UAV low-altitude traffic supervision, dispatching methods, devices, systems and equipment

Abstract

The present invention provides a method for monitoring and dispatching low-altitude traffic of unmanned aerial vehicles (UAVs), which is used to detect UAVs in a low-altitude corridor, including: obtaining a planned flight trajectory and RID information of the UAVs in the low-altitude corridor; the RID information is characterized by the identity identification code, position and speed of the UAV; based on the RID information, the UAVs in the low-altitude corridor are divided into registered UAVs and unregistered UAVs, and the current flight trajectory is generated based on the image transmission signal of the unregistered UAV; based on the current flight trajectory of the unregistered UAV and the planned flight trajectory of the registered UAV, the time and location of the collision between the unregistered UAV and the registered UAV are determined; and a first dispatch is performed on the registered UAV; the first dispatch is characterized by avoiding the unregistered UAV.

Description

Technical Field

[0001] The present invention relates to the field of drone control, and in particular to a method, device, system and equipment for monitoring and dispatching drone low-altitude traffic. Background Art

[0002] With the rapid development of low-altitude urban airspace, the use of drones for logistics and other purposes is becoming increasingly popular, and related industries are developing rapidly. However, the number and space of low-altitude flight corridors for drones are limited. With the rapid growth in the number of drones, collision avoidance within these corridors is becoming increasingly important. Strengthening the supervision of low-altitude flight corridors and optimizing flight scheduling are key issues.

[0003] Currently, this issue is primarily addressed through conflict avoidance in drone flight planning, where each aircraft's trajectory and timing within the corridor are determined before flight. This is achieved through monitoring by sending and receiving drone Remote Identification (RID) information, which includes the drone's identity code, current location, and speed. Drones that regularly broadcast RID information are called registered drones.

[0004] However, the reality is more complex, and some technical issues remain unresolved. For example, there is the possibility of unregistered drones flying within the corridor—drones that fail to report their flight paths or broadcast their RID information during flight. Such drones pose a serious threat to corridor safety. Furthermore, the location of drones in their RID information may be erroneous, due to factors such as GPS inaccuracy or flight control module anomalies. Failure to propose solutions to these issues will pose a significant risk to the orderly and safe operation of drones in low-altitude urban areas. Summary of the Invention

[0005] The present invention provides a method, device, system and equipment for monitoring and dispatching low-altitude UAV traffic, so as to solve the safety risks caused by unregistered flying UAVs.

[0006] According to a first aspect of the present invention, a method for monitoring and dispatching UAV low-altitude traffic is provided, which is used to detect UAVs in a low-altitude corridor, comprising:

[0007] Obtaining the planned flight trajectory and RID information of the UAV within the low-altitude corridor; the RID information is characterized by the UAV's identification code, location, and speed;

[0008] Based on the RID information, the drones in the low-altitude corridor are divided into registered drones and unregistered drones, and the current flight trajectory is generated based on the image transmission signal of the unregistered drones;

[0009] Based on the current flight trajectory of the unregistered UAV and the planned flight trajectory of the registered UAV, the time and location of the collision between the unregistered UAV and the registered UAV are determined; and a first dispatch is performed on the registered UAV; the first dispatch is characterized by avoiding the unregistered UAV.

[0010] Optionally, after performing the first scheduling on the registered drone, the method further includes:

[0011] Obtaining the positioning point of the registered drone;

[0012] Determine whether the deviation between the positioning point and the position in the RID information is within a first distance threshold; if not, determine that the drone with abnormal position information in the RID information is an abnormal drone; if so, determine that the drone with normal position information in the RID information is a normal drone;

[0013] A second dispatch is performed on the normal UAV, where the second dispatch is characterized by avoiding the abnormal UAV.

[0014] Optionally, determining that a drone having abnormal location information in the RID information is an abnormal drone further includes:

[0015] Generate a positioning trajectory based on the positioning point of the abnormal drone;

[0016] Determine whether a deviation between a positioning point on the positioning trajectory and a trajectory point on the planned flight trajectory is within a first distance threshold; if so, determine that the abnormal drone is a drone that is actually flying normally; if not, determine that the registered drone is a drone that is actually flying abnormally;

[0017] A third dispatch is performed on the drone that is actually flying normally, where the third dispatch is characterized by avoiding the drone that is actually flying abnormally.

[0018] Optionally, the first scheduling includes:

[0019] dispatching drones within a second distance threshold range of the unregistered drone to replan all of the planned flight trajectories to avoid the unregistered drone;

[0020] The drones within the range of the second distance threshold to the third distance threshold of the unregistered drone are dispatched to replan a portion of the planned flight trajectory to avoid the unregistered drone.

[0021] Optionally, the second scheduling includes:

[0022] dispatching drones within a second distance threshold range of the abnormal drone to replan all of the planned flight trajectories to avoid the abnormal drone;

[0023] The drones within the range from the second distance threshold to the third distance threshold of the abnormal drone are dispatched to replan part of the planned flight trajectory to avoid the abnormal drone.

[0024] Optionally, the third scheduling includes:

[0025] dispatching drones within a second distance threshold range of the abnormally flying drone to replan all of the planned flight trajectories to avoid the abnormally flying drone;

[0026] The drones within the range of the second distance threshold to the third distance threshold of the abnormally flying drone are dispatched to replan part of the planned flight trajectory to avoid the abnormally flying drone.

[0027] Optionally, before obtaining the positioning point of the registered drone, the method includes:

[0028] Periodically locate the registered drone using RID and GPS signals.

[0029] Optionally, before determining the time and location of the collision between the unregistered drone and the registered drone, the method includes:

[0030] Determining whether the unregistered drone appears within a fourth distance threshold of the unregistered drone within a preset time threshold;

[0031] If so, it is determined that the unregistered drone conflicts with the registered drone.

[0032] Optionally, obtaining the planned flight trajectory and RID information of the UAV in the low-altitude corridor includes:

[0033] Based on the planning of the low-altitude corridor, TDOA monitoring stations are set up to obtain the planned flight trajectory and RID information of drones within the low-altitude corridor.

[0034] According to a second aspect of the present invention, a low-altitude UAV traffic monitoring and dispatching device is provided, comprising an acquisition module, a UAV determination module, and a dispatching module, wherein:

[0035] An acquisition module is used to obtain the planned flight trajectory and RID information of the UAV in the low-altitude corridor; the RID information is characterized by the UAV's identification code, position and speed;

[0036] a drone determination module, configured to classify drones in the low-altitude corridor into registered drones and unregistered drones based on the RID information, and generate a current flight trajectory based on the image transmission signal of the unregistered drone;

[0037] The scheduling module is configured to determine, based on the current flight trajectory of the unregistered UAV and the planned flight trajectory of the registered UAV, the time and location at which the unregistered UAV will collide with the registered UAV; and perform a first scheduling on the registered UAV; the first scheduling being characterized by avoiding the unregistered UAV.

[0038] According to a third aspect of the present invention, there is provided a UAV low-altitude traffic monitoring and dispatching system, comprising: a TDOA monitoring station, a registered UAV, an unregistered UAV, a base station, and a UAV RID monitoring system;

[0039] The drone RID supervision system is used to execute the first aspect and its optional drone low-altitude traffic supervision and scheduling method.

[0040] According to a fourth aspect of the present invention, there is provided an electronic device, comprising a processor and a memory, wherein the memory is configured to store code;

[0041] The processor is used to execute the code in the memory to implement the first aspect and the optional method described therein.

[0042] According to a fifth aspect of the present invention, there is provided a storage medium having a computer program stored thereon, which, when executed by a processor, implements the method according to the first aspect and its optional method.

[0043] The method for monitoring and dispatching low-altitude UAV traffic provided by the present invention utilizes the RID information reported by the UAV to determine whether the UAVs in the low-altitude corridor are divided into registered UAVs and unregistered UAVs. Since unregistered UAVs cannot report RID information, the current flight trajectory can be generated based on the image transmission signal of the unregistered UAV, and the current flight trajectory of the unregistered UAV can be compared with the planned flight trajectory of the registered UAV to determine the time and location of the conflict and perform dispatching, thereby realizing the supervision of unregistered UAVs and further improving the supervision and safety assurance mechanism of UAVs in the low-altitude area.

[0044] In a preferred embodiment, the present invention can also identify abnormal drones whose location information in the RID information is inconsistent with the positioning point, and perform scheduling to avoid abnormal drones, further improving the supervision and safety assurance mechanism of drones in low-altitude areas.

[0045] In addition, the present invention can also further identify abnormal drones, determine the abnormal flying drones whose RID information reports are incorrect but the trajectory of the positioning point is normal, and then perform scheduling to avoid the abnormal drones. The abnormal flying drones also further improve the supervision and safety assurance mechanism of drones in low-altitude areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 This is a flow chart of a method for monitoring and dispatching UAV low-altitude traffic in one embodiment of the present invention. Figure 1 ;

[0048] Figure 2 This is a flow chart of a method for monitoring and dispatching UAV low-altitude traffic in one embodiment of the present invention. Figure 2 ;

[0049] Figure 3 This is a flow chart of a method for monitoring and dispatching UAV low-altitude traffic in one embodiment of the present invention. Figure 3 ;

[0050] Figure 4 This is a flow chart of a method for monitoring and dispatching UAV low-altitude traffic in one embodiment of the present invention. Figure 4 ;

[0051] Figure 5 This is a flow chart of a method for monitoring and dispatching UAV low-altitude traffic in one embodiment of the present invention. Figure 5 ;

[0052] Figure 6 This is a flow chart of a method for monitoring and dispatching UAV low-altitude traffic in one embodiment of the present invention. Figure 6 ;

[0053] Figure 7 This is a schematic diagram of the structure of a UAV low-altitude traffic monitoring and dispatching device in one embodiment of the present invention;

[0054] Figure 8 This is a schematic diagram of an application scenario of UAV low-altitude traffic supervision and dispatching in one embodiment of the present invention;

[0055] Figure 9 It is a schematic diagram of the structure of an electronic device in one embodiment of the present invention. DETAILED DESCRIPTION

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0057] The terms "first," "second," "third," "fourth," and the like (if any) in the description and claims of the present invention and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatus.

[0058] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0059] Please refer to Figure 1 The present invention provides a method for monitoring and dispatching UAV low-altitude traffic, which is used to detect UAVs in a low-altitude corridor, comprising:

[0060] S1: Obtain the planned flight trajectory and RID information of the UAV in the low-altitude corridor;

[0061] S2: Based on the RID information, the drones in the low-altitude corridor are divided into registered drones and unregistered drones, and the current flight trajectory is generated based on the image transmission signal of the unregistered drones;

[0062] S3: Based on the current flight trajectory of the unregistered UAV and the planned flight trajectory of the registered UAV, determine the time and location of the collision between the unregistered UAV and the registered UAV; and perform a first scheduling on the registered UAV.

[0063] The RID information is characterized by the drone's identification code, location, and speed;

[0064] The first maneuver is characterized by avoiding the unregistered UAV.

[0065] The unregistered drone is characterized as a drone that does not report RID information normally.

[0066] In a preferred embodiment, before conducting traffic supervision and dispatching of drones, the process also includes: deploying TDOA monitoring stations based on the planning of urban low-altitude development corridors, combined with urban terrain and hazard assessment. The basic principles of deployment are as follows:

[0067] (1) TDOA monitoring stations are deployed in a non-parallel staggered manner along both sides of the corridor, with an average spacing of 1500 meters between TDOA monitoring stations;

[0068] (2) In urban areas with dense buildings and large height differences, reduce the average spacing between TDOA monitoring stations;

[0069] (3) In complex electromagnetic environments (e.g., where mobile base stations are densely deployed), reduce the average spacing between sites and avoid mobile base station locations as much as possible.

[0070] (4) In corridor areas with high drone traffic, reduce the average station spacing.

[0071] Specifically, the TDOA monitoring station obtains the flight plan information (such as the planned flight trajectory) applied for by the drones in the corridor by querying the drone's flight plan management system. At the same time, it receives the RID signals (i.e., RID information) periodically sent by the drones in the corridor through the drone RID interaction system, and parses the drone's identity identification code, location, speed and other information contained therein.

[0072] Regarding the determination of conflicts, in a specific embodiment, first, the image transmission signals of non-registered drones (i.e., drones that do not periodically broadcast RID information) in the corridor are detected, and the flight trajectory (i.e., the current flight trajectory) is located and mapped; secondly, the current flight trajectory is compared with the planned flight trajectory of the registered drones in the corridor, and the time and location of possible conflicts are broadcast to the registered drones in the corridor through the RID system, and the non-registered drones that may cause conflicting behavior are located every 0.5 seconds.

[0073] The criteria for determining a possible conflict are: the flight positions of registered drones and unregistered drones overlap by less than 30 meters within 10 seconds (for example, at time t, an unregistered drone is at position A, and a circle C is drawn with A as the center and a radius of 30 meters. If, starting from time t, the planned flight trajectory of a registered drone passes through the range of circle C within 10 seconds, a possible conflict is determined).

[0074] For the first dispatch, please refer to Figure 4 , the first scheduling includes:

[0075] S34: dispatching the drones within the second distance threshold range of the unregistered drone to replan all the planned flight trajectories to avoid the unregistered drone;

[0076] S35: Dispatching the drones within the range from the second distance threshold to the third distance threshold of the unregistered drone to replan part of the planned flight trajectory to avoid the unregistered drone.

[0077] In a preferred embodiment, before determining the time and location of the collision between the unregistered drone and the registered drone, the method further includes:

[0078] S30: Determine whether the unregistered drone appears within a fourth distance threshold range of the unregistered drone within a preset time threshold;

[0079] If so, it is determined that the unregistered drone conflicts with the registered drone.

[0080] In other preferred embodiments, obtaining the planned flight trajectory and RID information of the UAV in the low-altitude corridor includes:

[0081] S10: Based on the planning of the low-altitude corridor, set up TDOA monitoring stations to obtain the planned flight trajectory and RID information of the UAVs in the low-altitude corridor.

[0082] In the above scheme, the RID information reported by the drone is used to determine whether the drones in the low-altitude corridor are divided into registered drones and unregistered drones. Since unregistered drones cannot report RID information, the current flight trajectory can be generated based on the image transmission signal of the unregistered drone, and the current flight trajectory of the unregistered drone can be compared with the planned flight trajectory of the registered drone to determine the time and location of the conflict and perform scheduling, thereby realizing the supervision of unregistered drones and further improving the supervision and safety assurance mechanism of drones in the low-altitude area.

[0083] Please refer to Figure 2 After the first scheduling of the registered drone, the method further includes:

[0084] S31: Obtain the positioning point of the registered drone;

[0085] S32: Determine whether the deviation between the positioning point and the position in the RID information is within a first distance threshold; if not, determine that the drone with abnormal position information in the RID information is an abnormal drone; if so, determine that the drone with normal position information in the RID information is a normal drone;

[0086] S33: Perform a second dispatch on the normal UAV, where the second dispatch is characterized by avoiding the abnormal UAV.

[0087] The first distance threshold includes an area within a range of 30 meters.

[0088] For the second scheduling, please refer to Figure 5 , the second scheduling includes:

[0089] S331: dispatching the drones within the second distance threshold range of the abnormal drone to replan all the planned flight trajectories to avoid the abnormal drone;

[0090] S332: Dispatching the drones within the range from the second distance threshold to the third distance threshold of the abnormal drone to re-plan part of the planned flight trajectory to avoid the abnormal drone.

[0091] The second distance threshold range includes an area within a range of 50 meters.

[0092] In a preferred embodiment, before obtaining the positioning point of the registered drone, the method includes:

[0093] S310: Periodically positioning the registered drone using RID signals and GPS signals.

[0094] In a specific embodiment, the RID signal of the normal drone is first received and located, specifically once per second. For areas in corridors with poor GPS signals (where GPS signal detection and marking can be performed), the location frequency is increased to once every 0.5 seconds. For drones within the area with an average spacing of less than 50 meters, the location frequency is increased to once every 0.5 seconds.

[0095] Secondly, the positioning result (i.e., the positioning point) is compared with the position in the drone's RID information. If the average deviation of multiple comparisons is greater than 30 meters, the position information in the drone's RID information is determined to be abnormal, and the normal drones flying in the corridor are notified to issue an early warning and implement avoidance, and the positioning frequency of the abnormal drone is increased to once every 0.5 seconds.

[0096] In the above scheme, by identifying abnormal drones whose location information in the RID information is inconsistent with the positioning point and dispatching them to avoid abnormal drones, the supervision and safety assurance mechanism of drones in low-altitude areas is further improved.

[0097] Please refer to Figure 3 The determining that the drone having abnormal location information in the RID information is an abnormal drone further includes:

[0098] S321: Generate a positioning trajectory based on the positioning point of the abnormal drone;

[0099] S322: Determine whether the deviation between the positioning point on the positioning trajectory and the trajectory point on the planned flight trajectory is within a first distance threshold; if so, determine that the abnormal drone is actually a normal flight drone; if not, determine that the registered drone is actually an abnormal flight drone;

[0100] S323: Perform a third dispatch on the drone that is actually flying normally, where the third dispatch is characterized by avoiding the drone that is actually flying abnormally.

[0101] Regarding the third scheduling, in one embodiment, please refer to Figure 6 , the third scheduling includes:

[0102] S3231: dispatching drones within a second distance threshold range of the abnormally flying drone to replan all of the planned flight trajectories to avoid the abnormally flying drone;

[0103] S3232: Dispatching the drones within the range from the second distance threshold to the third distance threshold of the abnormally flying drone to re-plan part of the planned flight trajectory to avoid the abnormally flying drone.

[0104] In a preferred embodiment, the positioning trajectory of the abnormally flying drone is fitted and analyzed. If the average deviation between the positioning points on its positioning trajectory and the trajectory points of the planned flight trajectory is less than 30 meters, the drone is determined to be a normal flight drone, but its RID information is incorrect. By notifying the normal flight drones in the corridor, the planned trajectory is used as the primary positioning method, supplemented by the real-time RID location information.

[0105] In another preferred embodiment, if the average deviation between the positioning points on its positioning trajectory and the points on the planned flight trajectory is greater than 30 meters, the drone is determined to be a truly anomalous drone. UAVs within 50 meters of its planned trajectory are dispatched to re-plan their flight paths to avoid it; UAVs within 100 meters of its planned trajectory are dispatched to re-plan their flight paths to avoid the truly anomalous drone, based on their original trajectory.

[0106] In the above scheme, abnormal drones are further identified to determine whether the RID information reported is incorrect but the trajectory of the positioning point is normal. Then, the abnormal drones are dispatched to avoid the abnormal drones. This also further improves the supervision and safety assurance mechanism of drones in low-altitude areas.

[0107] Please refer to Figure 7The present invention provides a UAV low-altitude traffic monitoring and dispatching device 4, comprising an acquisition module 401, a UAV determination module 402, and a dispatching module 403, wherein:

[0108] The acquisition module 401 is used to obtain the planned flight trajectory and RID information of the UAV in the low-altitude corridor; the RID information is represented by the UAV's identification code, position and speed.

[0109] Optionally, before obtaining the planned flight trajectory and RID information of the UAV in the low-altitude corridor, the method includes:

[0110] Based on the planning of the low-altitude corridor, TDOA monitoring stations are set up to obtain the planned flight trajectory and RID information of drones within the low-altitude corridor.

[0111] Optionally, before determining the time and location of the collision between the unregistered drone and the registered drone, the method includes:

[0112] Determine whether the unregistered drone appears within a fourth distance threshold range of the unregistered drone within a preset time threshold.

[0113] The drone determination module 402 is configured to classify the drones in the low-altitude corridor into registered drones and unregistered drones based on the RID information, and generate a current flight trajectory based on the image transmission signal of the unregistered drone.

[0114] The scheduling module 403 is configured to determine the time and location of a collision between the unregistered drone and the registered drone based on the current flight trajectory of the unregistered drone and the planned flight trajectory of the registered drone, and perform a first scheduling on the registered drone; the first scheduling is characterized by avoiding the unregistered drone.

[0115] Optionally, after performing the first scheduling on the registered drone, the method further includes:

[0116] Obtaining the positioning point of the registered drone;

[0117] Determine whether the deviation between the positioning point and the position in the RID information is within a first distance threshold; if not, determine that the drone with abnormal position information in the RID information is an abnormal drone; if so, determine that the drone with normal position information in the RID information is a normal drone;

[0118] A second dispatch is performed on the normal UAV, where the second dispatch is characterized by avoiding the abnormal UAV.

[0119] Optionally, determining that a drone having abnormal location information in the RID information is an abnormal drone further includes:

[0120] Generate a positioning trajectory based on the positioning point of the abnormal drone;

[0121] Determine whether a deviation between a positioning point on the positioning trajectory and a trajectory point on the planned flight trajectory is within a first distance threshold; if so, determine that the abnormal drone is a drone that is actually flying normally; if not, determine that the registered drone is a drone that is actually flying abnormally;

[0122] A third dispatch is performed on the drone that is actually flying normally, where the third dispatch is characterized by avoiding the drone that is actually flying abnormally.

[0123] Optionally, the first scheduling includes:

[0124] dispatching drones within a second distance threshold range of the unregistered drone to replan all of the planned flight trajectories to avoid the unregistered drone;

[0125] The drones within the range of the second distance threshold to the third distance threshold of the unregistered drone are dispatched to replan a portion of the planned flight trajectory to avoid the unregistered drone.

[0126] Optionally, the second scheduling includes:

[0127] dispatching drones within a second distance threshold range of the abnormal drone to replan all of the planned flight trajectories to avoid the abnormal drone;

[0128] The drones within the range from the second distance threshold to the third distance threshold of the abnormal drone are dispatched to replan part of the planned flight trajectory to avoid the abnormal drone.

[0129] Optionally, the third scheduling includes:

[0130] dispatching drones within a second distance threshold range of the abnormally flying drone to replan all of the planned flight trajectories to avoid the abnormally flying drone;

[0131] The drones within the range of the second distance threshold to the third distance threshold of the abnormally flying drone are dispatched to replan part of the planned flight trajectory to avoid the abnormally flying drone.

[0132] Optionally, before obtaining the positioning point of the registered drone, the method includes:

[0133] Periodically locate the registered drone using RID and GPS signals.

[0134] In one application scenario, please refer to Figure 8 ,The present invention provides a UAV low-altitude traffic supervision and dispatching system, including: TDOA monitoring station, registered UAV, unregistered UAV, base station, UAV RID supervision system;

[0135] The drone RID supervision system is used to implement the drone low-altitude traffic supervision and scheduling method described above.

[0136] Regarding drone location information acquisition, in a specific embodiment, the drone monitoring and management system connects to mobile operator data to access information such as the drone's identification code, MAC address, and network identification number, which are used to exchange data with base stations. Based on the base station's location information and the strength and direction of the received drone signal, the system preliminarily determines the drone's position within the current base station's service area. If a drone's signal is detected by more than three base stations simultaneously, it can cross-locate the drone by accessing data from all three base stations. Data from multiple base stations switching services during the drone's movement is combined to form a flight trajectory.

[0137] Regarding the key monitoring areas for drones determined based on base station deployment, in a specific embodiment, in places where the base station coverage signal is weak or unstable or the base station may switch frequently, the drone usually uses a direct connection with the remote control to transmit images. At this time, its position information cannot be directly obtained through the base station, and its remote control image transmission signal must be located; based on the base station deployment situation, urban terrain conditions, urban electromagnetic environment conditions, etc., determine the areas where networked drones may use the direct connection mode with the remote control as the key deployment area for non-base station data positioning.

[0138] Specifically, the key deployment areas include: areas far away from base stations, cross-border areas where multiple base station signal coverage overlaps, urban areas with dense buildings, and areas with high urban electromagnetic background noise.

[0139] Among them, the selection of key deployment areas can be determined in two ways: one is through electromagnetic simulation software, and the other is through field measurements. In places where conditions permit, the conclusions of field measurements shall prevail.

[0140] Regarding the dynamic scheduling of TDOA monitoring stations, based on the rough trajectory in S1, when the drone approaches or heads toward the key monitoring area in S2, the TDOA monitoring stations are scheduled to monitor the drone: TDOA monitoring stations within 2 kilometers of the drone's possible arrival location within the key monitoring area are selected for drone spectrum signal detection. If there are at least four candidate TDOA monitoring stations, the following geometric deployment of monitoring stations should be avoided, such as when the angle between the drone and the line connecting two monitoring stations is less than 30 degrees. If multiple combinations are available, the monitoring station is selected in the direction of the drone's flight. Under the same conditions, the station layout that encloses the drone within the station polygon is preferred.

[0141] Regarding the image transmission signal, in a specific embodiment, when the drone switches to the image transmission mode directly connected to the remote controller, the image transmission frequency is monitored and the time difference to the TDOA monitoring station is calculated, thereby performing real-time tracking and positioning. Positioning calculations are performed based on a combination of four stations, and a positioning point is calculated for each combination. If multiple positioning point calculation results exist, the calculation results are clustered and the cluster center point is used as a candidate positioning point.

[0142] Regarding the fusion analysis of positioning points and base station data on the positioning trajectory, a specific embodiment unifies the time of the TDOA positioning system and the base station system, and determines the time point of the drone's position obtained by base station data and the time point of the drone's position obtained by TDOA positioning. A rough outline of the drone's position trajectory is drawn based on the same time coordinate. The drone's identification code obtained from the base station data is used to determine the drone model, and its average flight speed is obtained by querying the drone product database.

[0143] The data is collated and integrated using the following method: Based on the base station data and considering the speed of the drone, among the candidate positioning points given by the TDOA positioning system:

[0144] 1. If a location point appears that the drone cannot reach within the time interval, the candidate positioning point is eliminated; if there are multiple calculation results of cross-positioning of the drone signal by four or more base stations, the multiple calculation results are clustered, and the cluster center is taken as the drone positioning point, which has the highest confidence (first class).

[0145] 2. If there is an intersection positioning point for the drone using signals from three base stations, the confidence of this point is second-class. If there are two or more base station signals that cross-locate the drone and obtain two candidate positioning points, both candidate positioning points participate in the fitting calculation of the possible trajectory, and the confidence of these two points is third-class. The confidence of the candidate positioning points given by the TDOA positioning system is fourth-class (after eliminating impossible points).

[0146] 3. If it is only a preliminary estimate of the position of the drone signal by one base station, the confidence level is fifth (if there is no positioning point, only a possible range, it will not be used in the trajectory fitting calculation and can only be used to verify the compliance trajectory).

[0147] In summary, the above five types of positioning points are used to perform weighted trajectory fitting to give possible trajectory curves and corresponding confidence levels.

[0148] Please refer to Figure 9 , provides an electronic device 5, including:

[0149] processor 51; and

[0150] a memory 52 for storing executable instructions of the processor;

[0151] The processor 51 is configured to execute the above-mentioned method by executing the executable instructions.

[0152] The processor 51 can communicate with the memory 52 via a bus 53 .

[0153] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned method when executed by a processor.

[0154] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0155] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for monitoring and dispatching UAV low-altitude traffic, used to detect UAVs in low-altitude corridors, characterized by: include: Obtain the planned flight trajectory and RID information of the UAV within the low-altitude corridor; The RID information is characterized by the drone's identification code, location, and speed; Based on the RID information, the drones in the low-altitude corridor are divided into registered drones and unregistered drones, and the current flight trajectory is generated based on the image transmission signal of the unregistered drones; Determining a time and location at which a collision occurs between the unregistered drone and the registered drone based on the current flight trajectory of the unregistered drone and the planned flight trajectory of the registered drone; and performing a first dispatch on the registered drone; The first maneuver is characterized by avoiding the unregistered UAV; After the first scheduling of the registered drone, the method further includes: Obtaining the positioning point of the registered drone; Determine whether the deviation between the positioning point and the position in the RID information is within a first distance threshold; if not, determine that the drone with abnormal position information in the RID information is an abnormal drone; if so, determine that the drone with normal position information in the RID information is a normal drone; A second dispatch is performed on the normal UAV, where the second dispatch is characterized by avoiding the abnormal UAV.

2. The method for monitoring and dispatching UAV low-altitude traffic according to claim 1 is characterized in that: Determining that the drone having abnormal location information in the RID information is an abnormal drone further includes: Generate a positioning trajectory based on the positioning point of the abnormal drone; Determine whether a deviation between a positioning point on the positioning trajectory and a trajectory point on the planned flight trajectory is within a first distance threshold; if so, determine that the abnormal drone is a drone that is actually flying normally; if not, determine that the registered drone is a drone that is actually flying abnormally; A third dispatch is performed on the drone that is actually flying normally, where the third dispatch is characterized by avoiding the drone that is actually flying abnormally.

3. The method for monitoring and dispatching UAV low-altitude traffic according to claim 2, characterized in that: The first scheduling includes: dispatching drones within a second distance threshold range of the unregistered drone to replan all of the planned flight trajectories to avoid the unregistered drone; The drones within the range of the second distance threshold to the third distance threshold of the unregistered drone are dispatched to replan a portion of the planned flight trajectory to avoid the unregistered drone.

4. The method for monitoring and dispatching UAV low-altitude traffic according to claim 2, characterized in that: The second scheduling includes: dispatching drones within a second distance threshold range of the abnormal drone to replan all of the planned flight trajectories to avoid the abnormal drone; The drones within the range from the second distance threshold to the third distance threshold of the abnormal drone are dispatched to replan part of the planned flight trajectory to avoid the abnormal drone.

5. The method for monitoring and dispatching UAV low-altitude traffic according to claim 2, characterized in that: The third scheduling includes: dispatching drones within a second distance threshold range of the abnormally flying drone to replan all of the planned flight trajectories to avoid the abnormally flying drone; The drones within the range of the second distance threshold to the third distance threshold of the abnormally flying drone are dispatched to replan part of the planned flight trajectory to avoid the abnormally flying drone.

6. The method for monitoring and dispatching UAV low-altitude traffic according to claim 1, characterized in that: Before obtaining the positioning point of the registered drone, the method includes: Periodically locate the registered drone using RID and GPS signals.

7. The method for monitoring and dispatching UAV low-altitude traffic according to claim 1, characterized in that: Before determining the time and location of the collision between the unregistered drone and the registered drone, the method includes: Determining whether the unregistered drone appears within a fourth distance threshold of the unregistered drone within a preset time threshold; If so, it is determined that the unregistered drone conflicts with the registered drone.

8. The method for monitoring and dispatching UAV low-altitude traffic according to claim 1, characterized in that: The acquisition of the planned flight trajectory and RID information of the UAV in the low-altitude corridor includes: Based on the planning of the low-altitude corridor, TDOA monitoring stations are set up to obtain the planned flight trajectory and RID information of drones within the low-altitude corridor.

9. A low-altitude UAV traffic monitoring and dispatching device, characterized in that: It includes acquisition module, drone identification module and scheduling module, among which: The acquisition module is used to obtain the planned flight trajectory and RID information of the UAV in the low-altitude corridor; the RID information is represented by the UAV's identification code, position and speed; The drone determination module is configured to classify drones in the low-altitude corridor into registered drones and unregistered drones based on the RID information, and generate a current flight trajectory based on the image transmission signal of the unregistered drones; The scheduling module is configured to determine, based on the current flight trajectory of the unregistered UAV and the planned flight trajectory of the registered UAV, the time and location at which the unregistered UAV and the registered UAV collide; and perform a first scheduling on the registered UAV; the first scheduling being characterized by avoiding the unregistered UAV; After the first scheduling of the registered drone, the method further includes: Obtaining the positioning point of the registered drone; Determine whether the deviation between the positioning point and the position in the RID information is within a first distance threshold; if not, determine that the drone with abnormal position information in the RID information is an abnormal drone; if so, determine that the drone with normal position information in the RID information is a normal drone; A second dispatch is performed on the normal UAV, where the second dispatch is characterized by avoiding the abnormal UAV.

10. A UAV low-altitude traffic supervision and dispatching system, characterized by: include: TDOA monitoring sites, registered drones, unregistered drones, base stations, and drone RID monitoring systems; The drone RID supervision system is used to execute the drone low-altitude traffic supervision and scheduling method described in any one of claims 1 to 8.

11. An electronic device, characterized in that: The system comprises a processor and a memory, wherein the memory is used to store code; The processor is configured to execute the code in the memory to implement the method according to any one of claims 1 to 8.

12. A storage medium storing a computer program, wherein when the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

Images