Low altitude aircraft collision avoidance control method, device, equipment and storage medium

Abstract

The invention relates to the technical field of low-altitude aircraft control, and discloses a low-altitude aircraft collision avoidance control method, device, equipment and storage medium. The method extracts a planned flight trajectory, detects first position information of a target aircraft at each planned flight trajectory point, extracts second position information of an air traffic control aircraft by using a received air traffic control broadcast signal, and determines third position information of a non-air traffic control aircraft according to a transmitted and received feedback spread spectrum signal, thereby performing collision avoidance detection and early warning at each planned flight trajectory point in the planned flight trajectory. At the same time, by estimating the predicted position of each avoidance aircraft, considering different safety interval requirements between the target aircraft and avoidance aircraft with different collision avoidance warning levels, the planned flight trajectory of the target aircraft is adjusted with the minimum deviation of the target aircraft at the next planned flight trajectory point as the target, thereby improving the collision avoidance effectiveness, flight safety and rationality of flight trajectory planning of the low-altitude aircraft.

Description

Technical Field

[0001] The present invention relates to the technical field of low-altitude aircraft control, and in particular to a low-altitude aircraft collision avoidance control method, device, equipment and storage medium. Background Art

[0002] Faced with the massive increase in low-altitude aircraft in the future, low-altitude flight safety will be a very important issue. There are a large number of communication networks above cities, which can be solved through 5G. Places with a large lack of base stations will be blind spots for aircraft. At this time, on the one hand, management measures are needed, and on the other hand, anti-collision equipment is also needed to assist aircraft in flying safely.

[0003] At present, the anti-collision control of low-altitude aircraft usually faces the following problems: (1) The existing technology is heavily dependent on the communication network environment with a large number of base stations. In areas where base stations are lacking, the anti-collision avoidance control between aircraft becomes extremely difficult because the aircraft cannot share positions and synchronize information. (2) When different aircraft are performing flight missions, in order to ensure the flight safety of each other, they need to leave a safe interval distance. However, due to the uncertainty of the flight trajectory of the aircraft (aircraft under air control usually only publish the starting position and the trajectory that has been flown, and will not disclose the trajectory that has not been flown; non-aircraft under air control are usually used to perform temporary tasks and will not disclose the entire flight trajectory), the aircraft has great limitations when planning the flight path, which affects the rationality of the flight trajectory planning of the target aircraft and cannot balance the contradiction between the flight safety and flight efficiency of the target aircraft.

[0004] Therefore, how to improve the effectiveness of collision avoidance, flight safety and rationality of flight trajectory planning of low-altitude aircraft is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present invention provides a low-altitude aircraft collision avoidance control method, device, equipment and storage medium, aiming to solve at least one of the above-mentioned technical problems.

[0006] To achieve the above object, the present invention provides a low-altitude aircraft collision avoidance control method, comprising the following steps:

[0007] Acquire a target flight mission of the target aircraft, and extract a planned flight trajectory in the target flight mission; wherein the planned flight trajectory includes a plurality of planned flight trajectory points obtained by sampling the target aircraft according to a standard sampling time period;

[0008] When the target aircraft is detected to perform the flight action of the target flight mission, first position information of the target aircraft at each planned flight trajectory point is obtained;

[0009] receiving an air traffic control broadcast signal, acquiring a plurality of air traffic control information in the air traffic control broadcast signal, extracting flight status information of each first avoiding aircraft in each air traffic control information, and determining second position information of each first avoiding aircraft based on the flight status information;

[0010] driving the wireless spread spectrum device to send a first spread spectrum signal, and determining third position information of each second avoidance aircraft according to the second spread spectrum signal fed back by each second avoidance aircraft;

[0011] According to the first position information of the target aircraft, the second position information of each first avoiding aircraft and the third position information of each second avoiding aircraft, an anti-collision detection of the target flight mission is performed to obtain an anti-collision detection result, and the planned flight trajectory of the target aircraft is adjusted according to the anti-collision detection result.

[0012] Optionally, obtaining a target flight mission of the target aircraft and extracting a planned flight trajectory step in the target flight mission specifically includes:

[0013] Accessing a flight mission database; wherein the flight mission database stores a plurality of flight missions, each flight mission includes identification information of an aircraft executing the flight mission and a planned flight trajectory, and each planned flight trajectory includes a plurality of planned flight trajectory points;

[0014] According to the aircraft identification information of the target aircraft, the target flight mission is matched in the flight mission database, and the planned flight trajectory in the target flight mission is extracted.

[0015] Optionally, when the flight action of the target aircraft to perform the target flight mission is detected, the step of obtaining the first position information of the target aircraft at each planned flight trajectory point specifically includes:

[0016] When the target aircraft is detected to perform the flight action of the target flight mission, the Beidou parsing thread is executed to parse the received Beidou NMEA standard message;

[0017] According to the character string format of NMEA, the first position information of the target aircraft in the Beidou NMEA standard message is extracted; wherein the first position information includes the accuracy data, latitude data, altitude data and flight speed data of the target aircraft.

[0018] Optionally, the step of receiving an air traffic control broadcast signal, acquiring a plurality of air traffic control information in the air traffic control broadcast signal, extracting flight status information of each first avoiding aircraft in each air traffic control information, and determining the second position information of each first avoiding aircraft based on the flight status information specifically includes:

[0019] Receive air traffic control broadcast signals, decode I / Q data in the air traffic control broadcast signals, and use CRC check to determine the correctness of the data;

[0020] The air traffic control broadcast signal is decoded according to the DF17 format to obtain the flight status information of the first avoiding aircraft and extract the second position information; wherein the second position information includes the accuracy data, latitude data, altitude data and flight speed data of the first avoiding aircraft.

[0021] Optionally, the step of driving the wireless spread spectrum device to send the first spread spectrum signal and determining the third position information of each second avoiding aircraft according to the second spread spectrum signal fed back by each second avoiding aircraft specifically includes:

[0022] Driving the wireless spread spectrum device to send a first spread spectrum signal; wherein the first spread spectrum signal stores a location information sharing request instruction;

[0023] receiving a second spread spectrum signal including accuracy data, latitude data, altitude data and flight speed data of the second avoidance aircraft, which is generated and fed back by the second avoidance aircraft after receiving the position information sharing request instruction in the first spread spectrum signal;

[0024] Extract third position information from the second spread spectrum signal; wherein the third position information includes accuracy data, latitude data, altitude data and flight speed data of the second avoiding aircraft.

[0025] Optionally, the step of performing collision avoidance detection of the target flight mission according to the first position information of the target aircraft, the second position information of each first avoiding aircraft, and the third position information of each second avoiding aircraft to obtain the collision avoidance detection result specifically includes:

[0026] Extracting precision data, latitude data and altitude data from the first location information, the second location information and the third location information, and drawing the precision data, the latitude data and the altitude data as a set of location coordinates in a three-dimensional coordinate system;

[0027] calculating the interval distance between the target aircraft and each of the first avoiding aircraft and the second avoiding aircraft, taking the second avoiding aircraft whose interval distance is less than the first preset distance value and not less than the second preset distance value as a candidate avoiding aircraft, and taking the second avoiding aircraft whose interval distance is less than the second preset distance value and the first avoiding aircraft whose interval distance is less than the first preset distance value as warning avoiding aircraft;

[0028] Wherein, the first preset distance value is greater than the second preset distance value.

[0029] Optionally, the step of adjusting the planned flight trajectory of the target aircraft according to the anti-collision detection result specifically includes:

[0030] According to the flight speed data, standard sampling time period and corresponding accuracy data, latitude data and altitude data of each candidate avoidance aircraft and warning avoidance aircraft, the predicted position information of the sampling point of the candidate avoidance aircraft and the warning avoidance aircraft in the next standard sampling time period is estimated based on the flight attitude of the sampling point of the current standard sampling time period;

[0031] The first constraint condition is that the interval distance between the planned position of the sampling point of the target aircraft in the next standard sampling time period and the predicted position of each warning avoidance aircraft is not less than the first preset distance value, the second constraint condition is that the ratio of the interval distance between the planned position of the sampling point of the target aircraft in the next standard sampling time period and the predicted position of each candidate avoidance aircraft is not less than the second preset distance value is greater than the preset safe flight proportion ratio, and the goal is to minimize the distance between the planned position of the sampling point of the target aircraft in the next standard sampling time period and the planned flight trajectory point, and optimize the solution to obtain the planned position of the sampling point of the target aircraft in the next standard sampling time period;

[0032] replacing the planned position to a planned flight trajectory point of a sampling point of a next standard sampling time period in the planned flight trajectory of the target aircraft to adjust the planned flight trajectory of the target aircraft;

[0033] In each position estimation optimization cycle, the proportion of the error distance between the predicted position information and the actual position information of the candidate avoidance aircraft and the warning avoidance aircraft at the sampling point of the next standard sampling time period exceeding the target error distance threshold is counted;

[0034] If the ratio exceeds the maximum value of the standard ratio interval, the standard sampling time period is adjusted according to the standard adjustment ratio, and the planned flight trajectory is regenerated. If the ratio is lower than the minimum value of the standard ratio interval, the standard sampling time period is adjusted according to the standard adjustment ratio, and the planned flight trajectory is regenerated.

[0035] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a low-altitude aircraft collision avoidance control device, comprising:

[0036] An extraction module is used to obtain a target flight mission of a target aircraft and extract a planned flight trajectory in the target flight mission; wherein the planned flight trajectory includes a plurality of planned flight trajectory points obtained by sampling the target aircraft according to a standard sampling time period;

[0037] An acquisition module, configured to acquire first position information of the target aircraft at each planned flight trajectory point when a flight action of the target aircraft performing the target flight mission is detected;

[0038] a receiving module, configured to receive an air traffic control broadcast signal, obtain a plurality of air traffic control information in the air traffic control broadcast signal, extract flight status information of each first avoiding aircraft in each air traffic control information, and determine second position information of each first avoiding aircraft based on the flight status information;

[0039] a determination module, configured to drive the wireless spread spectrum device to send a first spread spectrum signal, and determine third position information of each second avoidance aircraft according to the second spread spectrum signal fed back by each second avoidance aircraft;

[0040] The adjustment module is used to perform collision avoidance detection of the target flight mission according to the first position information of the target aircraft, the second position information of each first avoiding aircraft and the third position information of each second avoiding aircraft, obtain the collision avoidance detection result, and adjust the planned flight trajectory of the target aircraft according to the collision avoidance detection result.

[0041] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a low-altitude aircraft collision avoidance control device, which includes: a memory, a processor, and a low-altitude aircraft collision avoidance control program stored in the memory and executable on the processor, and when the low-altitude aircraft collision avoidance control program is executed by the processor, the steps of the low-altitude aircraft collision avoidance control method as described above are implemented.

[0042] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a storage medium, on which a low-altitude aircraft collision avoidance control program is stored. When the low-altitude aircraft collision avoidance control program is executed by a processor, the steps of the above-mentioned low-altitude aircraft collision avoidance control method are implemented.

[0043] The beneficial effects of the present invention are as follows: a low-altitude aircraft collision avoidance control method, device, equipment and storage medium are proposed, by extracting the planned flight trajectory of the target flight mission, detecting the first position information of the target aircraft at each planned flight trajectory point, using the received air traffic control broadcast signal, extracting the second position information of the air traffic control aircraft, determining the third position information of the non-air traffic control aircraft according to the transmitted and received feedback spread spectrum signal, performing collision avoidance detection and early warning at each planned flight trajectory point in the planned flight trajectory based on the first position information of the target aircraft, the second position information and the third position information of the avoidance aircraft, and at the same time, by estimating the predicted position of each avoidance aircraft at the sampling point of the next standard sampling time period, considering the different safety interval requirements of the target aircraft and the avoidance aircraft with different collision avoidance warning levels at the sampling point of the next standard sampling time period, adjusting the planned flight trajectory of the target aircraft with the minimum deviation of the target aircraft at the next planned flight trajectory point as the goal, thereby improving the collision avoidance effectiveness, flight safety and rationality of flight trajectory planning of the low-altitude aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention;

[0045] Figure 2 A schematic diagram of a flow chart of an embodiment of a low-altitude aircraft collision avoidance control method of the present invention;

[0046] Figure 3 The present invention is a structural block diagram of a low-altitude aircraft collision avoidance control device in an embodiment of the present invention.

[0047] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0049] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0050] like Figure 1 As shown, Figure 1 It is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention.

[0051] like Figure 1As shown, the device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or it may be a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0052] Those skilled in the art will understand that Figure 1 The structure of the device shown in the figure does not constitute a limitation of the device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0053] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a low-altitude aircraft collision avoidance control program.

[0054] exist Figure 1 In the terminal shown, the network interface 1004 is mainly used to connect to the backend server and communicate data with the backend server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the low-altitude aircraft collision avoidance control program stored in the memory 1005 and perform the following operations:

[0055] Acquire a target flight mission of the target aircraft, and extract a planned flight trajectory in the target flight mission; wherein the planned flight trajectory includes a plurality of planned flight trajectory points obtained by sampling the target aircraft according to a standard sampling time period;

[0056] When the target aircraft is detected to perform the flight action of the target flight mission, first position information of the target aircraft at each planned flight trajectory point is obtained;

[0057] receiving an air traffic control broadcast signal, acquiring a plurality of air traffic control information in the air traffic control broadcast signal, extracting flight status information of each first avoiding aircraft in each air traffic control information, and determining second position information of each first avoiding aircraft based on the flight status information;

[0058] driving the wireless spread spectrum device to send a first spread spectrum signal, and determining third position information of each second avoidance aircraft according to the second spread spectrum signal fed back by each second avoidance aircraft;

[0059] According to the first position information of the target aircraft, the second position information of each first avoiding aircraft and the third position information of each second avoiding aircraft, an anti-collision detection of the target flight mission is performed to obtain an anti-collision detection result, and the planned flight trajectory of the target aircraft is adjusted according to the anti-collision detection result.

[0060] The specific embodiments of the present invention applied to the device are basically the same as the embodiments of the following low-altitude aircraft anti-collision control method, and will not be described in detail here.

[0061] The embodiment of the present invention provides a low-altitude aircraft collision avoidance control method, referring to Figure 2 , Figure 2 The figure is a flow chart of an embodiment of a low-altitude aircraft collision avoidance control method of the present invention.

[0062] In this embodiment, a low-altitude aircraft collision avoidance control method includes the following steps:

[0063] S100: Acquire a target flight mission of a target aircraft, and extract a planned flight trajectory in the target flight mission; wherein the planned flight trajectory includes a plurality of planned flight trajectory points obtained by sampling the target aircraft according to a standard sampling time period;

[0064] S200: when detecting the flight action of the target aircraft to perform the target flight mission, obtaining first position information of the target aircraft at each planned flight trajectory point;

[0065] S300: receiving an air traffic control broadcast signal, acquiring a plurality of air traffic control information in the air traffic control broadcast signal, extracting flight status information of each first avoiding aircraft in each air traffic control information, and determining second position information of each first avoiding aircraft based on the flight status information;

[0066] S400: driving the wireless spread spectrum device to send a first spread spectrum signal, and determining third position information of each second avoidance aircraft according to the second spread spectrum signal fed back by each second avoidance aircraft;

[0067] S500: Perform collision avoidance detection of the target flight mission according to the first position information of the target aircraft, the second position information of each first avoiding aircraft, and the third position information of each second avoiding aircraft, obtain collision avoidance detection results, and adjust the planned flight trajectory of the target aircraft according to the collision avoidance detection results.

[0068] It should be noted that, at present, the anti-collision control of low-altitude aircraft usually faces the following problems: (1) The existing technology is heavily dependent on the communication network environment with a large number of base stations. In areas where base stations are lacking, the anti-collision avoidance control between aircraft becomes extremely difficult because the aircraft cannot share positions and synchronize information. (2) When different aircraft are performing flight missions, in order to ensure the flight safety of each other, they need to leave a safe interval distance. However, due to the uncertainty of the flight trajectory of the aircraft (aircraft under air control usually only publish the starting position and the trajectory that has been flown, and will not disclose the trajectory that has not been flown; non-aircraft under air control are usually used to perform temporary tasks and will not disclose the entire flight trajectory), the aircraft has great limitations when planning the flight path, which affects the rationality of the flight trajectory planning of the target aircraft and cannot balance the contradiction between the flight safety and flight efficiency of the target aircraft.

[0069] In order to solve the above problems, this embodiment extracts the planned flight trajectory of the target flight mission, detects the first position information of the target aircraft at each planned flight trajectory point, uses the received air traffic control broadcast signal to extract the second position information of the air traffic control aircraft, and determines the third position information of the non-air traffic control aircraft according to the transmitted and received feedback spread spectrum signal. Based on the first position information of the target aircraft, the second position information and the third position information of the avoidance aircraft, the anti-collision detection and warning of each planned flight trajectory point in the planned flight trajectory are performed. At the same time, by estimating the predicted position of each avoidance aircraft at the sampling point of the next standard sampling time period, considering the different safety interval requirements of the target aircraft and the avoidance aircraft with different anti-collision warning levels at the sampling point of the next standard sampling time period, the planned flight trajectory of the target aircraft is adjusted with the minimum deviation of the target aircraft at the next planned flight trajectory point as the goal, thereby improving the anti-collision avoidance effectiveness, flight safety and rationality of flight trajectory planning of low-altitude aircraft.

[0070] In a preferred embodiment, the steps of obtaining a target flight mission of a target aircraft and extracting a planned flight trajectory in the target flight mission specifically include:

[0071] S110: Accessing a flight mission database; wherein the flight mission database stores a plurality of flight missions, each flight mission includes identification information of an aircraft executing the flight mission and a planned flight trajectory, and each planned flight trajectory includes a plurality of planned flight trajectory points;

[0072] S120: matching the target flight mission in the flight mission database according to the aircraft identification information of the target aircraft, and extracting the planned flight trajectory in the target flight mission.

[0073] In this embodiment, several flight missions are stored in the flight mission database in advance, and then the target flight mission is matched in the flight mission database using the received aircraft identification information of the target aircraft, thereby obtaining the planned flight trajectory of the target aircraft that currently needs to perform the flight mission.

[0074] In a preferred embodiment, when the flight action of the target aircraft to perform the target flight mission is detected, the step of obtaining the first position information of the target aircraft at each planned flight trajectory point specifically includes:

[0075] S210: When the flight action of the target aircraft to perform the target flight mission is detected, the Beidou parsing thread is executed to parse the received Beidou NMEA standard message;

[0076] S220: Extracting the first position information of the target aircraft in the Beidou NMEA standard message according to the NMEA character string format; wherein the first position information includes the accuracy data, latitude data, altitude data and flight speed data of the target aircraft.

[0077] Furthermore, receiving an air traffic control broadcast signal, acquiring a plurality of air traffic control information in the air traffic control broadcast signal, extracting flight status information of each first avoiding aircraft in each air traffic control information, and determining the second position information of each first avoiding aircraft based on the flight status information, specifically includes:

[0078] S310: receiving an air traffic control broadcast signal, decoding I / Q data in the air traffic control broadcast signal, and using CRC check to determine data correctness;

[0079] S320: Decode the air traffic control broadcast signal according to the DF17 format, obtain the flight status information of the first avoiding aircraft, and extract the second position information; wherein the second position information includes the accuracy data, latitude data, altitude data and flight speed data of the first avoiding aircraft.

[0080] Furthermore, the step of driving the wireless spread spectrum device to send the first spread spectrum signal and determining the third position information of each second avoidance aircraft according to the second spread spectrum signal fed back by each second avoidance aircraft specifically includes:

[0081] S410: driving the wireless spread spectrum device to send a first spread spectrum signal; wherein the first spread spectrum signal stores a location information sharing request instruction;

[0082] S420: receiving a second spread spectrum signal including accuracy data, latitude data, altitude data, and flight speed data of the second avoiding aircraft, which is generated and fed back by the second avoiding aircraft after receiving the position information sharing request instruction in the first spread spectrum signal;

[0083] S430: Extract third position information from the second spread spectrum signal; wherein the third position information includes accuracy data, latitude data, altitude data and flight speed data of the second avoiding aircraft.

[0084] In this embodiment, the planned flight trajectory of the target flight mission is extracted, the first position information of the target aircraft at each planned flight trajectory point is detected, the second position information of the air traffic control aircraft is extracted using the received air traffic control broadcast signal, and the third position information of the non-air traffic control aircraft is determined based on the transmitted and received feedback spread spectrum signal. In this way, data support is provided for collision avoidance detection and early warning at each planned flight trajectory point in the execution of the planned flight trajectory.

[0085] In a preferred embodiment, according to the first position information of the target aircraft, the second position information of each first avoiding aircraft and the third position information of each second avoiding aircraft, the step of performing the collision avoidance detection of the target flight mission and obtaining the collision avoidance detection result specifically includes:

[0086] S510: extracting precision data, latitude data and altitude data from the first location information, the second location information and the third location information, and drawing the precision data, the latitude data and the altitude data as a set of location coordinates in a three-dimensional coordinate system;

[0087] S520: calculating the interval distance between the target aircraft and each of the first avoiding aircraft and the second avoiding aircraft, taking the second avoiding aircraft whose interval distance is less than the first preset distance value and not less than the second preset distance value as a candidate avoiding aircraft, and taking the second avoiding aircraft whose interval distance is less than the second preset distance value and the first avoiding aircraft whose interval distance is less than the first preset distance value as warning avoiding aircraft;

[0088] Wherein, the first preset distance value is greater than the second preset distance value.

[0089] Furthermore, the step of adjusting the planned flight trajectory of the target aircraft according to the anti-collision detection result specifically includes:

[0090] S530: based on the flight speed data, standard sampling time period and corresponding accuracy data, latitude data and altitude data of each candidate avoidance aircraft and warning avoidance aircraft, taking the flight attitude of the sampling point of the current standard sampling time period as a reference, estimating the predicted position information of the sampling point of the candidate avoidance aircraft and the warning avoidance aircraft in the next standard sampling time period;

[0091] S540: Taking the interval distance between the planned position of the target aircraft at the sampling point of the next standard sampling time period and the predicted position of each warning avoidance aircraft as the first constraint condition, taking the interval distance between the planned position of the target aircraft at the sampling point of the next standard sampling time period and the predicted position of each candidate avoidance aircraft as the ratio of being not less than the second preset distance value and being greater than the preset safe flight proportion as the second constraint condition, taking the distance between the planned position of the sampling point of the target aircraft at the next standard sampling time period and the planned flight trajectory point as the minimum as the goal, optimizing and solving to obtain the planned position of the sampling point of the target aircraft at the next standard sampling time period;

[0092] S550: replacing the planned position to a planned flight trajectory point of a sampling point of a next standard sampling time period in the planned flight trajectory of the target aircraft, so as to adjust the planned flight trajectory of the target aircraft;

[0093] S560: In each position estimation optimization cycle, count the ratio of the error distance between the predicted position information and the actual position information of the candidate avoidance aircraft and the warning avoidance aircraft at the sampling points of the next standard sampling time period that exceeds the target error distance threshold;

[0094] S570: If the ratio exceeds the maximum value of the standard ratio interval, the standard sampling time period is adjusted according to the standard adjustment ratio, and the planned flight trajectory is regenerated; if the ratio is lower than the minimum value of the standard ratio interval, the standard sampling time period is adjusted according to the standard adjustment ratio, and the planned flight trajectory is regenerated.

[0095] In this embodiment, the planned flight trajectory of the target flight mission is extracted, the first position information of the target aircraft at each planned flight trajectory point is detected, the second position information of the air traffic control aircraft is extracted by using the received air traffic control broadcast signal, and the third position information of the non-air traffic control aircraft is determined according to the transmitted and received feedback spread spectrum signal. Based on the first position information of the target aircraft, the second position information and the third position information of the avoidance aircraft, the anti-collision detection and warning of each planned flight trajectory point in the planned flight trajectory are performed. At the same time, by estimating the predicted position of each avoidance aircraft at the sampling point of the next standard sampling time period, considering the different safety interval requirements of the target aircraft and the avoidance aircraft with different anti-collision warning levels at the sampling point of the next standard sampling time period, the planned flight trajectory of the target aircraft is adjusted with the minimum deviation of the target aircraft at the next planned flight trajectory point as the goal, thereby improving the anti-collision avoidance effectiveness, flight safety and rationality of flight trajectory planning of low-altitude aircraft.

[0096] Reference Figure 3 , Figure 3 It is a structural block diagram of an embodiment of the low-altitude aircraft collision avoidance control device of the present invention.

[0097] like Figure 3 As shown, the low-altitude aircraft collision avoidance control device proposed in the embodiment of the present invention includes:

[0098] The extraction module 10 is used to obtain the target flight mission of the target aircraft and extract the planned flight trajectory in the target flight mission; wherein the planned flight trajectory includes a plurality of planned flight trajectory points obtained by sampling the target aircraft according to a standard sampling time period;

[0099] An acquisition module 20 is used to acquire first position information of the target aircraft at each planned flight trajectory point when a flight action of the target aircraft performing the target flight mission is detected;

[0100] The receiving module 30 is used to receive the air traffic control broadcast signal, obtain a plurality of air traffic control information in the air traffic control broadcast signal, extract the flight status information of each first avoiding aircraft in each air traffic control information, and determine the second position information of each first avoiding aircraft based on the flight status information;

[0101] The determination module 40 is used to drive the wireless spread spectrum device to send the first spread spectrum signal, and determine the third position information of each second avoidance aircraft according to the second spread spectrum signal fed back by each second avoidance aircraft;

[0102] The adjustment module 50 is used to perform collision avoidance detection of the target flight mission according to the first position information of the target aircraft, the second position information of each first avoiding aircraft and the third position information of each second avoiding aircraft, obtain collision avoidance detection results, and adjust the planned flight trajectory of the target aircraft according to the collision avoidance detection results.

[0103] Other embodiments or specific implementations of the low-altitude aircraft anti-collision control device of the present invention can refer to the above-mentioned method embodiments, which will not be repeated here.

[0104] In addition, the present invention also proposes a low-altitude aircraft collision avoidance control device, which includes: a memory, a processor, and a low-altitude aircraft collision avoidance control program stored in the memory and executable on the processor. When the low-altitude aircraft collision avoidance control program is executed by the processor, the steps of the low-altitude aircraft collision avoidance control method as described above are implemented.

[0105] The specific implementation of the low-altitude aircraft collision avoidance control device of the present application is basically the same as the various embodiments of the above-mentioned low-altitude aircraft collision avoidance control method, and will not be repeated here.

[0106] In addition, the present invention also proposes a readable storage medium, the readable storage medium includes a computer readable storage medium, on which a low-altitude aircraft collision avoidance control program is stored. The readable storage medium may be Figure 1The memory 1005 in the terminal may also be at least one of a ROM (Read-Only Memory) / RAM (Random Access Memory), a magnetic disk, and an optical disk. The readable storage medium includes a number of instructions for enabling a low-altitude aircraft collision avoidance control device having a processor to execute the low-altitude aircraft collision avoidance control method described in each embodiment of the present invention.

[0107] The specific implementation methods in the readable storage medium of the present application are basically the same as the above-mentioned embodiments of the low-altitude aircraft collision avoidance control method, and will not be repeated here.

[0108] It is understood that, in the description of this specification, the description with reference to the terms "one embodiment", "another embodiment", "other embodiments", or "first to Nth embodiments" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0109] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0110] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0111] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0112] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A low-altitude aircraft collision avoidance control method, characterized in that: The following steps are involved: Acquire a target flight mission of the target aircraft, and extract a planned flight trajectory in the target flight mission; wherein the planned flight trajectory includes a plurality of planned flight trajectory points obtained by sampling the target aircraft according to a standard sampling time period; When the target aircraft is detected to perform the flight action of the target flight mission, the first position information of the target aircraft at each planned flight trajectory point is obtained; specifically comprising: when the target aircraft is detected to perform the flight action of the target flight mission, executing the Beidou parsing thread, parsing the received Beidou NMEA standard message; extracting the first position information of the target aircraft in the Beidou NMEA standard message according to the NMEA string format; wherein the first position information includes the accuracy data, latitude data, altitude data and flight speed data of the target aircraft; Receiving an air traffic control broadcast signal, acquiring a plurality of air traffic control information in the air traffic control broadcast signal, extracting the flight status information of each first avoidance aircraft in each air traffic control information, and determining the second position information of each first avoidance aircraft based on the flight status information; specifically comprising: receiving an air traffic control broadcast signal, decoding the I / Q data in the air traffic control broadcast signal, and using CRC check to determine the correctness of the data; decoding the air traffic control broadcast signal according to the DF17 format, obtaining the flight status information of the first avoidance aircraft, and extracting the second position information; wherein the second position information includes the accuracy data, latitude data, altitude data, and flight speed data of the first avoidance aircraft; Driving the wireless spread spectrum device to send a first spread spectrum signal, and determining the third position information of each second avoidance aircraft according to the second spread spectrum signal fed back by each second avoidance aircraft; specifically comprising: driving the wireless spread spectrum device to send the first spread spectrum signal; wherein the first spread spectrum signal stores a position information sharing request instruction; receiving the second spread spectrum signal containing the precision data, latitude data, altitude data and flight speed data of the second avoidance aircraft generated and fed back by the second avoidance aircraft after receiving the position information sharing request instruction in the first spread spectrum signal; extracting the third position information in the second spread spectrum signal; wherein the third position information includes the precision data, latitude data, altitude data and flight speed data of the second avoidance aircraft; According to the first position information of the target aircraft, the second position information of each first avoiding aircraft and the third position information of each second avoiding aircraft, an anti-collision detection of the target flight mission is performed to obtain an anti-collision detection result, and the planned flight trajectory of the target aircraft is adjusted according to the anti-collision detection result; specifically comprising: extracting the precision data, latitude data and altitude data in the first position information, the second position information and the third position information, and drawing the precision data, the latitude data and the altitude data as a set of position coordinates in a three-dimensional coordinate system; calculating the interval distance between the target aircraft and each of the first avoiding aircraft and the second avoiding aircraft, taking the second avoiding aircraft whose interval distance is less than the first preset distance value and not less than the second preset distance value as a candidate avoiding aircraft, and taking the second avoiding aircraft whose interval distance is less than the second preset distance value and the first avoiding aircraft whose interval distance is less than the first preset distance value as warning avoiding aircraft; wherein the first preset distance value is greater than the second preset distance value; Among them, the step of adjusting the planned flight trajectory of the target aircraft according to the anti-collision detection result specifically includes: based on the flight speed data, standard sampling time period and corresponding accuracy data, latitude data, and altitude data of each candidate avoidance aircraft and early warning avoidance aircraft, with the flight attitude of the sampling point of the current standard sampling time period as a benchmark, estimating the predicted position information of the sampling points of the candidate avoidance aircraft and the early warning avoidance aircraft at the next standard sampling time period; taking the interval distance between the planned position of the sampling point of the target aircraft at the next standard sampling time period and the predicted position of each early warning avoidance aircraft not less than a first preset distance value as a first constraint condition, taking the interval distance between the planned position of the target aircraft at the sampling point of the next standard sampling time period and the predicted position of each candidate avoidance aircraft not less than a second preset distance value as a ratio greater than a preset safe flight proportion as a second constraint condition, and taking the target aircraft at the next standard sampling time period as a second constraint condition. The goal is to minimize the distance between the planned position of the sampling point of a standard sampling time period and the planned flight trajectory point, and optimize the solution to obtain the planned position of the sampling point of the target aircraft in the next standard sampling time period; the planned position is replaced with the planned flight trajectory point of the sampling point of the next standard sampling time period in the planned flight trajectory of the target aircraft to adjust the planned flight trajectory of the target aircraft; in each position estimation optimization cycle, the ratio of the error distance between the predicted position information and the actual position information of the sampling point of the next standard sampling time period of the candidate avoidance aircraft and the warning avoidance aircraft exceeding the target error distance threshold is counted; if the ratio exceeds the maximum value of the standard ratio interval, the standard sampling time period is adjusted according to the standard adjustment ratio, and the planned flight trajectory is regenerated; if the ratio is lower than the minimum value of the standard ratio interval, the standard sampling time period is adjusted according to the standard adjustment ratio, and the planned flight trajectory is regenerated.

2. The low-altitude aircraft collision avoidance control method according to claim 1, characterized in that: Obtaining a target flight mission of a target aircraft and extracting a planned flight trajectory step in the target flight mission specifically includes: Accessing a flight mission database; wherein the flight mission database stores a plurality of flight missions, each flight mission includes identification information of an aircraft executing the flight mission and a planned flight trajectory, and each planned flight trajectory includes a plurality of planned flight trajectory points; According to the aircraft identification information of the target aircraft, the target flight mission is matched in the flight mission database, and the planned flight trajectory in the target flight mission is extracted.

3. A low-altitude aircraft collision avoidance control device, characterized in that: A low-altitude aircraft collision avoidance control method as claimed in any one of claims 1 to 2, comprising: An extraction module is used to obtain a target flight mission of a target aircraft and extract a planned flight trajectory in the target flight mission; wherein the planned flight trajectory includes a plurality of planned flight trajectory points obtained by sampling the target aircraft according to a standard sampling time period; An acquisition module, configured to acquire first position information of the target aircraft at each planned flight trajectory point when a flight action of the target aircraft performing the target flight mission is detected; a receiving module, configured to receive an air traffic control broadcast signal, obtain a plurality of air traffic control information in the air traffic control broadcast signal, extract flight status information of each first avoiding aircraft in each air traffic control information, and determine second position information of each first avoiding aircraft based on the flight status information; a determination module, configured to drive the wireless spread spectrum device to send a first spread spectrum signal, and determine third position information of each second avoidance aircraft according to the second spread spectrum signal fed back by each second avoidance aircraft; The adjustment module is used to perform collision avoidance detection of the target flight mission according to the first position information of the target aircraft, the second position information of each first avoiding aircraft and the third position information of each second avoiding aircraft, obtain the collision avoidance detection result, and adjust the planned flight trajectory of the target aircraft according to the collision avoidance detection result.

4. A low-altitude aircraft collision avoidance control device, characterized in that: The low-altitude aircraft collision avoidance control device comprises: a memory, a processor and a low-altitude aircraft collision avoidance control program stored in the memory and executable on the processor. When the low-altitude aircraft collision avoidance control program is executed by the processor, the steps of the low-altitude aircraft collision avoidance control method as described in any one of claims 1 to 2 are implemented.

5. A storage medium, characterized in that: The storage medium stores a low-altitude aircraft collision avoidance control program, which, when executed by the processor, implements the steps of the low-altitude aircraft collision avoidance control method according to any one of claims 1 to 2.

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