Low-altitude traffic collision avoidance system based on optical communication

Abstract

The invention provides a low-altitude traffic anti-collision system based on optical communication. The low-altitude traffic anti-collision system comprises a foundation basic type intelligent anti-collision lamp, a foundation comprehensive type intelligent anti-collision lamp and an airborne type intelligent anti-collision lamp. The airborne intelligent anti-collision lamp is mounted on a low-altitude aircraft platform and used for sending an aircraft photosensitive signal according to an airborne anti-collision optical communication encoding format so as to send position, speed and attitude information of the low-altitude aircraft; the foundation basic type intelligent anti-collision lamp is installed on a ground object and used for sending a ground object photosensitive signal according to a foundation anti-collision optical communication encoding format so as to send the position and outer contour information of the ground object where the foundation basic type intelligent anti-collision lamp is located; the ground-based comprehensive intelligent anti-collision lamp is installed on the highest ground object in a preset area range, and is used for sending a ground object photosensitive signal according to a ground-based anti-collision optical communication coding format, receiving an aircraft photosensitive signal sent by a low-altitude aircraft in the preset area range, generating an in-area air traffic sketch map, and sending the in-area air traffic sketch map to the ground-based anti-collision optical communication coding format. Broadcasting a traffic sketch photosensitive signal according to the broadcast anti-collision optical communication coding format number; and the airborne intelligent anti-collision lamp is also used for receiving the ground object photosensitive signal and the traffic sketch photosensitive signal and automatically carrying out low-altitude traffic anti-collision. Automatic anti-collision information communication based on anti-collision light communication can be realized, the equipment is simple, the cost is relatively low, and technical support is provided for improving the safety of low-altitude flight.

Description

Technical Field

[0001] The present application belongs to the technical field of airborne systems, and in particular relates to a low-altitude traffic collision avoidance method based on optical communication. Background Art

[0002] With the gradual liberalization of low-altitude airspace and the rapid development of the low-altitude economy, low-altitude aircraft such as helicopters, eVTOLs, and drones are increasing, resulting in tight low-altitude route resources and an increased probability of low-altitude collisions. Therefore, research on low-altitude traffic collision avoidance technology has become more urgent.

[0003] The existing civil aviation traffic collision avoidance system (TCAS) based on radio frequency communication is mainly aimed at medium and high altitude fixed-wing aircraft, and it is difficult to adapt to the main low-altitude usage scenarios such as towns and cities and the requirements of complex low-altitude electromagnetic environment.

[0004] Existing low-altitude aircraft mainly use optical cameras, millimeter-wave radars, lidars, ultrasonic radars and other means to perceive the environment, mainly for collision avoidance with obstacles such as buildings. When used for air traffic collision avoidance, they have disadvantages such as small field of view, limited effective range, low data refresh rate, conflict with other detection tasks, high equipment cost, and insufficient ability to identify non-cooperative targets and their status.

[0005] According to the airworthiness requirements of aircraft, aircraft need to be equipped with anti-collision lights to warn pilots of collision avoidance. In the future, there will be mixed operations of manned and unmanned aircraft in low-altitude airspace. Simply installing anti-collision lights cannot meet the requirements of this scenario. In addition, the use of anti-collision lights requires pilots to pay attention to the external environment at all times, which puts a lot of pressure on personnel and creates a certain probability of misjudgment or missed judgment. Summary of the invention

[0006] The present invention provides a low-altitude traffic collision avoidance system based on optical communication, which solves the problems that the existing low-altitude flight collision avoidance requires the pilot to pay attention to the external environment at all times, the personnel load pressure is high, and there is a certain probability of misjudgment or missed judgment.

[0007] The present invention provides a low-altitude traffic anti-collision system based on optical communication, including: a ground-based basic intelligent anti-collision lamp, a ground-based comprehensive intelligent anti-collision lamp and an airborne intelligent anti-collision lamp;

[0008] Airborne intelligent anti-collision lights are installed on low-altitude aircraft platforms and are used to send aircraft photosensitive signals in accordance with the airborne anti-collision optical communication coding format to send the position, speed and attitude information of low-altitude aircraft;

[0009] The ground-based basic intelligent anti-collision light is installed on the ground object and is used to send ground object photosensitive signals according to the ground-based anti-collision optical communication coding format to send the location and outer contour information of the local object;

[0010] The ground-based integrated intelligent anti-collision light is installed on the highest ground object within the preset area, and is used to send ground object photosensitive signals according to the ground-based anti-collision optical communication coding format, and is used to receive aircraft photosensitive signals sent by low-altitude aircraft within the preset area, generate an air traffic overview map in the area, and broadcast the traffic overview map photosensitive signals according to the broadcast anti-collision optical communication coding format number;

[0011] The airborne intelligent anti-collision light is also used to receive photosensitive signals from ground objects and traffic outline maps, and automatically perform low-altitude traffic anti-collision.

[0012] Optionally, the traffic overview map photosensitive signal includes the position, speed and attitude information of the top N low-altitude aircraft whose flying altitudes are lower than a preset altitude and whose flying speeds are ranked in the top N within a preset area; N is a positive integer.

[0013] Optionally, the airborne intelligent anti-collision light is also used to receive aircraft photosensitive signals sent by other low-altitude aircraft, and automatically perform low-altitude traffic anti-collision according to each photosensitive signal.

[0014] Optionally, the light flashing frequency of the aircraft photosensitive signal is 9.6kHz, and the light coding is binary coded according to "off, on" representing 01;

[0015] The airborne anti-collision optical communication coding format shall at least include the following:

[0016] 1) Coding type, 8 bits, 0x01 means airborne type;

[0017] 2) ID number, 64-bit unsigned long type;

[0018] 3) Airborne type, 32 bits;

[0019] 4) Longitude, 32 bits;

[0020] 5) Latitude, 32 bits;

[0021] 6) Altitude, 32 bits;

[0022] 7) Heading, 32 bits;

[0023] 8) Ground speed, 32 bits;

[0024] 9) Lifting speed, 32 bits.

[0025] Optionally, the light flashing frequency of the ground object photosensitive signal is 9.6kHz, and the light coding is binary coded according to "off, on" representing 01;

[0026] The ground-based anti-collision optical communication coding format includes at least the following:

[0027] 1) Coding type, 8 bits, 0x02 means ground-based type;

[0028] 2) ID number, 64-bit unsigned long type;

[0029] 3) Land feature type, 32 bits;

[0030] 4) Longitude, 32 bits;

[0031] 5) Latitude, 32 bits;

[0032] 6) Altitude, 32 bits;

[0033] 7) Length, 32 bits;

[0034] 8) Width, 32 bits;

[0035] 9) Height, 32 bits.

[0036] Optionally, the light flashing frequency of the traffic outline photosensitive signal is 9.6kHz, and the light coding is binary coded according to "off, on" representing 01;

[0037] The broadcast anti-collision optical communication coding format includes at least the following:

[0038] 1) Coding type, 8 bits, 0x03 means broadcast type;

[0039] 2) ID number, 64-bit unsigned long type;

[0040] 3) Airborne type, 32 bits;

[0041] 4) Longitude, 32 bits;

[0042] 5) Latitude, 32 bits;

[0043] 6) Altitude, 32 bits;

[0044] 7) Heading, 32 bits;

[0045] 8) Ground speed, 32 bits;

[0046] 9) Lifting speed, 32 bits.

[0047] Optionally, a ground-based integrated intelligent anti-collision light is used to transmit photosensitive signals in a rotational manner in the form of a ground feature photosensitive signal and a traffic overview map photosensitive signal.

[0048] Optionally, the ground feature where the ground-based integrated intelligent anti-collision lamp is located is a building, a tower crane, a high-voltage tower, or a wind measurement tower.

[0049] Optionally, each optical communication coding format also includes a check bit.

[0050] Beneficial technical effects of this application:

[0051] The present invention proposes a low-altitude traffic anti-collision method based on optical communication, which can realize automatic anti-collision information communication based on anti-collision light communication, has simple equipment and low cost, and provides technical support for improving the safety of low-altitude flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic diagram of the low-altitude traffic collision avoidance system architecture based on optical communication provided by the present invention;

[0053] Figure 2 It is composed of airborne intelligent anti-collision lights;

[0054] Figure 3 It is the basic structure of the intelligent anti-collision lamp foundation;

[0055] Figure 4 It is a comprehensive foundation for intelligent anti-collision lights. DETAILED DESCRIPTION

[0056] The low-altitude traffic collision avoidance system based on optical communication provided by the present invention is explained below in conjunction with the accompanying drawings.

[0057] See also Figure 1-4 , the present invention proposes a low-altitude traffic collision avoidance system based on optical communication.

[0058] (1) Low-altitude traffic collision avoidance system based on optical communication

[0059] The principle and composition of low-altitude traffic collision avoidance system based on optical communication Figure 1 As shown, it consists of intelligent anti-collision lights airborne type, ground-based basic type, ground-based comprehensive type, etc.

[0060] The airborne type of intelligent anti-collision lights is installed on low-altitude aircraft platforms to replace the original conventional anti-collision lights. It can realize anti-collision light frequency display, photosensitive signal reception, status data processing, and anti-collision strategy generation.

[0061] The basic type of intelligent anti-collision light is installed on buildings, high-voltage towers and other objects. It is used for anti-collision light frequency display and can send information such as the location of the object, the length, width and height of the outer contour through optical communication.

[0062] The ground-based integrated intelligent anti-collision light is installed on the highest feature in a certain area. It is used for anti-collision light frequency display and photosensitive signal reception. In addition to sending basic information about the feature, it also receives information about low-altitude aircraft in the area, generates an overview of the air traffic in the area, and broadcasts optical communications to the area.

[0063] (2) Airborne collision avoidance information optical communication coding format

[0064] The airborne anti-collision optical communication coding format shall at least include the following:

[0065] 1) Light flashing frequency (one light on or one light off is defined as one flash): 9.6kHz. Considering that the effective information is not less than 400 bits, the transmission frequency is not less than 2Hz, the retransmission is not less than 3 times, and the communication margin is not less than 50%, the light flashing frequency is set to 9600Hz;

[0066] 2) Light coding, “off, on” represents 01 binary code;

[0067] 3) Coding type, 8 bits, 0x01 means airborne type;

[0068] 4) ID number, 64-bit unsigned long type, to meet the coding needs of drones and buildings worldwide;

[0069] 5) Type, 32 bits, including large / medium / small helicopters, eVTOL configurations, quad-rotor drones, etc.

[0070] 6) Longitude, 32 bits;

[0071] 7) Latitude, 32 bits;

[0072] 8) Altitude, 32 bits;

[0073] 9) Heading, 32 bits;

[0074] 10) Ground speed, 32 bits;

[0075] 11) Lifting speed, 32 bits;

[0076] Check bit, CRC-8 check, 8 bits.

[0077] (3) Ground-based collision avoidance information optical communication coding format

[0078] The ground-based anti-collision optical communication coding format includes at least the following:

[0079] 1) Light flashing frequency (one flash is defined as one light on or one light off): 9.6kHz, the same as the airborne one;

[0080] 2) Light coding, “off, on” represents 01 binary code;

[0081] 3) Coding type, 8 bits, 0x02 means ground-based type;

[0082] 4) ID number, 64-bit unsigned long type;

[0083] 5) Type, 32 bits, including buildings, tower cranes, high-voltage towers, wind towers, etc.

[0084] 6) Longitude, 32 bits;

[0085] 7) Latitude, 32 bits;

[0086] 8) Altitude, 32 bits;

[0087] 9) Length, 32 bits;

[0088] 10) Width, 32 bits;

[0089] 11) Height, 32 bits;

[0090] 12) Check bit, CRC-8 check, 8 bits;

[0091] (4) Broadcasting anti-collision information optical communication coding format

[0092] The broadcast anti-collision optical communication coding format includes at least the following:

[0093] 1) Light flashing frequency (one flash is defined as one light on or one light off): 9.6kHz, the same as the airborne one;

[0094] 2) Light coding, “off, on” represents 01 binary code;

[0095] 3) Encoding type, 8 bits, 0x03 means broadcast type;

[0096] 4) ID number, 64-bit unsigned long type;

[0097] 5) Type, 32 bits, including large / medium / small helicopters, eVTOL configurations, quad-rotor drones, etc.

[0098] 6) Longitude, 32 bits;

[0099] 7) Latitude, 32 bits;

[0100] 8) Altitude, 32 bits;

[0101] 9) Heading, 32 bits;

[0102] 10) Ground speed, 32 bits;

[0103] 11) Lifting speed, 32 bits;

[0104] 12) Check bit, CRC-8 check, 8 bits

[0105] (5) Intelligent anti-collision light airborne type

[0106] The airborne type of intelligent anti-collision light is composed of an aviation plug connector, an anti-collision processor, an anti-collision light, and a photosensitive receiver. Figure 2 shown.

[0107] Aviation plug connector, used to interconnect with airborne equipment to achieve bus communication and power supply.

[0108] The anti-collision processor controls the flashing of the anti-collision light according to the coding format based on the local motion information received from the bus; it receives the anti-collision information in the specified coding format from the photosensitive receiver, processes it according to the predetermined warning and anti-collision strategy, and outputs warning information and anti-collision guidance information.

[0109] Anti-collision lights must comply with airworthiness anti-collision light specifications.

[0110] The photosensitive receiver is required to cover 360° in azimuth, with a pitch of not less than ±45°, an angular resolution of not less than 5°, and be able to process light brightness of not less than 32 lumens; it is required to be able to receive corresponding optical frequency signals within the coverage area, and simultaneously receive and process no less than 1296 channels; it is required to be able to receive 9.6kHz optical frequency signals, parse them into anti-collision information data packets, and send them to the anti-collision processor.

[0111] (6) Intelligent anti-collision light basic type

[0112] The basic type of intelligent anti-collision lamp foundation consists of power supply line, light flash controller and anti-collision lamp, such as Figure 3 shown.

[0113] The light flash controller flashes periodically according to the ground-based collision avoidance information optical communication coding format and the installed ground object information. The ground-based collision avoidance information is pre-loaded at the factory.

[0114] Anti-collision lights, in compliance with the specifications for anti-collision lights for buildings.

[0115] (7) Intelligent anti-collision light foundation integrated type

[0116] The intelligent anti-collision light foundation integrated type consists of power supply line, anti-collision processor, anti-collision light, photosensitive receiver, such as Figure 4 shown.

[0117] The anti-collision processor receives anti-collision information in a specified coding format from the photosensitive receiver, sorts the aircraft below 1,000 meters in descending order according to their speed, and generates a broadcast anti-collision information list of no more than 10 aircraft information; and broadcasts the information in a rotation manner in the form of 1 ground-based anti-collision information + N broadcast anti-collision information (N is the number of aircraft in the broadcast anti-collision information list, and N is no more than 10).

[0118] Anti-collision lights, in compliance with the specifications for anti-collision lights for buildings.

[0119] The photosensitive receiver is required to cover 360° in azimuth, with a pitch of not less than ±45°, an angular resolution of not less than 1°, and be able to process light brightness of not less than 32 lumens; it is capable of receiving corresponding optical frequency signals within the coverage area, and simultaneously receiving and processing no less than 32,400 channels; it is capable of receiving 9.6kHz optical frequency signals, parsing them into anti-collision information data packets, and sending them to the anti-collision processor.

Claims

1. A low-altitude traffic collision avoidance system based on optical communication, characterized in that: include: Ground-based basic intelligent anti-collision lights, ground-based comprehensive intelligent anti-collision lights and airborne intelligent anti-collision lights; Airborne intelligent anti-collision lights are installed on low-altitude aircraft platforms and are used to send aircraft photosensitive signals in accordance with the airborne anti-collision optical communication coding format to send the position, speed and attitude information of low-altitude aircraft; The ground-based basic intelligent anti-collision light is installed on the ground object and is used to send ground object photosensitive signals according to the ground-based anti-collision optical communication coding format to send the location and outer contour information of the local object; The ground-based integrated intelligent anti-collision light is installed on the highest ground object within the preset area, and is used to send ground object photosensitive signals according to the ground-based anti-collision optical communication coding format, and is used to receive aircraft photosensitive signals sent by low-altitude aircraft within the preset area, generate an air traffic overview map in the area, and broadcast the traffic overview map photosensitive signals according to the broadcast anti-collision optical communication coding format number; The airborne intelligent anti-collision light is also used to receive photosensitive signals from ground objects and traffic outline maps, and automatically perform low-altitude traffic anti-collision.

2. The low-altitude traffic collision avoidance system based on optical communication according to claim 1, characterized in that: The traffic overview photosensitive signal includes the position, speed and attitude information of the N low-altitude aircraft whose flying altitude is lower than the preset altitude and whose flying speed ranks in the top N within the preset area; N is a positive integer.

3. The low-altitude traffic collision avoidance system based on optical communication according to claim 1, characterized in that: The airborne intelligent anti-collision light is also used to receive aircraft photosensitive signals sent by other low-altitude aircraft, and automatically perform low-altitude traffic anti-collision according to each photosensitive signal.

4. The low-altitude traffic collision avoidance system based on optical communication according to claim 1, characterized in that: The light flashing frequency of the aircraft's photosensitive signal is 9.6kHz, and the light coding is binary coded according to "off, on" representing 01; The airborne anti-collision optical communication coding format shall at least include the following: 1) Coding type, 8 bits, 0x01 means airborne type; 2) ID number, 64-bit unsigned long type; 3) Airborne type, 32 bits; 4) Longitude, 32 bits; 5) Latitude, 32 bits; 6) Altitude, 32 bits; 7) Heading, 32 bits; 8) Ground speed, 32 bits; 9) Lifting speed, 32 bits.

5. The low-altitude traffic collision avoidance system based on optical communication according to claim 1, characterized in that: The light flashing frequency of the ground object photosensitive signal is 9.6kHz, and the light coding is binary coded according to "off, on" representing 01; The ground-based anti-collision optical communication coding format includes at least the following: 1) Coding type, 8 bits, 0x02 means ground-based type; 2) ID number, 64-bit unsigned long type; 3) Land feature type, 32 bits; 4) Longitude, 32 bits; 5) Latitude, 32 bits; 6) Altitude, 32 bits; 7) Length, 32 bits; 8) Width, 32 bits; 9) Height, 32 bits.

6. The low-altitude traffic collision avoidance system based on optical communication according to claim 1, characterized in that: The light flashing frequency of the traffic outline photosensitive signal is 9.6kHz, and the light coding is binary coded according to "off, on" representing 01; The broadcast anti-collision optical communication coding format includes at least the following: 1) Coding type, 8 bits, 0x03 means broadcast type; 2) ID number, 64-bit unsigned long type; 3) Airborne type, 32 bits; 4) Longitude, 32 bits; 5) Latitude, 32 bits; 6) Altitude, 32 bits; 7) Heading, 32 bits; 8) Ground speed, 32 bits; 9) Lifting speed, 32 bits.

7. The low-altitude traffic collision avoidance system based on optical communication according to claim 1, characterized in that: The ground-based integrated intelligent anti-collision light is used to transmit photosensitive signals in a rotational manner in the form of a ground feature photosensitive signal and a traffic outline map photosensitive signal.

8. The low-altitude traffic collision avoidance system based on optical communication according to claim 1, characterized in that: The ground-based integrated intelligent anti-collision lights are located on buildings, tower cranes, high-voltage towers, and wind measurement towers.

9. The low-altitude traffic collision avoidance system based on optical communication according to any one of claims 4 to 6, characterized in that: Each optical communication coding format also includes a check bit.

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