Large and medium-sized unmanned aerial vehicle follow-up monitoring system and method

Abstract

The invention discloses a large and medium-sized unmanned aerial vehicle follow-up monitoring system and method. The system comprises an unmanned aerial vehicle platform unit which comprises a high-altitude high-speed unmanned aerial vehicle and two same hollow long-endurance unmanned aerial vehicles; the ground station control unit comprises a first ground control station and a second ground control station, and the first ground control station is used for controlling and monitoring the high-altitude high-speed unmanned aerial vehicle; the second ground control station is used for controlling and monitoring the hollow long-endurance unmanned aerial vehicle; the unmanned aerial vehicle comprehensive management and control unit is used for determining a suspicious target and corresponding position information based on airborne telemetry data of the high-altitude high-speed unmanned aerial vehicle, formulating a search route of the suspicious target and sending the search route to the second ground control station to control the hollow long-endurance unmanned aerial vehicle to search the suspicious target; and the hollow long-endurance unmanned aerial vehicle is controlled to alternately track and monitor the real target. According to the invention, large-scale rapid search and long-time continuous tracking and monitoring can be carried out on the target in a short time, so that the high maneuverability, stability and accuracy of the tracking and monitoring system are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and more specifically, relates to a large and medium-sized unmanned aerial vehicle tracking and monitoring system and method. Background Art

[0002] In recent years, with the rapid development of the economy, drone technology has been rapidly developed and widely used. Especially in scenarios that require long-term and large-scale monitoring, drone tracking technology is particularly important. To ensure the quality of drone tracking technology, it is necessary to improve the stability, accuracy and efficiency of the tracking system.

[0003] At present, the commonly used UAV tracking and monitoring technologies mainly adopt traditional small UAV tracking and monitoring, optoelectronic tracking, radar tracking and single aircraft tracking. Traditional small UAVs used in monitoring systems are difficult to search and monitor targets over a large range, and it is difficult to find targets in a short time, which seriously affects the efficiency of search and monitoring; optoelectronic and radar single-machine monitoring systems have good search effects on multiple land targets, but poor search performance for some moving targets in the sea area; single-aircraft monitoring systems cannot continuously monitor targets for a long time due to the limited flight time of the aircraft, which makes the target easy to lose.

[0004] It can be seen that the existing tracking technology has problems such as long search and discovery time, easy loss of tracking target and short continuous tracking time, which leads to poor tracking efficiency and cannot meet the development needs of existing tracking technology. Therefore, it is necessary to develop a tracking system based on large and medium-sized UAV platforms, which can quickly search and continuously track and monitor targets over a large range and field of view, and improve the stability, accuracy and efficiency of the tracking system.

[0005] The information disclosed in the background technology section of the present invention is only intended to deepen the understanding of the general background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0006] The purpose of the present invention is to propose a large and medium-sized unmanned aerial vehicle tracking and monitoring system and method, so as to solve the problem that insufficient search and monitoring speed and search and monitoring range seriously affect the search and monitoring efficiency, and the inability to continuously monitor the target for a long time leads to the loss of the target, so as to realize rapid search and long-term continuous tracking and monitoring of the target under large-range and large-field conditions, and improve the stability, accuracy and efficiency of the tracking and monitoring system.

[0007] To achieve the above objectives, the present invention proposes a large and medium-sized unmanned aerial vehicle tracking and monitoring system and method.

[0008] According to a first aspect of the present invention, a large and medium-sized UAV tracking and monitoring system is proposed, comprising:

[0009] The UAV platform unit includes a high-altitude, high-speed UAV and two identical medium-altitude, long-flight UAVs, wherein the high-altitude, high-speed UAV is used to quickly search a set area, and the medium-altitude, long-flight UAV is used to search for the suspicious target to identify and confirm the real target, and alternately track and monitor the real target;

[0010] A ground station control unit, comprising a first ground control station and a second ground control station, wherein the first ground control station is connected in communication with the high-altitude, high-speed UAV for controlling and monitoring the high-altitude, high-speed UAV; the second ground control station is connected in communication with the medium-altitude, long-flight UAV for controlling and monitoring the medium-altitude, long-flight UAV;

[0011] The UAV integrated management and control unit is communicatively connected with the ground station control unit, and is used to determine the suspicious target and the corresponding position information based on the airborne telemetry data of the high-altitude and high-speed UAV sent by the first ground station control unit, and then formulate a search route for the suspicious target to form telemetry information and send it to the second ground control station to generate remote control instructions to control the medium-altitude and long-flight UAV to search for the suspicious target, and control the medium-altitude and long-flight UAV to alternately track and monitor the real target.

[0012] Optionally, the high-altitude, high-speed UAV and the medium-altitude, long-flight UAV both include:

[0013] An airborne data terminal, used to transmit telemetry data of the UAV platform unit to the ground station control unit, and to receive remote control commands sent by the ground station control unit;

[0014] A task management computer is respectively connected to the airborne data terminal, the data integration device, the optoelectronic load, the multifunctional radar, the airborne ship automatic identification module and the data recorder for communication, and the task management computer is used to monitor and manage the airborne data terminal, the data integration device, the optoelectronic load, the multifunctional radar, the airborne ship automatic identification module and the data recorder;

[0015] A data integration device is respectively connected to the airborne data terminal and the multifunctional radar for communication, and is used to receive the high-speed image synchronization data sent by the multifunctional radar, and send the high-speed image synchronization data to the ground station control unit via the airborne data terminal;

[0016] An optoelectronic payload is installed at the nose of the high-altitude, high-speed UAV and the medium-altitude, long-flight UAV, and is used to quickly search the set area, search for the suspicious target, and alternately track and monitor the real target;

[0017] A multifunctional radar is installed on the belly of the high-altitude, high-speed UAV and the medium-altitude, long-flight UAV, and is used to quickly search the set area, search for the suspicious target, and alternately track and monitor the real target;

[0018] An airborne ship automatic identification module is installed on the belly of the high-altitude, high-speed UAV and the medium-altitude, long-flight UAV and is located behind the multi-function radar, and is used to detect and identify the sea area;

[0019] The data recorder is installed inside the cabin of the high-altitude high-speed UAV and the medium-altitude long-flight UAV, and is respectively communicated with the optoelectronic payload, the multi-function radar and the airborne ship automatic identification module for storing data.

[0020] Optionally, the first ground control station and the second ground control station have the same internal structure, both comprising:

[0021] A ground data terminal is connected to the corresponding airborne data terminal for realizing information exchange between the ground station control unit and the UAV platform unit;

[0022] The link monitoring platform is respectively connected to the ground data terminal, the payload control platform and the UAV integrated management and control unit for receiving the airborne telemetry data transmitted by the ground data terminal, distributing the low-speed telemetry data and the synchronous high-speed telemetry data to each software in the payload control platform, transmitting the telemetry data of the optoelectronic payload, the multi-function radar and the airborne ship automatic identification module to the UAV integrated management and control unit, and receiving the telemetry information sent by the UAV integrated management and control unit;

[0023] The load control platform is used to receive the airborne telemetry data sent by the link monitoring platform to monitor the UAV platform unit; receive the telemetry information sent by the UAV integrated management and control unit to the link monitoring platform, and send remote control instructions to the remote control framing control platform based on the telemetry information;

[0024] The remote control framing control module is used to receive the remote control instructions issued by the load control module, and send the remote control instructions to the ground data terminal in the format of UDP to control the UAV platform unit.

[0025] Optionally, the drone integrated management and control unit includes:

[0026] An information transceiver processing module is used to receive the airborne telemetry data sent by the ground station control unit and parse and process the airborne telemetry data; and send the telemetry data of the optoelectronic payload, multi-function radar and airborne ship automatic identification module to the data fusion processing module;

[0027] A data fusion processing module is used to fuse and process the telemetry data of the optoelectronic payload, the multi-function radar and the airborne ship automatic identification module to obtain target information. An operator selects a target as a suspicious target or a non-suspicious target based on the target information, and sends the information of the suspicious target to a target planning module;

[0028] The target planning module formulates a search route within the set area based on the information of the suspicious target, and forms telemetry information based on the search route and the location information of the suspicious target and sends it to the ground station control unit via the information transceiver processing module.

[0029] Optionally, the load control platform includes:

[0030] The flight control ground software is used to receive the airborne telemetry data sent by the link monitoring platform to monitor the UAV platform unit; based on the telemetry information, it sends remote control instructions to the remote control framing control platform;

[0031] Photoelectric display and control software, used for receiving the photoelectric load telemetry data transmitted by the link monitoring platform, and sending remote control instructions to the remote control framing control platform based on the photoelectric load telemetry data;

[0032] Radar display and control software, used for receiving the multifunctional radar telemetry data transmitted by the link monitoring platform, and sending remote control instructions to the remote control framing control platform based on the multifunctional radar telemetry data;

[0033] Airborne ship automatic identification display and control software, used to receive the airborne ship automatic identification telemetry data transmitted by the link monitoring platform, and send remote control instructions to the remote control framing control platform based on the airborne ship automatic identification telemetry data;

[0034] The route planning software is used to receive the telemetry information sent by the UAV integrated management and control unit to the link monitoring platform, push the search route in the telemetry information to the flight control ground software based on the mission requirements, and push the location information of the suspicious target in the telemetry information to the optoelectronic payload, multi-function radar and airborne ship automatic identification module.

[0035] Optionally, the task management computer is connected to the airborne data terminal, the data integration equipment, the optoelectronic load, the multi-function radar, the airborne ship automatic identification module and the data recorder through an asynchronous 422 interface;

[0036] The data integration device is connected to the multifunctional radar through a synchronous 422 interface;

[0037] The data recorder is respectively connected to the photoelectric load, the multifunctional radar and the airborne ship automatic identification module through an Ethernet interface.

[0038] Optionally, the link monitoring platform is communicatively connected to the UAV integrated management and control unit via an Ethernet interface.

[0039] Optionally, the information transceiver processing module is communicatively connected with the target planning module via an asynchronous 422 interface;

[0040] The information transceiver processing module transmits the video, synchronous image and low-speed telemetry data of the optoelectronic payload, multi-function radar and airborne ship automatic identification module to the data fusion processing module through three Ethernet interfaces.

[0041] Optionally, the data fusion processing module fuses and processes the video, synchronous image and low-speed telemetry data of the optoelectronic payload, multi-function radar and airborne ship automatic identification module respectively, and obtains the attribute information, motion state information and position information of the target to be determined by comparing multiple groups of data information under the same time state. The operator selects the target to be determined as a suspicious target or a non-suspicious target based on the attribute information, motion state information and position information, and sends the information of the suspicious target to the target planning module through the asynchronous 422 interface.

[0042] According to a second aspect of the present invention, a large and medium-sized UAV tracking method is proposed, comprising:

[0043] Simultaneously launch a high-altitude, high-speed drone and a medium-altitude, long-flight drone;

[0044] The high-altitude and high-speed UAV is used to quickly search the set area, and the telemetry data of the high-altitude and high-speed UAV is transmitted to the first ground control station and then to the UAV integrated management and control unit to determine the suspicious target and the corresponding position information, and then the search route of the suspicious target is formulated to form the telemetry information and send it to the second ground control station to generate a remote control command to control the medium-altitude and long-flight UAV to search for the suspicious target;

[0045] Identify the suspicious target according to the telemetry data of the medium-altitude long-flight UAV received by the second ground control station to determine the real target;

[0046] According to the position information of the real target, two medium-altitude long-flight UAVs are controlled to alternately track and monitor the real target.

[0047] The beneficial effects of the present invention are as follows: the present invention controls and monitors a high-altitude, high-speed UAV and two medium-altitude, long-flight UAVs through a ground station control unit, and quickly searches a set area through the high-altitude, high-speed UAVs, thereby realizing a large-scale, rapid search of targets in a short time; a search route for suspicious targets is formulated through a UAV integrated management and control unit to form telemetry information that is sent to a second ground control station to generate a remote control command, and two identical medium-altitude, long-flight UAVs are used to search for suspicious targets to identify and confirm the real targets, and the real targets are tracked and monitored alternately, thereby realizing long-term continuous tracking and monitoring, and improving the high maneuverability, stability and accuracy of the tracking and monitoring system.

[0048] The system of the present invention has other characteristics and advantages, which will be apparent from the drawings incorporated herein and the following detailed description, or will be described in detail in the drawings incorporated herein and the following detailed description, which together serve to explain the specific principles of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which like reference numerals generally represent like components.

[0050] Figure 1 A schematic diagram of a large and medium-sized UAV monitoring system according to Embodiment 1 of the present invention is shown.

[0051] Figure 2 A schematic diagram of the working process of a large and medium-sized UAV monitoring system according to the first embodiment of the present invention is shown.

[0052] Figure 3 A flowchart showing the steps of a method for tracking and monitoring large and medium-sized unmanned aerial vehicles according to the second embodiment of the present invention is shown. DETAILED DESCRIPTION

[0053] The present invention will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0054] A large and medium-sized unmanned aerial vehicle monitoring system according to the present invention comprises:

[0055] The UAV platform unit includes a high-altitude, high-speed UAV and two identical medium-altitude, long-flight UAVs. The high-altitude, high-speed UAV is used to quickly search a set area, and the medium-altitude, long-flight UAV is used to search for suspicious targets to identify and confirm the real targets, and to track and monitor the real targets alternately.

[0056] A ground station control unit includes a first ground control station and a second ground control station, wherein the first ground control station is connected to the high-altitude and high-speed UAV for controlling and monitoring the high-altitude and high-speed UAV; the second ground control station is connected to the medium-altitude and long-flight UAV for controlling and monitoring the medium-altitude and long-flight UAV;

[0057] The UAV integrated management and control unit is communicatively connected with the ground station control unit, and is used to determine suspicious targets and corresponding location information based on the airborne telemetry data of the high-altitude, high-speed UAV sent by the first ground station control unit, and then formulate a search route for the suspicious target to form telemetry information and send it to the second ground control station to generate remote control instructions to control the medium-altitude and long-flight UAV to search for suspicious targets, and control the medium-altitude and long-flight UAV to alternately track and monitor the real target.

[0058] Specifically, the UAV platform unit of the present invention is composed of a high-altitude, high-speed UAV and two identical medium-altitude, long-flight UAVs. The high-altitude, high-speed UAV and the medium-altitude, long-flight UAV have the same system composition; the ground station control unit is composed of a completely identical first ground control station and a second ground control station. The first ground control station is communicated with the high-altitude, high-speed UAV, and the high-altitude, high-speed UAV is monitored through the first ground control station. The second ground control station is communicated with the medium-altitude, long-flight UAV, and the medium-altitude, long-flight UAV is monitored through the second ground control station; through the high-altitude, high-speed UAV, a rapid search is performed on a set area through the high-altitude, high-speed UAV, thereby realizing a large-scale rapid search of the target in a short time; the first ground control station receives the high-altitude, high-speed UAV's The airborne telemetry data is transmitted to the UAV integrated management and control unit to determine the suspicious target and the corresponding location information, and then the search route of the suspicious target is formulated to form the telemetry information and sent to the second ground control station to generate remote control instructions to control the medium-altitude long-flight UAV to search for the suspicious target, and control the medium-altitude long-flight UAV to alternately track and monitor the real target, that is, first control the first medium-altitude long-flight UAV to track and monitor the real target. When the endurance of this medium-altitude long-flight UAV is insufficient, control the second medium-altitude long-flight UAV to track and monitor the real target according to the telemetry data of the first medium-altitude long-flight UAV, and then control the first medium-altitude long-flight UAV to return for maintenance. Alternating tracking and monitoring can achieve long-term continuous tracking and monitoring, which improves the high maneuverability, stability and accuracy of the tracking and monitoring system.

[0059] In one example, both the high altitude and high speed UAV and the medium altitude and long flight time UAV include:

[0060] An airborne data terminal, used to transmit telemetry data of the UAV platform unit to the ground station control unit, and to receive remote control commands sent by the ground station control unit;

[0061] The task management computer is respectively connected to the airborne data terminal, the data integration equipment, the optoelectronic load, the multifunctional radar, the airborne ship automatic identification module and the data recorder for communication. The task management computer is used to monitor and manage the airborne data terminal, the data integration equipment, the optoelectronic load, the multifunctional radar, the airborne ship automatic identification module and the data recorder.

[0062] The data integration device is respectively connected to the airborne data terminal and the multi-function radar for communication. The data integration device is used to receive the high-speed image synchronization data sent by the multi-function radar and send the high-speed image synchronization data to the ground station control unit via the airborne data terminal.

[0063] The optoelectronic payload is installed on the nose of high-altitude, high-speed UAVs and medium-altitude, long-flight UAVs to quickly search the set area, search for suspicious targets, and alternately track and monitor real targets;

[0064] Multi-function radar, installed on the belly of high-altitude high-speed UAV and medium-altitude long-flight UAV, is used to quickly search the set area, search for suspicious targets and alternately track and monitor real targets;

[0065] The airborne ship automatic identification module is installed on the belly of high-altitude high-speed UAVs and medium-altitude long-flight UAVs and is located behind the multi-function radar to detect and identify the sea area;

[0066] The data recorder is installed inside the cabin of high-altitude, high-speed UAVs and medium-altitude, long-flight UAVs, and is respectively communicated with the optoelectronic payload, multi-function radar and airborne ship automatic identification module to store data.

[0067] Specifically, both high-altitude, high-speed UAVs and medium-altitude, long-flight UAVs include: airborne data terminals, mission management computers, data integration equipment, optoelectronic payloads, multi-function radars, airborne automatic ship identification modules (AIS for short) and data recorders. The airborne data terminal (ADT for short) is used to transmit telemetry data from the UAV platform and receive remote control commands sent by the ground station control unit; the mission management computer consists of 1 power board, 1 main control board and 4 functional boards, and is connected to data integration equipment, optoelectronic payloads, multi-function radars, AIS, data recorders and other equipment through an asynchronous 422 interface, which can realize the communication of remote control and telemetry data between various devices, and Used to monitor and manage various equipment; the data integration equipment is connected to the multi-function radar through the synchronous 422 interface, which can receive the high-speed image synchronization data transmitted by the radar and transmit the data to the ground station control unit; the optoelectronic payload is mainly composed of an optoelectronic turret, a visible light detection component and an infrared detection component, which are installed at the nose position. The optoelectronic turret can ensure that the optoelectronic payload can stably track the target when the aircraft is at high speed and turning. The visible light and infrared detection components can meet the optoelectronic payload's all-weather search for the target. The optoelectronic payload has functions such as wide-area search, geographic tracking and active / passive positioning, which can realize the search and monitoring of the target; the optoelectronic payload is connected to the task management computer through the asynchronous 422 interface The multi-function radar is mainly composed of an antenna unit and a processing unit, which is installed on the belly of the UAV. The antenna unit is responsible for the generation, transmission, reception, beam scanning and shaping of radar signals to realize extensive search and detection of targets. The processing unit is responsible for completing radar system control and monitoring, real-time processing of radar signals and data, and image generation. The multi-function radar has functions such as strip / beam imaging, ground moving target real-time indication (GMTI) and wide-area search, which can realize large-scale search, discovery and tracking indication of static and moving targets; the multi-function radar is connected to the mission management computer through the asynchronous 422 interface, and the low-speed telemetry data is transmitted to the ground station control unit through the mission management computer. At the same time, the mission management computer transmits remote control commands to the multi-function radar to realize the control of the radar by the ground station control unit. The multi-function radar transmits the real-time collected high-speed image data to the data integration equipment through the synchronous 422 interface, and then transmits it to the ground station control system through the ADT;The airborne ship automatic identification module is mainly composed of an airborne ultra-short wave antenna and an AIS receiver. It is installed on the belly of the aircraft, behind the multi-function radar. The airborne ultra-short wave antenna completes the reception of space signals, and the AIS receiver completes the filtering, demodulation and signal transmission of space signals. The airborne ship automatic identification module effectively solves the problem of aircraft detection and identification of maritime targets through the collected AIS information, and improves the accuracy and stability of sea situation monitoring; the airborne ship automatic identification system is connected to the task management computer through the asynchronous 422 interface, and the low-speed telemetry data is transmitted to the ground station control unit through the task management computer via ADT. At the same time, the task management computer transmits remote control instructions to the airborne ship automatic identification module to realize the control of the airborne ship automatic identification module by the ground station control unit; the data recorder is located inside the cabin and is connected to the optoelectronic load, multi-function radar and AIS equipment through the Ethernet interface to realize the data storage of each device and the subsequent data processing and analysis. The data recorder transmits remote control and telemetry data between the task management computer and the ground station control unit through the asynchronous 422 interface to realize communication with the ground station control unit. ;

[0068] In one example, the first ground control station and the second ground control station have the same internal structure, both including:

[0069] The ground data terminal is connected to the corresponding airborne data terminal to realize the information exchange between the ground station control unit and the UAV platform unit;

[0070] The link monitoring platform is respectively connected to the ground data terminal, the payload control platform and the UAV integrated management and control unit for receiving the airborne telemetry data transmitted by the ground data terminal, distributing the low-speed telemetry data and the synchronous high-speed telemetry data to each software in the payload control platform, transmitting the telemetry data of the optoelectronic payload, the multi-function radar and the airborne ship automatic identification module to the UAV integrated management and control unit, and receiving the telemetry information sent by the UAV integrated management and control unit;

[0071] The payload control platform is used to receive the airborne telemetry data sent by the link monitoring platform to monitor the UAV platform unit; receive the telemetry information sent by the UAV integrated control unit to the link monitoring platform, and send remote control commands to the remote control framing control platform based on the telemetry information;

[0072] The remote control framing control module is used to receive the remote control commands issued by the payload control module, and send the remote control commands to the ground data terminal in the UDP format to control the UAV platform unit.

[0073] In one example, the drone integrated control unit includes:

[0074] The information transceiver processing module is used to receive the airborne telemetry data sent by the ground station control unit and parse and process the airborne telemetry data; send the telemetry data of the optoelectronic payload, multi-function radar and airborne ship automatic identification module to the data fusion processing module;

[0075] The data fusion processing module fuses and processes the telemetry data of the optoelectronic payload, multi-function radar and airborne ship automatic identification module to obtain target information. The operator selects the target as a suspicious target or a non-suspicious target based on the target information, and sends the information of the suspicious target to the target planning module;

[0076] The target planning module formulates a search route within a set area based on the information of the suspicious target, and forms telemetry information based on the search route and the location information of the suspicious target and sends it to the ground station control unit through the information transceiver processing module.

[0077] In one example, the load control platform includes:

[0078] The flight control ground software is used to receive the airborne telemetry data sent by the link monitoring platform to monitor the UAV platform unit; based on the telemetry information, it sends remote control commands to the remote control frame control platform;

[0079] The optoelectronic display and control software is used to receive the optoelectronic load telemetry data transmitted by the link monitoring platform, and send remote control commands to the remote control framing control platform based on the optoelectronic load telemetry data;

[0080] Radar display and control software, used to receive multi-function radar telemetry data transmitted by the link monitoring platform, and send remote control commands to the remote control framing control platform based on the multi-function radar telemetry data;

[0081] Airborne ship automatic identification display and control software, used to receive airborne ship automatic identification telemetry data transmitted by the link monitoring platform, and send remote control commands to the remote control framing control platform based on the airborne ship automatic identification telemetry data;

[0082] The route planning software is used to receive the telemetry information sent by the UAV integrated management and control unit to the link monitoring platform, push the search route in the telemetry information to the flight control ground software based on mission requirements, and push the location information of suspicious targets in the telemetry information to the optoelectronic payload, multi-function radar and airborne ship automatic identification module.

[0083] In one example, the mission management computer is connected to the airborne data terminal, data integration equipment, optoelectronic payload, multi-function radar, airborne ship automatic identification module and data recorder through asynchronous 422 interface;

[0084] The data integration equipment is connected to the multi-function radar communication via a synchronous 422 interface;

[0085] The data recorder is connected to the optoelectronic payload, multi-function radar and airborne ship automatic identification module through the Ethernet interface.

[0086] In one example, the link monitoring platform is communicatively connected to the UAV integrated management and control unit via an Ethernet interface.

[0087] In one example, the information transceiver processing module is communicatively connected to the target planning module via an asynchronous 422 interface;

[0088] The information transceiver processing module transmits the video, synchronous image and low-speed telemetry data of the optoelectronic payload, multi-function radar and airborne ship automatic identification module to the data fusion processing module through three Ethernet interfaces.

[0089] In one example, the data fusion processing module fuses and processes the video, synchronous image and low-speed telemetry data of the optoelectronic payload, multi-function radar and airborne ship automatic identification module respectively, and obtains the attribute information, motion state information and position information of the target to be determined by comparing multiple sets of data information under the same time state. The operator selects the target to be determined as a suspicious target or a non-suspicious target based on the attribute information, motion state information and position information, and sends the information of the suspicious target to the target planning module through the asynchronous 422 interface.

[0090] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but is not intended to be limiting of the present invention. It should be noted that the embodiments and features in the embodiments of the present invention may be combined with each other without conflict.

[0091] Embodiment 1

[0092] like Figure 1 and 2 As shown, this embodiment provides a large and medium-sized UAV tracking and monitoring system, including:

[0093] UAV platform system, ground station control system and UAV integrated management and control system.

[0094] The UAV platform system consists of a high-altitude, high-speed UAV and two identical medium-altitude, long-flight UAVs. The system composition of each UAV platform is the same. The high-altitude, high-speed UAV is mainly used for target search, and the medium-altitude, long-flight UAV is mainly used for target identification and continuous monitoring. Among them, the UAV platform mainly consists of an airborne data terminal (ADT), a mission management computer, data integration equipment, an optoelectronic payload, a multi-function radar, an airborne ship automatic identification system (AIS), and a data recorder. The airborne data terminal (ADT) is used to transmit the telemetry data of the UAV platform and receive the remote control data sent by the ground station system; the mission management computer consists of 1 power board, 1 main control board and 4 functional boards; the mission management computer is connected to the data integration equipment, optoelectronic payload, multi-function radar, AIS, and data recorder through the asynchronous 422 interface, which can realize the remote control and telemetry communication between each device, and is used to monitor and manage each device. The mission management computer receives the remote control command transmitted by the airborne data terminal, and further sends the remote control command to the optoelectronic payload, multi-function radar, airborne ship automatic identification system, data recorder and data integration equipment to realize the control of the airborne platform equipment by the ground station control system. The data integration equipment is connected to the multi-function radar through the synchronous 422 interface, which can receive the high-speed image synchronization data transmitted by the radar and transmit the data to the ground station control system. The optoelectronic payload is mainly composed of an optoelectronic turret, a visible light detection component and an infrared detection component, which are installed at the nose position. The optoelectronic turret can ensure that the optoelectronic payload can stably track the target when the aircraft is at high speed and turning. The visible light and infrared detection components can meet the optoelectronic payload's all-weather search for the target. The optoelectronic payload has functions such as wide-area search, geographic tracking and active / passive positioning, which can realize the search and monitoring of the target. The optoelectronic payload is connected to the mission management computer through an asynchronous 422 interface, and the telemetry data is transmitted to the ground station control system through the mission management computer. At the same time, the mission management computer transmits remote control commands to the optoelectronic payload to realize the control of the optoelectronic payload by the ground station control system. The optoelectronic payload transmits the real-time collected video image data to the ADT through the SDI data stream, and finally transmits it to the ground station control system. The functional radar is mainly composed of an antenna unit and a processing unit, which is installed at the belly position. The antenna unit is responsible for the generation, transmission, reception, beam scanning and shaping of radar signals, and realizes extensive search and detection of targets. The processing unit is responsible for completing functions such as radar system control and monitoring, real-time processing of radar signals and data, and image generation and transmission. The multi-kinetic radar has strip / beam imaging function, ground moving target real-time indication (GMTI) function, and wide-area search function, which can realize large-scale search, discovery and tracking indication of static and moving targets.The multi-function radar is connected to the task management computer through the asynchronous 422 interface, and the low-speed telemetry data is transmitted to the ground station control system through the task management computer. At the same time, the task management computer transmits remote control commands to the multi-function radar, so that the ground station control system can control the radar. The radar transmits the real-time high-speed image data to the data integration device through the synchronous 422 interface, and finally transmits it to the ground station control system. The airborne ship automatic identification system is mainly composed of an airborne ultra-short wave antenna and an AIS receiver, which are installed on the belly of the aircraft and behind the multi-function radar. The airborne ultra-short wave antenna completes the reception of space signals, and the AIS receiver completes the filtering, demodulation and signal transmission of space signals. The airborne ship automatic identification system effectively solves the problem of aircraft detection and identification of maritime targets through the collected AIS information, and improves the accuracy and stability of sea situation monitoring. The airborne ship automatic identification system is connected to the task management computer through the asynchronous 422 interface, and the low-speed telemetry data is transmitted to the ground station control system through the task management computer. At the same time, the task management computer transmits remote control commands to the airborne ship automatic identification system, so that the ground station control system can control the airborne ship automatic identification system. The data recorder is located inside the cabin and is connected to the optoelectronic payload, multi-function radar and AIS equipment through the Ethernet interface. The optoelectronic payload, multi-function radar and airborne ship automatic identification system transmit the original data collected by the equipment themselves to the data recorder for storage, realizing data storage of each device and subsequent data processing and analysis; the data recorder transmits remote control and telemetry between the mission management computer through the asynchronous 422 interface to realize communication with the ground station control system.

[0095] The ground station control system includes two ground control stations, one for controlling high-altitude and high-speed UAVs, and the other for controlling two medium-altitude and long-flight UAVs. The internal structure of each ground control station is the same, which can realize information interaction with the UAV platform system and monitor the UAV platform. The ground control station consists of a ground data terminal (GDT), a link monitoring platform, a payload control platform, and a remote control framing (GDC) control platform. The ground data terminal (GDT) can transmit remote control telemetry data with the airborne data terminal (ADT) to realize information interaction between the ground station control system and the UAV platform, and realize the ground station's monitoring of the aircraft platform. The link monitoring platform is used to receive the airborne telemetry data transmitted by the GDT, and distribute the low-speed telemetry data and synchronous high-speed telemetry data to the display software in the payload control platform. The link monitoring platform establishes communication with the UAV integrated control system through the Ethernet interface, transmits the telemetry data of optoelectronics, radar, AIS and other equipment to the control system, and also receives the telemetry information issued by the control system. The payload control platform includes flight control ground software, optoelectronic display and control software, radar display and control software, AIS display and control software, and route planning software. The flight control ground software can monitor the flight platform by receiving telemetry data sent by the link monitoring platform; it can realize take-off and landing and flight control of the aircraft by sending remote control commands to the remote control group frame (GDC) control platform. The optoelectronic, radar, and AIS display and control software can realize real-time monitoring of optoelectronic payloads, multi-function radars, and airborne ship identification systems (AIS) by receiving telemetry information and sending remote control commands. The route planning software is used to receive telemetry data sent from the control system to the link monitoring platform. The telemetry data contains the real-time cruising route set by the control system and the geographic coordinates of suspicious target points. The route planning software pushes the received route information to the flight control ground software according to the mission requirements, and pushes the coordinate information of the suspicious target points to the optoelectronic payload, multi-kinetic radar, and AIS. The GDC control platform is used to receive remote control commands sent by the flight control ground software, optoelectronic display and control software, radar display and control software, and AIS display and control software, and send the remote control commands to the ground data terminal in the UDP format, thereby realizing the control of the aircraft platform and optoelectronic radar and other mounted equipment.

[0096] The integrated human-machine control system is mainly composed of an information transceiver processing center, a data fusion processing system, and a target planning center. The UAV control system can use the Ethernet interface to transmit and receive telemetry information with the ground station control system. The control system can obtain suspicious target points within the search area by analyzing and processing the received telemetry data, and formulate corresponding search routes for the target points. At the same time, the control system can also provide the coordinates of suspicious target points for the UAV platform to conduct reconnaissance and confirmation. The information transceiver processing center is connected to the ground station control system through the Ethernet interface to receive telemetry data from the aircraft platform and also to download telemetry data from the control system. The information transceiver processing center is connected to the target planning center through the asynchronous 422 interface to receive telemetry data such as suspicious target search routes and target point coordinates transmitted by the target planning center, and then transmit them to the ground station control system. The information transceiver processing center analyzes and processes the telemetry data received from the aircraft platform, and then transmits the video, synchronous image and low-speed telemetry data of optoelectronics, radar and AIS to the data fusion processing system through 3-way Ethernet interfaces. The data fusion processing system fuses and processes the received optoelectronic, radar and AIS data respectively, and obtains the target's attribute information, motion state information and location information by comparing multiple sets of data information under the same time state. The operator can select the target as a suspicious target or a non-suspicious target based on the obtained target information, and send the suspicious target point information to the target planning center through the asynchronous 422 interface. The target planning center uses the telemetry information such as the suspicious target search route and location transmitted by the UAV integrated management and control system to formulate a search route within the specified range, push the route information to the flight control ground software, and conduct a fixed-point search. At the same time, the coordinate information of the suspicious target point is pushed to the optoelectronic payload, multi-kinetic radar and AIS to identify, confirm and monitor the target.

[0097] The information transceiver processing center receives the aircraft's telemetry information from the ground station control system through the Ethernet interface, and transmits it to the data fusion processing system through the 3-way Ethernet interface after analysis and processing. The data fusion processing system fuses the received telemetry information of each payload device, and screens out the attribute information, motion status information and location information of multiple targets at different time points. The operator can customize suspicious targets and non-suspicious targets through the target information, and send the relevant information of the suspicious targets to the target planning center through the RS422 interface. The target planning center specifies the corresponding search route according to the suspicious target information, and sends the specified route information and the location information of the suspicious target to the information transceiver processing center through the RS422 interface. Finally, the information transceiver processing center sends the information to the ground station control system.

[0098] The link monitoring platform receives telemetry data transmitted from the aircraft platform through the ground data terminal, receives telemetry information transmitted from the UAV integrated management and control system through the Ethernet interface, and distributes it to the flight control ground software, optoelectronic display and control software, radar display and control software, AIS display and control software and route planning software of the payload control platform. The operator can determine the tasks that need to be performed by the aircraft platform based on the telemetry information received by each display and control software, and send the corresponding remote control instructions to the remote control framing control platform through each display and control software. Finally, the remote control framing control platform transmits the instructions to the aircraft platform through the ground data terminal.

[0099] The advantages of the large and medium-sized UAV monitoring system of this embodiment are:

[0100] (1) The advantages of large and medium-sized UAVs, such as high flight speed and high altitude, break the limitations of traditional small low-altitude UAVs, such as slow search and tracking speed and small range. This type of UAV can stably track fast-moving targets and search and track targets in a large area in a short time.

[0101] (2) By using high-altitude, high-speed drones, targets within range can be quickly searched, and by using two medium-altitude, long-flight drones, continuous tracking and surveillance of targets can be achieved for a long time.

[0102] (3) High-altitude, high-speed UAVs are responsible for search, and medium-altitude, long-flight UAVs are responsible for target identification, confirmation, and tracking. For the search and monitoring functions, the accuracy, stability, and efficiency of the monitoring system are achieved by adopting a multi-machine collaborative working mode.

[0103] (4) By mounting optoelectronic payloads, multi-function radars, and airborne ship identification systems, the UAV can achieve full coverage search and monitoring of land and sea areas, effectively solving the problem of insufficient search and monitoring range, while also achieving diversity in target search and monitoring.

[0104] (5) The UAV integrated control system can simultaneously receive telemetry data from multiple UAVs to monitor them, and can also control multiple UAVs simultaneously through remote control commands. The control system achieves high mobility, stability and accuracy in the monitoring system.

[0105] (6) The data fusion processing system can quickly process and analyze the search target information, filter out the attribute information, motion status information and location information of multiple targets at different time points, and the operator can customize the demarcation of suspicious targets and non-suspicious targets. The data fusion processing system effectively improves the efficiency of target tracking.

[0106] (7) The Target Planning Center can improve the accuracy and efficiency of searching and monitoring suspicious targets by planning search routes for suspicious targets.

[0107] Embodiment 2

[0108] like Figure 3 As shown, this embodiment provides a large and medium-sized UAV tracking method, including:

[0109] At the beginning of the mission, the high-altitude, high-speed UAV and the 1# medium-altitude, long-flight UAV are started at the same time. The high-altitude, high-speed UAV flies quickly to the designated range area for a large-scale search, and then transmits the telemetry information to the ground station and the UAV integrated management and control system. After data analysis by the data fusion processing system, the operator can determine the relevant information of the suspicious target and use the target planning center to plan the search route and location information of the suspicious target.

[0110] The operator in the control system pushes the search route and location information of the suspicious target to the 1# medium-altitude long-flight UAV ground station. The operator of the ground station identifies and confirms the suspicious target based on the pushed information. If the suspicious target is confirmed, the 1# medium-altitude long-flight UAV will carry out normal monitoring, and the high-altitude and high-speed UAV will stop the mission and return. If the suspicious target fails to be confirmed, the high-altitude and high-speed UAV and the integrated control system will continue to search and analyze data until the pushed suspicious target is confirmed.

[0111] If the power endurance of the 1# medium-altitude long-flight UAV can maintain normal monitoring, it will return home until the mission is completed. If it cannot be maintained, the 2# medium-altitude long-flight UAV will be activated to take over the monitoring. The 2# UAV will take over the monitoring based on the target location information provided by the 1# UAV. The 1# UAV will return home after the mission is completed, and the 2# UAV will return home after the mission is completed.

[0112] If the 2# UAV also runs out of battery life during the monitoring process, the 1# UAV will be replaced again after it is repaired, and so on until the mission is completed.

[0113] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A large and medium-sized UAV monitoring system, characterized in that: include: The UAV platform unit includes a high-altitude, high-speed UAV and two identical medium-altitude, long-flight UAVs, wherein the high-altitude, high-speed UAV is used to quickly search a set area, and the medium-altitude, long-flight UAV is used to search for the suspicious target to identify and confirm the real target, and alternately track and monitor the real target; A ground station control unit, comprising a first ground control station and a second ground control station, wherein the first ground control station is communicatively connected with the high-altitude and high-speed UAV and is used to control and monitor the high-altitude and high-speed UAV; The second ground control station is in communication connection with the medium-altitude long-flight UAV, and is used to control and monitor the medium-altitude long-flight UAV; The UAV integrated management and control unit is communicatively connected with the ground station control unit, and is used to determine the suspicious target and the corresponding position information based on the airborne telemetry data of the high-altitude and high-speed UAV sent by the first ground station control unit, and then formulate a search route for the suspicious target to form telemetry information and send it to the second ground control station to generate remote control instructions to control the medium-altitude and long-flight UAV to search for the suspicious target, and control the medium-altitude and long-flight UAV to alternately track and monitor the real target.

2. The large and medium-sized UAV monitoring system according to claim 1 is characterized in that: The high-altitude high-speed UAV and the medium-altitude long-flight UAV both include: An airborne data terminal, used to transmit telemetry data of the UAV platform unit to the ground station control unit, and to receive remote control commands sent by the ground station control unit; A task management computer is respectively connected to the airborne data terminal, the data integration device, the optoelectronic load, the multifunctional radar, the airborne ship automatic identification module and the data recorder for communication, and the task management computer is used to monitor and manage the airborne data terminal, the data integration device, the optoelectronic load, the multifunctional radar, the airborne ship automatic identification module and the data recorder; A data integration device is respectively connected to the airborne data terminal and the multifunctional radar for communication, and is used to receive the high-speed image synchronization data sent by the multifunctional radar, and send the high-speed image synchronization data to the ground station control unit via the airborne data terminal; An optoelectronic payload is installed at the nose of the high-altitude, high-speed UAV and the medium-altitude, long-flight UAV, and is used to quickly search the set area, search for the suspicious target, and alternately track and monitor the real target; A multifunctional radar is installed on the belly of the high-altitude, high-speed UAV and the medium-altitude, long-flight UAV, and is used to quickly search the set area, search for the suspicious target, and alternately track and monitor the real target; An airborne ship automatic identification module is installed on the belly of the high-altitude, high-speed UAV and the medium-altitude, long-flight UAV and is located behind the multi-function radar, and is used to detect and identify the sea area; The data recorder is installed inside the cabin of the high-altitude high-speed UAV and the medium-altitude long-flight UAV, and is respectively communicated with the optoelectronic payload, the multi-function radar and the airborne ship automatic identification module for storing data.

3. The large and medium-sized UAV monitoring system according to claim 2 is characterized in that: The first ground control station and the second ground control station have the same internal structure, both comprising: A ground data terminal is connected to the corresponding airborne data terminal for realizing information exchange between the ground station control unit and the UAV platform unit; The link monitoring platform is respectively connected to the ground data terminal, the payload control platform and the UAV integrated management and control unit for receiving the airborne telemetry data transmitted by the ground data terminal, distributing the low-speed telemetry data and the synchronous high-speed telemetry data to each software in the payload control platform, transmitting the telemetry data of the optoelectronic payload, the multi-function radar and the airborne ship automatic identification module to the UAV integrated management and control unit, and receiving the telemetry information sent by the UAV integrated management and control unit; The load control platform is used to receive the airborne telemetry data sent by the link monitoring platform to monitor the UAV platform unit; receive the telemetry information sent by the UAV integrated management and control unit to the link monitoring platform, and send remote control instructions to the remote control framing control platform based on the telemetry information; The remote control framing control module is used to receive the remote control instructions issued by the load control module, and send the remote control instructions to the ground data terminal in the format of UDP to control the UAV platform unit.

4. The large and medium-sized UAV monitoring system according to claim 3 is characterized in that: The UAV integrated control unit includes: An information transceiver processing module is used to receive the airborne telemetry data sent by the ground station control unit and parse and process the airborne telemetry data; and send the telemetry data of the optoelectronic payload, multi-function radar and airborne ship automatic identification module to the data fusion processing module; A data fusion processing module is used to fuse and process the telemetry data of the optoelectronic payload, the multi-function radar and the airborne ship automatic identification module to obtain target information. An operator selects a target as a suspicious target or a non-suspicious target based on the target information, and sends the information of the suspicious target to a target planning module; The target planning module formulates a search route within the set area based on the information of the suspicious target, and forms telemetry information based on the search route and the location information of the suspicious target and sends it to the ground station control unit via the information transceiver processing module.

5. The large and medium-sized UAV monitoring system according to claim 4 is characterized in that: The load control platform comprises: The flight control ground software is used to receive the airborne telemetry data sent by the link monitoring platform to monitor the UAV platform unit; based on the telemetry information, it sends remote control instructions to the remote control framing control platform; Photoelectric display and control software, used for receiving the photoelectric load telemetry data transmitted by the link monitoring platform, and sending remote control instructions to the remote control framing control platform based on the photoelectric load telemetry data; Radar display and control software, used for receiving the multifunctional radar telemetry data transmitted by the link monitoring platform, and sending remote control instructions to the remote control framing control platform based on the multifunctional radar telemetry data; Airborne ship automatic identification display and control software, used to receive the airborne ship automatic identification telemetry data transmitted by the link monitoring platform, and send remote control instructions to the remote control framing control platform based on the airborne ship automatic identification telemetry data; The route planning software is used to receive the telemetry information sent by the UAV integrated management and control unit to the link monitoring platform, push the search route in the telemetry information to the flight control ground software based on the mission requirements, and push the location information of the suspicious target in the telemetry information to the optoelectronic payload, multi-function radar and airborne ship automatic identification module.

6. The large and medium-sized UAV monitoring system according to claim 2 is characterized in that: The task management computer is connected to the airborne data terminal, data integration equipment, optoelectronic load, multi-function radar, airborne ship automatic identification module and data recorder through asynchronous 422 interface; The data integration device is connected to the multifunctional radar through a synchronous 422 interface; The data recorder is respectively connected to the photoelectric load, the multifunctional radar and the airborne ship automatic identification module through an Ethernet interface.

7. The large and medium-sized UAV monitoring system according to claim 3 is characterized in that: The link monitoring platform is communicatively connected to the UAV integrated management and control unit via an Ethernet interface.

8. The large and medium-sized UAV monitoring system according to claim 4 is characterized in that: The information transceiver processing module is connected to the target planning module through an asynchronous 422 interface; The information transceiver processing module transmits the video, synchronous image and low-speed telemetry data of the optoelectronic payload, multi-function radar and airborne ship automatic identification module to the data fusion processing module through three Ethernet interfaces.

9. The large and medium-sized UAV monitoring system according to claim 8 is characterized in that: The data fusion processing module fuses and processes the video, synchronous image and low-speed telemetry data of the optoelectronic payload, multi-function radar and airborne ship automatic identification module respectively, and obtains the attribute information, motion state information and position information of the target to be determined by comparing multiple groups of data information under the same time state. The operator selects the target to be determined as a suspicious target or a non-suspicious target based on the attribute information, motion state information and position information, and sends the information of the suspicious target to the target planning module through the asynchronous 422 interface.

10. A method for monitoring large and medium-sized unmanned aerial vehicles, characterized in that: include: Simultaneously launch a high-altitude, high-speed drone and a medium-altitude, long-flight drone; The high-altitude and high-speed UAV is used to quickly search the set area, and the telemetry data of the high-altitude and high-speed UAV is transmitted to the first ground control station and then to the UAV integrated management and control unit to determine the suspicious target and the corresponding position information, and then the search route of the suspicious target is formulated to form the telemetry information and send it to the second ground control station to generate a remote control command to control the medium-altitude and long-flight UAV to search for the suspicious target; Identify the suspicious target according to the telemetry data of the medium-altitude long-flight UAV received by the second ground control station to determine the real target; According to the position information of the real target, two medium-altitude long-flight UAVs are controlled to alternately track and monitor the real target.

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