Low-altitude aircraft supervision backup fault-tolerant system and method based on Beidou and ADS-B

Abstract

The invention mainly relates to the technical field of aircraft supervision, and provides a Beidou and ADS-B (Automatic Dependent Surveillance-Broadcast)-based low-altitude aircraft supervision backup fault-tolerant system and method in order to improve the reliability of low-altitude aircraft position supervision, which has the core idea that a double-track low-altitude aircraft position monitoring mode of a Beidou module and an ADS-B module is designed; the Beidou module serves as a main track to supervise position information of the low-altitude aircraft and issue a control instruction, the ADS-B module serves as position supervision equipment of the low-altitude aircraft in a Beidou signal abnormal state to supervise the position of the low-altitude aircraft, and the reliability of position supervision of the low-altitude aircraft is improved.

Description

TECHNICAL FIELD

[0001] The present application mainly relates to the technical field of low-altitude aircraft supervision, and particularly relates to a low-altitude aircraft supervision backup fault-tolerant system and method based on Beidou and ADS-B. BACKGROUND

[0002] The current low-altitude aircraft intelligent supervision system mainly relies on the Beidou system to realize communication and positioning, and specifically includes the functions of RDSS two-way communication of the Beidou 3 short message chip, SM4 encrypted data transmission, and flight control instruction interaction. However, the existing single Beidou supervision mode has the risk of supervision loss, and the specific reason is that when the Beidou signal is subject to electromagnetic interference, or is blocked by high-rise buildings or mountains, or the ground station fails, the signal state will be abnormal, resulting in loss of low-altitude aircraft position data and interruption of instruction transmission, and further affecting the continuity of low-altitude aircraft position information supervision.

[0003] The independent ADS-B system has the advantages of position information broadcasting capability, high precision, wide coverage, and low cost, but lacks the encrypted communication and instruction issuing functions of Beidou, and cannot meet the safety compliance requirements of low-altitude aircraft supervision alone.

[0004] Therefore, there is a lack of a dual-track supervision scheme in the prior art that can both exert the advantages of encrypted communication and instruction interaction of the Beidou system and realize backup fault tolerance of low-altitude aircraft position information through ADS-B to achieve automatic coordination. SUMMARY

[0005] The technical problem to be solved by the present application is: To provide a low-altitude aircraft supervision backup fault-tolerant system and method based on Beidou and ADS-B, aiming to improve the reliability of low-altitude aircraft position supervision.

[0006] The technical solution adopted by the present application to solve the above technical problem is: On the one hand, the present application provides a low-altitude aircraft supervision backup fault-tolerant system based on Beidou and ADS-B, which comprises a Beidou module, an ADS-B module, a low-altitude aircraft, a Beidou state monitoring module, a switching control module, an alarm message generation module, and a supervision platform. The Beidou module is used to monitor the position information of the low-altitude aircraft, and the Beidou state monitoring module is used to monitor the signal state of the Beidou module. If the Beidou module signal abnormal condition is triggered, the alarm message generation module generates a Beidou interruption alarm signal and sends it to the supervision platform. The supervision platform switches the ADS-B module to monitor the position of the low-altitude aircraft through the switching control module.

[0007] In another aspect, based on the above system, the application further provides a Beidou and ADS-B based low-altitude aircraft supervision backup fault-tolerant method, which comprises: a Beidou module for monitoring low-altitude aircraft position information in real time, a Beidou state monitoring module for monitoring the signal state of the Beidou module in real time, an alarm message generation module for generating a Beidou interruption alarm signal and sending it to a supervision platform if the signal state of the Beidou module is abnormal, and the supervision platform switching to an ADS-B module for low-altitude aircraft position monitoring through a switching control module. The abnormal signal state of the Beidou module comprises: (1) the signal strength of the Beidou module is less than the minimum receiving threshold for Beidou short message communication; (2) Beidou short message is lost continuously for m times; (3) the Beidou ground station has concurrent processing abnormality.

[0008] Further, the m is obtained by reverse derivation based on the verification index of the communication success rate of the Beidou module being greater than or equal to 99.9%.

[0009] Further, the concurrent processing abnormality of the Beidou ground station specifically comprises: the real-time concurrent request load of the ground station exceeds the preset capacity threshold by 10%.

[0010] Further, the method further comprises: if the Beidou state monitoring module monitors that the signal state of the Beidou module returns to normal, the supervision platform switches back to the Beidou module for low-altitude aircraft position monitoring through the switching control module, and the ADS-B module is converted into continuously receiving low-altitude aircraft position information but not broadcasting the state externally. The signal state of the Beidou module returns to normal, which comprises: the signal strength of the Beidou module returns to greater than the minimum receiving threshold for Beidou short message communication, and the Beidou short message is successfully received continuously for n times, where n is greater than m.

[0011] Further, the method further comprises: during the process of the Beidou module normally monitoring low-altitude aircraft position information, the supervision platform compares the low-altitude aircraft position information monitored by the Beidou module and the ADS-B module, and if the difference between the low-altitude aircraft position information monitored by the Beidou module and the ADS-B module reaches a set value, the supervision platform triggers error alarm information through the alarm message generation module and starts self-checking of the Beidou module and the ADS-B module through the supervision platform.

[0012] Further, the difference set value between the low-altitude aircraft position information monitored by the Beidou module and the ADS-B module is 5m. Further, the switching delay of the Beidou module and the ADS-B module is less than or equal to 1s.

[0013] Further, the supervision platform adopts an NVIDIA Jetson TX2 module.

[0014] Further, the Beidou state monitoring module, the switching control module and the alarm message generation module are integrated in the low-altitude aircraft control terminal.

[0015] The application has the following advantages: the Beidou and ADS-B based low-altitude aircraft supervision backup fault-tolerant system and method can ensure that the position information of the low-altitude aircraft can be reliably acquired and the position of the low-altitude aircraft can be monitored in the whole world by setting the ADS-B module as a supplementary design of the Beidou module for monitoring the position information of the low-altitude aircraft, switching to the ADS-B module for monitoring the position of the low-altitude aircraft when the signal of the Beidou module is abnormal. DETAILED DESCRIPTION

[0016] The application has the following advantages: the Beidou and ADS-B based low-altitude aircraft supervision backup fault-tolerant system and method can ensure that the position information of the low-altitude aircraft can be reliably acquired and the position of the low-altitude aircraft can be monitored in the whole world by setting the ADS-B module as a supplementary design of the Beidou module for monitoring the position information of the low-altitude aircraft, switching to the ADS-B module for monitoring the position of the low-altitude aircraft when the signal of the Beidou module is abnormal.

[0017] The Beidou and ADS-B based low-altitude aircraft supervision backup fault-tolerant system comprises a Beidou module, an ADS-B module, a low-altitude aircraft, a Beidou state monitoring module, a switching control module, an alarm message generation module and a supervision platform.

[0018] Specifically, the specific selection or selection requirements of the above components include: The switching control module is based on C language to write trigger condition judgment logic to control the start and stop of the Beidou module and the ADS-B module; The Beidou module needs to support RDSS bidirectional communication and UID fusing and solidifying module; The ADS-B module needs to support 1090ES protocol, the power consumption is 1.2W, and the position update frequency is 1Hz; The supervision platform adopts the NVIDIA Jetson TX2 cluster module.

[0019] As a preferred, the Beidou state monitoring module, the switching control module and the alarm message generation module are integrated in the control terminal of the low-altitude aircraft, and the low-altitude aircraft control terminal adopts the flight control mainboard of the RK3588 of RuiKai Micro or the T113-S3 processor of ZhaoZhi.

[0020] Based on the above system, the low-altitude aircraft supervision backup fault-tolerant method based on Beidou and ADS-B according to the application comprises: The Beidou module monitors the low-altitude aircraft position information in real time, the Beidou state monitoring module monitors the signal state of the Beidou module in real time, if the signal state of the Beidou module is abnormal, the alarm message generation module generates a Beidou interruption alarm signal and sends it to the supervision platform, and the supervision platform controls the switching control module to switch to the ADS-B module to monitor the low-altitude aircraft position based on the designed automatic switching mechanism.

[0021] The automatic switching mechanism is set based on the characteristics of the Beidou short message, specifically comprising: (1) When the Beidou signal strength is less than the minimum receiving threshold for Beidou short message communication, for example, when the Beidou signal strength is less than or equal to -120 dBm, the low-altitude aircraft position monitoring is switched from the Beidou module to the ADS-B module.

[0022] (2) When the Beidou short message is lost continuously for m times, the low-altitude aircraft position monitoring is switched from the Beidou module to the ADS-B module, specifically, the number m of continuous loss of Beidou short messages is obtained by reverse deduction based on the verification index that the communication success rate of the Beidou module is greater than or equal to 99.9%.

[0023] (3) When the Beidou ground station appears concurrent processing abnormality, the Beidou ground station concurrent processing abnormality specifically comprises: the real-time concurrent request load of the ground station exceeds the preset capacity threshold by 10%.

[0024] Since the Beidou module is the main track for monitoring the low-altitude aircraft position information, if the Beidou state monitoring module monitors that the Beidou module information state returns to normal, the supervision platform controls the switching control module to switch to the Beidou module to monitor the low-altitude aircraft position, and the ADS-B module is converted to a hot backup state, that is, it continuously receives the low-altitude aircraft position information, but does not broadcast the state externally; The Beidou module information state returning to normal comprises: the Beidou signal strength returns to greater than the minimum receiving threshold for Beidou short message communication, and at least n consecutive Beidou short messages are successfully received, where n is greater than m.

[0025] In order to ensure the accuracy of the data of the Beidou module and the ADS-B module, when the Beidou module normally monitors the low-altitude aircraft position information, the supervision platform compares the low-altitude aircraft position information monitored by the Beidou module and the ADS-B module, if the difference between the low-altitude aircraft position information monitored by the Beidou module and the ADS-B module reaches a set value, for example, the difference between the low-altitude aircraft position information monitored by the Beidou module and the ADS-B module reaches 5 m, the supervision platform triggers an error alarm information through the alarm message generation module, and starts the self-checking of the Beidou module and the ADS-B module through the supervision platform.

Claims

1. A backup fault-tolerant system for low-altitude aircraft supervision based on Beidou and ADS-B, characterized in that, The system comprises a Beidou module, an ADS-B module, a low-altitude aircraft, a Beidou state monitoring module, a switching control module, an alarm message generation module and a regulatory platform; the Beidou module is used for monitoring low-altitude aircraft position information, the Beidou state monitoring module is used for monitoring the signal state of the Beidou module, if the Beidou module signal abnormal condition is triggered, the alarm message generation module generates a Beidou interruption alarm signal and sends it to the regulatory platform, and the regulatory platform switches the ADS-B module to monitor the low-altitude aircraft position through the switching control module.

2. The backup fault-tolerant method for low-altitude aircraft supervision based on Beidou and ADS-B, applied to the backup fault-tolerant system for low-altitude aircraft supervision based on Beidou and ADS-B in claim 1, characterized in that, The method comprises: the Beidou module monitors low-altitude aircraft position information in real time, the Beidou state monitoring module monitors the signal state of the Beidou module in real time, if the Beidou module signal state is abnormal, the alarm message generation module generates a Beidou interruption alarm signal and sends it to the regulatory platform, and the regulatory platform switches to the ADS-B module to monitor the low-altitude aircraft position through the switching control module. The Beidou module signal state abnormality comprises: (1) the Beidou module signal strength is less than the minimum receiving threshold of the Beidou short message communication; (2) the Beidou short message is lost continuously m times; (3) the Beidou ground station appears concurrent processing abnormality. 3.The backup fault-tolerant method for low-altitude aircraft supervision based on Beidou and ADS-B according to claim 2, characterized in that, The m is obtained by reverse derivation based on the verification index of the Beidou module communication success rate ≥ 99.9%.

4. The backup fault-tolerant method for low-altitude aircraft supervision based on Beidou and ADS-B according to claim 3, characterized in that, The Beidou ground station concurrent processing abnormality specifically comprises: the real-time concurrent request load of the ground station exceeds the preset capacity threshold by 10%.

5. The backup fault-tolerant method for low-altitude aircraft supervision based on Beidou and ADS-B according to claim 4, characterized in that, The method further comprises: if the Beidou state monitoring module monitors that the Beidou module signal state returns to normal, the regulatory platform switches back to the Beidou module to monitor the low-altitude aircraft position through the switching control module, and the ADS-B module is converted into continuous reception of low-altitude aircraft position information, but does not broadcast the state externally; The Beidou module signal state returns to normal, which comprises: the Beidou signal strength returns to greater than the minimum receiving threshold of the Beidou short message communication, and at least continuously receives the Beidou short message n times successfully, n is greater than m.

6. The backup fault-tolerant method for low-altitude aircraft supervision based on Beidou and ADS-B according to claim 5, characterized in that, The method further comprises: during the process of normal monitoring of the Beidou module on low-altitude aircraft position information, the regulatory platform compares the low-altitude aircraft position information monitored by the Beidou module and the ADS-B module, if the difference between the low-altitude aircraft position information monitored by the Beidou module and the ADS-B module reaches a set value, the regulatory platform triggers an error alarm information through the alarm message generation module, and starts the Beidou module and the ADS-B module for self-checking through the regulatory platform.

7. The backup fault-tolerant method for low-altitude aircraft supervision based on Beidou and ADS-B according to claim 6, characterized in that, The difference between the low-altitude aircraft position information monitored by the Beidou module and the ADS-B module is set to 5m.

8. The backup fault-tolerant method for low-altitude aircraft supervision based on Beidou and ADS-B according to claim 7, characterized in that, The switching delay of the Beidou module and the ADS-B module is less than or equal to 1s.

9. The backup fault-tolerant method for low-altitude aircraft supervision based on Beidou and ADS-B according to claim 8, characterized in that, The regulatory platform adopts an NVIDIA Jetson TX2 module.

10. The backup fault-tolerant method for low-altitude aircraft supervision based on Beidou and ADS-B according to claim 9, characterized in that, The Beidou state monitoring module, the switching control module and the alarm message generation module are integrated in the control terminal of the low-altitude aircraft.