Air-sea cooperation unmanned aerial vehicle remote identification code broadcasting and supervision method and system

Abstract

This invention discloses a method and system for remote identification code broadcasting and monitoring of unmanned aerial vehicles (UAVs) in an air-sea coordinated manner. Addressing the problems of blind spots in monitoring in remote sea areas and areas without public networks, and the fragmentation of air-sea monitoring data in existing technologies, this invention defines a UAV remote identification and tracking (UAV-RIT) message structure based on the VDES satellite channel, including mandatory fields such as a unique identification code, real-time four-dimensional position, velocity vector, and mission code. The system utilizes VDES satellites to achieve global UAV tracking and performs spatiotemporal alignment and fusion display of the parsed dynamic UAV targets with AIS ships and ADS-B aircraft targets. This invention also provides a method for linking the VDES satellite channel triggered by UAVs with BeiDou short messages. By triggering ground station-assisted VDES broadcasting through BeiDou short messages, this solves the problem of wide-area monitoring of low-cost UAVs. This invention achieves seamless air-sea integrated monitoring and collaborative collision avoidance.

Description

Technical Field

[0001] This invention relates to the field of drone supervision and integrated air and sea traffic management technology, specifically to a drone supervision method and system based on VDES (VHF Data Exchange System) satellite channel for enhanced remote identification code broadcasting and in coordination with existing maritime and aviation supervision systems. Background Technology

[0002] With the widespread application of drones in cross-air and sea fields such as search and rescue, waterway inspection and patrol, logistics, surveying and mapping, and marine monitoring, effective supervision of their flight activities, especially collaborative monitoring with ships at sea and low-altitude aircraft, has become an urgent need.

[0003] The existing technology has the following shortcomings:

[0004] Limitations of traditional drone regulation: Existing remote identification of drones mainly relies on local broadcasts (such as Bluetooth, Wi-Fi) or cellular networks, which creates regulatory blind spots in areas without ground network coverage, such as the open sea and mountainous areas, and cannot meet the needs of wide-area and cross-border flight regulation.

[0005] The air-sea collaborative monitoring is fragmented: the maritime sector generally uses AIS (Automatic Identification System) for ship monitoring, while the aviation sector uses ADS-B (Automatic Dependent Surveillance-Broadcast) for aircraft monitoring. Currently, there is a lack of effective technical means to seamlessly integrate the dynamic information of low-altitude drones into the aforementioned mature regulatory systems, resulting in "information silos" in situational awareness in the air-sea intersection area.

[0006] Limited identification information dimensions: Existing drone identification codes (such as Remote ID) contain limited information, usually only including identity and basic location, lacking key information such as velocity vectors and mission attributes, making it difficult to support complex cooperative collision avoidance and mission management.

[0007] Although there are existing solutions for using AIS for drone data transmission, these solutions are usually limited by the bandwidth and message format of AIS, making it difficult to carry the highly dynamic and multi-dimensional identification information required by drones, and they cannot fully utilize the higher bandwidth and ASM (application-specific messaging) function provided by the VDES system. Summary of the Invention

[0008] The purpose of this invention is to provide a method and system for broadcasting and monitoring remote identification codes of unmanned aerial vehicles (UAVs) in an air-sea collaborative manner, in order to solve the problems of numerous invalid actions, unclear stage objectives, short-sighted recommendation results, and easy deterioration of situation structure in the existing technology, thereby improving the exploration efficiency, stability, and recommendation quality in the inference stage of reinforcement learning training.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] A method for broadcasting and monitoring remote identification codes of unmanned aerial vehicles (UAVs) in an air-sea coordinated manner, the method comprising the following steps:

[0011] S1: Generate a UAV-RIT message containing a unique identification code, real-time four-dimensional position, velocity vector and mission code on the UAV terminal;

[0012] S2: Broadcast the UAV-RIT message through the VDES satellite channel, so that the VDES satellite can receive and forward it to the ground monitoring center;

[0013] S3: The ground monitoring center decodes the UAV-RIT message, extracts the UAV dynamic information, and performs spatiotemporal alignment and fusion processing with AIS ship targets and ADS-B aircraft targets;

[0014] S4: On the electronic nautical chart / map interface of the integrated supervision platform, the merged drone, ship and aircraft targets are visualized and displayed, and supervision instructions are issued based on the air-sea collaborative strategy.

[0015] Furthermore, in step S2, in response to the Doppler frequency shift caused by the high-speed motion of the low-orbit VDES satellite, a distributed pilot sequence is inserted in the middle of the data field of the UAV-RIT message; the receiving end adopts a joint demodulation algorithm based on decision feedback, using the demodulation result of the previous segment of data as a virtual pilot, to estimate and compensate for the Doppler change rate of the current segment, so as to achieve stable demodulation under a large frequency offset environment.

[0016] Furthermore, the UAV-RIT message structure in step S1 is a structured data frame adapted to the VDES ASM data link layer, which includes an application identifier. The application identifier is a pre-approved specific code used to distinguish it from standard maritime AIS messages and general VDES data messages.

[0017] Furthermore, step S2 also includes a signaling-triggered broadcast mode: when the UAV detects that its direct broadcast capability is limited, it sends a trigger command through a heterogeneous communication link; after receiving the trigger command, the ground infrastructure generates and broadcasts a complete UAV-RIT message on its behalf.

[0018] Furthermore, the heterogeneous communication link is a BeiDou short message link, and the triggering command is a short message digest containing the UAV's unique identification code and broadcast request; the ground infrastructure includes a BeiDou ground station and a VDES network control station, which exchange data through a dedicated line, and the VDES network control station controls satellite channel resources for broadcasting.

[0019] Furthermore, the spatiotemporal alignment in step S3 includes: obtaining the original sampling timestamps of AIS, ADS-B, and UAV-RIT messages; using extrapolation interpolation combined with Kalman filter prediction to synchronize heterogeneous data with different update rates and network delays to a unified fusion period; when the delay of a certain type of sensor data exceeds a threshold, using the filtered prediction value to fill the gap, and performing re-updating after receiving the delayed data.

[0020] This invention also provides an air-sea collaborative UAV remote identification code broadcasting and monitoring system, comprising:

[0021] UAV end: Equipped with a VDES satellite launch module and / or a BeiDou short message module for generating and sending UAV-RIT messages;

[0022] Space-based component: Includes VDES satellites and BeiDou satellites, used for receiving and forwarding data;

[0023] Ground components: including VDES ground stations, AIS base station network, ADS-B ground stations, and ground monitoring center;

[0024] Ground monitoring center: includes network switches, servers and integrated monitoring platform, used to aggregate multi-source data, parse UAV-RIT messages, and integrate and display AIS and ADS-B data.

[0025] Furthermore, the ground monitoring center includes a signaling translation module, which receives short message triggering instructions from the BeiDou ground station and translates them into broadcast messages conforming to the VDES ASM protocol format, which are then broadcast to satellite via the VDES network control station.

[0026] Furthermore, the VDES satellite transmission module includes a Doppler frequency shift compensation unit, which is used to insert distributed pilots at the transmitting end and cooperate with the receiving end algorithm to perform frequency offset correction.

[0027] Furthermore, the integrated monitoring platform includes a fusion processing module, which can perform spatiotemporal alignment of the parsed UAV dynamic targets with AIS ship targets and ADS-B aircraft targets, and display different targets with differentiated icons on the electronic chart / map interface, supporting close-range conflict alarms.

[0028] Furthermore, the drone terminal is also configured as follows:

[0029] VDES modules are used preferentially for direct satellite broadcasting, and the signal-to-noise ratio (SNR) of the VDES channel is monitored in real time.

[0030] When the SNR is lower than the preset threshold, it automatically switches to BeiDou short message mode, reduces the data transmission frequency, and triggers the degradation alarm flag.

[0031] When both VDES and BeiDou are unavailable, the system enters black box mode, storing flight data in encrypted format in the onboard security chip. When a handshake signal from a nearby monitoring terminal is detected, the system retransmits the data via a near-field communication link.

[0032] Furthermore, the UAV-RIT message also contains a digital signature generated based on the national cryptographic algorithm SM2. The digital signature is generated by encrypting the identity code, timestamp, and location information using the UAV's private key, and is used by the ground monitoring center to verify the signature and identify maliciously forged UAV identities.

[0033] An electronic device includes a processor, a memory, and a computer program stored in the memory, wherein the processor executes the program to implement any of the above methods;

[0034] A computer-readable storage medium storing a computer program that, when executed by a processor, implements any of the methods described above.

[0035] Compared with the prior art, the technical solution provided by the embodiments of the present invention has the following significant beneficial effects:

[0036] Seamless global oversight: Utilizing the global coverage capabilities of VDES satellites, the problem of blind spots in the oversight of drones in areas without public networks, such as the open sea and deserts, is completely solved.

[0037] Promoting air-sea collaboration: By defining a message structure that aligns with the AIS / ADS-B concept, UAVs become part of a unified "discourse system" for air and sea traffic, enabling the simultaneous integration and collaborative monitoring of multi-source dynamic information.

[0038] The information dimensions are rich: the added fields such as mission code and velocity vector support refined airspace management and emergency response.

[0039] High reliability and low cost: By using BeiDou short message as the triggering channel, the advantages of "BeiDou + VDES" are complemented, which reduces the all-time communication requirements of UAV onboard terminals and enhances the practicality and deployability of the system.

[0040] Strong communication robustness: Through a three-level communication strategy of "master-backup-storage" and anti-Doppler frequency shift design of the physical layer, the continuity and integrity of data are ensured in complex electromagnetic environments.

[0041] High security: The introduction of the national cryptographic standard SM2 digital signature effectively prevents identity fraud and ensures the authenticity and credibility of regulatory data. Attached Figure Description

[0042] Figure 1A schematic diagram of the overall framework structure of the air-sea collaborative UAV remote identification code broadcasting and monitoring system provided in this application embodiment;

[0043] Figure 2 A schematic diagram illustrating the structure of a UAV-RIT (Unmanned Aerial Vehicle Remote Identification and Tracking) message provided in an embodiment of this application;

[0044] Figure 3 A schematic diagram of the interface for multi-source target fusion display in a ground monitoring center provided in this application embodiment;

[0045] Figure 4 A flowchart of the linkage method for triggering VDES broadcast based on BeiDou short messages provided in the embodiments of this application. Detailed Implementation

[0046] To better understand the present invention, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of the present invention and are not intended to limit the embodiments of the present invention. Various modifications can be made to the embodiments as long as the effects of the present invention are achieved.

[0047] The present invention will now be described in detail with reference to specific embodiments.

[0048] Example 1: System Architecture

[0049] like Figure 1 As shown, this system includes an air base section and a ground base section.

[0050] The airborne component includes a drone (101), a VDES satellite (104), and a BeiDou satellite (105). The drone (101) is equipped with a VDES satellite launch module (102) and / or a BeiDou short message module (103).

[0051] The ground component includes the VDES ground station (106), the AIS base station network (107), the ADS-B ground station (108), and the ground monitoring center (109).

[0052] Workflow: The VDES satellite (104) is responsible for receiving UAV-RIT messages directly sent by the UAV or messages triggered and forwarded via BeiDou, and forwarding them to the VDES ground station (106). The server (110) of the ground monitoring center (109) aggregates data from VDES, AIS, and ADS-B through a network switch, and performs parsing and fusion processing. Finally, the fusion result is displayed on the electronic map of the command and dispatch terminal (111).

[0053] Example 2: UAV-RIT Packet Structure and Physical Layer Optimization

[0054] like Figure 2 As shown, the UAV-RIT message (200) adopts an efficient binary encoding format and is compatible with the VDES ASM standard (ITU-R M.2092).

[0055] Link layer control field (201):

[0056] Training sequence (24 bits): Used for clock synchronization at the receiver. In satellite links, this sequence is designed to have low autocorrelation to cope with Doppler shift.

[0057] Application Identifier AI (10 bits): Requests a specific code (such as UAV_RIT_01) to identify that this is a drone remote identification message.

[0058] Message length (6 bits): Indicates the length of subsequent data fields.

[0059] Integrity check (CRC): Cyclic redundancy check for the link layer.

[0060] Data fields:

[0061] Mandatory fields: Unique Identifier (202), UTC Timestamp (203), Longitude (204), Latitude (205), Altitude (206), Ground Speed ​​(207), Heading (208), Rate of Elevation (209), Registrant Code (210), Mission Code (211). The mission code is used to identify mission types such as "emergency rescue" and "logistics delivery".

[0062] Optional / Extended fields (212): include drone type, remaining battery power, emergency status indicators (such as out of control, forced landing), etc.

[0063] Security Verification Field (213): To prevent malicious forgery of the drone's identity (spoofing attack), the message ends with a digital signature generated based on the national cryptographic algorithm SM2. This signature is generated by encrypting "identity code + timestamp + location" using the drone's private key. The ground monitoring center holds the corresponding public key pool and enforces the signature verification procedure before parsing the message. If the signature verification fails, the message is discarded and marked as an "abnormal target".

[0064] Physical layer anti-Doppler frequency shift optimization: To address the Doppler frequency shift caused by the high-speed motion of low-Earth orbit satellites, this embodiment inserts distributed pilots in the middle of the data field. The receiver employs a joint demodulation algorithm based on decision feedback, using the demodulation result of the previous segment as a "virtual pilot" to estimate the Doppler rate of change in the current segment, ensuring stable demodulation under conditions of large frequency offset.

[0065] Example 3: Multi-source target fusion and collaborative monitoring

[0066] like Figure 3 As shown, the regulatory terminal display interface (300) is built based on the electronic nautical chart.

[0067] Data fusion processing: After receiving the UAV-RIT message, the ground monitoring center first performs spatiotemporal reference conversion.

[0068] Time synchronization: Extrapolation interpolation is used to synchronize data with different update rates (e.g., 2 seconds for AIS, 1 second for ADS-B, and 0.2 seconds for UAVs) to a unified fusion period (e.g., 0.2 seconds).

[0069] Coordinate unification: All data are uniformly transformed to the Earth-centered Earth-fixed coordinate system (ECEF).

[0070] Delay compensation: If the AIS satellite data has a large delay (e.g., 10 seconds), the gap is filled by Kalman filter prediction and the data is updated after the delayed data is received.

[0071] Visualization: The interface simultaneously displays AIS ship targets (301), ADS-B aircraft targets (302), and UAV-RIT drone targets (303). Drone icons can be overlaid with mission codes. The system has an alarm circle (305) that automatically issues an alarm and sends collision avoidance commands to the drone when the distance between different targets is less than a safety threshold.

[0072] Example 4: BeiDou-triggered VDES broadcast linkage method

[0073] like Figure 4 As shown, this embodiment provides a low-cost drone monitoring solution, the process of which is as follows:

[0074] Step 401: The UAV (101) generates UAV-RIT data during flight.

[0075] Step 402: The UAV compresses the data or sends only a summary message containing a unique identification code and a VDES broadcast request through its onboard BeiDou short message module (103).

[0076] Step 403: The Beidou satellite (105) forwards the short message to the Beidou ground station / operation control center.

[0077] Step 404: The Beidou ground station forwards the data to the Integrated Supervision Center (109) via a dedicated line.

[0078] Step 405: After verifying the drone's identity and permissions, the monitoring center sends the complete UAV-RIT message to the VDES network control station via the ground network.

[0079] Step 406: The VDES network control station broadcasts the UAV-RIT message of the UAV to the service area via the ASM channel of the VDES satellite (104).

[0080] Step 407: The VDES shipborne terminal, ground station and monitoring center in the area receive this message and realize wide-area identification of the UAV.

[0081] This process uses BeiDou short message as a "trigger" to solve the problem that UAVs cannot carry high-power VDES transmitters due to size and power consumption limitations, and realizes a collaborative supervision mode of "low-cost terminal + high-capacity ground station".

[0082] Example 5: Intelligent switching and degradation operation mechanism of multi-mode communication links

[0083] To cope with complex electromagnetic environments and extreme geographical conditions, this embodiment designs a three-level "primary-backup-storage" communication strategy on the UAV side to ensure the continuity and integrity of monitoring data:

[0084] Primary Link (Used): The airborne VDES module is used first for direct satellite broadcasting. The system monitors the signal-to-noise ratio (SNR) of the VDES channel in real time. When the SNR > threshold A, the system maintains a high frequency of broadcasting (e.g., once per second).

[0085] Secondary link (backup / trigger): When the VDES signal is interrupted or the SNR is less than threshold B, it automatically switches to BeiDou short message mode. At this time, in order to save BeiDou channel resources, the data transmission frequency is automatically reduced (e.g., 30 seconds / time), only core location information is sent, and the "degradation alarm" flag is triggered.

[0086] Level 3 Link (Black Box Mode): When both VDES and BeiDou are unavailable (such as in deep mountains and canyons), the drone enters "black box mode".

[0087] Local storage: Flight data (including trajectory and video stream summary) is stored in an encrypted format in the onboard security chip for a period of not less than 120 hours.

[0088] Near-field retransmission: Once a handshake signal is detected from a nearby monitoring terminal (such as an AIS base station on a patrol boat or a handheld terminal), high-speed data retransmission is immediately performed via Wi-Fi or Bluetooth link.

[0089] Example 6: Internal Data Interaction of the System

[0090] Inside the ground monitoring center, data exchange is routed with high security through virtual private lines and network switches.

[0091] The data stream received by the VDES satellite gateway station enters the network switch.

[0092] Network switches perform deep packet inspection (DPI) on the ASM packet header (especially the AI ​​field) of UAV-RIT message data.

[0093] After identifying the UAV-RIT message, the switch routes it to the UAV data processing system via a virtual private line.

[0094] The UAV data processing system unpacks and parses the messages, extracts information such as latitude, longitude, altitude, and speed, and stores them in a spatiotemporal database.

[0095] Ultimately, the data is pushed to the situational awareness engine of the air-sea collaborative supervision system for real-time rendering and alarm calculation.

[0096] In summary, through the above embodiments, this invention provides a complete method for broadcasting and monitoring remote identification codes for unmanned aerial vehicles (UAVs) in an air-sea coordinated manner. The method includes the following steps:

[0097] S1: Generate a UAV-RIT message containing a unique identification code, real-time four-dimensional position, velocity vector and mission code on the UAV terminal;

[0098] S2: Broadcast the UAV-RIT message through the VDES satellite channel, so that the VDES satellite can receive and forward it to the ground monitoring center;

[0099] S3: The ground monitoring center decodes the UAV-RIT message, extracts the UAV dynamic information, and performs spatiotemporal alignment and fusion processing with AIS ship targets and ADS-B aircraft targets;

[0100] S4: On the electronic nautical chart / map interface of the integrated supervision platform, the merged drone, ship and aircraft targets are visualized and displayed, and supervision instructions are issued based on the air-sea collaborative strategy.

[0101] Furthermore, in step S2, in response to the Doppler frequency shift caused by the high-speed motion of the low-orbit VDES satellite, a distributed pilot sequence is inserted in the middle of the data field of the UAV-RIT message; the receiving end adopts a joint demodulation algorithm based on decision feedback, using the demodulation result of the previous segment of data as a virtual pilot, to estimate and compensate for the Doppler change rate of the current segment, so as to achieve stable demodulation under a large frequency offset environment.

[0102] Furthermore, the UAV-RIT message structure in step S1 is a structured data frame adapted to the VDES ASM data link layer, which includes an application identifier. The application identifier is a pre-approved specific code used to distinguish it from standard maritime AIS messages and general VDES data messages.

[0103] Furthermore, step S2 also includes a signaling-triggered broadcast mode: when the UAV detects that its direct broadcast capability is limited, it sends a trigger command through a heterogeneous communication link; after receiving the trigger command, the ground infrastructure generates and broadcasts a complete UAV-RIT message on its behalf.

[0104] Furthermore, the heterogeneous communication link is a BeiDou short message link, and the triggering command is a short message digest containing the UAV's unique identification code and broadcast request; the ground infrastructure includes a BeiDou ground station and a VDES network control station, which exchange data through a dedicated line, and the VDES network control station controls satellite channel resources for broadcasting.

[0105] Furthermore, the spatiotemporal alignment in step S3 includes: obtaining the original sampling timestamps of AIS, ADS-B, and UAV-RIT messages; using extrapolation interpolation combined with Kalman filter prediction to synchronize heterogeneous data with different update rates and network delays to a unified fusion period; when the delay of a certain type of sensor data exceeds a threshold, using the filtered prediction value to fill the gap, and performing re-updating after receiving the delayed data.

[0106] This invention also provides an air-sea collaborative UAV remote identification code broadcasting and monitoring system, comprising:

[0107] UAV end: Equipped with a VDES satellite launch module and / or a BeiDou short message module for generating and sending UAV-RIT messages;

[0108] Space-based component: Includes VDES satellites and BeiDou satellites, used for receiving and forwarding data;

[0109] Ground components: including VDES ground stations, AIS base station network, ADS-B ground stations, and ground monitoring center;

[0110] Ground monitoring center: includes network switches, servers and integrated monitoring platform, used to aggregate multi-source data, parse UAV-RIT messages, and integrate and display AIS and ADS-B data.

[0111] Furthermore, the ground monitoring center includes a signaling translation module, which receives short message triggering instructions from the BeiDou ground station and translates them into broadcast messages conforming to the VDES ASM protocol format, which are then broadcast to satellite via the VDES network control station.

[0112] Furthermore, the VDES satellite transmission module includes a Doppler frequency shift compensation unit, which is used to insert distributed pilots at the transmitting end and cooperate with the receiving end algorithm to perform frequency offset correction.

[0113] Furthermore, the integrated monitoring platform includes a fusion processing module, which can perform spatiotemporal alignment of the parsed UAV dynamic targets with AIS ship targets and ADS-B aircraft targets, and display different targets with differentiated icons on the electronic chart / map interface, supporting close-range conflict alarms.

[0114] Furthermore, the drone terminal is also configured as follows:

[0115] VDES modules are used preferentially for direct satellite broadcasting, and the signal-to-noise ratio (SNR) of the VDES channel is monitored in real time.

[0116] When the SNR is lower than the preset threshold, it automatically switches to BeiDou short message mode, reduces the data transmission frequency, and triggers the degradation alarm flag.

[0117] When both VDES and BeiDou are unavailable, the system enters black box mode, storing flight data in encrypted format in the onboard security chip. When a handshake signal from a nearby monitoring terminal is detected, the system retransmits the data via a near-field communication link.

[0118] Furthermore, the UAV-RIT message also contains a digital signature generated based on the national cryptographic algorithm SM2. The digital signature is generated by encrypting the identity code, timestamp, and location information using the UAV's private key, and is used by the ground monitoring center to verify the signature and identify maliciously forged UAV identities.

[0119] This invention can be implemented on an electronic device. The device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the recommended block placement method as described in the above embodiments.

[0120] The present invention achieves the following beneficial effects through the above technical solution:

[0121] Seamless global regulatory coverage: Utilizing the global coverage capabilities of VDES satellites, the problem of regulatory blind spots for drones in areas without public networks, such as the open sea, deserts, and high mountains, has been completely solved, achieving truly seamless global regulatory coverage.

[0122] Promoting integrated air and sea coordination: By defining a message structure that aligns with the AIS / ADS-B concept, drones become part of a unified "discourse system" for air and sea traffic, enabling simultaneous display and collaborative monitoring of drones, ships, and aircraft, effectively eliminating information silos in air and sea supervision.

[0123] The information is rich and practical: the added fields such as mission code, velocity vector, and rate of ascent / descent support refined airspace management and emergency response. Regulators can predict the intentions of drones (such as whether it is an emergency mission), providing a data foundation for differentiated regulatory strategies.

[0124] Balancing high reliability and low cost: Utilizing BeiDou short message service as the triggering channel creates a complementary advantage of "BeiDou + VDES," reducing the 24 / 7 communication requirements for UAV onboard terminals. A three-tiered communication strategy of "primary-backup-storage" ensures data continuity and integrity under various extreme environments.

[0125] Strong communication robustness: Through anti-Doppler frequency shift design and distributed pilot technology at the physical layer, the problem of communication quality degradation caused by the high-speed motion of low-orbit satellites is solved, ensuring stable data transmission in a dynamic environment.

[0126] High security: The introduction of the national cryptographic SM2 digital signature mechanism effectively prevents identity fraud and data tampering, ensuring the authenticity and credibility of regulatory data and meeting the security requirements of critical infrastructure.

[0127] Highly practical for engineering applications: The system design fully considers various challenges in real-world application scenarios, such as heterogeneous data fusion, latency compensation, and degraded operation, making it highly feasible for engineering implementation and worthy of widespread adoption.

[0128] Good compatibility: Built on the existing VDES and BeiDou system, it makes full use of the existing infrastructure, reduces the system deployment cost, and improves the feasibility of technology promotion.

[0129] In summary, this invention provides a technologically advanced, safe, reliable, and highly practical solution for the coordinated air-sea monitoring of unmanned aerial vehicles (UAVs), possessing significant technological advantages and broad application prospects.

[0130] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0131] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0132] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0133] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0134] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0135] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0136] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0137] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0138] It should also be noted that 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 process, method, article, or apparatus. Unless otherwise specified, 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.

[0139] The above are merely embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

[0140] The accompanying drawings illustrate several block diagrams and / or flowcharts. It should be understood that some blocks, or combinations thereof, in the block diagrams and / or flowcharts can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when executed by the processor, these instructions can create means for implementing the functions / operations described in these block diagrams and / or flowcharts. The technology of this application can be implemented in hardware and / or software (including firmware, microcode, etc.). Alternatively, the technology of this application can take the form of a computer program product stored on a computer-readable storage medium, which can be used by or in conjunction with an instruction execution system.

Claims

1. A method for remote identification code broadcasting and monitoring of unmanned aerial vehicles (UAVs) in an air-sea coordinated manner, characterized in that, Includes the following steps: S1: The UAV terminal generates a UAV-RIT message containing identification and dynamic status information; S2: The UAV terminal sends the UAV-RIT message to the ground monitoring center through at least one satellite communication link; the satellite communication link includes a VDES satellite link or a BeiDou satellite link; S3: The ground monitoring center parses the UAV-RIT message and performs spatiotemporal fusion with the AIS ship target and ADS-B aircraft target; S4: Conduct unified and visual monitoring of the integrated air and sea targets on the monitoring platform.

2. The method according to claim 1, characterized in that, In step S2, a distributed pilot sequence is inserted in the middle of the data field of the UAV-RIT message to address the Doppler frequency shift caused by the high-speed motion of the low-orbit VDES satellite. The receiving end adopts a joint demodulation algorithm based on decision feedback, using the demodulation result of the previous segment of data as a virtual pilot to estimate and compensate for the Doppler change rate of the current segment, so as to achieve stable demodulation under a large frequency offset environment.

3. The method according to claim 1, characterized in that, Step S2 also includes a broadcast mode based on signaling triggering: When the UAV detects that its direct broadcast capability is limited, it sends a trigger command through a heterogeneous communication link; after receiving the trigger command, the ground infrastructure generates and broadcasts a complete UAV-RIT message on its behalf.

4. The method according to claim 3, characterized in that, The heterogeneous communication link is a BeiDou short message link, and the triggering command is a short message digest containing the UAV's unique identification code and broadcast request; the ground infrastructure includes a BeiDou ground station and a VDES network control station, which exchange data through a dedicated line, and the VDES network control station controls satellite channel resources for broadcasting.

5. The method according to claim 1, characterized in that, The spatiotemporal fusion in step S3 includes: obtaining the original sampling timestamps of AIS, ADS-B, and UAV-RIT messages; using extrapolation interpolation combined with Kalman filter prediction to synchronize heterogeneous data with different update rates and network delays to a unified fusion period; when the delay of a certain type of sensor data exceeds a threshold, using the filtered prediction value to fill the gap, and performing re-updating after receiving the delayed data.

6. The method according to claim 1, characterized in that, It also includes intelligent switching and degradation operation mechanisms for multi-mode communication links: Primary link: Prioritize the use of airborne VDES modules for direct satellite broadcasting, monitor the signal-to-noise ratio of the VDES channel in real time, and maintain high-frequency broadcasting when the signal-to-noise ratio is greater than threshold A; Secondary link: When the VDES signal is interrupted or the signal-to-noise ratio is less than the threshold B, it automatically switches to BeiDou short message mode, reduces the data transmission frequency, sends only core location information, and triggers the degradation alarm flag. Level 3 Link: When both VDES and BeiDou are unavailable, the UAV enters black box mode, storing flight data in encrypted format in the onboard security chip for a period of no less than 120 hours, and retransmits the data via near-field communication link when a handshake signal from the monitoring terminal is detected.

7. The method according to claim 1, characterized in that, The UAV-RIT message contains a security verification field, which is a digital signature generated based on the national cryptographic SM2 algorithm. It is generated by encrypting the identity code, timestamp, and location information using the UAV's private key. The ground monitoring center enforces the signature verification procedure before parsing the message. If the signature verification fails, the message is discarded and marked as an abnormal target.

8. A remote identification code broadcasting and monitoring system for unmanned aerial vehicles (UAVs) with air-sea cooperation, characterized in that, include: UAV end: Equipped with a VDES satellite launch module and / or a BeiDou short message module for generating and sending UAV-RIT messages; Space-based component: Includes VDES satellites and BeiDou satellites, used for receiving and forwarding data; Ground components: including VDES ground stations, AIS base station network, ADS-B ground stations, and ground monitoring center; Ground monitoring center: includes network switches, servers and integrated monitoring platform, used to aggregate multi-source data, parse UAV-RIT messages, and integrate and display AIS and ADS-B data.

9. The system according to claim 8, characterized in that, The ground monitoring center contains a signaling translation module, which receives short message triggering commands from the BeiDou ground station and translates them into broadcast messages conforming to the VDES ASM protocol format, which are then broadcast to satellite via the VDES network control station. The VDES satellite transmission module includes a Doppler frequency shift compensation unit, which is used to insert distributed pilots at the transmitting end and cooperate with the receiving end algorithm to perform frequency offset correction. The integrated monitoring platform includes a fusion processing module that can spatiotemporally align the analyzed UAV dynamic targets with AIS ship targets and ADS-B aircraft targets, and display different targets with differentiated icons on the electronic chart / map interface, supporting close-range conflict alarms.

10. The system according to claim 8, characterized in that, The drone terminal is also configured to: VDES modules are used preferentially for direct satellite broadcasting, and the signal-to-noise ratio (SNR) of the VDES channel is monitored in real time. When the SNR is lower than the preset threshold, it automatically switches to BeiDou short message mode, reduces the data transmission frequency, and triggers the degradation alarm flag. When both VDES and BeiDou are unavailable, the system enters black box mode, stores flight data in encrypted format in the onboard security chip, and retransmits data via near-field communication link when a handshake signal from a nearby monitoring terminal is detected. The UAV-RIT message also contains a digital signature generated based on the national cryptographic algorithm SM2. The digital signature is generated by encrypting the identity code, timestamp, and location information using the UAV's private key. It is used by the ground monitoring center to verify the signature and identify maliciously forged UAV identities.

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