Unmanned aerial vehicle RID signal space-ground terminal complementary anti-collision decoding method and system

Abstract

The present application relates to the technical field of unmanned aerial vehicle remote identification signal detection equipment, and discloses an unmanned aerial vehicle RID signal space-ground terminal complementary anti-signal collision decoding method, comprising: an unmanned aerial vehicle broadcasts an RID signal at a certain time in a certain area on the ground; a ground receiver in the area receives and demodulates the broadcast RID signal, and then transmits data back to a ground data center; an aerial receiver receives the broadcast RID signal of the unmanned aerial vehicle, and transmits a mixed signal back to the ground data center; the received data is reconstructed to obtain a reconstructed RID signal; the mixed signal is subtracted from the reconstructed RID signal to obtain a residual signal; and the residual signal is demodulated. A system for implementing the above unmanned aerial vehicle RID signal space-ground terminal complementary anti-signal collision decoding method is also disclosed. The present application ensures stable and reliable operation of the receiving and decoding system.

Description

Technical Field

[0001] This invention relates to the field of remote identification signal detection equipment for unmanned aerial vehicles (UAVs), and in particular to a UAV RID signal complementary anti-signal collision decoding method and system. Background Technology

[0002] In recent years, drone technology has developed rapidly, and its advantages such as flexibility, ease of operation, and low cost have led to its widespread application in numerous fields. However, with the increasing number of drones and their expanding applications, the safety issues they bring are becoming increasingly prominent. The low-altitude flight characteristics of drones make them potentially a threat to aviation safety, such as colliding with commercial airliners or interfering with normal airport operations, posing a significant risk to air transport. In urban environments, the indiscriminate flight of drones may infringe on the privacy of others, capturing unauthorized footage and leading to privacy disputes. To effectively address these safety issues, strengthening the regulation of drone flights has become an urgent priority.

[0003] To regulate the use of drones and ensure public safety, the state issued GB42590-2023, "Safety Requirements for Civil Unmanned Aerial Vehicle Systems." This standard explicitly stipulates that qualified drones should actively broadcast Remote Identification (RID) information during flight. By broadcasting RID information, ground monitoring systems can obtain key information such as the drone's flight status, location, and identity in real time, thereby achieving effective monitoring and management of drones. This requirement provides important technical support for drone flight supervision and promotes the development of drone supervision technology.

[0004] Globally, research and development is underway on various types of receiving systems for drone RFID signals, including ground-based, airborne, and satellite-based systems, to meet growing regulatory demands. The higher the antenna of the drone RFID signal receiving and decoding equipment, the wider the coverage area. Ground-based receiving equipment, due to its limited height and the influence of building obstructions and the curvature of the earth, typically has a maximum coverage area of ​​only tens of kilometers. However, receiving equipment installed on aircraft or spacecraft can reach altitudes of hundreds of meters to hundreds of kilometers, with unobstructed antennas pointing towards the ground, achieving a coverage area of ​​hundreds of kilometers. Within this coverage area, the probability of signal collisions due to multiple drones simultaneously transmitting RFID signals also increases.

[0005] Ensuring that drone remote identification signal detection equipment can meet actual regulatory needs while accurately decoding mixed RID signals from multiple sources to a certain extent, and guaranteeing the stable and reliable operation of the receiving and decoding system, is a technical problem that urgently needs to be solved in this field.

[0006] Therefore, through beneficial exploration and research, the applicant has found a solution to the above problems, and the technical solution to be introduced below is the result of this research. Summary of the Invention

[0007] One of the objectives of this invention is to provide a UAV RID signal anti-signal collision decoding method with complementary ground and ground terminals to improve the stability and reliability of the decoding system.

[0008] The second objective of this invention is to provide a complementary anti-signal collision decoding system for UAV RID signals from both ground and ground ends.

[0009] A first aspect of this invention provides a UAV RID signal ground-to-ground complementary anti-signal collision decoding method, comprising:

[0010] At a certain time t, UAVs 1, 2...N simultaneously broadcast RID signals S1(t), S2(t)...S1(t) within a certain area on the ground. N (t), N≥3 and are integers, where the RID signal S1(t)…S X (t) are located within the coverage areas of certain ground receivers, 1 < X < N and X is an integer, RID signal S X+1 (t)…S N (t) Not within the coverage area of ​​any ground receiver, but within the coverage area of ​​an air receiver;

[0011] The broadcast RID signal S1(t)…S is received by a ground receiver within the area. X (t) is received, and the received RID signals S1(t)…S are processed. X Demodulate (t) to obtain data D1(t)…D X (t), then the data D1(t)…D X (t) Transmitted back to the ground data center;

[0012] The RID signals S1(t), S2(t)...S broadcast by UAVs 1, 2...N are received using an airborne receiver. N (t), to obtain the mixed signal Y(t)=S1(t)+S2(t)+…+S N Y(t) + N(t), where N(t) is the ambient noise, and the mixed signal Y(t) is transmitted back to the ground data center;

[0013] According to the UAV RID signal encoding rules and modulation protocol, the received data D1(t)...D X (t) is reconstructed to obtain the true RID signal S1(t)…S X (t) are very close to the RID signal S'1(t)…S' X (t);

[0014] Subtract the reconstructed RID signal S'1(t)...S' from the mixed signal Y(t) returned by the air receiver. X (t), and the residual signal R(t) is obtained as R(t) = Y(t) - S'1(t) - ... - S' X If (t), then the residual signal R(t)≈S X+1 (t)+…+S N (t)+N(t); and

[0015] The residual signal R(t) is demodulated to obtain data D. X+1 (t)…D N (t) represents the data D broadcast by the UAV X+1…N. X+1 (t)…D N (t), at this point we can obtain the data D1(t)...D broadcast by drones 1, 2...N. N (t).

[0016] As a second aspect of the present invention, a UAV RID signal ground-to-ground complementary anti-signal collision decoding system includes:

[0017] Several ground receivers are deployed at intervals on the ground. Each ground receiver is used to acquire the RID signal broadcast by the UAV within its coverage area and demodulate the acquired RID signal.

[0018] At least one airborne receiver deployed in the air, each airborne receiver being used to acquire RID signals broadcast by the drone within its coverage area; and

[0019] A ground data center, which establishes connections with each ground receiver and each air receiver respectively, is used to acquire signals and / or data transmitted back by each ground receiver and each air receiver, and to process these signals and / or data.

[0020] In a preferred embodiment of the present invention, each ground receiver is provided with a RID receiving antenna and a clock synchronization system.

[0021] In a preferred embodiment of the invention, each air receiver is provided with a RID receiving antenna and a clock synchronization system.

[0022] Due to the adoption of the above technical solution, the beneficial effects of the present invention are as follows: the present invention ensures that the UAV remote identification signal detection equipment can meet the actual regulatory requirements, while accurately decoding the signal after mixing of multiple RID signals to a certain extent, and ensuring the stable and reliable operation of the receiving and decoding system. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the UAV RID signal ground-to-ground complementary anti-signal collision decoding system of the present invention.

[0025] Figure 2 This is a flowchart of the UAV RID signal ground-to-ground complementary anti-signal collision decoding method of the present invention. Detailed Implementation

[0026] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0027] See Figure 1 The diagram illustrates a UAV RID signal complementary anti-signal collision decoding system, comprising several ground receivers 100, air receivers 200, and a ground data center 300. The RID receiving system is divided into two main parts: ground receivers and air receivers. Ground receivers are widely distributed and numerous, but each has a small coverage area. Air receivers are fewer in number, but each has a large coverage area.

[0028] Several ground receivers 100 are deployed at intervals on the ground to acquire RID signals broadcast by UAVs within their coverage areas and demodulate the acquired RID signals. In this embodiment, each ground receiver 100 is equipped with an RID receiving antenna 110 and a clock synchronization system 120, which improves the stability and accuracy of signal reception.

[0029] An airborne receiver 200 is deployed in the air to acquire RID signals broadcast by drones within its coverage area. In this embodiment, each airborne receiver 200 is equipped with an RID receiving antenna 210 and a clock synchronization system 220, which improves the stability and accuracy of signal reception.

[0030] The ground data center 300 is deployed on the ground and establishes connections with each ground receiver 100 and air receiver 200 via wireless or other means. It is used to acquire signals and / or data transmitted back by each ground receiver 100 and air receiver 200, and to process these signals and / or data to obtain data broadcast by all UAVs.

[0031] See Figure 2and combined Figure 1 The figure shows a complementary anti-signal collision decoding method for UAV RID signals from both ground and air ends, which includes the following steps:

[0032] Step S10: In a certain area on the ground, UAVs 1, 2...N (N≥3 and are integers) simultaneously broadcast RID signals S1(t), S2(t)...S at a certain time t. N (t), where the RID signal S1(t)…S X (t) (1 < X < N and X is an integer) are located within the coverage area of ​​certain ground receivers 100, and the RID signal S X+1 (t)…S N (t) Not within the coverage area of ​​any ground receiver, but within the coverage area of ​​air receiver 200;

[0033] Step S20: The broadcast RID signal S1(t)...S is transmitted via ground receiver 100 within the area. X (t) is received, and the received RID signals S1(t)…S are processed. X Demodulate (t) to obtain data D1(t)…D X (t), then the data D1(t)…D X (t) Transmitted back to the ground data center 300;

[0034] Step S30: Receive the RID signals S1(t), S2(t)...S1(t) broadcast by UAVs 1, 2...N using the air receiver 200. N (t), to obtain the mixed signal Y(t)=S1(t)+S2(t)+…+S N Y(t) + N(t), where N(t) is the ambient noise, and the mixed signal Y(t) is transmitted back to the ground data center 300;

[0035] Step S40: The ground data center 300 processes the received data D1(t)...D according to the UAV RID signal encoding rules and modulation protocol. X (t) is reconstructed to obtain the true RID signal S1(t)…S X (t) are very close to the RID signal S'1(t)…S' X (t);

[0036] Step S50: Subtract the reconstructed RID signals S'1(t)...S' from the mixed signal Y(t) returned by the air receiver 200 via the ground data center 300. X (t), and the residual signal R(t) is obtained as R(t) = Y(t) - S'1(t) - ... - S' X If (t), then the residual signal R(t)≈S X+1 (t)+…+SN (t)+N(t);

[0037] Step S60: The residual signal R(t) is demodulated by the ground data center 300 to obtain data D. X+1 (t)…D N (t) represents the data D broadcast by the UAV X+1…N. X+1 (t)…D N (t), at this point, the ground data center 300 can obtain the data D1(t)...D broadcast by UAVs 1, 2...N. N (t).

[0038] To better illustrate the UAV RID signal complementary anti-signal collision decoding method of the ground and air ends, a specific application embodiment is given below, which includes the following steps:

[0039] 1. When multiple drones A, B, C, and D in a certain area on the ground simultaneously broadcast RID signal S at a certain time t... a (t), S b (t), S c (t), S d (t), assuming the RID signal S a (t), S b (t), S c (t) are located within the coverage area of ​​certain ground receivers, S d (t) Not within the coverage area of ​​any ground receiver, but within the coverage area of ​​an air receiver;

[0040] 2. RID signal S a (t), S b (t), S c (t) will be received and demodulated by ground receivers in its area, outputting data D. a (t), D b (t), D c (t), and then the data D a (t), D b (t), D c (t) Transmitted back to the ground data center; Since the RID signal broadcast by the UAV D cannot be covered by the ground receiver, it cannot be demodulated by the ground receiver;

[0041] 3. The airborne receiver receives a mixed signal Y(t)=S from UAVs A, B, C, and D. a (t)+S b (t)+S c (t)+S dY(t) + N(t), where N(t) is the ambient noise; due to multiple signal collisions and conflicts, the signal cannot be demodulated, and the air receiver will transmit the mixed signal Y(t) back to the ground data center for processing;

[0042] 4. The ground data center receives data D transmitted back from the ground receiver. a (t), D b (t), D c (t) After that, the data D is encoded according to the UAV RID signal encoding rules and modulation protocol. a (t), D b (t), D c (t) Reconstruct the RID signal S' a (t), S' b (t), S' c (t), which is very close to the real RID signal S. a (t), S b (t), S c (t);

[0043] 5. The ground data center subtracts the reconstructed RID signal S' from the mixed signal Y(t) returned by the air receiver. a (t), S' b (t), S' c The residual signal R(t) = Y(t) - S' is obtained. a (t)-S' b (t)-S' c If (t), then the residual signal R(t)≈S d (t)+N(t), at this time the residual signal R(t) is only the RID signal S. d (t) and environmental noise N(t);

[0044] 6. The residual signal R(t) is demodulated using a conventional RID signal demodulation method to obtain the data D broadcast by the UAV D. d (t), at this point, by combining the channel characteristics of the ground and air terminals, the RID signal broadcast by the UAV D broadcast was successfully demodulated to obtain the data D broadcast by the UAV D broadcast. d (t), so that the ground data center can obtain the data broadcast by drones A, B, C, and D.

[0045] This invention ensures that the UAV remote identification signal detection device can meet actual regulatory needs, while also accurately decoding the mixed RID signals from multiple sources to a certain extent, thus guaranteeing the stable and reliable operation of the receiving and decoding system.

[0046] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for decoding UAV RID signals using complementary ground and satellite terminals to resist signal collisions, characterized in that, include: At a certain time t, UAVs 1, 2...N simultaneously broadcast RID signals S1(t), S2(t)...S1(t) within a certain area on the ground. N (t), N≥3 and are integers, where the RID signal S1(t)…S X (t) are located within the coverage areas of certain ground receivers, 1 < X < N and X is an integer, RID signal S X+1 (t)…S N (t) Not within the coverage area of ​​any ground receiver, but within the coverage area of ​​an air receiver; The broadcast RID signal S1(t)…S is received by a ground receiver within the area. X (t) is received, and the received RID signals S1(t)…S are processed. X Demodulate (t) to obtain data D1(t)…D X (t), then the data D1(t)…D X (t) Transmitted back to the ground data center; The RID signals S1(t), S2(t)...S broadcast by UAVs 1, 2...N are received using an airborne receiver. N (t), to obtain the mixed signal Y(t)=S1(t)+S2(t)+…+S N Y(t) + N(t), where N(t) is the ambient noise, and the mixed signal Y(t) is transmitted back to the ground data center; According to the UAV RID signal encoding rules and modulation protocol, the received data D1(t)...D X (t) is reconstructed to obtain the true RID signal S1(t)…S X (t) are very close to the RID signal S'1(t)…S' X (t); Subtract the reconstructed RID signal S'1(t)...S' from the mixed signal Y(t) returned by the air receiver. X (t), and the residual signal R(t) is obtained as R(t) = Y(t) - S'1(t) - ... - S' X If (t), then the residual signal R(t)≈S X+1 (t)+…+S N (t)+N(t); and The residual signal R(t) is demodulated to obtain data D. X+1 (t)…D N (t) represents the data D broadcast by the UAV X+1…N. X+1 (t)…D N (t), at this point we can obtain the data D1(t)...D broadcast by drones 1, 2...N. N (t).

2. A UAV RID signal complementary anti-signal collision decoding system that implements the UAV RID signal ground-to-ground complementary anti-signal collision decoding method as described in claim 1, characterized in that, include: Several ground receivers are deployed at intervals on the ground. Each ground receiver is used to acquire the RID signal broadcast by the UAV within its coverage area and demodulate the acquired RID signal. At least one airborne receiver is deployed in the air, each airborne receiver being used to acquire RID signals broadcast by the drone within its coverage area; as well as A ground data center, which establishes connections with each ground receiver and each air receiver respectively, is used to acquire signals and / or data transmitted back by each ground receiver and each air receiver, and to process these signals and / or data.

3. The UAV RID signal ground-to-ground complementary anti-signal collision decoding system as described in claim 2, characterized in that, Each ground receiver is equipped with a RID receiving antenna and a clock synchronization system.

4. The UAV RID signal ground-to-ground complementary anti-signal collision decoding system as described in claim 2, characterized in that, Each air receiver is equipped with a RID receiving antenna and a clock synchronization system.

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