Large and medium-sized unmanned aerial vehicle tracking and monitoring system and method

Abstract

The application discloses a large and medium-sized unmanned plane follow-up monitoring system and method. The system comprises: an unmanned plane platform unit, including one high-altitude high-speed unmanned plane and two same middle hollow long-endurance unmanned planes; a ground station control unit, including a first ground control station and a second ground control station, the first ground control station being used for controlling and monitoring the high-altitude high-speed unmanned plane; the second ground control station being used for controlling and monitoring the middle hollow long-endurance unmanned plane; and an unmanned plane comprehensive management and control unit, used for determining a suspicious target and corresponding position information based on airborne telemetry data of the high-altitude high-speed unmanned plane, formulating a search route of the suspicious target and sending the search route to the second ground control station to control the middle hollow long-endurance unmanned plane to search the suspicious target, and control the middle hollow long-endurance unmanned plane to alternately track and monitor a real target. The application can realize large-range fast search of a target in a short time and long-time continuous tracking and monitoring, and improves high mobility, stability and accuracy of work of the follow-up monitoring system.

Description

TECHNICAL FIELD

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

[0002] In recent years, with the rapid development of economy, the unmanned aerial vehicle technology has been rapidly developed and widely applied, especially in the scene needing long-time and large-range monitoring, the unmanned aerial vehicle tracking and monitoring technology is particularly important, in order to ensure the quality of the unmanned aerial vehicle tracking and monitoring technology, it is necessary to improve the stability, accuracy and efficiency of the tracking and monitoring system.

[0003] The commonly used unmanned aerial vehicle tracking and monitoring technology at present mainly adopts traditional small unmanned aerial vehicle tracking, photoelectric tracking, radar tracking and single aircraft tracking. The traditional small unmanned aerial vehicle is used for the tracking and monitoring system, which is difficult to search and monitor the target in a large range and difficult to find the target in a short time, thereby seriously affecting the search and monitoring efficiency; the photoelectric and radar single machine tracking system has good search effect on multiple land targets, but has poor search performance on part of the moving targets in the sea area; the single aircraft tracking system will lead to the inability to continuously track the target for a long time due to the limited flight time of the aircraft, and thus the target is easily lost.

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

[0005] The information disclosed in the background section of this application is only intended to deepen the understanding of the general background of the application and should not be considered as recognition or in any form as suggesting that this information constitutes prior art known to those skilled in the art. SUMMARY

[0006] The purpose of the present application is to provide a large and medium-sized unmanned aerial vehicle tracking and monitoring system and method, which can solve the problems of insufficient search and monitoring speed and search and monitoring range seriously affecting the search and monitoring efficiency, and the inability to continuously track the target for a long time leading to the loss of the target, and realize the fast search and long-time continuous tracking and monitoring of the target in a large range and a large field of view, and improve the stability, accuracy and efficiency of the tracking and monitoring system.

[0007] In order to achieve the above-mentioned purpose, the present application provides a large and medium-sized unmanned aerial vehicle tracking and monitoring system and method.

[0008] According to the first aspect of the present application, a large and medium-sized unmanned aerial vehicle tracking and monitoring system is provided, which comprises:

[0009] The unmanned aerial vehicle platform unit comprises one high-altitude high-speed unmanned aerial vehicle and two same middle-altitude long-endurance unmanned aerial vehicles, the high-altitude high-speed unmanned aerial vehicle is used for quickly searching a set region range, and the middle-altitude long-endurance unmanned aerial vehicles are used for searching the suspicious targets to identify and confirm the real targets and alternately tracking and monitoring the real targets;

[0010] The ground station control unit comprises a first ground control station and a second ground control station, the first ground control station is in communication connection with the high-altitude high-speed unmanned aerial vehicle and is used for controlling and monitoring the high-altitude high-speed unmanned aerial vehicle, and the second ground control station is in communication connection with the middle-altitude long-endurance unmanned aerial vehicle and is used for controlling and monitoring the middle-altitude long-endurance unmanned aerial vehicle;

[0011] The unmanned aerial vehicle comprehensive management and control unit is in communication connection with the ground station control unit, is used for determining suspicious targets and corresponding position information based on airborne telemetry data of the high-altitude high-speed unmanned aerial vehicle sent by the first ground station control unit, further formulating a search route of the suspicious targets to generate telemetry information and sending the telemetry information to the second ground control station to generate remote control instructions to control the middle-altitude long-endurance unmanned aerial vehicles to search the suspicious targets and alternately track and monitor the real targets.

[0012] Optionally, the high-altitude high-speed unmanned aerial vehicle and the middle-altitude long-endurance unmanned aerial vehicle each comprise:

[0013] The airborne data terminal is used for transmitting telemetry data of the unmanned aerial vehicle platform unit to the ground station control unit and receiving remote control instructions sent by the ground station control unit;

[0014] The task management computer is in communication connection with the airborne data terminal, the data comprehensive device, the photoelectric load, the multifunctional radar, the airborne ship automatic identification module and the data recorder respectively, and is used for monitoring and managing the airborne data terminal, the data comprehensive device, the photoelectric load, the multifunctional radar, the airborne ship automatic identification module and the data recorder;

[0015] The data comprehensive device is in communication connection with the airborne data terminal and the multifunctional radar respectively, and is used for receiving high-speed image synchronous data sent by the multifunctional radar and sending the high-speed image synchronous data to the ground station control unit through the airborne data terminal;

[0016] The photoelectric load is installed at a nose position of the high-altitude high-speed unmanned aerial vehicle and the middle-altitude long-endurance unmanned aerial vehicle, is used for quickly searching the set region range, searching the suspicious targets and alternately tracking and monitoring the real targets;

[0017] A multi-functional radar is installed at the belly position of the high-altitude high-speed unmanned aerial vehicle and the medium-altitude long-endurance unmanned aerial vehicle, and is used for rapid search in the set area range, search of the suspicious target, and alternate tracking and monitoring of the real target.

[0018] An airborne ship automatic identification module is installed at the belly position of the high-altitude high-speed unmanned aerial vehicle and the medium-altitude long-endurance unmanned aerial vehicle, and is located behind the multi-functional radar, and is used for detection and identification of the sea area.

[0019] A data recorder is installed inside the cabin of the high-altitude high-speed unmanned aerial vehicle and the medium-altitude long-endurance unmanned aerial vehicle, and is in communication connection with the photoelectric load, the multi-functional radar, and the airborne ship automatic identification module respectively, and is used for storing data.

[0020] Optionally, the internal component structures of the first ground control station and the second ground control station are the same, and each includes:

[0021] A ground data terminal is in communication connection with the corresponding airborne data terminal, and is used for realizing information interaction between the ground station control unit and the unmanned aerial vehicle platform unit;

[0022] A link monitoring platform is in communication connection with the ground data terminal, the load control platform, and the unmanned aerial vehicle comprehensive management and control unit respectively, is used for receiving airborne telemetry data transmitted by the ground data terminal, and distributing low-speed telemetry data and synchronous high-speed telemetry data to each software in the load control platform, and transmitting telemetry data of the photoelectric load, the multi-functional radar, and the airborne ship automatic identification module to the unmanned aerial vehicle comprehensive management and control unit, and receiving telemetry information issued by the unmanned aerial vehicle comprehensive management and control unit;

[0023] A load control platform is used for monitoring the unmanned aerial vehicle platform unit based on the airborne telemetry data sent by the link monitoring platform; receiving telemetry information issued by the unmanned aerial vehicle comprehensive management and control unit to the link monitoring platform, and sending remote control instructions to a remote control framing control platform based on the telemetry information;

[0024] A remote control framing control module is used for receiving remote control instructions sent by the load control module, and sending the remote control instructions to the ground data terminal in the format of UDP, and controlling the unmanned aerial vehicle platform unit.

[0025] Optionally, the unmanned aerial vehicle comprehensive management and control unit includes:

[0026] An information receiving and processing module is used for receiving airborne telemetry data sent by the ground station control unit, and analyzing and processing the airborne telemetry data; and sending telemetry data of the photoelectric load, the multi-functional radar, and the airborne ship automatic identification module to a data fusion processing module;

[0027] a data fusion processing module for fusing and processing the telemetry data from 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 suspicious target information 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 position 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; and send remote control commands to the remote control framing control platform based on the telemetry information;

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

[0032] Radar display and control software, used to receive multi-function radar telemetry data transmitted by the link monitoring platform, and send remote control instructions to the remote control framing control platform based on the multi-function radar telemetry data;

[0033] 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 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 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.

[0035] Optionally, the task management computer is communicatively connected to the airborne data terminal, the data integration device, the optoelectronic payload, the multi-function radar, the airborne ship automatic identification module and the data recorder via 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 communicatively connected to the photoelectric payload, the multifunctional radar and the airborne ship automatic identification module respectively through an Ethernet interface.

[0038] Optionally, the link monitoring platform is in communication connection with the unmanned aerial vehicle integrated management and control unit through an Ethernet interface.

[0039] Optionally, the information transceiving processing module is in communication connection with the target planning module through an asynchronous 422 interface.

[0040] The information transceiving processing module transmits the video, synchronous image and low-speed telemetry data of the photoelectric load, multifunctional radar and airborne ship automatic identification module to the data fusion processing module through a 3-way Ethernet interface.

[0041] Optionally, the data fusion processing module fuses and processes the video, synchronous image and low-speed telemetry data of the photoelectric load, multifunctional radar and airborne ship automatic identification module, obtains attribute information, motion state information and position information of the to-be-judged target by comparing multiple groups of data information in the same time state, and selects the to-be-judged target as a suspicious target or a non-suspicious target according to the attribute information, motion state information and position information, and sends the information of the suspicious target to the target planning module through an asynchronous 422 interface.

[0042] According to a second aspect of the present application, a large and medium-sized unmanned aerial vehicle follow-up monitoring method is provided, comprising:

[0043] Simultaneously starting a high-altitude high-speed unmanned aerial vehicle and a medium-altitude long-endurance unmanned aerial vehicle;

[0044] The high-altitude high-speed unmanned aerial vehicle performs rapid search on a set region range, transmits telemetry data of the high-altitude high-speed unmanned aerial vehicle to a first ground control station and then to an unmanned aerial vehicle integrated management and control unit to determine a suspicious target and corresponding position information, and then form a search route of the suspicious target to generate telemetry information sent to a second ground control station to generate a remote control command to control the medium-altitude long-endurance unmanned aerial vehicle to search for the suspicious target;

[0045] According to the telemetry data of the medium-altitude long-endurance unmanned aerial vehicle received by the second ground control station, the suspicious target is identified to determine a real target;

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

[0047] The beneficial effects of the present application are that: the present application controls and monitors one high-altitude high-speed unmanned aerial vehicle and two medium-altitude long-endurance unmanned aerial vehicles through a ground station control unit, quickly searches the set region range through the high-altitude high-speed unmanned aerial vehicle, realizes large-range quick search of the target in a short time; the search route of the suspicious target is formulated through the unmanned aerial vehicle comprehensive management and control unit to form telemetry information sent to the second ground control station to generate remote control instructions, the suspicious target is searched through two identical medium-altitude long-endurance unmanned aerial vehicles to identify and confirm the real target, and the real target is alternately tracked and monitored, long-time continuous tracking and monitoring are realized, and the high mobility, stability and accuracy of the tracking and monitoring system are improved.

[0048] The system of the present application has other characteristics and advantages, which will be apparent from or set forth in the accompanying drawings and the following detailed description, which together serve to explain certain principles of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0049] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which like reference characters refer to like parts throughout the figures, and wherein:

[0050] Figure 1 A schematic diagram of a large and medium-sized unmanned aerial vehicle tracking and monitoring system according to embodiment one of the present application is shown.

[0051] Figure 2 A working flowchart of a large and medium-sized unmanned aerial vehicle tracking and monitoring system according to embodiment one of the present application is shown.

[0052] Figure 3 A flowchart of the steps of a large and medium-sized unmanned aerial vehicle tracking and monitoring method according to embodiment two of the present application is shown. DETAILED DESCRIPTION

[0053] The present application will be described in more detail by referring to the attached drawings. Although preferred embodiments of the present application are shown in the drawings, it should be understood that the present application 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 application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

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

[0055] The unmanned aerial vehicle platform unit comprises one high-altitude high-speed unmanned aerial vehicle and two same middle-altitude long-endurance unmanned aerial vehicles, the high-altitude high-speed unmanned aerial vehicle is used for rapidly searching a set region range, and the middle-altitude long-endurance unmanned aerial vehicles are used for searching suspicious targets to identify and confirm real targets and alternately tracking and monitoring the real targets;

[0056] The ground station control unit comprises a first ground control station and a second ground control station, the first ground control station is in communication connection with the high-altitude high-speed unmanned aerial vehicle and is used for controlling and monitoring the high-altitude high-speed unmanned aerial vehicle, and the second ground control station is in communication connection with the middle-altitude long-endurance unmanned aerial vehicle and is used for controlling and monitoring the middle-altitude long-endurance unmanned aerial vehicle;

[0057] The unmanned aerial vehicle comprehensive management and control unit is in communication connection with the ground station control unit, is used for determining suspicious targets and corresponding position information based on the airborne telemetry data of the high-altitude high-speed unmanned aerial vehicle sent by the first ground station control unit, then formulating a search route of the suspicious targets, sending telemetry information to the second ground control station to generate remote control instructions to control the middle-altitude long-endurance unmanned aerial vehicles to search the suspicious targets, and controlling the middle-altitude long-endurance unmanned aerial vehicles to alternately track and monitor the real targets.

[0058] Specifically, the unmanned aerial vehicle platform unit of the present application is composed of one high-altitude high-speed unmanned aerial vehicle and two same middle-altitude long-endurance unmanned aerial vehicles, and the system composition of the high-altitude high-speed unmanned aerial vehicle and the middle-altitude long-endurance unmanned aerial vehicle is the same; the ground station control unit is composed of completely same first ground control station and second ground control station, the first ground control station is in communication connection with the high-altitude high-speed unmanned aerial vehicle, the monitoring of the high-altitude high-speed unmanned aerial vehicle is realized through the first ground control station, the second ground control station is in communication connection with the middle-altitude long-endurance unmanned aerial vehicle, the monitoring of the middle-altitude long-endurance unmanned aerial vehicle is realized through the second ground control station; through the high-altitude high-speed unmanned aerial vehicle, the high-altitude high-speed unmanned aerial vehicle is used for rapidly searching a set region range, realizing a large range rapid search of the target in a short time; the airborne telemetry data of the high-altitude high-speed unmanned aerial vehicle is received by the first ground control station and is transmitted to the unmanned aerial vehicle comprehensive management and control unit to determine suspicious targets and corresponding position information, then formulating a search route of the suspicious targets, sending telemetry information to the second ground control station to generate remote control instructions to control the middle-altitude long-endurance unmanned aerial vehicles to search the suspicious targets, and controlling the middle-altitude long-endurance unmanned aerial vehicles to alternately track and monitor the real targets, that is, first controlling the first middle-altitude long-endurance unmanned aerial vehicle to track and monitor the real target, when the endurance of this middle-altitude long-endurance unmanned aerial vehicle is insufficient, controlling the second middle-altitude long-endurance unmanned aerial vehicle to track and monitor the real target according to the telemetry data of the first middle-altitude long-endurance unmanned aerial vehicle, then controlling the first middle-altitude long-endurance unmanned aerial vehicle to return and repair, alternately tracking and monitoring in this way, realizing long-time continuous tracking and monitoring, and improving the high mobility, stability and accuracy of the tracking and monitoring system.

[0059] In one example, the high-altitude high-speed unmanned aerial vehicle and the middle-altitude long-endurance unmanned aerial vehicle each comprise:

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

[0061] A task management computer is communicatively connected with the airborne data terminal, the data integration device, the electro-optical payload, the multi-functional radar, the airborne vessel automatic identification module and the data recorder, respectively, and is configured to monitor and manage the airborne data terminal, the data integration device, the electro-optical payload, the multi-functional radar, the airborne vessel automatic identification module and the data recorder;

[0062] The data integration device is communicatively connected with the airborne data terminal and the multi-functional radar, respectively, and is configured to receive high-speed image synchronization data sent by the multi-functional radar and transmit the high-speed image synchronization data to the ground station control unit via the airborne data terminal;

[0063] The electro-optical payload is installed at a nose position of the high-altitude and high-speed UAV and the medium-altitude and long-endurance UAV, and is configured to quickly search a set region, search and alternately track a real target while monitoring a suspicious target;

[0064] The multi-functional radar is installed at a belly position of the high-altitude and high-speed UAV and the medium-altitude and long-endurance UAV, and is configured to quickly search a set region, search and alternately track a real target while monitoring a suspicious target;

[0065] The airborne vessel automatic identification module is installed at the belly position of the high-altitude and high-speed UAV and the medium-altitude and long-endurance UAV, and is located behind the multi-functional radar, and is configured to detect and identify a sea area;

[0066] The data recorder is installed inside a cabin of the high-altitude and high-speed UAV and the medium-altitude and long-endurance UAV, and is communicatively connected with the electro-optical payload, the multi-functional radar and the airborne vessel automatic identification module, respectively, and is configured to store data.

[0067] In particular, the high-altitude high-speed unmanned aerial vehicle and the medium-altitude long-endurance unmanned aerial vehicle each comprises an airborne data terminal, a task management computer, a data integration device, an optical-electric load, a multifunctional radar, an airborne ship automatic identification module (AIS) and a data recorder, the airborne data terminal (ADT) is used for transmitting telemetry data of the unmanned aerial vehicle platform and receiving ground station control unit transmitted ground remote control instructions; the task management computer is composed of one power supply board card, one main control board card and four function board cards, is connected with the data integration device, the optical-electric load, the multifunctional radar, the AIS and the data recorder through an asynchronous 422 interface, can realize communication of remote control telemetry data with each device, and is used for monitoring and managing each device; the data integration device is connected with the multifunctional radar through a synchronous 422 interface, can receive high-speed image synchronous data transmitted by the radar, and transmit the data to the ground station control unit; the optical-electric load mainly comprises an optical-electric turret, a visible light detection assembly and an infrared detection assembly, is installed at a nose position of the aircraft, the optical-electric turret can ensure stable tracking of the optical-electric load on a target under high-speed and turning states of the aircraft, the visible light and infrared detection assemblies can satisfy all-weather search of the optical-electric load on the target, the optical-electric load has functions of wide-area search, geographical tracking and active / passive positioning, and can realize search and tracking on the target; the optical-electric load is connected with the task management computer through an asynchronous 422 interface, transmits telemetry data to the ground station control unit through the task management computer, at the same time, the task management computer transmits remote control instructions to the optical-electric load, realizes control of the ground station control unit on the optical-electric load, the optical-electric load transmits real-time collected video image data to the ADT through an SDI data stream, and then transmits the data to the ground station control unit; the multifunctional radar mainly comprises an antenna unit and a processing unit, is installed at a belly position of the unmanned aerial vehicle, the antenna unit undertakes functions of generation, transmission, reception, beam scanning and shaping of radar signals, realizes extensive search and detection on a target, the processing unit is responsible for functions of radar system control and monitoring, real-time processing of radar signals and data, image generation and transmission, etc.; the multifunctional radar has functions of strip / burst imaging, ground moving target indication (GMTI) and wide-area search, can realize large-range search discovery and tracking indication on static and moving targets; the multifunctional radar is connected with the task management computer through an asynchronous 422 interface, transmits low-speed telemetry data to the ground station control unit through the task management computer, at the same time, the task management computer transmits remote control instructions to the multifunctional radar, realizes control of the ground station control unit on the radar, the multifunctional radar transmits real-time collected high-speed image data to the data integration device through a synchronous 422 interface, and then transmits the data 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, is installed in the belly behind the multifunctional radar, the airborne ultra-short wave antenna completes the reception of space signals, the AIS receiver completes the filtering, demodulation and signal transmission of space signals, the airborne ship automatic identification module effectively solves the problem of detection and identification of sea targets by the airplane through the collected AIS information, and improves the accuracy and stability of the sea area situation monitoring; the airborne ship automatic identification system is connected with the task management computer through the asynchronous 422 interface, transmits the low-speed telemetry data to the ground station control unit through the ADT of the task management computer, at the same time, the task management computer transmits the remote control instruction to the airborne ship automatic identification module, and realizes the control of the ground station control unit on the airborne ship automatic identification module; the data recorder is located in the cabin, is connected with the optical-electrical load, the multifunctional radar and the AIS equipment through the Ethernet interface, realizes the data storage of each equipment and the post-processing and analysis of the data, and transmits the remote control telemetry data between the data recorder and the task management computer, realizes the communication between the data recorder and the ground station control unit.

[0068] In one example, the internal component structures of the first ground control station and the second ground control station are the same, and each includes:

[0069] The ground data terminal is in communication connection with the corresponding airborne data terminal, and is used to realize the information interaction between the ground station control unit and the unmanned aerial vehicle platform unit;

[0070] The link monitoring platform is in communication connection with the ground data terminal, the load control platform and the unmanned aerial vehicle comprehensive management and control unit respectively, is used to receive the airborne telemetry data transmitted by the ground data terminal, and distribute the low-speed telemetry data and the synchronous high-speed telemetry data to each software in the load control platform, transmit the telemetry data of the optical-electrical load, the multifunctional radar and the airborne ship automatic identification module to the unmanned aerial vehicle comprehensive management and control unit, and receive the telemetry information issued by the unmanned aerial vehicle comprehensive management and control unit;

[0071] The load control platform is used to receive the airborne telemetry data sent by the link monitoring platform to monitor the unmanned aerial vehicle platform unit, receive the telemetry information issued by the unmanned aerial vehicle comprehensive management and control unit to the link monitoring platform, and send the remote control instruction 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 instruction sent by the load control module, and send the remote control instruction to the ground data terminal in the format of UDP to control the unmanned aerial vehicle platform unit.

[0073] In one example, the unmanned aerial vehicle comprehensive management and control unit includes:

[0074] The information transceiving processing module is configured to receive airborne telemetry data sent by the ground station control unit, and to analyze and process the airborne telemetry data; and to send telemetry data of the photoelectric payload, the multifunctional radar and the airborne ship automatic identification module to the data fusion processing module.

[0075] The data fusion processing module is configured to fuse and process the telemetry data of the photoelectric payload, the multifunctional radar and the airborne ship automatic identification module to obtain target information, and an operator selects a target as a suspicious target or a non-suspicious target based on the target information, and sends information of the suspicious target to the target planning module.

[0076] The target planning module is configured to formulate a search route in a set area range based on the information of the suspicious target, and to form telemetry information based on the search route and position information of the suspicious target, and to send the telemetry information to the ground station control unit via the information transceiving processing module.

[0077] In one example, the payload control platform comprises:

[0078] The flight control ground software is configured to receive airborne telemetry data sent by the link monitoring platform to monitor the unmanned aerial vehicle platform unit, and to send remote control instructions to the remote control framing control platform based on the telemetry information.

[0079] The photoelectric display control software is configured to receive photoelectric payload telemetry data transmitted by the link monitoring platform, and to send remote control instructions to the remote control framing control platform based on the photoelectric payload telemetry data.

[0080] The radar display control software is configured to receive multifunctional radar telemetry data transmitted by the link monitoring platform, and to send remote control instructions to the remote control framing control platform based on the multifunctional radar telemetry data.

[0081] The airborne ship automatic identification display control software is configured to receive airborne ship automatic identification telemetry data transmitted by the link monitoring platform, and to send remote control instructions to the remote control framing control platform based on the airborne ship automatic identification telemetry data.

[0082] The route planning software is configured to receive telemetry information sent by the unmanned aerial vehicle comprehensive management unit to the link monitoring platform, and to push a search route in the telemetry information to the flight control ground software and to push position information of a suspicious target in the telemetry information to the photoelectric payload, the multifunctional radar and the airborne ship automatic identification module based on task requirements.

[0083] In one example, the task management computer is communicatively connected with the airborne data terminal, the data comprehensive device, the photoelectric payload, the multifunctional radar, the airborne ship automatic identification module and the data recorder through an asynchronous 422 interface.

[0084] The data comprehensive device is communicatively connected with the multifunctional radar through a synchronous 422 interface.

[0085] The data recorder is connected with the photoelectric load, the multifunctional radar and the automatic identification module of the ship through an Ethernet interface.

[0086] In one example, the link monitoring platform is connected with the comprehensive management and control unit of the unmanned aerial vehicle through an Ethernet interface.

[0087] In one example, the information transceiving processing module is connected with the target planning module through an asynchronous 422 interface.

[0088] The information transceiving processing module transmits the video, synchronous image and low-speed telemetry data of the photoelectric load, the multifunctional radar and the automatic identification module of the ship to the data fusion processing module through a 3-way Ethernet interface.

[0089] In one example, the data fusion processing module fuses and processes the video, synchronous image and low-speed telemetry data of the photoelectric load, the multifunctional radar and the automatic identification module of the ship, obtains the attribute information, motion state information and position information of the target to be judged by comparing multiple sets of data information in the same time state, and sends the information of the suspicious target to the target planning module through an asynchronous 422 interface according to the attribute information, motion state information and position information.

[0090] The application will be further described below in combination with the drawings and specific examples, but not as a limitation of the application. It should be noted that the examples in the application and the features in the examples can be combined with each other without conflict.

[0091] Example 1

[0092] As shown in Figure 1 and 2 , the embodiment provides a large and medium-sized unmanned aerial vehicle follow-up monitoring system, which comprises:

[0093] The unmanned aerial vehicle platform system, the ground station control system and the comprehensive management and control system of the unmanned aerial vehicle.

[0094] The unmanned aerial platform system is composed of one high-altitude high-speed unmanned aerial vehicle and two same medium-altitude long-endurance unmanned aerial vehicles, and each unmanned aerial platform system is composed of the same components. The high-altitude high-speed unmanned aerial vehicle is mainly used for target search, and the medium-altitude long-endurance unmanned aerial vehicle is mainly used for target identification and continuous monitoring. The unmanned aerial platform mainly comprises an airborne data terminal (ADT), a task management computer, a data integration device, an optical-electrical load, a multifunctional radar, an airborne vessel automatic identification system (AIS), and a data recorder. The airborne data terminal (ADT) is used for transmitting telemetry data of the unmanned aerial platform and receiving remote control data sent by a ground station system. The task management computer is composed of one power supply board, one main control board and four function boards. The task management computer is connected with the data integration device, the optical-electrical load, the multifunctional radar, the AIS and the data recorder through asynchronous 422 interfaces, can realize remote control and telemetry communication with each device, and is used for monitoring and managing each device. The task management computer receives remote control instructions transmitted by the airborne data terminal, and further sends the remote control instructions to the optical-electrical load, the multifunctional radar, the AIS, the data recorder and the data integration device, so as to realize control of the airborne platform device by the ground station control system. The data integration device is connected with the multifunctional radar through a synchronous 422 interface, can receive high-speed image synchronous data transmitted by the radar, and transmits the data to the ground station control system. The optical-electrical load is mainly composed of an optical-electrical turret, a visible light detection assembly and an infrared detection assembly, and is installed at the nose position of the aircraft. The optical-electrical turret can ensure stable tracking of the optical-electrical load on the target under the conditions of high speed and turning of the aircraft, and the visible light detection assembly and the infrared detection assembly can meet the all-weather search of the optical-electrical load on the target. The optical-electrical load has the functions of wide-area search, geographical tracking and active / passive positioning, and can realize search and monitoring of the target. The optical-electrical load is connected with the task management computer through an asynchronous 422 interface, transmits telemetry data to the ground station control system through the task management computer, and at the same time, the task management computer transmits remote control instructions to the optical-electrical load, so as to realize control of the optical-electrical load by the ground station control system. The optical-electrical load transmits real-time video image data collected to the ADT through an SDI data stream, and finally transmits the data to the ground station control system. The multifunctional radar is mainly composed of an antenna unit and a processing unit, and is installed at the belly position of the aircraft. The antenna unit undertakes the functions of radar signal generation, transmission, reception, beam scanning and beam shaping, and realizes extensive search and detection of the target. The processing unit is responsible for radar system control and monitoring, real-time processing of radar signals and data, image generation and transmission, and other functions. The multifunctional radar has the functions of strip / burst imaging, ground moving target indication (GMTI) and wide-area search, and can realize large-range search, discovery and tracking indication of static and moving targets.The multifunctional radar is connected with the mission management computer through the asynchronous 422 interface, and low-speed 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 instructions to the multifunctional radar, so as to realize the control of the ground station control system on the radar. The radar transmits real-time collected high-speed image data to the data integration equipment through the synchronous 422 interface, and finally transmits the data to the ground station control system. The airborne ship automatic identification system mainly comprises an airborne ultra-short wave antenna and an AIS receiver, and is installed in the belly and behind the multifunctional radar. The airborne ultra-short wave antenna receives space signals, and the AIS receiver completes filtering, demodulation and signal transmission of the space signals. The airborne ship automatic identification system effectively solves the problem of detection and identification of marine targets by the aircraft through the collected AIS information, and improves the accuracy and stability of the sea area situation monitoring. The airborne ship automatic identification system is connected with the mission management computer through the asynchronous 422 interface, and low-speed 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 instructions to the airborne ship automatic identification system, so as to realize the control of the ground station control system on the airborne ship automatic identification system. The data recorder is located in the cabin, and is connected with the optical-electrical load, the multifunctional radar and the AIS equipment through the Ethernet interface. The optical-electrical load, the multifunctional radar and the airborne ship automatic identification system transmit the original data collected by the equipment to the data recorder for storage, so as to realize the data storage of the equipment and the processing and analysis of the data in the later period; the data recorder transmits remote control telemetry between the mission management computer through the asynchronous 422 interface, so as to realize the communication between the data recorder and the ground station control system.

[0095] The ground station control system comprises two sets of ground control stations, one of which is used for controlling the high-altitude and high-speed unmanned aerial vehicle, and the other is used for controlling two medium-altitude and long-endurance unmanned aerial vehicles, and the internal structures of each set of ground control stations are the same, can realize information interaction with the unmanned aerial vehicle platform system, and realize monitoring of the unmanned aerial vehicle platform. The ground control station is composed of a ground data terminal (GDT), a link monitoring platform, a load control platform and a remote control framing (GDC) control platform. The ground data terminal (GDT) can transmit remote control and telemetry data between the ground station control system and the unmanned aerial vehicle platform, and is used for realizing information interaction of the ground station control system and the unmanned aerial vehicle platform, and realizing monitoring of the ground station to the aircraft platform. The link monitoring platform is used for receiving the airborne telemetry data transmitted by the GDT, and distributing the low-speed telemetry data and synchronous high-speed telemetry data to each display software in the load control platform. The link monitoring platform establishes communication with the unmanned aerial vehicle integrated management and control system through the Ethernet interface, transmits the telemetry data of photoelectric, radar, AIS and other equipment to the management and control system, and also receives the telemetry information issued by the management and control system. The load control platform comprises flight control ground software, photoelectric display control software, radar display control software, AIS display control software and route planning software. The flight control ground software can realize monitoring of the flight platform by receiving the telemetry data sent by the link monitoring platform, and can realize take-off and flight control of the aircraft by sending remote control instructions to the remote control framing (GDC) control platform. The photoelectric, radar and AIS display control software can realize real-time monitoring of the photoelectric load, multifunctional radar and airborne ship identification system (AIS) by receiving telemetry information and sending remote control instructions. The route planning software is used for receiving the telemetry data issued by the management and control system to the link monitoring platform, and the telemetry data contains the real-time cruising route and the geographic coordinates of the suspicious target point formulated by the management and control system. The route planning software pushes the received route information to the flight control ground software and the suspicious target point coordinate information to the photoelectric load, multifunctional radar and AIS according to the task requirements. The remote control framing (GDC) control platform is used for receiving the remote control instructions sent by the flight control ground software, photoelectric display control software, radar display control software and AIS display control software, and sending the remote control instructions in the format of UDP to the ground data terminal, so as to realize control of the aircraft platform and the photoelectric radar and other mounted equipment.

[0096] The unmanned aerial vehicle comprehensive management and control system is mainly composed of an information receiving and processing center, a data fusion processing system and a target planning center. The unmanned aerial vehicle management and control system can realize the transmission and reception of telemetry information with the ground station control system through an Ethernet interface. The management and control system can obtain suspicious target points in the search area range by analyzing and processing the received telemetry data, and formulate corresponding search routes for the target points. Meanwhile, the management and control system can also provide the coordinates of the suspicious target points for the unmanned aerial vehicle platform to conduct reconnaissance confirmation. The information receiving and processing center is connected with the ground station control system through an Ethernet interface, and is used for receiving the telemetry data of the aircraft platform, and also used for transmitting the telemetry data of the management and control system. The information receiving and processing center is connected with the target planning center through an asynchronous 422 interface, and is used for receiving the suspicious target search routes and target point coordinates and other telemetry data transmitted by the target planning center, and transmitting the telemetry data to the ground station control system. The information receiving and processing center analyzes and processes the received telemetry data of the aircraft platform, and then transmits the video, synchronous images and low-speed telemetry data of the photoelectric, radar and AIS to the data fusion processing system through three Ethernet interfaces. The data fusion processing system fuses and processes the received data of the photoelectric, radar and AIS, and obtains the attribute information, motion state information and position information of the target by comparing multiple sets of data information at the same time. The operator can select the target as a suspicious target or a non-suspicious target according to the obtained target information, and send the suspicious target point information to the target planning center through an asynchronous 422 interface. The target planning center formulates search routes within the specified range by using the suspicious target search routes and position telemetry information transmitted by the unmanned aerial vehicle comprehensive management and control system, pushes the route information to the flight control ground software for fixed-point search, and pushes the suspicious target point coordinate information to the photoelectric load, multi-energy radar and AIS for target identification confirmation and monitoring.

[0097] The information receiving and processing center receives the telemetry information of the aircraft from the ground station control system through an Ethernet interface, analyzes and processes the telemetry information, and transmits the telemetry information to the data fusion processing system through three Ethernet interfaces. The data fusion processing system fuses and processes the received telemetry information of each load device, screens the attribute information, motion state information and position information of multiple targets at different time points, and the operator can define suspicious targets and non-suspicious targets through the target information, and send the suspicious target related information to the target planning center through an 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 position information of the suspicious target to the information receiving and processing center through an RS422 interface. Finally, the information receiving and processing center sends the information to the ground station control system.

[0098] The link monitoring platform receives the telemetry data transmitted by the aircraft platform through the ground data terminal, receives the telemetry information transmitted by the unmanned aerial vehicle integrated management and control system through the Ethernet interface, and distributes the telemetry information to the flight control ground software, the photoelectric display control software, the radar display control software, the AIS display control software and the route planning software of the payload control platform. The operator can determine the tasks required to be executed by the aircraft platform according to the telemetry information received by each display control software, and send corresponding remote control instructions to the remote control framing control platform through each display control software. Finally, the remote control framing control platform transmits the instructions to the aircraft platform through the ground data terminal.

[0099] The large and medium-sized unmanned aerial vehicle follow-up monitoring system of the embodiment has the following advantages:

[0100] (1) The advantages of high flight speed and high flight altitude of the large and medium-sized unmanned aerial vehicle break the limitations of slow search and follow-up monitoring speed and small range of the traditional small low-altitude unmanned aerial vehicle. The large and medium-sized unmanned aerial vehicle can be used to stably track the fast-moving target, and can also be used to search and track the target in a large range within a short time.

[0101] (2) The high-altitude and high-speed unmanned aerial vehicle can be used to quickly search the target within the range, and the two medium-altitude and long-endurance unmanned aerial vehicles can be used to realize the persistence of long-time tracking and monitoring of the target.

[0102] (3) The high-altitude and high-speed unmanned aerial vehicle is responsible for searching, and the medium-altitude and long-endurance unmanned aerial vehicle is responsible for identifying, confirming and tracking the target. For the search and follow-up monitoring functions, the multi-aircraft cooperative working mode is adopted to realize the accuracy, stability and high efficiency of the follow-up monitoring system.

[0103] (4) The photoelectric payload, multifunctional radar and airborne ship identification system can be mounted to realize the full coverage search and follow-up monitoring of the unmanned aerial vehicle on land and sea, effectively solve the problem of insufficient search and follow-up monitoring range, and also realize the diversity of target search and follow-up monitoring.

[0104] (5) The unmanned aerial vehicle integrated management and control system can receive the telemetry data of multiple unmanned aerial vehicles to monitor the unmanned aerial vehicles, and can also control multiple unmanned aerial vehicles through remote control instructions. The management and control system realizes the high mobility, stability and accuracy of the follow-up monitoring system.

[0105] (6) The data fusion processing system can quickly process and analyze the target information searched, filter out the attribute information, motion state information and position information of multiple targets at different time points, and the operator can customize the suspicious targets and non-suspicious targets. The data fusion processing system effectively improves the target follow-up monitoring efficiency.

[0106] (7) The target planning center can improve the accuracy and efficiency of the search and follow-up monitoring of the suspicious target by planning the search route of the suspicious target.

[0107] Example 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 simultaneously. 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 the data fusion processing system performs data analysis, 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 within the control system pushes the suspicious target's search route and location information to the No. 1 medium-altitude, long-endurance UAV ground station. The ground station operator identifies and confirms the suspicious target based on the pushed information. If the suspicious target is confirmed, the No. 1 medium-altitude, long-endurance UAV will continue normal tracking and monitoring, while the high-altitude, high-speed UAV will terminate its mission and return home. If the suspicious target cannot be confirmed, the high-altitude, high-speed UAV and the integrated control system will continue the search and data analysis until the pushed suspicious target is confirmed.

[0111] If the power endurance of the 1# medium-altitude long-endurance UAV can maintain normal tracking and surveillance, it will continue until the mission is completed and return home. If it cannot maintain this capability, the 2# medium-altitude long-endurance UAV will be activated to take over the tracking and surveillance. The 2# UAV will take over the tracking and surveillance based on the target position 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] While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations 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 by: include: The drone platform unit includes a high-altitude, high-speed drone and two identical medium-altitude, long-endurance drones. The high-altitude, high-speed drone is used to quickly search a set area, and the medium-altitude, long-endurance drones are used to search for suspicious targets to identify and confirm the true target, and alternately track and monitor the true 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 to the high-altitude, high-speed UAV and is used to control and monitor the high-altitude, high-speed UAV; The second ground control station is communicatively connected to the medium-altitude long-endurance UAV, and is used to control and monitor the medium-altitude long-endurance UAV; The UAV integrated management and control unit is communicatively connected to the ground station control unit, and is used to determine the suspicious target and the corresponding location information based on the airborne telemetry data of the high-altitude, high-speed UAV sent by the first ground control station, 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, long-endurance UAV to search for the suspicious target, and control the medium-altitude, long-endurance 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 onboard data terminal, configured to transmit telemetry data from the UAV platform unit to the ground station control unit, and to receive remote control commands from the ground station control unit; a task management computer, respectively connected to the airborne data terminal, the data integration device, the optoelectronic payload, the multi-function radar, the airborne ship automatic identification module, and the data recorder, wherein the task management computer is used to monitor and manage the airborne data terminal, the data integration device, the optoelectronic payload, the multi-function radar, the airborne ship automatic identification module, and the data recorder; a data integration device, communicatively connected to the airborne data terminal and the multi-function radar, respectively, the data integration device being configured to receive high-speed image synchronization data transmitted by the multi-function radar, and transmit the high-speed image synchronization data to the ground station control unit via the airborne data terminal; an optoelectronic payload, mounted on the nose of the high-altitude, high-speed UAV and the medium-altitude, long-endurance UAV, for quickly searching the set area, searching for the suspicious target, and alternately tracking and monitoring the real target; a multifunctional radar, installed on the belly of the high-altitude, high-speed UAV and the medium-altitude, long-endurance UAV, for quickly searching the set area, searching for the suspicious target, and alternately tracking and monitoring 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-endurance UAV, and is located behind the multi-function radar, for detecting and identifying 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 connected to 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 to realize information exchange between the ground station control unit and the UAV platform unit; a link monitoring platform, communicatively connected to the ground data terminal, the payload control platform, and the UAV integrated management and control unit, respectively, for receiving airborne telemetry data transmitted from the ground data terminal, distributing low-speed telemetry data and synchronous high-speed telemetry data to various software within the payload control platform, transmitting telemetry data from the optoelectronic payload, multi-function radar, and airborne ship automatic identification module to the UAV integrated management and control unit, and receiving telemetry information issued by the UAV integrated management and control unit; The payload control platform is configured 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 commands to the remote control framing control platform based on the telemetry information; The remote control framing control platform is used to receive the remote control instructions issued by the payload control platform and send the remote control instructions to the ground data terminal in the UDP format 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 for fusing and processing the telemetry data from 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 suspicious target information 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 position 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 includes: 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; and send remote control commands to the remote control framing control platform based on the telemetry information; Photoelectric display and control software, used to receive the photoelectric load telemetry data transmitted by the link monitoring platform, and send remote control instructions to the remote control framing control platform based on the photoelectric load telemetry data; Radar display and control software, used to receive multi-function radar telemetry data transmitted by the link monitoring platform, and send remote control instructions to the remote control framing control platform based on the multi-function radar telemetry data; 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 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 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.

6. The large and medium-sized UAV monitoring system according to claim 2, characterized in that: The task 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 via asynchronous 422 interface; The data integration device is connected to the multifunctional radar through a synchronous 422 interface; The data recorder is communicatively connected to the photoelectric payload, the multifunctional radar and the airborne ship automatic identification module respectively 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 connected to the UAV integrated management and control unit through 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 via 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, 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 drones, characterized in that: include: Simultaneously launch a high-altitude, high-speed drone and a medium-altitude, long-endurance drone; A high-altitude, high-speed UAV is used to quickly search a set area, and telemetry data of the high-altitude, high-speed UAV is transmitted to a first ground control station and then to a UAV integrated management and control unit to determine suspicious targets and corresponding location information, and then a search route for the suspicious targets is formulated to form telemetry information and send it to a second ground control station to generate remote control instructions to control the medium-altitude, long-endurance UAV to search for the suspicious targets; Identify the suspicious target based on the telemetry data of the medium-altitude long-endurance UAV received by the second ground control station to determine the real target; Two medium-altitude, long-flight UAVs are controlled according to the position information of the real target to alternately track and monitor the real target.

Images