Unmanned aerial vehicle RID signal space and ground end complementary anti-signal collision decoding method and system

Abstract

The invention relates to the technical field of unmanned aerial vehicle remote identification signal detection equipment, and discloses an unmanned aerial vehicle RID signal heaven and earth end complementary anti-signal collision decoding method, which comprises the following steps: an unmanned aerial vehicle simultaneously broadcasts RID signals at a certain moment in a certain area on the ground; receiving and demodulating the broadcasted RID signal through a ground receiver in the area, and transmitting the data back to a ground data center; receiving an RID signal broadcasted by the unmanned aerial vehicle by using an air receiver, and transmitting a mixed signal back to a ground data center; performing reconstruction processing on the received data to obtain a reconstructed RID signal; subtracting the reconstructed RID signal from the mixed signal to obtain a residual signal; and performing demodulation processing on the residual signal. The invention also discloses a system for realizing the space and ground end complementary anti-signal collision decoding method for the RID signal of the unmanned aerial vehicle. According to the invention, stable and reliable operation of the receiving decoding system is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle remote identification signal detection equipment, and particularly relates to an unmanned aerial vehicle RID signal space-ground terminal complementary anti-collision decoding method and system. BACKGROUND

[0002] In recent years, unmanned aerial vehicle technology has developed rapidly. With the advantages of flexibility, maneuverability, easy operation, and low cost, it has been widely used in many fields. However, with the increasing number of unmanned aerial vehicles and the increasing range of applications, the safety problems it brings have become increasingly prominent. The low-altitude flight characteristics of unmanned aerial vehicles may pose a threat to aviation safety, such as collisions with civil aircraft or interference with normal airport operations, posing a significant risk to air transportation. In urban environments, the random flight of unmanned aerial vehicles may infringe on the privacy of others, capturing unauthorized images, and causing privacy disputes. In order to effectively address these safety issues, it is imperative to strengthen the regulation of unmanned aerial vehicle flight.

[0003] In order to regulate the use of unmanned aerial vehicles and protect public safety, the state has issued GB42590-2023 "Safety Requirements for Civil Unmanned Aircraft Systems". The standard clearly stipulates that qualified unmanned aerial vehicles should actively broadcast remote identification (Remote ID, RID for short) information when flying. By broadcasting RID information, ground monitoring systems can obtain real-time flight status, location, identity, and other key information of unmanned aerial vehicles, thereby achieving effective monitoring and management of unmanned aerial vehicles. This requirement provides an important technical basis for unmanned aerial vehicle flight regulation and promotes the development of unmanned aerial vehicle regulation technology.

[0004] In order to meet the growing regulatory needs, countries around the world are developing different types of receiving systems for unmanned aerial vehicle RID signals, such as ground, air, and space-based systems. The higher the antenna height of the unmanned aerial vehicle RID signal receiving and decoding equipment, the larger the coverage area. For example, ground-mounted receiving equipment has limited height, and is affected by building obstructions and the curvature of the Earth, so its maximum coverage area is usually only a few tens of kilometers. However, receiving equipment installed on aircraft or spacecraft has a height of several hundred meters to several hundred kilometers, and the antenna pointing to the ground is unobstructed, with a coverage area of several hundred kilometers. The probability of signal collision caused by multiple unmanned aerial vehicles simultaneously transmitting RID signals within the coverage area of the receiving equipment also increases.

[0005] How to ensure that unmanned aerial vehicle remote identification signal detection equipment can meet the actual regulatory needs while accurately decoding mixed RID signals from multiple sources to a certain extent, ensuring the stable and reliable operation of the receiving and decoding system, is a technical problem that needs to be solved in the field.

[0006] In order to solve the above problems, the applicant has found a method through beneficial exploration and research, and the technical scheme to be introduced below is generated in this background. SUMMARY

[0007] One of the purposes of the present application is to provide a UAV RID signal space terminal complementary anti-collision decoding method for improving the stability and reliability of the decoding system.

[0008] The second purpose of the present application is to provide a UAV RID signal space terminal complementary anti-collision decoding system.

[0009] As a UAV RID signal space terminal complementary anti-collision decoding method of the first aspect of the present application, comprising:

[0010] There are UAVs 1, 2…N in a certain area on the ground broadcasting RID signals S1(t), S2(t)…S N (t) at a certain time t, N≥3 and is an integer, wherein the RID signals S1(t)…S X (t) are respectively in the coverage area of some ground receivers, 1X<N and X is an integer, and the RID signals S X+1 (t)…S N (t) are not in the coverage range of any ground receiver, but in the coverage area of an aerial receiver;

[0011] The broadcast RID signals S1(t)…S X (t) are received by the ground receivers in the area, and the received RID signals S1(t)…S X (t) are demodulated to obtain data D1(t)…D X (t), and then the data D1(t)…D X (t) are transmitted back to the ground data center;

[0012] The aerial receiver receives the broadcast RID signals S1(t), S2(t)…S N (t) of the UAVs 1, 2…N, obtains a mixed signal Y(t)=S1(t)+S2(t)+…+S N (t)+N(t), wherein N(t) is environmental noise, and transmits the mixed signal Y(t) back to the ground data center;

[0013] According to the UAV RID signal coding rules and modulation protocols, the received data D1(t)…D X (t) are reconstructed to obtain RID signals S’1(t)…S’ X (t) that are extremely close to the true RID signals S1(t)…S X (t).

[0014] Subtract the reconstructed RID signal S'1(t)...S' from the mixed signal Y(t) returned by the air receiver. X (t), and the residual signal R(t) is obtained as R(t) = Y(t) - S'1(t) - ... - S' X If (t), then the residual signal R(t)≈S X+1 (t)+…+S N (t)+N(t); and

[0015] The residual signal R(t) is demodulated to obtain data D. X+1 (t)…D N (t) represents the data D broadcast by the UAV X+1…N. X+1 (t)…D N (t), at this point we can obtain the data D1(t)...D broadcast by drones 1, 2...N. N (t).

[0016] As a second aspect of the present invention, a UAV RID signal ground-to-ground complementary anti-signal collision decoding system includes:

[0017] Several ground receivers are deployed at intervals on the ground. Each ground receiver is used to acquire the RID signal broadcast by the UAV within its coverage area and demodulate the acquired RID signal.

[0018] At least one airborne receiver deployed in the air, each airborne receiver being used to acquire RID signals broadcast by the drone within its coverage area; and

[0019] A ground data center, which establishes connections with each ground receiver and each air receiver respectively, is used to acquire signals and / or data transmitted back by each ground receiver and each air receiver, and to process these signals and / or data.

[0020] In a preferred embodiment of the present invention, each ground receiver is provided with an RID receiving antenna and a clock synchronization system.

[0021] In a preferred embodiment of the invention, each air receiver is provided with a RID receiving antenna and a clock synchronization system.

[0022] Due to the adoption of the above technical solution, the beneficial effects of the present invention are as follows: the present invention ensures that the UAV remote identification signal detection equipment can meet the actual regulatory requirements, while accurately decoding the signal after mixing of multiple RID signals to a certain extent, and ensuring the stable and reliable operation of the receiving and decoding system. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the UAV RID signal ground-to-ground complementary anti-signal collision decoding system of the present invention.

[0025] Figure 2 This is a flowchart of the UAV RID signal ground-to-ground complementary anti-signal collision decoding method of the present invention. Detailed Implementation

[0026] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0027] See Figure 1 The diagram illustrates a UAV RID signal complementary anti-signal collision decoding system, comprising several ground receivers 100, air receivers 200, and a ground data center 300. The RID receiving system is divided into two main parts: ground receivers and air receivers. Ground receivers are widely distributed and numerous, but each has a small coverage area. Air receivers are fewer in number, but each has a large coverage area.

[0028] Several ground receivers 100 are deployed at intervals on the ground to acquire RID signals broadcast by UAVs within their coverage areas and demodulate the acquired RID signals. In this embodiment, each ground receiver 100 is equipped with an RID receiving antenna 110 and a clock synchronization system 120, which improves the stability and accuracy of signal reception.

[0029] An airborne receiver 200 is deployed in the air to acquire RID signals broadcast by drones within its coverage area. In this embodiment, each airborne receiver 200 is equipped with an RID receiving antenna 210 and a clock synchronization system 220, which improves the stability and accuracy of signal reception.

[0030] The ground data center 300 is deployed on the ground and establishes connections with each ground receiver 100 and air receiver 200 via wireless or other means. It is used to acquire signals and / or data transmitted back by each ground receiver 100 and air receiver 200, and to process these signals and / or data to obtain data broadcast by all UAVs.

[0031] See Figure 2and combined Figure 1 The figure shows a complementary anti-signal collision decoding method for UAV RID signals from both ground and air ends, which includes the following steps:

[0032] Step S10: In a certain area on the ground, UAVs 1, 2...N (N≥3 and are integers) simultaneously broadcast RID signals S1(t), S2(t)...S at a certain time t. N (t), where the RID signal S1(t)…S X (t) (1 < X < N and X is an integer) are located within the coverage area of ​​certain ground receivers 100, and the RID signal S X+1 (t)…S N (t) Not within the coverage area of ​​any ground receiver, but within the coverage area of ​​air receiver 200;

[0033] Step S20: The broadcast RID signal S1(t)...S is transmitted via ground receiver 100 within the area. X (t) is received, and the received RID signals S1(t)…S are processed. X Demodulate (t) to obtain data D1(t)…D X (t), then the data D1(t)…D X (t) Transmitted back to the ground data center 300;

[0034] Step S30: Receive the RID signals S1(t), S2(t)...S1(t) broadcast by UAVs 1, 2...N using the air receiver 200. N (t), to obtain the mixed signal Y(t)=S1(t)+S2(t)+…+S N Y(t) + N(t), where N(t) is the ambient noise, and the mixed signal Y(t) is transmitted back to the ground data center 300;

[0035] Step S40: The ground data center 300 processes the received data D1(t)...D according to the UAV RID signal encoding rules and modulation protocol. X (t) is reconstructed to obtain the true RID signal S1(t)…S X (t) are very close to the RID signal S'1(t)…S' X (t);

[0036] Step S50: Subtract the reconstructed RID signals S'1(t)...S' from the mixed signal Y(t) returned by the air receiver 200 via the ground data center 300. X (t), and the residual signal R(t) is obtained as R(t) = Y(t) - S'1(t) - ... - S' X If (t), then the residual signal R(t)≈S X+1 (t)+…+SN (t)+N(t);

[0037] Step S60: The residual signal R(t) is demodulated by the ground data center 300 to obtain data D. X+1 (t)…D N (t) represents the data D broadcast by the UAV X+1…N. X+1 (t)…D N (t), at this point, the ground data center 300 can obtain the data D1(t)...D broadcast by UAVs 1, 2...N. N (t).

[0038] To better illustrate the UAV RID signal complementary anti-signal collision decoding method of the ground and air ends, a specific application embodiment is given below, which includes the following steps:

[0039] 1. When multiple drones A, B, C, and D in a certain area on the ground simultaneously broadcast RID signal S at a certain time t... a (t), S b (t), S c (t), S d (t), assuming the RID signal S a (t), S b (t), S c (t) are located within the coverage area of ​​certain ground receivers, S d (t) Not within the coverage area of ​​any ground receiver, but within the coverage area of ​​an air receiver;

[0040] 2. RID signal S a (t), S b (t), S c (t) will be received and demodulated by ground receivers in its area, outputting data D. a (t), D b (t), D c (t), and then the data D a (t), D b (t), D c (t) Transmitted back to the ground data center; Since the RID signal broadcast by the UAV D cannot be covered by the ground receiver, it cannot be demodulated by the ground receiver;

[0041] 3. The airborne receiver receives a mixed signal Y(t)=S from UAVs A, B, C, and D. a (t)+S b (t)+S c (t)+S dY(t) + N(t), where N(t) is the ambient noise; due to multiple signal collisions and conflicts, the signal cannot be demodulated, and the air receiver will transmit the mixed signal Y(t) back to the ground data center for processing;

[0042] 4. The ground data center receives data D transmitted back from the ground receiver. a (t), D b (t), D c (t) After that, the data D is encoded according to the UAV RID signal encoding rules and modulation protocol. a (t), D b (t), D c (t) Reconstruct the RID signal S' a (t), S' b (t), S' c (t), which is very close to the real RID signal S. a (t), S b (t), S c (t);

[0043] 5. The ground data center subtracts the reconstructed RID signal S' from the mixed signal Y(t) returned by the air receiver. a (t), S' b (t), S' c The residual signal R(t) = Y(t) - S' is obtained. a (t)-S' b (t)-S' c If (t), then the residual signal R(t)≈S d (t)+N(t), at this time the residual signal R(t) is only the RID signal S. d (t) and environmental noise N(t);

[0044] 6. The residual signal R(t) is demodulated using a conventional RID signal demodulation method to obtain the data D broadcast by the UAV D. d (t), at this point, by combining the channel characteristics of the ground and air terminals, the RID signal broadcast by the UAV D broadcast was successfully demodulated to obtain the data D broadcast by the UAV D broadcast. d (t), so that the ground data center can obtain the data broadcast by drones A, B, C, and D.

[0045] This invention ensures that the UAV remote identification signal detection device can meet actual regulatory needs, while also accurately decoding the mixed RID signals from multiple sources to a certain extent, thus guaranteeing the stable and reliable operation of the receiving and decoding system.

[0046] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for decoding UAV RID signals using complementary ground and satellite terminals to resist signal collisions, characterized in that, Comprising: At a certain time t, UAVs 1, 2...N simultaneously broadcast RID signals S1(t), S2(t)...S1(t) within a certain area on the ground. N (t), N≥3 and are integers, where the RID signal S1(t)…S X (t) are located within the coverage areas of certain ground receivers, 1 < X < N and X is an integer, RID signal S X+1 (t)…S N (t) Not within the coverage area of ​​any ground receiver, but within the coverage area of ​​an air receiver; The broadcast RID signal S1(t)…S is received by a ground receiver within the area. X (t) is received, and the received RID signals S1(t)…S are processed. X Demodulate (t) to obtain data D1(t)…D X (t), then the data D1(t)…D X (t) Transmitted back to the ground data center; The RID signals S1(t), S2(t),... S N (t) broadcast by the UAVs 1, 2,... N are received by an airborne receiver to obtain a mixed signal Y(t) = S1(t) + S2(t) +... + S N (t) + N(t), where N(t) is environmental noise, and the mixed signal Y(t) is transmitted back to a ground data center. According to the unmanned aerial vehicle RID signal coding rule and modulation protocol, the received data D1(t)...D X (t) is reconstructed to obtain the RID signal S'1(t)...S' X (t) which is extremely close to the real RID signal S1(t)...S X (t). The mixed signal Y(t) returned by the airborne receiver is subtracted from the reconstructed RID signals S'1(t)...S' X (t), to obtain a residual signal R(t)=Y(t)-S'1(t)-...-S' X (t), then the residual signal R(t)≈S X+1 (t)+...+S N (t)+N(t); and The residual signal R(t) is demodulated to obtain data D X+1 (t)…D N (t), which is the data D broadcast by the unmanned aerial vehicle X+1…N X+1 (t)…D N (t), and thus the data D1(t)…D N (t) broadcast by the unmanned aerial vehicles 1, 2…N can be obtained.

2. A UAV RID signal spaceport complementary anti-collision decoding system for implementing the UAV RID signal spaceport complementary anti-collision decoding method of claim 1, wherein, a plurality of ground receivers deployed on the ground, each ground receiver being configured to acquire the RID signals broadcast by the UAVs within its coverage area and to demodulate the acquired RID signals; at least one airborne receiver deployed in the air, each airborne receiver being configured to acquire the RID signals broadcast by the UAVs within its coverage area; and a ground data center connected to each ground receiver and each airborne receiver, respectively, for acquiring the signals and / or data transmitted back by each ground receiver and each airborne receiver and processing the acquired signals and / or data. Each ground receiver is provided with a RID receiving antenna and is configured with a clock synchronization system. Each airborne receiver is provided with a RID receiving antenna and is configured with a clock synchronization system.

3. The UAV RID signal space-to-ground complementary anti-collision decoding system of claim 2, wherein, ​ 4. The UAV RID signal sky-ground terminal complementary anti-collision decoding system of claim 2, wherein, ​

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