Method and device for tracking and monitoring low-altitude flyer by using sensing equipment

Abstract

The invention provides a method and a device for tracking and monitoring a low-altitude flying object by utilizing sensing equipment, electronic equipment and a non-instantaneous computer readable storage medium, and the method comprises the steps: receiving detection data of the low-altitude flying object from the sensing equipment in response to a tracking and monitoring instruction of the low-altitude flying object; converting the detection data into flight path point data of a preset standard; and performing tracking monitoring calculation on the flight path of the low-altitude flyer by using the flight path point data. According to the embodiment of the invention, the heterogeneous detection data of different types of sensing equipment on the low-altitude flying object is converted into the flight path point data with the unified standard according to the preset standard, so that the calculation and intelligent analysis of massive flight path point data are realized.

Description

Technical Field

[0001] The present application relates to the technical field of low-altitude flight management, and more specifically, to a method and device for tracking and monitoring low-altitude flying objects using sensing equipment, an electronic device, and a non-transitory computer-readable storage medium. Background Art

[0002] "Heterogeneity, high density, high frequency, and high complexity" are the main characteristics of low-altitude flight activities. Specifically, the core challenge of low-altitude activities is to support large-capacity integrated low-altitude flight activities with the attributes of "heterogeneity, high density, high frequency, and high complexity". That is, using intelligent technology to integrate heterogeneous aircraft of different types, functions, and performances, compatible with several times higher flight density and high frequency of take-offs and landings, and facing extremely complex flight, ground and highly complex information environments. Therefore, large-capacity integrated low-altitude flight activities have put forward new requirements for automated, digital, and intelligent low-altitude traffic management.

[0003] In order to meet the challenges brought by the large-scale integration of low-altitude flight activities, it is necessary to collect and analyze the flight data of low-altitude aircraft (e.g., flight trajectory point data) in real time.

[0004] The inventors of this application have discovered that although the industry has achieved centralized synchronization of flight trajectory point data measured by the measurement equipment on the low-altitude aircraft's own load during flight, there is still no unified standard digital space-time representation for the detection data of different types of sensing devices. As a result, it is impossible to effectively utilize the detection data of different types of sensing devices that are widely deployed to analyze and manage the flight trajectory of low-altitude aircraft.

[0005] It is necessary to uniformly convert heterogeneous flight trajectory point data into a standard digital space-time representation Summary of the invention

[0006] The present application proposes a method and apparatus, an electronic device, and a non-transitory computer-readable storage medium for tracking and monitoring low-altitude flying objects using a sensing device, so as to solve the problem in the prior art that heterogeneous detection data collected by different types of sensing devices have not achieved a unified standard digital space-time representation.

[0007] According to one aspect of the present application, a method for tracking and monitoring low-altitude flying objects using a sensing device is proposed, comprising: receiving detection data of the low-altitude flying object from the sensing device in response to a tracking and monitoring instruction of the low-altitude flying object; converting the detection data into flight trajectory point data of a preset standard; and tracking and monitoring calculations of the flight trajectory of the low-altitude flying object using the flight trajectory point data.

[0008] According to some embodiments, the detection data includes position data of the low-flying object relative to the sensing device, and converting the detection data into flight trajectory point data of preset standards includes: converting the position data relative to the sensing device in the detection data into longitude, latitude and altitude data relative to the earth; converting the longitude, latitude and altitude data relative to the earth into flight trajectory point data of preset standards.

[0009] According to some embodiments, the flight trajectory point data includes flight time data of the low-altitude flying object and coordinate data under the preset standard.

[0010] According to some embodiments, the position data relative to the sensing device in the detection data is expressed in polar coordinates, and the position data relative to the sensing device in the detection data is converted into longitude, latitude and altitude data relative to the earth, including: converting the position data relative to the sensing device expressed in polar coordinates into a rectangular coordinate system representation in the sensing device's own coordinate system; converting the position data converted into a rectangular coordinate system representation in the sensing device's own coordinate system into a rectangular coordinate system representation in a geographic coordinate system; converting the position data converted into a rectangular coordinate system representation in a geographic coordinate system into the longitude, latitude and altitude data of the earth.

[0011] According to some embodiments, the preset standard includes a geocentric earth-fixed coordinate system, and converting the longitude and latitude and altitude data relative to the earth into the flight trajectory point data of the preset standard includes: converting the longitude and latitude relative to the earth into coordinate data in the geocentric earth-fixed coordinate system; converting the altitude data relative to the earth into altitude data in the geocentric earth-fixed coordinate system; and obtaining the flight trajectory point data of the preset standard using the flight time data of the low-altitude flying object, the coordinate data in the geocentric earth-fixed coordinate system, and the altitude data.

[0012] According to some embodiments, the perception device includes a radar device, a 5G-A device, a camera and / or an RTLS device.

[0013] According to some embodiments, before using the flight trajectory point data to track, monitor and calculate the flight trajectory of the low-altitude flying object, it also includes: fusing the flight trajectory point data.

[0014] According to some embodiments, the flight trajectory of the low-altitude flying object is tracked, monitored and calculated using the flight trajectory point data, including: using the flight trajectory point data to perform flight trajectory prediction, flight trajectory conflict calculation, flight deviation trajectory identification, trajectory planning and / or trajectory density calculation for the low-altitude flying object.

[0015] According to one aspect of the present application, a device for tracking and monitoring low-altitude flying objects using a sensing device is proposed, comprising: a detection data acquisition module, for receiving detection data of the low-altitude flying object from the sensing device in response to a tracking and monitoring instruction of the low-altitude flying object; a data conversion module, for converting the detection data into flight trajectory point data of a preset standard; and a tracking and monitoring calculation module, for tracking and monitoring the flight trajectory of the low-altitude flying object using the flight trajectory point data.

[0016] According to some embodiments, the perception device includes: a data acquisition submodule, used to detect the flight data of the low-altitude flying object; a flight data fusion and analysis submodule, used to use the flight data to perform target identification, activity identification, speed identification and / or state identification on the low-altitude flying object to obtain the detection data of the low-altitude flying object; and a data reporting submodule, used to send the detection data to the detection data acquisition module.

[0017] According to some embodiments, the device further includes a data fusion module for performing fusion processing on the flight trajectory point data.

[0018] According to some embodiments, the tracking and monitoring calculation module is further configured to use the flight trajectory point data to perform flight trajectory prediction, flight trajectory conflict calculation, flight deviation trajectory identification, trajectory planning and / or trajectory density calculation for the low-altitude flying object.

[0019] According to one aspect of the present application, a system for tracking, monitoring and calculating low-altitude flying objects using sensing devices is proposed, comprising: a plurality of sensing devices configured to detect flight data of the low-altitude flying objects; a tracking, monitoring and calculating module configured to receive the flight data of the plurality of sensing devices and perform tracking, monitoring and calculating; wherein,

[0020] Each of the sensing devices comprises: a data acquisition submodule configured to detect the flight data of the low-altitude flying object; a flight data fusion analysis submodule configured to use the flight data to perform target recognition, activity recognition, speed recognition and / or state recognition on the low-altitude flying object to obtain the detection data of the low-altitude flying object; a data reporting submodule configured to send the detection data to the tracking and monitoring calculation module;

[0021] The tracking, monitoring and calculation module includes: a detection data acquisition submodule, configured to receive reported data on the low-altitude flying object from the sensing device; a data conversion submodule, configured to convert the reported data into flight trajectory point data of a preset standard; and a tracking, monitoring and calculation submodule, configured to use the flight trajectory point data to perform tracking, monitoring and calculation on the flight trajectory of the low-altitude flying object.

[0022] According to one aspect of the present application, an electronic device is proposed, characterized in that it includes: a processor; a memory for storing a computer program; when the computer program is executed by the processor, the processor implements the method described in any of the previous embodiments.

[0023] According to one aspect of the present application, a non-transitory computer-readable storage medium is provided, on which computer-readable instructions are stored. When the instructions are executed by a processor, the processor executes the method described in any of the previous embodiments.

[0024] According to an example embodiment of the present application, heterogeneous detection data of low-altitude flying objects by different types of sensing devices are converted into flight trajectory point data with unified standards according to preset standards, thereby achieving computability and intelligent analysis of massive amounts of flight trajectory point data. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for describing the embodiments are briefly introduced below.

[0026] Figure 1 A schematic diagram of a system architecture for tracking and monitoring low-altitude flying objects using a sensing device according to an example embodiment of the present application is shown.

[0027] Figure 2 A block diagram of an apparatus for tracking and monitoring low-altitude flying objects using a sensing device according to an exemplary embodiment of the present application is shown.

[0028] Figure 3 A flow chart of a method for tracking and monitoring low-altitude flying objects using a sensing device according to an exemplary embodiment of the present application is shown.

[0029] Figure 4 A device block diagram of a radar device subsystem according to an embodiment of the present application is shown.

[0030] Figure 5 A device block diagram of a 5G-A device subsystem according to an embodiment of the present application is shown

[0031] Figure 6 A device block diagram of a camera device subsystem according to an embodiment of the present application is shown.

[0032] Figure 7 A device block diagram of an RTLS device subsystem according to an embodiment of the present application is shown.

[0033] Figure 8 A flow chart of another method for tracking and monitoring low-flying objects using a sensing device according to an exemplary embodiment of the present application is shown.

[0034] Fig. 9 An electronic device according to an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0035] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0036] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other modes, components, materials, devices or operations may be adopted. In these cases, known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0037] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0038] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0039] During the low-altitude flight of low-altitude aircraft, low-altitude aircraft can be detected through different types of sensing devices. For example, low-altitude flying objects can be detected through radar equipment; or low-altitude flying objects can be detected through 5G-A (5G-Advanced, called the evolution and enhancement of 5G networks) base stations with the help of inter-sensory capabilities; or, targets can be detected through cameras for captured video frames to identify low-altitude flying objects; or, RTLS (Real Time Locating Systems, called real-time positioning systems) readers can interact with RTLS transponders deployed on low-altitude flying objects to identify low-altitude flying objects. Therefore, if the detection data of sensing equipment can be effectively utilized, low-altitude aircraft can be effectively tracked and monitored using widely deployed sensing equipment.

[0040] The inventors of this application have discovered that although the industry has achieved centralized synchronization of flight trajectory point data measured by the measurement equipment on the low-altitude aircraft's own load during flight, since the data structures of the detection data of different types of sensing devices are different, it is still impossible to effectively utilize the detection data of widely deployed different types of sensing devices.

[0041] For example, the detection data of radar equipment and 5G-A base stations are the direction, speed, distance positioning accuracy information and detection time of low-altitude flying objects relative to the sensing equipment; the detection data of the camera is the position and detection time of the low-altitude flying objects in the video frame; the detection data of the RLTS reader is the distance and detection time of the low-altitude flying objects relative to the RLTS reader.

[0042] Figure 1 A schematic diagram of a system architecture for tracking and monitoring low-altitude flying objects using a sensing device according to an exemplary embodiment of the present application is shown. Figure 1 The system shown includes a low-altitude flying object 600, an apparatus 500 for tracking and monitoring the low-altitude flying object using a sensing device, and multiple sensing devices (for example, a radar device subsystem 100, a 5G-A device subsystem 200, a camera device subsystem 300, and an RTLS device subsystem 400).

[0043] like Figure 1 As shown, multiple sensing devices detect low-altitude flying objects 600 in different ways, and generate reporting data based on the detection data, and report to the device 500. The device 500 receives heterogeneous reporting data from each sensing device subsystem, converts the heterogeneous reporting data into flight trajectory point data represented by a unified standard four-dimensional digital space-time, performs data fusion on the converted flight trajectory point data, and performs unified analysis, prediction and calculation on the fused flight trajectory point data.

[0044] According to an embodiment of the present application, by converting heterogeneous detection data of low-altitude flying objects by different types of sensing devices into flight trajectory point data with unified standards according to preset standards, the computability and intelligent analysis of massive flight trajectory point data are achieved.

[0045] The specific embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0046] Figure 2 A block diagram of a device for tracking and monitoring low-altitude flying objects using a sensing device according to an exemplary embodiment of the present application is shown. Figure 2 The device shown includes a detection data acquisition module 510, a data conversion module 530 and a tracking and monitoring calculation module 550. The detection data acquisition module 510 is used to receive detection data of low-altitude flying objects from the sensing device in response to the tracking and monitoring instructions of low-altitude flying objects; the data conversion module 530 is used to convert the detection data into flight trajectory point data of a preset standard; and the tracking and monitoring calculation module 550 is used to track and monitor the flight trajectory of the low-altitude flying object using the flight trajectory point data.

[0047] In some embodiments, the sensing device includes a data acquisition submodule, a flight data fusion analysis submodule, and a data reporting submodule. The data acquisition submodule is used to detect the flight data of low-altitude flying objects; the flight data fusion analysis submodule is used to use the flight data to perform target recognition, activity recognition, speed recognition, and / or state recognition on low-altitude flying objects to obtain the detection data of low-altitude flying objects; and the data reporting submodule is used to send the detection data to the detection data acquisition module.

[0048] Since the flight trajectory point data obtained after processing from different sensing devices may contain duplicate data, or there may be detected aircraft that are not actively reported, according to the embodiments of the present application, Figure 1 The device shown also includes a data fusion module 540 for fusing the flight trajectory point data to remove duplicates from the flight trajectory point data or to identify illegally flying aircraft.

[0049] According to an embodiment of the present application, the tracking, monitoring and calculation module 550 performs tracking, monitoring and calculation on the flight trajectory of the low-altitude flying object on the fused flight trajectory point data, for example, uniformly analyzing, predicting and calculating large-scale flight trajectory point data.

[0050] In a specific embodiment, the tracking and monitoring calculations performed by the tracking and monitoring calculation module 550 on low-altitude flying objects include but are not limited to predicted trajectory calculations, conflict calculations between planned trajectories, conflict calculations between predicted trajectories, identification of flight dynamic deviations from planned trajectories, analysis of adjacent planned trajectories, planned trajectory planning and / or historical flight trajectory density distribution.

[0051] according to Figure 2 In the illustrated embodiment, heterogeneous detection data of low-altitude flying objects from different types of sensing devices are converted into flight trajectory point data with unified standards according to preset standards, thereby achieving computability and intelligent analysis of massive amounts of flight trajectory point data.

[0052] Figure 3 A flow chart of a method for tracking and monitoring low-altitude flying objects using a sensing device according to an exemplary embodiment of the present application is shown. Figure 3 The method shown includes steps S301, S303 and S305.

[0053] like Figure 3 As shown, in step S301, in response to a tracking and monitoring instruction for a low-altitude flying object, detection data of the low-altitude flying object is received from a sensing device.

[0054] In practice, the sensing devices include but are not limited to radar devices, 5G-A devices, cameras and / or RTLS devices. Since the data structures of the detection data collected by different sensing devices are different, in order to effectively use the detection data of different sensing devices to analyze and manage the flight trajectory, step S303 needs to be executed.

[0055] According to some other embodiments of the present application, flight data from a low-altitude aircraft is also received in step S301.

[0056] In step S303, the detection data is converted into flight trajectory point data of a preset standard.

[0057] According to an embodiment of the present application, the flight trajectory point data includes the flight time data of the low-altitude flying object and the coordinate data under a preset standard, that is, the flight trajectory point data represented by digital space-time.

[0058] In other embodiments, the detection data includes detection data uploaded by a sensing device and / or flight data uploaded by a low-altitude aircraft.

[0059] For example, the obtained flight trajectory point data is the flight trajectory point data (X, Y, Z, t) represented by a four-dimensional digital space-time in an earth-centered earth-fixed coordinate system.

[0060] According to some embodiments, the following steps are performed on the position data of the low-altitude flying object relative to the sensing device in the detection data to obtain the flight trajectory point data:

[0061] First, the position data relative to the sensing device in the detection data is converted into longitude, latitude and altitude data relative to the earth;

[0062] Then, the latitude, longitude and altitude data relative to the earth are converted into flight trajectory point data of preset standards.

[0063] In some embodiments, the position data relative to the sensing device in the detection data is expressed in polar coordinates. In practice, when converting the position data relative to the sensing device in the detection data into longitude, latitude and altitude data relative to the earth, rectangular coordinate conversion, posture conversion and geographic coordinate conversion are performed in sequence to obtain longitude, latitude and altitude data relative to the earth. For example, first, the position data relative to the sensing device expressed in polar coordinates is converted into the expression of the rectangular coordinate system in the sensing device's own coordinate system; the position data converted into the expression of the rectangular coordinate system in the sensing device's own coordinate system is converted into the expression of the rectangular coordinate system in the geographic coordinate system; the position data converted into the expression of the rectangular coordinate system in the geographic coordinate system is converted into the longitude, latitude and altitude data of the earth.

[0064] In some other embodiments, the preset standard includes an earth-centered earth-fixed coordinate system. In practice, when converting the longitude and latitude relative to the earth and the altitude data into the flight trajectory point data of the preset standard, first, the longitude and latitude relative to the earth are converted into the coordinate data in the earth-centered earth-fixed coordinate system; then, the altitude data relative to the earth is converted into the altitude data in the earth-centered earth-fixed coordinate system; finally, the flight time data of the low-altitude flying object, the coordinate data in the earth-centered earth-fixed coordinate system and the altitude data are used to obtain the flight trajectory point data of the preset standard.

[0065] For example, when the preset standard is the G2000 coordinate system, in step S303, the longitudes and latitudes of different reference coordinate systems are uniformly converted to the X and Y values ​​of the geocentric earth-fixed coordinates in the G2000 reference system, and the different altitude types are uniformly converted to the Z value of the geocentric earth-fixed coordinates in the G2000 reference system, and the corresponding time of the location is added, so that the heterogeneous position and time information from different sources are unified into the same four-dimensional digital space-time, so that the collected detection data of low-altitude flying objects are comparable and computable.

[0066] In a specific embodiment, the detection time in the flight trajectory point data is represented by a unified absolute time.

[0067] In step S305, the flight trajectory of the low-altitude flying object is tracked, monitored and calculated using the flight trajectory point data.

[0068] Since the flight trajectory point data obtained after processing from different sensing devices may contain duplicate data, or there may be detected aircraft that have not been actively reported, according to an embodiment of the present application, before step S305, the flight trajectory point data needs to be fused to deduplicate the flight trajectory point data, or to identify illegally flying aircraft.

[0069] In practice, using flight trajectory point data to track, monitor and calculate the flight trajectory of a low-altitude flying object includes unified analysis, prediction and calculation of large-scale flight trajectory point data. For example, using flight trajectory point data to perform flight trajectory prediction, flight trajectory conflict calculation, flight deviation trajectory identification, trajectory planning and / or trajectory density calculation on the low-altitude flying object.

[0070] according to Figure 3 The embodiment shown converts the detection data of low-altitude flying objects by different types of sensing devices into flight trajectory point data with a unified standard digital space-time representation, thereby converting the detection data of different types of sensing devices into key components of a computable, operational, and manageable digital space. Through the representation specification of the unified standard digital space-time representation, large-scale heterogeneous trajectory points can be mapped to the same digital space, thereby realizing the computability and intelligent analysis of massive flight trajectory point data.

[0071] In practice, the sensing devices include but are not limited to radar devices, 5G-A devices, cameras and / or RTLS devices. Figure 2 The data conversion module 530 shown includes corresponding conversion sub-modules, for example, a radar data conversion sub-module, a 5G-A data conversion sub-module, a camera data conversion sub-module, and an RTLS data conversion sub-module.

[0072] In some embodiments, the data conversion module 530 further includes an aircraft reporting data conversion submodule.

[0073] According to an embodiment of the present application, a system for tracking, monitoring and calculating low-altitude flying objects using a sensing device is also proposed. The system includes multiple sensing devices and a tracking, monitoring and calculating module, wherein the multiple sensing devices are configured to detect flight data of low-altitude flying objects; and the tracking, monitoring and calculating module is configured to receive flight data of the multiple sensing devices and perform tracking, monitoring and calculating.

[0074] According to some embodiments, each sensing device includes a data acquisition submodule, a data fusion analysis submodule, and a data reporting submodule. The data acquisition submodule is configured to detect the flight data of low-altitude flying objects; the flight data fusion analysis submodule is configured to use the flight data to perform target recognition, activity recognition, speed recognition, and / or state recognition on low-altitude flying objects to obtain the detection data of low-altitude flying objects; the data reporting submodule is configured to send the detection data to the tracking and monitoring calculation module;

[0075] According to other embodiments, the tracking and monitoring calculation module includes a detection data acquisition submodule, a data conversion submodule and a tracking and monitoring calculation submodule. The detection data acquisition submodule is configured to receive the reported data of the low-altitude flying object from the sensing device; the data conversion submodule is configured to convert the reported data into the flight trajectory point data of the preset standard; and the tracking and monitoring calculation submodule is configured to use the flight trajectory point data to perform tracking and monitoring calculation on the flight trajectory of the low-altitude flying object.

[0076] The following describes in detail the process of tracking and monitoring low-altitude flying objects using sensing devices according to an embodiment of the present application, taking radar equipment, 5G-A equipment, cameras and RTLS equipment as examples.

[0077] Figure 4 A device block diagram of a radar device subsystem according to an embodiment of the present application is shown. Figure 1 and Figure 4 As shown, the radar device subsystem 100 includes a radar unit 110 and a radar data processing unit 120. The radar unit 110 is used to detect low-altitude flying objects 600 and upload the original detection data obtained by the detection to the radar data processing unit 120.

[0078] In practice, the data structure of the original detection data includes but is not limited to the following data items:

[0079] The original position of the low-flying object 600 relative to the radar device 110, the speed of the low-flying object 600, the distance between the low-flying object 600 and the radar unit 110, the detection accuracy information of the radar unit 110, and the detection time.

[0080] The detailed definitions of each data item of the original detection data are as follows:

[0081] 1) Original azimuth: The azimuth of the flying object in the antenna coordinate system, described by two parameters: azimuth and elevation.

[0082] 2) Original velocity: the radial velocity of the flying object in the direction of the radar line of sight;

[0083] 3) Original distance: the straight-line distance of the flying object relative to the radar;

[0084] 4) Original detection accuracy: including distance accuracy, azimuth accuracy, elevation accuracy, and velocity accuracy;

[0085] 5) Original detection time: the time when the flying object is detected.

[0086] like Figure 4 As shown, the radar data processing unit 120 includes a radar data fusion subunit 121 and a radar data reporting subunit 122 .

[0087] The radar data fusion subunit 121 is used to fuse and analyze information such as the detection target characteristics, target flight speed, whether it is continuous flight, current flight status, etc. of the low-altitude flying object 600 based on the continuous detection data reported by a single radar unit or multiple radar units in a network, and then obtain the target recognition result of the low-altitude flying object 600, the target flight activity recognition result, the ground speed of the flying object, the vertical speed of the flying object, and the flight status, etc.

[0088] In a specific embodiment, the target recognition result is obtained by the following steps:

[0089] The radar data fusion subunit 121 distinguishes the characteristics of different flying objects by comprehensively using echo signal feature analysis data, target motion characteristics, micro-motion characteristics, signal spectrum analysis data, target recognition algorithm, multi-radar data fusion technology and signal processing technology, so as to distinguish the low-altitude flying object 600 as a drone, civil aircraft, helicopter (including eVTOL), bird, balloon, glider or UFO, and further determine whether the low-altitude flying object 600 is the same flying object, and assign a unique flying object ID to obtain a target recognition result. Among them, the echo signal feature analysis data includes the cross-sectional size, shape and echo intensity of the radar unit 110; the target motion characteristics include the speed and acceleration of the low-altitude flying object 600, and there are significant differences in the motion patterns of different types of flying objects; the micro-motion characteristics include the frequency and characteristics of the low-altitude flying object 600, and the micro-motion characteristics of drones and birds are different; the signal spectrum analysis data includes the signal spectrum, pulse width and repetition frequency of the radar unit 110; target recognition algorithms such as learning pattern recognition based on historical data, generating images based on radar data and then performing image processing and recognition; multi-radar data fusion technology, for example, by matching the position and flight trajectory of the low-altitude flying object 600, assisting in identifying whether it is the same flying object in a cross-radar device tracking scenario; signal processing technology, for example, filtering, denoising and frequency analysis of radar signals.

[0090] In some other embodiments, the target flight activity identification result is obtained by the following steps:

[0091] The radar data fusion subunit 121 identifies whether the detection results belong to the same flight activity through flight trajectory continuity analysis, speed analysis, and acceleration analysis, and assigns a unique tracking and monitoring flight activity ID, thereby obtaining the target flight activity identification result. Among them, the flight trajectory continuity standard is that the same target is detected continuously without obvious interruption, and the spatial position change conforms to the corresponding time interval and speed; the speed analysis includes analyzing whether the speed of the low-altitude flying object 600 is constant or changes smoothly, and whether it conforms to the physical characteristics of the flying object; the acceleration analysis includes analyzing whether the acceleration change of the low-altitude flying object 600 is within a reasonable range, whether the direction and magnitude of its acceleration are consistent with the change of the flight trajectory, and whether it conforms to the physical law.

[0092] In some other embodiments, the ground speed of the flying object and the vertical speed of the flying object are obtained by the following steps:

[0093] The radar data fusion subunit 121 can calculate the complete velocity vector of the low-altitude flying object 600 by fusing data from multiple radar devices, and then decompose the complete velocity vector into the magnitude and direction of the ground speed and vertical speed of the low-altitude flying object 600 using a vector decomposition method.

[0094] In some other embodiments, the flight status is obtained by the following steps:

[0095] The radar data fusion subunit 121 can comprehensively identify the flight status of the low-altitude flying object 600 through vertical speed changes, altitude changes (approximately represented by pitch angle changes), whether the location area is near the take-off and landing field, etc. For example: (1) the radar unit 110 detects that the vertical speed of the low-altitude flying object 600 increases significantly, usually accompanied by changes in ground speed; (2) the radar unit 110 detects that the altitude of the low-altitude flying object 600 rises rapidly; (3) the radar unit 110 detects that the take-off location is usually near a known airport or take-off point. At this time, it can be determined that the state of the low-altitude flying object 600 is the take-off state.

[0096] Further, when the target recognition result indicates that the low-altitude flying object 600 is a drone, a civil aircraft or a helicopter (including eVTOL), the radar data reporting module 122 combines the original detection data related to the low-altitude flying object 600, the fusion analysis result of the fusion analysis module 121 and the equipment parameters of the radar unit 110 (such as the equipment position and posture of the radar unit 110), and determines the radar equipment reporting data according to the requirements of the reporting data structure, and reports it to the device 500. The information included in the radar equipment reporting data and the data structure that each information needs to follow are as follows:

[0097] 1) Radar equipment location: the three-dimensional spatial location information of the radar equipment, the data structure is [longitude, latitude, altitude];

[0098] 2) Radar equipment attitude: The detection attitude of the radar equipment is described by the antenna pointing angle system, and the data structure is [azimuth, pitch angle, torsion angle];

[0099] 3) Detection time: Same as “original detection time”, expressed as an absolute timestamp;

[0100] 4) Tracking and monitoring flight activity ID: reporting party identification code + "tracking and monitoring flight activity ID";

[0101] 5) Aircraft ID: identification code of the reporting party + "aircraft ID";

[0102] 6) Flying object position: The detection target position information of radar equipment is described by the flying object direction (same as "original direction") and the flying object distance (same as "original distance");

[0103] 7) Flying object speed: Same as “flying object ground speed and vertical speed”; the ground speed direction is represented by the track angle, and the vertical speed direction is represented by positive and negative values;

[0104] 8) Flight status: The data structure is an enumeration value: Begin (flight start), TakingOff (take-off phase), Crusing (stable cruising phase), Landing (landing phase), Complete (flight end);

[0105] 9) Detection accuracy: the original detection accuracy shown above, including distance accuracy, azimuth accuracy, pitch angle accuracy, and speed accuracy.

[0106] According to an embodiment of the present application, the radar equipment reported data also includes a reference coordinate system, an altitude type and altitude supplementary information. The reference coordinate system includes but is not limited to WGS8, CGCS2000 and / or PZ90; the altitude type includes but is not limited to ellipsoid altitude / geodetic height, altitude / mean altitude, field pressure altitude, corrected sea pressure altitude and / or altitude above ground.

[0107] In practice, the altitude is measured using the HeightType description, which is the altitude of the aircraft at the time of sampling. The altitude format uses a floating-point number in meters, accurate to 2 decimal places, and the value range is (-10000, 10000).

[0108] When the height type is altitude / average altitude, the height supplementary information includes the geoid model (e.g., MSL_BaseMode) based on which the altitude / average altitude reference surface (e.g., approximated by the geoid) is calculated, and the values ​​include but are not limited to EGM2008 and EGM96, and are expressed in Json format. For example, "HeightExtra":{"MSL_BaseModel":"EGM2008"}.

[0109] When the altitude type is field pressure altitude, the altitude supplementary information includes the geodetic height (i.e., QFE_BaseHAE) of the reference plane of the field pressure altitude (i.e., the airport runway), with the reference ellipsoid corresponding to the coordinate system identified by CoordinateRefSys as the reference plane. Among them, the geodetic height QFE_BaseHAE uses a floating-point number, accurate to 2 decimal places, with a value range of (-10000, 10000), and the unit is meter. For example, its corresponding Json format is expressed as "HeightExtra":{"QFE_BaseHAE":50.00}.

[0110] When the altitude type is the corrected sea pressure altitude, the altitude supplementary information includes the corrected sea pressure altitude (QNH_CalibrationQNH) and the geodetic height (QNH_CalibrationHAE) of the calibration point (usually the airport runway) used to calculate the corrected sea pressure altitude. The geodetic height uses the reference ellipsoid corresponding to the coordinate system identified by CoordinateRefSys as the reference surface. In practice, the Json format of the corrected sea pressure altitude QNH_CalibrationQNH and the geodetic height QNH_CalibrationHAE is "HeightExtra":{"QNH_CalibrationQNH":-83.00, "QNH_CalibrationHAE":50.00}.

[0111] When the height type is height above ground, the height supplementary information includes the reference type (AGL_BaseType) that describes the height above ground, and its value includes DTM and DSM. In practice, the corresponding Json format example is "HeightExtra":{"AGL_BaseType":"DTM"}.

[0112] After the radar data fusion subunit 121 processes the detection data collected by the radar unit, the radar data reporting subunit 122 reports the processing result.

[0113] The detection data acquisition module 510 is used to receive the radar equipment reporting data sent by the radar data reporting subunit 122, and then pre-process the position information of the low-altitude flying object 600, and convert the position information of the low-altitude flying object 600 relative to the radar equipment into the longitude, latitude, and altitude relative to the earth, that is: first, perform coordinate conversion, convert the polar coordinate system into the rectangular coordinate system in the radar's own coordinate system; then, perform attitude conversion, use the attitude matrix to convert the points in the radar's own coordinate system into the geographic coordinate system; finally, perform geographic coordinate conversion, for example, convert the rectangular coordinate system in the converted geographic coordinate system into the longitude, latitude and altitude of the earth.

[0114] It should be noted here that the longitude, latitude and altitude must correspond to the reference coordinate system and altitude type used when reporting.

[0115] After obtaining the detection data of the radar unit, the radar data conversion submodule adopts a standardized processing method for flight trajectory points to convert the detection flight dynamic data (i.e., one of the real-time flight trajectory points) under different coordinate reference systems and altitude types into flight trajectory point data (X, Y, Z, t) represented by a unified standard digital space-time according to preset standards.

[0116] In a specific embodiment, the radar data conversion submodule converts the flight trajectory point data (lon, lat, h, t), that is, longitude, latitude, height, and time, based on different reference coordinate systems (WGS84, PZ90, CGCS2000, etc.) and altitude references (geodetic height, altitude, altitude above ground, corrected sea pressure height, and field pressure height), into flight trajectory point data (X, Y, Z, t) in a unified standard four-dimensional digital space-time Earth-centered, Earth-fixed coordinate system (ECEF for short). For example, the longitudes and latitudes of different reference coordinate systems are uniformly converted to the X and Y values ​​of the geocentric, earth-fixed coordinates in the G2000 reference system, and the different altitude types are uniformly converted to the Z value of the geocentric, earth-fixed coordinates in the G2000 reference system. Together with the corresponding time of the location, the heterogeneous position and time information from different sources can be clearly and uniquely present in a four-dimensional digital space-time, thereby converting the detection flight dynamics data in different coordinate reference systems and altitude types into flight trajectory point data (X, Y, Z, t) represented by a unified standard digital space-time, making the detection data comparable and computable with each other.

[0117] Figure 5 A device block diagram of a 5G-A device subsystem according to an embodiment of the present application is shown, such as Figure 1 and Figure 5 As shown, the 5G-A device subsystem 200 includes a 5G-A base station device unit 210 and a 5G-A data processing unit 220. A single 5G-A base station device may have multiple antennas for simultaneous detection. The 5G-A base station device 210 is used to detect low-altitude flying objects 600 and upload the original detection data generated by the detection to the 5G-A data processing unit 220.

[0118] In a specific embodiment, the data structure of the original detection data includes but is not limited to the following data items:

[0119] The original position of the low-altitude flying object 600 relative to the 5G-A base station equipment unit 210, the speed of the low-altitude flying object 600, the distance between the low-altitude flying object 600 and the 5G-A base station equipment unit 210, the detection accuracy information of the 5G-A base station equipment unit 210, and the detection time.

[0120] The detailed definitions of each data item of the original detection data are as follows:

[0121] 1) Original azimuth: The azimuth of the flying object in the antenna coordinate system, described by two parameters: azimuth and elevation.

[0122] 2) Original velocity: the radial velocity of the flying object in the line of sight of the 5G-A base station equipment unit 210;

[0123] 3) Original distance: the straight-line distance between the flying object and the 5G-A base station equipment unit 210;

[0124] 4) Original detection accuracy: including distance accuracy, azimuth accuracy, elevation accuracy, and velocity accuracy;

[0125] 5) Original detection time: the time when the flying object is detected.

[0126] like Figure 5 As shown, the 5G-A data processing unit 220 includes a 5G-A data fusion analysis subunit 221 and a 5G-A data reporting subunit 222. Among them, the processing flow of the 5G-A data fusion analysis subunit 221 is the same as the processing flow of the radar data fusion subunit 121, and the processing flow steps of the 5G-A data reporting module 222 are consistent with the processing flow steps of the radar data reporting subunit 122, which will not be repeated here.

[0127] The 5G-A data conversion submodule is used to receive the 5G-A device reporting data reported by the 5G-A data processing unit 220 and convert it into flight trajectory point data represented by a unified standard digital space-time.

[0128] Specifically, after receiving the reported data from the 5G-A base station device, the 5G-A data conversion submodule first pre-processes the position information of the low-altitude flying object 600 relative to the 5G-A base station device, and converts the position information of the low-altitude flying object 600 relative to the 5G-A base station device into the longitude, latitude, and altitude relative to the earth. That is, first, a coordinate conversion is performed to convert the polar coordinate system into a rectangular coordinate system in the coordinate system of the 5G-A base station device itself; then, an attitude conversion is performed to convert the points in the coordinate system of the 5G-A base station device itself into a geographic coordinate system using an attitude matrix; finally, a geographic coordinate conversion is performed to convert the rectangular coordinate system in the converted geographic coordinate system into the longitude, latitude, and altitude of the earth.

[0129] It should be noted here that the longitude, latitude and altitude must correspond to the reference coordinate system and altitude type used when reporting.

[0130] Afterwards, the 5G-A data conversion submodule adopts a standardized processing method for flight trajectory points to convert the detection flight dynamic data under different coordinate reference systems and altitude types into flight trajectory point data (X, Y, Z, t) represented by a unified standard digital space-time.

[0131] Specifically, the flight trajectory point data (lon, lat, h, t), that is, longitude, latitude, altitude, and time, based on different reference coordinate systems (WGS84, PZ90, CGCS2000, etc.) and altitude references (geodetic height, altitude, altitude above ground, corrected sea pressure height, field pressure altitude), are converted into flight trajectory point data (X, Y, Z, t) in a unified standard four-dimensional digital space-time (Earth-Centered, Earth-Fixed, ECEF for short) Earth-centered Earth-fixed coordinate system.

[0132] For example, the longitude and latitude of different reference coordinate systems are uniformly converted to the X and Y values ​​of the geocentric Earth-fixed coordinates in the G2000 reference system, and the different altitude types are uniformly converted to the Z value of the geocentric Earth-fixed coordinates in the G2000 reference system, and then the corresponding time of the location is added. In this way, the heterogeneous position and time information from different sources can all exist clearly and uniquely in a 4-dimensional digital space-time, and are comparable and computable with each other.

[0133] Figure 6 A device block diagram of a camera device subsystem according to an embodiment of the present application is shown. Figure 1 and Figure 6 As shown, the camera device subsystem 300 includes a camera unit 310 and a camera data processing unit 320. The camera unit 310 collects video frames (or original images) including flying targets, and the camera unit 310 is integrated with a camera computing module, which uses a pre-deployed deep learning-based target detection model to perform target detection in the video frame and determine the following perception result data:

[0134] 1) Original position: In the pixel image coordinate system, the position coordinates of the flying target in the image and the depth information from the camera, expressed in pixels (x, y) and depth z.

[0135] 2) Original speed: The position change of the target in the image sequence is used to give a preliminary speed estimate of the target using methods such as optical flow or time difference.

[0136] 3) Original perception time: the absolute time when the flying target is perceived.

[0137] When the camera unit 310 captures a video frame including the low-altitude flying object 600 , it determines the above-mentioned perception result information as the flight target of the low-altitude flying object 600 , and then reports it to the camera data processing unit 320 .

[0138] like Figure 6As shown, the camera data processing unit 320 includes a camera data fusion analysis subunit 321 and a camera data reporting subunit 322 .

[0139] The camera data fusion analysis subunit 321 performs fusion analysis on the continuous perception result data reported by a single camera or a networked multi-camera device, and can obtain more accurate information such as the position, speed (including ground speed and vertical speed and direction) of the flying target, target recognition results, tracking and monitoring flight activity recognition results, flight status, and perception confidence.

[0140] Specifically, the target position is obtained by the following steps:

[0141] The camera data fusion analysis subunit 321 converts the original position of the low-altitude flying object 600 into the position information of the low-altitude flying object 600 in the camera coordinate system (with the optical center of the camera as the origin, the horizontal direction to the right along the camera image plane as the X-axis, the vertical direction downward along the camera image plane as the Y-axis, and the direction of the camera's line of sight as the Z-axis).

[0142] In some other embodiments, the target speed is obtained by the following steps:

[0143] The camera data fusion analysis subunit 321 obtains a more accurate complete velocity vector through filtering correction, multi-source fusion, motion model correction, etc., and then uses the vector decomposition method to decompose the complete velocity vector into the magnitude and direction of the ground speed and vertical speed of the flying object.

[0144] In some other embodiments, the target recognition result is obtained by the following steps:

[0145] The camera data fusion analysis subunit 321 distinguishes the characteristics of different flying objects based on the appearance image analysis of the perceived target, the target motion characteristics, the target recognition algorithm, etc., distinguishes the detection target as a drone, civil aircraft, helicopter (including eVTOL), bird, balloon, glider or UFO, and further determines whether it is the same flying object, and assigns a unique flying object ID; wherein the target motion characteristics include the speed and acceleration of the low-altitude flying object 600, and there are significant differences in the motion patterns of different types of flying objects; the target recognition algorithm, for example, learns pattern recognition based on historical data, and then performs image processing and recognition on the appearance image of the perceived target.

[0146] In some other embodiments, the target flight activity identification result is obtained by the following steps:

[0147] The camera data fusion analysis subunit 321 identifies whether the detection results belong to the same flight activity through flight trajectory continuity analysis, speed analysis, and acceleration analysis, and assigns a unique tracking and monitoring flight activity ID, thereby obtaining the target flight activity identification result. Among them, the standard for flight trajectory continuity is that the same target is detected continuously without obvious interruption, and the spatial position change conforms to the corresponding time interval and speed; speed analysis includes analyzing whether the speed of the low-altitude flying object 600 is constant or changes smoothly, and whether it conforms to the physical characteristics of the flying object; acceleration analysis includes analyzing whether the acceleration change of the low-altitude flying object 600 is within a reasonable range, whether the direction and magnitude of its acceleration are consistent with the change of the flight trajectory, and whether it conforms to the laws of physics.

[0148] In some other embodiments, the flight status is obtained by the following steps:

[0149] The camera data fusion analysis subunit 321 can comprehensively identify the flight status of the low-altitude flying object 600 through vertical speed changes, altitude changes (approximately represented by pitch angle changes), whether the location area is near the take-off and landing field, etc. For example: (1) the camera unit 310 detects that the vertical speed of the low-altitude flying object 600 increases significantly, usually accompanied by changes in ground speed; (2) the camera unit 310 detects that the altitude of the low-altitude flying object 600 rises rapidly; (3) the camera unit 310 detects that the take-off location is usually near a known airport or take-off point. At this time, it can be determined that the state of the low-altitude flying object 600 is take-off.

[0150] In some other embodiments, the perception confidence includes target position confidence and target speed confidence, which are obtained by the following steps:

[0151] By smoothing and correcting the raw data through algorithms such as Kalman filtering and particle filtering, the target position confidence and target velocity confidence (such as the error covariance matrix) can be provided. The accuracy of the confidence can be further improved by combining the results of multi-source information fusion, physical models, kinematic models, etc.

[0152] Furthermore, when the target recognition result indicates that the low-altitude flying object 600 is a drone, a civil aircraft or a helicopter (including eVTOL), the detection data related to the low-altitude flying object 600, the fusion analysis results of the camera data fusion analysis subunit 321 and the equipment parameters of the camera unit 310 (such as the position, posture and accuracy of the camera unit 310) are combined through the camera data reporting subunit 322, and the camera reporting data is determined in accordance with the requirements of the reporting data structure and reported to the device 500.

[0153] In practice, the information reported by the camera and the data structure that each information needs to follow are as follows:

[0154] 1) Device location: The three-dimensional spatial location information of the camera device, with the data structure of [longitude, latitude, altitude];

[0155] 2) Device attitude: The detection attitude of the camera device is described by the Euler angle system, and the data structure is [roll angle, pitch angle, yaw angle];

[0156] 3) Detection time: Same as “original perception time”, expressed as an absolute timestamp;

[0157] 4) Tracking and monitoring flight activity ID: reporting party identification code + "tracking and monitoring flight activity ID";

[0158] 5) Aircraft ID: identification code of the reporting party + "aircraft ID";

[0159] 6) Flying object position: The perceived target position information of camera-type equipment is described by "target position";

[0160] 7) Object speed: Same as “target speed”; the ground speed direction is represented by the track angle, and the vertical speed direction is represented by positive and negative values;

[0161] 8) Flight status: Same as “Flight status”, the data structure is an enumeration value: Begin (flight start), TakingOff (take-off phase), Crusing (stable cruising phase), Landing (landing phase), Complete (flight end);

[0162] 9) Detection accuracy: same as “perception confidence”;

[0163] According to an embodiment of the present application, similar to radar equipment, the data reported by camera-type equipment also includes a reference coordinate system, altitude type and altitude supplementary information, which will not be repeated here.

[0164] The camera data conversion submodule is used to receive the camera reporting data reported by the camera data processing module 320 and convert it into flight trajectory point data represented by a unified standard digital space-time.

[0165] Specifically, after receiving the camera report data, the camera data conversion module 530 first pre-processes the position information of the low-altitude flying object 600 relative to the camera, and converts the position information of the low-altitude flying object 600 relative to the camera into the longitude, latitude, and altitude relative to the earth. In practice, first, a rectangular coordinate system conversion is performed to convert the polar coordinate system into the rectangular coordinate system in the camera's own coordinate system; then, a posture conversion is performed to convert the points in the camera's own coordinate system into the geographic coordinate system using the posture matrix; finally, a geographic coordinate conversion is performed to convert the rectangular coordinate system in the converted geographic coordinate system into the longitude, latitude, and altitude of the earth. Among them, the longitude, latitude, and altitude must all correspond to the reference coordinate system and altitude type used when reporting.

[0166] Then, the camera data conversion submodule adopts the flight trajectory point standardization processing method to convert the detection flight dynamic data under different coordinate reference systems and altitude types into flight trajectory point data (X, Y, Z, t) represented by a unified standard digital space-time.

[0167] Specifically, the camera data conversion submodule converts the flight trajectory point data (lon, lat, h, t), that is, longitude, latitude, height, and time, based on different reference coordinate systems (including WGS84, PZ90, CGCS2000) and altitude references (geodetic height, altitude, altitude above ground, corrected sea pressure height, and field pressure height) into a unified standard four-dimensional digital space-time (Earth-Centered, Earth-Fixed, ECEF for short) flight trajectory point data (X, Y, Z, t) in the Earth-centered Earth-fixed coordinate system. For example, the longitude and latitude of different reference coordinate systems are uniformly converted to the X and Y values ​​of the geocentric Earth-fixed coordinates in the G2000 reference system, and the different altitude types are uniformly converted to the Z value of the geocentric Earth-fixed coordinates in the G2000 reference system, and then the corresponding time of the location is added. In this way, the heterogeneous position and time information from different sources can all exist clearly and uniquely in a four-dimensional digital space-time, and are comparable and computable with each other.

[0168] Figure 7 A device block diagram of an RTLS device subsystem according to an embodiment of the present application is shown. Figure 1 and Figure 7 As shown, the RTLS device subsystem 400 includes an RTLS reader device unit 410 and an RTLS data processing unit 420. The RTLS reader device unit 410 is used to interact with the RTLS transponder deployed on the low-altitude aircraft 600, detect the low-altitude aircraft 600, and upload the detection data generated by the detection to the RTLS data processing unit 420.

[0169] The data structure of the detection data includes the following data items:

[0170] 1) Original position: the straight-line distance of the flying object relative to the RTLS reader device 410;

[0171] 2) Original velocity: the radial velocity of the flying object in the line of sight of the RTLS reader device 410;

[0172] 3) Original detection time: the time when the flying target is detected;

[0173] 4) Original detection accuracy: including distance accuracy, azimuth accuracy, pitch angle accuracy, and speed accuracy.

[0174] like Figure 7 As shown, the RTLS data processing unit 420 includes an RTLS data fusion analysis subunit 421 and an RTLS data reporting subunit 422. The processing steps of the RTLS data fusion analysis module 421 are consistent with the processing steps of the radar data fusion analysis module 121, and the processing steps of the RTLS data reporting subunit 422 are consistent with the processing steps of the radar data reporting subunit 122, which will not be repeated here.

[0175] The RTLS data conversion module 540 is used to receive the RTLS reporting data reported by the RTLS data processing platform 420 and convert it into flight trajectory point data represented by a unified standard digital space-time.

[0176] Specifically, after receiving the RTLS reported data, the RTLS data conversion submodule first pre-processes the position information of the low-altitude flying object 600 relative to the RTLS reader device, and converts the position information of the low-altitude flying object 600 relative to the RTLS reader device into the longitude, latitude, and altitude relative to the earth. For example, first, a rectangular coordinate system conversion is performed to convert the polar coordinate system into the rectangular coordinate system in the RTLS reader device's own coordinate system; then, an attitude conversion is performed to convert the points in the RTLS reader device's own coordinate system to the geographic coordinate system using the attitude matrix; finally, a geographic coordinate conversion is performed to convert the rectangular coordinate system in the converted geographic coordinate system into the longitude, latitude, and altitude of the earth. Among them, the longitude, latitude, and altitude must all correspond to the reference coordinate system and altitude type used when reporting.

[0177] Then, the RTLS data conversion submodule adopts the flight trajectory point standardization processing method to convert the detection flight dynamic data under different coordinate reference systems and altitude types into flight trajectory point data (X, Y, Z, t) represented by a unified standard digital space-time.

[0178] Specifically, the RTLS data conversion submodule converts the flight trajectory point data (lon, lat, h, t), that is, longitude, latitude, height, and time, based on different reference coordinate systems (including WGS84, PZ90, CGCS2000, etc.) and altitude references (geodetic height, altitude, altitude above ground, corrected sea pressure height, field pressure height) into a unified standard four-dimensional digital space-time (Earth-Centered, Earth-Fixed, ECEF for short) flight trajectory point data (X, Y, Z, t) in the Earth-centered Earth-fixed coordinate system. For example, the longitude and latitude of different reference coordinate systems are uniformly converted to the X and Y values ​​of the geocentric Earth-fixed coordinates in the G2000 reference system, and the different altitude types are uniformly converted to the Z value of the geocentric Earth-fixed coordinates in the G2000 reference system, and then the corresponding time of the location is added. In this way, the heterogeneous position and time information from different sources can all exist clearly and uniquely in a four-dimensional digital space-time, and are comparable and computable with each other.

[0179] like Figure 1 As described above, the device 500 for tracking and monitoring low-altitude flying objects using a sensing device is respectively connected to the radar data processing unit 120, the 5G-A data processing unit 220, the camera data processing unit 320, and the RTLS data processing unit 420 in communication, so as to receive the reported data reported by them. Thus, each corresponding data conversion module converts the reported data from different devices into flight trajectory point data (X, Y, Z, t) represented by a unified standard digital space-time, which is used to represent the flight trajectory of the low-altitude flying object 600.

[0180] The data fusion module 540 is used to receive the reported data of different types of equipment from each data conversion module and convert it into flight trajectory point data (X, Y, Z, t) represented by a unified standard digital space-time, and then perform data fusion on these flight trajectory point data. Specifically, the data fusion process includes deduplication processing (i.e., removing overlapping real-time flight trajectory point data), and identifying non-cooperative aircraft (i.e., detected aircraft that have not actively reported), and removing these noise points. Then, the data fusion module 540 sends the fused flight trajectory point data to the tracking and monitoring calculation module 550.

[0181] The tracking monitoring calculation module 550 receives the fused flight trajectory point data from the data fusion module 560 and performs unified analysis, prediction and calculation on the large-scale flight trajectory point data.

[0182] For example, the tracking and monitoring calculation module 550 calculates the predicted trajectory of the low-altitude flying object 600, calculates conflicts between planned trajectories, identifies deviations of flight dynamics from the planned trajectory, analyzes adjacent planned trajectories, plans planned trajectories, performs density distribution of historical flight trajectories, and the like.

[0183] Figure 8 A flow chart of another method for tracking and monitoring low-flying objects using a sensing device according to an exemplary embodiment of the present application is shown.

[0184] like Figure 8 As shown, in steps S802a to S802d, different types of sensing devices are used to generate corresponding detection data.

[0185] For example: in step S802a, radar equipment is used to detect low-flying objects and corresponding detection data is generated; in step S802b, 5G-A base station equipment is used to detect low-flying objects and corresponding detection data is generated; in step S802c, cameras are used to detect low-flying objects and corresponding detection data is generated; in step S802d, RTLS readers are used to detect low-flying objects and corresponding detection data is generated.

[0186] In steps S804a to S804d, reporting data is generated by data processing units corresponding to different types of sensing devices.

[0187] For example, in step S804a, corresponding radar equipment reporting data is generated according to the detection data of the radar equipment unit 110 by the radar data processing unit 120; in step S804b, corresponding 5G-A equipment reporting data is generated according to the detection data of the 5G-A base station equipment unit 210 by the 5G-A data processing unit 220; in step S804c, corresponding camera reporting data is generated according to the detection data of the camera unit 310 by the camera data processing unit 320; in step S804d, corresponding RTLS reporting data is generated according to the detection data of the RTLS reader equipment unit 410 by the RTLS data processing unit 420.

[0188] In steps S806a to S806e, the reported data from different types of sensing devices are converted into flight trajectory point data having a unified standard digital space-time representation.

[0189] For example, in step S806a, the radar data conversion submodule converts the radar device reported data into flight trajectory point data with unified standards; in step S806b, the 5G-A data conversion submodule converts the 5G-A device reported data into flight trajectory point data with unified standards; in step S806c, the camera data conversion submodule converts the camera reported data into flight trajectory point data with unified standards; in step S806d, the RTLS data conversion submodule converts the RTLS reported data into flight trajectory point data with unified standards; in step S806e, the aircraft reported data conversion submodule converts the aircraft reported data into flight trajectory point data with unified standards.

[0190] In step S808, the flight trajectory point data reported by different types of devices and converted into a unified standard digital space-time representation are fused.

[0191] For example, the data fusion module 540 of the device 500 receives flight trajectory point data (X, Y, Z, t) reported by different types of devices from the data conversion module 530 and converts them into a unified standard digital space-time representation, and then performs data fusion on these flight trajectory point data.

[0192] In step S810, the flight trajectory of the low-altitude flying object is calculated and processed according to the flight trajectory points after data fusion.

[0193] For example, the tracking monitoring calculation module 550 receives the fused flight trajectory point data from the data fusion module 560 and performs unified analysis, prediction and calculation on the large-scale flight trajectory point data.

[0194] Fig. 9 An electronic device according to an exemplary embodiment of the present application is shown. Fig. 9 The electronic device 200 according to this embodiment of the present application is described. Fig. 9 The electronic device 200 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0195] like Fig. 9 As shown, the electronic device 200 is in the form of a general computing device. The components of the electronic device 200 may include, but are not limited to: at least one processing unit 210, at least one storage unit 220, a bus 230 connecting different system components (including the storage unit 220 and the processing unit 210), a display unit 240, etc.

[0196] The storage unit stores program codes, which can be executed by the processing unit 210, so that the processing unit 210 executes the methods described in this specification according to various exemplary embodiments of the present application. For example, the processing unit 210 can execute the method as described above.

[0197] The storage unit 220 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 2201 and / or a cache memory unit 2202 , and may further include a read-only memory unit (ROM) 2203 .

[0198] The storage unit 220 may also include a program / utility 2204 having a set (at least one) of program modules 2205, such program modules 2205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0199] Bus 230 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0200] The electronic device 200 may also communicate with one or more external devices 300 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 200, and / or communicate with any device that enables the electronic device 200 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 250. Furthermore, the electronic device 200 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 260. The network adapter 260 may communicate with other modules of the electronic device 200 via the bus 230. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0201] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. The technical solution according to the implementation method of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, or a network device, etc.) to execute the above method according to the implementation method of the present application.

[0202] The software product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0203] Computer readable storage media may include data signals propagated in baseband or as part of a carrier wave, wherein readable program codes are carried. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program codes contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0204] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0205] The computer-readable medium carries one or more programs. When the one or more programs are executed by a device, the computer-readable medium implements the aforementioned functions.

[0206] Those skilled in the art will appreciate that the above modules can be distributed in the device according to the description of the embodiment, or can be changed accordingly and only used in one or more devices different from the embodiment. The modules of the above embodiments can be combined into one module, or further divided into multiple sub-modules.

[0207] According to an embodiment of the present application, a computer program is provided, including a computer program or an instruction. When the computer program or the instruction is executed by a processor, the method described above can be executed.

[0208] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. At the same time, changes or deformations made by those skilled in the art based on the ideas of the present application, the specific implementation methods and the scope of application of the present application, all belong to the scope of protection of the present application. In summary, the content of this specification should not be construed as a limitation on the present application.

[0209] Those skilled in the art will appreciate that the above modules can be distributed in the device according to the description of the embodiment, or can be changed accordingly and only used in one or more devices different from the embodiment. The modules of the above embodiments can be combined into one module, or further divided into multiple sub-modules.

[0210] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. At the same time, changes or deformations made by those skilled in the art based on the ideas of the present application, the specific implementation methods and the scope of application of the present application, all belong to the scope of protection of the present application. In summary, the content of this specification should not be construed as a limitation on the present application.

Claims

1. A method for tracking and monitoring low-altitude flying objects using a sensing device, characterized in that: include: In response to the tracking and monitoring instruction of the low-altitude flying object, receiving detection data of the low-altitude flying object from the sensing device; Converting the detection data into flight trajectory point data of a preset standard; The flight trajectory point data is used to track, monitor and calculate the flight trajectory of the low-altitude flying object.

2. The method according to claim 1, characterized in that The detection data includes the position data of the low-altitude flying object relative to the sensing device, Converting the detection data into flight trajectory point data of a preset standard includes: Converting the position data relative to the sensing device in the detection data into latitude, longitude and altitude data relative to the earth; Convert the latitude, longitude and altitude data relative to the earth into flight trajectory point data of preset standards.

3. The method according to claim 2, characterized in that The flight trajectory point data includes the flight time data of the low-altitude flying object and the coordinate data under the preset standard.

4. The method according to claim 3, characterized in that The position data relative to the sensing device in the detection data is expressed in polar coordinates, and the position data relative to the sensing device in the detection data is converted into longitude, latitude and altitude data relative to the earth, including: Converting the position data relative to the sensing device expressed in polar coordinates into a rectangular coordinate system in the sensing device's own coordinate system; Converting the position data converted into the rectangular coordinate system in the coordinate system of the sensing device into the rectangular coordinate system in the geographic coordinate system; The location data converted into the rectangular coordinate representation in the geographic coordinate system is converted into the longitude, latitude and altitude data of the earth.

5. The method according to claim 3, characterized in that: The preset standard includes an Earth-centered Earth-fixed coordinate system, Converting the latitude, longitude and altitude data relative to the earth into the flight trajectory point data of the preset standard includes: Converting the longitude and latitude relative to the earth into coordinate data in the earth-centered earth-fixed coordinate system; Converting the height data relative to the earth into the height data in the earth-centered earth-fixed coordinate system; The flight trajectory point data of the preset standard is obtained by using the flight time data of the low-altitude flying object, the coordinate data in the earth-centered earth-fixed coordinate system and the altitude data.

6. The method according to claim 1, characterized in that The perception device includes a radar device, a 5G-A device, a camera and / or an RTLS device.

7. The method according to claim 1, characterized in that Before using the flight trajectory point data to track, monitor and calculate the flight trajectory of the low-altitude flying object, the method further includes: The flight trajectory point data are fused.

8. The method according to claim 1, characterized in that: Tracking, monitoring and calculating the flight trajectory of the low-altitude flying object using the flight trajectory point data includes: The flight trajectory point data is used to perform flight trajectory prediction, flight trajectory conflict calculation, flight deviation trajectory identification, trajectory planning and / or trajectory density calculation on the low-altitude flying object.

9. A device for tracking and monitoring low-altitude flying objects using a sensing device, characterized in that: include: A detection data acquisition module, configured to receive detection data of the low-altitude flying object from the sensing device in response to a tracking and monitoring instruction of the low-altitude flying object; A data conversion module, used to convert the detection data into flight trajectory point data of a preset standard; The tracking, monitoring and calculation module is used to perform tracking, monitoring and calculation on the flight trajectory of the low-altitude flying object using the flight trajectory point data.

10. The device according to claim 9, characterized in that The sensing device comprises: A data acquisition submodule, used to detect the flight data of the low-altitude flying object; A flight data fusion analysis submodule, used to use the flight data to perform target recognition, activity recognition, speed recognition and / or state recognition on the low-altitude flying object to obtain detection data of the low-altitude flying object; The data reporting submodule is used to send the detection data to the detection data acquisition module.

11. The device according to claim 9, characterized in that It also includes a data fusion module for fusing the flight trajectory point data.

12. The device according to claim 9, characterized in that The tracking and monitoring calculation module is further configured to use the flight trajectory point data to perform flight trajectory prediction, flight trajectory conflict calculation, flight deviation trajectory identification, trajectory planning and / or trajectory density calculation on the low-altitude flying object.

13. A system for tracking, monitoring and calculating low-altitude flying objects using sensing equipment, characterized in that: include: A plurality of sensing devices configured to detect flight data of the low-flying object; A tracking and monitoring calculation module, configured to receive the flight data of the plurality of sensing devices and perform tracking and monitoring calculation; in, Each of the sensing devices comprises: A data acquisition submodule, configured to detect flight data of the low-altitude flying object; A flight data fusion analysis submodule is configured to use the flight data to perform target recognition, activity recognition, speed recognition and / or state recognition on the low-altitude flying object to obtain detection data of the low-altitude flying object; A data reporting submodule, configured to send the detection data to the tracking and monitoring calculation module; The tracking and monitoring calculation module includes: A detection data acquisition submodule, configured to receive the reported data of the low-altitude flying object from the sensing device; A data conversion submodule, configured to convert the reported data into flight trajectory point data of a preset standard; The tracking, monitoring and calculation submodule is configured to perform tracking, monitoring and calculation on the flight trajectory of the low-altitude flying object using the flight trajectory point data.

14. An electronic device, characterized in that: include: processor; Memory for storing computer programs; When the computer program is executed by the processor, the processor is caused to implement the method according to any one of claims 1 to 8.

15. A non-transitory computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a processor, causes the processor to execute the method according to any one of claims 1 to 8.

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