Portable emergency rescue unmanned aerial vehicle cooperative command equipment

Abstract

The invention discloses portable emergency rescue unmanned aerial vehicle cooperative command equipment which comprises a multi-heterogeneous unmanned aerial vehicle flight control docking system, an unmanned aerial vehicle load data large-capacity high-concurrency fusion processing system, an emergency field air traffic control flight service system, a multi-vehicle cooperative operation command system and a digital battlefield airspace fusion flight situation digital twin system. The five systems are subjected to hardware and environment installation adaptation and are jointly integrated into an unmanned aerial vehicle cooperative command equipment platform, environment perception, path planning, task allocation, cooperative decision making, cooperative positioning, formation control, collision avoidance and the like are combined together, the control effect of distributed control is enhanced, and the cluster stability is improved; moreover, an emergency field digital base is provided for superposing the airspace flight state, and digital airspace fusion flight recovery diagnosis and deduction analysis are provided, so that the system has the real-time sensing capability of the field condition, and support is provided for emergency field commanders to make decisions.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle coordinated command, and in particular to a portable emergency rescue unmanned aerial vehicle coordinated command equipment. Background Art

[0002] With the development of science and technology, UAV technology has been widely used in civil and military fields such as farmland seeding, forest search and rescue, border monitoring, battlefield interference, electronic countermeasures, etc. However, with the complexity of tasks and environments, a single UAV can no longer meet the needs of the task. UAV swarms composed of multiple UAVs have gradually attracted attention due to their excellent performance such as high efficiency, high robustness, multi-function and scalability.

[0003] As an effective means of performing high-difficulty and high-risk tasks, drone swarm technology has developed rapidly in the past decade. Drone swarms can share information between clusters through aerial networking, and achieve intelligent decision-making of the group through artificial intelligence technology and flight control technology, realize collaborative autonomous movement, and meet the needs of various complex tasks. It has advantages that a single drone cannot match. In its research field, research hotspots such as environmental perception, path planning, task allocation, collaborative decision-making, collaborative positioning, formation control and collision avoidance have gradually formed. Due to the broad application prospects and huge combat advantages of drone swarms, its related technical research has become a cutting-edge development direction.

[0004] To this end, we propose a portable emergency rescue drone collaborative command equipment. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a portable emergency rescue drone collaborative command equipment.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A portable emergency rescue UAV collaborative command equipment, including a flight control docking system for multiple heterogeneous UAVs, a large-capacity and high-concurrency fusion processing system for UAV payload data, an emergency on-site air traffic control flight service system, a multi-aircraft collaborative operation command system, and a digital battlefield airspace fusion flight situation digital twin system; The flight control docking system for multiple heterogeneous UAVs includes a registration module, an interface module, and a system management module 1; The large-capacity and high-concurrency fusion processing system for UAV payload data includes data storage module, data processing module, data service module, data service module, and system management module II; The emergency on-site air traffic control flight service system includes emergency on-site airspace management module, flight plan management module, flight comprehensive situation warning module, and system management module 3; The multi-machine collaborative operation command system includes a multi-machine collaborative resource management module, a multi-machine task planning management module, and a system management module 4; The digital battlefield airspace integrated flight situation digital twin system includes five modules: basic underlying data engine module, 3D layer data engine module, emergency air traffic control display module and system management module.

[0007] As a further feature of the present invention, the registration module provides a registration module for the flight control docking system of multiple heterogeneous drones, which is used to manage the registration of drones participating in tasks at the emergency site, and supports the system to automatically configure the communication protocol and interface of the corresponding drone control system according to the registered drones, and manage the currently registered devices; the registration module supports indirect access to the flight control systems of multi-rotor light and small drones, composite wing medium-sized drones, medium and large unmanned helicopters, etc., and supports docking in accordance with unified specifications and standards; The interface module provides communication protocol management, supports multiple communication protocols defined by default, and supports emergency site managers to select one or more appropriate communication protocols according to the on-site conditions, and provides data support for the interface configuration communication protocol in interface management; provides data type management, supports multiple interface transmission data types defined by default; provides interface management, supports the development and management of standard interfaces with various types of drones and payload control system data, and the development of standard interfaces needs to be determined according to the actual application drone type and payload type; provides interface operation monitoring, can standardize the definition, deployment, release, and allocation of interface tasks with other systems in the form of a visual interface in the system, can view, monitor, and audit the logs of interface call execution, and can provide real-time statistics on the operation status of each interface in the system operation management; System management module 1 provides fine-grained permission control and login permission control to ensure that users can only access authorized data, protect sensitive information from unauthorized access, and prevent data leakage or abuse; supports basic parameter configuration and setting of flight control docking systems for multiple heterogeneous drones; monitors the operation status of system services in real time; and monitors the usage of system resources in real time.

[0008] As a further feature of the present invention, the data storage module supports large-capacity reception of drone payload data, and transmits data of no less than ten drone reconnaissance payloads in real time through multiple heterogeneous drone flight control docking systems, thereby achieving real-time and effective docking of different types of drone payload data, and integrating data from multiple sensors through data processing and fusion algorithms; supports large-capacity storage of drone payload data, supports offline temporary storage of data, can store data locally without a public network and at a low public network rate, and can automatically synchronize to the cloud when there is a network; supports three-level cache architecture design, and supports service fault tolerance and rapid recovery and other functions; Support asynchronous processing and message queues. All data processing uses asynchronous message mechanism to ensure high concurrency capability of the system. The data processing module provides the UAV payload data processing algorithm and the UAV payload data high-concurrency processing engine, supports data preprocessing, which usually includes data cleaning, data formatting, data standardization, data fusion, data compression, etc.; ensures that the system can recover quickly in the event of hardware failure or data loss, and designs the system to adapt to network instability and data inconsistency; The data service module provides data quality assurance, supports the release of processed data and analysis results, supports decision-making and task execution; supports streaming data service functions, allowing users to start watching or listening to content while the file is being downloaded, and supports simultaneous playback of no less than four channels of video; supports ad hoc query functions so that users can access the latest data instantly without waiting for regularly updated reports or pre-defined query results; System management module 2 provides fine-grained permission control and login permission control to protect sensitive information from unauthorized access and prevent data leakage or abuse; supports the configuration and setting of basic system parameters of the large-capacity and high-concurrency fusion processing system for UAV payload data; intelligently schedules tasks to the appropriate nodes for execution based on task requirements and resource usage; provides a real-time monitoring interface and analysis tools to support real-time monitoring of system service operation status; and monitors system resource usage in real time.

[0009] As a further feature of the present invention, emergency site airspace management provides emergency site airspace management, supports the division of drone flight airspace according to the drone's mission and flight parameters; supports the application and establishment of temporary emergency site digital battlefield airspace to support the flight plan application and flight mission execution of emergency rescue drones in this airspace; supports the planning of mission routes according to the emergency tasks that the emergency site drones need to perform; also supports the setting of electronic fences for various types of drones in the emergency site airspace; supports real-time synchronization of the current emergency mission airspace three-dimensional airspace base map; provides battlefield airspace gridding algorithm development, supports multiple types of airspace gridding algorithms; supports real-time synchronization of the current emergency mission airspace real-time meteorological information, and the system also supports the generation of mission airspace meteorological information by file import; The flight plan management module provides manned and unmanned flight plan management, and supports emergency management personnel in formulating, adjusting, executing and tracking UAV mission flight plans; the system supports emergency management personnel in formulating, crew configuration, adjusting, executing and tracking manned mission flight plans; the system supports parameter configuration of comprehensive information alarms for emergency on-site airspace flights, and emergency management personnel can configure alarm parameters according to on-site mission needs; The flight comprehensive situation warning module provides a comprehensive flight situation display and a comprehensive flight situation dashboard. It overlays the aircraft comprehensive information layer, multi-aircraft comprehensive route information layer, mission gridded airspace and electronic fence layer, comprehensive warning information layer, airspace real-time meteorological information layer, etc. on the mission airspace base map, and then generates an intuitive emergency airspace all aircraft real-time flight comprehensive situation information data dashboard; it provides comprehensive flight warnings and multi-level flight warnings to help operators identify potential risks in a timely manner and take corresponding measures. It has the function of automatically generating violation warnings based on the target track of manned and unmanned fusion flight signal sources, including illegal flight warnings, overspeed warnings, high consistency warnings, deviation warnings, no-fly zone warnings and distress warnings. The system has flight conflict warnings and conflict resolution functions; it provides comprehensive meteorological services, integrates real-time meteorological information, provides comprehensive meteorological services for digital battlefield airspace flight missions, and analyzes the meteorological elements of the flight profile of the flight mission according to the planned flight time, area, route, waypoints and other information; System management module three supports the basic parameter configuration and setting of the emergency on-site air traffic control flight service system; configures the communication parameters of drones of different specifications and models according to the emergency mission configuration drone specifications and models, ensuring that the system can communicate with the mission drone operators in real time, and the commander can communicate with the crew of manned aircraft in real time; configures system users according to the emergency on-site personnel configuration, and maintains system user accounts, passwords, authority roles and other information; provides real-time feedback on system abnormalities and gives alarm prompts, including: insufficient CPU, memory, disk space, service suspension, network congestion, etc., prompting management personnel to solve the problem as soon as possible to ensure the normal operation of the system.

[0010] As a further feature of the present invention, the multi-drone collaborative resource management module provides multi-drone collaborative resource management, supports functions such as mission planning and coordination, route planning, etc., automatically generates an optimized flight path for each drone to cover the specified scanning block, and ensures sufficient overlap with the paths of adjacent drones to facilitate seamless splicing of 3D model data; supports on-site emergency command commanders to achieve unified resource management of drone resources available on site; manages the information of the management and operation team of the on-site registered drones; The multi-machine mission planning and management module provides multi-machine mission planning and allocation, supports detailed mission planning, and can allocate sub-areas to the most suitable drones according to the performance characteristics of drones, such as flight time, sensor coverage, etc.; provides multi-machine collaborative flight control, supports dynamic adjustment of drone flight trajectories according to real-time mission requirements, drone performance parameters and environmental factors, improves the system's adaptability and flexibility to missions, and supports dynamic adjustment algorithms for multi-machine flight trajectories; provides real-time monitoring of flight status, provides performance monitoring and optimization modules, supports monitoring the performance of the entire multi-machine collaborative operation system, including mission completion time, resource utilization, etc., and provides decision support for emergency on-site commanders through real-time feedback of system operation status; System management module 4 provides fine-grained permission control and login permission control to protect sensitive information from unauthorized access and prevent data leakage or abuse; supports basic parameter configuration and setting of emergency site multi-machine collaborative operation command system; monitors the operation status of system services in real time and adjusts the use of system resources according to actual conditions; monitors the use of system resources in real time, including the use of hardware resources such as CPU, memory, and disk space.

[0011] As a further feature of the present invention, the basic underlying data engine module provides fusion of multi-heterogeneous data in digital airspace, supports the integration of the system with an EGIS emergency command map, has the ability to perceive the on-site situation in real time, and can visualize information from different sources; provides high-performance flight dynamics real-time visualization engine development, supports the construction of a high-performance real-time visualization engine to present flight situation information in the digital twin system, and is used to optimize graphics rendering and update algorithms in real time to ensure that the system can maintain smooth performance under high load; The 3D layer data engine module supports the use of real-time data support provided by a high-performance data engine, and dynamically generates real-time information layers that integrate multiple types of data, including: on-site rapid three-dimensional mapping terrain layers, 3D flight plan information layers, 3D mission real-time status information layers, 3D UAV comprehensive information layers, 3D UAV mission route layers, 3D UAV real-time track layers, 3D airspace grid layers, 3D electronic fence layers, 3D airspace meteorological information layers, 3D comprehensive warning information layers, etc. The emergency air traffic control display module provides a digital base for superimposing airspace flight status on the emergency scene, and supports real-time dynamic superposition of multi-type data fusion information layers generated by a high-performance data engine on a 3D emergency mission scene digital base map; enables the system to have real-time perception of the on-site situation, and can visualize the information from different sources on the three-link display screen of the portable command and dispatch equipment in an "emergency air traffic control one map"; provides digital airspace fusion flight review, diagnosis, deduction and analysis, supports the review, diagnosis and deduction analysis functions of digital airspace flight situation, supports emergency scene commanders to understand operational deficiencies and evaluate decision-making effects through the review function, and conduct deductions in similar situations, providing more effective decision-making references for future emergency scenarios; provides airspace fusion flight situation visualization analysis tools, provides airspace data analysis tools, supports visualization analysis of large-scale complex data; provides emergency rescue manned and unmanned flight path planning visualization analysis tools, as well as flight conflict visualization analysis tools, to provide support for emergency scene commanders' decision-making; System management module five supports the parameter configuration and setting of the digital battlefield airspace integrated flight situation digital twin system; the system supports the configuration of the data source of the digital battlefield airspace integrated flight situation digital twin system according to the actual situation of the current emergency mission site; login permission control, the system provides fine-grained permission control to protect sensitive information from unauthorized access and prevent data leakage or abuse; real-time monitoring of system service operation status, and adjustment of system resource usage according to actual conditions; real-time monitoring of system resource usage, including CPU, memory, disk space and other hardware resource usage.

[0012] Compared with the prior art, the present invention has the following beneficial effects: The five major systems in the present invention are integrated into a platform, and the hardware and environment are installed and adapted. Among them, environmental perception, path planning, task allocation, collaborative decision-making, collaborative positioning, formation control and collision avoidance are combined together to enhance the control effect of decentralized control and improve the stability of the cluster. In addition, through visual display, a digital base superimposed airspace flight state is provided for the emergency site, and a digital airspace fusion flight review diagnosis and deduction analysis is provided, so that the system has real-time perception capabilities of the on-site situation, supports visual analysis of large-scale complex data, and can display information from different sources on the triple display screen of the portable command and dispatch equipment, providing support for the decision-making of emergency site commanders. DETAILED DESCRIPTION

[0013] The technical solutions in the embodiments of the present invention will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0014] Embodiment 1 A portable emergency rescue UAV collaborative command equipment, including a flight control docking system for multiple heterogeneous UAVs, a large-capacity and high-concurrency fusion processing system for UAV payload data, an emergency on-site air traffic control flight service system, a multi-aircraft collaborative operation command system, and a digital battlefield airspace fusion flight situation digital twin system. The above five systems are then installed and adapted for hardware and environment, and integrated into a UAV collaborative command equipment platform; The flight control docking system for multiple heterogeneous UAVs includes a registration module, an interface module, and a system management module 1; The large-capacity and high-concurrency fusion processing system for UAV payload data includes data storage module, data processing module, data service module, data service module, and system management module II; The emergency on-site air traffic control flight service system includes emergency on-site airspace management module, flight plan management module, flight comprehensive situation warning module, and system management module 3; The multi-machine collaborative operation command system includes a multi-machine collaborative resource management module, a multi-machine task planning management module, and a system management module 4; The digital battlefield airspace integrated flight situation digital twin system includes five modules: basic underlying data engine module, 3D layer data engine module, emergency air traffic control display module and system management module.

[0015] A portable emergency rescue drone collaborative command equipment, the registration module provides a registration module for multiple heterogeneous drone flight control docking systems, which is used to manage the registration of drones participating in tasks at the emergency site, and supports the system to automatically configure the communication protocol and interface of the corresponding drone control system according to the registered drones, and manage the currently registered devices, mainly including drone registration management and access device management; the registration module supports indirect access to flight control systems of multi-rotor light and small, composite wing medium-sized drones, medium and large unmanned helicopters, etc., supports docking in accordance with unified specifications and standards, realizes system-level drone flight control docking, and supports safety measures and emergency processing; The interface module provides communication protocol management, supports multiple communication protocols defined by default, and supports emergency site managers to select one or more appropriate communication protocols according to the on-site conditions, and provides data support for the interface configuration communication protocol in interface management; provides data type management, supports multiple interface transmission data types defined by default; provides interface management, supports the development and management of standard interfaces with various types of drones and payload control system data, and the development of standard interfaces needs to be determined according to the actual application drone type and payload type; During the implementation of the system, the type and brand of drone to be connected are determined, and data access standards are provided, requiring the connected drones to provide standardized data information in accordance with the requirements of the system standard interface before they can be connected to the system platform; interface operation monitoring is provided, and interface tasks with other systems can be standardizedly defined, deployed, released, and assigned in the form of a visual interface in the system. The logs of interface call execution can be viewed, monitored, and audited. The operation status of each interface managed in the system can be counted in real time, including monitoring indicators such as the number of operations, the number of operation failures, the amount of data pushed and received, and the operation time. It supports querying and generating operation reports based on time range statistics of operation status; System management module 1 provides fine-grained permission control and login permission control to ensure that users can only access authorized data, protect sensitive information from unauthorized access, and prevent data leakage or abuse; supports basic parameter configuration and setting of flight control docking systems for multiple heterogeneous drones; monitors the operation status of system services in real time and adjusts the use of system resources according to actual conditions; monitors the use of system resources in real time, including the use of hardware resources such as CPU, memory, and disk space.

[0016] A portable emergency rescue UAV coordinated command equipment, the data storage module supports large-capacity reception of UAV payload data, and transmits data of no less than ten UAV reconnaissance payloads in real time through multiple heterogeneous UAV flight control docking systems, realizing real-time and effective docking of different types of UAV payload data, and integrating data from multiple sensors through data processing and fusion algorithms; supports large-capacity storage of UAV payload data, supports offline temporary storage of data, can store data locally without public network and at low public network speed, and can automatically synchronize to the cloud when there is network; supports three-level cache architecture design, and supports service fault tolerance and rapid recovery and other functions; Support asynchronous processing and message queues. All data processing uses asynchronous message mechanism to ensure high concurrency capability of the system. The data processing module provides the UAV payload data processing algorithm and the UAV payload data high-concurrency processing engine, supports data preprocessing, and prepares and optimizes the data before using it for analysis and storage. In the large-capacity and high-concurrency fusion processing system of UAV payload data, data preprocessing usually includes data cleaning, data formatting, data standardization, data fusion, data compression, etc.; in the event of hardware failure or data loss, ensure that the system can recover quickly, and design the system to adapt to network instability and data inconsistency; The data service module provides data quality assurance, supports the release of processed data and analysis results, supports decision-making and task execution, and provides detailed information on the data coverage area through the large-capacity and high-concurrency fusion processing system of drone payload data, which is convenient for users to query and use; supports streaming data service functions, allowing users to start watching or listening to content while downloading files, and supports simultaneous playback of no less than four channels of video; supports ad hoc query functions so that users can access the latest data instantly without waiting for regularly updated reports or pre-defined query results; System management module 2 provides fine-grained permission control and login permission control to protect sensitive information from unauthorized access and prevent data leakage or abuse; supports the configuration and setting of basic system parameters of the large-capacity and high-concurrency fusion processing system for drone payload data; intelligently schedules tasks to the appropriate nodes for execution based on task requirements and resource usage to improve resource utilization and task processing speed; provides a real-time monitoring interface and analysis tools to support real-time monitoring of system service operation status and adjust system resource usage based on actual conditions; monitors system resource usage in real time, including the usage of hardware such as CPU, memory, and disk space.

[0017] A portable emergency rescue drone collaborative command equipment, emergency site airspace management provides emergency site airspace management, supports the division of drone flight airspace according to drone missions and flight parameters; supports the application and establishment of temporary emergency site digital battlefield airspace to support emergency rescue drone flight plan application and flight mission execution in this airspace, can carry out preliminary demarcation of emergency site airspace, airspace assessment, airspace application report, after obtaining approval, the platform can convert the obtained airspace approval into digital airspace; supports planning mission routes according to emergency missions that emergency site drones need to perform, and can manage mission routes of manned aircraft; at the same time, supports the setting of electronic fences for various types of drones in the emergency site airspace, and the electronic fences can implement all-weather passive safety protection for no-fly zones; Supports real-time synchronization of the current emergency mission airspace three-dimensional airspace base map. According to the actual situation, if the site cannot be connected to the external network, the system also supports the generation of the mission airspace base map by file import; provides battlefield airspace gridding algorithm development, supports multiple types of airspace gridding algorithms, and can actually set which algorithm to support this emergency mission according to the needs of the emergency mission, and can adjust the corresponding algorithm parameters to meet the needs of the current mission; supports real-time synchronization of the current emergency mission airspace real-time meteorological information, and the system also supports the generation of mission airspace meteorological information by file import; The flight plan management module provides manned and unmanned flight plan management, and supports emergency management personnel in formulating, adjusting, executing and tracking UAV mission flight plans; the system supports emergency management personnel in formulating, crew configuration, adjusting, executing and tracking manned mission flight plans; the system supports parameter configuration of comprehensive information alarms for emergency on-site airspace flights, and emergency management personnel can configure alarm parameters according to on-site mission needs; The flight comprehensive situation warning module provides a comprehensive flight situation display and a comprehensive flight situation dashboard. It overlays the aircraft comprehensive information layer, multi-aircraft comprehensive route information layer, mission gridded airspace and electronic fence layer, comprehensive warning information layer, airspace real-time meteorological information layer, etc. on the mission airspace base map, and then generates an intuitive emergency airspace all aircraft real-time flight comprehensive situation information data dashboard; it provides comprehensive flight warnings and multi-level flight warnings to help operators identify potential risks in a timely manner and take corresponding measures. It has the function of automatically generating violation warnings based on the target track of manned and unmanned fusion flight signal sources, including illegal flight warnings, overspeed warnings, high consistency warnings, deviation warnings, no-fly zone warnings and distress warnings. The system has flight conflict warnings and conflict resolution functions; it provides comprehensive meteorological services, integrates real-time meteorological information, provides comprehensive meteorological services for digital battlefield airspace flight missions, and analyzes the meteorological elements of the flight profile of the flight mission according to the planned flight time, area, route, waypoints and other information; System management module three supports the basic parameter configuration and setting of the emergency on-site air traffic control flight service system; configures the communication parameters of drones of different specifications and models according to the emergency mission configuration drone specifications and models, ensuring that the system can communicate with the mission drone operators in real time, and the commander can communicate with the crew of manned aircraft in real time; configures system users according to the emergency on-site personnel configuration, and maintains system user accounts, passwords, authority roles and other information; provides real-time feedback on system abnormalities and gives alarm prompts, including: insufficient CPU, memory, disk space, service suspension, network congestion, etc., prompting management personnel to solve the problem as soon as possible to ensure the normal operation of the system.

[0018] A portable emergency rescue drone collaborative command equipment. The multi-drone collaborative resource management module provides multi-drone collaborative resource management, supports mission planning and coordination, route planning and other functions, automatically generates an optimized flight path for each drone to cover the specified scanning block, and ensures that there is enough overlap with the paths of adjacent drones to facilitate seamless splicing of 3D model data; supports on-site emergency command commanders to achieve unified resource management of drone resources available on site; manages the management and operation team information of on-site registered drones; The multi-machine mission planning and management module provides multi-machine mission planning and allocation, supports detailed mission planning, and can allocate sub-areas to the most suitable drones according to the performance characteristics of drones, such as flight time, sensor coverage, etc.; provides multi-machine collaborative flight control, supports dynamic adjustment of drone flight trajectories according to real-time mission requirements, drone performance parameters and environmental factors, improves the system's adaptability and flexibility to missions, and supports dynamic adjustment algorithms for multi-machine flight trajectories; provides real-time monitoring of flight status, provides performance monitoring and optimization modules, supports monitoring the performance of the entire multi-machine collaborative operation system, including mission completion time, resource utilization, etc., and provides decision support for emergency on-site commanders through real-time feedback of system operation status; System management module 4 provides fine-grained permission control and login permission control to protect sensitive information from unauthorized access and prevent data leakage or abuse; supports basic parameter configuration and setting of emergency site multi-machine collaborative operation command system; monitors the operation status of system services in real time and adjusts the use of system resources according to actual conditions; monitors the use of system resources in real time, including the use of hardware resources such as CPU, memory, and disk space.

[0019] A portable emergency rescue drone collaborative command equipment, the basic underlying data engine module provides digital airspace multi-heterogeneous data fusion, supports the system and EGIS emergency command one map integration, has the real-time perception capability of the on-site situation, and can visualize information from different sources; provides high-performance flight dynamics real-time visualization engine development, supports the construction of high-performance real-time visualization engine to present flight situation information in the digital twin system, and is used to optimize graphics rendering, update algorithms in real time, and ensure that the system can maintain smooth performance under high load; The 3D layer data engine module supports the use of real-time data support provided by a high-performance data engine, and dynamically generates real-time information layers that integrate multiple types of data, including: on-site rapid three-dimensional mapping terrain layers, 3D flight plan information layers, 3D mission real-time status information layers, 3D UAV comprehensive information layers, 3D UAV mission route layers, 3D UAV real-time track layers, 3D airspace grid layers, 3D electronic fence layers, 3D airspace meteorological information layers, 3D comprehensive warning information layers, etc. The emergency air traffic control display module provides a digital base for superimposing airspace flight status on the emergency scene, and supports real-time dynamic superposition of multi-type data fusion information layers generated by a high-performance data engine on a 3D emergency mission scene digital base map; enables the system to have real-time perception of the on-site situation, and can visualize the information from different sources on the three-link display screen of the portable command and dispatch equipment in an "emergency air traffic control one map"; provides digital airspace fusion flight review, diagnosis, deduction and analysis, supports the review, diagnosis and deduction analysis functions of digital airspace flight situation, supports emergency scene commanders to understand operational deficiencies and evaluate decision-making effects through the review function, and conduct deductions in similar situations, providing more effective decision-making references for future emergency scenarios; provides airspace fusion flight situation visualization analysis tools, provides airspace data analysis tools, supports visualization analysis of large-scale complex data; provides emergency rescue manned and unmanned flight path planning visualization analysis tools, as well as flight conflict visualization analysis tools, to provide support for emergency scene commanders' decision-making; System management module five supports the parameter configuration and setting of the digital battlefield airspace integrated flight situation digital twin system; the system supports the configuration of the data source of the digital battlefield airspace integrated flight situation digital twin system according to the actual situation of the current emergency mission site; login permission control, the system provides fine-grained permission control to protect sensitive information from unauthorized access and prevent data leakage or abuse; real-time monitoring of system service operation status, and adjustment of system resource usage according to actual conditions; real-time monitoring of system resource usage, including CPU, memory, disk space and other hardware resource usage.

[0020] Embodiment 2 A portable emergency rescue UAV coordinated command equipment, including airborne ADS-B equipment, airborne broadband self-organizing network equipment, airborne aviation radio equipment, portable command and dispatch equipment, and ADS-B base station equipment, all of which can be purchased on the market; Airborne ADS-BIN equipment can be configured on the aircraft platform, mainly used to receive the emergency scene rate 1090MHz, support USB and WIFI interface, receiving frequency: 1090MHz; weight: ≤2kg; RF transmission power: >10W; transmission distance: >200 kilometers; multi-mode positioning: horizontal accuracy error ≤2.5 meters; high-precision air pressure sensor: positioning accuracy error ≤0.2 meters; Battery life: ≥8 hours; Airborne broadband self-organizing network equipment is mainly used to realize air-to-ground broadband data communication functions. Through broadband self-organizing networks, data such as drone flight monitoring data and on-site optoelectronic pod videos obtained on the aircraft can be transmitted back to the ground; the whole machine transmission power is ≥10W; it supports wireless chain, star, mesh and hybrid networking, supports wireless multi-hop technology, and the number of hops is ≥9 hops; under line-of-sight conditions, the single-hop communication distance is ≥70km, and the rate supports at least one high-definition video transmission; as an aerial backbone node, the MESH network scale needs to support ≥32 nodes; it supports stable transmission of video images and business data in 150km / h fast-moving scenarios; in the later stage, the equipment will be upgraded free of charge in accordance with the wireless broadband self-organizing network standard specifications for emergency command of the Ministry of Emergency Management; The airborne aviation radio equipment uses the VHF frequency band for on-board commanders to conduct on-site flight command and coordination; transmission power: ≥10W; frequency range: 118.000~136.975MHz; channel spacing: 25kHz / 8.33kHz; number of channels: 760 / 2280 frequency channels; preset channels: ≥90; The portable command and dispatch equipment realizes the "one map for emergency air traffic control" of the emergency scene fusion flight. It has a built-in real-time three-dimensional digital twin engine, high-performance graphics processor, etc., which is used to build a digital twin of airspace fusion flight situation, providing data fusion supply, full-factor digital expression, visualization presentation, and spatial analysis and calculation capabilities. At the same time, it provides standard communication protocols, hardware interfaces, and unified data formats. The portable command and dispatch equipment is based on the self-developed motherboard and independent graphics card, and integrates the client, command and dispatch background server, UPS, display screen, IO interface and other functions. Processor: must meet the safety and reliability evaluation requirements, CPU logical core number ≥ 24 cores, single core maximum main frequency ≥ 2.0GHz; CPU must meet the safety and reliability evaluation requirements; independent graphics card: video memory capacity ≥ 8GB; display screen: number of screens ≥ 3; single screen size ≥ 15 inches, resolution ≥ 1920*1080, refresh rate ≥ 60Hz; memory: ≥ 32G; storage: ≥ 4TBSSD; Gigabit network interface: ≥ 2; UPS: battery life ≥ 30 minutes, to ensure that the system equipment can continue to run when switching power in the event of a power outage; The ADS-B base station equipment is installed on the ground with receiving conditions at the emergency site. It can receive ADS-B information sent by drones and other aircraft equipped with ADS-Bout equipment in the air, and realize monitoring backup and supplement with ADS-B in the air. The ADS-B base station equipment supports a receiving distance of up to 150km and above, an operating frequency of 1090Mhz±200Khz, and supports receiving and processing ADS-B information such as DF-17 and DF-18; monitoring distance: ≥150 kilometers; number of monitored targets: ≥80; data processing delay: ≤30 milliseconds; data processing capacity: ≥800 messages / second.

[0021] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A portable emergency rescue drone coordinated command equipment, characterized in that: It includes a flight control docking system for multiple heterogeneous drones, a large-capacity and high-concurrency fusion processing system for drone payload data, an emergency on-site air traffic control flight service system, a multi-machine collaborative operation command system, and a digital battlefield airspace fusion flight situation digital twin system. The above five systems are then installed and adapted for hardware and environment, and integrated into a drone collaborative command equipment platform. The flight control docking system for multiple heterogeneous UAVs includes a registration module, an interface module, and a system management module 1; The large-capacity and high-concurrency fusion processing system for UAV payload data includes data storage module, data processing module, data service module, data service module, and system management module II; The emergency on-site air traffic control flight service system includes emergency on-site airspace management module, flight plan management module, flight comprehensive situation warning module, and system management module 3; The multi-machine collaborative operation command system includes a multi-machine collaborative resource management module, a multi-machine task planning management module, and a system management module 4; The digital battlefield airspace integrated flight situation digital twin system includes five modules: basic underlying data engine module, 3D layer data engine module, emergency air traffic control display module and system management module.

2. A portable emergency rescue drone coordinated command equipment according to claim 1, characterized in that: The registration module provides a registration module for the flight control docking system of multiple heterogeneous drones. The registration module supports indirect access to the flight control systems of multi-rotor light and small drones, composite wing medium-sized drones, medium and large unmanned helicopters, etc., and supports docking in accordance with unified specifications and standards; The interface module provides communication protocol management, supports multiple communication protocols defined by default, and supports emergency site managers to select one or more appropriate communication protocols according to the on-site conditions; it provides data type management, supports multiple interface data transmission data types defined by default, and supports the development and management of standard interfaces for various types of drones and payload control system data; Provide interface operation monitoring; System management module 1 provides fine-grained permission control and login permission control to ensure that users can only access authorized data. It supports the basic parameter configuration and setting of flight control docking systems for multiple heterogeneous drones, monitors the operation status of system services in real time, and monitors the usage of system resources in real time.

3. The portable emergency rescue drone coordinated command equipment according to claim 1, characterized in that: The data storage module supports large-capacity reception and storage of drone payload data, offline temporary storage of data, three-level cache architecture design, service fault tolerance and rapid recovery, asynchronous processing and message queues; The data processing module provides UAV payload data processing algorithms and a high-concurrency processing engine for UAV payload data, supporting data preprocessing; The data service module provides data quality assurance, supports the release of processed data and analysis results, supports decision-making and task execution, supports streaming data service functions, and supports the simultaneous playback of no less than four channels of video; Support for ad hoc query capabilities enables users to instantly access the latest data; System management module 2 provides fine-grained permission control and login permission control to prevent data leakage or abuse. It supports the configuration and setting of basic system parameters of the large-capacity and high-concurrency fusion processing system for UAV payload data. It intelligently schedules tasks to the appropriate nodes for execution based on task requirements and resource usage, provides a real-time monitoring interface and analysis tools, and supports real-time monitoring of system service operation status.

4. The portable emergency rescue drone coordinated command equipment according to claim 1, characterized in that: Emergency site airspace management provides emergency site airspace management, supports the division of drone flight airspace according to drone missions and flight parameters, supports the application and establishment of temporary emergency site digital battlefield airspace, supports the planning of mission routes according to emergency missions that drones need to perform at the emergency site, supports the setting of electronic fences for various types of drones in the emergency site airspace, supports real-time synchronization of the current emergency mission airspace three-dimensional airspace base map, supports multiple types of airspace gridding algorithms, supports real-time synchronization of the current emergency mission airspace real-time meteorological information, and supports the generation of mission airspace meteorological information by file import; The flight plan management module provides manned and unmanned flight plan management, supports emergency management personnel in formulating, adjusting, executing and tracking UAV mission flight plans, and supports emergency management personnel in formulating, crew configuration, adjusting, executing and tracking manned mission flight plans. The system supports parameter configuration of comprehensive information warnings for emergency on-site airspace flights. The flight comprehensive situation warning module provides comprehensive flight situation display, comprehensive flight situation dashboard, comprehensive flight warning, multi-level flight warning, and comprehensive meteorological services; System management module three supports the basic parameter configuration and setting of the emergency on-site air traffic control flight service system. It configures the communication parameters of drones of different specifications and models according to the emergency tasks, configures system users according to the emergency on-site personnel configuration, and provides real-time feedback on system abnormalities and alarms to prompt management personnel to solve the problem as soon as possible to ensure the normal operation of the system.

5. The portable emergency rescue drone coordinated command equipment according to claim 1, characterized in that: The multi-drone collaborative resource management module provides multi-drone collaborative resource management, supports mission planning and coordination, route planning and other functions, supports on-site emergency command commanders to achieve unified resource management of available drone resources on site, and manages the management and operation team information of on-site registered drones; The multi-machine task planning and management module provides multi-machine task planning and allocation, supports detailed task planning, can dynamically adjust the flight trajectory of the UAV according to the performance characteristics of the UAV, the real-time requirements of the task, the performance parameters of the UAV and environmental factors, improves the adaptability and flexibility of the system to the task, supports the dynamic adjustment algorithm of the flight trajectory of multiple aircraft, provides real-time monitoring of flight status, provides performance monitoring and optimization modules, supports monitoring the performance of the entire multi-machine collaborative operation system, and provides decision support for emergency scene commanders through real-time feedback of system operation status; System management module 4 provides fine-grained permission control and login permission control to protect sensitive information from unauthorized access and prevent data leakage or abuse; Supports basic parameter configuration and setting of the emergency on-site multi-machine collaborative operation command system; real-time monitoring of system service operation status and system resource usage.

6. The portable emergency rescue drone coordinated command equipment according to claim 1, characterized in that: The basic underlying data engine module provides digital airspace multi-heterogeneous data fusion, supports the integration of the system with the EGIS emergency command map, provides high-performance flight dynamics real-time visualization engine development, and supports the construction of a high-performance real-time visualization engine; The 3D layer data engine module supports the use of real-time data support provided by a high-performance data engine, and dynamically generates real-time information layers that integrate multiple types of data, including: on-site rapid three-dimensional mapping terrain layers, 3D flight plan information layers, 3D mission real-time status information layers, 3D UAV comprehensive information layers, 3D UAV mission route layers, 3D UAV real-time track layers, 3D airspace grid layers, 3D electronic fence layers, 3D airspace meteorological information layers, 3D comprehensive warning information layers, etc. The emergency air traffic control display module provides a digital base for superimposing airspace flight status on the emergency scene, supports real-time dynamic superposition of multi-type data fusion information layers generated by a high-performance data engine on a 3D emergency mission scene digital base map, provides digital airspace fusion flight review, diagnosis, deduction and analysis, supports the review, diagnosis and deduction analysis functions of digital airspace flight situation, supports emergency scene commanders to understand operational deficiencies and evaluate decision-making effects through the review function, provides airspace fusion flight situation visualization analysis tools, provides airspace data analysis tools, supports visualization analysis of large-scale complex data, provides emergency rescue manned and unmanned flight path planning visualization analysis tools, and flight conflict visualization analysis tools, to provide support for emergency scene commanders' decision-making; System management module five provides fine-grained permission control and login permission control, and supports parameter configuration and setting of the digital battlefield airspace integrated flight situation digital twin system; the system supports configuring the data source of the digital battlefield airspace integrated flight situation digital twin system according to the actual situation of the current emergency mission site, real-time monitoring of the system service operation status, adjusting the system resource usage according to the actual situation, and real-time monitoring of the system resource usage.