Low-altitude aircraft monitoring system and method based on RID IN / OUT

Abstract

The invention provides a low-altitude aircraft monitoring system and method based on RID IN / OUT, and the method comprises the steps: receiving an RID OUT message through an RID ground station, and transmitting the RID OUT message to a supervision center; the mobile terminal equipment receives the RID OUT message and displays the RID OUT message; the RID message ground rebroadcasting equipment rebroadcasts the received RID OUT information; the aviation communication / data link ground station provides aviation communication and special data link service for the low-altitude aircraft; the ground ad hoc network equipment and the low-altitude aircrafts form a dynamic ad hoc communication network to obtain RID information of the low-altitude aircrafts in the network; the communication base station provides 4G / 5G communication service for the low-altitude aircraft; the satellite receiving station provides network support; the monitoring center completes authentication, duplicate removal, classification and display of RID monitoring data of the low-altitude aircrafts, and generates alarm information or automatically controls the low-altitude aircrafts connected to the monitoring system to perform evasion actions according to monitoring conditions; and the low-altitude aircraft broadcasts own RID information through an RID OUT function. The method has high flexibility and adaptability.

Description

Technical Field

[0001] The present invention relates to low-altitude airspace monitoring and communication technology, in particular to a low-altitude aircraft monitoring system and method based on RID IN / OUT. Background Art

[0002] Safe flight is the foundation and prerequisite for the healthy development of the low-altitude economy. With the orderly opening of low-altitude airspace, a large number of low-altitude aircraft with various types and missions are gradually operating simultaneously in low-altitude airspace. At present, there is a lack of an effective and easy-to-promote method to unify the supervision of aircraft operating in low-altitude airspace. If low-altitude flight activities cannot effectively ensure safety, it will cause social concerns and doubts about the low-altitude economy, which is not conducive to the stable development of the low-altitude economy.

[0003] Existing civil aviation and general aviation monitoring methods cannot be used effectively for low-altitude aircraft monitoring: radar monitoring, for example, has defects such as poor monitoring effect on small and slow targets, few monitoring targets, and high deployment cost; ADS-B (Automatic Dependent Surveillance-Broadcast) has defects such as high equipment cost and cannot be used on drones. The emerging monitoring methods in the current drone field cannot be well applied to the monitoring of low-altitude aircraft due to their technical limitations: spectrum detection, for example, has defects such as being greatly affected by the electromagnetic environment, can only detect drones with specific control technologies, is easy to be deceived, and has poor positioning accuracy; remote identification has defects such as being technically only able to monitor drones and cannot meet the perception requirements between low-altitude aircraft. Summary of the invention

[0004] In order to solve the problem of the lack of an effective and easy-to-promote method to uniformly monitor aircraft operating in low-altitude airspace. The present invention proposes a low-altitude aircraft monitoring system and method based on RID IN / OUT, which expands the meaning of RID OUT (remote identification information broadcast technology) messages, and introduces RID IN (receiving remote identification broadcast information technology), RID OUT relay, and RID NET (remote identification information network reporting technology) forwarding technology to expand the application scope and range of RID technology, and realize unified monitoring of various types of low-altitude aircraft. At the same time, based on RID (Remote Identification) technology, self-organizing network technology is introduced to incorporate low-altitude aircraft into the same dynamic self-organizing communication network, and the RID information of each low-altitude aircraft node is shared through the communication network, eliminating the blind spots of the traditional centralized monitoring system, and improving the reliability and coverage of the monitoring system.

[0005] To achieve the above object, the present invention provides a low-altitude aircraft monitoring system and method based on RID IN / OUT.

[0006] Low-altitude aircraft surveillance system based on RID IN / OUT, including:

[0007] Ground: RID ground station, mobile terminal equipment (running RID receiving application), RID message ground relay equipment, aviation communication / data link ground station, ground ad hoc network equipment, communication base station, satellite receiving ground station, and supervision center;

[0008] In low-altitude airspace: various types of low-altitude aircraft;

[0009] In space: communications satellites.

[0010] The RID ground station is used to receive RID OUT messages and send these messages to the supervision center;

[0011] The mobile terminal device (running the RID receiving application) is used to receive the RID OUT message and display it on site;

[0012] The RID message ground relay equipment is used to relay the received RID OUT information;

[0013] The aviation communication / data link ground station provides aviation communication and dedicated data link services for low-altitude aircraft operating at 300 to 3000 meters;

[0014] The ground self-organizing network equipment forms a dynamic self-organizing communication network with the low-altitude aircraft to obtain the RID information of the low-altitude aircraft in the network;

[0015] The communication base station provides 4G / 5G communication services for low-altitude aircraft;

[0016] The satellite receiving station provides network support for satellite communications / low-altitude Internet;

[0017] The monitoring center completes the authentication, deduplication, classification and display of the RID monitoring data of low-altitude aircraft, generates warning information according to the monitoring situation, or automatically controls the low-altitude aircraft connected to the monitoring system to take evasive actions.

[0018] The low-altitude aircraft broadcasts its own RID information through the RID OUT function; the low-altitude aircraft receives the RID information broadcast by surrounding low-altitude aircraft, as well as the RID information of surrounding low-altitude aircraft and RID message ground relay equipment through the RID IN function; the low-altitude aircraft sends its own RID information to the supervision center through the RID NET function; the low-altitude aircraft shares and integrates the RID information of low-altitude aircraft in the network through the inter-aircraft ad hoc network / air-to-ground ad hoc network.

[0019] The communication satellite provides satellite communication / low-altitude Internet for low-altitude aircraft.

[0020] Preferably, the mobile terminal device (running the RID receiving application) is used to receive the RID OUT message and send this information to the supervision center.

[0021] Preferably, the mobile terminal device (running the RID receiving application) requests the regulatory center for RID monitoring information of the area in which it is located, thereby increasing on-site monitoring capabilities and the basis for law enforcement judgment.

[0022] Preferably, the ground self-organizing network device sends RID information to the supervision center.

[0023] Preferably, the field in the RID message of the low-altitude aircraft used to fill in the altitude and longitude and latitude information of the low-altitude unmanned aircraft operator, take-off location or control station can be used to: ① fill in the altitude and longitude and latitude information of the low-altitude manned aircraft pilot, take-off / landing location or airport; ② fill in the altitude and longitude and latitude information of the operator, take-off location or control station of new low-altitude unmanned aircraft such as eVTOL (electric vertical take-off and landing vehicle) and aerial cars.

[0024] Preferably, the low-altitude aircraft is equipped with RID broadcast / receive antennas on both the top and the belly of the aircraft;

[0025] Preferably, the low-altitude aircraft relays the received RID information of surrounding low-altitude aircraft through the RID OUT function.

[0026] Preferably, the low-altitude aircraft forwards the received RID information of surrounding low-altitude aircraft through the RID NET function.

[0027] Preferably, the low-altitude aircraft senses the operating status and distance of surrounding low-altitude aircraft through inter-aircraft self-organizing network technology.

[0028] The invention also discloses a low-altitude aircraft monitoring method based on RID IN / OUT, which includes four parts: air-to-air monitoring, ground-to-air monitoring, RID NET monitoring and RID message ground relay enhanced monitoring.

[0029] The first part, air-to-air surveillance, uses one of three methods:

[0030] The first method is to implement air-to-air monitoring through RID IN / OUT, including the following steps:

[0031] (1) Low-altitude aircraft periodically broadcast RID information through the RID OUT function;

[0032] (2) Low-altitude aircraft receive RID information through the RID IN function and maintain RID track, operating status, mission and other information for the conflict detection, track planning, autonomous driving, early warning / alarm and other functions on the low-altitude aircraft.

[0033] Further, optionally, the authentication method of the RID information is agreed between the RID IN and RID OUT functions of the low-altitude aircraft;

[0034] Further, optionally, after receiving the RID information and before maintaining the RID track information, the low-altitude aircraft RID IN function verifies the authenticity of the RID information according to an agreed authentication method to screen out false targets.

[0035] The second method is to realize air-to-air monitoring through an inter-machine self-organizing network, including the following steps:

[0036] (1) Low-altitude aircraft establish a dynamic self-organizing communication network through self-organizing network technology;

[0037] (2) Low-altitude aircraft sense the operating status and distance of adjacent aircraft nodes through self-organizing networks;

[0038] (3) Low-altitude aircraft share RID information in a dynamic self-organizing communication network.

[0039] The third method is to expand the air-to-air surveillance distance through RID OUT relay technology, including the following steps:

[0040] (1) The first low-altitude aircraft periodically broadcasts RID information through the RID OUT function;

[0041] (2) The second low-altitude aircraft receives the RID information of the first low-altitude aircraft through the RID IN function, and relays the RID information of the first low-altitude aircraft through the RID OUT relay function;

[0042] (3) The third low-altitude aircraft receives the RID information of the first low-altitude aircraft outside its own surveillance range, which is relayed by the second low-altitude aircraft through the RID IN function.

[0043] Furthermore, in the third method, for the convenience of explanation, the third low-altitude aircraft receives the RID information of the first low-altitude aircraft and only forwards it once, which may actually experience ≤M times of retransmission;

[0044] Further, optionally, to ensure the validity of the RID OUT rebroadcast, the low-altitude aircraft needs to determine the signal strength Sq1 of the received RID information before rebroadcasting, and rebroadcast when Sq1≤-n1(dBm);

[0045] Further, optionally, to ensure the validity of the RID OUT rebroadcast, the low-altitude aircraft needs to determine the low-altitude aircraft distance L1 of the received RID information before rebroadcasting, and rebroadcast when L1 ≥ d1 (m);

[0046] Further, optionally, to ensure the security of the RID link, the low-altitude aircraft determines, before rebroadcasting, that the received RID information has been rebroadcasted N times, and when N ≤ M times, rebroadcasts it again by adding one to N.

[0047] Part II, ground-to-air surveillance, uses one of the following four methods:

[0048] The first method is to implement ground-to-air surveillance through RID OUT, including the following steps:

[0049] (1) Low-altitude aircraft periodically broadcast RID information through the RID OUT function;

[0050] (2) The RID ground station receives and maintains RID broadcast information and sends this information to the monitoring center;

[0051] (3) The mobile terminal device (running the RID receiving application) receives, maintains and displays the RID broadcast information.

[0052] The following steps may also be included:

[0053] (4) The mobile terminal device (running the RID receiving application) receives the RID broadcast information and sends this information to the low-altitude monitoring center;

[0054] (5) The RID message ground relay equipment receives the RID broadcast information and sends it to the low-altitude monitoring center.

[0055] The second method is to extend the ground-to-air surveillance distance through RID OUT relay, which includes the following steps:

[0056] (1) Please refer to the third method in the first part to expand the air-to-air surveillance distance method through RID OUT relay technology;

[0057] (2) The RID information relayed by low-altitude aircraft is relayed by low-altitude aircraft within the surveillance range of the RID ground station and received by the RID ground station, thereby enabling low-altitude aircraft to be monitored beyond the surveillance range of a single ground station.

[0058] The third method is to realize ground-to-air surveillance through an air-to-ground ad hoc network, including the following steps:

[0059] (1) Please refer to the second method in the first part to implement the air-to-air monitoring method through the inter-machine self-organizing network;

[0060] (2) Ground self-organizing network equipment joins the low-altitude aircraft self-organizing communication network;

[0061] (3) Low-altitude aircraft share RID information in a dynamic self-organizing communication network;

[0062] (4) The ground self-organizing network equipment obtains the RID information in the dynamic self-organizing communication network.

[0063] The following steps may also be included:

[0064] (5) The ground self-organizing network equipment sends the RID information obtained from the dynamic self-organizing communication network to the supervision center.

[0065] The fourth method is to use a self-organizing network to assist monitoring when the RID channel is congested, including the following steps:

[0066] (1) Low-altitude aircraft establish a dynamic self-organizing first communication network through self-organizing network technology and share RID information in the first communication network;

[0067] (2) For some low-altitude aircraft nodes in the first communication network, the RID function is turned off to alleviate the RID channel congestion problem;

[0068] (3) In the first communication network, low-altitude aircraft nodes that are less affected by RID signal congestion are responsible for broadcasting the entire first communication network.

[0069] Furthermore, when RID signal congestion makes it impossible to broadcast RID information or the RID information load in the first communication network is high and cannot be broadcast through some low-altitude aircraft nodes, the low-altitude aircraft and the ground self-organizing network equipment establish a dynamic self-organizing second communication network through self-organizing network technology, and obtain the RID information of all low-altitude aircraft in the second communication network through the ground self-organizing network equipment.

[0070] The third part, RID NET monitoring, implements the following two functions:

[0071] The ground-to-air surveillance is realized through RID NET, including the following steps:

[0072] (1) According to the true operating altitude of low-altitude aircraft, the communication methods of RID NET function can be divided into: 4 / 5G and other mobile communications, aviation communications / dedicated data links and other dedicated communications, satellite communications / satellite communications of low-altitude Internet; for low-altitude aircraft other than micro-UAVs operating at a true altitude of less than 300 meters, 4G / 5G mobile communications are used; for low-altitude aircraft operating at a true altitude of 300 to 1000 meters, 4G / 5G or aviation communications / dedicated data links can be used; for low-altitude aircraft operating at a true altitude of 1000 to 3000 meters, aviation communications / dedicated data links or satellite communications can be used;

[0073] (2) Low-altitude aircraft periodically send RID information to the regulatory center through RID NET.

[0074] Alternatively, expand network reporting capabilities through RID NET forwarding technology, including the following steps:

[0075] (1) The fourth low-altitude aircraft is in an area without communication network coverage and periodically broadcasts RID information through the RID OUT function;

[0076] (2) The fifth low-altitude aircraft receives the RID information broadcast by the fourth low-altitude aircraft through the RID IN function, and uses the RID NET forwarding function to forward the RID information of the fourth low-altitude aircraft to the control center.

[0077] Furthermore, before the fifth low-altitude aircraft forwards the RID information of the fourth low-altitude aircraft, there may be other low-altitude aircraft or RID message ground relay equipment that has relayed the RID information of the fourth low-altitude aircraft, and the specific description has been explained in the third method of the first part;

[0078] Further, optionally, to ensure the effectiveness of RID NET forwarding, low-altitude aircraft need to determine the signal strength Sq2 of the received RID information before forwarding, when Sq2 ≤ -n2 (dBm);

[0079] Further, optionally, to ensure the validity of RID NET forwarding, the low-altitude aircraft needs to determine the low-altitude aircraft distance L2 of the received RID information before forwarding, and retransmit when L2 ≥ d2 (m).

[0080] Part 4: Enhanced monitoring of ground relay of RID messages, which realizes the following two functions:

[0081] The ground relay of RID messages enhances air-to-air surveillance, including the following steps:

[0082] (1) The sixth low-altitude aircraft periodically broadcasts RID information through the RID OUT function;

[0083] (2) The first RID message ground relay device receives the RID OUT information and relays the information through the RID OUT function;

[0084] (3) The seventh low-altitude aircraft receives, through the RID IN function, the RID information of the sixth low-altitude aircraft outside its own monitoring range, which is relayed through the first RID message ground relay equipment.

[0085] Alternatively, the ground relay of the RID message enhances ground-to-air surveillance, including the following steps:

[0086] (1) The eighth low-altitude aircraft periodically broadcasts RID information through the RID OUT function;

[0087] (2) The second RID message ground relay device receives the RID OUT information and relays the information through the RID OUT function of the RID message ground relay device;

[0088] (3) The RID ground station receives the RID information of the eighth low-altitude aircraft outside its own monitoring range, which is relayed by the second RID message ground relay equipment.

[0089] Beneficial technical effects brought by the present invention:

[0090] 1. The present invention provides a low-altitude aircraft monitoring system and method based on RID IN / OUT, and proposes specific implementation methods for air-to-air monitoring, air-to-ground monitoring, RID NET monitoring, and RID ground station relay enhanced monitoring. Different monitoring methods can be selectively used according to actual conditions, so that the system has high flexibility and adaptability, and realizes unified monitoring of a large number of low-altitude aircraft of various types and shapes. In addition, the monitoring technology provided by the present invention is based on RID technology, which has the advantages of mature technology, low cost, ability to distinguish false targets, wide recognition, and rapid promotion;

[0091] 2. The present invention proposes the RID IN technology for low-altitude aircraft, which provides a new idea and implementation method for air-to-air monitoring of low-altitude aircraft, and provides a technical basis for the intelligent and automated operation of low-altitude aircraft and the safe, healthy and rapid development of the low-altitude economy;

[0092] 3. The present invention proposes a low-altitude aircraft RID OUT relay technology, which achieves wide-area coverage beyond the monitoring range of a single low-altitude aircraft and a RID monitoring ground station, and is suitable for ensuring flight safety in low-altitude airspace;

[0093] 4. The present invention proposes a low-altitude aircraft RID NET forwarding technology to achieve a communication coverage beyond a single communication ground base station, which helps to achieve real-time monitoring and management of low-altitude aircraft;

[0094] 5. The present invention proposes a multi-level RID NET network communication method, so that low-altitude aircraft operating at different altitudes can be effectively supervised;

[0095] 6. The present invention proposes RID-based inter-machine self-organizing network and air-ground self-organizing network technology to eliminate the blind spots of traditional centralized monitoring systems, and can solve the problem of continuing to share monitoring data in the case of RID channel congestion (especially when low-altitude aircraft clusters are performing tasks), avoiding information transmission obstruction, and greatly improving the reliability and coverage of the monitoring system; and with the help of status monitoring introduced by self-organizing network technology and distance perception of adjacent nodes, collaborative collision avoidance / operation of low-altitude aircraft can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0096] Figure 1 It is a schematic diagram of the architecture of the low-altitude aircraft monitoring system based on RID IN / OUT of the present invention;

[0097] Figure 2 This is a schematic diagram of the implementation of the RID NET communication method for low-altitude aircraft operating at different altitudes in step (1) of the first function of the third part of the present invention;

[0098] Figure 3 It is a schematic diagram of a method for implementing an empty-to-empty monitoring using RID IN / OUT according to Embodiment 1 of the present invention;

[0099] Figure 4 It is a schematic diagram of a method for realizing air-to-air monitoring by using an inter-machine ad hoc network according to Embodiment 2 of the present invention;

[0100] Figure 5 It is a schematic diagram of a method for extending the ground-to-air monitoring distance by RID OUT relaying in Example 3 provided by the present invention;

[0101] Figure 6 It is a schematic diagram of implementing ground-to-air monitoring through an air-to-ground ad hoc network in Embodiment 4 provided by the present invention;

[0102] Figure 7 It is a schematic diagram of using a self-organizing network to assist monitoring when the RID channel is congested in Example 5 provided by the present invention;

[0103] Figure 8 It is a schematic diagram of using RID NET forwarding technology to expand network reporting capabilities according to Example 6 provided by the present invention;

[0104] Fig. 9 It is a schematic diagram of using ground relay of RID messages to enhance air-to-air surveillance and ground-to-air surveillance according to Embodiment 7 of the present invention;

[0105] Fig.10It is a schematic diagram of the system implementation of Example 8 provided by the present invention. DETAILED DESCRIPTION

[0106] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0107] The technical solution of the present invention is described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The system architecture adopted in the following embodiments is as follows: Figure 1 The first step of the third part (1) is to implement the RID NET communication method for low-altitude aircraft operating at different altitudes. Figure 2 shown.

[0108] Example 1

[0109] Please refer to Figure 3 Embodiment 1 of the present invention uses RID IN / OUT to implement an air-to-air monitoring method, comprising the following steps:

[0110] 1. The RID IN and OUT functions of low-altitude aircraft adopt time division multiplexing. When the RID OUT period comes, the low-altitude aircraft broadcasts the RID message and enters the RID IN mode after the broadcast is completed;

[0111] 2. Low-altitude aircraft RID IN and OUT functional agreement; including the following sub-steps:

[0112] 2.1. RID OUT function broadcasts RID message packet;

[0113] 2.2. The RID OUT function uses AES-128bit-CCM encryption when generating authentication information;

[0114] 2.3. The 16-byte public key agreed by the RID OUT package assembly function and the RID IN parsing function is: 0xABCD1234EFGH5678ABCD1234EFGH5678;

[0115] 2.4. The 12-byte length NONE agreed by the RID OUT packet assembly function and the RID IN parsing function, of which the upper 6 bytes are fixed to: 0x12345678ABCD, the middle 2 bytes are the timestamp in the RID position and vector message, and the lower 4 bytes are the timestamp in the RID system message;

[0116] 2.5. Use the RID packet, the public key and NONE to calculate a 12-byte message authentication code and store it in the RID authentication message of the RID packet;

[0117] 3. The RID IN function of the low-altitude aircraft, after receiving the RID message packet, will calculate the 12-byte message verification code according to step 2 and compare it with the message verification code stored in the RID authentication message in the message packet. If they are the same, RID will parse the RID message packet and maintain the RID track, operation status and mission information of the corresponding low-altitude aircraft;

[0118] 4. Low-altitude aircraft obtain this information from the RID IN function through the data interface, providing a technical basis for the integrated operation of various low-altitude aircraft in low-altitude airspace; including the following sub-steps:

[0119] 4.1. Low-altitude manned aircraft can display the relative positions of surrounding low-altitude aircraft and the aircraft on the display screen. At the same time, use modules such as conflict detection and track planning to display potential risks on the screen, and use auditory means to provide early warning and alarm information to the pilot;

[0120] 4.2. The autonomous flight function of low-altitude unmanned aerial vehicles uses this information to automatically plan collision avoidance trajectories.

[0121] Example 2

[0122] Please refer to Figure 4 Embodiment 2 of the present invention provides a low-cost method for implementing air-to-air monitoring using an inter-machine ad hoc network based on RID hardware, including the following steps:

[0123] 1. If the RID function of low-altitude aircraft is realized by using 2.4GHz WiFi technology, the 2.4GHz MESH WiFi self-organizing network can be used on this basis to realize the self-organizing network between low-altitude aircraft;

[0124] 2. When low-altitude aircraft are in operation, the MESH self-organizing network function will automatically establish connections with surrounding aircraft nodes to form a dynamic self-organizing communication network; including the following sub-steps;

[0125] 2.1. In the MESH dynamic self-organizing communication network, new nodes can automatically join the network, and nodes that exit or move will also be dynamically identified, ensuring that the network topology is adaptively adjusted as nodes join, leave or change their positions;

[0126] 2.2. The routing protocol used in the MESH self-organizing network supports dynamic routing updates. When each node receives a data packet, it will find the optimal path based on the current network topology. This dynamic routing mechanism can quickly adapt to node changes, allowing data to be effectively transmitted in an unstable network;

[0127] 2.3. In the MESH dynamic self-organizing communication network, flood broadcast is used to send the RID information in the network to all nodes.

[0128] 3. The aircraft nodes in the MESH dynamic self-organizing communication network can monitor the communication signal strength, packet loss rate and other link status with the adjacent aircraft nodes; including the following sub-steps;

[0129] 3.1. Based on the monitored connection status, when the aircraft node finds that the link fails (signal strength <-80dBm or packet loss rate >30%), the aircraft node will search for an available path again;

[0130] 3.2. Based on the monitored signal strength, the aircraft node can sense the distance to the aircraft node with which it is communicating, providing a technical basis for collaborative collision avoidance and mission execution;

[0131] 4. Low-altitude aircraft share the RID information of the entire communication network in the MESH dynamic self-organizing communication network without introducing new data protocols. The RID IN data processing function of the low-altitude aircraft (please refer to Example 1) is used to complete the air-to-air monitoring of low-altitude aircraft using the inter-aircraft self-organizing network.

[0132] Example 3

[0133] Please refer to Figure 5 Embodiment 3 of the present invention uses RID OUT to broadcast and expand the ground-to-air monitoring distance method, including the following steps:

[0134] 1. RID OUT broadcast agreement; including the following sub-steps:

[0135] 1.1. Maximum number of rebroadcasts M3 = 4 times;

[0136] 1.2. Minimum broadcast distance L3 = 300 meters;

[0137] 1.3. Contents allowed to be broadcast: RID message package;

[0138] 1.4. The number of times the RID packet is rebroadcasted is filled into the reserved bytes of the RID basic ID-drone serial number;

[0139] 1.5. The retransmission information added to the RID basic ID message is not used for this message calculation.

[0140] 2. UA1 is outside the first part of the air-to-air surveillance of the RID ground station’s surveillance range, and the RID information it directly broadcasts through RID OUT cannot be received by the RID ground station;

[0141] 3. The straight-line distance between UA1 and UA2 is 1000 meters. The RID information broadcast by UA1 is received by UA2 RID IN.

[0142] 4. UA2's RID IN function detects that UA1's RID information has been rebroadcasted 0 times and its distance from itself is 1000 meters, which meets the rebroadcast conditions, so it notifies the RID OUT function to rebroadcast;

[0143] 5. UA2's RID OUT retransmission function increases the retransmission count field in UA1's RID information by one and retransmits UA1's broadcast information within 200ms;

[0144] 6. UA2 is within the monitoring range of the RID ground station. The ground station monitors UA1 by receiving the UA1 RID information relayed by UA2.

[0145] Example 4

[0146] Please refer to Figure 6 Embodiment 4 of the present invention implements a ground-to-air monitoring method through an air-to-ground ad hoc network, comprising the following steps:

[0147] 1. Please refer to Example 2 to establish a self-organizing communication network between low-altitude aircraft clusters;

[0148] 2. The ground self-organizing network equipment joins the self-organizing communication network of the low-altitude aircraft cluster and obtains the RID information of all low-altitude aircraft nodes in the communication network;

[0149] 3. The ground self-organizing network equipment displays the operating status of the low-altitude aircraft cluster through the screen;

[0150] 4. The ground ad hoc network equipment sends the received aircraft node RID information to the supervision center.

[0151] Example 5

[0152] Please refer to Figure 7 Embodiment 5 of the present invention provides a method for using an ad hoc network to assist monitoring when a RID channel is congested, comprising the following steps:

[0153] 1. Low-altitude aircraft performing swarm missions. Due to the large number of aircraft in the swarm, the remote identification broadcast channel is congested, and the aircraft in the swarm cannot broadcast RID information normally;

[0154] 2. Referring to Example 2, the low-altitude aircraft in the cluster start the self-organizing network function to form a dynamic self-organizing communication network of low-altitude aircraft;

[0155] 3. When at the edge of a cluster or performing a mission, low-altitude aircraft close to a RID ground station maintain the RID OUT function;

[0156] 4. When at the edge of the cluster or performing a mission, low-altitude aircraft close to the RID ground station will broadcast the RID information in the self-organizing communication network and be received by the RID ground station.

[0157] Example 6

[0158] Please refer to Figure 8 Embodiment 6 of the present invention uses RID NET forwarding technology to expand the network reporting capability method, including the following steps:

[0159] 1. RID NET forwarding agreement; including the following sub-steps:

[0160] 1.1. Content allowed to be forwarded: RID message packet;

[0161] 1.2. The forwarding request is filled into the reserved bytes of RID basic ID-drone serial number;

[0162] 2. UA3 is outside the second part of the ground-to-air surveillance of the communication base station signal coverage. At this time, the network connection is abnormal and RID information cannot be sent to the supervision center through RID NET;

[0163] 3. The straight-line distance between UA3 and UA4 is 1000 meters. The RID information broadcast by UA3 is received by UA4 RID IN.

[0164] 4. The RID IN function of UA4 detects that the RID information of UA3 contains the RID NET forwarding request, and notifies the RID NET function to forward;

[0165] 5. UA4 uses the RID NET forwarding function to help UA3 send the RID information to the supervision center.

[0166] Example 7

[0167] Please refer to Fig. 9 Embodiment 7 of the present invention uses the ground relay of RID messages to enhance air-to-air surveillance and ground-to-air surveillance, including the following steps:

[0168] 1. Low-altitude aircraft UA5 is outside the surveillance range of low-altitude aircraft UA6 and the RID ground station;

[0169] 2. Refer to Example 3, RID OUT relay agreement;

[0170] 3. The RID information broadcast by UA5 through RID OUT is received by the RID message ground relay equipment;

[0171] 4. The RID message ground relay device detects that the number of times UA5's RID information has been relayed is 0 and the distance from itself is 1000 meters, which meets the relay conditions;

[0172] 5. The ground relay device of the RID message increases the relay count field in the UA5 RID information by one, and relays the UA5 broadcast information using the 20dBm UA5 RID broadcast method within 100ms;

[0173] 6. The low-altitude aircraft UA6 and the RID ground station monitor UA5 which is out of the monitoring range by receiving the RID information relayed by the RID message ground relay equipment.

[0174] Example 8

[0175] Please refer to Fig.10 , Embodiment 8 of the present invention is a low altitude aircraft monitoring system and method based on RID IN / OUT:

[0176] System composition:

[0177] Including ground: RID ground station SD1, 4G / 5G communication base station SD2, aviation communication / data link ground station SD3, satellite receiving station SD4 and supervision center;

[0178] Includes: UAV clusters, low-altitude aircraft B1, low-altitude aircraft B2 operating at true altitudes of 0-300 meters;

[0179] Includes: low-altitude aircraft C1, low-altitude aircraft C2 operating at a true altitude of 300-1000 meters;

[0180] Includes: low-altitude aircraft D1 and low-altitude aircraft D2 operating at a true altitude of 1000-3000 meters.

[0181] Referring to Example 5, when the drone cluster is performing a task, the RID channel is congested, and an ad hoc network is used to assist monitoring, including the following steps;

[0182] (1) Low-altitude aircraft such as A1, A2, ... An in the drone cluster, which are at the edge of the cluster and close to the RID ground station, keep the RID OUT function, and the rest of the low-altitude aircraft in the cluster turn off the RID OUT function to reduce the RID channel congestion problem of the drone cluster;

[0183] (2) The drone cluster turns on the WiFi MESH self-organizing network function to form a dynamic self-organizing communication network and share RID information in the communication network;

[0184] (3) Low-altitude aircraft A1, A2, ...An at the edge of the UAV cluster and close to the RID ground station obtain the RID information in the entire communication network and broadcast the RID information of the entire cluster to the RID ground station through RID OUT.

[0185] Please refer to Example 3, use RID OUT relay to expand the ground-to-air surveillance distance, and realize the surveillance of low-altitude aircraft B1, B2, C1, C2, D1, D2, including the following steps:

[0186] (1) In the system, B1 is within the monitoring range of RID ground station SD1, and B2, C1, C2, D1, and D2 are outside the monitoring range of SD1;

[0187] (2) B2's RID information is relayed to SD1 via B1;

[0188] (3) C1's RID information is relayed to B1 via B2, and then relayed to SD1 via step (2);

[0189] (4) The RID information of D1 is relayed to B2 via C1, and then to SD1 via step (3);

[0190] (5) The RID information of D2 is relayed to C1 via D1, and then to SD1 via step (4);

[0191] (6) C2's RID information is relayed to C1 via D1, and then relayed to SD1 via step (5).

[0192] Please refer to Example 6, using RID NET forwarding technology to expand the network reporting capability and realize the monitoring of low-altitude aircraft B1 and C1, including the following steps:

[0193] (1) Low-altitude aircraft B1 is a micro unmanned aerial vehicle and does not have the RID NET function;

[0194] (2) Low-altitude aircraft C1 is a helicopter, which is in an area without mobile signal coverage;

[0195] (3) Referring to Example 6, B1 sends a RID message packet with RID NET request information to B2. After receiving the packet, B2 uses the RID NET forwarding function to help B1 send the RID information to the supervision center;

[0196] (4) After C1's RID NET function fails to connect to the Internet, it broadcasts a RID message packet with RID NET request information to B2. After receiving the packet, B2 uses the RID NET forwarding function to help C1 send the RID information to the supervision center.

[0197] Please refer to the third method in the first part to expand the air-to-air monitoring distance method through RID OUT relay technology to achieve mutual monitoring between C1 and C2, including the following steps:

[0198] (1) C1 and C2 fly towards each other and are out of each other's surveillance range;

[0199] (2) Referring to the third method in the first part, the RID information broadcast by C1 is received by C2 after being retransmitted by D1;

[0200] (3) Referring to the third method in the first part, the RID information broadcast by C2 is received by C1 after being rebroadcast by D1;

[0201] (4) The conflict monitoring function on C1 uses the C2 RID information maintained by the RID IN function to present warning information to the driver through the screen and sound;

[0202] (5) The autonomous flight function on C2 uses the C1 RID information maintained by the RID IN function to automatically plan a collision avoidance trajectory.

[0203] The low-altitude aircraft C2 in the system uses aviation communications to implement RID NET functions.

[0204] The low-altitude aircraft D2 in the system uses the low-altitude Internet line-of-sight RID NET capability provided by communications satellites.

[0205] The monitoring center of the system obtains the monitoring information of heavy and low-altitude aircraft in the entire system, including the following steps:

[0206] (1) De-duplicate RID information;

[0207] (2) Screening the authenticity of the RID information, referring to step 2 of Example 1 to determine the authentication validity of the RID information, and marking it;

[0208] (3) Classify and manage RID information according to the size, operating altitude, type, and operation content of low-altitude aircraft;

[0209] (4) Perform RID information fusion display and classify the RID information of low-altitude aircraft in the surveillance area;

[0210] (5) Implementation supervision.

Claims

1. The low-altitude aircraft monitoring system based on RID IN / OUT is characterized by: include: Ground: RID ground station, mobile terminal equipment, RID message ground relay equipment, aviation communication / data link ground station, ground ad hoc network equipment, communication base station, satellite receiving ground station, supervision center; In low-altitude airspace: various types of low-altitude aircraft; In space: communications satellites; Specific: The RID ground station is used to receive RID OUT messages and send these messages to the supervision center; The mobile terminal device is used to receive the RID OUT message and display it on site; The RID message ground relay equipment is used to relay the received RID OUT information; The aviation communication / data link ground station provides aviation communication and dedicated data link services for low-altitude aircraft operating at 300 to 3000 meters; The ground self-organizing network equipment forms a dynamic self-organizing communication network with the low-altitude aircraft to obtain the RID information of the low-altitude aircraft in the network; The communication base station provides 4G / 5G communication services for low-altitude aircraft; The satellite receiving station provides network support for satellite communications / low-altitude Internet; The monitoring center completes the authentication, deduplication, classification and display of the RID monitoring data of low-altitude aircraft, generates warning information according to the monitoring situation, or automatically controls the low-altitude aircraft connected to the monitoring system to take evasive actions; The low-altitude aircraft broadcasts its own RID information through the RID OUT function; the low-altitude aircraft receives the RID information broadcast by surrounding low-altitude aircraft, as well as the RID information of surrounding low-altitude aircraft and RID message ground relay equipment through the RID IN function; the low-altitude aircraft sends its own RID information to the supervision center through the RID NET function; the low-altitude aircraft shares and integrates the RID information of low-altitude aircraft in the network through the inter-aircraft self-organizing network / air-to-ground self-organizing network; The communication satellite provides satellite communication / low-altitude Internet for low-altitude aircraft.

2. The low-altitude aircraft monitoring system based on RID IN / OUT according to claim 1, characterized in that: The mobile terminal device is used to receive RID OUT messages and send these messages to the supervision center; request the supervision center for RID monitoring information in the area, increase on-site monitoring capabilities and law enforcement judgment basis; The ground self-organizing network device also sends RID information to the supervision center; The field in the RID message of the low-altitude aircraft used to fill in the altitude and longitude and latitude information of the low-altitude unmanned aircraft operator, take-off location or control station; The low-altitude aircraft is equipped with RID broadcast / receive antennas on both the top and the belly of the aircraft; The low-altitude aircraft relays the received RID information of surrounding low-altitude aircraft through the RID OUT function; Alternatively, the low-altitude aircraft forwards the received RID information of the surrounding low-altitude aircraft through the RID NET function; Alternatively, the low-altitude aircraft senses the operating status and distance of surrounding low-altitude aircraft through inter-aircraft self-organizing network technology.

3. A low-altitude aircraft monitoring method based on RID IN / OUT, characterized in that: It consists of four parts: air-to-air surveillance, ground-to-air surveillance, RID NET surveillance, and RID message ground relay enhanced surveillance; The first part, air-to-air surveillance, uses one of three methods: The first one is to realize air-to-air monitoring through RID IN / OUT; The second method is to realize air-to-air monitoring through ad hoc networking between machines; The third method is to expand the air-to-air surveillance distance through RID OUT relay technology; Part II, ground-to-air surveillance, uses one of the following four methods: The first is to implement ground-to-air surveillance method through RID OUT; The second method is to expand the ground-to-air surveillance distance through RID OUT relay; The third method is to realize ground-to-air surveillance through air-to-ground ad hoc network; The fourth method is to use ad hoc network-assisted monitoring method when RID channel is congested; The third part, RID NET monitoring, implements the following two functions: Realize ground-to-air surveillance through RID NET; Alternatively, expand network reporting capabilities through RID NET forwarding technology; Part 4: Enhanced monitoring of ground relay of RID messages, which realizes the following two functions: Ground relay of RID messages enhances air-to-air surveillance; alternatively, ground relay of RID messages enhances ground-to-air surveillance.

4. The low-altitude aircraft monitoring method based on RID IN / OUT according to claim 3, characterized in that: The first part, air-to-air monitoring, has three methods: The first method is to implement air-to-air monitoring through RID IN / OUT, including the following steps: (1) Low-altitude aircraft periodically broadcast RID information through the RID OUT function; (2) Low-altitude aircraft receive RID information through the RIDIN function, maintain RID track, operation status and mission information, and use it for conflict detection, track planning, autonomous driving, and early warning / alarm functions on low-altitude aircraft; Or, it also includes the RID IN and RID OUT functions of low-altitude aircraft, agreeing on the authentication method of RID information; Or, it also includes that after receiving the RID information, the RID IN function of the low-altitude aircraft verifies the authenticity of the RID information according to the agreed authentication method before maintaining the RID track information, and screens out false targets; The second method is to realize air-to-air monitoring through an inter-machine self-organizing network, including the following steps: (1) Low-altitude aircraft establish a dynamic self-organizing communication network through self-organizing network technology; (2) Low-altitude aircraft sense the operating status and distance of adjacent aircraft nodes through self-organizing networks; (3) Low-altitude aircraft share RID information in a dynamic self-organizing communication network; The third method is to expand the air-to-air surveillance distance through RID OUT relay technology, including the following steps: (1) The first low-altitude aircraft periodically broadcasts RID information through the RID OUT function; (2) The second low-altitude aircraft receives the RID information of the first low-altitude aircraft through the RIDIN function, and relays the RID information of the first low-altitude aircraft through the RID OUT relay function; (3) The third low-altitude aircraft receives the RID information of the first low-altitude aircraft outside its own surveillance range, which is relayed by the second low-altitude aircraft through the RIDIN function.

5. The low-altitude aircraft monitoring method based on RID IN / OUT according to claim 3, characterized in that: In the third method, the third low-altitude aircraft receives the RID information of the first low-altitude aircraft and only forwards it once, and actually experiences ≤M retransmissions; To ensure the effectiveness of RID OUT rebroadcast, low-altitude aircraft shall determine the signal strength Sq1 of the received RID information before rebroadcasting, and rebroadcast when Sq1≤-n1 dBm; Or, before rebroadcasting, the low-altitude aircraft needs to determine the low-altitude aircraft distance L1 of the received RID information, and rebroadcast when L1 ≥ d1 m; To ensure the security of the RID link, before rebroadcasting, the low-altitude aircraft determines that the received RID information has been rebroadcasted N times. When N ≤ M times, it adds one to N and rebroadcasts it again.

6. The low-altitude aircraft monitoring method based on RID IN / OUT according to claim 3, characterized in that: The four methods in the second part are as follows: The first method is to implement ground-to-air surveillance through RID OUT, including the following steps: (1) Low-altitude aircraft periodically broadcast RID information through the RID OUT function; (2) The RID ground station receives and maintains RID broadcast information and sends this information to the monitoring center; (3) Mobile terminal devices receive, maintain and display RID broadcast information; Or, further comprising the following steps: (4) The mobile terminal device receives the RID broadcast information and sends it to the low-altitude monitoring center; (5) The RID message ground relay equipment receives the RID broadcast information and sends it to the low-altitude monitoring center; The second method is to extend the ground-to-air surveillance distance through RID OUT relay, which includes the following steps: (1) Please refer to the third method in the first part to expand the air-to-air surveillance distance method through RID OUT relay technology; (2) RID information relayed by low-altitude aircraft is relayed by low-altitude aircraft within the surveillance range of the RID ground station and received by the RID ground station, thereby enabling low-altitude aircraft to be monitored beyond the surveillance range of a single ground station; The third method is to realize ground-to-air surveillance through an air-to-ground ad hoc network, including the following steps: (1) Please refer to the second method in the first part to implement the air-to-air monitoring method through the inter-machine self-organizing network; (2) Ground self-organizing network equipment joins the low-altitude aircraft self-organizing communication network; (3) Low-altitude aircraft share RID information in a dynamic self-organizing communication network; (4) The ground ad hoc network device obtains the RID information in the dynamic ad hoc communication network; (5) The ground self-organizing network equipment sends the RID information obtained from the dynamic self-organizing communication network to the supervision center; The fourth method is to use a self-organizing network to assist monitoring when the RID channel is congested, including the following steps: (1) Low-altitude aircraft establish a dynamic self-organizing first communication network through self-organizing network technology and share RID information in the first communication network; (2) For some low-altitude aircraft nodes in the first communication network, the RID function is turned off to alleviate the RID channel congestion problem; (3) In the first communication network, low-altitude aircraft nodes that are less affected by RID signal congestion are responsible for broadcasting the entire first communication network.

7. The low-altitude aircraft monitoring method based on RID IN / OUT according to claim 6, characterized in that: In the fourth method of the second part, when RID signal congestion makes it impossible to broadcast RID information or the RID information load in the first communication network is high and cannot be broadcast through some low-altitude aircraft nodes, the low-altitude aircraft and the ground self-organizing network equipment establish a dynamic self-organizing second communication network through self-organizing network technology, and obtain the RID information of all low-altitude aircraft in the second communication network through the ground self-organizing network equipment.

8. The low-altitude aircraft monitoring method based on RID IN / OUT according to claim 3, characterized in that: Part 3, RID NET monitoring, implements two functions in the following specific ways: The ground-to-air surveillance is realized through RID NET, including the following steps: (1) According to the true operating altitude of low-altitude aircraft, the communication methods of RID NET function are divided into: 4 / 5G mobile communication, aviation communication / dedicated data link dedicated communication, satellite communication / satellite communication of low-altitude Internet; for low-altitude aircraft other than micro-UAVs operating at a true altitude of less than 300 meters, 4G / 5G mobile communication is used; for low-altitude aircraft operating at a true altitude of 300 to 1000 meters, 4G / 5G or aviation communication / dedicated data link communication is selected; for low-altitude aircraft operating at a true altitude of 1000 to 3000 meters, aviation communication / dedicated data link or satellite communication is selected; (2) Low-altitude aircraft periodically send RID information to the regulatory center through RID NET; Alternatively, expand network reporting capabilities through RID NET forwarding technology, including the following steps: (1) The fourth low-altitude aircraft is in an area without communication network coverage and periodically broadcasts RID information through the RID OUT function; (2) The fifth low-altitude aircraft receives the RID information broadcast by the fourth low-altitude aircraft through the RID IN function, and uses the RIDNET forwarding function to forward the RID information of the fourth low-altitude aircraft to the monitoring center.

9. The low-altitude aircraft monitoring method based on RID IN / OUT according to claim 8, characterized in that: To ensure the effectiveness of RID NET forwarding, low-altitude aircraft need to determine the signal strength Sq2 of the received RID information before retransmitting, when Sq2≤-n2 dBm; Alternatively, to ensure the effectiveness of RID NET forwarding, the low-altitude aircraft needs to determine the low-altitude aircraft distance L2 of the received RID information before forwarding it, and retransmit it when L2 ≥ d2 m.

10. The low-altitude aircraft monitoring method based on RID IN / OUT according to claim 3, characterized in that: Part 4: Enhanced monitoring of ground relay of RID messages, the specific methods to achieve the following two functions are: The ground relay of RID messages enhances air-to-air surveillance, including the following steps: (1) The sixth low-altitude aircraft periodically broadcasts RID information through the RID OUT function; (2) The first RID message ground relay device receives the RID OUT information and relays the information through the RID OUT function; (3) The seventh low-altitude aircraft receives, through the RIDIN function, the RID information of the sixth low-altitude aircraft outside its own surveillance range, which is relayed through the ground relay device of the first RID message; Alternatively, the ground relay of the RID message enhances ground-to-air surveillance, including the following steps: (1) The eighth low-altitude aircraft periodically broadcasts RID information through the RID OUT function; (2) The second RID message ground relay device receives the RID OUT information and relays the information through the RID OUT function of the RID message ground relay device; (3) The RID ground station receives the RID information of the eighth low-altitude aircraft outside its own monitoring range, which is relayed by the second RID message ground relay equipment.

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