Low-altitude flight management and control method, system and device based on satellite-ground broadcast fusion and medium

Abstract

The application discloses a low-altitude flight management and control method, system, device and medium based on satellite-ground broadcast fusion, and relates to the field of low-altitude aircraft safety management and control. The method comprises the following steps: a management and control center generates a wide-area flight permission instruction and sends the instruction to a satellite management and control node; the satellite management and control node broadcasts the wide-area flight permission instruction through satellite broadcasting; a ground management and control node supplements the wide-area flight permission instruction based on the regional management and control requirements of each region, generates regional flight permission instructions of each region, and broadcasts the regional flight permission instructions through ground broadcasting; a low-altitude aircraft determines its flight permission based on the wide-area flight permission instruction and the regional flight permission instruction, executes a flight task, and broadcasts its running state information through ground broadcasting; and a monitoring node generates airspace running situation information based on the running state information, the wide-area flight permission instruction and / or the regional flight permission instruction, and feeds back the information, so that the low-altitude flight management and control efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of safety management and control of low-altitude aircraft, and in particular to a method, system, equipment and medium for low-altitude flight management and control based on satellite-to-ground broadcast fusion. Background Technology

[0002] With the rapid increase in the number of low-altitude aircraft, low-altitude flight activities are gradually exhibiting characteristics such as diversity, high scale, and frequent dynamic changes, placing higher demands on the current control system. At present, low-altitude flight control mainly faces the following two problems: (1) The authorization method has poor scalability and is difficult to scale. The current control method mostly adopts the "one-to-one authorization" method. Before the flight, the relevant flight departments issue authorization instructions point-to-point, which has poor real-time performance. During the flight, the flight instructions are updated mainly through the 5G network point-to-point. When the number of aircraft in the low-altitude airspace increases rapidly, this mode needs to maintain a large number of concurrent communication connections, which can easily cause signaling congestion and make it difficult to meet the real-time and scalability requirements of sudden control scenarios.

[0003] (2) The results of authorization execution are difficult to reliably confirm. Currently, the confirmation of whether an aircraft is operating in accordance with authorization mainly relies on visual inspection or single-station broadcast remote identification (Remote ID) reception. Due to factors such as the high speed of the aircraft and the limited coverage, the flight status information is incomplete and lacks timeliness, making it difficult to support the timely detection and handling of violations.

[0004] It is evident that the current low-altitude airspace management adopts an "end-to-end management" logic, which presents difficulties in handling the scheduling and coordination of large-scale, multi-type low-altitude aircraft and is unable to cope with the rapid growth in the scale and application needs of low-altitude aircraft. Summary of the Invention

[0005] In view of the above-mentioned technical problems, the present invention provides a method, system, equipment and medium for low-altitude flight control based on satellite-to-ground broadcast fusion, which aims to overcome the above problems or at least partially solve the above problems.

[0006] The first aspect of this invention provides a low-altitude flight control method based on satellite-to-ground broadcast fusion, the method comprising: Based on the control needs of multiple regions, the control center generates wide-area flight permission instructions and sends these instructions to the satellite control nodes. Satellite control nodes broadcast wide-area flight permission instructions via satellite to achieve wide-area control over the position, trajectory, and behavior of low-altitude aircraft. Ground control nodes receive wide-area flight permission instructions, supplement the wide-area flight permission instructions based on the regional control needs of each area, generate regional flight permission instructions for each area, and broadcast the regional flight permission instructions to the area via ground broadcast in order to achieve regional control over the position, trajectory and behavior of low-altitude aircraft. Low-altitude aircraft receive wide-area flight permission instructions and area flight permission instructions, determine their own flight permission, and execute flight missions in accordance with their own flight permission; Low-altitude aircraft broadcast their operational status information via ground broadcasting. The operational status information includes at least one or more of the following: aircraft identification, location information, and speed information. Based on the received operational status information of low-altitude aircraft, as well as the received wide-area flight permission instructions and / or regional flight permission instructions, the monitoring node generates airspace operational status information and feeds it back to update the wide-area flight permission instructions and / or regional flight permission instructions.

[0007] A second aspect of the present invention provides a low-altitude flight control system based on satellite-to-ground broadcast fusion, the system comprising: The control center is used to generate wide-area flight permission instructions based on the control needs of multiple regions, and send the wide-area flight permission instructions to the satellite control nodes; Satellite control nodes are used to broadcast wide-area flight permission commands via satellite to achieve wide-area control over the position, trajectory, and behavior of low-altitude aircraft. Ground control nodes are used to receive wide-area flight permission instructions, supplement the wide-area flight permission instructions based on the regional control needs of each area, generate regional flight permission instructions for each area, and broadcast the regional flight permission instructions to the area via ground broadcast, so as to realize regional control over the position, trajectory and behavior of low-altitude aircraft. The low-altitude aircraft is used to receive wide-area flight permission instructions and regional flight permission instructions, determine its own flight permission, and perform flight missions in accordance with its own flight permission; broadcast its own operational status information, which includes at least one or more of the following: aircraft identification, position information, and speed information; The monitoring node is used to generate airspace operational status information and feed it back based on the received operational status information of low-altitude aircraft, as well as the received wide-area flight permission instructions and / or area flight permission instructions, so as to update the wide-area flight permission instructions and / or area flight permission instructions.

[0008] A third aspect of the present invention provides an electronic device comprising a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the low-altitude flight control method based on satellite-to-ground broadcast fusion as described in the first aspect of the present invention.

[0009] A fourth aspect of the present invention provides a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the low-altitude flight control method based on satellite-to-ground broadcast fusion as described in the first aspect of the present invention.

[0010] This invention proposes a low-altitude flight control method based on satellite-to-ground broadcast fusion, which transforms the "end-to-end control" model into a "multi-point-to-multi-point control" model. By integrating satellite and ground broadcasts, it achieves wide-area distribution of flight permissions and combines flight status broadcasting and monitoring to realize closed-loop control of the entire low-altitude flight process, improving the efficiency of low-altitude flight control and thus solving the safety management problem of various types of aircraft in complex low-altitude environments. Specifically, on the one hand, this invention enables control permissions (i.e., flight permission commands) to be issued simultaneously over a large airspace through the collaborative work of satellite and ground broadcasting, achieving efficient batch authorization and avoiding the concurrency and latency problems faced by traditional point-to-point communication in large-scale scenarios. On the other hand, this invention achieves continuous monitoring and execution confirmation of the flight process through a closed-loop control process based on satellite-to-ground broadcast fusion, consisting of "dynamic authorization—permission broadcasting—status broadcasting—execution confirmation," improving the detection capability and accuracy of violations. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention 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.

[0012] Figure 1 This is a flowchart illustrating the steps of a low-altitude flight control method based on satellite-to-ground broadcast fusion, as shown in an embodiment of the present invention. Figure 2 This is a schematic diagram of the framework of a low-altitude group closed-loop control system based on satellite-to-ground broadcast fusion, as shown in an embodiment of the present invention. Figure 3 This is a schematic diagram illustrating a group closed-loop control method based on satellite-to-ground broadcast fusion according to an embodiment of the present invention; Figure 4This is a structural block diagram of a low-altitude flight control system based on satellite-to-ground broadcast fusion, provided by an embodiment of the present invention; Figure 5 This is a schematic diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating the steps of a low-altitude flight control method based on satellite-to-ground broadcast fusion, as shown in an embodiment of the present invention. Figure 1 As shown, the low-altitude flight control method based on satellite-to-ground broadcast fusion provided in this embodiment includes at least the following steps: Step S11: Based on the control needs of multiple regions, the control center generates a wide-area flight permission instruction and sends the wide-area flight permission instruction to the satellite control node.

[0015] In this embodiment, the control center is deployed on the ground, serving as the global decision-making and authorization center. It is responsible for the integration and prioritization of control strategies across departments (such as meteorological departments, aviation departments, etc.) and regions (multiple regions), generating control strategies and authorization commands for flight processes. Specifically, the control center can generate broadcastable wide-area flight authorization commands based on the control needs of multiple regions (such as nationwide, large-scale wide-area control needs), and send these commands to satellite control nodes. These wide-area flight authorization commands are not generated individually for each low-altitude aircraft, but rather uniformly describe groups of flight activities within the airspace, reducing the complexity of authorization generation and maintenance.

[0016] Step S12: The satellite control node broadcasts the wide-area flight permission command via satellite to achieve wide-area control over the position, trajectory and behavior of low-altitude aircraft.

[0017] In this embodiment, the control center sends the generated authorization commands to the control nodes, which then distribute them to the low-altitude aircraft via a satellite-to-ground broadcast fusion method. The control nodes include satellite control nodes and ground control nodes. The satellite control nodes distribute the authorization commands via satellite broadcast. Specifically, the satellite control nodes can broadcast the received wide-area flight authorization commands (wide-area coverage broadcast) to ensure synchronous updates of authorization information across a large airspace, thereby achieving wide-area control over the position, trajectory, and behavior of low-altitude aircraft. The wide-area flight authorization commands represent flight control authorization information over a large area (e.g., across multiple regions or nationwide).

[0018] Step S13: The ground control node receives the wide-area flight permission instruction, supplements the wide-area flight permission instruction based on the regional control requirements of each area, generates the regional flight permission instruction for each area, and broadcasts the regional flight permission instruction to the area via ground broadcast, so as to realize regional control over the position, trajectory and behavior of low-altitude aircraft.

[0019] In this embodiment, each of the multiple regions corresponds to a ground control node, and each ground control node can receive wide-area flight permission instructions broadcast by the satellite control node. Each ground control node can supplement the wide-area flight permission instructions based on the regional control needs of its corresponding region, generating regional flight permission instructions for each region. Specifically, the ground control node is responsible for supplementing or refining the broadcast of wide-area flight permission instructions within its local area to meet regional dynamic control requirements. In an optional example, the ground control node is a ground-based DTMB broadcasting station used to broadcast regional flight permission instructions.

[0020] After generating an area flight permission instruction, the ground control node can broadcast the instruction over the area via ground broadcast to achieve regional control over the position, trajectory, and behavior of low-altitude aircraft. The area flight permission instruction represents the flight control authorization information within that area.

[0021] Step S14: The low-altitude aircraft receives the wide-area flight permission instruction and the area flight permission instruction, determines its own flight permission, and executes the flight mission according to its own flight permission.

[0022] In this embodiment, a low-altitude aircraft refers to an aircraft that operates within low-altitude airspace and primarily engages in various flight activities such as carrying passengers, cargo, or performing operations. Generally, low-altitude airspace in a broad sense typically refers to airspace below 1000 meters above the ground or water surface, and in areas with complex terrain or special needs, it can extend to within 3000 meters; in addition, airspace with mainstream operations limited to below 300 meters or 120 meters can also be considered low-altitude airspace. In this embodiment, low-altitude aircraft include unmanned aerial vehicles (UAVs). Low-altitude aircraft are used to receive flight permission instructions from control nodes, execute corresponding flight control operations, perform flight missions, and simultaneously broadcast (e.g., periodically broadcast) their own operational status information.

[0023] Specifically, during flight, low-altitude aircraft can receive broadcast wide-area flight permission instructions and area flight permission instructions for the area in which they are located. Based on the received wide-area flight permission instructions and area flight permission instructions, the low-altitude aircraft determines its own flight permission and executes the corresponding flight mission according to its own flight permission.

[0024] In one optional embodiment, the low-altitude aircraft obtains its own flight permissions by receiving at least one of a wide-area flight permission instruction broadcast by satellite or a regional flight permission instruction broadcast by ground. The wide-area flight permission instruction and the regional flight permission instruction are complementary in spatial or temporal dimensions, thereby achieving continuous spatial coverage and dynamic temporal updates of the permission information.

[0025] In an alternative example, in areas where ground control nodes (such as ground-based DTMB broadcasting stations) have blind spots or for high-value low-altitude aircraft, satellite control nodes can directly broadcast wide-area flight permission instructions to the low-altitude aircraft. That is, the low-altitude aircraft can receive wide-area flight permission instructions broadcast by satellite control nodes and area flight permission instructions for its location broadcast by ground control nodes.

[0026] In another alternative example, the low-altitude aircraft can receive wide-area flight permission instructions broadcast by the ground control node, as well as area flight permission instructions for its location broadcast by the ground control node.

[0027] Step S15: The low-altitude aircraft broadcasts its own operational status information via ground broadcast.

[0028] In this embodiment, during the execution of authorized commands, that is, during the execution of flight missions according to its own flight permissions, the low-altitude aircraft periodically broadcasts its own operational status information to the outside world via ground broadcasting (such as via wireless broadcasting, such as broadcasting based on WiFi or Bluetooth protocols). The operational status information includes at least one or more of the following: the low-altitude aircraft's identification identifier, its position information, and its speed information.

[0029] In one alternative example, the low-altitude aircraft may broadcast its own operational status information in the form of a Remote ID broadcast. This operational status information may include at least one or more of the following: aircraft identification, position and speed information, and operational description information.

[0030] Step S16: Based on the received operational status information of the low-altitude aircraft and the received wide-area flight permission instructions and / or area flight permission instructions, the monitoring node generates airspace operational status information and feeds it back to update the wide-area flight permission instructions and / or area flight permission instructions.

[0031] In this embodiment, the monitoring node is used to receive operational status information broadcast by the low-altitude aircraft and to monitor and confirm the execution of flight permissions by the low-altitude aircraft. The monitoring node can receive operational status information broadcast by the low-altitude aircraft, wide-area flight permission instructions broadcast by the satellite control node, and area flight permission instructions broadcast by the ground control node corresponding to the monitoring node. It is understood that this monitoring node is for the area where the low-altitude aircraft is currently located; different areas correspond to different ground control nodes and monitoring nodes.

[0032] After receiving the operational status information broadcast by the low-altitude aircraft, the monitoring node can update the wide-area flight permission instructions and / or regional flight permission instructions based on the operational status information of the low-altitude aircraft, and generate airspace operational situation information and provide feedback, thereby realizing the dynamic adjustment of flight permission instructions.

[0033] This embodiment proposes a low-altitude group closed-loop control mechanism that shifts from an "end-to-end control" model to a "multi-point to multi-point control" model. It achieves wide-area distribution of flight permissions through a fusion of satellite and ground broadcasting, and combines flight status broadcasting and monitoring to realize closed-loop control of the entire low-altitude flight process, improving the efficiency of low-altitude flight control and thus solving the safety control problem of various types of aircraft in complex low-altitude environments. Specifically, on the one hand, this invention enables control permissions (i.e., flight permission commands) to be issued simultaneously over a large airspace through the collaborative work of satellite and ground broadcasting, achieving efficient batch authorization and avoiding the concurrency and latency problems faced by traditional point-to-point communication modes in large-scale scenarios. On the other hand, this invention achieves continuous monitoring and execution confirmation of the entire group flight process through a closed-loop control process based on satellite-ground broadcasting fusion, consisting of "dynamic authorization—permission broadcasting—status broadcasting—execution confirmation," improving the detection capability and accuracy of violations.

[0034] In conjunction with the above embodiments, in one implementation, the present invention also provides a low-altitude flight control method based on satellite-to-ground broadcast fusion, the method comprising: Based on global-level control requirements, the control center generates wide-area flight permission instructions and sends them to the satellite control nodes; Satellite control nodes broadcast wide-area flight permission instructions to regional centers, low-altitude aircraft, and monitoring nodes via satellite broadcast. Based on the regional control requirements and in conjunction with the wide-area flight permission instructions, the regional center generates regional flight permission instructions to supplement the wide-area flight permission instructions, and broadcasts the regional flight permission instructions to the low-altitude aircraft and monitoring nodes corresponding to the regional center via ground control nodes. Low-altitude aircraft execute flight missions based on area flight permission commands and wide-area flight permission commands, and broadcast their own operational status information via ground broadcasting. The monitoring nodes verify whether the operational status information complies with the wide-area flight permission instructions and / or regional flight permission instructions, so as to generate airspace operational status information, which is then fed back to the control center via ground control nodes and regional centers. Based on airspace operational status information, the control center updates wide-area flight permission instructions.

[0035] In this embodiment, the wide-area flight permission instruction broadcast by the satellite control node first reaches each regional center. Each regional center then generates a regional flight permission instruction to supplement the wide-area flight permission instruction based on the regional-level control needs corresponding to that region and in conjunction with the wide-area flight permission instruction. The ground control node corresponding to that regional center then broadcasts the regional flight permission instruction to the low-altitude aircraft and the monitoring node corresponding to that regional center via ground broadcast.

[0036] In conjunction with the above embodiments, in one implementation, the present invention also provides a low-altitude flight control method based on satellite-to-ground broadcast fusion. In this method, the airspace operational status information includes: wide-area status information; and, in addition to the above steps, may also include steps S21, S22, and S25; the step S16 above, "the monitoring node generates airspace operational status information and feeds it back based on the received low-altitude aircraft operational status information and the received wide-area flight permission command," specifically may include steps S23 and S24: Step S21: The low-altitude aircraft enters multiple areas in sequence.

[0037] In this embodiment, during the flight of the low-altitude aircraft performing its flight mission (i.e., during the status broadcast), the low-altitude aircraft can sequentially enter multiple areas due to changes in its position. Each of these multiple areas has a corresponding monitoring node.

[0038] Step S22: Monitoring nodes in multiple areas receive wide-area flight permission instructions and sequentially receive the operational status information of the same low-altitude aircraft.

[0039] In this embodiment, the monitoring nodes in the multiple areas can receive not only wide-area flight permission commands, but also the operational status information broadcast by the same low-altitude aircraft in the corresponding area. It is understood that while the wide-area flight permission commands received by different monitoring nodes are the same, the operational status information of the same low-altitude aircraft received by each monitoring node may differ.

[0040] Step S23: Monitoring nodes in multiple areas compare the operational status information of the low-altitude aircraft with the wide-area flight authorization command to determine whether the position, trajectory, and behavior of the low-altitude aircraft during flight conform to the wide-area authorized position, wide-area authorized trajectory, and wide-area authorized behavior represented by the wide-area flight authorization command, so as to generate wide-area observation results.

[0041] In this embodiment, each monitoring node in a region can compare and analyze the operational status information of the same low-altitude aircraft it receives with the wide-area flight authorization command to determine whether the position, trajectory and behavior of the low-altitude aircraft during flight conform to the wide-area authorized position, wide-area authorized trajectory and wide-area authorized behavior represented by the wide-area flight authorization command, so as to generate wide-area observation results for the low-altitude aircraft.

[0042] Step S24: The monitoring node of the last monitoring node in the multiple regions aggregates the wide-area observation results of the monitoring nodes in the multiple regions for the same low-altitude aircraft to generate wide-area situational information and feed it back to the control center.

[0043] In this embodiment, the monitoring node of the last region among multiple monitoring nodes (i.e., the monitoring node of the last region among multiple regions successively traversed by the same low-altitude aircraft) can aggregate multiple wide-area observation results generated by the monitoring nodes of these multiple regions for the same low-altitude aircraft to form multi-source wide-area observation results. Then, based on these multi-source wide-area observation results, a comprehensive analysis is performed through information aggregation to obtain wide-area situational information. This wide-area situational information includes one or more of the following: airspace occupancy status, aircraft density distribution, conflict alarm information, and emergency event information.

[0044] Monitoring nodes can relay wide-area situational awareness information to the control center. In one example, a monitoring node can relay this information via a ground control node. In another example, a monitoring node can relay this information via a ground control node and a regional center.

[0045] Step S25: Based on the control needs of multiple regions and wide-area situational information, the control center updates the wide-area flight permission instructions and sends the updated wide-area flight permission instructions to the satellite control node; the satellite control node broadcasts the updated wide-area flight permission instructions via satellite to achieve the update of wide-area flight permissions.

[0046] In this embodiment, the control center can update the wide-area flight permission instructions based on the control needs of multiple regions and the received wide-area situation information. For example, according to the management objectives, the current wide-area flight permission instructions can be added, adjusted, or revoked to obtain the updated wide-area flight permission instructions, and the updated wide-area flight permission instructions can be sent to the satellite control node. The satellite control node then broadcasts the updated wide-area flight permission instructions to the satellite control node to realize the wide-area flight permission update.

[0047] In this embodiment, wide-area flight permission instructions are not generated for each individual aircraft, but are uniformly described for groups of flight activities in the same airspace, time period, or under the same management rules, in order to reduce the complexity of permission generation and maintenance.

[0048] In one optional example, after receiving wide-area situational information, the control center can trigger subsequent permission adjustments, control command updates, or alarm handling based on the feedback of the wide-area situational information when it detects that a low-altitude aircraft has exceeded its authority, veered off course, or exhibited abnormal behavior. This enables closed-loop control under multi-station collaboration, thereby improving the reliability and continuity of execution confirmation.

[0049] In another alternative embodiment, a multi-station collaborative approach can be used to verify whether the low-altitude aircraft is operating within the authorized range and to issue graded warnings for any potential violations.

[0050] In conjunction with any of the above embodiments, the present invention also provides a low-altitude flight control method based on satellite-to-ground broadcast fusion. In this method, the airspace operation status information further includes: regional status information; and, in addition to the above steps, it may also include steps S31 and S34; the "monitoring node generates airspace operation status information and feeds it back based on the received low-altitude aircraft operation status information and the received regional flight permission instructions" in step S16 may specifically include steps S32 and S33: Step S31: Multiple monitoring nodes within the same area receive the area flight permission instruction for that area and receive the operational status information of the same low-altitude aircraft.

[0051] In this embodiment, each region corresponds to multiple monitoring nodes. Multiple monitoring nodes within the same region can receive the corresponding area flight permission command and the operational status information broadcast by the same low-altitude aircraft within that region. It is understood that multiple monitoring nodes distributed within the same region can receive the operational status information of the low-altitude aircraft in parallel, thereby achieving continuous observation of the flight process. The area flight permission commands received by multiple monitoring nodes within the same region are the same, and the operational status information of the same low-altitude aircraft received by multiple monitoring nodes within the same region may be the same or different.

[0052] Step S32: Multiple monitoring nodes within the same area compare the operational status information of the same low-altitude aircraft with the area flight permission command to determine whether the low-altitude aircraft's position, trajectory, and behavior during flight conform to the area-authorized position, area-authorized trajectory, and area-authorized behavior represented by the area flight permission command, so as to generate area observation results.

[0053] In this embodiment, each of the multiple monitoring nodes in the same area can compare and analyze the operational status information of the same low-altitude aircraft it receives with the area flight permission instruction to determine whether the position, trajectory and behavior of the low-altitude aircraft during flight conform to the area authorized position, area authorized trajectory and area authorized behavior represented by the area flight permission instruction, so as to generate area observation results for the low-altitude aircraft.

[0054] Step S33: Any one of the multiple monitoring nodes in the same area performs a consistency check on the regional observation results of the multiple monitoring nodes in the same area for the same low-altitude aircraft, so as to generate regional situation information and feed it back to the ground control node.

[0055] In this embodiment, any one of multiple monitoring nodes within the same area can perform consistency verification on multiple regional observation results generated by the multiple monitoring nodes within the same area for the same low-altitude aircraft. This allows for the evaluation of the same low-altitude aircraft, obtaining a consistent execution confirmation conclusion, forming a flight process management result for the low-altitude aircraft, and subsequently obtaining regional situation information. This regional situation information is then fed back to the corresponding ground control node for that region. The regional situation information includes: the flight process management results corresponding to each of the multiple low-altitude aircraft.

[0056] Step S34: Based on the received updated wide-area flight permission instructions, as well as the regional control requirements and regional situation information of each area, the ground control node updates the regional flight permission instructions and broadcasts the updated regional flight permission instructions to the area via ground broadcast to achieve the update of regional flight permissions.

[0057] In this embodiment, the ground control node can update the current area flight permission instruction corresponding to the ground control node based on the received updated wide-area flight permission instruction, the area control requirements of the area corresponding to the ground control node, and the received area situation information, to obtain the updated area flight permission instruction, and broadcast the updated area flight permission instruction to the area via ground broadcast, so as to realize the update of area flight permission.

[0058] In this embodiment, the area flight permission instructions are not generated for each individual aircraft, but are uniformly described for groups of flight activities in the same airspace, time period, or under the same management rules, in order to reduce the complexity of permission generation and maintenance.

[0059] In this embodiment, multiple monitoring nodes aggregate operational status information to form a more complete and continuous airspace operational situation, providing a reliable basis for control decisions and realizing the construction of a closed-loop control mechanism for multi-station collaboration.

[0060] In one embodiment, in addition to targeting the same aircraft, multiple monitoring nodes can also generate multi-source observation results for the same airspace, and obtain consistent execution confirmation conclusions through information aggregation, generating regional situation information and wide-area situation information, which are then fed back to the ground control node and control center respectively for subsequent permission adjustments, control command updates or alarm handling.

[0061] In conjunction with any of the above embodiments, in one implementation, the present invention also provides a low-altitude flight control method based on satellite-to-ground broadcast fusion. In this method, step S11, "the control center generates a wide-area flight permission instruction based on the control needs of multiple regions," specifically includes step S41; and step S13, "the ground control node receives the wide-area flight permission instruction, supplements the wide-area flight permission instruction based on the regional control needs of each region, and generates a regional flight permission instruction for each region," specifically includes steps S42 and S43; and step S14, "the low-altitude aircraft receives the wide-area flight permission instruction and the regional flight permission instruction, and determines its own flight permission," specifically includes step S44. Step S41: The control center generates wide-area flight permission instructions for different time periods based on the control needs of multiple areas at different time periods.

[0062] In this embodiment, the control center can generate wide-area flight permission instructions for different time periods based on the control needs of multiple regions at different time periods, so that each time period corresponds to the same or different wide-area flight permission instructions. The control center then sends the wide-area flight permission instructions for different time periods to the satellite control node, so that the satellite control node broadcasts the wide-area flight permission instructions for different time periods via satellite broadcast.

[0063] Step S42: The ground control node receives wide-area flight permission instructions for different time periods.

[0064] In this embodiment, each ground control node can receive wide-area flight permission instructions broadcast by the satellite control node for different time periods.

[0065] Step S43: Based on the regional control requirements of each area, the ground control node supplements the wide-area flight permission instructions for different time periods, and generates regional flight permission instructions for different time periods for each area.

[0066] In this embodiment, each ground control node can supplement the received wide-area flight permission instructions for different time periods based on the regional control requirements of its corresponding area, generating regional flight permission instructions for different time periods for each area. After generating regional flight permission instructions for different time periods, the ground control node can broadcast these instructions to the region via ground broadcast. For example, the ground control node can generate permission instructions for different UAV groups, targeting specific regions and time periods, to limit the altitude range and heading constraints of the aircraft. These permission instructions are not generated individually for a single aircraft.

[0067] Step S44: The low-altitude aircraft determines the wide-area flight permission instruction for the current time period from wide-area flight permission instructions for different time periods, and determines the area flight permission instruction for the current time period from area flight permission instructions for different time periods; based on the wide-area flight permission instruction and the area flight permission instruction for the current time period, it determines its own flight permission for the current time period.

[0068] In this embodiment, during flight, the low-altitude aircraft can receive wide-area flight permission instructions for different time periods and area flight permission instructions for different time periods in its location. The low-altitude aircraft can determine its current time period based on the current time, then determine the wide-area flight permission instruction for the current time period from the wide-area flight permission instructions for different time periods, and finally determine the area flight permission instruction for the current time period from the area flight permission instructions for different time periods in its location. Based on the wide-area and area flight permission instructions for the current time period, the low-altitude aircraft determines its own flight permission and executes the corresponding flight mission according to its own flight permission.

[0069] In this embodiment, a low-altitude control mechanism for flight groups is proposed: the wide-area flight permission instructions generated by the control center are not configured for individual aircraft, but are uniformly described for flight groups in a specific time period or flight process, and distributed to multiple low-altitude aircraft by broadcast. Each low-altitude aircraft can then autonomously execute flight control according to its permissions, thus possessing good scalability.

[0070] In conjunction with any of the above embodiments, in one implementation, the present invention also provides a low-altitude flight control method based on satellite-to-ground broadcast fusion. In this method, step S11, "the control center generates a wide-area flight permission instruction based on the control needs of multiple regions," specifically includes step S51; and step S13, "the ground control node receives the wide-area flight permission instruction, supplements the wide-area flight permission instruction based on the regional control needs of each region, and generates a regional flight permission instruction for each region," specifically includes step S52; and step S14, "the low-altitude aircraft receives the wide-area flight permission instruction and the regional flight permission instruction, and determines its own flight permission," specifically includes step S53. Step S51: Based on the control needs of multiple regions, the control center generates wide-area flight permission instructions for different application scenarios.

[0071] In this embodiment, the control center can generate wide-area flight permission instructions for different application scenarios based on the control needs of multiple regions, so that each application scenario corresponds to different wide-area flight permission instructions. The control center then sends the wide-area flight permission instructions for different application scenarios to the satellite control node, so that the satellite control node broadcasts the wide-area flight permission instructions for different application scenarios via satellite broadcast. Among them, the different application scenarios include at least: inspection application scenario, logistics application scenario, and emergency application scenario.

[0072] Step S52: Based on the regional control requirements of each area, the ground control node supplements the wide-area flight permission instructions for different application scenarios and generates regional flight permission instructions for different application scenarios in each area.

[0073] In this embodiment, each ground control node can receive wide-area flight permission instructions for different application scenarios broadcast by the satellite control node. Each ground control node can supplement the received wide-area flight permission instructions for different application scenarios based on the regional control needs of its corresponding area, generating regional flight permission instructions for different application scenarios for each area (i.e., regional flight permission instructions for different application scenarios for each area). After generating regional flight permission instructions for different application scenarios, the ground control node can broadcast these instructions regionally via ground broadcast.

[0074] Step S53: The low-altitude aircraft determines the wide-area flight permission instruction for the current application scenario from the wide-area flight permission instructions of different application scenarios, and determines the area flight permission instruction for the current application scenario from the area flight permission instructions of different application scenarios, based on the wide-area flight permission instruction and the area flight permission instruction for the current application scenario; and determines its own flight permission in the current application scenario based on the wide-area flight permission instruction and the area flight permission instruction for the current application scenario.

[0075] In this embodiment, during flight, the low-altitude aircraft can receive broadcast wide-area flight permission instructions for different application scenarios and area flight permission instructions for its location based on different application scenarios. The low-altitude aircraft can determine the wide-area flight permission instruction for the current application scenario from the wide-area flight permission instructions for different application scenarios, and also determine the area flight permission instruction for the current application scenario from the area flight permission instructions for different application scenarios in its location. Based on the wide-area and area flight permission instructions for the current application scenario, the low-altitude aircraft then determines its own flight permission and executes the corresponding flight task according to its own flight permission.

[0076] In a typical application scenario, if multiple low-altitude aircraft of different types are simultaneously performing inspection, logistics, or emergency operations within a certain area, this area will be uniformly included in the low-altitude safety control scope by the control center. The control center and ground control nodes can generate wide-area flight permission instructions and area flight permission instructions for logistics application scenarios, including altitude and route permission requirements, for groups of low-altitude aircraft performing logistics operations.

[0077] In this embodiment, group control for flight processes is supported: flight permission instructions are broadcast to describe the airspace, time period and / or application scenario, rather than being configured for each individual aircraft. This transforms complex individual authorizations into efficient group instructions, enabling fine-grained hierarchical control of aircraft. The granularity of permissions can be adjusted as needed, effectively improving the scalability of the system in high-density flight environments.

[0078] In conjunction with any of the above embodiments, in one implementation, the present invention also provides a low-altitude flight control method based on satellite-to-ground broadcast fusion. In this method, step S24 may specifically include step S61; the step S25, "the control center updates the wide-area flight permission command based on the control needs of multiple regions and wide-area situation information," may specifically include step S62; step S33 may specifically include step S63; and the step S34, "the ground control node updates the regional flight permission command based on the received updated wide-area flight permission command, and the regional control needs and regional situation information of each region," may specifically include step S64. Step S61: The monitoring node of the last monitoring node in the multiple regions aggregates the wide-area observation results of the monitoring nodes in the multiple regions for the same low-altitude aircraft according to different time periods, so as to generate wide-area situation information for different time periods and feed it back to the control center.

[0079] In this embodiment, each monitoring node in a region can compare and analyze the operational status information of the same low-altitude aircraft received at different time periods with the wide-area flight permission instructions at different time periods. This will determine whether the position, trajectory, and behavior of the low-altitude aircraft during its flight at different time periods conform to the wide-area authorized position, wide-area authorized trajectory, and wide-area authorized behavior represented by the wide-area flight permission instructions at different time periods, so as to generate wide-area observation results for the low-altitude aircraft at different time periods.

[0080] The monitoring node in the last of multiple monitoring areas can aggregate wide-area observations generated by the monitoring nodes in those areas for the same low-altitude aircraft at different time periods, forming multi-source wide-area observation results for different time periods. These multi-source wide-area observation results are then comprehensively analyzed through information aggregation to obtain wide-area situational information for different time periods, which is then fed back to the control center. In one example, the monitoring node can feed back the wide-area situational information for different time periods to the control center via a ground control node. In another example, the monitoring node can feed back the wide-area situational information for different time periods to the control center via a ground control node and a regional center.

[0081] Step S62: Based on the control needs of multiple regions and the wide-area situation information at different time periods, the control center updates the wide-area flight permission instructions for different time periods.

[0082] In this embodiment, the control center can update the wide-area flight permission instructions for different time periods based on the control needs of multiple areas and the wide-area situation information received at different time periods. For example, according to the management objectives, it can add, adjust or revoke the wide-area flight permission instructions for different time periods to obtain updated wide-area flight permission instructions for different time periods, and send the updated wide-area flight permission instructions for different time periods to the satellite control node. The satellite control node then broadcasts the updated wide-area flight permission instructions for different time periods via satellite broadcast to realize the update of wide-area flight permissions.

[0083] Step S63: Any monitoring node among multiple monitoring nodes in the same area performs consistency verification on the regional observation results of multiple monitoring nodes in the same area for the same low-altitude aircraft according to different time periods, so as to generate regional situation information for different time periods and feed it back to the ground control node.

[0084] In this embodiment, each of the multiple monitoring nodes in the same area can compare and analyze the operational status information of the same low-altitude aircraft received at different time periods with the regional flight permission instructions at different time periods. This will determine whether the position, trajectory, and behavior of the low-altitude aircraft during its flight at different time periods conform to the regional authorized position, regional authorized trajectory, and regional authorized behavior represented by the regional flight permission instructions at different time periods, so as to generate regional observation results for the low-altitude aircraft at different time periods.

[0085] In this embodiment, any one of the multiple monitoring nodes in the same area can perform consistency verification on the regional observation results generated by the multiple monitoring nodes in the same area for the same low-altitude aircraft at multiple different time periods, so as to evaluate the same low-altitude aircraft, obtain a consistent execution confirmation conclusion, form flight process management results for the low-altitude aircraft at different time periods, and then obtain regional situation information at different time periods and feed back the regional situation information at different time periods to the ground control node corresponding to the area.

[0086] Step S64: Based on the updated wide-area flight permission instructions received at different time periods, as well as the regional control requirements of each area and the regional situation information at different time periods, the ground control node updates the regional flight permission instructions for different time periods.

[0087] In this embodiment, the ground control node can update the current regional flight permission instructions for different time periods based on the received updated wide-area flight permission instructions for different time periods, the regional control requirements of the area corresponding to the ground control node, and the received regional situation information for different time periods, so as to obtain the updated regional flight permission instructions for different time periods. The updated regional flight permission instructions for different time periods are then broadcast to the area via ground broadcast to realize the update of regional flight permissions.

[0088] In conjunction with any of the above embodiments, in one implementation, the present invention also provides a low-altitude flight control method based on satellite-to-ground broadcast fusion. In this method, step S24 may specifically include step S71; the step S25, "the control center updates the wide-area flight permission command based on the control needs of multiple regions and wide-area situation information," may specifically include step S72; step S33 may specifically include step S73; and the step S34, "the ground control node updates the regional flight permission command based on the received updated wide-area flight permission command, and the regional control needs and regional situation information of each region," may specifically include step S74. Step S71: The monitoring node of the last monitoring node in the multiple regions, according to different application scenarios, aggregates the wide-area observation results of the monitoring nodes in the multiple regions for the same low-altitude aircraft, so as to generate wide-area situation information for different application scenarios and feed it back to the control center.

[0089] In this embodiment, each monitoring node in one of the multiple monitoring areas can compare and analyze the operational status information of the same low-altitude aircraft it receives with the wide-area flight permission command of the current application scenario corresponding to the low-altitude aircraft. This will determine whether the position, trajectory, and behavior of the low-altitude aircraft during flight conform to the wide-area authorized position, wide-area authorized trajectory, and wide-area authorized behavior represented by the wide-area flight permission command of the current application scenario, so as to generate wide-area observation results for the low-altitude aircraft.

[0090] The monitoring node in the last of multiple monitoring areas can aggregate multiple wide-area observations generated by the monitoring nodes in those areas for the same low-altitude aircraft, according to different application scenarios, to form multi-source wide-area observation results for different application scenarios. Then, these multi-source wide-area observation results for different application scenarios are comprehensively analyzed through information aggregation to obtain wide-area situational information for each application scenario, which is then fed back to the control center. In one example, the monitoring node can feed back this wide-area situational information for different application scenarios to the control center via a ground control node. In another example, the monitoring node can feed back this wide-area situational information for different application scenarios to the control center via a ground control node and a regional center.

[0091] Step S72: Based on the control needs of multiple regions and the wide-area situational information of different application scenarios, the control center updates the wide-area flight permission instructions for different application scenarios.

[0092] In this embodiment, the control center can update the wide-area flight permission instructions for different application scenarios based on the control needs of multiple regions and the wide-area situational information received from different application scenarios. For example, according to the management objectives, it can add, adjust, or revoke the current wide-area flight permission instructions for different application scenarios to obtain updated wide-area flight permission instructions for different application scenarios, and send the updated wide-area flight permission instructions for different application scenarios to the satellite control node. The satellite control node then broadcasts the updated wide-area flight permission instructions for different application scenarios to the satellite control node in a wide-area manner to realize the update of wide-area flight permissions.

[0093] Step S73: Any monitoring node among multiple monitoring nodes in the same area performs consistency verification on the regional observation results of multiple monitoring nodes in the same area for the same low-altitude aircraft according to different application scenarios, so as to generate regional situation information for different application scenarios and feed it back to the ground control node.

[0094] In this embodiment, each of the multiple monitoring nodes in the same area can compare and analyze the operational status information of the same low-altitude aircraft it receives with the area flight permission instruction of the current application scenario corresponding to the low-altitude aircraft. It can then determine whether the position, trajectory, and behavior of the low-altitude aircraft during flight conform to the area authorized position, area authorized trajectory, and area authorized behavior represented by the area flight permission instruction of the current application scenario, so as to generate area observation results for the low-altitude aircraft.

[0095] In this embodiment, any one of the multiple monitoring nodes in the same area can perform consistency verification on the multiple regional observation results generated by the multiple monitoring nodes in the same area for the same low-altitude aircraft according to different application scenarios, so as to evaluate the same low-altitude aircraft, obtain consistent execution confirmation conclusions, form flight process management results of low-altitude aircraft for different application scenarios, and then obtain regional situation information for different application scenarios and feed back the regional situation information of different application scenarios to the ground control node corresponding to the area.

[0096] Step S74: Based on the received updated wide-area flight permission instructions for different application scenarios, as well as the regional control requirements of each area and the regional situation information of different application scenarios, the ground control node updates the regional flight permission instructions for different application scenarios.

[0097] In this embodiment, the ground control node can update the current regional flight permission instructions for different application scenarios based on the received updated wide-area flight permission instructions for different application scenarios, the regional control requirements of the area corresponding to the ground control node, and the received regional situation information for different application scenarios, so as to obtain the updated regional flight permission instructions for different application scenarios. The updated regional flight permission instructions for different application scenarios are then broadcast to the area via ground broadcast to achieve regional flight permission updates.

[0098] In one embodiment, such as Figure 2 As shown, Figure 2 This is a schematic diagram illustrating the framework of a low-altitude group closed-loop control system based on satellite-to-ground broadcast fusion, according to an embodiment of the present invention. Figure 2 The low-altitude group closed-loop control system in China consists of four main parts: control center, control nodes (including satellite control nodes and ground control nodes), low-altitude aircraft, and monitoring nodes.

[0099] The Control Center, serving as the overall decision-making and authorization center, is responsible for the integration and prioritization of cross-departmental and cross-regional control strategies, generating control strategies and authorization commands for flight operations. It can grant wide-area dynamic authorization to satellite control nodes, issuing wide-area flight authorization commands; and it can grant regional dynamic authorization to ground control nodes, issuing regional flight authorization commands.

[0100] Control nodes: These mainly consist of satellite control nodes and ground control nodes, used to distribute authorization commands via broadcast. Satellite control nodes broadcast nationwide, large-scale wide-area control requirements, distributing wide-area flight authorization commands to regional centers, ground control nodes, low-altitude aircraft, and monitoring nodes. Ground control nodes are primarily ground-based DTMB broadcasting stations, used to broadcast regional control authorization commands, distributing regional flight authorization commands to low-altitude aircraft and monitoring nodes.

[0101] Low-altitude aircraft: Used to receive permission broadcasts (i.e., wide-area flight permission instructions and regional flight permission instructions) from control nodes to update their own flight permissions, execute corresponding flight control operations, perform flight missions, and periodically broadcast their own operational status information.

[0102] Monitoring nodes: These nodes receive operational status information, wide-area flight permission instructions, and regional flight permission instructions broadcast by low-altitude aircraft, and monitor and confirm the execution of flight permissions. Through multi-station collaboration, they verify whether aircraft are operating within authorized areas and issue tiered alerts for potential violations.

[0103] In one embodiment, such as Figure 3 As shown, Figure 3 This is a schematic diagram illustrating a group closed-loop management method based on satellite-to-ground broadcast fusion, according to an embodiment of the present invention. Figure 3 The group closed-loop management method based on satellite-to-ground broadcast fusion includes four main steps: dynamic authorization, permission broadcasting, status announcement, and execution confirmation. The specific functions of each step are as follows: ① Dynamic Authorization: The control center periodically or on-demand acquires operational status information of low-altitude airspace, including aircraft density distribution, airspace occupancy, and temporary control requirements. Based on this information, the control center generates authorization instructions for different drone groups within that area and time period, limiting the operational altitude range and heading constraints of the aircraft. These authorization instructions are not generated individually for each aircraft but are described as unified control instructions for the entire flight process, such as the altitude and route permission requirements for low-altitude drone groups involved in logistics missions.

[0104] ② Authorization Broadcast: The control center sends authorization commands to the control nodes. Satellite control nodes within the control nodes broadcast the authorization commands over a wide area to achieve cross-regional or large-scale coverage; simultaneously, ground control nodes within the control nodes broadcast the authorization commands at the regional level, based on local operational needs. Through this satellite-ground broadcast fusion, low-altitude aircraft within the region can receive the authorization commands without needing to establish point-to-point communication links.

[0105] ③ Status Broadcasting: During flight missions, low-altitude aircraft conduct flight control based on received authorization commands and periodically broadcast their operational status information wirelessly. This status information is sent in the form of a Remote ID, containing the aircraft's identification (identity) and location information (track). Multiple monitoring nodes distributed within the area can receive this status information, enabling continuous observation of the flight process.

[0106] ④ Execution confirmation: Monitoring node (i.e. Figure 3 After receiving operational status information from low-altitude aircraft, the monitoring stations compare and analyze this information with currently valid authorization commands to determine whether the low-altitude aircraft meets authorization requirements during flight. Multiple monitoring nodes generate multi-source observation results for the same aircraft or the same airspace, and obtain consistent execution confirmation conclusions through information aggregation. The monitoring nodes feed back airspace operational status information (including regional status information (such as flight process management results) and wide-area status information (such as airspace status assessment information: airspace occupancy, aircraft density distribution, conflict alarm information, and one or more of the following)) to the control nodes and control center to trigger subsequent authorization adjustments, control command updates, or alarm handling.

[0107] Thus, through the above steps, a closed-loop control process based on satellite-ground broadcast fusion is ultimately achieved, consisting of "dynamic authorization—authorization broadcast—status reporting—execution confirmation." Multiple monitoring nodes collaborate to receive flight status information, aggregate information, and conduct situational assessments. The execution results are then fed back to the control center, enabling continuous control of the entire low-altitude flight process. Based on the closed-loop low-altitude safety control mechanism proposed in this invention, which utilizes satellite and ground broadcasts in collaboration to cover the entire lifecycle of flight permissions for multiple types and large-scale low-altitude aircraft, wide-area authorization issuance and reliable confirmation of execution results are achieved, improving the efficiency and scalability of low-altitude flight control.

[0108] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0109] Based on the same inventive concept, one embodiment of the present invention provides a low-altitude flight control system based on satellite-to-ground broadcast fusion. (Reference) Figure 4 , Figure 4 This is a structural block diagram of a low-altitude flight control system based on satellite-to-ground broadcast fusion, provided by an embodiment of the present invention. Figure 4 As shown, the system includes: The control center is used to generate wide-area flight permission instructions based on the control needs of multiple regions, and send the wide-area flight permission instructions to the satellite control nodes; Satellite control nodes are used to broadcast wide-area flight permission commands via satellite to achieve wide-area control over the position, trajectory, and behavior of low-altitude aircraft. Ground control nodes are used to receive wide-area flight permission instructions, supplement the wide-area flight permission instructions based on the regional control needs of each area, generate regional flight permission instructions for each area, and broadcast the regional flight permission instructions to the area via ground broadcast, so as to realize regional control over the position, trajectory and behavior of low-altitude aircraft. The low-altitude aircraft is used to receive wide-area flight permission instructions and regional flight permission instructions, determine its own flight permission, and perform flight missions in accordance with its own flight permission; broadcast its own operational status information, which includes at least one or more of the following: aircraft identification, position information, and speed information; The monitoring node is used to generate airspace operational status information and feed it back based on the received operational status information of low-altitude aircraft, as well as the received wide-area flight permission instructions and / or area flight permission instructions, so as to update the wide-area flight permission instructions and / or area flight permission instructions.

[0110] Optionally, the airspace operational status information includes: wide-area status information; Low-altitude aircraft entered multiple areas in sequence; Monitoring nodes in multiple areas receive wide-area flight permission instructions and sequentially receive operational status information of the same low-altitude aircraft; Based on the received operational status information of low-altitude aircraft and the received wide-area flight permission instructions, airspace operational situation information is generated and fed back, including: Monitoring nodes in multiple regions compare the operational status information of low-altitude aircraft with the wide-area flight authorization instructions to determine whether the position, trajectory, and behavior of the low-altitude aircraft during flight conform to the wide-area authorized position, wide-area authorized trajectory, and wide-area authorized behavior represented by the wide-area flight authorization instructions, so as to generate wide-area observation results. The monitoring node in the last area among multiple monitoring nodes aggregates the wide-area observation results of the monitoring nodes in multiple areas for the same low-altitude aircraft to generate wide-area situational information and feed it back to the control center. The control center is also used to update the wide-area flight permission instructions based on the control needs of multiple regions and wide-area situation information, and to send the updated wide-area flight permission instructions to the satellite control nodes; The satellite control node is also used to broadcast updated wide-area flight permission instructions via satellite to achieve wide-area flight permission updates.

[0111] Optionally, the airspace operational status information may further include: regional status information; Multiple monitoring nodes within the same area receive area flight permission instructions for that area and receive operational status information of the same low-altitude aircraft; Based on the received operational status information of low-altitude aircraft and the received area flight permission instructions, airspace operational situation information is generated and fed back, including: Multiple monitoring nodes within the same area compare the operational status information of the same low-altitude aircraft with the area flight permission instructions to determine whether the low-altitude aircraft's position, trajectory, and behavior during flight conform to the area-authorized position, area-authorized trajectory, and area-authorized behavior represented by the area flight permission instructions, so as to generate area observation results; Any monitoring node among multiple monitoring nodes in the same area performs consistency verification on the regional observation results of multiple monitoring nodes in the same area for the same low-altitude aircraft, so as to generate regional situation information and feed it back to the ground control node. The ground control node is also used to update the regional flight permission instructions based on the received updated wide-area flight permission instructions, as well as the regional control requirements and regional situation information of each area, and broadcast the updated regional flight permission instructions to the area via ground broadcast to realize the update of regional flight permissions.

[0112] Optionally, the control center is specifically used to generate wide-area flight permission instructions for different time periods based on the control needs of multiple regions at different time periods. Ground control nodes are specifically used for: Receive wide-area flight permission instructions for different time periods; Based on the regional control requirements of each region, the wide-area flight permission instructions for different time periods are supplemented to generate regional flight permission instructions for different time periods for each region. The low-altitude aircraft is specifically used to determine the wide-area flight permission instruction for the current time period from wide-area flight permission instructions for different time periods, and to determine the area flight permission instruction for the current time period from area flight permission instructions for different time periods; and to determine its own flight permission for the current time period based on the wide-area flight permission instruction and the area flight permission instruction for the current time period.

[0113] Optionally, the control center is specifically used to generate wide-area flight permission instructions for different application scenarios based on the control needs of multiple regions; different application scenarios include: inspection application scenario, logistics application scenario, and emergency application scenario; Ground control nodes are specifically used to supplement wide-area flight permission instructions for different application scenarios based on the regional control needs of each area, and generate regional flight permission instructions for different application scenarios in each area. The low-altitude aircraft is specifically used to determine the wide-area flight permission command for the current application scenario from the wide-area flight permission commands of different application scenarios, and to determine the regional flight permission command for the current application scenario from the regional flight permission commands of different application scenarios, based on the wide-area flight permission command and the regional flight permission command for the current application scenario; and to determine its own flight permission in the current application scenario based on the wide-area flight permission command and the regional flight permission command for the current application scenario.

[0114] Optionally, the monitoring node in the last of the multiple monitoring nodes aggregates the wide-area observation results of the monitoring nodes in the multiple areas for the same low-altitude aircraft to generate wide-area situational information and feed it back to the control center, including: The monitoring node in the last area among multiple monitoring nodes aggregates the wide-area observation results of the monitoring nodes in multiple areas for the same low-altitude aircraft according to different time periods, so as to generate wide-area situation information for different time periods and feed it back to the control center. The control center is specifically used to update wide-area flight permission instructions for different time periods based on the control needs of multiple areas and wide-area situation information at different time periods. Any monitoring node among multiple monitoring nodes within the same area performs consistency verification on the regional observation results of multiple monitoring nodes within the same area for the same low-altitude aircraft, in order to generate regional situational information and feed it back to the ground control node, including: Any monitoring node among multiple monitoring nodes in the same area performs consistency verification on the regional observation results of multiple monitoring nodes in the same area for the same low-altitude aircraft according to different time periods, so as to generate regional situation information for different time periods and feed it back to the ground control node. Ground control nodes are specifically used to update regional flight permission instructions for different time periods based on the updated wide-area flight permission instructions received at different time periods, as well as the regional control requirements of each area and the regional situation information at different time periods.

[0115] Optionally, the monitoring node in the last of the multiple monitoring nodes aggregates the wide-area observation results of the monitoring nodes in the multiple areas for the same low-altitude aircraft to generate wide-area situational information and feed it back to the control center, including: The monitoring node in the last area among multiple monitoring nodes, according to different application scenarios, aggregates the wide-area observation results of the monitoring nodes in multiple areas for the same low-altitude aircraft, so as to generate wide-area situational information for different application scenarios and feed it back to the control center. The control center is specifically used to update wide-area flight permission commands for different application scenarios based on the control needs of multiple regions and wide-area situational information for different application scenarios. Any monitoring node among multiple monitoring nodes within the same area performs consistency verification on the regional observation results of multiple monitoring nodes within the same area for the same low-altitude aircraft, in order to generate regional situational information and feed it back to the ground control node, including: Any monitoring node among multiple monitoring nodes in the same area can perform consistency verification on the regional observation results of multiple monitoring nodes in the same area for the same low-altitude aircraft according to different application scenarios, so as to generate regional situation information for different application scenarios and feed it back to the ground control node. Ground control nodes are specifically used to update the regional flight permission instructions for different application scenarios based on the updated wide-area flight permission instructions received from different application scenarios, as well as the regional control requirements of each area and the regional situation information of different application scenarios.

[0116] The terms "first," "second," etc., used in the specification and claims of this invention are used to distinguish similar objects and are not used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0117] The low-altitude flight control system based on satellite-to-ground broadcast fusion in this embodiment of the invention can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, mobile electronic devices can be mobile phones, tablets, laptops, PDAs, in-vehicle electronic devices, wearable devices, ultra-mobile personal computers (UMPCs), netbooks, or personal digital assistants (PDAs), etc., while non-mobile electronic devices can be servers, network-attached storage (NAS), personal computers (PCs), televisions (TVs), ATMs, or self-service machines, etc. This embodiment of the invention does not impose specific limitations.

[0118] The low-altitude flight control system based on satellite-to-ground broadcast fusion in this embodiment of the invention can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this embodiment of the invention does not impose specific limitations.

[0119] Based on the same inventive concept, another embodiment of the present invention provides an electronic device, such as... Figure 5 As shown, Figure 5 This is a schematic diagram of an electronic device according to an embodiment of the present invention. The electronic device includes a memory, a processor, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement the steps of the low-altitude flight control method based on satellite-to-ground broadcast fusion described in any of the above embodiments of the present invention.

[0120] It should be noted that the electronic devices in the embodiments of the present invention include the mobile electronic devices and non-mobile electronic devices described above.

[0121] Based on the same inventive concept, another embodiment of the present invention provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps in the low-altitude flight control method based on satellite-to-ground broadcast fusion as described in any of the above embodiments of the present invention. The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0122] As the system implementation is basically similar to the method implementation, it is described in a relatively simple way. For relevant details, please refer to the description of the method implementation.

[0123] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of the present invention is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0124] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0125] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A low-altitude flight control method based on satellite-to-ground broadcast fusion, characterized in that, The method includes: Based on the control needs of multiple regions, the control center generates wide-area flight permission instructions and sends these instructions to the satellite control nodes. Satellite control nodes broadcast wide-area flight permission instructions via satellite to achieve wide-area control over the position, trajectory, and behavior of low-altitude aircraft. Ground control nodes receive wide-area flight permission instructions, supplement the wide-area flight permission instructions based on the regional control needs of each area, generate regional flight permission instructions for each area, and broadcast the regional flight permission instructions to the area via ground broadcast in order to achieve regional control over the position, trajectory and behavior of low-altitude aircraft. Low-altitude aircraft receive wide-area flight permission instructions and area flight permission instructions, determine their own flight permission, and execute flight missions in accordance with their own flight permission; Low-altitude aircraft broadcast their operational status information via ground broadcasting. The operational status information includes at least one or more of the following: aircraft identification, location information, and speed information. Based on the received operational status information of low-altitude aircraft, as well as the received wide-area flight permission instructions and / or regional flight permission instructions, the monitoring node generates airspace operational status information and feeds it back to update the wide-area flight permission instructions and / or regional flight permission instructions.

2. The low-altitude flight control method based on satellite-to-ground broadcast fusion according to claim 1, characterized in that, The airspace operational status information includes: wide-area status information; the method further includes: Low-altitude aircraft entered multiple areas in sequence; Monitoring nodes in multiple areas receive wide-area flight permission instructions and sequentially receive operational status information of the same low-altitude aircraft; Based on the received operational status information of low-altitude aircraft and the received wide-area flight permission instructions, the monitoring node generates and feeds back airspace operational status information, including: Monitoring nodes in multiple regions compare the operational status information of low-altitude aircraft with the wide-area flight authorization instructions to determine whether the position, trajectory, and behavior of the low-altitude aircraft during flight conform to the wide-area authorized position, wide-area authorized trajectory, and wide-area authorized behavior represented by the wide-area flight authorization instructions, so as to generate wide-area observation results. The monitoring node in the last area among multiple monitoring nodes aggregates the wide-area observation results of the monitoring nodes in multiple areas for the same low-altitude aircraft to generate wide-area situational information and feed it back to the control center. The method further includes: Based on the control needs of multiple regions and wide-area situational information, the control center updates the wide-area flight permission instructions and sends the updated instructions to the satellite control nodes. The satellite control nodes then broadcast the updated instructions via satellite to achieve the wide-area flight permission update.

3. The low-altitude flight control method based on satellite-to-ground broadcast fusion according to claim 2, characterized in that, The airspace operational status information also includes: regional status information; the method further includes: Multiple monitoring nodes within the same area receive area flight permission instructions for that area and receive operational status information of the same low-altitude aircraft; Based on the received operational status information of low-altitude aircraft and the received area flight permission instructions, the monitoring node generates and feeds back airspace operational status information, including: Multiple monitoring nodes within the same area compare the operational status information of the same low-altitude aircraft with the area flight permission instructions to determine whether the low-altitude aircraft's position, trajectory, and behavior during flight conform to the area-authorized position, area-authorized trajectory, and area-authorized behavior represented by the area flight permission instructions, so as to generate area observation results; Any monitoring node among multiple monitoring nodes in the same area performs consistency verification on the regional observation results of multiple monitoring nodes in the same area for the same low-altitude aircraft, so as to generate regional situation information and feed it back to the ground control node. The method further includes: Based on the received updated wide-area flight permission instructions, as well as the regional control requirements and regional situation information of each area, the ground control nodes update the regional flight permission instructions and broadcast the updated regional flight permission instructions to the area via ground broadcast to achieve the update of regional flight permissions.

4. The low-altitude flight control method based on satellite-to-ground broadcast fusion according to claim 1, characterized in that, Based on the control needs of multiple regions, the control center generates wide-area flight permission instructions, including: Based on the control needs of multiple regions at different times, the control center generates wide-area flight permission instructions for different time periods. Ground control nodes receive wide-area flight permission instructions and, based on the regional control requirements of each area, supplement the wide-area flight permission instructions to generate regional flight permission instructions for each area, including: Ground control nodes receive wide-area flight permission instructions for different time periods; Based on the regional control needs of each area, the ground control nodes supplement the wide-area flight permission instructions for different time periods, and generate regional flight permission instructions for different time periods for each area. Low-altitude aircraft receive wide-area flight permission instructions and area flight permission instructions to determine their own flight permissions, including: The low-altitude aircraft determines the wide-area flight permission instruction for the current time period from wide-area flight permission instructions from different time periods, and determines the area flight permission instruction for the current time period from area flight permission instructions from different time periods; based on the wide-area flight permission instruction and the area flight permission instruction for the current time period, it determines its own flight permission for the current time period.

5. The low-altitude flight control method based on satellite-to-ground broadcast fusion according to claim 1, characterized in that, Based on the control needs of multiple regions, the control center generates wide-area flight permission instructions, including: Based on the control needs of multiple regions, the control center generates wide-area flight permission instructions for different application scenarios, including: inspection application scenario, logistics application scenario, and emergency application scenario. Ground control nodes receive wide-area flight permission instructions and, based on the regional control requirements of each area, supplement the wide-area flight permission instructions to generate regional flight permission instructions for each area, including: Based on the regional control needs of each area, the ground control nodes supplement the wide-area flight permission instructions for different application scenarios, and generate regional flight permission instructions for different application scenarios in each area. Low-altitude aircraft receive wide-area flight permission instructions and area flight permission instructions to determine their own flight permissions, including: The low-altitude aircraft determines the wide-area flight permission instruction for the current application scenario from the wide-area flight permission instructions of different application scenarios, and determines the regional flight permission instruction for the current application scenario from the regional flight permission instructions of different application scenarios, based on the wide-area flight permission instruction and the regional flight permission instruction for the current application scenario; and determines its own flight permission in the current application scenario based on the wide-area flight permission instruction and the regional flight permission instruction for the current application scenario.

6. The low-altitude flight control method based on satellite-to-ground broadcast fusion according to claim 3, characterized in that, The monitoring node in the last of multiple monitoring nodes aggregates the wide-area observation results of the same low-altitude aircraft from multiple monitoring nodes to generate wide-area situational information and feed it back to the control center, including: The monitoring node in the last area among multiple monitoring nodes aggregates the wide-area observation results of the monitoring nodes in multiple areas for the same low-altitude aircraft according to different time periods, so as to generate wide-area situation information for different time periods and feed it back to the control center. Based on the control needs of multiple regions and wide-area situational information, the control center updates wide-area flight permission instructions, including: Based on the control needs of multiple regions and the wide-area situation information at different times, the control center updates the wide-area flight permission instructions for different time periods. Any monitoring node among multiple monitoring nodes within the same area performs consistency verification on the regional observation results of multiple monitoring nodes within the same area for the same low-altitude aircraft, in order to generate regional situational information and feed it back to the ground control node, including: Any monitoring node among multiple monitoring nodes in the same area performs consistency verification on the regional observation results of multiple monitoring nodes in the same area for the same low-altitude aircraft according to different time periods, so as to generate regional situation information for different time periods and feed it back to the ground control node. Based on the received updated wide-area flight permission instructions, as well as the area control requirements and situational information for each region, the ground control nodes update the area flight permission instructions, including: Based on the updated wide-area flight permission instructions received at different time periods, as well as the regional control requirements of each area and the regional situation information at different time periods, the ground control nodes update the regional flight permission instructions for different time periods.

7. The low-altitude flight control method based on satellite-to-ground broadcast fusion according to claim 3, characterized in that, The monitoring node in the last of multiple monitoring nodes aggregates the wide-area observation results of the same low-altitude aircraft from multiple monitoring nodes to generate wide-area situational information and feed it back to the control center, including: The monitoring node in the last area among multiple monitoring nodes, according to different application scenarios, aggregates the wide-area observation results of the monitoring nodes in multiple areas for the same low-altitude aircraft, so as to generate wide-area situational information for different application scenarios and feed it back to the control center. Based on the control needs of multiple regions and wide-area situational information, the control center updates wide-area flight permission instructions, including: Based on the control needs of multiple regions and the wide-area situation information of different application scenarios, the control center updates the wide-area flight permission instructions for different application scenarios. Any monitoring node among multiple monitoring nodes within the same area performs consistency verification on the regional observation results of multiple monitoring nodes within the same area for the same low-altitude aircraft, in order to generate regional situational information and feed it back to the ground control node, including: Any monitoring node among multiple monitoring nodes in the same area can perform consistency verification on the regional observation results of multiple monitoring nodes in the same area for the same low-altitude aircraft according to different application scenarios, so as to generate regional situation information for different application scenarios and feed it back to the ground control node. Based on the received updated wide-area flight permission instructions, as well as the area control requirements and situational information for each region, the ground control nodes update the area flight permission instructions, including: Based on the updated wide-area flight permission instructions received from different application scenarios, as well as the regional control requirements of each area and the regional situation information of different application scenarios, the ground control nodes update the regional flight permission instructions for different application scenarios.

8. A low-altitude flight control system based on satellite-to-ground broadcast fusion, characterized in that, The system includes: The control center is used to generate wide-area flight permission instructions based on the control needs of multiple regions, and send the wide-area flight permission instructions to the satellite control nodes; Satellite control nodes are used to broadcast wide-area flight permission commands via satellite to achieve wide-area control over the position, trajectory, and behavior of low-altitude aircraft. Ground control nodes are used to receive wide-area flight permission instructions, supplement the wide-area flight permission instructions based on the regional control needs of each area, generate regional flight permission instructions for each area, and broadcast the regional flight permission instructions to the area via ground broadcast, so as to realize regional control over the position, trajectory and behavior of low-altitude aircraft. The low-altitude aircraft is used to receive wide-area flight permission instructions and regional flight permission instructions, determine its own flight permission, and perform flight missions in accordance with its own flight permission; broadcast its own operational status information, which includes at least one or more of the following: aircraft identification, position information, and speed information; The monitoring node is used to generate airspace operational status information and feed it back based on the received operational status information of low-altitude aircraft, as well as the received wide-area flight permission instructions and / or area flight permission instructions, so as to update the wide-area flight permission instructions and / or area flight permission instructions.

9. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the low-altitude flight control method based on satellite-to-ground broadcast fusion as described in any one of claims 1 to 7.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the low-altitude flight control method based on satellite-to-ground broadcast fusion as described in any one of claims 1 to 7.

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