Low-altitude RSU equipment, low-altitude RSU system and control method of low-altitude RSU system

Abstract

The invention discloses a low-altitude RSU device, a low-altitude RSU system and a control method thereof, the low-altitude RSU device comprises a low-altitude carrier and an RSU unit, the RSU unit is connected to the low-altitude carrier through a connection structure, and the low-altitude carrier is connected with the RSU unit through a communication bus structure; and the RSU unit is used for performing high-speed data interaction with the low-altitude carrier, ensuring data security and realizing accurate positioning and management of the low-altitude carrier. The low-altitude RSU system comprises a control center, a foundation fixed roadside RSU and a plurality of low-altitude RSU devices. According to the invention, the combination of the RSU and the low-altitude vehicle can be realized, and the efficiency and safety of intelligent traffic management, vehicle-road cooperation, emergency rescue and city management can be improved through the real-time communication with the ground vehicle and the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of low-altitude traffic, and particularly to a low-altitude RSU device, a low-altitude RSU system and a control method thereof. Background Art

[0002] With the rapid development of low-altitude applications such as unmanned aerial vehicle (UAV) logistics and urban air traffic, there is an urgent need to build an efficient air-ground collaborative management platform to support these emerging fields. However, most of the current technical architectures rely on dedicated base stations or 5G networks, which face challenges of insufficient coverage and high costs in practical applications. With the further development of the low-altitude economy, the applications of low-altitude UAVs in fields such as logistics distribution, urban inspection, and emergency rescue are increasing day by day, but the development of communication technology has not fully kept up with the pace of demand. Existing traditional communication technologies are easily affected by obstacles such as buildings and wireless signal interference in complex urban environments, resulting in unstable communication signals and increased delays, making it difficult to meet the high real-time and high-reliability communication requirements of UAVs. Especially in urban areas with dense high-rise buildings, the communication between UAVs and ground control centers often experiences interruptions or data packet losses, which poses a huge challenge to the application of low-altitude UAVs.

[0003] In addition, there are still many gaps in the application and management of low-altitude UAVs in the transportation field. In the traditional ground transportation system, infrastructure such as roadside units has not been effectively integrated with low-altitude UAVs, resulting in a lack of effective collaborative management and information interaction mechanism between ground transportation and low-altitude flight. This disconnection makes it impossible to fully guarantee the operation efficiency and safety of UAVs in urban air traffic. In order to achieve seamless docking between UAVs and the ground transportation system, there is an urgent need to develop and implement new management solutions to ensure that low-altitude UAVs can smoothly cooperate with the ground transportation system in complex environments and guarantee the safe and efficient utilization of urban airspace.

[0004] Therefore, it is necessary to design a device to realize the combination of RSU and low-altitude vehicles, and then improve the efficiency and safety of intelligent transportation management, vehicle-road collaboration, emergency rescue and urban management through real-time communication with ground vehicles and UAVs. Summary of the Invention

[0005] The object of the present invention is to overcome the defects of the prior art and provide a low-altitude RSU device, a low-altitude RSU system and a control method thereof.

[0006] To solve the above technical problems, the object of the present invention is achieved through the following technical solutions: Provide a low-altitude RSU device, including: a low-altitude vehicle and an RSU unit. The RSU unit is connected to the low-altitude vehicle through a connection structure, and the low-altitude vehicle and the RSU unit are connected through a communication bus structure; the RSU unit is used to perform high-speed data interaction with the low-altitude vehicle, ensure data security, and achieve precise positioning and management of the low-altitude vehicle.

[0007] Its further technical solution is: The communication bus structure includes a drag chain guide rail, and the drag chain guide rails are cascaded and connected in a tank chain buckle manner; both ends of the drag chain guide rail are respectively connected to the low-altitude vehicle and the RSU unit through joints.

[0008] Its further technical solution is: The RSU unit includes an RSU active communication main board; the RSU active communication main board is connected to the communication bus structure; the low-altitude vehicle includes a control center, and the control center is connected to the communication bus structure.

[0009] Its further technical solution is: The RSU active communication main board includes a main processor, a communication module, and a positioning module. The main processor is respectively connected to the communication module and the positioning module; the communication module is used for wireless communication and data transmission between V2X devices; the positioning module is used to position the low-altitude vehicle.

[0010] Its further technical solution is: The RSU active communication main board includes a security module, and the security module is connected to the main processor.

[0011] Its further technical solution is: The communication module includes a V2X communication module, a 4G / 5G communication module, and a WiFi module.

[0012] Its further technical solution is: The security module includes an HSM chip.

[0013] In addition, in order to overcome the defects of the prior art, the present invention also provides a low-altitude RSU system, including a ground-fixed roadside RSU and several of the above-mentioned low-altitude RSU devices, and several of the low-altitude RSU devices are respectively communicatively connected to the ground-fixed roadside RSU.

[0014] In addition, in order to overcome the defects of the prior art, the present invention also provides a control method for the above-mentioned low-altitude RSU system, including:

[0015] When the low-altitude vehicle enters the specified area, the ground-fixed roadside RSU broadcasts ground traffic and positioning data;

[0016] The low-altitude RSU device receives the ground traffic and positioning data and forwards it to the control center;

[0017] The control center dynamically corrects the track coordinates of the low-altitude vehicle by calculating the error correction coefficient and calibration parameters in real time, and utilizes the ground data and airborne information to obtain the correction coefficient.

[0018] The low-altitude RSU device receives the correction coefficient and obtains the real-time positioning coordinates to adjust the positioning of the low-altitude vehicle.

[0019] Its further technical solution is that the control center dynamically corrects the track coordinates of the low-altitude vehicle by calculating the error correction coefficient and calibration parameters in real time, and utilizes the ground data and airborne information to obtain the correction coefficient, including:

[0020] The control center corrects the track coordinate error by using the ground traffic and positioning data.

[0021] The control center corrects the coordinates in real time according to requirements.

[0022] The control center eliminates the transmission error and corrects the coordinates through an algorithm to obtain four positioning points.

[0023] The control center calculates the calibration parameters through the four positioning points, corrects the coordinates of the low-altitude vehicle to obtain the correction coefficient.

[0024] The beneficial effects of the present invention compared with the prior art are as follows: By connecting the RSU unit to the low-altitude vehicle and realizing high-speed data interaction through the communication bus, the present invention ensures data security and precise positioning, and further realizes real-time communication between the low-altitude vehicle and ground vehicles, drones, etc. This innovation not only improves the efficiency of intelligent traffic management and the accuracy of vehicle-road collaboration, but also provides the ability of rapid response and efficient collaboration for emergency rescue and urban management, enhancing the traffic safety and the reliability of urban operation; The combination of the RSU unit and the low-altitude vehicle enables direct communication with ground vehicles, and real-time transmission of road condition information, traffic signal status, road construction conditions, public transportation scheduling information, etc., thereby helping drivers make safer decisions, improving road traffic efficiency, and reducing the incidence of traffic accidents. At the same time, the two-way communication between the RSU unit and in-vehicle devices further promotes the realization of vehicle-road collaboration. The system can also be widely applied to the field of emergency rescue to ensure emergency communication, and conduct real-time environmental monitoring in urban management to assist urban planning and management, improving the intelligent level of urban operation.

[0025] The following further describes the present invention with reference to the accompanying drawings and specific embodiments. Description of the Drawings

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 It is a schematic block diagram of a low-altitude RSU device provided by an embodiment of the present invention;

[0028] Figure 2 It is a schematic diagram of a connection structure provided by an embodiment of the present invention;

[0029] Figure 3 It is a schematic diagram of a communication bus structure provided by an embodiment of the present invention;

[0030] Figure 4 It is a schematic block diagram of a low-altitude RSU system provided by an embodiment of the present invention;

[0031] Figure 5 It is a schematic flowchart of a control method for a low-altitude RSU system provided by an embodiment of the present invention;

[0032] Explanation of the markings in the figure:

[0033] 10. Low-altitude RSU device; 11. Low-altitude vehicle; 12. RSU unit; 121. RSU active communication main board; 20. Communication bus structure; 30. Connection structure; 40. Ground-fixed roadside RSU. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0035] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprise" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0036] It should also be understood that the terms used in the specification of the present invention are merely for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0037] It should be further understood that the term "and / or" used in the specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0038] With the rapid development of low-altitude applications such as drone logistics and urban air traffic, the existing communication technologies are facing challenges of insufficient coverage and high cost. Especially in urban environments, traditional communication technologies are vulnerable to occlusion and interference, resulting in unstable signals and increased communication delays. In addition, there is a lack of effective collaborative management and information interaction mechanisms between low-altitude drones and ground traffic systems, which affects their application efficiency and safety. Therefore, there is an urgent need to develop new air-ground collaborative management platforms and communication technologies to achieve seamless docking between drones and ground traffic systems and ensure the efficient and safe operation of low-altitude drones in complex environments.

[0039] For this purpose, the embodiments of the present invention provide a low-altitude RSU device, a low-altitude RSU system and its control method, which realize the combination of the RSU unit 12 and the low-altitude vehicle 11, and further improve the efficiency and safety of intelligent traffic management, vehicle-road cooperation, emergency rescue and urban management through real-time communication with ground vehicles and drones.

[0040] Specifically, through the communication and data interaction between the RSU unit 12 and the low-altitude vehicle 11, the accurate positioning, track correction and efficient management of the low-altitude vehicle 11 in urban or complex environments are ensured. The RSU device improves the traffic management efficiency, avoids traffic accidents and optimizes road use by exchanging information with the ground system in real time. The two-way communication between the low-altitude RSU device and ground vehicles as well as the autonomous driving system enhances the collaborative ability between vehicles and road infrastructure. By connecting with in-vehicle units, the low-altitude RSU device can provide accurate navigation services and real-time traffic information, helping drivers make safer decisions and improving the reliability of autonomous driving. In the event of natural disasters or accidents, the low-altitude RSU device serves as a temporary base station to provide quickly deployable communication guarantees, assist drones in data collection, monitoring, reconnaissance and search and rescue, and transmit key information to the command center in real time, effectively improving the rescue efficiency.

[0041] The RSU unit 12 can cooperate with low-altitude vehicles 11 such as drones for aerial monitoring and traffic management in cities, real-time monitoring of urban environmental changes, and support for urban planning and management. By sharing data with traffic facilities and vehicle-mounted systems, the low-altitude RSU device can assist in optimizing public transportation scheduling, reducing traffic congestion, and improving road traffic efficiency.

[0042] Generally speaking, the low-altitude RSU device can not only enhance the overall efficiency of the intelligent transportation system, but also support the intelligent and efficient operation of future cities through functions such as vehicle-road cooperation, emergency rescue, and urban management.

[0043] To better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the specification drawings and specific implementation manners.

[0044] Please refer to Figure 1 , the above-mentioned low-altitude RSU device 10 includes: a low-altitude vehicle 11 and an RSU unit 12. The RSU unit 12 is connected to the low-altitude vehicle 11 through a connection structure 30, and the low-altitude vehicle 11 and the RSU unit 12 are connected through a communication bus structure 20; the RSU unit 12 is used for high-speed data interaction with the low-altitude vehicle 11, which can not only enhance the overall efficiency of the intelligent transportation system, but also support the intelligent and efficient operation of future cities through functions such as vehicle-road cooperation, emergency rescue, and urban management.

[0045] In this embodiment, the above-mentioned connection structure 30 is as Figure 2 shown, including a gimbal link. The gimbal link uses a carbon fiber composite material bracket, and both ends are bonded with epoxy glue to maintain high-strength connection and stronger seismic performance.

[0046] Specifically, the low-altitude vehicle 11 and the RSU unit 12 are connected through the connection structure 30 to ensure their close cooperation. The communication bus structure 20, as the core bridge for data exchange, provides a stable high-speed data transmission channel.

[0047] The key design of the RSU unit 12 lies in high-speed data interaction with the low-altitude vehicle 11. It is not only responsible for data transmission and reception, but also can ensure data security, ensuring stability and reliability in complex environments. In addition, the RSU unit 12 is equipped with corresponding communication modules and positioning modules to ensure the precise positioning of the low-altitude vehicle 11 during flight. Through this system, the dynamic data and position of the low-altitude vehicle 11 can be monitored and adjusted in real time.

[0048] The pan-tilt connecting rod in the connecting structure 30 adopts a carbon fiber composite material bracket, which has high-strength connection and excellent seismic resistance. Carbon fiber composite materials have the advantages of light weight, high strength, corrosion resistance, etc., which can effectively reduce the weight of the connecting structure 30 while ensuring the stability and reliability during high-speed movement. The two ends of the pan-tilt connecting rod are bonded with epoxy glue, and this bonding method ensures the strength and stability of the connecting structure 30, which can resist external vibration and impact, avoid unnecessary displacement or loosening during flight, and further improve the stability of the entire system.

[0049] The design of the connecting structure 30 not only meets the mechanical connection requirements between the low-altitude vehicle 11 and the RSU unit 12, but also optimizes the stability of the data transmission channel. Due to the use of carbon fiber composite materials, the system can maintain light weight while ensuring that the pan-tilt unit can work stably under different flight conditions, avoiding the decline of data transmission quality or inaccurate positioning caused by vibration or external interference.

[0050] By combining the low-altitude vehicle 11, the RSU unit 12 and the high-strength connecting structure 30, the system effectively solves the problems of inaccurate positioning and unstable data transmission of low-altitude flying vehicles in complex environments. Especially, the pan-tilt connecting rod adopts carbon fiber composite materials, which provides light weight while ensuring strength and seismic resistance, enabling the entire low-altitude RSU system to work stably and efficiently during flight, ensuring the precise positioning and efficient management of the low-altitude vehicle 11.

[0051] In one embodiment, please refer to Figure 3 , the above-mentioned communication bus structure 20 includes a drag chain guide rail, and the drag chain guide rails are cascaded and connected by means of tank chain buckles; the two ends of the drag chain guide rail are respectively connected to the low-altitude vehicle 11 and the RSU unit 12 through joints.

[0052] In this embodiment, the drag chain guide rail adopts high-performance engineering plastic materials (such as Suzhou Weibon T31 material), which have high impact resistance and fatigue resistance. These materials ensure the durability and stability of the drag chain guide rail during long-term use. Even in low-temperature and extreme environments, they can still maintain good toughness and structural strength. Compared with traditional metal hinges, engineering plastics are not only lighter in weight, but also can effectively reduce the impact of external vibration and shock on the system.

[0053] The design of the drag chain guide rail utilizes materials with high impact resistance and high fatigue resistance to ensure that when it bears external vibration and shock during work, it can still stably transmit power and data. The advantages of this material are reflected in the lightness of the structure and long-term use stability. Especially in the high-speed flight and complex environment of the low-altitude vehicle 11, it can provide more reliable support.

[0054] The connection method of the drag chain guide rail adopts the tank chain buckle method for cascade connection. This connection method enables the drag chain guide rail to be flexibly connected in a buckle form, facilitating installation and maintenance. The tank chain buckle connection provides very high reliability and stability, ensuring that each part will not fall off or become loose under high-frequency movement and external environmental changes.

[0055] This connection method not only ensures the continuity and stability of the guide rail but also allows the system to adjust the length of the drag chain according to needs to adapt to different working scenarios.

[0056] To ensure the connection between the drag chain guide rail and the low-empty vehicle 11 and the RSU unit 12 remains reliable in a harsh environment, corrosion-resistant and waterproof connectors K1 are used at both ends. These connectors provide effective protection for the power line and high-speed data line, preventing moisture, dust, or other external factors from damaging the communication line.

[0057] The K1 connector has excellent corrosion resistance and waterproof performance, capable of ensuring good electrical contact even in complex environments such as humidity and salt spray, preventing electrical failures caused by connector corrosion or water stains.

[0058] Connecting the low-empty vehicle 11 and the RSU unit 12: The connectors at both ends are respectively connected to the low-empty vehicle 11 and the RSU unit 12. Through specially designed connectors and interfaces, the stable transmission of the power and data lines is ensured without being affected by the external environment.

[0059] The inside of the drag chain guide rail contains a power line and a high-speed data communication line (such as gigabit or hundred-megabit network cables, etc.) for providing power support and data transmission for the low-empty vehicle 11 and the RSU unit 12. The high-speed data line ensures real-time data exchange between the low-empty vehicle 11 and the pan-tilt head, guaranteeing the fast response and precise control of the system. The power line provides a stable power source to ensure the normal operation of the system.

[0060] Adopting high-speed network cables (such as gigabit or hundred-megabit network cables) provides a fast and stable data transmission channel to ensure the uninterrupted real-time communication between the low-empty vehicle 11 and the pan-tilt head system.

[0061] In this embodiment, the communication bus structure 20 realizes reliable and efficient power and data transmission between the low-empty vehicle 11 and the RSU unit 12 through the drag chain guide rail connected in a cascade manner using the tank chain buckle method, combined with high-strength engineering plastic materials and corrosion-resistant and waterproof connectors K1. The drag chain guide rail provides a stable and durable connection system, capable of ensuring the efficient operation of the system in a complex flight environment and avoiding system failures caused by interference from the external environment to the power line and data communication line.

[0062] In one embodiment, please refer to Figure 1, the above-mentioned RSU unit 12 includes an RSU active communication main board 121; the RSU active communication main board 121 is connected to the communication bus structure 20, and the low-empty vehicle 11 includes a control center, and the control center is connected to the communication bus structure 20.

[0063] In one embodiment, the above-mentioned RSU unit 12 can be connected to the connection structure 30 through an RSU mounting gimbal or other structures.

[0064] The RSU mounting gimbal is connected to the connection structure 30 to ensure that it can be mounted or placed on the low-empty vehicle 11 (such as a drone, an aircraft, or a low-altitude flying vehicle, etc.). This gimbal is responsible for carrying the RSU unit 12 and is connected to the fuselage or other support platforms of the low-empty vehicle 11 through the connection structure 30.

[0065] In one embodiment, the connection structure 30 includes a gimbal link.

[0066] The gimbal link in the connection structure 30 adopts a carbon fiber composite material bracket, which has high-strength connection and excellent seismic resistance. Carbon fiber composite materials have the advantages of light weight, high strength, and corrosion resistance, which can effectively reduce the weight of the connection structure 30 while ensuring the stability and reliability during high-speed movement. The two ends of the gimbal link are bonded by epoxy glue, and this bonding method ensures the strength and stability of the connection structure 30, which can resist external vibration and impact, avoid unnecessary displacement or loosening during flight, and further improve the stability of the entire system.

[0067] The RSU active communication main board 121 exchanges data and communicates with the control center and other remote devices through the communication bus structure 20. Each communication module (such as V2X, 4G / 5G, WiFi, etc.) on the main board interacts with each module of the system through this bus to ensure the smoothness and real-time nature of information transmission between different devices and modules.

[0068] In one embodiment, please refer to Figure 1 , the above-mentioned RSU active communication main board 121 includes a main processor, a communication module, and a positioning module. The main processor is respectively connected to the communication module and the positioning module; the communication module is used for wireless communication and data transmission between V2X devices; the positioning module is used for positioning the low-empty vehicle 11.

[0069] In one embodiment, please refer to Figure 1 , the above-mentioned communication module includes a V2X communication module, a 4G / 5G communication module, and a WiFi module.

[0070] In addition, the above communication module further includes other wired and wireless communication modules, which can adopt 4G and 5G communication modules and are backward compatible with 3G / 2G networks to provide cellular network connection, realizing functions such as remote communication, data transmission, and software update, so as to achieve data interaction between the roadside RSU and the low-empty vehicle 12. The WiFi module is used to provide WIFI hotspot services for users, and at the same time supports remote login and software upgrade of the roadside base station equipment. The positioning module is a Global Navigation Satellite System (GNSS) module, which has the functions of high-precision positioning reception and RTK differential positioning data output, mainly providing real-time positioning information of the equipment and supporting the output of high-precision RTK differential positioning data for various applications.

[0071] In one embodiment, please refer to Figure 1 , the above RSU active communication main board 121 includes a security module, and the security module is connected to the main processor.

[0072] In one embodiment, please refer to Figure 1 , the above security module includes an HSM chip.

[0073] In this embodiment, the RSU active communication main board 121 serves as the "brain" of the system, containing multiple core modules, ensuring various communication, positioning, and security functions of the system.

[0074] The main processor adopts a multi-core high-performance processor (such as i.MX6Q), which is responsible for running the main control software and processing data from each module. The main processor is connected to other modules (such as the communication module and the positioning module) through efficient interfaces to ensure that the system can respond quickly and execute tasks efficiently.

[0075] The V2X communication module is used to realize short-range communication between the low-empty vehicle 11 and other C-V2X devices. This module is connected to the main processor through a PCIe or USB interface, responsible for receiving and processing service information related to V2X communication, and after calculation, sending it out through a wireless signal.

[0076] The 4G / 5G communication module supports mobile Internet communication to ensure data transmission between the low-empty vehicle 11 and the ground station or other devices. It is also backward compatible with 3G / 2G and realizes real-time information transmission through the communication module.

[0077] The WiFi module provides a WiFi hotspot function, supports remote login of devices and system software upgrade, facilitating remote management.

[0078] The GNSS module provides high-precision positioning function through the GPS / Beidou system, supports RTK differential positioning, and ensures that the low-empty vehicle 11 can obtain position data in real time and accurately. The GNSS module is connected to the main processor and provides necessary positioning data for the system.

[0079] The HSM chip is used to encrypt data in V2X communication, ensuring the security of data and the reliability of communication. Through hardware encryption and matching encryption algorithms, the HSM chip realizes the encryption and decryption of data, guaranteeing that the communication content cannot be tampered with.

[0080] In this embodiment, the low-altitude vehicle 11 such as a drone or an aircraft conducts data communication with the on-board RSU main board through a high-speed communication port (such as a hundred-megabit / gigabit network port or a high-speed serial bus). Through these interfaces, the low-altitude vehicle 11 can send data to the RSU communication module in real time and receive instructions from the ground control center.

[0081] The control center is responsible for monitoring and managing the status and position of the low-altitude vehicle 11 to ensure the coordinated operation of the entire system. By connecting to the communication bus, the control center exchanges data with the RSU unit 12 to achieve remote operation, monitoring, and collaborative operations between devices.

[0082] The RSU active communication main board 121 also includes a power module that converts the 12V DC voltage of the low-altitude vehicle 11 into different voltages required by the RSU system, ensuring the stable operation of the system. This module also has functions such as overvoltage, overcurrent, and short-circuit protection to ensure the safety of the system in various electrical environments.

[0083] The RSU active communication main board 121 also includes a storage unit that stores local data and system configuration files through an eMMC memory and an LDDR memory. The data storage module ensures that the device can save and read necessary operation information during operation.

[0084] The RSU active communication main board 121 also includes a clock module. The RTC CLK and MCLK modules provide the clock signals required by the system, supporting functions such as the wake-up of the main controller, low-speed system operation, and timers. Ensure the stable operation and timing coordination of the system.

[0085] The design of the above embodiment not only reflects the cooperation between the RSU unit 12, the low-altitude vehicle 11, and the control center, but also emphasizes the functional division and data interaction of each hardware module. This design architecture fully guarantees the efficient communication, precise positioning, and data security of the system, and is applicable to modern intelligent transportation, drones, and autonomous driving and other fields.

[0086] In this embodiment, the models of the above V2X communication module include but are not limited to UMV9150, the models of the GNSS module include but are not limited to ZED-F9P; the models of the WiFi module include but are not limited to ELLA-W131, and the models of the 4G communication module include but are not limited to EC20. The model of the main processor includes but is not limited to i.MX6Q.

[0087] In this embodiment, the low-altitude RSU device 10 can serve as an important part of the intelligent transportation system, communicate directly with ground vehicles, and transmit various key information in real time, such as road conditions, traffic signal status, road construction conditions, and public transportation scheduling information. Through this mechanism, the low-altitude RSU device 10 not only helps drivers make safer driving decisions, but also improves the traffic efficiency of roads and reduces the incidence of traffic accidents. For example, the low-altitude RSU device 10 can sense the traffic flow in real time and conduct scheduling based on the information, reduce traffic congestion, and optimize the timing of traffic signals through intelligent analysis. Main functions: real-time road condition information transmission; public transportation scheduling management; traffic accident and congestion warning; data collection and analysis to optimize traffic management.

[0088] The two-way communication between the low-altitude RSU device 10 and the on-vehicle unit is the core of the vehicle-road cooperation system. Through this system, vehicles can effectively interact with road facilities, traffic signals, and other vehicles, improving the safety and reliability of autonomous driving technology. For example, the low-altitude RSU device 10 can provide precise navigation services for autonomous vehicles, optimize path planning, especially in complex traffic environments. It can obtain surrounding environment data in real time, analyze the dynamic relationship between vehicles and traffic facilities, and thus provide more precise driving assistance.

[0089] Main functions: autonomous driving assistance: such as intelligent navigation, path planning, etc.; emergency response: such as vehicle collision warning, automatically adjusting the path when an accident occurs, etc.; intelligent traffic signal regulation: ensuring the smooth operation of the autonomous driving system.

[0090] The low-altitude RSU device 10 plays an important role in emergency rescue scenarios, especially in the event of natural disasters, accidents, or emergencies. It can serve as a temporary communication base station to quickly provide data communication support. The low-altitude RSU can cooperate with devices such as drones to assist in disaster area data collection, real-time monitoring, and search and rescue operations. Its flexible deployment and rapid response capabilities make it an important emergency resource in emergencies.

[0091] Application scenarios: natural disasters: such as earthquakes, floods, etc. When disasters occur, the RSU device can assist in disaster area monitoring, real-time data transmission, and scheduling. Accident rescue: The RSU can assist drones in conducting search and rescue work at the accident site, transmit key information to the rescue command center, and improve rescue efficiency.

[0092] In the field of urban management, the low-altitude RSU device 10 can cooperate with aerial devices such as drones to implement aerial monitoring and air traffic management. In this way, urban management departments can monitor the urban environment in real time, conduct maintenance inspections of infrastructure such as roads, bridges, and tunnels, and also assist in the planning and management of urban space. The low-altitude RSU device 10 can transmit aerial data to the ground management system in real time, optimizing the efficiency of urban operations.

[0093] Main applications:

[0094] Air traffic management: Through the cooperation of the RSU unit 12 and aerial drones, manage the traffic flow in the urban airspace to avoid air congestion and accidents.

[0095] Environmental monitoring: Include air quality monitoring, urban heat island effect monitoring, etc., to help formulate more scientific urban planning.

[0096] Infrastructure inspection: Use drones to inspect urban infrastructure to ensure its stability and safety.

[0097] The communication system and positioning module of the low-altitude RSU device 10 are crucial for its efficient operation. The device accurately determines the position of low-altitude vehicles through a high-precision positioning system (such as GPS, GNSS, etc.), providing reliable geographical location data for applications such as vehicle-road collaboration and urban management. At the same time, the built-in security module of the RSU device, such as the HSM chip, can guarantee the security of data, prevent data from being maliciously tampered with or leaked, and ensure the integrity and confidentiality of communication.

[0098] The low-altitude RSU device 10 not only supports traditional wireless communication technologies but also can support communication modules such as V2X (Vehicle-to-Everything), 4G / 5G, and WiFi. The V2X communication module is particularly important because it enables real-time data exchange between vehicles and road infrastructure, allowing vehicles to understand road conditions, traffic signal status, the dynamics of pedestrians and other traffic tools, thereby improving driving safety. And 5G communication can provide higher bandwidth and lower latency network support to meet the development needs of future autonomous driving and intelligent transportation systems.

[0099] The low-altitude RSU device 10 demonstrates its great potential in improving road traffic efficiency, emergency rescue response, urban management, etc. through its cooperation with vehicles, drones, and urban infrastructure. Through flexible, rapid deployment and efficient communication and positioning technologies, the low-altitude RSU device 10 can not only provide strong support for intelligent transportation systems but also offer new solutions for modern urban management and emergency rescue.

[0100] The above-mentioned low-altitude RSU device 10 connects the RSU unit 12 with the low-altitude vehicle 11 and uses a communication bus to achieve high-speed data interaction, ensuring data security and precise positioning, and then realizing real-time communication between the low-altitude vehicle and ground vehicles, drones, etc. This innovation not only improves the efficiency of intelligent transportation management and the accuracy of vehicle-road cooperation, but also provides the ability for rapid response and efficient cooperation in emergency rescue and urban management, enhancing the reliability of traffic safety and urban operation; the combination of the RSU unit 12 and the low-altitude vehicle 11 enables direct communication with ground vehicles, and real-time transmission of road condition information, traffic signal status, road construction conditions, public transportation scheduling information, etc., thus helping drivers make safer decisions, improving road traffic efficiency, and reducing the incidence of traffic accidents. At the same time, the two-way communication between the RSU unit 12 and in-vehicle devices further promotes the realization of vehicle-road cooperation. This system can also be widely applied in the field of emergency rescue to ensure emergency communication, and conduct real-time environmental monitoring in urban management, assisting urban planning and management, and improving the intelligent level of urban operation.

[0101] In one embodiment, please refer to Figure 4 , a low-altitude RSU system is also provided, including a ground-based fixed roadside RSU 40 and several of the above-mentioned low-altitude RSU devices 10, and the several low-altitude RSU devices 10 are respectively communicatively connected to the ground-based fixed roadside RSU 40. Among them, S in the figure represents GNSS global navigation satellites, including BDS, GPS, GLONASS, and GALILEO. This design realizes real-time data interaction between the low-altitude vehicle 11 and the pan-tilt unit, enabling the low-altitude vehicle 11 to achieve precise positioning and management according to the externally transmitted data.

[0102] This low-altitude RSU system design integrates 4G / 5G cellular communication, GNSS positioning, V2X, and edge computing technologies. Combining the low-altitude vehicle network resources (V2X) with RTK differential positioning technology, by deploying V2X devices in a specified area, real-time traffic congestion information and precise positioning are provided for the low-altitude RSU device 10 terminals. The solution seamlessly combines the roadside unit of the vehicle network (V2X roadside base station) with the low-altitude vehicle 11 and can communicate with the ground base station, avoiding the repeated construction of communication base stations and networks, thereby providing local low-altitude traffic information and regional positioning correction for the low-altitude RSU device 10. In this way, the spatio-temporal correlation of low-altitude data transmission errors can be effectively reduced, and the positioning accuracy of the low-altitude vehicle 11 can be significantly improved.

[0103] The low-altitude RSU system monitors the interference conditions of the PC5 interface or the Uu air interface, selects the best wireless transmission method to broadcast or receive the real-time error information of the ground roadside RSU, and uses data post-processing technologies (such as signal-to-noise ratio, extended Kalman filter, elevation weighting, empirical mode decomposition filtering, etc.) to process the received signals and eliminate the influence of multipath effects. This solution not only makes full use of vehicle network resources but also avoids occupying the existing mobile communication frequency band, and is particularly suitable for low-altitude flying devices in urban complex traffic environments (such as road intersections, etc.), realizing high-precision positioning and real-time dynamic adjustment of the landing point of the low-altitude vehicle 11.

[0104] Specifically, the system realizes the analysis and positioning correction of low-altitude traffic congestion through the cooperation between the low-altitude RSU device 10 (identified as V1, V2, V3 in the figure) and the ground-fixed roadside RSU (device A). Specifically, the system uses the fixed position information of the roadside RSU device A and the traffic congestion coefficient of this area, sends the data to the control center P of the low-altitude vehicle 11, conducts low-altitude traffic congestion analysis, and calculates the positioning correction information. Through wireless communication, data transmission is carried out between the low-altitude RSU device 10 and the ground roadside RSU, thereby realizing high-precision positioning correction and dynamic adjustment.

[0105] The system consists of a low-altitude RSU device 10 (V1-V3), a ground-fixed roadside RSU device, a vehicle landing point H, and a data communication link (G1-G4, T1-T3). Among them, the data communication link mainly consists of the following parts:

[0106] Data transmission between the low-altitude RSU device 10 (V1-V3) and the ground-fixed RSU: It is carried out through the PC5 or Uu wireless network. The transmission content includes the original ground traffic congestion coefficient and the coordinate error correction coefficient obtained by the device. The T1-T3 identifier represents this part of the link.

[0107] Data transmission between the RSU active communication main board 121 in the low-altitude RSU device 10 and the control center of the low-altitude vehicle 11: Data transmission is carried out using a communication bus, and the transmitted data includes the position error correction coefficient of the ground-fixed RSU device site, the received ground traffic congestion index, and the real-time position coordinate information of the RSU active communication main board 121.

[0108] All devices in the area receive the time synchronization information and coordinate information of the satellite S: This part is identified by G1-G4, ensuring that all devices operate under the same time standard and maintaining positioning accuracy and synchronization.

[0109] Specifically, the working process of data interaction between the low-altitude vehicle 11 and the RSU active communication main board 121 in the low-altitude RSU system is as follows:

[0110] When the low-altitude vehicle 11 approaches the area of the roadside base station fixed on the ground, the roadside base station continuously transmits the original ground traffic congestion data and the positioning coordinate data of the base station equipment itself to the on-board RSU through the wireless network (Uu interface or PC5 interface communication link).

[0111] Ground traffic congestion data: These data relate to the status of roads and infrastructure, mainly including the congestion index of vehicle flow on sections, real-time signal phases, countdown information and timing plans, traffic volume, average vehicle speed, etc. These data are obtained and transmitted by the roadside RSU through V2X broadcast.

[0112] Positioning coordinate data: It refers to the position error correction coefficient calculated by the GNSS module receiver at the roadside end based on the original observation data, and is sent to the on-board RSU by means of broadcast. This data belongs to the calculation algorithm built in the GNSS high-precision module, and the specific implementation does not involve patent protection.

[0113] After the RSU active communication main board 121 receives the traffic data from the ground base station A, it sends it to the control center of the low-altitude vehicle 11 together with its own positioning information.

[0114] Ground traffic data: The same as the data mentioned above, including the status of roads and infrastructure, signal light information, traffic volume, vehicle speed, etc.

[0115] Base station coordinate observation data: It includes the original measurement data extracted from the GNSS receiver, such as pseudorange, carrier phase and Doppler frequency shift, which are used for further calculation of position, speed and time.

[0116] On-board RSU real-time coordinate information: It is sent to the control center P of the low-altitude vehicle 11 through the communication bus to help the control center perform trajectory planning and correction.

[0117] After the control center receives the real-time data from the on-board RSU, it combines the error correction coefficient of the ground base station RSU, the traffic congestion data and the real-time position of the on-board RSU to calculate the error correction coefficient of the best route of the low-altitude vehicle 11, and then corrects the original trajectory coordinates to achieve accurate landing point positioning.

[0118] Since the position of the roadside base station RSU is fixed, the control center can correct the position data in real time as needed. If the coordinate information and trajectory of the on-board RSU are updated, the control center will perform data calculation; if there is no update, the system will perform other operations, thus reducing the workload of the calculation center.

[0119] The control center needs to introduce a correction algorithm to eliminate the positioning error. The correction process is based on the known ground traffic data and the real-time position information of the on-board RSU for error correction.

[0120] The original coordinate data x, y and their corrected data x′, y′ can obtain new coordinates through the following calculation methods:

[0121] By processing three different situations (ground traffic data, base station observation data, and airborne RSU coordinate data), a system of equations of Cramer's rule in linear algebra is finally obtained:

[0122] x′ = k1·x + k2·y + k3, y′ = t1·x + t2·y + t3;

[0123] These formulas are solved through four known positioning points (x1, y1, x2, y2, x3, y3, x4, y4) to obtain calibration parameters, ensuring a reversible conversion between the old and new coordinates.

[0124] By the positioning points and the measured coordinates, six parameters are gradually solved: k1, k2, k3, t1, t2, t3. These parameters can effectively correct the flight path and real-time positioning data of the low-altitude vehicle 11, providing high-precision coordinate output.

[0125] Specifically, since the position of the roadside RSU is fixed, the control center of the low-altitude vehicle 11 can calculate the corrected coordinate data of the real-time position "as needed". When the coordinate information and flight path of the low-altitude RSU device 10 are updated, the control center performs information resolution; if there is no update, the control center performs other operations. This method can reduce the computational workload of the control center.

[0126] The computing center needs to introduce a calibration algorithm to eliminate errors and perform calculations based on the original ground traffic congestion coefficient of the ground-based fixed RSU, its coordinate error correction coefficient, and the real-time position information of the airborne RSU. Let x, y be the corrected data, and the calculation method is as follows:

[0127] Assume the original ground traffic congestion data, x’ = x + a, y’ = y + b;

[0128] The coordinate observation data of the ground-based fixed roadside RSU 40 is x’ = x * cosθ – y * sinθ, y’ = x * sinθ + y * cosθ;

[0129] The real-time coordinate data of the low-altitude RSU device 10 is x’ = x * k, y’ = y * k;

[0130] Since the above three situations may all occur during the signal transmission process, we need to synthesize all the above expressions and obtain the expression of the new coordinates through the Cramer's rule of linear algebra as:

[0131] x’ = k1 * x + k2 * y + k3, y’ = t1 * x + t2 * y + t3;

[0132] The two expressions are input-output reversible. The conversions from new coordinates to old coordinates and from old coordinates to new coordinates both conform to the expression rules, but the parameter values will be different; when the input parameter is the deviated coordinate, the output is the regular coordinate.

[0133] To calculate the six parameters required above, four exact calibration points (x1, y1), (x2, y2), (x3, y3), (x4, y4) need to be located to obtain the measured coordinates, and then input into the above formulas to solve for the parameters. (The four exact located coordinates are obtained from the stations with known precisely fixed coordinate positions.)

[0134] X1 = k1 * x1 + k2 * y1 + k3, Y1 = t1 * x1 + t2 * y1 + t3;

[0135] X2 = k1 * x2 + k2 * y2 + k3, Y2 = t1 * x2 + t2 * y2 + t3;

[0136] X3 = k1 * x3 + k2 * y3 + k3, Y3 = t1 * x3 + t2 * y3 + t3;

[0137] X4 = k1 * x4 + k2 * y4 + k3, Y4 = t1 * x4 + t2 * y4 + t3;

[0138] After arrangement, the calibration parameters for the X-axis are:

[0139] k2 = [(X4 – X3) / (x4 – x3) - (X2 – X1) / (x2 – x1)] / [(y4 – y3) / (x4 – x3) – (y2 – y1) / (x2 – x1)];

[0140] k1 = -k2 * [(y2 – y1) / (x2 – x1)] + (X2 – X1) / (x2 – x1);

[0141] k3 = X1 – k1 * x1 – k2 * y1;

[0142] After arrangement, the calibration parameters for the Y-axis are:

[0143] t2 = [(Y4 – Y3) / (x4 – x3) - (Y2 – Y1) / (x2 – x1)] / [(y4 – y3) / (x4 – x3) – (y2 – y1) / (x2 – x1)];

[0144] t1 = -t2 * [(y2 – y1) / (x2 – x1)] + (Y2 – Y1) / (x2 – x1);

[0145] t3 = Y1 – t1 * x1 – t2 * y1;

[0146] Calculating these six parameters gives the correction coefficient of the optimal position coordinates of the low-altitude RSU device 10's flight path.

[0147] After the airborne RSU obtains the positioning coordinates (x, y) according to the conventional positioning method (obtained through the GNSS positioning module), substitute them into the expressions x' = k1 * x + k2 * y + k3, y' = t1 * x + t2 * y + t3;

[0148] Calculating the above expressions can obtain the corrected coordinate data (x', y') of the real-time position.

[0149] When the RSU active communication main board 121 obtains the real-time GNSS positioning coordinates, substitute them into the above equations for calculation, and finally obtain the corrected coordinate data of the low-altitude vehicle 11. This enables the low-altitude vehicle 11 to adjust its flight path in real-time and accurately, optimizing the positioning accuracy.

[0150] The position of the ground-based fixed roadside RSU 40 of this system is fixed, and it can perform differential information calculation as needed according to the requirements of the low-altitude vehicle 11, thus reducing the computational workload of the computing center. When the observed values of nearby V2X devices are updated, the edge computing center will perform differential correction and transmit the correction information to the roadside unit for broadcasting; if there is no update, the computing center will perform other operations. Since the position of the roadside RSU is fixed, the system does not need to be re-initialized due to user movement, thus simplifying the maintenance and operation of the system. The area enhancement technology of this ground-based fixed roadside RSU 40 effectively integrates a variety of advanced technologies, can significantly improve the positioning accuracy of low-altitude flying vehicles, and enhance the traffic management efficiency in complex urban traffic environments. This technology provides strong support for the development of low-altitude flight and has great application prospects.

[0151] This low-altitude RSU system combines 4G / 5G cellular communication, GNSS positioning, V2X, and edge computing technologies, utilizes low-altitude vehicle network resources and RTK differential positioning technology, deploys V2X devices in a specified area, and realizes real-time transmission of traffic congestion information and accurate positioning correction. The system collaborates with the ground-based fixed roadside RSU to dynamically obtain ground traffic data, GNSS positioning information, and real-time position correction, optimize the flight path and landing point of the low-altitude vehicle 11, and significantly improve the positioning accuracy and stability. By using data processing technologies (such as Kalman filtering, empirical mode decomposition filtering, etc.) to eliminate the multipath effect, ensure the stability of information transmission, especially in complex urban traffic environments, it can effectively improve the positioning accuracy of low-altitude flying vehicles and solve the positioning error and unstable information transmission problems of traditional systems in complex environments.

[0152] In one embodiment, please refer to Figure 5 , and a control method for the above low-altitude RSU system is also provided, including steps S110 to S140.

[0153] S110. When the low-altitude vehicle 11 enters the designated area, the ground-fixed roadside RSU 40 broadcasts ground traffic and positioning data.

[0154] In this embodiment, when the low-altitude vehicle 11 enters a specific area, the ground-fixed roadside unit (RSU) starts to broadcast information related to ground traffic and positioning data. The ground traffic data includes the real-time traffic conditions of the road, and the positioning data is a supplement to the real-time position of the low-altitude vehicle 11.

[0155] S120. The low-altitude RSU device 10 receives the ground traffic and positioning data and forwards it to the control center;

[0156] S130. The control center dynamically corrects the track coordinates of the low-altitude vehicle 11 by calculating the error correction coefficient and calibration parameters in real time, using the ground data and airborne information, to obtain the correction coefficient.

[0157] In one embodiment, step S130 described above may include the following steps:

[0158] The control center corrects the track coordinate error using the ground traffic and positioning data;

[0159] The control center calibrates the coordinates in real time according to requirements;

[0160] The control center eliminates the transmission error and corrects the coordinates through an algorithm to obtain four positioning points;

[0161] The control center calculates the calibration parameters through the four positioning points and corrects the coordinates of the low-altitude vehicle 11 to obtain the correction coefficient.

[0162] Specifically, the control center is the core part, undertaking the task of correcting the track coordinates of the low-altitude vehicle 11. Through the real-time ground traffic data and airborne information (such as the sensor data of the low-altitude vehicle 11 itself, satellite positioning, etc.), the control center calculates the error of the track coordinates and dynamically corrects it. The purpose of this process is to correct the deviation in the track of the low-altitude vehicle 11 through an algorithm to ensure that the track of the low-altitude vehicle 11 is as accurate as possible.

[0163] The specific step S130 includes:

[0164] The control center corrects the track coordinate error using the ground traffic and positioning data: The ground traffic data and positioning information can help the control center analyze the error generated by the low-altitude vehicle 11 during flight and correct the track coordinates in real time.

[0165] The control center calibrates the coordinates in real time according to requirements: According to the requirements of the flight mission, the control center dynamically adjusts the flight path and positioning coordinates of the low-altitude vehicle 11 to ensure that the flight path conforms to the plan.

[0166] The control center eliminates transmission errors and corrects coordinates through algorithms to obtain four positioning points: During data transmission, errors may occur. The control center eliminates these errors through algorithms and performs comprehensive calculations using multiple positioning points (such as satellite, ground station, sensor data, etc.) to obtain accurate four positioning points.

[0167] The control center calculates calibration parameters based on the four positioning points to correct the coordinates of the low-altitude vehicle 11 to obtain a calibration coefficient: Using these four positioning points, the control center calculates calibration parameters to further correct the coordinates of the low-altitude vehicle 11, and this process generates a calibration coefficient.

[0168] S140. The low-altitude RSU device 10 receives the calibration coefficient and obtains real-time positioning coordinates to perform positioning adjustment of the low-altitude vehicle 11.

[0169] Once the low-altitude RSU device 10 receives the calibration coefficient, it adjusts its own real-time positioning coordinates according to these correction coefficients. This adjustment process ensures that the low-altitude vehicle 11 can control its position more accurately during subsequent flights and avoid deviations.

[0170] The core of this control method lies in obtaining ground traffic and positioning data in real time, dynamically correcting the track coordinates of the low-altitude vehicle 11 through the control center, and then performing precise positioning adjustment on the low-altitude vehicle 11. Through this method, the low-altitude vehicle 11 can maintain an accurate flight track in complex airspace and ground environments, thereby improving safety and effectiveness. This technology is particularly suitable for application scenarios that require high-precision positioning, such as drone delivery, air taxis, unmanned aerial vehicles, and other fields.

[0171] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the control method of the above low-altitude RSU system can refer to the corresponding description in the foregoing system embodiments. For the sake of convenience and conciseness of description, it will not be repeated here.

[0172] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A low-altitude RSU device, characterized in that, Comprising: A low-altitude vehicle and an RSU unit, where the RSU unit is connected to the low-altitude vehicle through a connection structure, and the low-altitude vehicle and the RSU unit are connected through a communication bus structure; the RSU unit is used to perform high-speed data interaction with the low-altitude vehicle, ensure data security, and achieve precise positioning and management of the low-altitude vehicle.

2. The low-altitude RSU device according to claim 1, characterized in that, The communication bus structure includes a drag chain guide rail, and the drag chain guide rails are cascaded and connected in a tank chain buckle manner; both ends of the drag chain guide rail are respectively connected to the low-altitude vehicle and the RSU unit through connectors.

3. The low-altitude RSU device according to claim 1, characterized in that, The RSU unit includes an RSU active communication main board; the RSU active communication main board is connected to the communication bus structure; the low-altitude vehicle includes a control center, and the control center is connected to the communication bus structure.

4. The low-altitude RSU device according to claim 3, characterized in that, The RSU active communication main board includes a main processor, a communication module, and a positioning module, and the main processor is respectively connected to the communication module and the positioning module; the communication module is used for wireless communication and data transmission between V2X devices; the positioning module is used to position the low-altitude vehicle.

5. The low-altitude RSU device according to claim 4, wherein The RSU active communication main board includes a security module, and the security module is connected to the main processor.

6. The low-altitude RSU device according to claim 4, wherein The communication module includes a V2X communication module, a 4G / 5G communication module, and a WiFi module.

7. The low-altitude RSU device according to claim 5, characterized in that, The security module includes an HSM chip.

8. A low-altitude RSU system, characterized in that, Comprising a ground-fixed roadside RSU and a plurality of low-altitude RSU devices as described in any one of claims 1 to 7, and the plurality of low-altitude RSU devices are respectively communicatively connected to the ground-fixed roadside RSU.

9. A control method for a low-altitude RSU system as described in claim 8, characterized in that, Comprising: When the low-altitude vehicle enters a specified area, the ground-fixed roadside RSU broadcasts ground traffic and positioning data; The low-altitude RSU device receives the ground traffic and positioning data and forwards it to the control center; The control center dynamically corrects the track coordinates of the low-altitude vehicle by calculating error correction coefficients and calibration parameters in real time, and uses ground data and airborne information to obtain a calibration coefficient; The low-altitude RSU device receives the calibration coefficient and obtains real-time positioning coordinates to perform positioning adjustment of the low-altitude vehicle.

10. The control method of a low-altitude RSU system according to claim 8, characterized in that, The control center dynamically corrects the track coordinates of the low-altitude vehicle by calculating error correction coefficients and calibration parameters in real time, and uses ground data and airborne information to obtain a calibration coefficient, including: The control center corrects the track coordinate error using the ground traffic and positioning data; The control center calibrates the coordinates in real time according to requirements; The control center eliminates transmission errors and corrects the coordinates through an algorithm to obtain four positioning points; The control center calculates calibration parameters through the four positioning points to correct the coordinates of the low-altitude vehicle to obtain a calibration coefficient.

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