A high-density low-altitude flight conflict early warning and cooperative scheduling system

Abstract

This invention discloses a high-density low-altitude flight conflict early warning and collaborative scheduling system, belonging to the field of low-altitude aircraft safety control technology. The system adopts a distributed airborne architecture, including an airborne positioning and communication module, a conflict early warning calculation unit, a collaborative scheduling control unit, and a universal mounting base. The positioning and communication module collects real-time data on the aircraft's position, heading, and speed, and enables wireless interaction between aircraft. The conflict early warning calculation unit identifies the risk of multiple aircraft flight path intersections through an airspace gridding judgment algorithm. The collaborative scheduling control unit autonomously generates scheduling and avoidance commands, achieving conflict early warning and collaborative scheduling for high-density low-altitude aircraft groups without relying on a cloud platform. The system is compatible with various types of low-altitude aircraft, is easy to install, can be mass-produced, provides comprehensive protection, and has clear rights protection boundaries.

Description

Technical Field

[0001] This invention relates to safety management technology for low-altitude aircraft swarms, specifically to a high-density low-altitude flight conflict early warning and collaborative scheduling system and method. Background Technology

[0002] With the large-scale application of low-altitude logistics, sightseeing tours, and urban inspections, high-density flights of multiple aircraft in the same airspace are becoming increasingly common, which can easily lead to safety risks such as overlapping flight paths and close encounters. Existing scheduling methods mostly rely on centralized cloud-based management and control, which suffers from defects such as network latency, signal interruption, and platform dependence; some airborne solutions only have a single early warning function and lack autonomous collaborative avoidance capabilities; the installation structure has poor adaptability, requiring modifications to the main body of the aircraft, which is not conducive to mass production and autonomous implementation. Summary of the Invention

[0003] This invention provides a distributed airborne autonomous collaborative scheduling system, which achieves high-density low-altitude flight safety management without cloud dependence through direct inter-aircraft communication, local conflict prediction, and autonomous scheduling and avoidance. The system is highly versatile, easy to install, and can be independently produced, assembled, and sold.

[0004] The system includes an airborne positioning and communication module, a conflict early warning calculation unit, a collaborative scheduling and control unit, and a universal mounting base. The positioning and communication module enables positioning data acquisition and inter-aircraft information exchange; the conflict early warning calculation unit completes multi-aircraft conflict identification and risk assessment; the collaborative scheduling and control unit outputs scheduling commands such as altitude, heading, and speed; and the universal mounting base adopts a detachable structure, allowing for rapid assembly without modifying the aircraft.

[0005] Beneficial effects 1. Airborne distributed independent operation, no cloud dependency, strong anti-interference capability and fast response speed.

[0006] 2. The product claims and method claims provide dual protection, ensuring a complete scope of protection and making it difficult to circumvent infringement.

[0007] 3. Universal detachable installation structure, compatible with various low-altitude aircraft such as multi-rotor and fixed-wing aircraft.

[0008] 4. Dynamic priority scheduling logic adapts to different aircraft models and airspace conditions, making it more practical and secure.

[0009] 5. Modular structure and standardized interfaces facilitate large-scale production and market promotion. Attached Figure Description

[0010] Figure 1 System structure diagram Figure Labels 1—Airborne positioning and communication module; 11—BeiDou / GPS positioning module; 12—Inter-aircraft wireless communication module; 2—Conflict early warning calculation unit; 21—Microprocessor; 22—Memory; 3—Cooperative scheduling control unit; 4—Universal mounting base; 5—Low-altitude aircraft. Detailed Implementation

[0011] The airborne positioning and communication module, conflict early warning computing unit, and collaborative scheduling and control unit are integrated into a universal mounting base and fixed to the outside of the aircraft fuselage by elastic clamps or magnetic structures.

[0012] After the system is powered on, the positioning and communication module acquires the local position, altitude, heading, and speed data in real time and broadcasts them to surrounding aircraft at fixed intervals; at the same time, it receives data from surrounding aircraft and transmits it to the conflict early warning calculation unit.

[0013] The conflict early warning calculation unit uses airspace rasterization and time window algorithms to construct a local dynamic airspace model and predict the risk of multiple aircraft flight paths intersecting within a preset time.

[0014] When a conflict is detected, the system dynamically selects avoidance methods such as altitude stratification, heading fine-tuning, or speed control based on the characteristics of the aircraft itself, the current airspace altitude limit, and the surrounding environment. Multi-rotor aircraft can perform hovering or vertical take-off and landing, while fixed-wing aircraft use heading fine-tuning and gradual altitude change to avoid stalling.

[0015] In this embodiment, the airspace rasterization algorithm specifically involves dividing the airspace within a radius R around the aircraft into N×N×M three-dimensional grid cells, each marked with a timestamp T. The conflict warning calculation unit compares the trajectory data broadcast by neighboring aircraft with the predicted trajectory of the aircraft within the grid cells. If the same grid cell is found to be occupied within the same time window, a conflict risk is identified. This algorithm effectively reduces the computational load and achieves millisecond-level response.

[0016] This system is suitable for high-density flight scenarios such as low-altitude logistics formations, sightseeing aircraft groups, and inspection crews, enabling orderly passage and safe collaborative scheduling of multiple aircraft.

Claims

1. A high-density low-altitude flight conflict early warning and collaborative scheduling system, characterized in that, include: Airborne positioning and communication module is used to acquire aircraft positioning information and flight status data in real time, and to conduct wireless data interaction with surrounding low-altitude aircraft. The conflict early warning calculation unit is electrically connected to the airborne positioning and communication module and has a built-in microprocessor and memory. The memory stores a conflict determination program; The collaborative scheduling control unit is electrically connected to the conflict early warning calculation unit, and its output is connected to the low-altitude aircraft flight control system. A universal mounting base is used to fix all the above modules and units to the base and to be mechanically connected to the outside of the low-altitude aircraft fuselage in a detachable manner; The conflict early warning calculation unit identifies flight path intersections and conflicts in real time and determines the risk level based on the flight data of the local aircraft and neighboring aircraft, and coordinates with the scheduling control unit to output scheduling avoidance instructions accordingly.

2. The system according to claim 1, characterized in that, The airborne positioning and communication module integrates a BeiDou / GPS positioning module and an inter-aircraft wireless communication module to achieve real-time positioning and short-range inter-aircraft data exchange.

3. The system according to claim 1, characterized in that, The conflict early warning calculation unit uses spatial rasterization and time window prediction algorithms to identify multi-machine crossover, tail-end collision, and approaching conflict risks.

4. The system according to claim 1, characterized in that, Universal mounting bases include at least one of the following: elastic clamps, magnetic bases, guide rail sliders, Velcro straps, or adhesive bases.

5. The system according to claim 1, characterized in that, The scheduling instructions output by the coordinated scheduling control unit include heading adjustment, altitude layering, speed increase / decrease, or hovering / waiting instructions.

6. The system according to claim 1, characterized in that, The system can operate independently onboard and can achieve autonomous collaborative scheduling of multiple machines without connecting to a third-party cloud management platform.

7. A conflict early warning and cooperative scheduling method based on the system described in any one of claims 1-6, characterized in that, Including the following steps: S1. The system performs a power-on self-test, and the airborne positioning and communication module acquires real-time positioning and flight status data of the aircraft. S2. Periodically broadcast local data via inter-aircraft wireless communication and receive status information from surrounding aircraft; S3. The conflict early warning calculation unit constructs a local dynamic airspace model and predicts flight conflicts through a rasterization algorithm; S4. When a conflict risk is determined, an avoidance command is generated based on a preset dynamic priority strategy according to the aircraft type and the current airspace status; the avoidance command includes at least one of altitude stratification, heading adjustment or speed control; S5. The coordinated dispatch control unit outputs corresponding control commands to complete multi-aircraft autonomous coordinated avoidance and avoid air conflicts.

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