution must be from nobody
The top layer of machine industry supervision is designed and framework, otherwise will bring the confusion of supervision.
Current unmanned plane is substantially entered using GPS of America (Global Positioning System, global positioning system)
Row positioning, its technical principle is positioned by receiving the latitude and longitude coordinates signal of gps satellite offer, and with China north
The comprehensive of bucket satellite navigation system (BeiDou Navigation Satellite System) abbreviation BDS systems builds up.The Big Dipper
Airmanship application will greatly be developed, and the unmanned plane of following China's production is positioned using the Big Dipper comprehensively by inevitable.It is special
It is not that the continuous operation satellite fix set up with China using multiple single Big Dipper base station RTK technologies services integrated system
(Continuously Operating Reference Stations, be abbreviated as Big Dipper CORS) i.e. Big Dipper ground strengthening system
All-round construction, BEI-DOU position system is by significant increase positioning precision, therefore either from national Big Dipper industry, unmanned plane industry
Or the need for being supervised to unmanned plane, it is particularly important that one unmanned plane for orientating basis as with the Big Dipper of structure flies control supervision cloud platform
With it is urgent.China is currently unmanned plane big producer, and particularly the Chinese unmanned plane enterprise by representative of big boundary is especially prominent.Its
Product sells to multiple countries and regions.The Big Dipper is as national strategy, and its application should go to the world with unmanned plane, and the opposing party
The existing unmanned plane in face is in accordance with GPS of America navigation position information and carries out flight control, then how to accomplish to utilize positional information
To carry out the mandatory administration and control to unmanned plane, existing solution is all difficult to accomplish.
The content of the invention
Cloud platform is supervised it is an object of the invention to provide a kind of unmanned plane based on Big Dipper geography fence Differential positioning module,
A Big Dipper difference geography fence locating module is provided to replace d GPS locating module for unmanned plane.And thus based on provide
Cloud platform is supervised in one winged control that mandatory supervision can be performed to unmanned plane.Particularly one kind combines Big Dipper CORS difference, LBS
(LBS--Location Based Service, mobile location-based service) is positioned and interior Wi-Fi, Bluetooth (bluetooth) positioning
The unmanned plane that the locating module of function and geography fence function is built flies control supervision cloud platform；One kind has mandatory registration supervision
Unmanned plane supervision cloud platform, one kind Dynamic Geographic fence data can be provided for unmanned plane and unmanned plane is avoided no-fly zone automatically
Supervision cloud platform, a kind of the supervision cloud platform of flight plan application declaration, Yi Zhongneng can be provided for UAS driver
High definition map, landform, the supervision cloud platform of meteorological data service are provided, a kind of supervision cloud that can provide sector application service is put down
Platform.It is a kind of that the supervision cloud platform of unified locating module sequence number can be provided for unmanned plane manufacturing enterprise.
Another object of the present invention is Dynamic Geographic fence technology is turned into a kind of unmanned plane by the popularization of the present invention
Enforceable standard is managed, flight locations, flying height to unmanned plane etc. all make corresponding limitation, and as unmanned plane supervision
The standard of platform.So as to eliminate about the contention between aircraft and unmanned plane.It is final to promote Chinese unmanned plane industry, Big Dipper industry
Great development, and realize situation is comprehensively and effectively supervised to unmanned plane.
The present invention technical solution be：A kind of unmanned plane supervision cloud based on Big Dipper geography fence Differential positioning module
Platform, is mainly made up of three parts, and Part I Big Dipper difference geography fence locating module, Part II flies control terminal, the
Three part unmanned planes fly control supervision cloud platform.Whole system work is cooperated with each other completion by above three part.
Part I is mainly responsible for the execution communication and the offer of precise position data of geography fence information.
Part II is mainly responsible for forcing registration, login, flight path, the planning of flight range, flight application submission etc.
Work and Big Dipper difference geography fence locating module and unmanned plane fly the data communication between control supervision cloud platform.
Part III is mainly responsible for forcing the registration of supervision, the logic of login authentication to perform, and is responsible for geography fence data
Generate, preserve and issued to module；It is responsible for flight path, the examination ＆ verification in region, flight plan application examination ＆ verification and is issued to module, separately
It is outer to be responsible for providing targetedly different types of data, services to the different user of platform.
Three parts of the present invention are described in detail below：
Part I：Big Dipper difference geography fence locating module
Big Dipper difference geography fence locating module is a multi-functional locating module, and module is constituted by processor, Big Dipper core
Piece, flight data recording chip, GPRS module, fence memory, earth magnetism module, power module, interface module, bluetooth,
WI-FI modules are constituted.Its annexation is, Big Dipper chip, flight data recording chip, GPRS module, fence memory,
Earth magnetism module, power module, interface module, bluetooth, WI-FI modules are all connected with processor.Its operation principle is Big Dipper chip
For receiving big-dipper satellite real-time positioning information, its real-time positioning information received is supplied to processor, and processor combines logical
The Big Dipper CORS differential datas for crossing interface module or GPRS module acquisition carry out differential corrections to real time positioning data, and it corrects position
Put data and be supplied to fence memory.
Fence memory
Module introduces GPRS, Bluetooth (bluetooth), WI-FI communication chips.It is achieved thereby that multi-functional positioning work(
Can, Big Dipper Differential positioning, LBS positioning, Bluetooth (bluetooth), Wi-Fi positioning function provide north for unmanned plane out of doors
Bucket, LBS positioning (LBS--Location Based Service, mobile location-based service), provide for unmanned plane be based on indoors
Bluetooth (bluetooth), Wi-Fi positioning function.
The technical principle of LBS positioning is the base station signal difference by mobile communication to calculate the position where GPRS module
Put to be positioned, as long as calculating the signal difference of three base stations, it is possible to judge the position where GPRS module.Therefore,
As long as GPRS module be in mobile communications network effective range within, it is possible at any time carry out position positioning, without by weather,
High building, the influence of position.
Backup and supplement of the LBS positioning as Big Dipper Differential positioning, because interference is blocked in Big Dipper dropout as nobody
Machine provides the positioning service based on LBS.The communication link of GPRS or backup, is counted between remote control and unmanned plane in addition
During according to chain interruption, driver still can follow the trail of the position of unmanned plane, and lost contact often occurs for existing unmanned plane, because having used list
GPS location and single remote control (2.4G) Data-Link, are easy to occur lost contact, aircraft bombing, crash etc. in the case where there is external interference
Accident.
Big Dipper difference geography fence locating module is simultaneously there is provided a flight data recording chip, to record unmanned plane
Flying quality, its record data can be by communication links into the exclusive data logger server of cloud platform, its data
Aircraft parameter obtained including flight path, height, speed, position, course and other sensors etc., these data can be for factory
Family, insurance company, regulator and user are inquired about, failure and cause of accident during analysis unmanned plane during flying.
The prior function of Big Dipper difference geography fence locating module there is provided a fence memory, to deposit
Put geography fence control information, positional information and algorithm.The part is the Core Feature of Big Dipper difference geography fence locating module.
Its algorithm supports Big Dipper differential position, LBS positions, Bluetooth (bluetooth) position, Wi-Fi positions.The position of unmanned plane is referred to
Order revision is provided by module according to algorithm and processor.Other processor is carried out according to algorithm and control instruction to each functional chip
Switch management, to reach the purpose of economize on electricity.
Big Dipper difference geography fence locating module is fixed by positioning logic and key using fusion location technology in the present invention
Position technology is dissolved into module, therefore can be implanted to multi-functional stationkeeping ability in unmanned plane with module.
The pressure registering functional of Big Dipper difference geography fence locating module is the emphasis of the present invention, and module can be by certainly first
Winged control in three kinds of communication modes of Bluetooth (bluetooth), Wi-Fi, unmanned controller of band and the smart mobile phone of driver
Terminal is communicated, and user can voluntarily select one of which communication mode to fly control supervision by flying control terminal and Big Dipper unmanned plane
Cloud platform is communicated.Its process be driver first pass through winged control terminal Big Dipper unmanned plane fly control supervision cloud platform noted
Volume, carries out logging in Big Dipper unmanned plane and flies control supervision cloud platform after the completion of registration by terminal, and carries out in terminal flight range
Planning or flight path planning, if industry unmanned plane user, the industry clothes in Big Dipper unmanned plane flies control supervision cloud platform
Chosen a trade on demand in business using winged control service, and work planning need to be submitted to declare, it is necessary to supervise unit approval.In flight range
Driver position can be obtained automatically from cloud platform LBS service by flying control terminal when planning or flight path planning, and be pushed
Display periphery is no-fly, height limiting zone.Driver must get around these no-fly zones when flight range is planned or flight path is planned
Domain receives limit for height.If not getting around no-fly zone or not receiving limit for height.Then region or path planning failure, point out driver to weigh
New planning.Completion is planned if getting around no-fly zone or receiving limit for height, winged control terminal is fed back to after supervision cloud platform examination ＆ verification
Planning is completed, and next step differentially manages fence locating module upload path planning or planning movement area to the Big Dipper by flying control terminal
Numeric field data, is determined after the completion of upload, next step activation location-based service, is clicked on activation location-based service, is then flown control terminal poor to the Big Dipper
Geography fence locating module is divided to send activation instruction, at this moment positional information is activated, unmanned plane receives positional information and begun to respond to, with
Can normally it be taken off by the path planning or planning flight range data of upload afterwards.
The process that Big Dipper difference geography fence locating module is not activated in the present invention be not output position information give nobody
Machine flight control system.Force the process of activation to realize the pressure registration of unmanned plane by this, force login, pressure to be wanted by management
Progress planning unmanned plane during flying path or flight range are asked, effective overall scientific supervision is forced to unmanned plane so as to realize.
Another major function of Big Dipper difference geography fence locating module provides accurately location-based service for unmanned plane, by
The direct outgoing position of traditional GPS flies control to unmanned plane, is changed into Beidou receiver and first inputs to Differential positioning module, by
Differential positioning module exports a normal position information after judging according to geography fence algorithm process or one hovers or position of making a return voyage
Confidence ceases.So as to reach the pressure control to unmanned plane, it is set to keep course line or be flown in the region of planning.
The Differential positioning of Big Dipper difference geography fence locating module is the GPRS or remote control (2.4G) carried by module
Data-Link flies the differential data that the Big Dipper CORS differential datas service offer of cloud platform is supervised in control to receive from unmanned plane, with reference to
The Beidou receiver data that module is carried are by differential position data correction, so that being embodied as unmanned plane provides high accurately position
Control data.
Big Dipper difference geography fence locating module LBS positioning be outdoor Big Dipper signal it is weaker or lose when.Pass through mould
GPRS or remote control (2.4G) Data-Link that block is carried fly the Big Dipper CORS difference of control supervision cloud platform to receive from unmanned plane
Position data that the differential data and LBS service from platform that data, services are provided are provided realizes positioning, to be embodied as nothing
Man-machine offer precise position data.
The indoor positioning of Big Dipper difference geography fence locating module is luetooth (bluetooth), the Wi- carried by module
The LBS service that Fi combinations platform is provided is so as to be reached for the purpose that unmanned plane provides indoor positioning.
Therefore Big Dipper difference geography fence locating module is through the service of Big Dipper CORS differential datas, LBS service data knot
Itself algorithm is closed to provide accurately unmanned plane positional information and indoor positioning function.So that it is guaranteed that outside unmanned plane room, it is indoor
Safe flight.Other GPRS is also used as following the trail of the backup communication link of unmanned plane position so that unmanned plane and remote control
Effective tracking to unmanned plane can also be kept during (2.4G) data chain interruption.
Big Dipper difference geography fence locating module provides the winged control interface of standard, can fly control with most unmanned plane
Docked.
Big Dipper difference geography fence locating module can use self-powered and use unmanned aerial vehicle onboard power supply both of which,
Use the self-powered service life that can be reduced the dependence to unmanned aerial vehicle onboard power supply, extend unmanned aerial vehicle onboard power supply.
The Big Dipper difference geography fence locating module provided in the present invention, which can be received, flies the ground such as the no-fly position of control cloud, limit for height
Fence data message is managed, flight position data and altitude information can be corrected automatically after these data are received, and send nothing to
Man-machine flight control system, accomplishes to avoid no-fly zone automatically, automatic reduction height, thoroughly realizes safe flight.And prior art can only
Accomplish to alert or point out.
Part II:Fly control terminal
The winged control terminal provided in the present invention is responsible for flying control supervision cloud with Big Dipper difference geography fence locating module, unmanned plane
Platform is communicated.
Another main function is to fly control supervision cloud platform and Big Dipper difference geography fence locating module as unmanned plane
Between data communication bridger.Fly control supervision cloud platform to unmanned plane and perform to force registration or login authentication information, to platform
Submit flight application, flight path or flight range planning, the flying quality to platform submission unmanned plane.
Secondly platform confirmation is submitted to unmanned plane Big Dipper difference geography fence locating module, registration, which is logged in, completes feedback
Information, to module submit platform validation after flight path, the planning information of flight range, to module provide Big Dipper CORS difference
Data, services, LBS location-based service data.Wherein the service of Big Dipper CORS differential datas, LBS location-based service data may also be directly by
Mobile base station is directly provided to module.
Part III：Unmanned plane flies control supervision cloud platform
It is that a service cloud for the civilian unmanned plane of different type is put down that unmanned plane in the present invention, which flies control supervision cloud platform,
Platform, is also a mandatory supervision cloud platform.It is that unmanned plane user (use by personal user, industry that unmanned plane, which flies control supervision cloud platform,
Family, scientific research clients) unmanned plane regulator (Civil Aviation ATM, air force, public security), unmanned plane manufacturing enterprise, unmanned machine testing, unmanned plane
Numerous personnel such as insurance, unmanned plane service and institutional unitses offer become more meticulous, the flight control data service cloud platform of precision.
Unmanned plane flies control supervision cloud platform by unmanned plane user registry database, winged control meteorogical phenomena database, bis- thunders of GIS-
Serviced up to DTS, manufacturing enterprise's code registration database, the service of Big Dipper CORS differential datas, the winged control of sector application,
Topographic database, map data base, three-dimensional city database, geography fence database, flying activity report policing services, fly control
Terminal downloads service, unmanned machine testing authentication service, indoor map database, unmanned plane during flying data record database, LBS
The service of putting, platform management safeguard that the cloud data, services such as service are constituted.
Fly control supervision cloud platform construction module description：
(1) unmanned plane user registry database is responsible for record storage and user login management data, services.
(2) fly control meteorogical phenomena database to be responsible for flying control user's offer position meteorological data, and be responsible for pushing information to
In the winged control terminal of user installation, so that user determines flying activity.
(3) GIS- secondary radars DTS is responsible for flight path data (GIS formatted datas) conversion of unmanned plane
For secondary radar data format, facilitate Civil Aviation ATM, air force etc. to supervise unit and information be directly connected to air traffic control automation system,
So as to realize the flying activity that unmanned plane is monitored in radar ATC.
(4) manufacturing enterprise's code registration database is responsible for the manufacturing enterprise using Big Dipper difference geography fence locating module
Unified block code is provided, and registration service is provided for the unmanned plane that market is delivered by manufacturing enterprise, manufacturing enterprise is according to module
Code submits the sequence number of corresponding product, convenient supervision, while facilitating user directly to judge load, the class of unmanned plane when in use
The data such as type.
(5) the service of Big Dipper CORS differential datas is to obtain Big Dipper CORS differential datas from Big Dipper ground enhancing network and lead to
Cross and fly control supervision cloud platform, Public Mobile Network and provide the Big Dipper to the Big Dipper difference geography fence locating module installed on unmanned plane
CORS differential datas, also can be directed through the Big Dipper poor through the winged control terminal installed in the smart mobile phone of unmanned plane driver
GPRS in point geography fence locating module directly to fly control supervision cloud platform from unmanned plane to obtain Big Dipper CORS differential datas clothes
Business.
(6) sector application flies user's offer targetedly flight control data service that control service is responsible for different industries, such as：Survey
Paint, plant protection, forest fire protection, city patrol, traffic administration, air rescue etc..
It includes targetedly map datum, flight path algorithm etc., no-fly zone and height-limit area and opened etc..
(7) topographic database, which is responsible for providing, can represent the data of earth's surface height undulating state, the i.e. number with elevation information
According to.Digital elevation model (DEM) is a kind of continuous representation method to space fluctuations, is a kind of special
DatasetGrid data models.These data can assist in unmanned plane and complete the flight of some special industries.There is provided ground for unmanned plane
Shape assisting navigation data, its operation principle is that unmanned plane corrects inertial navigation by the use of terrain data and altitude information as supplementary means
The error of system.
(8) map data base is responsible for providing the user a high accuracy, the numerical map of high-resolution.
(9) three-dimensional city database is responsible for providing a user the three dimensional spatial map data in city.
(10) geography fence database is responsible for setting up, preserving for fence, and fence data, services are pushed to user, and it is comprising no-fly
Area's fence data, limit for height fence data.
(11) the flight plan examination ＆ approval that flying activity reports policing services to be responsible for industry user are reported, and are responsible for tying examination ＆ approval
The feedback of fruit.
(12) Pad, smart mobile phone, PC that control terminal download service is responsible for providing the user Android, iOS different system are flown
Different types of winged control terminal download service.
(13) unmanned machine testing authentication service is responsible for providing online unmanned plane using all users for flying control supervision cloud platform
The service of detection, its testing result can be inquired about on platform.
(14) indoor map database is responsible for the numerical map of user's offer interior of building of indoor flight, with reference to
Bluetooth (bluetooth), Wi-Fi are positioned and LBS location-based services provide position for indoor unmanned plane and supported.
(15) unmanned plane during flying data record database is responsible for the flying quality of acquisition and recording user, and flying quality includes aircraft
The flight parameter of each system and track, can be used to assess airplane fault and defect to user and unmanned plane manufacturing enterprise.
(16) LBS location-based services are responsible for providing the user the position clothes based on mobile communications network and global position system combination
Business, the in the present invention main positioning being responsible for driver's smart mobile phone position is poor because being provided with the Big Dipper on unmanned plane in addition
Divide geography fence locating module, its module carries GPRS, therefore LBS positioning can also position the position of unmanned plane.
(17) platform management safeguards that service is responsible for the whole management for flying control supervision cloud platform, upgrading and safeguarded.
(18) chart database is responsible for the data such as air route, course line, airport, military no-fly zone.
(19) subscriber management service is responsible for the management to user and the management to service data, is according to different user types
It calls different data, services.
Can be based on Big Dipper difference geography fence locating module (Part I) and winged control invention broadly provides one kind
Terminal (Part II), which is realized, force the unmanned plane of supervision to fly control supervision cloud platform (Part III), the present invention unmanned plane
The user different to unmanned plane is realized while realizing and forcing supervision and regulator provides diversified data, services.Wherein
Important pressure monitoring function is completed by Part I, Part II, the common cooperation of Part III.Its it is main by based on
Part II, the pressure registration of Part III, the planning of pressure flight path or flight range planning are audited and based on first
Divide, pressure activation, the login of Part II, Part III are fed back and automatic perform of fence algorithm of Part I is come jointly in fact
Existing.
Another main function of the invention is to provide a diversified positioning approach for unmanned plane, changes unmanned plane
Single GPS location pattern.A multi-functional locating module, Big Dipper difference geography fence positioning mould are provided for unmanned plane
Block, the module provide not only the function of geography fence, also realize unmanned plane fixed using Big Dipper CORS Differential positionings, LBS
The positioning of position, interior Bluetooth (bluetooth) and Wi-Fi.
The implementation steps of the present invention are as follows：
First, Big Dipper difference geography fence locating module, traditional GPS to replace, this mistake are installed when unmanned plane is produced
Journey needs the cooperation of national policy (supervision standard as being directed to manufacturing enterprise) and business activity, and its final purpose is made in China
Civilian unmanned plane all installs Big Dipper difference geography fence locating module.
Simultaneously corresponding nothing is provided using the manufacturing enterprise of Big Dipper difference geography fence locating module according to the code of module
Man-machine sequence number, and be submitted in the winged control supervision cloud platform of unmanned plane, same class sequence number is used same type, and unmanned plane flies
The information such as load, title, type, purposes, the performance parameter of type are filled in control supervision cloud platform, these data will be stored in
In manufacturing enterprise's product ID registration database.
2nd, after unmanned plane user or driver obtain these using the unmanned plane of Big Dipper difference geography fence locating module,
It need to fly before use from the Big Dipper in control cloud platform by flying the winged control terminal software of control terminal download service download respective version simultaneously
Installed on smart mobile phone.
Install after winged control terminal software, it is possible to positioned by software design patterns smart mobile phone and Big Dipper difference geography fence
The communication mode of module, optional bluetooth, WI-FI, remote control USB interface, the foundation of communication link is mainly used for uploading planning
Good flight path, flight range data, wherein the geography fence data comprising dynamic region, communication link it is another
Individual effect is exactly to be used for activating Big Dipper difference geography fence locating module.
Wherein bluetooth, WI-FI communication links can be closed automatically after the completion of activation work, and its communication link is by remote control
USB interface or the adapter of GPRS links.
3rd, unmanned plane user or driver are setting the communication of smart mobile phone and Big Dipper difference geography fence locating module
After mode, it is being forced to register using preceding needs, is forcing to log in, while needing to submit flight path planning or flight range rule
Draw, fly the examination ＆ verification of control supervision cloud platform by unmanned plane, institute's planning region meets planning requirement and is uploaded to Big Dipper difference geography
It could allow to activate Big Dipper difference geography fence locating module after fence locating module.Module after activation could outgoing position number
According to system for flight control computer, and system for flight control computer receive after position data could normal response start.That is do not have
Have before registration, login, activation, unmanned plane can not start.The pressure that process is realized to unmanned plane accordingly is registered, to flight path
Or the pressure examination ＆ verification of flight range, so as to reach the purpose for forcing supervision.
4th, the foundation of the pressure examination ＆ verification of flight path or flight range is to fly the ground in control supervision cloud platform based on unmanned plane
Fence database is managed, geography fence is formulated by supervision units at different levels, and geography fence has permanent fence, also there is provisional enclose
Column, geography fence data continue dynamic renewal.The fence data of formulation are stored in geography fence database.These
Data can be pushed directly in the winged control terminal in driver's smart mobile phone of login, while being pushed to Big Dipper difference geography fence
Locating module.
5th, the geography fence data of planning stage are pushed to winged control terminal with map, terrain data and planned for driver
With reference to avoidance when flight path or flight range.The planning that driver submits if planning does not avoid these geography fences is not
Go through, it is desirable to plan again.The data that its unmanned plane flies control supervision cloud platform push are driver position perimeter datas,
Data namely in flight horizon range.
6th, the packet being pushed to after unmanned plane takes off in Big Dipper difference geography fence locating module contains layout data and ground
Fence data are managed, force unmanned plane to make avoidance when close to geography fence in flight course for unmanned plane, by making a return voyage
Or the method for hovering actively avoids no-fly region or height limiting zone, so as to realize that the pressure to unmanned plane is supervised and carried for unmanned plane
For the guarantee service of safe flight.
7th, other offers for flying to take data are another critical functions for flying control supervision cloud platform, can be provided for all types of user
Diversified data, services, meet whole the winged of all types of users of unmanned plane industrial chain and take demand data.
Brief description of the drawings
Fig. 1 is that the Big Dipper flies control unmanned plane positioning supervision cloud platform operation principle schematic diagram.
Fig. 2 is that the Big Dipper flies control unmanned plane positioning supervision cloud platform configuration diagram.
Fig. 3 is Big Dipper difference geography fence locating module communication work schematic diagram.
Fig. 4 is to fly control terminal Login Register interface schematic diagram.
Fig. 5 is to fly control terminal communications setting interface schematic diagram.
Fig. 6 is to fly control terminal driver login's interface schematic diagram.
Fig. 7 is to fly control terminal activation Big Dipper difference geography fence locating module interface schematic diagram.
Fig. 8 is to fly the planning of control terminal flight path and flight range planning schematic diagram.
Fig. 9 is Big Dipper difference geography fence locating module flight path fence operation principle schematic diagram.
Figure 10 is Big Dipper difference geography fence locating module flight limit for height fence operation principle schematic diagram.
Figure 11 is Big Dipper difference geography fence locating module flight range fence operation principle schematic diagram.
Figure 12 is to fly control terminal flight path planning examination ＆ verification schematic diagram.
Figure 13 is regulator's PC display interfaces schematic diagrames.
Figure 14 is Dynamic Geographic fence production work principle schematic.
Figure 15 is driver login's flow chart.
Figure 16 is Big Dipper difference geography fence locating module pie graph.
Figure 17 is Big Dipper difference geography fence locating module path fence logic judgment workflow diagram.
Figure 18 is that the winged control unmanned plane positioning supervision cloud platform of the Big Dipper forces supervision flow chart.
Figure 19 is Big Dipper difference geography fence locating module region fence logic judgment workflow diagram.
1- big-dipper satellites in figure, 2- unmanned planes, 3- unmanned controllers, 4- flies control terminal, and the 5- Big Dippeves fly control cloud platform,
The single Big Dipper base station RTK, the 7- Big Dipper ground strengthening system networks of 6-, 8- internets, 9- telecom operators 2G/4G/5G networks,
10- moves regulator, 11- manufacturing enterprises product ID registrant, 12- remote controls (2.4G Data-Links), 13- mobile datas
Chain, 14-USB data wires, 15- regulators 16- driver's smart mobile phone
201- processors, 202- Big Dipper chips, 203- flight data recording chips, 204-GPRS modules, 205- electronics encloses
Column memory, 206- earth magnetism, 207- power supplys, 208- interfaces, 209 bluetooths, WI-FI modules.
301- unmanned plane user registry databases, 302- flies control meteorogical phenomena database, 303-GIS- secondary radar data formats
Transformation Service, 304- manufacturing enterprises product ID registration database, the service of 305- Big Dipper CORS differential datas, 306- industries should
Serviced with winged control, 307- topographic databases, 308- map data bases, 309- three-dimensional cities database, 310- geography fence data
Storehouse, 311- flying activities report policing services, and 312- flies control terminal download service, the unmanned machine testing authentication services of 313-, 314-
Indoor map database, 315- unmanned plane during flying data record databases, 316-LBS location-based services, 317- platform managements are safeguarded
Service, 318- chart databases, 319- subscriber management services.
401- geography fence data editors, 402- geography fence lists, 505- Big Dipper difference geography fence locating modules.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples.
Device embodiment：Referring to the drawings 1, accompanying drawing 3, Big Dipper difference geography fence locating module is installed on unmanned plane 2
505, its main location data is by the bucket CORS differential datas in big-dipper satellite 1 and Big Dipper ground strengthening system network 7 and accompanying drawing 2
Service 305, which coordinates, to be completed, and it aids in LBS to position the telecom operators in accompanying drawing 1, accompanying drawing 3 with 204 modules in accompanying drawing 16
LBS location-based services 316 are completed in 2G/4G/5G networks 9 and accompanying drawing 2.
It is placed in referring to the drawings the 1, unmanned plane 2 of accompanying drawing 3 under the space environment of big-dipper satellite 1, it is poor to be provided with the Big Dipper on unmanned plane 2
Divide geography fence locating module 505, unmanned plane 2 passes through remote control (2.4G Data-Links) 12 and carries out operational control.Remote control (2.4G
Data-Link) 3 unmanned controllers link with driver's smart mobile phone 16, can carry out two-way communication.
Referring to the drawings 1, the winged control terminal 4 installed in the driver's smart mobile phone 16 of accompanying drawing 3 can by USB data line 14 and
The communication link that remote control (2.4G Data-Links) 3 is builtCommunicated with Big Dipper difference geography fence locating module 505.
Referring to the drawings 1, accompanying drawing 3, in accompanying drawing 5, accompanying drawing 16, Big Dipper difference geography fence locating module 505 can by from
The winged control terminal 4 installed in bluetooth, the module of WI-FI modules 209 and the driver's smart mobile phone 16 of band carries out direct communication, can be with
Managed by flying the communications setting function in control terminal 4 in accompanying drawing 3The opening and closing of communication link.One
As in the case of, in may be selected using accompanying drawing 3 when uploading path planning and planning region data and activation by flying control terminal 4
Remote control (2.4G Data-Links)Bluetooth linkWI-FI linksThe communication link of any of which one.
Referring to the drawings 1, accompanying drawing 3, accompanying drawing 5, accompanying drawing 16, GPRS module 204 by telecom operators' 2G/4G/5G networks 9 and
Internet 8 constructs a data link GPRS link directly flown with the Big Dipper between control cloud platform 5GPRS linksWith it is distant
Control device (2.4G Data-Links)Communications setting after the activation of unmanned plane 2 before basis in accompanying drawing 5 is enabled.That is GPRS
LinkWith remote control (2.4G Data-Links)Enabled upon activation automatically according to setting before.
GPRS links in fig. 3With remote control (2.4G Data-Links)It is main be responsible for the Big Dipper fly control cloud platform 5 it
Between communicated, its major function be responsible for the Big Dipper fly control cloud platform 5 transmission unmanned plane 2 real-time flight data be used for the Big Dipper
Winged control cloud platform 5 carries out real-time monitoring to unmanned plane 2, flies to control cloud platform 5 to the Big Dipper differentially while its Data-Link is used for the Big Dipper
Manage fence locating module 505 and transmit differential position data, for providing high accurately position data for unmanned plane 2.Accompanying drawing 1,
Big Dipper differential position data are by big-dipper satellite 1, single Big Dipper base station RTK6, Big Dipper ground enhancing system in accompanying drawing 2, accompanying drawing 3
System network 7, internet 8, the Big Dipper fly control cloud platform 5, Big Dipper CORS differential datas service 305 and coordinate to provide jointly.,
When setting enables GPRS links in accompanying drawing 3, accompanying drawing 5When its data directly pass through telecom operators 2G/4G/5G
Network 9 and internet 8 are communicated between flying control cloud platform 5 with the Big Dipper.
Remote control (2.4G Data-Links) is enabled when setting in accompanying drawing 3, accompanying drawing 5When need to use unmanned controller 3,
USB data line 14, driver's smart mobile phone 16, winged control terminal 4 pass through linkFly to be led between control cloud platform 5 with the Big Dipper
Letter, telecom operators' 2G/4G/5G networks 9 and internet 8 are stilld penetrate through in the middle of it and the Big Dipper flies to be led between control cloud platform 5
Letter.
The monitoring function for flying control supervision cloud platform 5 referring to the drawings 1, accompanying drawing 3, its unmanned plane is by installed in unmanned plane 2
On Big Dipper difference geography fence locating module 505 through the person's of sailing smart mobile phone 16, fly control terminal 4 and telecom operators 2G/4G/5G
Network 9 and internet 8, Big Dipper ground strengthening system network 7 coordinate jointly to realize.
All it is by internet 8 referring to the drawings 1, accompanying drawing 2, manufacturing enterprise product ID registrant 11, regulator 15
Fly to obtain corresponding data, services in control cloud platform 5 from the Big Dipper.Wherein move the driver's smart mobile phone 16 of regulator 10, the Big Dipper poor
Divide geography fence locating module 505 all can fly to control cloud platform 5 from the Big Dipper by telecom operators' 2G/4G/5G networks 9, internet 8
It is upper to obtain corresponding data, services.
2 fly control cloud platform 5 provided with unmanned plane user registry database 301, winged control meteorological data from the Big Dipper referring to the drawings
Storehouse 302, GIS- secondary radars Data Format Transform service 303, manufacturing enterprise's product ID registration database 304, the Big Dipper
CORS differential datas service 305, sector application fly control service 306, topographic database 307, map data base 308, three-dimensional city
Database 309, geography fence database 310, flying activity report policing services 311, fly control terminal download service 312, nobody
Machine testing authentication service 313, indoor map database 314, unmanned plane during flying data record database 315, LBS location-based services
316th, platform management safeguards that the data, services such as service 317, chart database 318, subscriber management service 319 are constituted.
16 Big Dipper difference geography fence locating modules 505 are by processor 201, Big Dipper chip 202, flying quality referring to the drawings
Memorization COMS clip 203, GPRS module 204, fence memory 205, earth magnetism 206, power supply 207, interface 208, bluetooth, WI-FI
The grade of module 209 part is constituted.
The process of registration is forced to be achieved in that head referring to the drawings 1, accompanying drawing 2, accompanying drawing 3, accompanying drawing 4, accompanying drawing 6, accompanying drawing 15
First driver is flown by the smart mobile phone 16 of itself by telecom operators' 2G/4G/5G networks 9 and internet 8 from the Big Dipper is located at
Downloaded in winged control terminal download service 312 in control cloud platform 5 and fly control terminal 4 and install, register interface selection in figure 4
Registration, is registered into the register interface shown in accompanying drawing 6.Referring to the drawings 15, log-on message, registration letter are submitted after the completion of registration
Cease and the user management being located in the winged control cloud platform 5 of the Big Dipper is submitted to by telecom operators' 2G/4G/5G networks 9 and internet 8
Service 319 is judged that subscriber management service 319 is used to unmanned plane if log-on message is complete by subscriber management service 319
Family registration database 301 initiates to preserve instruction, log-on data is preserved by unmanned plane user registry database 301, simultaneously
The feedback registration of subscriber management service 319 completes information in winged control terminal 4.Re-registered if imperfect by feedback prompts.
Specifically pressure how is realized referring to the drawings 1, accompanying drawing 2, accompanying drawing 3, accompanying drawing 4, accompanying drawing 7, accompanying drawing 8, accompanying drawing 9, accompanying drawing 18
Big Dipper difference geography fence locating module 505 is activated, unmanned plane 2 is thus activated.Specifically it is achieved like this.In above-mentioned registration
After completion, the winged control terminal 4 installed on the smart mobile phone 16 that driver passes through itself first, login circle into accompanying drawing 4
Face, fills in the Pilot Name submitted during registration, password and is logged in, and passes through telecom operators' 2G/4G/5G networks 9 and interconnection
Net 8 signs in the subscriber management service 319 being located in the winged control cloud platform 5 of the Big Dipper, is initiated from subscriber management service 319 to unmanned plane
User registry database 301 is inquired about, and fill message and unmanned plane user registry database are logged in through the inquiry of subscriber management service 319
Consistent then fed back from subscriber management service 319 to winged control terminal 4 of log-on message preserved in 301 logins successfully, and is set while opening
Fly the LBS location-based services 316 in control cloud platform 5 in the Big Dipper, determine the position of driver's smart mobile phone 16, and trigger LBS positions
Service 316, geography fence database 310, map data base 308, winged control meteorogical phenomena database 302, Big Dipper CORS differential datas clothes
Business 305, the winged control terminal 4 into driver's smart mobile phone 16 is pushed.If user is an industry user, according to user's registration
Shi Dengji user type, subscriber management service 319 is then pushed outside above-mentioned data to industry user, also pushes corresponding sector application
Data, such as sector application fly control service 306, topographic database 307, the data of three-dimensional city database 309, and specific data are by going
Industry application type is determined.
If user is indoor flight, the data of indoor map database 314 are pushed.
Winged control terminal 4 in driver's smart mobile phone 16 is received by telecom operators' 2G/4G/5G networks 9 and internet 8
After the data of push, these data can be presented in control terminal is flown.Such as meteorological data, map datum, geography fence data, position
Data etc., at this moment driver can be carried out the planning of flight path or flight range.
Referring to the drawings 8, accompanying drawing 9, accompanying drawing 10, accompanying drawing 11, accompanying drawing 12, accompanying drawing 18, driver can be selected in winged control terminal 4
Middle progress flight path planning or flight range planning.Its planing method is first to check to fly the gas that control meteorogical phenomena database 302 is pushed
Image information, sees whether position meets flight weather con dition, then checks position peripheral map, and check peripheral map
In geography fence.Directly planned if without geography fence, if geography fence then avoids geography in planning
Fence.Need to fly the subscriber management service 319 in control cloud platform 5 to the Big Dipper after having planned to submit, the planning information of submission need to by with
Family management service 319 initiates that examination ＆ verification is compared to geography fence database 310, map data base 308.
No-fly zone 109 and height-limit area 107, planning flight path, flight have been passed through in path planning or region 110 in fig. 12
Region does not avoid the no-fly region of position geography fence, height limiting zone, then audits and do not pass through, and point out driver to keep away
Allow.It is on the contrary then pass through examination ＆ verification.Examination ＆ verification will initiate instruction preservation layout data and to driver's intelligence by rear subscriber management service 319
Winged control terminal 4 in energy mobile phone 16 feeds back.Driver confirms in winged control terminal 4, while terminal 4 is initiated differentially to manage to the Big Dipper
Fence memory 205 in fence locating module 505 uploads layout data and position surrounding geographical fence data.Number
It just can click on activation instruction in winged control terminal 4 to activate Big Dipper difference geography fence positioning mould according to driver after the completion of upload
Then output position information gives unmanned plane to fly control after block 505, module activation, and at this moment unmanned plane 2 can just enter working condition, can be with
Normal flight.Flight needs to log in again after terminating, planned under flight path or flight range, the process progress of activation
Flight.
Unmanned plane 2 can be stored in the flight in Big Dipper difference geography fence locating module 505 in the data of flight course
In data record chip 203, the flight parameter of each system of aircraft when these packets are containing flight, these data terminate in flight
After can upload to the Big Dipper and fly to be preserved in unmanned plane during flying data record database 315 in control cloud platform 5.
Referring to the drawings 1, accompanying drawing 2, accompanying drawing 3, flight path data (including position, the height of the unmanned plane 2 of the user of accompanying drawing 13
Data) the winged subscriber management service 319 controlled in cloud platform 5 of the Big Dipper can be uploaded in real time, and unmanned plane during flying is stored in by it
In data record database 315, move regulator 10, regulator 15, pass through telecom operators' 2G/4G/5G networks 9 and interconnection
Net 8 signs in the flying activity being located in the winged control cloud platform 5 of the Big Dipper and reports policing services 311 to carry out supervision monitoring.
Directly it can be supervised referring to the drawings 8, accompanying drawing 9, accompanying drawing 10, accompanying drawing 11, the unmanned plane driver of accompanying drawing 12 in control terminal is flown
Flight path, flight parameter depending on unmanned plane 2,
Referring to the drawings 1, the regulator 15 of accompanying drawing 13 on regulator's PC display interfaces it can be seen that unmanned plane quantity,
The details such as driver, industry user, purpose classification statistics, flight path.
Geography fence can be formulated according to this area situation referring to the drawings the 2, regulator at different levels of accompanying drawing 14, geography fence can
It is divided into JX001 regions in no-fly region, height limiting zone, Figure 14, XX001 regions, regulator 15 is signed in by internet 8 to be set
The flying activity flown in the Big Dipper in control cloud platform 5 reports the setting for the geography fence that any shape is carried out on policing services 311, this
A little geography fences include permanent geography fence and interim geography fence, are a dynamic geo-fencing system, regulator 15
It can be formulated at any time by geography fence editing machine 401.The geography fence set in geography fence editing machine 401 can be with ground
During the form of reason fence list 402 is stored in 310 in geography fence database.
It can fly to carry out flight path planning such as flight path 101 on control terminal referring to the drawings 8, driver, can also enter
Row flight range planning such as flight range 102, flight path refers to unmanned plane 2 and flown along the closed path of planning, flown
Region refers to unmanned plane and flown in a closed line interior zone.
Referring to the drawings 3, accompanying drawing 9, accompanying drawing 10, accompanying drawing 16, accompanying drawing 19, Big Dipper difference geography fence locating module 505 is installed
On unmanned plane 2, the interface 208 on Big Dipper difference geography fence locating module 505 connects with the winged control on unmanned plane 2, the Big Dipper
Fence memory 205 on difference geography fence locating module 505 receives the data of planning flight path 103 after examination ＆ verification
Afterwards, by the fence algorithm that is previously implanted can in the flight path of planning to automatically generate the interception parallel with path virtual in outside
Geography fence, unmanned plane 2 is empty along 1. path and outside along being possible to light in A during 103 flight of path planning in fig .9
Intend geography fence 104 to bump against, it is also possible to along the virtual geography fence 105 in 2. path and inner side bump against, wherein interior outside is virtually
Distance between reason fence 104,105 and path 103 is determined by the numerical value being implanted into.Unmanned plane 2 is along path planning 106 in Fig. 10
Flight enters height limiting zone 107 in C points, and Big Dipper difference geography fence locating module 505 sends hovering position number since C points
According to, and reduction altitude is reminded, 4. be limited high flight path in the path of C points to D points.The Execution plan path of unmanned plane 2 flies
Then Big Dipper difference geography fence locating module 505 performs Figure 19 logic judgment flow during row mode, thus accomplishes to force nobody
The purpose that machine 2 flies by planning flight path, and realize automatic limiting height flight.
Referring to the drawings the fence on 3, accompanying drawing 11, accompanying drawing 16, the Big Dipper difference geography fence locating module 505 of accompanying drawing 17
Memory 205 is received after the data of planning flight range 108 after examination ＆ verification, can be in planning by the fence algorithm being previously implanted
The virtual geography fence parallel with flight range border is automatically generated on the inside of flight range, unmanned plane 2 is in planning in fig. 11
Flight range 108 is flown, sometime its 3. flown along path, can be flown out planning region 108 in B points.Unmanned plane 2
Then Big Dipper difference geography fence locating module 505 performs Figure 17 logic judgment flow during the offline mode of Execution plan region, by
This accomplishes the purpose for forcing unmanned plane 2 to be flown in planning flight range, while can also realize automatic limiting height flight.
The first time of unmanned plane 2 crosses planning region fence boundary, and Big Dipper difference geography fence locating module 505 starts automatically
Make a return voyage offline mode.
Could not be maked a return voyage when the first time of unmanned plane 2 crossing planning region border or land or one fly nonstop to if,
Big Dipper difference geography fence locating module 505 can set up one it is new parallel and high with initial planning zone boundary or path planning
The new virtual geography fence of 10 meters of degree increase.Unmanned plane 2 once crosses this new virtual geography fence, then the Big Dipper is differentially
Reason fence locating module 505 starts the automatic offline mode that makes a return voyage again.
Cross virtual geography fence border every time but make a return voyage failure when, all can be on the basis of upper one virtual geography fence
A new virtual geography fence (10 meters of interval and height increase) is set up, if the new virtual geography fence finally set up has compared
The region parallel interval of initial plan is highly big 50 meters, and Big Dipper difference geography fence locating module 505 is just directly switch to
Landing.Execution of the Big Dipper difference geography fence locating module 505 to geography fence is held according to algorithm is sightless in the present invention
OK.By Big Dipper difference geography fence 505 execution to geography fence algorithm of locating module, realized to the strong of unmanned plane 2
Make one of method of supervision.
To sum up described in embodiment, the present invention on unmanned plane by installing Big Dipper difference geography fence locating module and driving
Winged control terminal in member's mobile phone, flying control supervision cloud platform with reference to unmanned plane realizes the pressure supervision to unmanned plane, while for not
Diversified data, services are provided with user.The purpose of supervision can not be forced so as to solve unmanned plane, while being nobody
Machine and unmanned plane user provide brand-new location technology and value-added data, services.
Claims (10)
1. a kind of unmanned plane supervision cloud platform based on Big Dipper geography fence Differential positioning module, it is characterised in that：Mainly by three
Individual part composition, Part I Big Dipper difference geography fence locating module (505), Part II flies control terminal (4), Part III
Unmanned plane flies control supervision cloud platform (5), and Big Dipper difference geography fence locating module (505) is a multi-functional locating module, mould
Block (505) composition is by processor (201), Big Dipper chip (202), flight data recording chip (203), GPRS module (204), electricity
Sub- fence memory (205), earth magnetism module (206), power module (207), interface module (208), bluetooth, WI-FI modules
(209) constitute, its annexation is, Big Dipper chip (202), flight data recording chip (203), GPRS module (204), electronics
Fence memory (205), earth magnetism module (206), power module (207), interface module (208), bluetooth, WI-FI modules (209)
All it is connected with processor (201)；Fly control terminal (4) to be responsible for flying control with Big Dipper difference geography fence locating module (505), unmanned plane
Supervision cloud platform (5) is communicated；Unmanned plane flies control supervision cloud platform (5) by unmanned plane user registry database (301), winged control
Meteorogical phenomena database (302), GIS- secondary radars DTS (303), manufacturing enterprise's code registration database (304), north
Struggle against CORS differential datas service (305), the winged control service (306) of sector application, topographic database (307), map data base
(308), three-dimensional city database (309), geography fence database (310), flying activity report policing services (311), fly control
Terminal downloads service (312), unmanned machine testing authentication service (313), indoor map database (314), unmanned plane during flying data
Database of record (315), LBS location-based services (316), platform management safeguard that service (317), chart database (318) are constituted；Nothing
Man-machine (2) are provided with Big Dipper difference geography fence locating module (505), while using Big Dipper difference geography fence locating module
(505) manufacturing enterprise provides corresponding unmanned plane (2) sequence number according to the code of module, and is submitted to the winged control supervision of unmanned plane
In cloud platform (5), same class sequence number is used same type, and unmanned plane flies to fill in the load of type in control supervision cloud platform (5)
The information such as lotus, title, type, purposes, performance parameter, these data will be stored in manufacturing enterprise's product ID log-on data
In storehouse (304)；The smart mobile phone (16) of unmanned plane user or driver fly in control cloud platform (5) by flying under control terminal from the Big Dipper
Service (312) is carried to download winged control terminal (4) software of respective version and install；Smart mobile phone passes through with unmanned controller (3)
USB data line (14) is connected；Install after winged control terminal (4) software, smart mobile phone (16) passes through software design patterns and Big Dipper difference
The communication mode of geography fence locating module (505), optional bluetooth, WI-FI, remote control USB interface, the foundation master of communication link
If for uploading the flight path planned, flight range data, wherein the geography fence number comprising dynamic region
According to another effect of communication link is exactly to be used for activating Big Dipper difference geography fence locating module (505)；Wherein bluetooth, WI-
FI communication links can be closed automatically after the completion of activation work, and its communication link is taken over by remote control USB interface or GPRS links；
Unmanned plane is being forced to register, is forcing to log in using preceding needs, while need to submit flight path planning or flight range planning,
Fly the examination ＆ verification of control supervision cloud platform (5) by unmanned plane, institute's planning region meets planning requirement and is uploaded to Big Dipper difference geography
Activation Big Dipper difference geography fence locating module (505) could be allowed after fence locating module (505)；Module ability after activation
Outgoing position data are to system for flight control computer, and system for flight control computer receives ability normal response after position data and started；
The foundation of the pressure examination ＆ verification of flight path or flight range is to fly the geography fence number in control supervision cloud platform (5) based on unmanned plane
According to storehouse (310), geography fence is formulated by supervision units at different levels, and geography fence has permanent fence, also there is provisional fence,
Geography fence data continue dynamic renewal；The fence data of formulation are stored in geography fence database (310)；This
A little data can be pushed directly in the winged control terminal (4) in driver's smart mobile phone (16) of login, while it is poor to be pushed to the Big Dipper
Divide geography fence locating module (505)；The geography fence data of planning stage are pushed to winged control terminal with map, terrain data and used
With reference to avoidance when driver plans flight path or flight range；The driver if planning does not avoid these geography fences
The planning of submission does not go through, it is desirable to plan again；Unmanned plane (2) is pushed to Big Dipper difference geography fence locating module after taking off
(505) packet in contains layout data and geography fence data, forces unmanned plane to exist in flight course for unmanned plane (2)
Avoidance is made during close to geography fence, no-fly region or height limiting zone are actively avoided by the method maked a return voyage or hovered, so that real
Now the guarantee service of safe flight is supervised and provided for unmanned plane in the pressure to unmanned plane.
2. a kind of unmanned plane supervision cloud platform based on Big Dipper geography fence Differential positioning module as claimed in claim 1, its
It is characterised by：Flying quality of the flight data recording chip (203) to record unmanned plane, its record data passes through communication link
In the unmanned plane during flying data logger server (315) for uploading to cloud platform, its data include flight path, height, speed, position,
Aircraft parameter that course and other sensors are obtained etc., these data can be for manufacturer, insurance company, regulator and user
Inquired about, failure and cause of accident during analysis unmanned plane during flying.
3. a kind of unmanned plane supervision cloud platform based on Big Dipper geography fence Differential positioning module as claimed in claim 1, its
It is characterised by：Fence memory (205) is to deposit geography fence control information, positional information and algorithm, and the part is
The Core Feature of Big Dipper difference geography fence locating module, its algorithm supports Big Dipper differential position, LBS positions, Bluetooth
(bluetooth) position, Wi-Fi positions, the position command revision to unmanned plane are provided by module according to algorithm and processor.
4. a kind of unmanned plane supervision cloud platform based on Big Dipper geography fence Differential positioning module as claimed in claim 1, its
It is characterised by：The Differential positioning of Big Dipper difference geography fence locating module (505) is the GPRS or remote control carried by module
(2.4G) Data-Link flies the difference that the Big Dipper CORS differential datas service offer of cloud platform (5) is supervised in control to receive from unmanned plane
Data, the Beidou receiver data that binding modules are carried are by differential position data correction, so that being embodied as unmanned plane provides high
Accurately position control data.
5. a kind of unmanned plane supervision cloud platform based on Big Dipper geography fence Differential positioning module as claimed in claim 1, its
It is characterised by：Big Dipper difference geography fence locating module (505) LBS positioning be outdoor Big Dipper signal it is weaker or lose when,
GPRS or remote control (2.4G) Data-Link carried by module flies the Big Dipper of control supervision cloud platform (5) to receive from unmanned plane
Position data that the differential data and LBS service from platform that the service of CORS differential datas is provided are provided realizes positioning, with
It is embodied as unmanned plane and precise position data is provided.
6. a kind of unmanned plane supervision cloud platform based on Big Dipper geography fence Differential positioning module as claimed in claim 1, its
It is characterised by：The indoor positioning of Big Dipper difference geography fence locating module (505) is that the luetooth carried by module is (blue
Tooth), Wi-Fi combinations platform provide LBS service so as to be reached for unmanned plane provide indoor positioning purpose.
7. a kind of unmanned plane supervision cloud platform based on Big Dipper geography fence Differential positioning module as claimed in claim 1, its
It is characterised by：Big Dipper difference geography fence locating module (505) provides the winged control interface (208) of standard, can with it is most of
Unmanned plane fly control docked.
8. a kind of unmanned plane supervision cloud platform based on Big Dipper geography fence Differential positioning module as claimed in claim 1, its
It is characterised by：Big Dipper difference geography fence locating module (505) use is self-powered and uses unmanned aerial vehicle onboard two kinds of moulds of power supply
Formula, uses the self-powered service life that can be reduced the dependence to unmanned aerial vehicle onboard power supply, extend unmanned aerial vehicle onboard power supply.
9. a kind of unmanned plane supervision cloud platform based on Big Dipper geography fence Differential positioning module as claimed in claim 1, its
It is characterised by：Big Dipper difference geography fence locating module (505), which can be received, flies the geography fence numbers such as the no-fly position of control cloud, limit for height
It is believed that breath, flight position data and altitude information can be corrected automatically, and send the winged control of unmanned plane to after these data are received
System, accomplishes to avoid no-fly zone automatically, automatic reduction height, thoroughly realizes safe flight.
10. a kind of unmanned plane supervision cloud platform based on Big Dipper geography fence Differential positioning module as claimed in claim 1, its
It is characterised by：Flying control supervision cloud platform (5) includes following construction module：
(1) unmanned plane user registry database (301) is responsible for record storage and user login management data, services；
(2) fly control meteorogical phenomena database (302) to be responsible for flying control user's offer position meteorological data, and be responsible for pushing information
Into the winged control terminal of user installation, so that user determines flying activity；
(3) GIS- secondary radars DTS (303) is responsible for turning the flight path data (GIS formatted datas) of unmanned plane
Secondary radar data format is changed to, facilitates Civil Aviation ATM, air force etc. to supervise unit and information is directly connected to blank pipe Department of Automation
System, so as to realize the flying activity that unmanned plane is monitored in radar ATC；
(4) manufacturing enterprise's code registration database (304) is responsible for the manufacturing enterprise using Big Dipper difference geography fence locating module
Unified block code is provided, and registration service is provided for the unmanned plane that market is delivered by manufacturing enterprise, manufacturing enterprise is according to module
Code submits the sequence number of corresponding product, convenient supervision, while facilitating user directly to judge load, the class of unmanned plane when in use
The data such as type；
(5) Big Dipper CORS differential datas service (305) is to obtain Big Dipper CORS differential datas from Big Dipper ground enhancing network and lead to
Cross and fly control supervision cloud platform, Public Mobile Network and provide the Big Dipper to the Big Dipper difference geography fence locating module installed on unmanned plane
CORS differential datas, also can be directed through the Big Dipper poor through the winged control terminal installed in the smart mobile phone of unmanned plane driver
GPRS in point geography fence locating module directly to fly control supervision cloud platform from unmanned plane to obtain Big Dipper CORS differential datas clothes
Business；
(6) sector application flies user's offer targetedly flight control data service that control service (306) is responsible for different industries, such as：Survey
Paint, plant protection, forest fire protection, city patrol, traffic administration, air rescue etc.；
It includes targetedly map datum, flight path algorithm etc., no-fly zone and height-limit area and opened etc.；
(7) topographic database (307), which is responsible for providing, can represent the data of earth's surface height undulating state, i.e., with elevation information
Data；Digital elevation model (DEM) is a kind of continuous representation method to space fluctuations, is a kind of special
DatasetGrid data models；These data can assist in unmanned plane and complete the flight of some special industries；There is provided ground for unmanned plane
Shape assisting navigation data, its operation principle is that unmanned plane corrects inertial navigation by the use of terrain data and altitude information as supplementary means
The error of system；
(8) map data base (308) is responsible for providing the user a high accuracy, the numerical map of high-resolution；
(9) three-dimensional city database (309) is responsible for providing a user the three dimensional spatial map data in city；
(10) geography fence database (310) is responsible for setting up, preserving for fence, and fence data, services are pushed to user, and it includes taboo
Fly area's fence data, limit for height fence data；
(11) the flight plan examination ＆ approval that flying activity reports policing services (311) to be responsible for industry user are reported, and are responsible for examination ＆ approval
As a result feedback；
(12) Pad, smart mobile phone, PC that control terminal download service (312) is responsible for providing the user Android, iOS different system are flown
Different types of winged control terminal download service；
(13) unmanned machine testing authentication service (313) is responsible for providing online unmanned plane using all users for flying control supervision cloud platform
The service of detection, its testing result can be inquired about on platform；
(14) indoor map database (314) is responsible for the numerical map of user's offer interior of building of indoor flight, with reference to
Bluetooth (bluetooth), Wi-Fi are positioned and LBS location-based services provide position for indoor unmanned plane and supported；
(15) unmanned plane during flying data record database (315) is responsible for the flying quality of acquisition and recording user, and flying quality is comprising winged
The flight parameter of each system of machine and track, can be used to assess airplane fault and defect to user and unmanned plane manufacturing enterprise；
(16) LBS location-based services (316) are responsible for providing the user the position based on mobile communications network and global position system combination
Service, the main positioning being responsible for driver's smart mobile phone position, encloses because being provided with Big Dipper difference geography on unmanned plane in addition
Column locating module, its module carries GPRS, therefore LBS positioning can also position the position of unmanned plane；
(17) platform management safeguards that service (317) is responsible for the whole management for flying control supervision cloud platform, upgrading and safeguarded；
(18) chart database (318) is responsible for the data such as air route, course line, airport, military no-fly zone；
(19) subscriber management service (319) is responsible for the management to user and the management to service data, according to different user types
Different data, services are called for it.
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