Method and device for reporting space moving track

Abstract

The invention provides a method and a device for reporting a space moving track, and relates to the technical field of data processing. The spatial movement track reporting method comprises the following steps: in response to a trigger track reporting signal, acquiring a spatial movement track to be reported within a preset time threshold; on the basis of the space movement track to be reported, a track report message is generated according to a preset message rule, and the preset message rule specifies the content and the value type of the track report message; and sending the track report message to a target control end based on a preset communication protocol. According to the technical scheme provided by the embodiment of the invention, the to-be-reported space movement track is obtained within the preset time threshold value, so that real-time plan track data reporting is realized; the track report message is generated through the preset message rule, the report format is unified, and accurate and complete plan track data report is realized; and the generated track report message is sent to the target control end, so that the accuracy and the real-time performance of flight track management are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, in particular to a space moving track reporting method and device. BACKGROUND

[0002] At present, with the development of low-altitude economy, various unmanned aerial vehicles, electric vertical take-off and landing aircraft and other low-altitude aircraft are more and more widely used. However, when the existing low-altitude aircraft performs flight activities, it often faces the following technical problems: on the one hand, in the prior art, the track reporting of most low-altitude aircraft lacks real-time performance, especially when the planned track of the low-altitude aircraft is changed during flight, the planned track cannot be updated in time, which causes the low-altitude flight digital management service system to be unable to obtain the latest flight situation in real time, thereby increasing the flight risk. On the other hand, the existing low-altitude aircraft track reporting system uses different data formats and transmission protocols, which leads to data incompatibility and communication difficulties. Especially when the low-altitude flight digital management service system receives low-altitude aircraft planned track data from multiple organizations of low-altitude flight activities, it cannot quickly and effectively integrate and process the data, thereby affecting the system efficiency and reliability.

[0003] In summary, the prior art has the problems of lack of real-time performance in flight track reporting and processing difficulty caused by non-uniform reporting format. SUMMARY

[0004] Therefore, the present application provides a space moving track reporting method and device, which realizes real-time reporting with uniform format, thereby facilitating subsequent processing.

[0005] According to an aspect of the present application, a space moving track reporting method is provided, which comprises: in response to a track reporting signal, obtaining a space moving track to be reported within a preset time threshold; based on the space moving track to be reported, generating a track reporting message according to a preset message rule, wherein the preset message rule specifies the content and value type of the track reporting message; and sending the track reporting message to a target control terminal based on a preset communication protocol.

[0006] According to some embodiments, the method further comprises: triggering the track reporting signal within a preset time range before the space moving track to be reported is executed; and / or triggering the track reporting signal in the case that the space moving track to be reported is changed.

[0007] According to some embodiments, the track reporting message comprises: message meta-information and specific reporting data content. The message meta-information comprises a reporting data type, a protocol version number followed by reporting, a data source reporting party and / or a time stamp when the reporting message is reported.

[0008] According to some embodiments, based on the space movement trajectory to be reported, the trajectory reporting message is generated according to a preset message rule, including: based on the space movement trajectory to be reported, the message meta information and the specific reporting data content are generated according to the preset message rule; the message meta information is taken as the message header, and the specific reporting data content is taken as the message body; the trajectory reporting message is generated according to the message header and the message body.

[0009] According to some embodiments, based on the space movement trajectory to be reported, the message meta information and the specific reporting data content are generated according to a preset message rule, including: the first target data is extracted from the space movement trajectory to be reported, wherein the first target data includes the planned trajectory number, the planned trajectory version, the flight plan version, the flight plan type, the flight task nature, the planned participating aircraft information, the reference coordinate system and / or the height description information; the content meta information is constructed according to the first target data; the planned trajectory point information is extracted from the space movement trajectory to be reported as the second target data; the main content information is constructed according to the second target data; and the specific reporting data content is generated according to the content meta information and the main content information.

[0010] According to some embodiments, the first target data further includes the flight plan number.

[0011] According to some embodiments, the second target data further includes high-priority planned trajectory point information and planned trajectory supplementary content.

[0012] According to some embodiments, the content meta information is constructed according to the first target data, including: The first target data is described according to the value type specified by the preset message rule to construct the content meta information.

[0013] According to some embodiments, the planned participating aircraft information includes a manufacturer unique identification code, a product serial number, a real-name registration number, operation information, an aircraft size and / or positioning accuracy.

[0014] According to some embodiments, the planned participating aircraft information further includes flight control accuracy and / or aircraft supplementary description information.

[0015] According to some embodiments, the height description information includes a height type, wherein the height type includes at least one of ellipsoid height, standard sea pressure height, altitude height, height above ground, field pressure height and corrected sea pressure height.

[0016] According to some embodiments, the height description information further comprises reference surface information; in the case that the height type is an altitude height or a height above sea level, the reference surface information comprises a reference surface model; in the case that the height type is a field pressure height, the reference surface information comprises a reference surface geodetic height; in the case that the height type is a corrected sea pressure height, the reference surface information comprises a calibration point corrected sea pressure and a calibration point geodetic height.

[0017] According to some embodiments, the planned trajectory point information and the high-priority planned trajectory point information comprise longitude, latitude, height and / or predicted time of arrival.

[0018] According to an aspect of the present application, a reporting device of a space moving trajectory comprises: a trajectory module configured to acquire a space moving trajectory to be reported within a preset time threshold in response to a triggering trajectory reporting signal; a message module configured to generate a trajectory reporting message according to a preset message rule based on the space moving trajectory to be reported, wherein the preset message rule defines the content and value type of the trajectory reporting message; and a communication module configured to send the trajectory reporting message to a target control terminal based on a preset communication protocol.

[0019] According to an aspect of the present application, an electronic device is provided, which comprises: one or more processors; a storage device configured to store one or more programs; and when the one or more programs are executed by the one or more processors, the one or more processors implement the method as described above.

[0020] According to an aspect of the present application, a computer readable medium is provided, which stores a computer program or instructions, and the program or instructions are executed by a processor to implement the method as described above.

[0021] According to the above embodiments of the present application, the space moving trajectory to be reported is acquired within a preset time threshold, so that real-time planned trajectory data reporting is achieved; the trajectory reporting message is generated according to the preset message rule, so that the reporting format is unified, accurate and complete planned trajectory data reporting is achieved; and the generated trajectory reporting message is sent to the target control terminal, so that the accuracy and real-time performance of flight trajectory management are improved, the digital management requirements of space moving activities are effectively met, and orderly management is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0022] It should be understood that the foregoing general description and the following detailed description are only examples and are not limiting to the present application.

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description only relate to some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without departing from the scope of the present application.

[0024] Figure 1 The flowchart of the reporting method of the spatial movement trajectory provided by the embodiments of the present application; Figure 2 The flowchart of generating the trajectory reporting message according to the preset message rule based on the spatial movement trajectory to be reported provided by the embodiments of the present application; Figure 3 The flowchart of generating the message element information and the specific reporting data content according to the preset message rule based on the spatial movement trajectory to be reported provided by the embodiments of the present application; Figure 4 The schematic diagram of the logical layered structure of the trajectory reporting message provided by the embodiments of the present application; Figure 5 The block diagram of the reporting device of the spatial movement trajectory provided by the embodiments of the present application; Figure 6 The structural schematic diagram of the electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0026] In addition, the described features, structures or characteristics can be combined in any suitable way in one or more embodiments. In the following description, many specific details are provided to give a full understanding of the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be used. In other cases, well-known methods, devices, implementations or operations are not shown or described in detail to avoid obscuring the aspects of the present application.

[0027] The block diagram shown in the drawings is only a functional entity, which does not necessarily correspond to a physically independent entity. That is, these functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0028] The flowcharts shown in the drawings are only illustrative and do not necessarily include all the contents and operations / steps, nor are they necessarily executed in the order described. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to actual conditions.

[0029] It should be understood that although the terms first, second, third, etc. can be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another component. Therefore, the first component discussed below can be referred to as the second component without departing from the teachings of the present application concepts. As used herein, the term "and / or" includes any one of the associated listed items and all combinations of one or more of the items.

[0030] The specific implementation can refer to the following embodiments.

[0031] Figure 1 The flowchart of the reporting method of the spatial movement trajectory provided by the embodiments of the present application is shown in FIG. 1. As shown in the figure, the method comprises steps S110-S130. Figure 1

[0032] In step S110, in response to a trigger trajectory reporting signal, a spatial movement trajectory to be reported is acquired within a preset time threshold.

[0033] In order to meet the requirements of the target control end (such as a digital management service system), the message needs to be delayed within a small range, i.e. the preset time threshold is a small time range. The specific time range can be set according to actual conditions and the communication protocol used, and the present application does not limit this.

[0034] It should be emphasized that the reporting method of the spatial movement trajectory provided by the present application is applicable to scenarios including but not limited to low altitude, high altitude, space and ocean. The present application is described by taking low altitude as an example, but this does not represent a limitation on the present application.

[0035] That is, the spatial domain where the spatial movement device corresponding to the spatial movement trajectory to be reported is located includes low altitude, high altitude, space and ocean.

[0036] The spatial movement trajectory to be reported is the spatial movement trajectory to be reported of the spatial movement device that needs to be reported to the target control end, which includes all information of the planned trajectory, such as planned trajectory point information, planned trajectory identification information, associated flight plan information, planned nature information, flight nature information, aircraft information, reference system and reference information and other related information.

[0037] ​In step S120, based on the space movement trajectory to be reported, a trajectory reporting message is generated according to a preset message rule, wherein the preset message rule specifies the content of the trajectory reporting message and the value type thereof.

[0038] The preset message rule specifies the reporting format of the standardized space movement trajectory, including the content to be reported and the value type thereof.

[0039] According to the preset message rule, the space movement trajectory to be reported is converted into a trajectory reporting message conforming to the standard format, ensuring that the trajectory data of the space movement device can be seamlessly connected between different organizations of space movement activities or individuals and the target control terminal (for example, a digital management service system), thereby improving the compatibility and portability of the data.

[0040] In step S130, the trajectory reporting message is sent to the target control terminal based on a preset communication protocol.

[0041] The preset communication protocol can be selected according to actual conditions, including two communication protocols of Kafka and MQTT.

[0042] Further, the preset communication protocol can be flexibly accessed in different communication network environments. On this basis, the access mode can be selected according to the situation, for example, using SASL_SSL or MQTT over WSS access mode to ensure the security of the data in the transmission process.

[0043] Through the above embodiments provided in the present application, by acquiring the space movement trajectory to be reported within the preset time threshold, real-time planned trajectory data reporting is realized; by generating the trajectory reporting message according to the preset message rule, the reporting format is unified, accurate and complete planned trajectory data reporting is realized; the generated trajectory reporting message is sent to the target control terminal, improving the accuracy and real-time performance of flight trajectory management, effectively meeting the digital management needs of space movement activities, and realizing orderly management.

[0044] According to some embodiments, the method further comprises step S101 and / or step S102.

[0045] In step S101, a trajectory reporting signal is triggered within a preset time range before the space movement trajectory to be reported is executed.

[0046] Specifically, the space movement device must complete the first reporting of the planned trajectory before executing the space movement trajectory to be reported. Specifically, the trajectory reporting signal can be triggered within a preset time range before the space movement trajectory to be reported is executed to complete the first reporting of the planned trajectory.

[0047] In order to control the packet delay within a small range, the preset time range needs to be set to a small time range, and the setting of the preset time threshold can be referred to.

[0048] In step S102, the trajectory reporting signal is triggered in the case that the spatial movement trajectory to be reported is changed.

[0049] In the process of executing the spatial movement trajectory to be reported, if the planned trajectory is changed, the trajectory reporting signal is triggered after each change to report the latest trajectory again.

[0050] According to some embodiments, the trajectory reporting packet includes: message meta information and specific reporting data content; The message meta information includes the reporting data type, the protocol version number followed by the reporting, the data source reporting party, and / or the timestamp when the reporting packet is reported.

[0051] Specifically, the trajectory reporting packet adopts a logically layered data packet, mainly including message meta information and specific reporting data content (Content).

[0052] In some embodiments, the value type of the specific reporting data content is an array.

[0053] The message meta information includes the reporting data type (dataType), the protocol version number followed by the reporting (version), the data source reporting party (source), and / or the timestamp when the reporting packet is reported (uploadTime).

[0054] Further, in some embodiments, the reporting data type is mandatory, the value type is a string; the protocol version number followed by the reporting is mandatory, the value type is a string; the data source reporting party is mandatory, the value type is a string; and the timestamp when the reporting packet is reported is mandatory, the value type is an integer.

[0055] According to some embodiments, referring to Figure 2 In step S120, based on the spatial movement trajectory to be reported, the trajectory reporting packet is generated according to the preset packet rule, which can be implemented through steps S210-S230.

[0056] In step S210, based on the spatial movement trajectory to be reported, the message meta information and the specific reporting data content are generated according to the preset packet rule.

[0057] From the spatial movement trajectory to be reported, the relevant information required for the message meta information and the specific reporting data content is extracted according to the preset packet rule and the value type is converted.

[0058] In step S220, the message meta information is taken as the message header, and the specific reporting data content is taken as the message body.

[0059] The message meta information of the message header includes the reporting data type, the protocol version number followed by the reporting, the data source reporting party, and the time stamp when the reporting message is reported.

[0060] In one specific embodiment, the reporting content of the message header is as follows: The reporting data type dataType is set to "PlanTrajUpload", indicating that the message type is plan trajectory reporting; The protocol version number version followed by the reporting is set to "1.0"; The data source reporting party source is identified as "FF-UAS"; The time stamp when the reporting message is reported is set to 1711080531000, indicating the current Unix time stamp (accurate to milliseconds).

[0061] The specific reporting data content is taken as the message body.

[0062] In step S230, the trajectory reporting message is generated according to the message header and the message body.

[0063] According to some embodiments, with reference to Figure 3 In step S210, based on the space moving trajectory to be reported, the message meta information and the specific reporting data content are generated according to the preset message rule, which can be implemented through steps S310-S350.

[0064] In step S310, the first target data is extracted from the space moving trajectory to be reported, wherein the first target data includes the plan trajectory number, the plan trajectory version, the flight plan version, the flight plan type, the flight mission nature, the plan participating aircraft information, the reference coordinate system and / or the height description information.

[0065] It should be noted that the specific reporting data content includes: plan trajectory number (planTrajID), plan trajectory version (planTrajVersion), flight plan number (planID), flight plan version (planVersion); flight activity type (flightType), flight mission (flightMission), plan participating aircraft (aircraft), reference coordinate system (CRS), height description information (heightDesc), plan trajectory (point) (planTraj), mandatory plan trajectory point (mandatoryPlanTrajPt), and plan trajectory supplement content (planTrajExtra).

[0066] planTrajID, planTrajVersion, planID, planVersion, flightType, flightMission, CRS, heightDesc, aircraft, planTraj, mandatoryPlanTrajPt, planTrajExtra.

[0067] Further, in some embodiments, the planTrajID is mandatory, with a value type of string; the planTrajVersion is mandatory, with a value type of integer; the planID is not mandatory, with a value type of string; the planVersion is mandatory, with a value type of integer; the flightType is mandatory, with a value type of array; the flightMission is mandatory, with a value type of string; the aircraft is mandatory, with a value type of object; the CRS is mandatory, with a value type of string; the heightDesc is mandatory, with a value type of object; the planTraj is mandatory, with a value type of array; the mandatoryPlanTrajPt is not mandatory, with a value type of array; and the planTrajExtra is not mandatory, with a value type of object.

[0068] Further, in some embodiments, In the construction process of the specific reporting data content, according to the preset message rule, the relevant information required by the specific reporting data content is extracted from the space movement trajectory to be reported, and the value type is converted.

[0069] Specifically, the relevant information required by the content meta information is extracted as the first target data. The first target data includes the planTrajID, the planTrajVersion, the flight plan version, the flight plan type, the flight mission property, the aircraft information, the reference coordinate system and / or the height description information.

[0070] In step S320, the content meta information is constructed according to the first target data.

[0071] According to the preset message rule, the content meta information is constructed according to the first target data.

[0072] In step S330, the planTrajPt information is extracted from the space movement trajectory to be reported as the second target data.

[0073] The relevant information required for extracting the main content information is taken as second target data. The second target data at least includes plan trajectory point information.

[0074] In step S340, the main content information is constructed according to the second target data.

[0075] According to the preset message rule, the main content information is constructed according to the second target data.

[0076] In step S350, the specific reporting data content is generated according to the content element information and the main content information.

[0077] According to the logical hierarchical structure, the content element information and the main content information are merged as the specific reporting data content.

[0078] According to some embodiments, the first target data further includes a flight plan number.

[0079] According to some embodiments, the second target data further includes high-priority plan trajectory point information and plan trajectory supplementary content.

[0080] The high-priority plan trajectory point information (highPriorityWayPoints) can also be understood as mandatory plan trajectory points (mandatoryPlanTrajPt), and the value type is an array; the value type of the plan trajectory supplementary content is an object.

[0081] In the plan trajectory supplementary content, a reference plan number (referencePlanID) can also be included to refer to a "parent" plan number (planID) specified by the operation rule: the plan number (planID) corresponding to the trajPlan of the route or corridor or airspace occupation.

[0082] According to some embodiments, in step S320, the content element information is constructed according to the first target data, which can be specifically implemented through step S321.

[0083] The first target data is described according to the value type specified by the preset message rule to construct the content element information.

[0084] That is, the first target data is converted according to the preset message rule to obtain the content element information.

[0085] It should be noted that in step S340, the step of constructing the main content information according to the second target data is similar to step S321.

[0086] According to some embodiments, the plan participating aircraft information includes a manufacturer unique identification code, a product serial number, a real-name registration number, operation information, an aircraft size, and / or a positioning accuracy.

[0087] The data content reported in the planned participation aircraft information includes: a manufacturer ID, a product serial number (SN), a real-name registration number (uasID), operator information (unit) or operator information (personal) (operatorInfo), an aircraft size (aircraftSize), a positioning precision (positionPrecision), a flight control precision (flyCtrlPrecision), and an aircraft extra description (aircraftExtra).

[0088] In some embodiments, the manufacturer ID is mandatory, the value type is a string; the product serial number is mandatory, the value type is a string; the real-name registration number is mandatory, the value type is a string; the operator information (unit) or the operator information (personal) is mandatory (one of the two), the value type is an object; the aircraft size is mandatory, the value type is an object; the positioning precision is mandatory, the value type is an object; the flight control precision is not mandatory, the value type is an object; and the aircraft extra description is not mandatory, the value type is an object.

[0089] According to some embodiments, the planned participation aircraft information further includes the flight control precision and / or the aircraft extra description information.

[0090] According to some embodiments, the height description information includes a height type, wherein the height type includes at least one of an ellipsoidal height, a standard sea level height, an altitude height, a height above ground, a field pressure height, and a corrected sea level height.

[0091] For the data content reported in the height description information, the height type (heightType) is a mandatory field, the value type is a string, and the value includes but is not limited to HAE / QNE (ellipsoidal height / standard sea level height), MSL (altitude height), AGL (height above ground), QFE (field pressure height), and QNH (corrected sea level height).

[0092] According to some embodiments, the height description information further includes reference specification information. In the case where the height type is an altitude height or a height above ground, the reference specification information includes a reference surface model.

[0093] When the height type is MSL (altitude height), the reference surface model (baseModel) needs to be reported through the reference specification information, the value type is a string, and is used to indicate the adopted earth gravity model, such as EGM2008 (global ultra-high order earth gravity field model), EGM96 (height reference gravity field model), or Other (other).

[0094] When the height type is AGL (height above ground), the base surface model (baseDEM) needs to be reported through the reference description information, the value type is string, and it is used to indicate a digital elevation model, such as DTM or DSM.

[0095] When the height type is field pressure height, the reference description information includes the base surface geodetic height.

[0096] When the height type is QFE (field pressure height), the base surface geodetic height (baseHAE) needs to be reported through the reference description information, the value type is number, and the unit is meter. In some embodiments, the base surface geodetic height is accurate to two decimal places.

[0097] When the height type is corrected sea level height, the reference description information includes the calibration point corrected sea level and the calibration point geodetic height.

[0098] When the height type is QNH (corrected sea level height), the calibration point corrected sea level (calibrationQNH) and the calibration point geodetic height (calibrationHAE) need to be reported at the same time, and the value type of both is number, and the unit is meter. In some embodiments, the calibration point corrected sea level and the calibration point geodetic height are accurate to two decimal places.

[0099] Further, it needs to be noted that when the height type is HAE or QNE, only the heightType field needs to be reported, and no additional fields are needed.

[0100] According to some embodiments, the planned trajectory point information and the high-priority planned trajectory point information include: longitude, latitude, height, and / or estimated time of arrival.

[0101] For the trajectory points that need to be reported, the data content that needs to be reported includes: longitude (longitude), latitude (latitude), height (height), and estimated time of arrival (time).

[0102] In some embodiments, the longitude is mandatory, the value type is number; the latitude is mandatory, the value type is number; the height is mandatory, the value type is number; and the estimated time of arrival is mandatory, the value type is integer.

[0103] Based on the above embodiments, the logical hierarchical structure of the trajectory reporting message is as shown in Figure 4 .

[0104] The application provides a standardized trajectory data format, adopts a 4D point array to represent a trajectory, designs a height description specification, is compatible with different height systems (including but not limited to HAE / QNE / MSL / AGL / QFE / QNH) and reference surface models (including but not limited to EGM2008 / EGM96 / DTM / DSM), ensures that the trajectory data of a space mobile device can be seamlessly connected between different organizations of space mobile activities or individuals and a target control terminal, and improves the compatibility and portability of data. In addition to planned trajectory information, the application also provides a standardized reporting mechanism for detailed information of a space mobile device, including a manufacturer unique identification code, a product serial number, a real-name registration number, operation information, an aircraft size, positioning accuracy and the like, to provide more comprehensive data support for management.

[0105] In order to provide a more detailed description of the space mobile trajectory reporting method provided in the application, a specific embodiment is given as follows.

[0106] The embodiment gives a standard trajectory reporting process based on a fixed-wing unmanned aerial vehicle. Before takeoff of a low-altitude aircraft, Feifeng Unmanned Aircraft Technology Co., Ltd. as an organization of low-altitude flight activities plans a flight activity plan trajectory, forms a JSON format message and reports to a low-altitude flight digital management service system (SILAS system). The specific process is as follows: The message header includes a reporting data type, a protocol version number followed by reporting, a data source reporting party and a timestamp when the reporting message is reported. The filled-in content is as follows: The reporting data type dataType is set to "PlanTrajUpload", indicating that the message type is a planned trajectory reporting; The protocol version number version followed by reporting is set to "1.0"; The data source reporting party source is identified as "FF-UAS"; The timestamp when the reporting message is reported is set to 1711080531000, indicating the current Unix timestamp (accurate to milliseconds); The specific reporting data content data is seen in the content in the message body.

[0107] Each trajectory data record in the message body records the following basic information: The planned trajectory number planTrajID is set to "FF-UAS-20240527-UTC+8:00-jdubxks93sd"; The planned trajectory version planTrajVersion is 1; The flight plan ID is "FF-UAS-20240527-UTC+8:00-P83727023"; Flight plan version is 1; The flight activity type is specified as "LongTermOperation", indicating that it is a long-term operation; The flight mission type is set to "CargoTransport" to indicate that this mission is a cargo flight; The plan is to participate in the aircraft program, using structured objects to describe information about the planned aircraft, including: The manufacturer's unique identifier is "91500000MA60QHCK6C"; The product serial number (SN) is "FFVDE4MO823925"; The real-name registration number uasID is "UAS268DE233"; The operatorInfo information includes: The entityID is "91500000MA60QHCK6C" The entity name is "Fengfeng Unmanned Aerial Vehicle Technology Co., Ltd." entityType is "For-profitLegalPerson" The phone number is "852-61234567"; The dimensions of the aircraft include: The wingspan is 8.6m. The aircraft length is 6.89m. The aircraft height (aircraftHeight) is empty (null). Positioning accuracy includes: The horizontal positioning accuracy is 0.5m. The vertical positioning accuracy (vertiPosiPrecision) is 0.5m. Flight control accuracy includes: The horizontal position control accuracy (horizCtrlPrecision) is 2.5m. The vertical position control accuracy (vertiCtrlPrecision) is 3.2m. The three-axis attitude angle pointing control precision angleCtrlPrecision is 0.1°; The aircraft supplementary description fields include: A registration status of "aircraftState" of "Normal" indicates that the aircraft registration status is normal. The aircraft type "aircraftType" is "Fixed-wingAircraft", indicating that the aircraft type is fixed-wing. The product category "Medium UAV" in the aircraft category indicates that the product category is medium-sized unmanned aerial vehicles. The product name, aircraftName, is "FF UAS"; The product model aircraftModel is "Fengfeng Medium-Sized Fixed-Wing UAV"; The manufacturer's name is "Fengfeng Unmanned Aerial Vehicle Technology Co., Ltd."; The empty weight of the aircraft is 50 (kg). The empty weight of the aircraft including the battery is 56 kg. The maximum takeoff weight is 200 kg.

[0108] The reference coordinate system CRS is set to "WGS84", which means that the standard coordinate system used by the Global Positioning System (GPS) is adopted. Height description information heightDesc: All trajectory points use the WGS84 coordinate reference system; The elevation datum was set as MSL (mean sea level), and EGM2008 was selected as the elevation datum model.

[0109] Plan Trajectory (points) planTraj: The trajectory points are reported as an array in chronological order. Each point is a four-dimensional data point, including longitude, latitude, height, and estimated arrival time. In this embodiment, the message contains three consecutive trajectory points, including: First trajectory point: Longitude 151.2073234, Latitude -33.8678624, Altitude 257.35 meters, Estimated arrival time 1711081530000; The second trajectory point has the following coordinates: longitude 151.2074234, latitude -33.8678524, altitude 257.45 meters, and estimated arrival time 1711081530001. Third waypoint: longitude 151.2075234, latitude -33.8678424, altitude 257.55 meters, estimated time of arrival 1711081530002.

[0110] High priority planned waypoints highPriorityWayPoints: A high priority waypoint is specified in the report for trajectory planning conflict avoidance reference, with the same structure as the ordinary waypoint. In this embodiment, the mandatory waypoint has a longitude of 151.2073234, a latitude of -33.8678624, an altitude of 257.35 meters, and an estimated time of arrival of 1711081530000.

[0111] Plan trajectory supplement planTrajExtra: The planTrajExtra field is used to report additional planning information. In this embodiment, the task has a power margin of 30% of the battery capacity.

[0112] Based on the above content, the reporting attribute list is shown in Tables 1-5.

[0113] Table 1: Message header reporting attribute list

[0114] Table 2: Message body reporting attribute list

[0115]

[0116]

[0117]

[0118]

[0119]

[0120]

[0121]

[0122]

[0123] Table 3: Message body planned participating aircraft (aircraft) object reporting attribute list

[0124]

[0125]

[0126]

[0127]

[0128]

[0129]

[0130]

[0131]

[0132] Table 4: List of attributes in the heightDesc object in the message body

[0133]

[0134]

[0135] Table 5: List of attributes in the array element object of planTraj / highPriorityWayPoints in the message body

[0136]

[0137]

[0138] On this basis, an example of a JSON format trajectory reporting message is shown in Table 6.

[0139] Table 6: Reporting example of a JSON trajectory reporting message

[0140]

[0141] The device embodiments of the present application are described below, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, reference can be made to the method embodiments of the present application.

[0142] Figure 5 A block diagram of a reporting device of a spatial movement trajectory according to an example embodiment is shown.

[0143] Figure 5 The device shown can execute the reporting method of a spatial movement trajectory according to the embodiments of the present application.

[0144] As Figure 5 shown, the reporting device of the spatial movement trajectory can include: Referring to Figure 5 and the foregoing description, the trajectory module 510 is configured to, in response to the triggering trajectory reporting signal, acquire the spatial movement trajectory to be reported within a preset time threshold.

[0145] The message module 520 is configured to generate a trajectory reporting message according to a preset message rule based on the spatial movement trajectory to be reported, wherein the preset message rule defines the content and value type of the trajectory reporting message.

[0146] The communication module 530 is configured to send the trajectory reporting message to a target control terminal based on a preset communication protocol.

[0147] The device performs similar functions to the method provided above, and other functions can be referred to the foregoing description, which will not be described here.

[0148] The embodiment of the present application discloses an electronic device, comprising: a processor; a memory storing a computer program, when the computer program is executed by the processor, the processor executes the above instruction generation method.

[0149] For example, referring to Figure 6 , Figure 6 The electronic device 600 shown in the figure includes a processor 601 and a memory 603. Wherein, the processor 601 and the memory 603 are connected, such as through the bus 602. Optionally, the electronic device 600 can also include a transceiver 604. It should be noted that in actual application, the transceiver 604 is not limited to one, and the structure of the electronic device 600 does not constitute a limitation on the embodiments of the present application.

[0150] The processor 601 can be a CPU (Central Processing Unit, central processing unit), a general-purpose processor, a DSP (Digital Signal Processor, data signal processor), an ASIC (Application Specific Integrated Circuit, application specific integrated circuit), an FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can realize or execute various exemplary logical blocks, modules and circuits described in the disclosure. The processor 601 can also be a combination of computing functions, such as one or more microprocessor combinations, DSP and microprocessor combinations, etc.

[0151] The bus 602 can include a path that transmits information between the above-mentioned components. The bus 602 can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 602 can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation, Figure 6 Only one thick line is used to represent the bus in the middle, but it does not mean that there is only one bus or only one type of bus.

[0152] The memory 603 can be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, a magnetic disk storage medium or other magnetic storage device, or any other storage device that can be used to carry or store desired program codes in the form of instructions or data structures and that can be accessed by a computer, but is not limited to this.

[0153] The memory 603 is used to store application program codes for implementing the solutions of the present application, and is controlled by the processor 601 to execute. The processor 601 is used to execute the application program codes stored in the memory 603 to realize the content shown in the foregoing method embodiments.

[0154] Figure 6 The electronic device shown is only an example, and should not bring any limitation to the function and use range of the embodiments of the present application.

[0155] The embodiments of the present application disclose a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor executes an instruction generation method.

[0156] It should be understood that although the steps in the flowcharts of the drawings are shown in a sequential order following the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated otherwise herein, the execution of the steps is not strictly limited to the order indicated by the arrows, and can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the drawings can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of which is not necessarily sequential, but can be round-robin or alternately executed with at least part of other steps or sub-steps or stages of other steps.

[0157] The above is only some embodiments of the present application, and it should be pointed out that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should also be considered as the protection scope of the present application.

Claims

1. A method for reporting spatial movement trajectories, characterized in that, include: In response to the trigger trajectory reporting signal, the spatial movement trajectory to be reported is acquired within a preset time threshold. Based on the spatial movement trajectory to be reported, a trajectory reporting message is generated according to a preset message rule, wherein the preset message rule specifies the content and value type of the trajectory reporting message; Based on a preset communication protocol, the trajectory reporting message is sent to the target control terminal.

2. The method according to claim 1, characterized in that, The method further includes: Within a preset time range prior to executing the spatial movement trajectory to be reported, trigger the trajectory reporting signal; and / or If the spatial movement trajectory to be reported changes, a trajectory reporting signal is triggered.

3. The method according to claim 1, characterized in that, The trajectory reporting message includes: Message metadata and specific reported data content; The message metadata includes the reported data type, the protocol version number followed by the report, the data source of the reporter, and / or the timestamp when the report was sent.

4. The method according to claim 3, characterized in that, Based on the spatial movement trajectory to be reported, a trajectory reporting message is generated according to preset message rules, including: Based on the spatial movement trajectory to be reported, message metadata and specific reporting data content are generated according to preset message rules. The message metadata is used as the message header, and the specific reported data content is used as the message body; A trajectory reporting message is generated based on the message header and the message body.

5. The method according to claim 4, characterized in that, Based on the spatial movement trajectory to be reported, message metadata and specific reported data content are generated according to preset message rules, including: Extract first target data from the spatial movement trajectory to be reported, wherein the first target data includes planned trajectory number, planned trajectory version, flight plan version, flight plan type, flight mission nature, information of the aircraft participating in the plan, reference coordinate system and / or altitude description information; Based on the first target data, construct content metadata; Extract the planned trajectory point information from the spatial movement trajectory to be reported, and use it as the second target data; Based on the second target data, construct the main content information; The specific reported data content is generated based on the content metadata and the main content information.

6. The method according to claim 5, characterized in that, The first target data also includes the flight plan number.

7. The method according to claim 5, characterized in that, The second target data also includes high-priority planned trajectory point information and supplementary planned trajectory content.

8. A device for reporting spatial movement trajectories, characterized in that, include: The trajectory module is used to obtain the spatial movement trajectory to be reported within a preset time threshold in response to the trigger trajectory reporting signal. The message module is used to generate a trajectory reporting message based on the spatial movement trajectory to be reported and according to a preset message rule, wherein the preset message rule specifies the content and value type of the trajectory reporting message; The communication module is used to send the trajectory reporting message to the target control terminal based on a preset communication protocol.

9. An electronic device, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed by a processor, they implement the method as described in any one of claims 1-7.

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