Air-ground cooperative tracking device and method based on aerial remote sensing

Abstract

The invention provides an air-ground cooperative tracking device and method based on aerial remote sensing, and is applied to the technical field of remote sensing, and the device comprises a central station which comprises a broadcast type automatic dependent surveillance module used for receiving an ADS-B signal of a target airplane; the Beidou positioning module is used for acquiring point location position information of pre-connected ground test equipment; the central control unit comprises a monitoring screen which is used for carrying out visual fusion display based on the received ADS-B signal of the target airplane and the point position information of the ground test equipment; the central controller is used for generating an equipment posture adjusting instruction; the first data transmission module is used for sending an equipment posture adjusting instruction; the distribution station is in communication connection with the central station and comprises a second data transmission module used for receiving the equipment attitude adjustment instruction; and the controller is used for driving the target ground test equipment to execute azimuth angle and pitch angle adjustment in response to the equipment attitude adjustment instruction. According to the invention, the synchronism and coordination of air-ground observation can be improved.

Description

Technical Field

[0001] The present invention relates to the field of remote sensing technology, and in particular to an air-ground collaborative tracking device and method based on aerial remote sensing. Background Art

[0002] Aerial remote sensing is a technology or means for acquiring specific observational data. Beyond traditional engineering needs, such as surveying and mapping, and land resources monitoring, space science experiments have become another important area of ​​aerial remote sensing. Unlike applications like aerial surveying and mapping, a key characteristic of space science experiments based on aerial remote sensing is the desire to obtain interactive air-ground data, placing higher demands on the interoperability of aerial remote sensing.

[0003] Data acquisition from aerial platforms requires a certain degree of coordination or interactivity with ground-based data acquisition. For example, when an aerial remote sensing aircraft passes overhead (overhead), researchers hope to synchronize or quasi-synchronize ground test actions with payload data collection during the aircraft's overhead pass. This ensures that the ground test data and the data acquired from the aircraft effectively correspond in spatial and temporal dimensions and are fully recorded. This coordination is crucial for some scientific experiments; poor coordination can reduce the effectiveness of the acquired data and even lead to experiment failure.

[0004] Due to limitations in air-to-ground communications, the typical solution involves estimating the aircraft's overhead time, prompting ground test personnel to enter the test state in advance, power on the equipment, collect data in advance, extend the data collection time, and delay powering down the equipment. This approach not only wastes manpower and resources, but also, even with this approach, many simultaneous tests fail to obtain valid data. Summary of the Invention

[0005] The present invention provides an air-ground collaborative tracking device and method based on aerial remote sensing, which are used to solve the defect of poor collaboration in the existing aerial remote sensing data acquisition method and to improve the synchronization and coordination of air-ground observation.

[0006] The present invention provides an air-ground collaborative tracking device based on aerial remote sensing, comprising a central station and distributed stations; the central station comprises: an automatic dependent surveillance-broadcast (ADS-B) module for receiving an ADS-B signal from a target aircraft; a Beidou positioning module for acquiring point position information of pre-connected ground test equipment; a central control unit, communicatively connected to the automatic dependent surveillance-broadcast (ADS-B) module and the Beidou positioning module, comprising: a monitoring screen and a central controller, wherein: the monitoring screen is configured to perform a visual fusion display based on the received ADS-B signal from the target aircraft and the point position information of the ground test equipment; the central controller is configured to generate a device attitude adjustment instruction based on the ADS-B signal from the target aircraft and the point position information of the ground test equipment; a first data transmission module is communicatively connected to the central control unit and configured to send the device attitude adjustment instruction; the distributed stations are communicatively connected to the central station and comprise: a second data transmission module, communicatively connected to the first data transmission module and configured to receive the device attitude adjustment instruction; and a controller, communicatively connected to the second data transmission module and configured to drive the target ground test equipment to perform azimuth and pitch angle adjustments in response to the received device attitude adjustment instruction.

[0007] According to an air-ground collaborative tracking device based on aerial remote sensing provided by the present invention, the broadcast automatic dependent surveillance module is a signal receiving module; the signal receiving module is only used to receive the ADS-B signal of the target aircraft; the ADS-B signal is transmitted to the central control unit through the communication interface.

[0008] According to an air-ground collaborative tracking device based on aerial remote sensing provided by the present invention, the central control unit is further used to: extract the real-time flight information of the target aircraft based on the received ADS-B signal; the real-time flight information includes at least one of the following: aircraft number, flight speed and flight altitude.

[0009] According to an air-ground collaborative tracking device based on aerial remote sensing provided by the present invention, the central controller is specifically used to: determine the networking coordinates of the ground test equipment based on the point position information of the ground test equipment by using a measurement adjustment algorithm; determine the target observation posture of each of the ground test equipment based on the networking coordinates and the real-time flight information of the target aircraft, wherein the target observation posture includes: target observation azimuth and target observation pitch angle; and generate equipment posture adjustment instructions based on the target observation posture of each of the ground test equipment.

[0010] According to an air-ground collaborative tracking device based on aerial remote sensing provided by the present invention, the central station is integrated in a layered box, and the layered box includes: a lower box and an upper box; the upper box is integrated with the monitoring screen of the central control unit; the lower box is integrated with the broadcast automatic dependent surveillance module, the Beidou positioning module and the central controller of the central control unit, the first data transmission module, the battery assembly, the keyboard and the reserved area; wherein, the Beidou positioning module is connected to the antenna interface, the central controller is connected to the communication interface, and the reserved area is used for equipment expansion.

[0011] According to an air-ground collaborative tracking device based on aerial remote sensing provided by the present invention, the distribution station also includes: a display, which is communicatively connected to the controller and is used to visually display the equipment status of the distribution station and the equipment posture adjustment instructions; the distribution station is integrated into an overall box, and the overall box includes: an internal box and an external box; the internal box integrates the second data transmission module, a controller, a positioning module and a battery assembly, wherein the positioning module is used to position the distribution station; the external box is integrated with the display.

[0012] The present invention also provides an air-ground collaborative tracking method based on aerial remote sensing, comprising the following steps: receiving an ADS-B signal of a target aircraft; acquiring point position information of a pre-connected ground test equipment; performing a visual fusion display based on the received ADS-B signal of the target aircraft and the point position information of the ground test equipment; generating an equipment attitude adjustment instruction based on the ADS-B signal of the target aircraft and the point position information of the ground test equipment; sending the equipment attitude adjustment instruction to a pre-connected distribution station; the distribution station is configured to drive the target ground test equipment to perform azimuth and pitch angle adjustments in response to the received equipment attitude adjustment instruction.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the air-ground collaborative tracking method based on aerial remote sensing as described above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the air-ground collaborative tracking method based on aerial remote sensing as described above is implemented.

[0015] The present invention also provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-described air-ground collaborative tracking methods based on aerial remote sensing.

[0016] The air-ground collaborative tracking device and method based on aerial remote sensing provided by the present invention realizes efficient linkage control of air-ground test equipment through the collaborative architecture of the central station and the distributed stations: the central station uses the ADS-B module to capture the aircraft dynamic trajectory data in real time, combines the Beidou positioning module to obtain the high-precision coordinates of the ground equipment, generates attitude adjustment instructions through the spatial fusion analysis of the central control unit, and relies on the data transmission module to realize the reliable transmission of the instructions; the distributed station accurately performs azimuth and pitch angle adjustments through the controller, effectively solving the observation inaccuracy problem caused by equipment response lag and positioning deviation in traditional air-ground tests, and significantly improves the spatiotemporal synchronization accuracy and automated coordination capability of aerial remote sensing observation tasks, and is suitable for complex air-ground collaborative test scenarios that require real-time dynamic tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a module schematic diagram of the air-ground collaborative tracking device based on aerial remote sensing provided by the present invention.

[0019] Figure 2 It is a schematic diagram of the structure of the central station, distribution station and ground test equipment provided by the present invention.

[0020] Figure 3 It is a technical flow chart of the working technology of the device provided by the present invention.

[0021] Figure 4 This is a prototype diagram of the central station integration device provided by the present invention.

[0022] Figure 5 This is a prototype diagram of the distribution station integration device provided by the present invention.

[0023] Figure 6 It is a flow chart of the air-ground collaborative tracking method based on aerial remote sensing provided by the present invention.

[0024] Figure 7 It is a schematic diagram of the physical structure of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0025] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0026] The terms "first," "second," and the like in the specification and claims of the present invention are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present invention can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0027] In order to improve the air-ground coordination of aerial remote sensing experiments, the first thing to solve is the air-ground communication problem. At present, there are mainly the following communication methods between aircraft and the ground: (1) communicating with the tower through radio; (2) communicating with the ground through systems such as maritime satellites; (3) communicating with the ground Beidou terminal through Beidou short messages; (4) the ground can also grasp the real-time position of the aircraft through the ADS-B system (Automatic Dependent Surveillance-Broadcast); (5) using third-party services, the aircraft position can be checked in the software; (6) in some areas, due to low flight altitude or high communication base stations, some areas can receive mobile phone signals on board and communicate with the ground. The first three methods are the most effective for achieving air-ground communication, but in practice, using the first method to achieve air-ground communication in aerial remote sensing experiments is not feasible. It may be used in emergencies. The second and third methods require the aircraft to be equipped with professional equipment, which has a certain investment cost. Using third-party APP software has certain ground positioning deviations and potential delays, which is a passive method. As for communicating through mobile phones in the air, it is highly unreliable. The ADS-B system is basically an essential equipment for general aviation aircraft. It automatically broadcasts the aircraft's real-time position, speed and other information during flight, which can be received and used by corresponding equipment.

[0028] In the application of air-ground synchronous testing, most of these methods are indirect methods. There is an intermediate process time from receiving information to transmitting it to ground personnel, and the problem of uncontrollable process time is faced. Therefore, quasi-synchronization is achieved.

[0029] In practice, due to the numerous flight restrictions imposed by aerial testing, ground testing is typically adapted to aerial testing. Air-ground collaborative testing primarily addresses the need for ground personnel to maintain real-time visibility of the flight platform's position and coordinate ground test actions. Therefore, currently, air-ground collaboration primarily involves ground personnel maintaining real-time visibility of the flight platform's position and conducting ground testing operations according to agreed procedures. While the ADS-B system cannot achieve two-way air-ground interaction, it provides real-time aircraft position information for ground testing, making it a low-cost, practical, and easy-to-implement solution compared to other methods.

[0030] As previously mentioned, existing inventions or air-ground communication technologies, in terms of application areas, solutions, and technologies employed, are still unable to meet the practical needs addressed by the present invention. For example, collaborative devices for UAV platforms can achieve air-ground communication by adding radio stations such as data transmission, but this is not easily achieved for manned aircraft. Existing general-purpose ADS-B system ground terminals are relatively large. Furthermore, their high acquisition cost and poor interoperability limit their applicability to air-ground collaborative testing.

[0031] In addition, mastering the real-time position of the flight platform is only the first step in conducting air-ground collaborative tests. More importantly, it is necessary to assist in completing ground synchronous tests based on this real-time information.

[0032] To address these issues, the present invention integrates a central control unit, ADS-B template, Beidou positioning module, data transmission module and other components to achieve real-time reception of test flight platform position information, spatial position monitoring and spatial analysis, position warning and observation command triggering, etc., meeting four requirements: The central controller can realize real-time monitoring, spatial position calculation and position analysis of air and ground test equipment, and provide over-the-top prompts and warning information of the test flight platform in combination with the position information of ground equipment; Provides a programmable control interface. Based on the set position information, it controls the ground equipment to automatically trigger the multi-point data acquisition function according to the control signal by combining the received flight platform position and ground equipment position information (position information can also be set), thus avoiding the intermediate time of human-machine interaction and improving the synchronization between air and ground. This device is composed of a central control system and the Beidou positioning system to realize the networking of various sub-devices. It combines the flight route and the real-time position of the aircraft to achieve positioning and orientation of ground equipment within the network. It is aimed at experiments with high requirements for directional observation and enhances the coordination and accuracy of air-ground synchronous experiments. To meet the needs of ground testing, the integrated camera module and micro-meteorological unit have been developed with expanded functionality. These functions automatically collect test site information based on the platform's overhead notifications, recording the test location, time, weather conditions, wind speed and direction, and automatically collecting 360-degree ground status data and image data as the aircraft flies overhead. This data provides an effective foundation for later test data analysis and test review.

[0033] Figure 1 This is a module diagram of the air-ground collaborative tracking device based on aerial remote sensing provided by the present invention, such as Figure 1 As shown, it includes a central station 101 and a distribution station 102; Central Station 101, including: Automatic Dependent Surveillance-Broadcast module 1011, for receiving ADS-B signals of target aircraft; Beidou positioning module 1012, used to obtain point location information of pre-connected ground test equipment; The central control unit 1013 is in communication with the Automatic Dependent Surveillance-Broadcast (ADS-B) module 1011 and the Beidou positioning module 1012 and includes a monitoring screen 10131 and a central controller 10132. Monitoring screen 10131 is used for visually fusion display based on the received ADS-B signal of the target aircraft and the point position information of the ground test equipment; The central controller 10132 is used to generate equipment attitude adjustment instructions based on the ADS-B signal of the target aircraft and the point position information of the ground test equipment; The first data transmission module 1014 is in communication with the central control unit 1013 and is used to send device posture adjustment instructions; The distribution station 102 is in communication with the central station 101 and includes: The second data transmission module 1021 is in communication with the first data transmission module 1014 and is used to receive device posture adjustment instructions; The controller 1022 is in communication with the second data transmission module 1021 and is configured to drive the target ground test equipment to perform azimuth and pitch angle adjustments in response to a received equipment attitude adjustment instruction.

[0034] The core of this device consists of a central control unit, an ADS-B module, a BeiDou positioning module, and a data transmission module (data transmission system), forming the central station. The central station enables real-time multi-source information collection, analysis, early warning, and control command issuance. While the central station does not directly collect data for air-ground synchronization experiments, it primarily monitors the spatial position and status of airborne and ground-based equipment in real time, performs spatial position analysis, provides position predictions, and issues or triggers ground observation commands based on these predictions, thereby improving the synchronization and coordination of air-ground observation experiments.

[0035] Depending on the different tests, the central station accesses the ground test equipment and other auxiliary data acquisition devices through the distributed stations to control or assist in the collection of ground observation data.

[0036] refer to Figure 2 , Figure 2 This is a schematic diagram of the structure of the central station, distribution station and ground test equipment provided by the present invention, wherein the central station includes: ADS-B ground terminal (i.e., automatic dependent surveillance-broadcast module), Beidou positioning module, data acquisition unit, central controller, monitoring screen, storage system and data transmission system (i.e., data transmission module); the distribution station includes: controller, data transmission module and positioning module; the ground test equipment includes: ground test equipment 1 to ground test equipment n.

[0037] The central control unit of the central station consists of a monitoring screen, a central controller, a storage system and control software, which realizes the reception, collection, processing, spatial analysis of various types of data, and programming to realize the control of peripheral equipment.

[0038] The central control computer (i.e., central controller) in the central control unit is connected to the ADS-B module, Beidou positioning module, and the first data transmission module (data transmission system) through a router and communication interface, respectively receiving and extracting the real-time position of the aircraft and the real-time coordinate data of the ground equipment. Based on the input route information, it conducts real-time monitoring and spatial relationship analysis between the ground equipment points and the aircraft's spatial position, providing support for the attitude adjustment and trigger start of the ground equipment, and sends attitude adjustment parameters and trigger observation instructions (notifications) through the data transmission system (first data transmission module). The control software has functions such as signal processing, spatial data editing, spatial analysis, and signal publishing. In the initial state, basic monitoring information is constructed, mainly including: Import aircraft route data into the control software, and connect to the ADS-B module and Beidou positioning module data. The software will calculate and extract the required data and display it in graphical form on the monitoring screen; The Beidou positioning module, consisting of a positioning module and receiving antenna, is connected to the central controller (optionally disconnected to prevent the central station's location), ground data collection equipment, and the data transmission system. It receives satellite positioning data in real time and transmits the antenna (ground equipment) position to the central computer (central controller). After receiving this information, the central control computer organizes the points into a ground observation network and uses surveying adjustment methods to accurately calculate the coordinates of each point. Combining this with known flight paths and the aircraft's real-time position, it dynamically calculates the device's observation attitude (such as azimuth and pitch angle) and transmits it in real time to each observation point, enabling dynamic adjustment of the device's attitude.

[0039] Through the data transmission system (the first data transmission module), the control software receives the position data of various ground devices, establishes a network, and uses metrological methods to calculate the precise coordinates of each point. Based on the aircraft's real-time position and route information, it calculates dynamic device attitude adjustment parameters and (notifies) the ground device to adjust its attitude (if necessary). Depending on the settings, it triggers warning information or directly issues a trigger command.

[0040] This device consists of a distributed station, comprised of a positioning module, a second data transmission module, and a controller. The central station communicates with the distributed station. Upon receiving information from the central station, the distributed station controller displays necessary information on a display screen. It can also connect to ground observation equipment and auxiliary data acquisition devices, automatically triggering ground equipment to initiate observations via control commands. Ground observation equipment is the equipment used for ground data acquisition during air-ground synchronous testing. Data acquisition can be performed manually, or it can be triggered by trigger commands issued by the central control computer (central controller) at the central station via the data transmission system (first data transmission module). This triggers the distributed station controller to automatically adjust the ground equipment's attitude (requiring an attitude adjustment device), automatically triggering observations, receiving, and recording observation data. The auxiliary data acquisition device primarily collects non-data near the ground test site, such as wind speed and direction, and images. Automatic data reception and recording are initiated by receiving observation trigger commands issued by the central control computer via the data transmission system.

[0041] Through the embodiments of the present invention, efficient linkage control of air-ground test equipment is achieved through the collaborative architecture of the central station and the distributed stations: the central station uses the ADS-B module to capture the dynamic trajectory data of the aircraft in real time, combines with the Beidou positioning module to obtain the high-precision coordinates of the ground equipment, generates attitude adjustment instructions through the spatial fusion analysis of the central control unit, and relies on the data transmission module to achieve reliable transmission of the instructions; the distributed station accurately performs azimuth and pitch angle adjustments through the controller, effectively solving the observation inaccuracy problem caused by equipment response lag and positioning deviation in traditional air-ground tests, and significantly improves the spatiotemporal synchronization accuracy and automated coordination capability of aerial remote sensing observation tasks, and is suitable for complex air-ground collaborative test scenarios that require real-time dynamic tracking.

[0042] According to an air-ground collaborative tracking device based on aerial remote sensing provided by the present invention, the automatic dependent surveillance-broadcast module is a signal receiving module; The signal receiving module is only used to receive the ADS-B signal of the target aircraft; the ADS-B signal is transmitted to the central control unit through the communication interface.

[0043] It should be noted that the existing general-purpose ADS-B system ground terminals are relatively large, have high acquisition costs, and lack interoperability, making them limited in their applicability to air-ground collaborative experiments.

[0044] In the embodiment of the present invention, compared with existing large-scale equipment, this device uses a miniaturized ADS-B module (i.e., a signal receiving module), retaining only the ADS-B data receiving function. The base station location information is collected by an additional Beidou module (which can be omitted if the base station location information is not of concern).

[0045] Through the embodiments of the present invention, the volume of the ADS-B receiving module is reduced to a preset size through modular reconstruction and function tailoring. At the same time, through the flexible configuration of the external Beidou positioning module, the requirements of the test scenario for equipment portability are met, and the waste of resources caused by redundant functions is avoided.

[0046] According to the present invention, an air-ground coordinated tracking device based on aerial remote sensing, the central control unit is further used to: Extract the real-time flight information of the target aircraft based on the received ADS-B signal; Real-time flight information, including at least one of the following: aircraft number, flight speed, and flight altitude.

[0047] In an embodiment of the present invention, the received ADS-B data is transmitted to a central control computer (central controller) via a communication interface, and real-time information of the target aircraft, including aircraft number, flight speed, flight altitude, etc., is extracted and displayed in real time in a graphical form on the monitoring screen.

[0048] In some embodiments, the central controller extracts real-time flight information, such as the target aircraft's aircraft ID, flight speed, and altitude, from the received data based on the results of ADS-B data format parsing. For example, by analyzing the byte positions and encoding rules of the data, the central controller converts the corresponding binary data into a readable string or numeric value.

[0049] In the graphical display program, extract the target aircraft's real-time flight information and update it to the graphical interface. You can use a timer or event-driven approach to periodically retrieve the latest data from the data receiving program and refresh the interface. For example, set a timer to update data every 1 second to ensure that the information displayed on the monitoring screen is always up to date.

[0050] Through the embodiments of the present invention, end-to-end processing of flight parameters from raw data to decision-making information is achieved, meeting the demand for real-time perception of air situations.

[0051] According to the present invention, an air-ground coordinated tracking device based on aerial remote sensing, the central controller is specifically used for: Based on the point location information of the ground test equipment, the network coordinates of the ground test equipment are determined using the measurement adjustment algorithm; Based on the network coordinates and the real-time flight information of the target aircraft, the target observation attitude of each ground test equipment is determined, wherein the target observation attitude includes: target observation azimuth angle and target observation pitch angle; Based on the target observation attitude of each ground test equipment, equipment attitude adjustment instructions are generated.

[0052] In this embodiment of the present invention, the real-time position of the target aircraft (obtained from ADS-B signal analysis) and the network coordinates of the ground test equipment are unified into the same coordinate system (e.g., WGS84 geocentric coordinate system or local rectangular coordinate system). The relative position vector between each ground test equipment and the target aircraft is calculated.

[0053] The inverse tangent function is used to calculate the azimuth angle based on the projection of the relative position vector on the horizontal plane. The inverse tangent function is used to calculate the pitch angle based on the vertical component of the relative position vector and the horizontal distance.

[0054] refer to Figure 3 , Figure 3 This is a technical flow chart of the device provided by the present invention, and the specific process is as follows.

[0055] Generally, before conducting air-ground simultaneous tests, the flight route should be planned in advance. Ground test personnel will select appropriate locations for ground testing based on the flight route's coverage area, such as directly below the route or within a certain radius. For side-view routes, this will be within the route's coverage area. This will allow for preliminary test point selection and positioning. This positioning is typically coarse. For tests requiring high point location accuracy, equipment such as RTK (Real-Time Kinematic) is required for precise position measurement. In many tests, the equipment's placement will vary from test to test. Positioning is crucial in tests requiring high position accuracy. For example, in SAR (Synthetic Aperture Radar) calibration tests, the accuracy of the calibrator's placement can impact the accuracy of image geometric correction.

[0056] For the initially selected test points, the device generates a list of key monitoring locations and defines a warning radius (observation range) for each location. Spatial position analysis is performed on these locations relative to the real-time position of the flight platform. When the spatial position (horizontal projection) of the two points falls below the warning radius, the aircraft is considered to have entered the observation range for that point. At this point, the auxiliary observation equipment is triggered (if required for the test) to automatically record auxiliary observation data, such as wind speed and direction, solar altitude, and hemispherical imagery of the test area.

[0057] At the same time, determine whether this test is a directional observation sensitive test: If not, the ground equipment is triggered to start observation and record the observation data, observation test and aircraft real-time position information in real time; If so, the system retrieves route data, the aircraft's real-time position data, and ground point positioning data to predict the aircraft's overhead time (or a specific time and spatial range). Based on the ground point positioning data, the system completes high-precision network positioning and orientation for the equipment. Because the aircraft's actual flight trajectory deviates from its route due to air currents and the accuracy of its positioning data, the system combines positioning and orientation data, aircraft position, and route data to calculate equipment attitude adjustment parameters to correct for the impact of this discrepancy between the planned route and actual flight on the placement of ground equipment. The system then adjusts the ground equipment's attitude and position based on these adjustment parameters. When the aircraft passes overhead (or within a specific range), the ground equipment is triggered to initiate automatic observation.

[0058] Through the embodiments of the present invention, the positioning error of ground equipment is effectively eliminated through the measurement adjustment algorithm, and the azimuth and pitch angles are dynamically calculated in combination with the real-time trajectory of the aircraft, ensuring that the ground observation equipment is accurately aligned with the aerial target; the automatically generated attitude adjustment instructions significantly improve the equipment's coordinated response speed and pointing accuracy, solving the technical problems of manual adjustment lag and poor coordination of multiple devices in traditional air-to-ground tests.

[0059] According to an air-ground collaborative tracking device based on aerial remote sensing provided by the present invention, the central station is integrated into a layered box, and the layered box includes: a lower box and an upper box; The upper box is integrated with the monitoring screen of the central control unit; The lower box integrates the Automatic Dependent Surveillance-Broadcast (ADS-B) module, Beidou positioning module, the central controller of the central control unit, the first data transmission module, the battery assembly, the keyboard, and the reserved area. Among them, the Beidou positioning module is connected to the antenna interface, the central controller is connected to the communication interface, and the reserved area is used for equipment expansion.

[0060] refer to Figure 4 , Figure 4 This is a prototype diagram of the central station integrated device provided by the present invention, which includes: a. upper monitor (top view), b. lower core processing component (top view), c. integrated device size schematic diagram.

[0061] After the various components of the central station of this device are integrated, they are integrated into a box with a specification of 45cm*40cm*8cm, which is divided into two parts, the upper and lower parts.

[0062] The lower box (6.5cm high) integrates the central control unit, a small ADS-B device (i.e., automatic dependent surveillance-broadcast module), a Beidou positioning module, a microcomputer (i.e., the central controller of the central control unit), a data transmission system (i.e., the first data transmission module), a battery assembly, and a keyboard; the upper box (1.5cm high) integrates the monitoring screen.

[0063] On the central station integrated box, there is a reserved space under the keyboard in the lower box for the installation of more equipment in the future.

[0064] Through the embodiments of the present invention, the independent layout of the upper monitoring screen ensures the visibility of human-computer interaction, and the core electronic modules (small ADS-B device, Beidou positioning unit, controller, etc.) are concentrated in the lower cavity to form an electromagnetic shielding environment, effectively suppressing signal interference; the modules are directly connected through the internal bus to reduce cable loss and improve data transmission stability; the reserved expansion area supports external devices, so that the system has flexible expansion capabilities.

[0065] According to the air-ground coordinated tracking device based on aerial remote sensing provided by the present invention, the distributed station also includes: A display, in communication with the controller, for visually displaying the equipment status and equipment posture adjustment instructions of the distribution station; The distribution station is integrated into the overall box, which includes: an inner box and an outer box; The internal box integrates the second data transmission module, controller, positioning module and battery assembly, wherein the positioning module is used to locate the distribution station; The external cabinet has an integrated display.

[0066] refer to Figure 5 , Figure 5 This is a prototype diagram of the distribution station integrated device provided by the present invention, which includes: a. a top view of the distribution station integrated box (including a data transmission module, a positioning module, a battery and a small controller), b. a schematic diagram of the dimensions of the integrated device (including a display, with a length, width and height of 100mm, 50mm and 60mm respectively).

[0067] Under the control of the controller, the distributed stations communicate with the central station via the (second) data transmission module, transmitting positioning data to the central station and receiving attitude adjustment information, warning information, and trigger commands. Ground equipment connects to the controller, receives trigger commands, and provides feedback on equipment status (if necessary). A display screen is installed on the side of the box to display necessary information such as warning information and trigger commands.

[0068] Through the above-described embodiments of the present invention, real-time dynamic analysis of the positions of airborne and ground-based equipment is used to trigger ground-based synchronous observations, improving synchronization. Ground-based equipment is organized into an observation network, and the dynamic calculation of equipment attitude information is performed based on the real-time position of aircraft and route information, improving the accuracy and synchronization of directional observations.

[0069] Compared with previous equipment, this device aims to solve the problems faced by the synchronization of first-line air-ground tests and has the following technical advantages: High integration: This device connects the miniaturized ADS-B module, positioning module, and data transmission system through a central control computer. Through the developed control software, it forms an integrated control system with signal reception, data solution, position monitoring and spatial analysis capabilities. It realizes real-time monitoring of the relative position relationship between air and ground equipment, information feedback, command issuance and other functions, and solves the rare problem of air-ground coordination in synchronous tests. The device has the characteristics of high degree of informatization, portability and miniaturization.

[0070] Strong synergy: Relying on the computing power of the central controller, this device networks the ground observation equipment through the positioning module, realizing high-precision positioning and orientation of the spatial position of the ground observation equipment. Combined with the acquired real-time position information of the aircraft and the route design, it automatically solves the observation attitude adjustment parameters of the ground equipment in real time (especially for tests with high directional observation requirements). Through the program, the real-time position monitoring and spatial analysis of air and ground equipment are carried out, and observation warnings or commands are automatically triggered according to the settings, which improves the accuracy and synchronization of the observation angle, thereby improving the synergy of air-ground tests.

[0071] Good Scalability: The central station and distributed stations greatly enhance the device's scalability. To use, only the central station needs to be configured, and the distributed stations can connect to it via the data transmission system. The central station issues trigger commands to the distributed stations in a one-way manner, and only exchanges spatial location information with the distributed stations. Test data is stored by the distributed stations themselves. This connection reduces the device's complexity and improves its reliability.

[0072] The air-ground collaborative tracking method based on aerial remote sensing provided by the present invention is described below. The air-ground collaborative tracking method based on aerial remote sensing described below and the air-ground collaborative tracking device based on aerial remote sensing described above can be referenced to each other.

[0073] refer to Figure 6 , Figure 6 It is a flow chart of the air-ground collaborative tracking method based on aerial remote sensing provided by the present invention.

[0074] Step 601: Receive the ADS-B signal of the target aircraft.

[0075] Step 602: Acquire the point location information of the pre-connected ground test equipment.

[0076] Step 603 : Visually fusion display is performed based on the received ADS-B signal of the target aircraft and the point position information of the ground test equipment.

[0077] Step 604 : Generate a device attitude adjustment instruction based on the ADS-B signal of the target aircraft and the point position information of the ground test equipment.

[0078] Step 605: Send an equipment attitude adjustment instruction to a pre-connected distribution station; the distribution station is used to drive the target ground test equipment to perform azimuth and pitch angle adjustments in response to the received equipment attitude adjustment instruction.

[0079] Specifically, the above-mentioned air-ground collaborative tracking method based on aerial remote sensing provided by the present invention can implement all the method steps implemented by the above-mentioned air-ground collaborative tracking device embodiment based on aerial remote sensing, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0080] Figure 7 This is a schematic diagram of the physical structure of the electronic device provided by the present invention, such as Figure 7 As shown, the electronic device may include: a processor 710, a communications interface 720, a memory 730, and a communications bus 740, wherein the processor 710, the communications interface 720, and the memory 730 communicate with each other via the communications bus 740. The processor 710 may call logic instructions in the memory 730 to execute an air-ground collaborative tracking method based on aerial remote sensing, the method comprising: receiving an ADS-B signal from a target aircraft; obtaining point location information of a pre-connected ground test device; visually fusion displaying the received ADS-B signal from the target aircraft and the point location information of the ground test device; generating a device attitude adjustment instruction based on the ADS-B signal from the target aircraft and the point location information of the ground test device; and transmitting the device attitude adjustment instruction to a pre-connected distributed station. The distributed station is configured to drive the target ground test device to adjust its azimuth and pitch angles in response to the received device attitude adjustment instruction.

[0081] Furthermore, the logic instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0082] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the air-ground collaborative tracking method based on aerial remote sensing provided by the above-mentioned methods, which includes: receiving the ADS-B signal of the target aircraft; obtaining the point position information of a pre-connected ground test equipment; performing a visual fusion display based on the received ADS-B signal of the target aircraft and the point position information of the ground test equipment; generating an equipment attitude adjustment instruction based on the ADS-B signal of the target aircraft and the point position information of the ground test equipment; sending the equipment attitude adjustment instruction to a pre-connected distribution station; the distribution station is used to drive the target ground test equipment to perform azimuth and pitch angle adjustments in response to the received equipment attitude adjustment instruction.

[0083] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the air-ground collaborative tracking method based on aerial remote sensing provided by the above-mentioned methods, the method comprising: receiving the ADS-B signal of the target aircraft; obtaining the point position information of a pre-connected ground test equipment; performing a visual fusion display based on the received ADS-B signal of the target aircraft and the point position information of the ground test equipment; generating an equipment attitude adjustment instruction based on the ADS-B signal of the target aircraft and the point position information of the ground test equipment; sending the equipment attitude adjustment instruction to a pre-connected distribution station; the distribution station is used to drive the target ground test equipment to perform azimuth and pitch angle adjustments in response to the received equipment attitude adjustment instruction.

[0084] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0085] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An air-ground collaborative tracking device based on aerial remote sensing, characterized in that: Including central station and distribution station; The central station includes: Automatic Dependent Surveillance-Broadcast module, used to receive ADS-B signals from target aircraft; Beidou positioning module, used to obtain the point location information of pre-connected ground test equipment; The central control unit is in communication with the Automatic Dependent Surveillance-Broadcast (ADS-B) module and the Beidou positioning module and includes a monitoring screen and a central controller, wherein: The monitoring screen is used to perform visual fusion display based on the received ADS-B signal of the target aircraft and the point position information of the ground test equipment; The central controller is configured to generate a device attitude adjustment instruction based on the ADS-B signal of the target aircraft and the point position information of the ground test equipment; A first data transmission module is connected to the central control unit for sending the device posture adjustment instruction; The distribution station is in communication with the central station, and the distribution station includes: a second data transmission module, communicatively connected to the first data transmission module, and configured to receive the device posture adjustment instruction; The controller is in communication with the second data transmission module and is used to drive the target ground test equipment to perform azimuth and pitch angle adjustments in response to a received equipment attitude adjustment instruction.

2. The air-ground coordinated tracking device based on aerial remote sensing according to claim 1 is characterized in that: The Automatic Dependent Surveillance-Broadcast (ADS-B) module is a signal receiving module; The signal receiving module is only used to receive the ADS-B signal of the target aircraft; the ADS-B signal is transmitted to the central control unit through the communication interface.

3. The air-ground coordinated tracking device based on aerial remote sensing according to claim 2 is characterized in that: The central control unit is further used for: Extracting real-time flight information of the target aircraft based on the received ADS-B signal; The real-time flight information includes at least one of the following: aircraft number, flight speed, and flight altitude.

4. The air-ground coordinated tracking device based on aerial remote sensing according to claim 3 is characterized in that: The central controller is specifically used to: Based on the point position information of the ground test equipment, a measurement adjustment algorithm is used to determine the network coordinates of the ground test equipment; Determining a target observation attitude of each of the ground test equipment based on the network coordinates and the real-time flight information of the target aircraft, wherein the target observation attitude includes: a target observation azimuth angle and a target observation pitch angle; Based on the target observation posture of each of the ground test devices, a device posture adjustment instruction is generated.

5. The air-ground coordinated tracking device based on aerial remote sensing according to claim 1, characterized in that: The central station is integrated into a layered box, and the layered box includes: a lower box and an upper box; The upper box is integrated with a monitoring screen of the central control unit; The lower box integrates the Automatic Dependent Surveillance-Broadcast (ADS-B) module, the Beidou positioning module, the central controller of the central control unit, the first data transmission module, a battery assembly, a keyboard, and a reserved area; Among them, the Beidou positioning module is connected to the antenna interface, the central controller is connected to the communication interface, and the reserved area is used for equipment expansion.

6. The air-ground coordinated tracking device based on aerial remote sensing according to claim 1, characterized in that: The distribution station also includes: a display, in communication with the controller, for visually displaying the equipment status of the distribution station and the equipment posture adjustment instructions; The distribution station is integrated into an integral box, and the integral box comprises: an inner box and an outer box; The internal box is integrated with the second data transmission module, the controller, the positioning module and the battery assembly, wherein the positioning module is used to locate the distribution station; The external box is integrated with the display.

7. An air-ground collaborative tracking method based on aerial remote sensing, characterized in that: Applicable to central stations, including: Receive ADS-B signals from target aircraft; Obtaining point location information of pre-connected ground test equipment; Performing a visual fusion display based on the received ADS-B signal of the target aircraft and the point position information of the ground test equipment; Generate a device attitude adjustment instruction based on the ADS-B signal of the target aircraft and the point position information of the ground test equipment; Sending the device posture adjustment instruction to a pre-connected distribution station; The distribution station is used to drive the target ground test equipment to perform azimuth and pitch angle adjustments in response to the received equipment attitude adjustment instructions.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the air-ground collaborative tracking method based on aerial remote sensing as described in claim 7 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the air-ground collaborative tracking method based on aerial remote sensing as claimed in claim 7 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the air-ground collaborative tracking method based on aerial remote sensing as claimed in claim 7 is implemented.

Images