Unmanned aircraft and pilot management and control system and method

Abstract

The invention discloses an unmanned aircraft and pilot management and control method and management and control system, and the method specifically comprises the steps: collecting the product identification information of an unmanned aircraft, judging that the product identification information is illegal if the product identification information cannot be obtained, and further judging whether the real-name registration is needed or not if the product identification information can be obtained; if the real-name registration information is needed, acquiring real-name registration information, if the real-name registration information cannot be acquired, judging whether the real-name registration information is illegal, if the real-name registration information can be acquired or does not need to be real-name registration, acquiring flight dynamic data to judge whether the flight dynamic data is in a suitable flight airspace range, and if the flight dynamic data is legal; otherwise, further collecting flight authorization information, and if no authorization exists, determining that the flight is illegal; and if authorization is obtained, judging whether the reported flight plan data is met, if not, judging that the flight plan data is illegal, and if yes, judging that the flight plan data is legal. The management and control system comprises a memory, a processor and a computer program capable of running on the processor and executing the management and control method. The method is wide in applicability and low in application threshold, the accuracy of legal / illegal identification can be greatly improved, and the management and control safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle control, and in particular to an unmanned aerial vehicle and pilot control system and method. Background Art

[0002] With the rapid development of aviation technology and unmanned driving technology and the increasing intelligence, unmanned aerial vehicles, mainly drones, have been widely used in aerial photography, power line inspection, geographic surveying and mapping, fire prevention and disaster relief, logistics and transportation, entertainment performances and other fields, and have played an important role. Unmanned aerial vehicles, especially "low, slow and small" drones (flying low, slow speed, small size), have many advantages such as high intelligence, easy operation, relatively low cost, and long-distance remote control, which has brought challenges to traditional air target detection technology and airspace management mode.

[0003] However, the existing unmanned aerial vehicle detection, early warning and countermeasure systems and technical control measures mainly use the advance input of black and white lists or clearance methods to ensure the safety of airspace and key ground areas. It is difficult to distinguish whether the target unmanned aerial vehicle is flying legally or illegally, and it is impossible to monitor, identify and control the flight activities of unmanned aerial vehicles based on the approved authorized flight airspace and reported flight plans. There is no timely, effective and deterrent control measure for pilots who remotely control unmanned aerial vehicles, and it is impossible to ensure that unmanned aerial vehicles strictly abide by the flight plan to achieve integrated flight with manned aircraft. The only option is to adopt a clearance management mode, resulting in a large amount of airspace resources wasted.

[0004] In addition, the existing technical solutions implement countermeasures against unmanned aerial vehicles without the pilots being informed. After the countermeasures are implemented against the unmanned aerial vehicles, the unmanned aerial vehicles may be forced to land, lose control, or crash, which can easily cause personal injury and property damage on the ground. The current situation of unmanned aerial vehicles and pilot control is relatively chaotic.

[0005] Therefore, there is an urgent need for those skilled in the art to provide a system and method for controlling an unmanned aerial vehicle and a pilot to distinguish between unmanned aerial vehicles that are flying legally or illegally, and to control unmanned aerial vehicles that are flying illegally and the pilots thereof. Summary of the invention

[0006] The present invention provides an unmanned aerial vehicle and pilot control system and method, which are used to solve the technical problem of how to control legally and illegally flying unmanned aerial vehicles and pilots in the prior art.

[0007] In order to solve the above technical problems, the technical solution proposed by the present invention is: When there is an unmanned aerial vehicle flying in the target control area, first determine whether the unmanned aerial vehicle is flying legally, and perform different controls based on the judgment result; When judging whether the unmanned aerial vehicle is flying legally, the following steps are specifically included: S1: first collect the product identification information of the unmanned aerial vehicle. If the information cannot be obtained, it is judged as illegal flight. If the information can be obtained, further judge whether the unmanned aerial vehicle needs real-name registration. If the information is not required, go to step S2. If the information is required, further obtain the real-name registration information according to the obtained product identification information. If the information cannot be obtained, it is judged as illegal flight. If the information is available, go to step S2. S2: further collecting the flight dynamic data of the unmanned aerial vehicle to determine whether it is within the suitable airspace. If it is completely within the suitable airspace, it is determined to be a legal flight; if it is not completely within the suitable airspace, go to S3; S3: further collecting the flight authorization information of the unmanned aerial vehicle, the flight authorization information including the flight plan data of the unmanned aerial vehicle on the third-party unmanned aerial vehicle supervision platform, the flight airspace application and its approval authorization information; judging whether the flight authorization information is authorized, if not, judging it as illegal flight; if authorized, going to S4; S4: Further judging whether the flight dynamic data is consistent with the reported flight plan data according to the flight plan data of the unmanned aerial vehicle, if not, the result of judging is illegal flight, if consistent, the result of judging is legal flight.

[0008] The above-mentioned target control area includes controlled airspace and suitable flyable airspace. The controlled airspace is the airspace divided by laws and regulations or air traffic management agencies, and the suitable flyable airspace is the airspace outside the scope of the controlled airspace.

[0009] In the above-mentioned unmanned aerial vehicle and pilot control method, preferably, the product identification information is the unique product identification code of the unmanned aerial vehicle. The preferred unique product identification code of the present invention refers to the unique identification code stored in the unmanned aerial vehicle complete product and the electronic equipment, firmware, chip, memory, controller, and avionics equipment associated therewith. Different from other self-coding to realize functions, according to relevant regulations, the manufacturer needs to write the unique product identification code of the unmanned aerial vehicle into the indelible chip storage area and mark it on the body and outer packaging. It is mandatory, universal, and unique. Even if the unmanned aerial vehicle is produced in a foreign country, the unique product identification code of the unmanned aerial vehicle will be compiled according to the coding principle of the country where it is located. The unique product identification code includes the manufacturer code, product model code, and serial number. The manufacturer code and product model code are applied by the manufacturer to the management agency authorized by the administrative department, and the serial number is defined by the unmanned aerial vehicle manufacturer. According to the manufacturer code, product model code, and serial number of the unique product identification code, the brand, specific model, production batch, and other information of the unmanned aerial vehicle can be obtained, thereby obtaining the maximum take-off weight and performance of the unmanned aerial vehicle. Therefore, first of all, the legal / illegal identification of drones through unique product identification codes has high accuracy, comprehensiveness and accessibility.

[0010] More preferably, the product identification information is collected and obtained by at least one of the following methods: (1) Obtaining wireless broadcast information from unmanned aerial vehicles by radio detection; (2) Obtained through radio detection, interception and / or decryption of radio communications between the unmanned aerial vehicle and its remote control station; (3) Obtained through a third-party unmanned aerial vehicle monitoring platform.

[0011] In the above-mentioned unmanned aerial vehicle and pilot control method, preferably, at least one of the product identification information, real-name registration information, flight dynamic data, flight authorization information, suitable airspace range, and flight plan data is obtained from a third-party unmanned aerial vehicle supervision platform. The third-party unmanned aerial vehicle supervision platform obtains the operation identification data of the unmanned aerial vehicle through wireless broadcasting and / or online reporting of the unmanned aerial vehicle system (including the unmanned aerial vehicle and / or the remote control station), including but not limited to the aforementioned data information, for example, it may also include the location of the remote control station. The unmanned aerial vehicle directly broadcasts the operation identification data to the outside via radio, does not rely on any mobile network infrastructure, and can directly receive the broadcast signal through radio detection or receiving equipment within the effective coverage range of the broadcast signal. There are many ways for the unmanned aerial vehicle system to report the operation identification data online, including but not limited to direct reporting through a wireless mobile communication network, a satellite communication network or a wired network.

[0012] As long as the operator of an unmanned aerial vehicle registers the unmanned aerial vehicle in real name on a third-party unmanned aerial vehicle supervision platform, real-name registration information (such as a registration number) will be automatically generated. The real-name registration information can realize the binding of the unmanned aerial vehicle's unique product identification code, the registrant and the registration number, and can also achieve the above-mentioned effect. The operator is the individual or organization that holds the unmanned aerial vehicle and is responsible for the overall operation. The real-name registration information is preferably the registration number obtained after the unmanned aerial vehicle completes the real-name registration on the third-party unmanned aerial vehicle supervision platform.

[0013] The above-mentioned flight dynamic data, flight authorization information, and flight plan data can also be preferably obtained by querying a third-party unmanned aerial vehicle supervision platform, and / or detecting, intercepting, and decrypting the radio communication content between the unmanned aerial vehicle and the ground remote control station. The above-mentioned data acquisition through the third-party unmanned aerial vehicle supervision platform is particularly suitable for the present invention to identify and monitor unmanned aerial vehicles flying in radio silence. These data information can also be obtained through the positioning / navigation equipment inside the unmanned aerial vehicle system and / or independently mounted. Detecting, intercepting, and decrypting the radio communication content between the unmanned aerial vehicle and its remote control station includes but is not limited to telemetry, remote control, image transmission, data transmission, voice or navigation information. The radio detection and interception of the radio communication content between the unmanned aerial vehicle and the ground remote control station uses encryption protocols and encryption algorithms, and then further decrypts the radio communication content between the unmanned aerial vehicle and its remote control station, and the decryption key can be obtained from the third-party unmanned aerial vehicle supervision platform.

[0014] In the above-mentioned unmanned aerial vehicle and pilot control method, preferably, in step S1, the further determination of whether the unmanned aerial vehicle needs real-name registration specifically includes: determining whether the unmanned aerial vehicle needs real-name registration based on whether the maximum take-off weight and / or maximum speed of the unmanned aerial vehicle exceeds a set threshold. The acquired product identification information includes a unique product identification code. Through the manufacturer code, product model code, and serial number of the unique product identification code, information such as the brand, specific model, and production batch of the unmanned aerial vehicle can be obtained, thereby obtaining the maximum take-off weight and / or performance of the unmanned aerial vehicle. According to the regulations and requirements of relevant departments, unmanned aerial vehicles that exceed the specified maximum take-off weight must be registered with real names, and those that are not registered are judged to be illegal flights. Therefore, by adding this step, the accuracy and comprehensiveness of illegal flight judgments can be further increased.

[0015] In the above-mentioned unmanned aerial vehicle and pilot control method, preferably, the flight dynamic data is collected and obtained by at least one of the following methods: (1) By detecting the modulation mode and frequency hopping pattern of the radio communication signal between the unmanned aerial vehicle and its remote control station, the positioning (latitude, longitude, altitude), time, speed and track angle information of the unmanned aerial vehicle are obtained by using TDOA (Time of Difference of Arrival) information, AOA (Angle of Arrival) information, TOA (Time of Arrival) information, RSSI (Receive Signal Strength Indicator) and location fingerprinting method, thereby obtaining the flight dynamic data; (2) Obtaining the flight dynamics data by receiving the wireless broadcast information of the unmanned aerial vehicle through radio detection; (3) Obtaining the flight dynamics data by intercepting and / or decrypting the radio communications between the unmanned aerial vehicle and its remote control station through radio detection; (4) Obtaining the flight dynamics data by detecting the time delay and frequency change of the radar echo.

[0016] In the above-mentioned unmanned aerial vehicle and pilot control method, preferably, when it is judged as illegal flight, the number of times and / or flight duration of the unmanned aerial vehicle that are judged as illegal flights within a set time are further collected and retrieved. If it exceeds a first threshold, control including countermeasures is taken on the unmanned aerial vehicle; if it does not exceed the first threshold, control is taken including at least one of the following steps: (1) Collecting the pilot’s personal information and / or remote control station location information of the unmanned aerial vehicle; (2) Obtaining the pilot’s contact information based on the pilot’s personal information, and guiding the pilot to control the unmanned aerial vehicle to legally fly, land, or return; (3) Based on the position information of the remote control station, guide the pilot on-site to control the unmanned aerial vehicle to legally fly, land, or return; (4) Guide pilots to log in to the third-party unmanned aircraft supervision platform to register their unmanned aircraft with real names, report flight plans, apply for flight airspace, and obtain flight authorization; (5) Calling on the broadcasting audio, electronic screen and other audio and video equipment deployed in the target control area (preferably near the remote control station) to guide the pilot on site to control the unmanned aerial vehicle to legally fly, land or return; (6) Based on the location information of the remote control station, call the law enforcement drone to fly to the above-mentioned location and use the onboard speakers, electronic screens and other sound and light equipment to guide the pilot on site to control the unmanned aerial vehicle to legally fly, land or return; (7) Using the mobile terminal to obtain the location information of the remote control station, navigate to the scene and conduct on-site control of the ground pilot.

[0017] More preferably, the pilot personal information is collected and obtained by at least one of the following methods: (1) Retrieving video surveillance data of the target control area (preferably near the remote control station), obtaining the pilot's facial and physical features and / or vehicle license plate model features, and comparing them with the facial and physical features information database and / or vehicle license plate model feature information database to obtain the pilot's personal information; (2) First, the flight authorization information of the unmanned aerial vehicle is collected, and the pilot's personal information is extracted from the flight plan data.

[0018] (3) Obtained through a third-party unmanned aerial vehicle monitoring platform.

[0019] More preferably, the remote control station location information is collected and acquired by at least one of the following methods: (1) Obtaining the location information of the remote control station by detecting the modulation mode of the radio communication signal between the unmanned aerial vehicle and its remote control station, the spectrum characteristics of the frequency hopping rule, the TDOA arrival time difference information, the AOA arrival angle information, the TOA arrival time information, the RSSI received signal strength method, and the location fingerprint method; (2) Obtaining the location information of the remote control station by radio detection of wireless broadcast information of the unmanned aerial vehicle; (3) Obtaining the location information of the remote control station by detecting, intercepting and / or decrypting the radio communications between the unmanned aerial vehicle and its remote control station; (4) Obtaining the take-off and landing point location information through the unmanned aerial vehicle flight dynamic data; (5) Obtaining the location information of the remote control station through a third-party unmanned aerial vehicle monitoring platform.

[0020] More preferably, the control of the countermeasures includes the following steps: Further determine whether the unmanned aerial vehicle has turned into legal flight, landing or return within the set time range (preferably the time range set after warning guidance), and / or guide the pilot to log in to the third-party unmanned aerial vehicle supervision platform to register the unmanned aerial vehicle with real name, report the flight plan, apply for flight airspace, and obtain flight authorization. If not executed, the unmanned aerial vehicle is subjected to one or more methods including interference blocking countermeasures, interception and capture countermeasures, deception and hijacking countermeasures, forced landing and hovering return, strike and destruction countermeasures, and monitoring and control countermeasures.

[0021] As a general technical concept, the present invention also provides an unmanned aerial vehicle and pilot control system, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned method of the present invention when executing the computer program.

[0022] The present invention has the following beneficial effects: 1. The present invention provides an unmanned aerial vehicle and pilot control method, and the unmanned aerial vehicle legal / illegal identification method used in the method has a wider range of applications. The control method of the present invention is applicable to almost all unmanned aerial vehicles produced in the market and / or all unmanned aerial vehicles registered with real names.

[0023] 2. Compared with the prior art, which requires the drone to be coded in advance to realize command and dispatch, or the identification module and built-in supervision module to realize identity recognition and control, the application threshold of the unmanned aerial vehicle and pilot control method of the present invention is lower. The present invention preferably uses a unique product identification code or registration number for priority identification, which can make full use of the existing conditions of the unmanned aerial vehicle, and does not require any additional equipment to be installed or any information to be entered in advance, so as to determine whether the flight of the unmanned aerial vehicle is legal or illegal, and realize the control of the target area.

[0024] 3. In view of the situation that some existing unmanned aerial vehicles cannot obtain product identification information, the control method of the present invention also provides a multiple and multi-condition judgment mechanism to greatly improve the accuracy of legal / illegal identification and greatly reduce the occurrence of misjudgment. In addition, in the preferred scheme, the data information collected by the present invention is more abundant and diversified, and can be comprehensively obtained by using unmanned aerial vehicle wireless broadcast, wireless communication content between unmanned aerial vehicle and ground remote control station, and active distribution by third-party platform; the data information obtained by these collection means comes from the latitude and longitude, speed and altitude data output by the positioning / navigation equipment inside the unmanned aerial vehicle system or independently mounted; it can also be obtained by detecting the TDOA arrival time difference information, AOA arrival angle information, TOA arrival time information, RSSI received signal strength method, and location fingerprint method, radar detection and other means of the radio signal of the unmanned aerial vehicle and the remote control station, which can realize the fusion and comparison of multiple flight dynamic data and greatly improve the accuracy of flight dynamic data.

[0025] 4. The control method of the present invention has higher reliability. In the control method of the present invention, a variety of collection methods are provided for collecting product identification information and flight dynamics data of unmanned aerial vehicles. When the unmanned aerial vehicle encounters a complex electromagnetic interference environment, and / or terrain and building obstructions, and / or bad weather during the entire process of executing the flight plan, causing radio detection, radar detection, and photoelectric detection methods to fail to collect and / or collect product identification information, and flight dynamics data is incomplete, the control method of the present invention can also be obtained through a third-party unmanned aerial vehicle platform. The product identification information and flight dynamics data of the unmanned aerial vehicle can complement and improve each other while the above data information is integrated, compared and verified, and has higher reliability.

[0026] 5. The control method of the present invention has lower safety risks. In the control method of the present invention, by deploying sound and light equipment in the control area, and / or sound and light equipment onboard drones, it is possible to guide pilots in complex terrains such as buildings, mountains, and water surfaces, prompting unmanned aerial vehicles to transform into legal flight, landing or return within a limited time frame, and / or log in to a third-party unmanned aerial vehicle supervision platform to register unmanned aerial vehicles with real names, report flight plans, apply for flight airspace, and obtain flight authorization to conduct legal flights. Countermeasures can be implemented in a timely manner for those who do not obey guidance and / or in emergency situations, effectively avoiding direct countermeasures against unmanned aerial vehicles that cause out-of-control crashes, causing injuries to people on the ground and property losses.

[0027] 6. The control method of the present invention has better social benefits. While judging whether a flight is legal or illegal, it can guide the operator to log in to the third-party unmanned aerial vehicle supervision platform to register the unmanned aerial vehicle with real name, report the flight plan, and apply for flight airspace, stop illegal flights, and guide legal flights. Point-to-point guidance promotes the legal flight of unmanned aerial vehicles. On the premise of ensuring the ground safety of the control area, it provides safety guarantees for the integrated flight of unmanned aerial vehicles and manned aircraft in the airspace, and makes full use of airspace resources to give full play to the effectiveness of unmanned aerial vehicles in serving the society.

[0028] 7. The control method of the present invention has better safety performance. The relevant data collected in the control method of the present invention has the characteristics of uniqueness and tamper-proof, avoiding the collection and entry of false or junk information. In particular, the preferred unique product identification code is not easy to be tampered with throughout the life cycle of the unmanned aerial vehicle from the factory to the end of its life.

[0029] 8. The control method of the present invention can provide important evidence for law enforcement personnel to deal with. In the control method of the present invention, the nearby video surveillance and / or law enforcement drones are retrieved according to the location information of the remote control station to conduct video surveillance of the pilot. The relevant video images on the scene and the compared personal identity of the pilot and the passenger vehicle information can provide important evidence for law enforcement personnel to deal with the illegal flight of the pilot's remote-controlled unmanned aerial vehicle.

[0030] 9. The control method of the present invention has higher timeliness. In the preferred scheme, the present invention can obtain the airspace nature, real-name registration information, flight plan reporting, flight airspace application, flight dynamic data, etc. of the target control area through an authoritative third-party unmanned aerial vehicle supervision platform. When the real-name registration information of the unmanned aerial vehicle operator changes, this system can be synchronized to avoid information islands; when the airspace nature and rules change, the judgment basis will also be synchronized. Even if there are special circumstances, the air traffic management agency temporarily increases the controlled airspace and usage time in accordance with relevant regulations, or guarantees major events and emergency tasks, the temporarily increased controlled airspace and / or control rules can also be synchronized and take effect immediately to achieve control of unmanned aerial vehicles and pilots.

[0031] The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 The data processing flow chart of the unmanned aerial vehicle and pilot control method according to an embodiment of the present invention.

[0033] Figure 2 This is a system architecture diagram of Example 2 of the present invention.

[0034] Figure 3 This is a view of the unmanned aerial vehicle system in Embodiment 1 of the present invention reporting operation identification data to a third-party unmanned aerial vehicle supervision platform online. DETAILED DESCRIPTION

[0035] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0036] A kind of Figure 1 The unmanned aerial vehicle and pilot control method shown include: When there is an unmanned aerial vehicle flying in the target control area, first determine whether the unmanned aerial vehicle is flying legally, and perform different controls based on the determination result; when determining whether the unmanned aerial vehicle is flying legally, the following steps are specifically included: S1: First collect the product identification information of the unmanned aerial vehicle. If it cannot be obtained, it is judged as an illegal flight. If it can be obtained, further determine whether the unmanned aerial vehicle needs real-name registration; further determine whether the unmanned aerial vehicle needs real-name registration refers to determining whether the unmanned aerial vehicle needs real-name registration based on whether the maximum take-off weight and / or performance of the unmanned aerial vehicle exceeds the set threshold. If real-name registration is not required, go to step S2; if real-name registration is required, further obtain real-name registration information based on the obtained product identification information. If it cannot be obtained, it is judged as an illegal flight. If the real-name registration information can be obtained, go to step S2. The aforementioned product identification information is the unique product identification code of the unmanned aerial vehicle. The unique product identification code refers to the unique identification code stored in the unmanned aerial vehicle product and its associated electronic equipment, firmware, chips, memory, controller, and avionics equipment. Unlike other drones that are self-coded to achieve functions, manufacturers generally write the unique product identification code of civil drones into an indelible chip storage area and mark it on the body and outer packaging. It is mandatory, universal and unique. Even drones produced in foreign countries will be compiled with a unique product identification code for unmanned aerial vehicles in accordance with the coding principles of the country where they are located. Therefore, the legal / illegal identification of drones through the unique product identification code is highly accurate, comprehensive and accessible.

[0037] The above product identification information can be collected and obtained by at least one of the following methods: (1) Obtaining wireless broadcast information from unmanned aerial vehicles by radio detection; (2) Obtained through radio detection, interception and / or decryption of radio communications between the unmanned aerial vehicle and its remote control station; (3) Obtained through a third-party unmanned aerial vehicle monitoring platform.

[0038] S2: further collect the flight dynamic data of the unmanned aerial vehicle to determine whether it is within the suitable airspace. If it is completely within the suitable airspace, it is determined to be a legal flight; if it is not completely within the suitable airspace, go to step S3.

[0039] The above-mentioned flight dynamic data is collected and obtained by at least one of the following methods: (1) By detecting the modulation mode and frequency hopping pattern of the radio communication signal between the unmanned aerial vehicle and its remote control station, the positioning, time, speed and track angle information of the unmanned aerial vehicle are obtained by using TDOA arrival time difference information, AOA arrival angle information, TOA arrival time information, received signal strength method and location fingerprint method, thereby obtaining the flight dynamic data; (2) Obtaining the flight dynamics data by receiving the wireless broadcast information of the unmanned aerial vehicle through radio detection; (3) Obtaining the flight dynamics data by intercepting and / or decrypting the radio communications between the unmanned aerial vehicle and its remote control station through radio detection; (4) Obtaining the flight dynamics data by detecting the time delay and frequency change of the radar echo.

[0040] (5) Obtained through a third-party unmanned aerial vehicle monitoring platform.

[0041] S3: further collect the flight authorization information of the unmanned aerial vehicle, the flight authorization information includes the flight plan data of the unmanned aerial vehicle on the third-party unmanned aerial vehicle supervision platform, the flight airspace application and its approval authorization information; determine whether the flight authorization information is authorized, if not, it is judged as illegal flight; if authorized, go to step S4.

[0042] S4: Further judging whether the flight dynamic data is consistent with the reported flight plan data according to the flight plan data of the unmanned aerial vehicle, if not, the result of judging is illegal flight, if consistent, the result of judging is legal flight.

[0043] At least one of the above-mentioned product identification information, real-name registration information, flight dynamic data, flight authorization information, suitable airspace range, flight plan data, and applied flight airspace can be obtained from a third-party unmanned aerial vehicle supervision platform.

[0044] Third-party unmanned aircraft supervision platform: mainly refers to the effective supervision of unmanned aircraft in accordance with laws and regulations. It is preferably a platform coordinated and built by air traffic management agencies, civil aviation and other departments, with the functions of real-name registration of unmanned aircraft, reporting of flight plans, application for flight airspace, and approval and authorization of unmanned aircraft supervision platforms, including unmanned aircraft integrated comprehensive supervision service platforms. The Unmanned Aerial Vehicle Integrated Management Platform (UOM) jointly developed by the Civil Aviation Administration of China and others is used for the management and supervision of unmanned aircraft. The platform supports users to conduct real-name registration of unmanned aircraft, flight plan application, flight record management, flight data analysis, etc. The Unmanned Aircraft Air Traffic Control Information Service System (UTMISS) developed by the Civil Aviation Administration of China has the following main functions: airspace query, flight application, flight prompts, etc. Users can query airspace information, submit flight applications, obtain flight prompts, etc. through the platform. UOM is mainly used for the management and supervision of unmanned aircraft, while UTMISS is mainly used to support users to conduct airspace query and flight application. Abroad, the US FAA's platform is called "DroneZone", which can be used to register drones, understand flight rules, view airspace restrictions, etc. You can register your own drone on the platform so that the FAA can contact and provide important information about the drone. In addition, the platform also provides information about flight rules and airspace restrictions to help pilots / operators understand how to fly safely in US airspace. The EU EASA's platform is called "U-Space", which is a cloud-based service designed to support drone operators and other stakeholders to ensure the safe operation of drones in European airspace. The platform provides a range of services, including flight planning, flight permissions, airspace restrictions, flight data sharing, etc.

[0045] The above real-name registration information is the registration number obtained after the unmanned aircraft completes the real-name registration on the third-party unmanned aircraft supervision platform. As long as the drone owner (individual or institution) registers the unmanned aircraft in real name on the third-party unmanned aircraft supervision platform, a registration number will be automatically generated. The registration number can realize the binding of the unmanned aircraft's unique product identification code, the registrant and the registration number, and can also achieve the above-mentioned effect.

[0046] When the method of the present invention is used to determine that an unmanned aerial vehicle is flying illegally, the number of times and / or the flight duration of the unmanned aerial vehicle that is determined to be flying illegally within a set time is further collected and retrieved. If it does not exceed the first threshold, measures including the following steps are taken to control it: Collecting the personal information of the pilot of the unmanned aerial vehicle and / or the location information of the remote control console; the personal information of the pilot can be collected and obtained by at least one of the following methods: a) Retrieving the video surveillance data and / or law enforcement drones of the target control area, obtaining the facial and physical features and / or vehicle license plate model features of the pilot, and comparing them with the facial and physical features information database and / or vehicle license plate model feature information database, thereby obtaining the personal information of the pilot; b) First collecting the flight authorization information of the unmanned aerial vehicle, and extracting the personal information of the pilot from the flight plan data; c) Obtaining through a third-party unmanned aerial vehicle supervision platform; The remote control station location information is collected and obtained by at least one of the following methods: a) by detecting the modulation mode and frequency hopping pattern of the radio communication signal between the unmanned aerial vehicle and its remote control station, the location information of the remote control station is obtained by using TDOA arrival time difference information, AOA arrival angle information, TOA arrival time information, received signal strength method, and location fingerprint method; b) obtaining the position information of the remote control station by receiving the wireless broadcast information of the unmanned aerial vehicle through radio detection; c) obtaining the location information of the remote control station by detecting, intercepting and / or decrypting the radio communications between the unmanned aerial vehicle and its remote control station; d) Obtaining the take-off and landing point location information through the unmanned aerial vehicle flight dynamic data; e) obtaining the location information of the remote control station through a third-party unmanned aerial vehicle monitoring platform; (2) Obtain the pilot’s contact information based on the pilot’s personal information and guide the pilot to control the unmanned aerial vehicle to legal flight, landing or return; (3) Based on the remote control station’s location information, guide the pilot on-site to control the unmanned aerial vehicle to legally fly, land, or return; (4) Guide pilots to log in to the third-party unmanned aircraft supervision platform to register their unmanned aircraft with real names, report flight plans, apply for flight airspace, and obtain flight authorization; (5) Calling on the broadcasting audio, electronic screen and other audio and video equipment deployed in the target control area to guide the pilot on site to control the unmanned aerial vehicle to legally fly, land or return; (6) Based on the location information of the remote control station, call the law enforcement drone to fly to the above-mentioned location and use the onboard speakers, electronic screens and other sound and light equipment to guide the pilot on site to control the unmanned aerial vehicle to legally fly, land or return; (7) Using the mobile terminal to obtain the location information of the remote control station, navigate to the scene and conduct on-site control of the ground pilot.

[0047] When the method of the present invention is used to determine that an unmanned aerial vehicle is flying illegally, the number of times and / or the flight duration of the unmanned aerial vehicle that is determined to be flying illegally within a set time is further collected and retrieved. If the number exceeds a first threshold, the unmanned aerial vehicle is controlled including countermeasures. The control of the countermeasures includes the following steps: Further determine whether the unmanned aerial vehicle has transformed into legal flight, landing or return within the set time range. If not, the unmanned aerial vehicle will be subjected to one or more methods including interference and blocking countermeasures, interception and capture countermeasures, deception and hijacking countermeasures, forced landing and hovering return, strike and destruction countermeasures, and monitoring and control countermeasures.

[0048] Among them, interference blocking countermeasures usually use radio signals to achieve communication between its satellite positioning system and flight control system. If the radio signal of the corresponding frequency band is interfered, the unmanned aerial vehicle will activate the built-in self-protection mechanism, or be forced to land, or hover in the air, or return to the take-off point. Interference blocking technology uses this mechanism to transmit high-power radio signals to the unmanned aerial vehicle in a direction to interfere with its positioning system and remote control system, so as to cut off the connection between the unmanned aerial vehicle and the remote control platform and positioning satellite, making the positioning and flight control equipment unable to operate normally, so as to achieve the purpose of expelling or attacking unmanned aerial vehicles.

[0049] Countermeasures against spoofing and hijacking: spoofing and hijacking technology is to transmit false navigation satellite signals, send false geographic location coordinates to the drone's control system, deceive and confuse the drone's navigation terminal, and make it locate at a false position preset by the system, thereby deceiving the drone to fly to the wrong or designated location, or cracking the communication protocol that controls the drone's signals, and sending a stronger control signal to the drone, thereby gaining control of the drone.

[0050] There are two main interception and capture countermeasures: net capture and bird capture. Unmanned aerial vehicles can be intercepted and captured from the air or on the ground and brought to a designated area. In the air, net guns and capture nets can be loaded on rotary-wing unmanned aerial vehicles, and large nets can be ejected to capture them after aiming and locking on the unmanned aerial vehicles; large capture nets can also be mounted under large 8-axis unmanned aerial vehicles to directly capture small unmanned aerial vehicles; or large birds such as eagles can be trained to capture unmanned aerial vehicles; on the ground, vehicle-mounted or single-person shoulder-mounted net guns can be used to launch net bullets to capture unmanned aerial vehicles. Strike and destroy countermeasures refer to the use of conventional firepower such as anti-aircraft machine guns and anti-aircraft missiles, new weapons using laser and microwave technology, as well as violent racing unmanned aerial vehicles, combat unmanned aerial vehicles and other methods to intercept or destroy target unmanned aerial vehicles. Missiles, trained falcons, combat unmanned aerial vehicles, etc. can directly destroy target unmanned aerial vehicles; laser weapons can focus on and burn key components such as the communication module, electric adjustment module or control circuit of unmanned aerial vehicles; microwave weapons transmit radio frequency through an inverted cone beam, using a sudden burst of huge energy pulses to interfere with or burn the circuit components of unmanned aerial vehicles, thereby achieving the purpose of destroying unmanned aerial vehicles. Laser weapons need to focus on a target point, have high power requirements, and sometimes need to emit light multiple times. Laser weapons are large in size and need to be used with carriers and cooling equipment. The application of wave weapons is limited by the transmission power, and the strike distance needs to be improved, but it can be used to fight against unmanned aerial vehicle clusters.

[0051] Monitoring and control countermeasures use camouflage or deception to mislead illegal intrusion unmanned aerial vehicles, making them unable to receive or even receiving erroneous information, effectively reducing their ability to perform missions. Embodiment 1: The unmanned aerial vehicle and pilot control system of the present invention is deployed in a certain area. The control area is within 1 km. The airspace above the blue roof of the teaching building and above 120 meters in true height is designated as controlled airspace, and the rest is suitable airspace. All types of drones and pilots flying in the control area are controlled as follows: Figure 1 The method of the present invention shown is remotely controlled.

[0052] In this embodiment, the threshold is set as unmanned aerial vehicles with a takeoff weight of 250 grams or more (including 250 grams) or a performance speed of more than 100 kilometers per hour, which must be registered with real names on the third-party unmanned aerial vehicle supervision platform. At the same time, unmanned aerial vehicles that exceed the scope of the appropriate airspace and / or enter the controlled airspace must report the flight plan in advance on the third-party unmanned aerial vehicle supervision platform and apply for flight airspace to obtain flight authorization.

[0053] In this embodiment, eight different drones are selected, which are marked as A, B, C, D, E, F, G, and H. These eight drones are processed and have at least one or more differences in brand, model, production batch, take-off weight, parameter performance and other information. The specific information of these eight drones is as follows: (1) Drone A: take-off weight 595 g, speed 68.4 km / h; with wireless broadcast and / or online reporting function, exceeding the set take-off weight; (2) UAV B: take-off weight 895 g, speed 72 km / h; with wireless broadcast and / or online reporting function, exceeding the set take-off weight; (3) UAV C: take-off weight 820 g, speed 68.4 km / h: with wireless broadcast and / or online reporting function, exceeding the set take-off weight; (4) UAV D: take-off weight 249 g, speed 57.6 km / h): with wireless broadcast and / or online reporting function, and does not exceed the set take-off weight threshold; (5) Drone E: take-off weight 4100 g, speed 150 km / h: no wireless broadcast and / or network reporting function, exceeding the set take-off weight threshold; (6) Drone F: take-off weight 2500 g, speed 60 km / h: no wireless broadcast and / or network reporting function, exceeding the set take-off weight threshold; (7) Drone G: take-off weight 500 g, speed 54 km / h: no wireless broadcast and / or network reporting function, exceeding the set take-off weight threshold; (8) Drone H: take-off weight 125 g, speed 25.2 km / h: no wireless broadcast and / or network reporting function, and does not exceed the set take-off weight and / or performance threshold.

[0054] The eight drones are released simultaneously or successively, and the unmanned aerial vehicle and pilot control method of the present invention are used to remotely control them, specifically including the following steps: When there is an unmanned aerial vehicle flying in the target control area, first determine whether the unmanned aerial vehicle is flying legally, and perform different controls based on the determination result; when determining whether the unmanned aerial vehicle is flying legally, the following steps are specifically included: S1: first collect the product identification information of the above-mentioned unmanned aerial vehicle. If it cannot be obtained, it is judged as illegal flight. If it can be obtained, it is further judged whether the above-mentioned unmanned aerial vehicle needs real-name registration. In this embodiment, the product identification information of the eight drones can be obtained (see Table 1 below), so it is further judged whether the above-mentioned unmanned aerial vehicle needs real-name registration; In this embodiment, it is set that whether the unmanned aerial vehicle needs to be registered with real name is further determined based on whether the maximum take-off weight (and / or performance) of the unmanned aerial vehicle exceeds a set threshold. If the unmanned aerial vehicle exceeds the maximum take-off weight (and / or performance) set threshold, real name registration is required. Otherwise, if real name registration is not required, go to step S2. If real-name registration is required, the real-name registration information is further obtained based on the obtained product identification information. If it cannot be obtained, it is judged as an illegal flight. If the real-name registration information can be obtained, go to step S2.

[0055] Table 1: Method and result of obtaining drone product identification information in this embodiment

[0056] As shown in Table 1 above, the product identification information is the unique product identification code of the unmanned aerial vehicle. The method for collecting and obtaining the product identification information of the above-mentioned drones is as shown in the table above. In this embodiment, drones A, B, C, and D have the function of wireless broadcasting or online reporting, and obtain product identification information by receiving wireless broadcasts through radio detection; if drone D encounters a complex electromagnetic interference environment, terrain and building obstructions, or bad weather, and is unable to receive wireless broadcasts from unmanned aerial vehicles, the product identification information of drone D system that is reported online to the third-party unmanned aerial vehicle supervision platform can be obtained from the third-party unmanned aerial vehicle supervision platform (see Figure 3 ). Drones E, F, G, and H have wireless broadcast or online reporting functions. By intercepting the radio communication content between the unmanned aerial vehicle and its remote control station, product identification information can be obtained. Among them, the radio communication content between drone G and the ground remote control station uses encryption protocols and encryption algorithms, which can further decrypt the radio communication content between the unmanned aerial vehicle and its remote control station to obtain product identification information. We can obtain the decryption key from the third-party unmanned aerial vehicle supervision platform.

[0057] Based on the product identification information, the take-off weight and performance of drones A, B, C, D, E, F, G, and H published by the manufacturer are obtained, and then fused and compared with the drone flight dynamics data and size collected by the radar detection submodule and the video images of the drone collected by the optoelectronic detection submodule. Drones A, B, C, D, E, F, G, and H are not equipped with power and / or mounted items. Based on the published take-off weight and performance of the drones, determine whether real-name registration is required.

[0058] The takeoff weight and performance of UAV D and UAV H do not exceed the set threshold, so there is no need to further obtain real-name registration information, and go to step S2. The remaining UAVs must be registered with real names, and the real-name registration information is further obtained based on the obtained product identification information. In this embodiment, by obtaining real-name registration information from a third-party unmanned aerial vehicle supervision platform, based on the fact that UAV C and UAV G exceed the set threshold, and the real-name registration information cannot be obtained from the third-party unmanned aerial vehicle supervision platform based on the product identification information, it is judged that UAV C and UAV G are flying illegally. The remaining UAVs can obtain real-name registration information, and go to step S2. For specific operations, see Table 2 below.

[0059] Table 2: Method and result of obtaining the real-name registration information of drone products in this embodiment

[0060] S2: further collect the flight dynamic data of the above-mentioned UAVs A, B, D, E, F, and H to determine whether they are within the scope of the suitable airspace. If they are completely within the scope of the suitable airspace, it is determined to be a legal flight; if they are not completely within the scope of the suitable airspace, go to step S3; according to the above-defined controlled airspace, the collected flight dynamic data information of UAVs A, B, D, E, F, and H is integrated and compared to determine whether the flight activities of the unmanned aerial vehicles are within the scope of the suitable airspace.

[0061] (1) The maximum flight altitude of UAV A is 55 meters. It enters the controlled airspace above the blue roof of the teaching building twice. The flight time in the controlled airspace exceeds 30 seconds. The flight dynamic data is not completely within the suitable airspace range. Go to step S3; (2) The maximum flight altitude of UAV B is 180 meters. It enters the controlled airspace above the blue roof of the teaching building once, exceeding the true altitude by 120 meters. The flight time in the controlled airspace exceeds 30 seconds. The flight dynamic data is not completely within the suitable airspace range, so go to step S3. (3) The maximum flight altitude of UAV D is 160 meters, which exceeds the true altitude by 120 meters. The flight time in the controlled airspace exceeds 30 seconds. The flight dynamic data is not completely within the suitable airspace range. Go to step S3. (4) The maximum flight altitude of UAV E was 26 meters, and its flight dynamic data was completely within the appropriate airspace, so it was judged to be a legal flight; (5) The maximum flight altitude of UAV F is 560 meters, which exceeds the true altitude by 120 meters. The flight time in the controlled airspace exceeds 30 seconds. The flight dynamic data is not completely within the suitable airspace. Go to step S3. (6) The maximum flight altitude of UAV H was 15 meters, and its flight dynamic data was completely within the range of the appropriate airspace, so it was judged to be a legal flight.

[0062] The unmanned aerial vehicles A, B, D, and F proceed to step S3, the unmanned aerial vehicles E and H are determined to be flying legally, and the unmanned aerial vehicles C and G are determined to be flying illegally.

[0063] Table 3: UAV flight dynamic data information judgment results in this embodiment

[0064] S3: further collecting the flight authorization information of the above-mentioned UAV, and determining whether the flight authorization information is authorized. If not, it is determined to be an illegal flight; if authorized, go to step S4; Specifically, (1) Based on the drone product identification information, obtain the flight authorization information of drones A and B from the third-party unmanned aerial vehicle supervision platform, and go to step S4; (2) Based on the drone product identification information, the flight authorization information of drones D and F cannot be obtained on the third-party unmanned aerial vehicle supervision platform and is judged to be an illegal flight (see Table 4 below).

[0065] Table 4: UAV flight authorization information judgment results in this embodiment

[0066] S4: Further judging whether the flight dynamic data is consistent with the reported flight plan data according to the flight plan data of the unmanned aerial vehicle, if not, the result is judged as illegal flight, if it is consistent, the result is judged as legal flight.

[0067] Based on the unmanned aircraft product identification information and flight authorization information, obtain the flight plan data reported from the third-party unmanned aircraft supervision platform, including but not limited to: unmanned aircraft model, real-name registration number, number of aircraft, route, take-off point, landing point, mission nature, flight purpose, flight area, flight altitude, flight date, expected start and end time, operator / pilot personal information, contact information, flight qualifications and other information; Specifically, (1) Drone A reported a flight plan. The purpose of the flight was to produce a promotional video and take aerial photos of the entire teaching building of a certain city’s school. The flight time and airspace were both within the flight authorization information and the reported flight plan. Drone A was judged to be flying legally. (2) The flight plan reported by UAV B is recreational aerial photography. The flight airspace is within the scope of the flight authorization information, but the flight time has exceeded the reported flight plan. It is judged that UAV B is flying illegally (see Table 5 below).

[0068] Table 5: UAV flight plan data judgment results in this embodiment

[0069] According to the reasons for the illegal flight of unmanned aerial vehicles, unmanned aerial vehicles and pilots are classified and controlled, and the control method including the following steps is adopted: When it is determined to be illegal flight, the number of illegal flights and / or flight duration of the drone within the set time is further collected and retrieved. If it does not exceed the first threshold and enters the controlled airspace without flight authorization for more than one time, and the illegal flight time in the controlled airspace is more than 30 seconds, measures including the following steps are taken to control it: The drone C exceeds the set takeoff weight threshold and is judged as illegal flight because it has not been registered with real name. Based on the collected drone remote control console and pilot location information, located on the sidewalk of the road, the ground video monitoring submodule deployed in the target control area is called (preferably near the remote control console) to obtain the pilot's facial and physical features, passenger vehicle license plate model features, and compare them with the facial and physical features information database and the vehicle license plate model feature information database to obtain the pilot's personal information; the sound and light warning submodule's broadcast audio, electronic screen and other sound and light equipment (near the remote control console) are called to guide the pilot to control the unmanned aerial vehicle to transform into legal flight, landing or return, and log in to the third-party unmanned aviation supervision platform to register the unmanned aerial vehicle with real name.

[0070] The drone G exceeds the set takeoff weight threshold and is judged as illegal flight because it has not been registered with real name. According to the collected drone remote control console and pilot location information, it is located on a boat on the pond surface. The law enforcement drone is called to fly to the above location to obtain the pilot's facial and physical features and the vehicle license plate model features on the pond shore through the onboard camera, and then compare them with the facial and physical features information database and the vehicle license plate model feature information database to obtain the pilot's personal information; the law enforcement drone is equipped with speakers, electronic screens and other sound and light equipment to guide the pilot to control the unmanned aerial vehicle to land or return, and log in to the third-party unmanned aviation supervision platform to register the unmanned aerial vehicle with real name.

[0071] The above-mentioned drone B does not comply with the flight plan and is judged to be an illegal flight. According to the collected drone remote control console and pilot location information, it is located on the roof of a building. Through the real-name registration information of the drone and the flight plan, the operator / pilot is contacted by phone, text message, email, and instant messaging software to guide the pilot to control the unmanned aircraft to transform into a legal flight, landing or return, log in to the third-party unmanned aircraft supervision platform to re-apply or change the flight plan, apply for flight airspace, and obtain flight authorization.

[0072] When it is determined to be illegal flight, the number of illegal flights and / or flight duration of the drone within the set time is further collected and retrieved, and the following drones exceeding the first threshold are controlled, including countermeasures; The above-mentioned drone D does not need real-name registration, and there is no flight authorization information when flying in controlled airspace. It is judged to be an illegal flight. Drone D has multiple illegal flight records, and the pilot has escaped many times without being investigated. According to the collected drone remote control console and pilot location information, it is located at the football field. After the flight dynamic data exceeds the first threshold, the unmanned aerial vehicle countermeasure module is called to implement deception and hijacking countermeasures, and drone D is forced to land near the football field. The ground video monitoring submodule covers the designated area. When the pilot recovers drone D, the pilot's facial and physical features and passenger vehicle license plate model features are obtained, and compared with the facial and physical features information database and the vehicle license plate model feature information database, and then the pilot's personal information is obtained. At the same time, the dispatch submodule dispatches law enforcement personnel to investigate and punish the pilot on the spot.

[0073] The above-mentioned drone F has been registered with real name, and there is no flight authorization information when flying in controlled airspace, which is judged to be illegal flight. According to the collected drone remote control console and pilot location information, it is located in a closed courtyard. The operator / pilot was rejected or the number was unavailable when contacting through the real-name registration information. After the flight dynamic data exceeds the first threshold, the unmanned aerial vehicle countermeasure module is called to interfere with and block the corresponding frequency band of the drone remote control signal. After losing the remote control signal, the built-in self-protection mechanism is activated and returns to the take-off point. At the same time, the dispatch submodule dispatches law enforcement personnel to investigate and punish the pilot on the spot.

[0074] Further determine whether the drone has transformed into legal flight, landing or returning within the set time range. If not, the drone will be subjected to one or more of the following countermeasures, including interference and blocking, interception and capture, deception and hijacking, forced landing and hovering return, strike and destruction, and monitoring and control.

[0075] (1) The above-mentioned control measures cannot be implemented, and / or the pilot refuses to follow the guidance, and / or in an emergency, the unmanned aerial vehicle is subjected to one or more of the following methods: interference and blocking countermeasures, interception and capture countermeasures, deception and hijacking countermeasures, forced landing and hovering return, strike and destruction countermeasures, and monitoring and control countermeasures, and / or law enforcement personnel investigate and punish the pilot on the spot.

[0076] In this embodiment, the flight dynamic data of the drone, the remote control console and the pilot's position information are collected by the following methods: 1. Drones A, B, C, and D have wireless broadcasting functions, and receive wireless broadcasting information of unmanned aerial vehicles through radio detection to obtain flight dynamic data of the unmanned aerial vehicles, remote control console, and pilot location information; 2. UAVs E, F, G, and H do not have wireless broadcasting capabilities, and the flight dynamics data, remote control station, and pilot location information are obtained by radio detection, interception, and / or decryption of radio communications between the UAV and its remote control station; 3. During the entire flight process of drones A, B, C, and D, if they encounter complex electromagnetic interference environments, and / or are blocked by terrain and buildings, and / or are affected by bad weather, and cannot receive wireless broadcasts from unmanned aerial vehicles, they can obtain flight dynamic data, remote control console, and pilot location information reported to the third-party unmanned aerial vehicle supervision platform by the networking of drones A, B, C, and D systems through the third-party unmanned aerial vehicle supervision platform; 4. When UAVs E, F, G, and H cannot obtain flight dynamics data, remote control station, and pilot location information by intercepting and / or decrypting the radio communication content between the unmanned aerial vehicle and the ground remote control station, they obtain the positioning (latitude, longitude, altitude), time, speed, and track angle information of the unmanned aerial vehicle by detecting the modulation mode of the radio communication signal between the unmanned aerial vehicle and its remote control station, the spectrum characteristics of the frequency hopping law, TDOA arrival time difference information, AOA arrival angle information, TOA arrival time information, received signal strength method, and position fingerprint method, and then obtain the flight dynamics data, remote control station, and pilot location information; 5. When the flight dynamic data of the UAV cannot be obtained by the above method, the flight dynamic data can also be obtained by detecting the time delay and frequency change of the radar echo; 6. Obtain the remote control console and pilot location information through the take-off and / or landing points of the unmanned aerial vehicle flight trajectory.

[0077] Embodiment 2: A kind of Figure 2 The unmanned aerial vehicle and pilot control system shown includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned method of the present invention are implemented.

[0078] The unmanned aerial vehicle and pilot control system of this embodiment includes: a central control cloud platform, a communication module, an unmanned aerial vehicle detection module, a pilot control module and an unmanned aerial vehicle countermeasure module; Among them, the communication module is used for communication connection between the central control cloud platform and the unmanned aerial vehicle detection module, the pilot control module and the unmanned aerial vehicle countermeasure module; The central control cloud platform is used to control the execution of the computer program to implement the steps of the method of embodiment 1 of the present invention, and determine whether the target unmanned aerial vehicle is flying legally; Unmanned aerial vehicle detection module, used to obtain various data information of unmanned aerial vehicles in the target control area; The pilot control module is used to guide the pilot to control the unmanned aerial vehicle to change to a legal flight, landing or return when the result of the judgment is illegal flight, and / or guide the pilot to log in to the third-party unmanned aerial vehicle supervision platform to register the unmanned aerial vehicle with real name, report the flight plan, and obtain flight authorization; Unmanned aerial vehicle countermeasure module, used to carry out one or more of interference blocking countermeasure, interception and capture countermeasure, deception and hijacking countermeasure, forced landing and hovering return, strike and destruction countermeasure and monitoring and control countermeasure against the target unmanned aerial vehicle; Unmanned aerial vehicle detection module, including the following modules: The radio detection submodule is used to receive the wireless broadcast information of the unmanned aerial vehicle through radio detection to obtain product identification information, flight dynamic data, remote control station location information, etc.; it is also used to intercept and / or decrypt the radio communication content between the unmanned aerial vehicle and its remote control station through radio detection to obtain product identification information, flight dynamic data, ground remote control station location, pilot location information, etc.; A radar detection submodule, used for acquiring the flight dynamics data by detecting the time delay and frequency change of the radar echo; The optoelectronic detection submodule is used to collect unmanned aerial vehicle images through optical imaging, infrared imaging, laser infrared imaging, and thermal imaging for analysis and comparison, and obtain information such as the model and location of the target unmanned aerial vehicle. The main function of the optoelectronic detection submodule is to obtain product identification information based on receiving wireless broadcasts, intercepting or decrypting radio communication content, or from a third-party platform. The product identification information can also be checked with the collected drone images to determine whether they are consistent.

[0079] The pilot control module includes an audio-visual warning sub-module, a ground video monitoring sub-module, a law enforcement drone sub-module, and an on-site dispatch sub-module.

[0080] The pilot control module includes the following modules: The sound and light warning submodule is deployed in a grid-like manner in the target control area to play warnings and / or guidance information to pilots of unmanned aerial vehicles that are not flying legally; The ground video monitoring submodule is deployed in a grid-like manner in the target control area to obtain the physical features of the pilot and / or the features of the vehicle license plate model, and obtain the identity information of the pilot through the physical features of the pilot and / or the features of the vehicle license plate model, and then warn and / or guide the pilot through the communication module by phone, text message, email or instant messaging software; The on-site dispatch submodule is used to call law enforcement drones and / or direct law enforcement personnel to guide and / or investigate the pilots on site according to instructions issued by one or more dispatchers when the unmanned spacecraft flying illegally is outside the working coverage of the sound and light warning submodule; The law enforcement drone submodule is used to warn and / or guide the unmanned aircraft and / or pilot when the pilot operating the unmanned spacecraft that is flying illegally is outside the coverage range of the sound and light warning submodule. The law enforcement drone submodule includes one or more law enforcement drones, which play warning and / or guidance information to the unmanned aircraft and / or pilot that is flying illegally through the sound and light equipment onboard the law enforcement drones.

[0081] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" 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.

[0082] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0083] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processing module, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0084] It should be understood that the various parts of the embodiments of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0085] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0086] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0087] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0088] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

[0089] When applying the above method of the present invention, if it involves the collection, processing and handling of personal information and other related operations, the laws and regulations related to personal information and personal privacy protection should be strictly observed.

Claims

1. An unmanned aerial vehicle and a pilot control method, characterized in that: include: When there is an unmanned aerial vehicle flying in the target control area, first determine whether the unmanned aerial vehicle is flying legally, and perform different controls based on the determination result; when determining whether the unmanned aerial vehicle is flying legally, the following steps are specifically included: S1: first collect the product identification information of the unmanned aerial vehicle. If the information cannot be obtained, it is judged as illegal flight. If the information can be obtained, it is further judged whether the unmanned aerial vehicle needs real-name registration; If real-name registration is not required, go to step S2; if real-name registration is required, further obtain real-name registration information based on the obtained product identification information. If it cannot be obtained, it is judged as an illegal flight. If the real-name registration information can be obtained, go to step S2; S2: further collecting the flight dynamic data of the unmanned aerial vehicle to determine whether it is within the applicable airspace. If it is completely within the applicable airspace, it is determined to be a legal flight; if it is not completely within the applicable airspace, proceed to step S3; S3: further collecting the flight authorization information of the unmanned aerial vehicle, the flight authorization information including the flight plan data of the unmanned aerial vehicle on the third-party unmanned aerial vehicle supervision platform, the flight airspace application and its approval authorization information; judging whether the flight authorization information is authorized, if not, judging it as illegal flight; if authorized, going to step S4; S4: Further judging whether the flight dynamic data is consistent with the reported flight plan data according to the flight plan data of the unmanned aerial vehicle, if not, the result of judging is illegal flight, if consistent, the result of judging is legal flight.

2. The unmanned aerial vehicle and pilot control method according to claim 1, characterized in that: The product identification information is the unique product identification code of the unmanned aerial vehicle.

3. The unmanned aerial vehicle and pilot control method according to claim 2, characterized in that: The product identification information is collected and obtained by at least one of the following methods: (1) Obtaining wireless broadcast information from unmanned aerial vehicles by radio detection; (2) Obtained through radio detection, interception and / or decryption of radio communications between the unmanned aerial vehicle and its remote control station; (3) Obtained through a third-party unmanned aerial vehicle monitoring platform.

4. The unmanned aerial vehicle and pilot control method according to claim 1, characterized in that: At least one of the product identification information, real-name registration information, flight dynamic data, flight authorization information, suitable airspace range, and flight plan data is obtained from a third-party unmanned aerial vehicle supervision platform; The real-name registration information is the registration number obtained after the unmanned aerial vehicle completes the real-name registration in the third-party unmanned aerial vehicle supervision platform.

5. The unmanned aerial vehicle and pilot control method according to claim 1, characterized in that: In step S1, the further determining whether the unmanned aerial vehicle requires real-name registration specifically includes: determining whether the unmanned aerial vehicle requires real-name registration based on whether the maximum take-off weight and / or maximum speed of the unmanned aerial vehicle exceeds a set threshold.

6. The unmanned aerial vehicle and pilot control method according to any one of claims 1 to 5, characterized in that: The flight dynamics data is also collected and acquired by at least one of the following methods: (1) By detecting the modulation mode and frequency hopping pattern of the radio communication signal between the unmanned aerial vehicle and its remote control station, the positioning, time, speed and track angle information of the unmanned aerial vehicle are obtained by using TDOA arrival time difference information, AOA arrival angle information, TOA arrival time information, received signal strength method and location fingerprint method, thereby obtaining the flight dynamic data; (2) Obtaining the flight dynamics data by receiving the wireless broadcast information of the unmanned aerial vehicle through radio detection; (3) Obtaining the flight dynamics data by intercepting and / or decrypting the radio communications between the unmanned aerial vehicle and its remote control station through radio detection; (4) Obtaining the flight dynamics data by detecting the time delay and frequency change of the radar echo.

7. The unmanned aerial vehicle and pilot control method according to any one of claims 1 to 5, characterized in that: When it is determined to be an illegal flight, the number of times and / or the flight duration of the unmanned aerial vehicle determined to be an illegal flight within a set time is further collected and retrieved. If it exceeds a first threshold, control including countermeasures are taken on the unmanned aerial vehicle; if it does not exceed the first threshold, control including at least one of the following steps is taken: (1) Collecting the pilot’s personal information and / or remote control station location information of the unmanned aerial vehicle; (2) Obtaining the pilot’s contact information based on the pilot’s personal information, and guiding the pilot to control the unmanned aerial vehicle to legally fly, land, or return; (3) Based on the position information of the remote control station, guide the pilot on-site to control the unmanned aerial vehicle to legally fly, land, or return; (4) Guide pilots to log in to the third-party unmanned aircraft supervision platform to register their unmanned aircraft with real names, report flight plans, apply for flight airspace, and obtain flight authorization; (5) Calling on the sound and light equipment deployed in the target control area to guide the pilot on site to control the unmanned aerial vehicle to legally fly, land or return; (6) Based on the location information of the remote control station, call the law enforcement drone to fly to the above-mentioned location, and guide the pilot on-site through sound and light equipment to control the unmanned aerial vehicle to transform into legal flight, landing or return; (7) Using the mobile terminal to obtain the location information of the remote control station, navigate to the scene and conduct on-site control of the ground pilot.

8. The unmanned aerial vehicle and pilot control method according to claim 7, characterized in that: The pilot’s personal information is collected and obtained through at least one of the following methods: (1) Retrieving video surveillance data of the target control area, obtaining the drone’s facial and physical features and / or vehicle license plate model features, and comparing them with the facial and physical features information database and / or vehicle license plate model features information database to obtain the drone’s personal information; (2) First, collect the flight authorization information of the unmanned aerial vehicle and extract the pilot's personal information from the flight plan data; (3) Obtained through a third-party unmanned aerial vehicle monitoring platform.

9. The unmanned aerial vehicle and pilot control method according to claim 7, characterized in that: The remote control station location information is collected and obtained by at least one of the following methods: (1) By detecting the modulation mode and frequency hopping pattern of the radio communication signal between the unmanned aerial vehicle and its remote control station, the location information of the remote control station is obtained by using TDOA arrival time difference information, AOA arrival angle information, TOA arrival time information, received signal strength method, and location fingerprint method; (2) Obtaining the location information of the remote control station by receiving the wireless broadcast information of the unmanned aerial vehicle through radio detection; (3) Obtaining the location information of the remote control station by detecting, intercepting and / or decrypting the radio communications between the unmanned aerial vehicle and its remote control station; (4) Obtaining the take-off and landing point location information through the unmanned aerial vehicle flight dynamic data; (5) Obtaining the location information of the remote control station through a third-party unmanned aerial vehicle monitoring platform.

10. The unmanned aerial vehicle and pilot control method according to claim 7, characterized in that: The control of the countermeasures includes the following steps: It is further determined whether the unmanned aerial vehicle has transformed into legal flight, landing or return within the set time range. If not, the unmanned aerial vehicle is subjected to one or more of the following countermeasures: interference and blocking, interception and capture, deception and hijacking, forced landing and hovering return, strike and destruction, and monitoring and control.

11. An unmanned aerial vehicle and pilot control system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method described in any one of claims 1 to 10 are implemented.

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