Omnibearing supervision system for low-altitude aircraft

Abstract

The invention provides a low-altitude aircraft omnibearing supervision system, which belongs to the technical field of transportation management and comprises a monitoring module for constructing a supervision network of the omnibearing supervision system and monitoring flight data and environment data of all low-altitude aircrafts in the omnibearing supervision system in a specified time period in real time; the independent module is used for determining independent flight behaviors of all the low-altitude aircrafts; the group module is used for determining group flight behaviors of all low-altitude aircrafts; and the management module is used for determining an adjustment strategy and performing management based on the independent flight behaviors and the group flight behaviors of all the low-altitude aircrafts. The communication stability and efficiency can be improved, refined and intelligent coordination management of individual and group risks is realized, the autonomous decision-making ability of an aircraft and the intelligent level of a supervision system are improved, the safety and operation efficiency of a low-altitude airspace are improved, the real-time supervision requirement of a complex airspace is met, and the safety and adaptability of the airspace are enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation management, and in particular to an all-round monitoring system for low-altitude aircraft. Background Art

[0002] With the widespread use of drones and low-altitude aircraft, the number of aircraft in low-altitude airspace has increased rapidly, and the demand for real-time supervision and safety management of aircraft has become increasingly prominent. However, traditional supervision systems usually focus on high-altitude air traffic management and lack refined management methods for low-altitude aircraft. At present, some low-altitude supervision technologies monitor aircraft through a single parameter, but it is difficult to achieve comprehensive monitoring of multi-dimensional data. There are deficiencies in the accurate identification of individual abnormal behaviors and the effective analysis of group collaborative risks. In addition, the adjustment strategies of most existing systems are limited to static presets and lack the ability to dynamically adjust according to real-time flight behavior.

[0003] Therefore, the present invention provides a low-altitude aircraft omnidirectional monitoring system. Summary of the invention

[0004] The present invention provides an all-round supervision system for low-altitude aircraft. By constructing a supervision network of the all-round supervision system, the flight data and environmental data of the all-round supervision system are monitored in real time, the independent flight behavior of all low-altitude aircraft and the group flight behavior of all low-altitude aircraft are determined, so as to determine the adjustment strategy and perform management. The communication stability and efficiency can be improved, and refined and intelligent coordinated management of individual and group risks can be achieved. The autonomous decision-making ability of the aircraft and the intelligence level of the supervision system are improved, the safety and operation efficiency of the low-altitude airspace are improved, the real-time supervision needs of complex airspace are met, and the safety and adaptability of the airspace are enhanced.

[0005] The present invention provides a low-altitude aircraft omnidirectional monitoring system, comprising: Monitoring module: Build a monitoring network for the all-round monitoring system to monitor the flight data and environmental data of all low-altitude aircraft in the all-round monitoring system in real time within a specified time period; Independent module: independently analyze the sub-flight data and sub-environmental data of each low-altitude aircraft in the all-round monitoring system to determine the independent flight behavior of all low-altitude aircraft; Swarm module: Comprehensively analyze the flight data, environmental data and independent flight behaviors of all low-altitude aircraft in the all-round supervision system to determine the group flight behaviors of all low-altitude aircraft; Management module: Determine adjustment strategies and manage them based on the independent flight behaviors and group flight behaviors of all low-altitude aircraft.

[0006] According to a low-altitude aircraft omnidirectional monitoring system provided by the present invention, the monitoring module includes: Determination unit: Determine the supervision scope and communication requirements of all low-altitude aircraft in the full range of supervision system; First area unit: divide the supervision scope into grids to determine the first area of ​​the all-round supervision system, wherein the first area includes multiple sub-areas; First category unit: based on the communication requirements of the omnidirectional supervision system, classify all sub-areas in the first area and determine the first category of each sub-area, wherein the first categories are key areas, edge areas, base station areas, and high-altitude areas; Deployment unit: Dense deployment based on 5G base stations is carried out in all sub-areas of key areas, edge computing nodes are deployed in all sub-areas of edge areas, evacuation deployment based on 5G is carried out in all sub-areas of base station areas, and high-altitude communication deployment is carried out in all sub-areas of high-altitude areas; Network unit: Based on the deployment results of all sub-areas in the first area, a supervision network of an all-round supervision system is constructed.

[0007] According to a low-altitude aircraft omnidirectional monitoring system provided by the present invention, the monitoring module further includes: Sub-flight data unit: Based on the first sensor group of the low-altitude aircraft, the sub-flight data of each low-altitude aircraft in the omni-directional monitoring system within a specified time period is monitored in real time; Flight data unit: Determines the flight data of the full range of supervision system within a specified time period based on the sub-flight data of all low-altitude aircraft; Sub-environment data unit: Based on the second sensor group of the low-altitude aircraft, the sub-environment data of each low-altitude aircraft in the omni-directional monitoring system is monitored in real time within a specified time period; Environmental data unit: Based on the sub-environmental data of all low-altitude aircraft, determine the environmental data of the comprehensive supervision system within a specified time period.

[0008] According to a low-altitude aircraft omnidirectional monitoring system provided by the present invention, the independent module includes: Preprocessing unit: preprocess the sub-flight data and sub-environment data of each low-altitude aircraft; Sub-region set unit: determining, based on the flight data of each low-altitude aircraft, a sub-region set of an edge region where each low-altitude aircraft is located; Independent analysis unit: Based on the edge computing nodes deployed in all sub-areas in the sub-area set of each low-altitude aircraft and the terminal processor of the low-altitude aircraft, the pre-processed sub-operation data and sub-environmental data of the low-altitude aircraft are independently analyzed to determine the first sub-independent flight behavior or the second sub-independent flight behavior of each low-altitude aircraft; Independent flight behavior unit: determines the independent flight behavior of all low-altitude aircraft based on the first sub-independent flight behavior or the second sub-independent flight behavior of each low-altitude aircraft.

[0009] According to a low-altitude aircraft omnidirectional monitoring system provided by the present invention, the independent analysis unit comprises: Vector sub-unit: The edge computing nodes deployed in all sub-areas of the sub-area set of the low-altitude aircraft and the terminal processor of the low-altitude aircraft respectively extract features of the pre-processed sub-operation data and sub-environmental data of the low-altitude aircraft to determine the operation vector and environment vector of the low-altitude aircraft; Flight status subunit: input the operation vector and environment vector of each low-altitude aircraft into the corresponding flight reference model, and judge the flight status result of each low-altitude aircraft based on the output result of the flight reference model, wherein the flight status result includes normal flight and abnormal flight; Abnormal aircraft subunit: determines each low-altitude aircraft whose flight status result is abnormal flight as an abnormal aircraft, and issues an abnormal flight alarm; Flight compliance result and flight safety result subunit: based on the output result of the flight reference model of each low-altitude aircraft whose flight status result is normal flight, determine the flight compliance result and flight safety result of each low-altitude aircraft flying normally, wherein the flight compliance result includes compliant flight and illegal flight, and the flight safety result includes safe flight and risky flight; Illegal aircraft subunit: determine each low-altitude aircraft whose flight status result is normal flight and whose flight compliance result is illegal flight as an illegal aircraft, and issue an illegal flight alert; Risky aircraft subunit: determines each low-altitude aircraft whose flight status result is normal flight and whose flight safety result is risky flight as a risky aircraft, and issues a risky flight alert; The first sub-independent flight behavior sub-unit is used to determine the first sub-independent flight behavior of each low-altitude aircraft based on the flight status result, flight compliance result and flight safety result of each low-altitude aircraft that has not issued an alarm; The second sub-independent flight behavior sub-unit: determines the second sub-independent flight behavior of each low-altitude aircraft based on the flight status results, flight compliance results, flight safety results and the issued alarm of each low-altitude aircraft that issues any abnormal flight alarm, illegal flight alarm or risky flight alarm.

[0010] According to a low-altitude aircraft omnidirectional monitoring system provided by the present invention, the group module includes: A low-altitude aircraft collection unit: determining a low-altitude aircraft collection in each sub-area in the first area; A group abnormal behavior value unit: determining a group abnormal behavior value of each sub-area in the first area based on flight data, environmental data, and independent flight behaviors of all low-altitude aircraft in the low-altitude aircraft set of each sub-area; Abnormal area unit: determine the sub-area in the first area where the group abnormal behavior value is greater than the preset group abnormal threshold as an abnormal area, and issue an abnormal area alarm; A first group sub-flight behavior unit: determining a first group sub-flight behavior of each sub-area based on a group abnormal behavior value of each sub-area where no regional alarm is issued; A second group sub-flight behavior unit: determines a second group sub-flight behavior of each sub-area based on a group abnormal behavior value of each sub-area where a regional alarm is issued and the issued regional alarm; The group flight behavior unit determines the group flight behavior of all low-altitude aircraft based on the first group sub-flight behavior or the second group sub-flight behavior of all sub-areas in the first area.

[0011] According to a low-altitude aircraft omnidirectional monitoring system provided by the present invention, the group abnormal behavior value unit includes: in, represents the group abnormal behavior value of the i-th area in the first area, represents the distance anomaly between the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, represents the velocity anomaly values ​​of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th region in the first region, represents the heading anomaly values ​​of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, 3 represents the weights based on distance outliers, speed outliers, and heading outliers, respectively. represents the number of low-altitude aircraft in the low-altitude aircraft set in the i-th area of ​​the first area, They represent the maximum group abnormal behavior value and the minimum group abnormal behavior value of all i-th regions in the first region, respectively. represents the relative position distance value between the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, represents the relative speed value between the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, They represent the heading angles of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, respectively. They respectively represent the weights of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area based on independent flight behaviors, represents the maximum relative speed value of every two low-altitude aircraft in the set of low-altitude aircraft in the i-th area of ​​the first area, They represent the average relative speed and standard deviation of the relative speed of every two low-altitude aircraft in the low-altitude aircraft set in the i-th area of ​​the first area, represents the heading consistency value of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, They respectively represent the heading consistency mean value and heading consistency standard deviation of every two low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area.

[0012] According to a low-altitude aircraft omnidirectional monitoring system provided by the present invention, the management module includes: Independent adjustment unit: determining an independent adjustment strategy for the low-altitude aircraft corresponding to each second sub-independent flight behavior in the independent flight behavior, and managing the low-altitude aircraft based on the independent adjustment strategy; Area adjustment unit: determines the area adjustment strategy of the low-altitude aircraft corresponding to each second group sub-flight behavior in the group flight behavior, and manages the sub-areas based on the area adjustment strategy.

[0013] Compared with the prior art, the beneficial effects of this application are as follows: By building a supervision network of an all-round supervision system, monitoring the flight data and environmental data of the all-round supervision system in real time, determining the independent flight behavior of all low-altitude aircraft, and determining the group flight behavior of all low-altitude aircraft, so as to determine adjustment strategies and manage them, the stability and efficiency of communications can be improved, and refined and intelligent coordinated management of individual and group risks can be achieved. The autonomous decision-making ability of aircraft and the intelligence level of the supervision system can be improved, the safety and operational efficiency of low-altitude airspace can be improved, the real-time supervision needs of complex airspace can be met, and the safety and adaptability of airspace can be enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the present invention or 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a structural schematic diagram of a low-altitude aircraft omnidirectional monitoring system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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 creative work are within the scope of protection of the present invention.

[0017] Embodiment 1: The embodiment of the present invention provides a low-altitude aircraft omnidirectional monitoring system, such as Figure 1 As shown, including: Monitoring module: Build a monitoring network for the all-round monitoring system to monitor the flight data and environmental data of all low-altitude aircraft in the all-round monitoring system in real time within a specified time period; Independent module: independently analyze the sub-flight data and sub-environmental data of each low-altitude aircraft in the all-round monitoring system to determine the independent flight behavior of all low-altitude aircraft; Swarm module: Comprehensively analyze the flight data, environmental data and independent flight behaviors of all low-altitude aircraft in the all-round supervision system to determine the group flight behaviors of all low-altitude aircraft; Management module: Determine adjustment strategies and manage them based on the independent flight behaviors and group flight behaviors of all low-altitude aircraft.

[0018] In this embodiment, the sub-flight data and sub-environmental data of each low-altitude aircraft are extracted and analyzed to identify the independent flight behavior of individual aircraft, providing a basis for precise management.

[0019] In this embodiment, the flight data, environmental data and independent flight behaviors of all aircraft are comprehensively analyzed to determine the group flight behavior of aircraft in each sub-area.

[0020] In this embodiment, adjustment strategies are generated based on independent flight behavior and group flight behavior. The adjustment strategies triggered by independent flight behavior focus on individuals, such as flight altitude adjustment and path optimization; the adjustment strategies triggered by group flight behavior act on regions, such as demarcating no-fly zones and adjusting regional airspace capacity.

[0021] In this embodiment, the implementation of the adjustment strategy is completed through remote communication or automatic control system, realizing real-time and dynamic management.

[0022] In this embodiment, the all-round monitoring system can be applied to data transmission in ocean exploration, hydrology and water conservancy, power transmission, low-speed and small aircraft, transportation, petroleum and other industries, combined with advanced image compression technology to achieve image feedback.

[0023] In this embodiment, the transmission mode of the omni-directional monitoring system can be data, SMS, or point-to-point transmission; the configuration mode supports local configuration and remote configuration.

[0024] The beneficial effects of the above technical solution are as follows: by building a supervision network of an all-round supervision system, real-time monitoring of the flight data and environmental data of the all-round supervision system, determining the independent flight behavior of all low-altitude aircraft, and determining the group flight behavior of all low-altitude aircraft, so as to determine the adjustment strategy and manage it, it can improve the stability and efficiency of communications, realize refined and intelligent coordinated management of individual and group risks, enhance the autonomous decision-making ability of aircraft and the intelligence level of the supervision system, improve the safety and operating efficiency of low-altitude airspace, meet the real-time supervision needs of complex airspace, and enhance the safety and adaptability of airspace.

[0025] Embodiment 2: The embodiment of the present invention provides a low-altitude aircraft omnidirectional monitoring system, wherein the monitoring module comprises: Determination unit: Determine the supervision scope and communication requirements of all low-altitude aircraft in the full range of supervision system; First area unit: divide the supervision scope into grids to determine the first area of ​​the all-round supervision system, wherein the first area includes multiple sub-areas; First category unit: based on the communication requirements of the omnidirectional supervision system, classify all sub-areas in the first area and determine the first category of each sub-area, wherein the first categories are key areas, edge areas, base station areas, and high-altitude areas; Deployment unit: Dense deployment based on 5G base stations is carried out in all sub-areas of key areas, edge computing nodes are deployed in all sub-areas of edge areas, evacuation deployment based on 5G is carried out in all sub-areas of base station areas, and high-altitude communication deployment is carried out in all sub-areas of high-altitude areas; Network unit: Based on the deployment results of all sub-areas in the first area, a supervision network of an all-round supervision system is constructed.

[0026] In this embodiment, the activity areas of all low-altitude aircraft in the omnidirectional monitoring system are determined, the monitoring coverage is clarified, and the communication needs of aircraft in different areas are analyzed, such as data transmission bandwidth, real-time requirements, etc.

[0027] In this embodiment, the entire supervision scope is divided into a gridded first area to achieve distributed deployment.

[0028] In this embodiment, based on communication needs, sub-areas are classified into four types: key areas: areas with high communication needs and dense aircraft; edge areas: areas at the boundary of the regulatory network with weak communication; base station areas: areas covered by existing 5G base stations; high-altitude areas: areas where aircraft are active in higher airspace and require special communication support.

[0029] In this embodiment, 5G base stations are densely deployed in all sub-areas of the key area to cover the main low-altitude flight airspace, ensuring that the 5G base stations support ultra-low latency communications (below 1ms) to meet the real-time data upload requirements of the aircraft.

[0030] In this embodiment, edge computing nodes are deployed in all sub-areas of the edge area to process aircraft data analysis and task scheduling, reduce cloud processing delays, and use edge nodes for data preprocessing, such as flight trajectory prediction and abnormal behavior detection.

[0031] In this embodiment, the base station area represents the sub-area that can be directly covered by 5G and high-altitude base stations with good communication performance. All sub-areas of the base station area are evacuated and deployed to meet the real-time data upload needs of the aircraft.

[0032] In this embodiment, high-altitude communication equipment (such as 5G balloons and drone base stations) are deployed in all sub-areas of the high-altitude area to supplement the 5G ground network.

[0033] In this embodiment, based on the communication equipment deployment results of each sub-area, a multi-level supervision network covering the entire area is constructed to ensure stable communication and supervision of aircraft in all areas.

[0034] In this embodiment, the regulatory network is a hybrid network built by utilizing the high-bandwidth and low-latency characteristics of 5G and the global coverage advantages of satellite Internet. It can not only provide high-speed network access, but also ensure seamless connection on the ground and in the air.

[0035] The beneficial effects of the above technical solution are: differentiated deployment in the first area, building a supervision network for an all-round supervision system, optimizing the network coverage and resource allocation of the supervision system, improving communication stability and efficiency, and realizing a refined and intelligent low-altitude supervision network to meet the real-time supervision needs of complex airspace.

[0036] Embodiment 3: The embodiment of the present invention provides a low-altitude aircraft omnidirectional monitoring system, wherein the monitoring module further includes: Sub-flight data unit: Based on the first sensor group of the low-altitude aircraft, the sub-flight data of each low-altitude aircraft in the omni-directional monitoring system within a specified time period is monitored in real time; Flight data unit: Determines the flight data of the full range of supervision system within a specified time period based on the sub-flight data of all low-altitude aircraft; Sub-environment data unit: Based on the second sensor group of the low-altitude aircraft, the sub-environment data of each low-altitude aircraft in the omni-directional monitoring system is monitored in real time within a specified time period; Environmental data unit: Based on the sub-environmental data of all low-altitude aircraft, determine the environmental data of the comprehensive supervision system within a specified time period.

[0037] In this embodiment, the sub-flight data represents the real-time operating data of the aircraft itself, including: position data: GPS / Beidou positioning information, longitude and latitude, altitude; motion data: speed, acceleration, heading, angular velocity, attitude angle (pitch, roll, yaw); flight parameters: battery power, flight time, track deviation, mission progress; control status: autopilot / manual control mode, command delay, navigation path deviation, etc.

[0038] In this embodiment, the sub-environment data represents the factors that affect the aircraft from the external environment, including: weather data: wind speed, wind direction, temperature, humidity, air pressure, visibility; airspace restrictions: no-fly zones, restricted flight altitudes, congested airspace; geographic information: terrain obstacles (such as buildings, mountains), dynamic obstacles (such as other aircraft); communication status: signal strength, delay, network stability, etc.

[0039] In this embodiment, a first sensor group (such as GPS, inertial navigation system) installed on the low-altitude aircraft monitors the sub-flight data of each aircraft within a specified time period in real time to ensure accurate grasp of the status of individual aircraft.

[0040] In this embodiment, the sub-flight data of all low-altitude aircraft are integrated to form the overall flight data of the all-round supervision system, providing global situational awareness of the aircraft group.

[0041] In this embodiment, a second sensor group (such as a temperature sensor, a barometer, and anemometer) installed on a low-altitude aircraft is used to collect sub-environmental data of the area where the aircraft is located in real time, forming sub-environmental data for each aircraft, thereby improving flight safety and environmental adaptability.

[0042] In this embodiment, the sub-environmental data of all aircraft are integrated to form the overall environmental data of the all-round supervision system, analyze the environmental characteristics of a large range of airspace and its potential impact on aircraft operations, and support flight strategy optimization and dynamic adjustment.

[0043] The beneficial effects of the above technical solution: real-time monitoring of the flight data and environmental data of all low-altitude aircraft in the all-round supervision system within a specified time period can improve the perception accuracy of the aircraft's operating status and environmental adaptability, and provide intelligent and comprehensive support for complex airspace management.

[0044] Embodiment 4: The embodiment of the present invention provides a low-altitude aircraft omnidirectional monitoring system, wherein the independent module comprises: Preprocessing unit: preprocess the sub-flight data and sub-environment data of each low-altitude aircraft; Sub-region set unit: determining, based on the flight data of each low-altitude aircraft, a sub-region set of an edge region where each low-altitude aircraft is located; Independent analysis unit: Based on the edge computing nodes deployed in all sub-areas in the sub-area set of each low-altitude aircraft and the terminal processor of the low-altitude aircraft, the pre-processed sub-operation data and sub-environmental data of the low-altitude aircraft are independently analyzed to determine the first sub-independent flight behavior or the second sub-independent flight behavior of each low-altitude aircraft; Independent flight behavior unit: determines the independent flight behavior of all low-altitude aircraft based on the first sub-independent flight behavior or the second sub-independent flight behavior of each low-altitude aircraft.

[0045] In this embodiment, the sub-flight data and sub-environmental data collected by each low-altitude aircraft are preliminarily processed to filter noise, correct data, and standardize formats to ensure data quality and provide an accurate basis for subsequent analysis.

[0046] In this embodiment, the specific sub-area where each aircraft is located is determined based on the real-time flight data of the aircraft, in particular, whether it is in the edge area of ​​the supervision network.

[0047] In this embodiment, the pre-processed sub-flight data and sub-environment data are locally analyzed based on the edge computing nodes deployed in the sub-area where the aircraft is located and the terminal-side processor of the aircraft itself.

[0048] In this embodiment, the first sub-independent flight behaviors or the second sub-independent flight behaviors of all aircraft are summarized and analyzed to determine the overall independent flight behavior pattern of the aircraft in the entire airspace.

[0049] In this embodiment, the edge computing node refers to a small computing device deployed in an edge area, close to a data source.

[0050] In this embodiment, the terminal-side processor refers to a data processing unit carried by the aircraft itself.

[0051] The beneficial effects of the above technical solution are: independent analysis of the sub-flight data and sub-environmental data of each low-altitude aircraft in the all-round supervision system to determine the independent flight behavior of all low-altitude aircraft, which can reduce data transmission delays and central processing burdens, improve the autonomous decision-making capabilities of aircraft and the intelligence level of the supervision system, and enhance airspace safety and adaptability.

[0052] Embodiment 5: The embodiment of the present invention provides a low-altitude aircraft omnidirectional monitoring system, wherein the independent analysis unit comprises: Vector sub-unit: The edge computing nodes deployed in all sub-areas of the sub-area set of the low-altitude aircraft and the terminal processor of the low-altitude aircraft respectively extract features of the pre-processed sub-operation data and sub-environmental data of the low-altitude aircraft to determine the operation vector and environment vector of the low-altitude aircraft; Flight status subunit: input the operation vector and environment vector of each low-altitude aircraft into the corresponding flight reference model, and judge the flight status result of each low-altitude aircraft based on the output result of the flight reference model, wherein the flight status result includes normal flight and abnormal flight; Abnormal aircraft subunit: determines each low-altitude aircraft whose flight status result is abnormal flight as an abnormal aircraft, and issues an abnormal flight alarm; Flight compliance result and flight safety result subunit: based on the output result of the flight reference model of each low-altitude aircraft whose flight status result is normal flight, determine the flight compliance result and flight safety result of each low-altitude aircraft flying normally, wherein the flight compliance result includes compliant flight and illegal flight, and the flight safety result includes safe flight and risky flight; Illegal aircraft subunit: determine each low-altitude aircraft whose flight status result is normal flight and whose flight compliance result is illegal flight as an illegal aircraft, and issue an illegal flight alert; Risky aircraft subunit: determines each low-altitude aircraft whose flight status result is normal flight and whose flight safety result is risky flight as a risky aircraft, and issues a risky flight alert; The first sub-independent flight behavior sub-unit is used to determine the first sub-independent flight behavior of each low-altitude aircraft based on the flight status result, flight compliance result and flight safety result of each low-altitude aircraft that has not issued an alarm; The second sub-independent flight behavior sub-unit: determines the second sub-independent flight behavior of each low-altitude aircraft based on the flight status results, flight compliance results, flight safety results and the issued alarm of each low-altitude aircraft that issues any abnormal flight alarm, illegal flight alarm or risky flight alarm.

[0053] In this embodiment, feature extraction is performed on the sub-operation data and sub-environmental data of the low-altitude aircraft through the edge computing node and the terminal processor of the aircraft itself, and an operation vector describing the aircraft status and an environmental vector describing the environmental conditions are generated respectively, providing standardized numerical expression for subsequent analysis.

[0054] In this embodiment, the operation vector and the environment vector are input into a preset flight reference model (a model trained based on historical data and rules) to determine whether the aircraft is in a normal flight state or an abnormal flight state.

[0055] In this embodiment, an aircraft whose flight status result is determined to be abnormal flight is immediately marked as an abnormal aircraft, and an early warning is issued to notify the supervision system to take intervention measures.

[0056] In this embodiment, for an aircraft in normal flight, its operation is analyzed to see whether it complies with regulatory requirements, and the results of compliant flight or illegal flight are output. Illegal flight may involve issues such as flight altitude and route deviation.

[0057] In this embodiment, the operational risk of the aircraft in normal flight is further analyzed, and the results of safe flight or risky flight are output. Risky flight may include situations such as approaching obstacles and sudden environmental changes.

[0058] In this embodiment, an aircraft that is flying normally but is determined to be flying in violation of regulations is marked as an illegal aircraft, and an alarm is issued to prompt the supervision system to pay attention.

[0059] In this embodiment, an aircraft that is flying normally but is determined to be flying at risk is marked as a risk aircraft, and an early warning is issued to indicate its potential safety hazards.

[0060] In this embodiment, for an aircraft that has not triggered any alarm, a corresponding first sub-independent flight behavior is generated based on its flight status, compliance and safety, describing the autonomous behavior during normal operation.

[0061] In this embodiment, for an aircraft that triggers an abnormal flight, illegal flight, or risky flight alarm, its status, compliance, safety, and alarm content are comprehensively considered to generate a second sub-independent flight behavior for further tracking and management.

[0062] The beneficial effects of the above technical solution are as follows: determining the first sub-independent flight behavior or the second sub-independent flight behavior of each low-altitude aircraft can improve the automation and intelligence level of aircraft status assessment and behavior management, and significantly enhance the safety and supervision efficiency of low-altitude aircraft.

[0063] Embodiment 6: The embodiment of the present invention provides a low-altitude aircraft omnidirectional monitoring system, wherein the group module comprises: A low-altitude aircraft collection unit: determining a low-altitude aircraft collection in each sub-area in the first area; A group abnormal behavior value unit: determining a group abnormal behavior value of each sub-area in the first area based on flight data, environmental data, and independent flight behaviors of all low-altitude aircraft in the low-altitude aircraft set of each sub-area; Abnormal area unit: determine the sub-area in the first area where the group abnormal behavior value is greater than the preset group abnormal threshold as an abnormal area, and issue an abnormal area alarm; A first group sub-flight behavior unit: determining a first group sub-flight behavior of each sub-area based on a group abnormal behavior value of each sub-area where no regional alarm is issued; A second group sub-flight behavior unit: determines a second group sub-flight behavior of each sub-area based on a group abnormal behavior value of each sub-area where a regional alarm is issued and the issued regional alarm; The group flight behavior unit determines the group flight behavior of all low-altitude aircraft based on the first group sub-flight behavior or the second group sub-flight behavior of all sub-areas in the first area.

[0064] In this embodiment, all low-altitude aircraft in each sub-area are identified, and their operating data, environmental data, and independent flight behaviors are obtained to provide a basis for subsequent analysis.

[0065] In this embodiment, it is determined whether the group abnormal behavior value exceeds a preset group abnormal threshold value. If it exceeds, the sub-area is marked as an abnormal area, and an alarm is issued to remind the supervision system to pay attention to the potential risks of the area.

[0066] In this embodiment, for the sub-region that has not triggered the abnormal region alarm, the first group sub-flight behavior is extracted according to its group abnormal behavior value to describe the group behavior pattern of low-altitude aircraft in the normal region.

[0067] In this embodiment, for the sub-region that triggers the abnormal region alarm, based on its group abnormal behavior value and alarm content, the second group sub-flight behavior is extracted to describe the group behavior pattern of low-altitude aircraft in the abnormal region.

[0068] In this embodiment, the flight behaviors of the first group of sub-regions and the second group of sub-regions in the first region are integrated to determine the group flight behaviors of low-altitude aircraft in the entire region, providing a basis for macro-level flight behavior analysis and supervision.

[0069] The beneficial effects of the above technical solution are: comprehensive analysis of the flight data, environmental data and independent flight behaviors of all low-altitude aircraft in the all-round supervision system, determination of the group flight behavior of all low-altitude aircraft, accurate identification and early warning of abnormal areas and their group behaviors, and improvement of the intelligence level of group behavior analysis, providing a new means for the safe control of large-scale low-altitude aircraft operations.

[0070] Embodiment 7: The embodiment of the present invention provides a low-altitude aircraft omnidirectional monitoring system, wherein the group abnormal behavior value unit comprises: in, represents the group abnormal behavior value of the i-th area in the first area, represents the distance anomaly between the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, represents the velocity anomaly values ​​of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th region in the first region, represents the heading anomaly values ​​of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, 3 represents the weights based on distance outliers, speed outliers, and heading outliers, respectively. represents the number of low-altitude aircraft in the low-altitude aircraft set in the i-th area of ​​the first area, They represent the maximum group abnormal behavior value and the minimum group abnormal behavior value of all i-th regions in the first region, respectively. represents the relative position distance value between the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, represents the relative speed value between the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, They represent the heading angles of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, respectively. They respectively represent the weights of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area based on independent flight behaviors, represents the maximum relative speed value of every two low-altitude aircraft in the set of low-altitude aircraft in the i-th area of ​​the first area, They represent the average relative speed and standard deviation of the relative speed of every two low-altitude aircraft in the low-altitude aircraft set in the i-th area of ​​the first area, represents the heading consistency value of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, They respectively represent the heading consistency mean value and heading consistency standard deviation of every two low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area.

[0071] In this embodiment, by comprehensively analyzing the flight data, environmental data, and independent flight behaviors of all low-altitude aircraft in each sub-area, a quantitative index representing the degree of abnormality in the sub-area, namely, the group abnormal behavior value, is calculated. This value reflects the degree of abnormality of the overall operation of aircraft in the sub-area.

[0072] The beneficial effects of the above technical solution are as follows: based on the flight data, environmental data and independent flight behavior of all low-altitude aircraft in the low-altitude aircraft set in each sub-area, the group abnormal behavior value of each sub-area in the first area is determined, which can provide data basis for accurately identifying abnormal areas and their group behaviors, and improve the intelligence level of group behavior analysis.

[0073] Embodiment 8: The embodiment of the present invention provides a low-altitude aircraft omnidirectional monitoring system, wherein the management module comprises: Independent adjustment unit: determining an independent adjustment strategy for the low-altitude aircraft corresponding to each second sub-independent flight behavior in the independent flight behavior, and managing the low-altitude aircraft based on the independent adjustment strategy; Area adjustment unit: determines the area adjustment strategy of the low-altitude aircraft corresponding to each second group sub-flight behavior in the group flight behavior, and manages the sub-areas based on the area adjustment strategy.

[0074] In this embodiment, each second sub-independent flight behavior corresponds to a specific adjustment requirement. By analyzing the operating status, environmental impact and abnormality type of the aircraft, a customized independent adjustment strategy is generated. The strategy content may include: flight altitude adjustment, route correction, flight speed optimization, emergency landing instructions, etc.

[0075] In this embodiment, the independent adjustment strategy directly acts on a single low-altitude aircraft to ensure that it resumes normal flight or reduces risks, and precise intervention is performed on an individual basis to improve the autonomous operation capability and safety of the aircraft.

[0076] In this embodiment, the group abnormal behavior value and specific abnormal characteristics of the second group of sub-flight behaviors that trigger the abnormal area alarm are analyzed, and a regional adjustment strategy for the entire sub-area is formulated. The strategy content may include: dynamic demarcation of no-fly zones, overall route re-planning, regional flight speed restrictions, environmental optimization intervention, etc.

[0077] In this embodiment, the regional adjustment strategy acts on the entire sub-region, unifies and coordinates the behaviors of all aircraft in the region, performs overall management on a group basis, and reduces systemic risks within the sub-region.

[0078] The beneficial effects of the above technical solution are as follows: based on the independent flight behavior and group flight behavior of all low-altitude aircraft, adjustment strategies are determined and managed, achieving differentiated management at the individual and group levels, and further improving the level of refinement of low-altitude aircraft operation management and systematic safety assurance capabilities.

[0079] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0080] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0081] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A low-altitude aircraft omnidirectional monitoring system, characterized in that: include: Monitoring module: Build a monitoring network for the all-round monitoring system to monitor the flight data and environmental data of all low-altitude aircraft in the all-round monitoring system in real time within a specified time period; Independent module: independently analyze the sub-flight data and sub-environmental data of each low-altitude aircraft in the all-round monitoring system to determine the independent flight behavior of all low-altitude aircraft; Swarm module: Comprehensively analyze the flight data, environmental data and independent flight behaviors of all low-altitude aircraft in the all-round supervision system to determine the group flight behaviors of all low-altitude aircraft; Management module: Determine adjustment strategies and manage them based on the independent flight behaviors and group flight behaviors of all low-altitude aircraft.

2. A low-altitude aircraft omnidirectional monitoring system according to claim 1, characterized in that: The monitoring module comprises: Determine the unit: determine the monitoring range and communication requirements of all low-altitude aircraft in the full range monitoring system; First area unit: divide the supervision scope into grids to determine the first area of ​​the all-round supervision system, wherein the first area includes multiple sub-areas; First category unit: based on the communication requirements of the omnidirectional supervision system, classify all sub-areas in the first area and determine the first category of each sub-area, wherein the first categories are key areas, edge areas, base station areas, and high-altitude areas; Deployment unit: Dense deployment based on 5G base stations is carried out in all sub-areas of key areas, edge computing nodes are deployed in all sub-areas of edge areas, evacuation deployment based on 5G is carried out in all sub-areas of base station areas, and high-altitude communication deployment is carried out in all sub-areas of high-altitude areas; Network unit: Based on the deployment results of all sub-areas in the first area, a supervision network of an all-round supervision system is constructed.

3. A low-altitude aircraft omnidirectional monitoring system according to claim 1, characterized in that: The monitoring module further includes: Sub-flight data unit: Based on the first sensor group of the low-altitude aircraft, the sub-flight data of each low-altitude aircraft in the omni-directional monitoring system within a specified time period is monitored in real time; Flight data unit: Based on the sub-flight data of all low-altitude aircraft, it determines the flight data of the full range of supervision system within a specified time period; Sub-environment data unit: A second sensor group based on low-altitude aircraft monitors the sub-environment data of each low-altitude aircraft in the omni-directional monitoring system in real time within a specified time period; Environmental data unit: Based on the sub-environmental data of all low-altitude aircraft, determine the environmental data of the comprehensive supervision system within a specified time period.

4. The low-altitude aircraft omnidirectional monitoring system according to claim 1, characterized in that: The independent module comprises: Preprocessing unit: preprocess the sub-flight data and sub-environment data of each low-altitude aircraft; Sub-region set unit: determining, based on the flight data of each low-altitude aircraft, a sub-region set of an edge region where each low-altitude aircraft is located; Independent analysis unit: Based on the edge computing nodes deployed in all sub-areas in the sub-area set of each low-altitude aircraft and the terminal processor of the low-altitude aircraft, the pre-processed sub-operation data and sub-environmental data of the low-altitude aircraft are independently analyzed to determine the first sub-independent flight behavior or the second sub-independent flight behavior of each low-altitude aircraft; Independent flight behavior unit: determines the independent flight behavior of all low-altitude aircraft based on the first sub-independent flight behavior or the second sub-independent flight behavior of each low-altitude aircraft.

5. A low-altitude aircraft omnidirectional monitoring system according to claim 4, characterized in that: The independent analysis unit comprises: Vector sub-unit: The edge computing nodes deployed in all sub-areas of the sub-area set of the low-altitude aircraft and the terminal processor of the low-altitude aircraft respectively extract features of the pre-processed sub-operation data and sub-environmental data of the low-altitude aircraft to determine the operation vector and environment vector of the low-altitude aircraft; Flight status subunit: input the operation vector and environment vector of each low-altitude aircraft into the corresponding flight reference model, and judge the flight status result of each low-altitude aircraft based on the output result of the flight reference model, wherein the flight status result includes normal flight and abnormal flight; Abnormal aircraft subunit: determines each low-altitude aircraft whose flight status result is abnormal flight as an abnormal aircraft, and issues an abnormal flight alarm; Flight compliance result and flight safety result subunit: based on the output result of the flight reference model of each low-altitude aircraft whose flight status result is normal flight, determine the flight compliance result and flight safety result of each low-altitude aircraft flying normally, wherein the flight compliance result includes compliant flight and illegal flight, and the flight safety result includes safe flight and risky flight; Illegal aircraft subunit: determine each low-altitude aircraft whose flight status result is normal flight and whose flight compliance result is illegal flight as an illegal aircraft, and issue an illegal flight alert; Risky aircraft subunit: determines each low-altitude aircraft whose flight status result is normal flight and whose flight safety result is risky flight as a risky aircraft, and issues a risky flight alert; The first sub-independent flight behavior sub-unit is used to determine the first sub-independent flight behavior of each low-altitude aircraft based on the flight status result, flight compliance result and flight safety result of each low-altitude aircraft that has not issued an alarm; The second sub-independent flight behavior sub-unit: determines the second sub-independent flight behavior of each low-altitude aircraft based on the flight status results, flight compliance results, flight safety results and the issued alarm of each low-altitude aircraft that issues any abnormal flight alarm, illegal flight alarm or risky flight alarm.

6. The low-altitude aircraft omnidirectional monitoring system according to claim 2 is characterized in that: The group module comprises: A low-altitude aircraft collection unit: determining a low-altitude aircraft collection in each sub-area in the first area; A group abnormal behavior value unit: determining a group abnormal behavior value of each sub-area in the first area based on flight data, environmental data, and independent flight behaviors of all low-altitude aircraft in the low-altitude aircraft set of each sub-area; Abnormal area unit: determine the sub-area in the first area where the group abnormal behavior value is greater than the preset group abnormal threshold as an abnormal area, and issue an abnormal area alarm; A first group sub-flight behavior unit: determining a first group sub-flight behavior of each sub-area based on a group abnormal behavior value of each sub-area where no regional alarm is issued; A second group sub-flight behavior unit: determines a second group sub-flight behavior of each sub-area based on a group abnormal behavior value of each sub-area where a regional alarm is issued and the issued regional alarm; The group flight behavior unit determines the group flight behavior of all low-altitude aircraft based on the first group sub-flight behavior or the second group sub-flight behavior of all sub-areas in the first area.

7. A low-altitude aircraft omnidirectional monitoring system according to claim 6, characterized in that: The group abnormal behavior value unit includes: in, represents the group abnormal behavior value of the i-th area in the first area, represents the distance anomaly between the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, represents the velocity anomaly values ​​of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th region in the first region, represents the heading anomaly values ​​of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, 3 represents the weights based on distance outliers, speed outliers, and heading outliers, respectively. represents the number of low-altitude aircraft in the low-altitude aircraft set in the i-th area of ​​the first area, They represent the maximum group abnormal behavior value and the minimum group abnormal behavior value of all i-th regions in the first region, respectively. represents the relative position distance value between the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, represents the relative speed value between the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, They represent the heading angles of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, respectively. They respectively represent the weights of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area based on independent flight behaviors, represents the maximum relative speed value of every two low-altitude aircraft in the set of low-altitude aircraft in the i-th area of ​​the first area, They represent the average relative speed and standard deviation of the relative speed of every two low-altitude aircraft in the low-altitude aircraft set in the i-th area of ​​the first area, represents the heading consistency value of the j-th low-altitude aircraft and the k-th low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area, They respectively represent the heading consistency mean value and heading consistency standard deviation of every two low-altitude aircraft in the set of low-altitude aircraft in the i-th area in the first area.

8. The low-altitude aircraft omnidirectional monitoring system according to claim 2 is characterized in that: The management module comprises: Independent adjustment unit: determining an independent adjustment strategy for a low-altitude aircraft corresponding to each second sub-independent flight behavior in the independent flight behavior, and managing the low-altitude aircraft based on the independent adjustment strategy; Area adjustment unit: determines the area adjustment strategy of the low-altitude aircraft corresponding to each second group sub-flight behavior in the group flight behavior, and manages the sub-areas based on the area adjustment strategy.

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