Supervision system for ultra-low-altitude aircraft

Abstract

The utility model provides a super-low-altitude aircraft supervision system, which comprises supervision boxes, a base station rod and a comprehensive supervision platform, and is characterized in that the supervision boxes are installed on the outer surface of a super-low-altitude aircraft and are in one-to-one correspondence with the super-low-altitude aircraft, and the supervision boxes are connected with the comprehensive supervision platform; the base station rod is connected with the comprehensive supervision platform through an optical fiber and uploads acquired data information to the comprehensive supervision platform; and the comprehensive supervision platform is used for acquiring the data information acquired by the base station rod and the equipment information of the ultra-low-altitude aircraft, and controlling the flight of the ultra-low-altitude aircraft based on the data information and the equipment information. By applying the system, through the supervision box and the comprehensive supervision platform, unified scheduling and supervision of various ultra-low-altitude aircrafts can be realized, a bridge between the ultra-low-altitude aircrafts and the supervision platform is built through the supervision box, unique development standards of aircrafts of various models do not need to be butted, and standardization of airspace is effectively improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of aircraft control, and particularly relates to a supervisory system of ultra-low altitude aircraft. BACKGROUND

[0002] Low altitude economy relies on low altitude airspace below 1000 meters and various manned and unmanned aircraft activities to carry out various activities, such as low altitude agriculture and low altitude inspection. Traditional low altitude airspace unmanned aerial vehicle management is usually based on regional division and fixed flight path planning, which cannot be adjusted in real time, and when the number of aircraft is large, it is easy to cause confusion and safety risks, and different models and manufacturers of unmanned aerial vehicles have their own cloud platforms, and the approval and supervision departments do not have the same platform and method to supervise and manage the operation state of various aircraft. CONTENT OF THE UTILITY MODEL

[0003] The present disclosure provides a supervisory system of ultra-low altitude aircraft to at least solve the above technical problems in the prior art.

[0004] According to a first aspect of the present disclosure, a supervisory system of ultra-low altitude aircraft is provided, the system comprising: a supervisory box, the supervisory box being installed on the outer surface of the ultra-low altitude aircraft, corresponding to the ultra-low altitude aircraft one by one, the supervisory box being connected with a comprehensive supervisory platform; a base station pole, the base station pole comprising: an ultra-wideband enhanced base station, a meteorological sensor, an emission pollutant monitoring device, an aircraft noise monitoring device, a lighting device, a monitoring device, a solar panel and an emergency battery, and an integrated control box; the base station pole is connected with the comprehensive supervisory platform through an optical fiber, and uploads the obtained data information to the comprehensive supervisory platform; a comprehensive supervisory platform, used for obtaining data information collected by the base station pole and device information of the ultra-low altitude aircraft, and controlling the flight of the ultra-low altitude aircraft based on the data information and the device information.

[0005] In an implementable manner, the supervisory box comprises: a device identification plate attached to the surface of the supervisory box, the device identification plate carrying a unique identification code; a flight permission indicator for indicating the approval result of the flight task of the ultra-low altitude aircraft; a display screen for displaying relevant flight information of the ultra-low altitude aircraft.

[0006] In an embodiment, the supervision box further comprises: a Bluetooth pairing module for pairing with the ultra-low-altitude flying vehicle; a communication module for transmitting and receiving signals with the base station pole; a positioning module for determining the position information of the ultra-low-altitude flying vehicle; a data transmission module for data transmission with the integrated supervision platform, uploading the position information of the ultra-low-altitude flying vehicle to the integrated supervision platform, and for data transmission with the ultra-low-altitude flying vehicle to obtain the equipment information of the ultra-low-altitude flying vehicle; an abnormality monitoring module for monitoring the state of the ultra-low-altitude flying vehicle; a control takeover module for flight control of the ultra-low-altitude flying vehicle; an instruction transmission module connected with the integrated supervision platform, the ultra-low-altitude flying vehicle and the control takeover module for instruction transmission; and a hardware control module for controlling the ready-to-fly indicator light and display screen of the supervision box.

[0007] In an embodiment, the integrated supervision platform comprises: a visualization module for constructing a three-dimensional space digital base of a supervision area, a flying vehicle and a flight situation of the flying vehicle.

[0008] In an embodiment, the integrated supervision platform comprises: a ready-to-fly approval module for obtaining a flight plan of the ultra-low-altitude flying vehicle and determining whether the flight plan is permitted to be implemented.

[0009] In an embodiment, the integrated supervision platform comprises: a flight route planning module for planning a flight route of the ultra-low-altitude flying vehicle according to a starting position and a flight time of the ultra-low-altitude flying vehicle.

[0010] In an embodiment, the integrated supervision platform comprises: a flight evaluation module for supervising a flight plan and evaluating a current flight of the ultra-low-altitude flying vehicle according to an actual flight situation of each flight.

[0011] In an embodiment, the integrated supervision platform comprises: a noise pollutant monitoring and positioning module for obtaining pollutant data monitored by an emission pollutant monitoring device of a base station pole, noise data monitored by a flying vehicle noise monitoring device, and meteorological data monitored by a meteorological sensor, and monitoring and positioning the ultra-low-altitude flying vehicle with noise exceeding a standard and / or pollutant exceeding a standard based on the pollutant data, noise data and meteorological data.

[0012] In an embodiment, the integrated supervision platform comprises: an emergency disposal module for disposing and responding to an emergency encountered by the ultra-low-altitude flying vehicle during flight.

[0013] The regulatory system of the ultra-low altitude aircraft of the present disclosure, the system comprises: a regulatory box, a base station pole and a comprehensive regulatory platform, the regulatory box is installed on the outer surface of the ultra-low altitude aircraft, corresponding to the ultra-low altitude aircraft one by one, the regulatory box is connected with the comprehensive regulatory platform; the base station pole is connected with the comprehensive regulatory platform through an optical fiber, and uploads the obtained data information to the comprehensive regulatory platform; the comprehensive regulatory platform is used for acquiring the data information collected by the base station pole and the equipment information of the ultra-low altitude aircraft, and controlling the flight of the ultra-low altitude aircraft based on the data information and the equipment information. By applying the system, the unified scheduling and regulation of various ultra-low altitude aircrafts can be realized through the regulatory box and the comprehensive regulatory platform, the regulatory box builds a bridge between the ultra-low altitude aircraft and the regulatory platform, without the need to interface with the unique development standards of each type of aircraft, effectively improving the standardization of airspace, adopting the ultra-wideband positioning mode, the positioning is more accurate, and effective regulation of problems such as noise exceeding the standard, pollutant emission exceeding the standard, route deviation and unauthorized entry into the restricted area is realized.

[0014] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0015] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will be more apparent from the following detailed description read in conjunction with the accompanying drawings, in which:

[0016] In the drawings, identical or corresponding reference numerals indicate identical or corresponding parts.

[0017] Figure 1 The structure of the base station pole of the regulatory system of the ultra-low altitude aircraft of the present disclosure is shown Figure One ;

[0018] Figure 2 The structure of the base station pole of the regulatory system of the ultra-low altitude aircraft of the present disclosure is shown Figure Two .

[0019] 1, ultra-wideband enhanced base station; 2, meteorological sensor; 3, emission pollutant monitoring device; 4, aircraft noise monitoring device; 5, lighting device; 6, monitoring device; 7, solar panel and emergency battery; 8, integrated control box; 21, anemorumbometer; 22, laser visibility meter; 23, electronic rain gauge. DETAILED DESCRIPTION

[0020] In order to enable the purposes, features and advantages of the present disclosure to be more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present disclosure.

[0021] The utility model provides a kind of super low altitude aircraft's supervisory system, including supervisory box, base station pole and comprehensive supervision platform. Figure 1 The structure diagram of the base station pole of the supervisory system of a kind of super low altitude aircraft of the embodiment of the present disclosure is shown Figure One . The base station pole includes: ultra wide band enhanced base station 1, weather sensor 2, emission pollutant monitoring equipment 3, aircraft noise monitoring equipment 4, lighting equipment 5, monitoring equipment 6, solar panel and emergency battery 7 and integrated control box 8. Figure 1 The structure diagram of the base station pole of the supervisory system of a kind of super low altitude aircraft of the embodiment of the present disclosure is shown Figure Two . Wherein, weather sensor 2 includes: wind speed and direction indicator 21, laser visibility meter 22 and electronic rain gauge 23.

[0022] First, the site selection of base station pole is carried out, and the spatial analysis capability of City Information Modeling (CIM) data base is used for the site selection of base station pole installation, and the area range of base station pole network to be constructed is demarcated. In order to ensure better sensing information effect, the site interval distance of base station pole can be set to be not more than 600 meters in the actual base station pole layout.

[0023] The supervision area is divided into equal-sized grids with a length of 500 meters. Taking one grid as an example, the four points of a square and the intersection of the diagonal lines are taken as a set, and a buffer zone with a radius of 50 meters is generated with the points as the center. The building roof with the highest building height in the buffer zone radius range is determined as the installation position of the base station pole. After the base station pole layout is completed, a stable and reliable Ultra Wide Band (UWB) signal positioning network within a low altitude range of 500 meters is formed, which ensures that the super low altitude aircraft can communicate with at least three base station poles at any position, so as to make the positioning more accurate, and such layout can make the collection density and accuracy of weather sensor 2 meet the flight decision requirements of super low altitude aircraft.

[0024] The base station pole obtains electricity by accessing the urban power supply network when the devices other than the lighting device 5 of the base station pole are working, and the solar panel and the emergency battery 7 equipped in the base station pole are usually used for lighting. When the urban power supply network cannot supply power to the base station pole, the solar panel and the emergency battery 7 ensure the operation of the ultra-wideband enhanced base station 1 in priority.

[0025] The integrated control box 8 is used to upload the data information collected by the devices of the base station pole to the comprehensive management platform through the laid broadband network, so as to assist the comprehensive management platform in visual presentation or auxiliary decision-making by using the data information.

[0026] The meteorological data monitored by the meteorological sensor 2 and the monitoring data monitored by the monitoring device 6 are transmitted to the comprehensive management platform in real time for storage. The pollutant data monitored by the pollutant emission monitoring device 3 and the noise data monitored by the aircraft noise monitoring device 4 can also be transmitted to the comprehensive management platform in real time for storage. In addition, the pollutant threshold and the noise threshold can be set in advance. The monitored noise data is compared with the noise threshold, and the monitored pollutant data is compared with the pollutant threshold. When the noise data and / or the pollutant data do not meet the noise threshold and / or the pollutant threshold, the site information of the base station pole, the noise data and the pollutant data, and the current time information are uploaded to the comprehensive management platform for storage.

[0027] The ultra-wideband enhanced base station 1 and the meteorological sensor 2 are combined into an integrated base station pole, which facilitates the site selection and installation of the base station pole, improves the accuracy of the meteorological data, and provides more data basis for flight and data analysis.

[0028] In addition, the management box is installed on the outer surface of the ultra-low altitude aircraft, and has a one-to-one correspondence with the ultra-low altitude aircraft. The comprehensive management platform is used to obtain the data information collected by the base station pole and the device information of the ultra-low altitude aircraft, and control the flight of the ultra-low altitude aircraft based on the device information of the ultra-low altitude aircraft and the data information of the base station pole. The management box is equivalent to a transfer station of the ultra-low altitude aircraft and the comprehensive management platform. The comprehensive management platform only needs to be connected to the management box, and does not need to be connected to each type of ultra-low altitude aircraft. The management box is uniformly issued by the low-altitude aircraft management department.

[0029] By using the system, the unified scheduling and management of various types of ultra-low altitude aircraft can be realized through the management box and the comprehensive management platform. The management box builds a bridge between the ultra-low altitude aircraft and the management platform, and does not need to be connected to the unique development standards of each type of aircraft, thereby effectively improving the standardization of the airspace.

[0030] In an embodiment, the hardware part of the management box includes a device identification plate, a permission-to-fly indicator light, and a display screen.

[0031] The device identification plate is a metal plate attached to the surface of the supervision box, which carries a unique identification code. The flight plan of the ultra-low altitude flying vehicle is bound to the identification code. The flight task of the ultra-low altitude flying vehicle needs to be reported on the integrated supervision platform. The integrated supervision platform approves the flight plan of the ultra-low altitude flying vehicle, obtains the approval result, and the flight permission indication light is used to indicate the approval result of the flight plan of the ultra-low altitude flying vehicle. When the audit state of the flight plan is passed, the flight permission indication light can display a color, that is, it can fly; when the audit state of the flight plan is not passed, the flight permission indication light can display another color, that is, it cannot fly. The display screen is used to display the related flight information of the ultra-low altitude flying vehicle, such as the model of the ultra-low altitude flying vehicle, the flight speed, etc.

[0032] In an implementable manner, the supervision box further comprises a Bluetooth pairing module, a communication module, a positioning module, a data transmission module, an abnormality monitoring module, a control takeover module, an instruction transmission module, and a hardware control module.

[0033] The Bluetooth pairing module is used for pairing and binding with the ultra-low altitude flying vehicle. The Bluetooth pairing module completes initialization and automatically completes pairing each time the ultra-low altitude flying vehicle starts.

[0034] The communication module is used for transmitting and receiving signals with the base station pole. Here, the communication module adopts a UWB communication module. The supervision box sends signals to the base station pole through UWB technology and receives signals returned from the vicinity of the base station pole. The time difference and the angle of arrival between the transmitted signals and the received signals are used to calculate the distance and angle of the ultra-low altitude flying vehicle from the base station pole.

[0035] The coordinate positioning module is used to calculate the accurate coordinate position of the ultra-low altitude flying vehicle currently located through a multi-lateral measurement algorithm according to the distance, angle, and other information obtained by the communication module and the position information of the base station pole. The application adopts an edge computing manner. The calculation of the coordinate position of the ultra-low altitude flying vehicle is completed on the terminal. In this way, the burden of the server is reduced, and the delay is reduced. Since the edge computing manner increases the battery consumption of the ultra-low altitude flying vehicle, the coordinate positioning module can be turned on when needed and hibernated when not needed, or turned on when receiving the instruction of "need for positioning detection" from the integrated supervision platform. The position information is accurate according to the data of the coordinate positioning module. Finally, the related data of the positioning information is uploaded to the integrated supervision platform.

[0036] Anomaly detection module, for detecting the state of the ultra-low altitude aircraft, when detecting that the ultra-low altitude aircraft does not have abnormal conditions, the coordinate positioning module is in a dormant state; when detecting that the ultra-low altitude aircraft itself cannot obtain satellite positioning or power is off and other abnormal conditions, triggering the coordinate positioning module to work, realizing that the aircraft loses its own positioning information due to environmental influence, or after the abnormal crash of the aircraft, the position information of the aircraft can still be obtained using the UWB positioning method.

[0037] Data transmission module, for data transmission with the integrated supervision platform, the position information of the ultra-low altitude aircraft is uploaded to the integrated supervision platform in real time through UWB signals; and data transmission with the ultra-low altitude aircraft through Bluetooth transmission to obtain device information of the ultra-low altitude aircraft, such as satellite signal strength, coordinate position information, etc.

[0038] Control takeover module, for flight control of the ultra-low altitude aircraft, such as when detecting that the color of the ready-to-fly indicator light indicates that the aircraft cannot fly, if forced takeoff is detected, the control takeover module sends a command to the ultra-low altitude aircraft to take the action of refusing to take off.

[0039] The instruction transmission module is connected with the integrated supervision platform, the ultra-low altitude aircraft and the control takeover module, for transmitting instructions; after the instruction transmission module receives the control instruction from the integrated supervision platform, the instruction is identified, when the instruction type is a simple single operation, the instruction is directly transmitted to the ultra-low altitude aircraft through Bluetooth to complete execution directly, such as receiving a system sent instruction to lower the height by 20 meters, hover for 10 seconds, etc. When the instruction type is a series of operations formed by complex instructions, such as the instruction of "forced landing", the instruction is transmitted to the control takeover module, which controls the ultra-low altitude aircraft, the control of the ultra-low altitude aircraft by the original control center will be temporarily disabled until the control takeover module is released by the release instruction.

[0040] Hardware control module, for controlling the ready-to-fly indicator light and display screen of the supervision box.

[0041] In an implementation manner, the integrated supervision platform comprises: a visualization module for constructing a three-dimensional space digital base of a supervision area, an aircraft and flight conditions of the aircraft.

[0042] A three-dimensional space digital base of the regulatory area is constructed by geographic information system (GIS) and building information modeling (BIM) technology, including terrain, road, two-dimensional map, oblique photography, building BIM model, no-fly area electronic fence, and base station pole refined model. BIM modeling is performed according to the actual base station pole, so that each device exists in the form of the smallest unit component. The running state data and collected real-time data of various hardware of the base station pole are matched with the base station pole through the base station pole number and device type, and the real-time data can be presented in the visual scene by clicking the related device. Through the digital twin technology of GIS and BIM, fine display and management can be realized in the scenario of a large number of aircraft working simultaneously under the ultra-low airspace.

[0043] According to the 1:1 reduction modeling of various ultra-low altitude aircraft, a model warehouse is formed. When the regulatory box is in a working state, the current device information and real-time position information are uploaded to the comprehensive supervision platform, the system selects a matched model from the model warehouse according to the device type, and the model is updated in position in the three-dimensional scene driven by the real-time position information, so that the flight situation of the ultra-low altitude aircraft in the real world is presented in the twin world in 1:1 reduction, and the user can more intuitively master the low-altitude airspace situation.

[0044] In an implementable manner, the comprehensive supervision platform comprises: a flight permission approval module configured to obtain a flight plan of an ultra-low altitude aircraft and determine whether the flight plan is permitted to be implemented.

[0045] The flight plan of the ultra-low altitude aircraft submitted by the user is obtained, and the flight permission approval module can automatically approve the flight plan to ensure efficient and accurate plan approval. The specific approval process is as follows: first, the sensitive area and the no-fly area are drawn into an electronic fence in the system, and the electronic fence exists in the form of a three-dimensional space box in the three-dimensional scene; when the flight plan is received, the flight plan is analyzed by collision to determine whether the flight route of the flight plan intersects with any dimension of the no-fly area or the building model in space. If there is an intersection, it indicates that the current flight plan does not meet the regulations, and the flight permission approval module makes a disapproval handling on the flight plan and returns the flight plan.

[0046] When the flight route of the flight plan does not conflict with the electronic fence, the next stage of review is entered, the flight time corresponding to the flight plan that has been approved is obtained, the target flight plan that has time overlap with the flight time of the current flight plan is determined according to the flight time corresponding to the flight plan that has been approved and the flight time corresponding to the current flight plan, the flight route set corresponding to the target flight plan is obtained, and it is determined whether there is an intersecting route in the flight route set of the current route using spatial analysis. If not, the flight plan approval module makes an approval pass processing on the current flight plan. It can be understood that, in order to ensure flight safety, a certain route radius can be set according to the type of the ultra-low altitude aircraft. If the routes do not intersect within the route radius, the approval is passed. When there is an intersecting route, the intersection region of the two routes is determined, and the time interval of the ultra-low altitude aircraft corresponding to the current flight plan and the aircraft corresponding to the intersecting route to reach the intersection region is calculated according to the flight plan. If the time interval is within a predetermined time interval range, it can be determined that there is a flight risk. At this time, the flight plan approval module makes an approval fail processing, and fills the analysis result as the approval opinion, and returns to the user to modify the flight plan.

[0047] In an implementable manner, the comprehensive supervision platform comprises: a route planning module configured to plan a flight route of an ultra-low altitude aircraft according to a starting position and a flight time of the ultra-low altitude aircraft.

[0048] The route planning module mainly solves the case that the driver of the ultra-low altitude aircraft is clear about the starting position and the flight time, but cannot plan the route autonomously. The specific planning method comprises: the comprehensive supervision platform receives a task request of route planning, the task request comprising information such as takeoff coordinates, target coordinates, flight time period and type of the ultra-low altitude aircraft; according to the type of the ultra-low altitude aircraft, the height interval in which the ultra-low altitude aircraft of the type can fly is obtained from the data center library.

[0049] A plane of a preset width is generated with the line connecting the takeoff coordinates and the target coordinates as the center line, and a first space box is formed by combining the height interval obtained in the previous step. The flight route intersecting the first space box in the current time period is queried by spatial query, a second space box of a preset radius is generated with the flight route as the center line, and the second space box, the building model and the electronic fence region are determined as non-passable regions in the first space box. The second space box can be multiple. The best route path is calculated and obtained by using an algorithm based on graph search such as Dijkstra, and the route planning details are sent to the supervision box corresponding to the ultra-low altitude aircraft. The flight plan is automatically completed by the control takeover module in the supervision box. If no passable route path is found by using the algorithm based on graph search, the preset width corresponding to the first space box is increased until a passable route path is found.

[0050] In an embodiment, the comprehensive supervision platform comprises: a flight evaluation module, configured to supervise the flight plan and evaluate the current flight of the ultra-low altitude aircraft according to the actual flight condition of each flight.

[0051] The flight evaluation module is configured to supervise the flight plan in real time, and evaluate the single flight task and the overall condition of the ultra-low altitude aircraft respectively. The flight plan that meets the requirements is stored in the central database. When the ultra-low altitude aircraft starts to execute the flight plan, the real-time position information of the ultra-low altitude aircraft is uploaded to the flight evaluation module, and the corresponding flight path is obtained. A three-dimensional space buffer area with a preset radius is generated based on the flight path as the center line. The preset radius can be determined according to the actual situation. The spatial position information between each real-time coordinate point during flight and the three-dimensional space buffer area is calculated using spatial calculation. When the spatial position information between the corresponding real-time coordinate points of the continuous multiple points and the three-dimensional space buffer area does not coincide, it is determined that the current flight of the ultra-low altitude aircraft has deviated from the flight path, which is recorded as a violation.

[0052] At the end of the flight task, the flight time T1 deviating from the flight path and the overall flight time T2 of the ultra-low altitude aircraft are obtained. The ratio of the flight time deviating from the flight path is obtained by T1 / T2*100, recorded as A1. The expected flight time T3 of the flight path is obtained. When T2 deviates from T3, it is considered that the ultra-low altitude aircraft does not fly at the planned speed. The ratio of the time difference between the actual flight time and the expected flight time is obtained by (T3-T2) / T3*100, recorded as A2. A1 and A2 are obtained by weighted summation to obtain the evaluation score of the single flight, wherein the weights of A1 and A2 can be determined according to the actual situation.

[0053] The score of each flight plan is stored with the ultra-low altitude aircraft as the index. The average value of the evaluation scores of all flight plans of the ultra-low altitude aircraft is the evaluation score of the ultra-low altitude aircraft.

[0054] In an embodiment, the comprehensive supervision platform comprises: a noise pollutant monitoring and positioning module, configured to obtain pollutant data monitored by the emission pollutant monitoring device of the base station pole, noise data monitored by the aircraft noise monitoring device, and meteorological data monitored by the meteorological sensor, and monitor and position the ultra-low altitude aircraft with excessive noise and / or excessive pollutants based on the pollutant data, noise data and meteorological data.

[0055] The pollution emission monitoring device 3 and the aircraft noise monitoring device 4 in the base station pole are used for monitoring the pollution emission and the flight noise of the ultra-low altitude aircraft, and generating a warning information and uploading corresponding data to the comprehensive supervision platform after monitoring that the pollution exceeds the standard or the noise exceeds the standard. The meteorological sensor 2 in the base station pole monitors the current wind speed, wind direction and temperature of the base station pole, and uploads the wind speed, wind direction and temperature data of the site to the comprehensive supervision platform in real time.

[0056] Since it is a low-altitude flight, the influence of sound propagation on distance and wind can be ignored, and the noise pollution monitoring and positioning module queries the time and spatial dimensions according to the time information and the coordinate information of the base station pole in the flight record according to the time information and the coordinate information of the warning information, generates a first target aircraft set according to the matched aircraft record, obtains a plurality of first target aircraft sets corresponding to a plurality of base station poles in the same way, and obtains the ultra-low altitude aircraft with noise exceeding the standard by performing an intersection operation on the plurality of first target aircraft sets.

[0057] Before determining the ultra-low altitude aircraft with pollution emission exceeding the standard, it is necessary to use a reverse tracking algorithm to deduce the possible pollution source emission area and emission time according to the time information, the wind speed and direction data, the pollution concentration data and the temperature data of the current warning information, to query the time and spatial dimensions in the flight record according to the possible pollution emission area and emission time, to generate a second target aircraft set according to the matched aircraft record, to obtain a plurality of second target aircraft sets corresponding to a plurality of base station poles in the same way, and to obtain the ultra-low altitude aircraft with pollution emission exceeding the standard by performing an intersection operation on the plurality of second target aircraft sets.

[0058] In an implementable manner, the comprehensive supervision platform comprises an emergency disposal module for disposing and responding to the emergency encountered by the ultra-low altitude aircraft during flight.

[0059] The ultra-low altitude aircraft encounters an emergency during flight, and the emergency disposal module makes a quick automatic decision analysis and performs disposal response, mainly for disposal of stopping flying, emergency landing site selection and route planning after entering a no-fly zone. Manual marking of the landable area is required during the system construction stage, and it is stored in the spatial database, including but not limited to building rooftops, parks, playgrounds. When entering a no-fly zone and stopping flying, or an emergency landing occurs, the emergency disposal module is enabled. The real-time data of mobile phone information signals of major operators are accessed, and according to the signal distribution, a heat map is presented on the map, and the set of landable areas is overlaid with the position, and the non-person-dense places after position overlay are marked as a set of alternative landing positions. According to the type of the current ultra-low altitude aircraft, the set of landable positions is selected from the set of alternative landing positions, and according to the real-time position information, the flight distance and time of the ultra-low altitude aircraft to each position in the set of landable positions are calculated using the principle of the route planning module, and a plurality of optimal landing points are obtained.

[0060] If it is an unmanned ultra-low altitude aircraft, the landing point and route planning are uploaded to the instruction receiving module of the supervision box to trigger the control takeover module to realize quick automatic landing to the corresponding position, and if it is a manned ultra-low altitude aircraft, the plurality of optimal landing points are synchronized to the pilot to assist in landing site selection and planning. The emergency disposal module supervises the control takeover module to realize quick response and automatic disposal of emergencies, and solves the deficiency of manual processing in the large-scale low-altitude economic development stage.

[0061] It should be understood that the various forms of flow shown above can be reordered, added or deleted steps. For example, the steps described in the present disclosure can be executed in parallel, sequentially or in different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, which is not limited herein.

[0062] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0063] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A monitoring system for ultra-low-altitude aircraft, characterized in that, The system comprises: A regulatory box mounted on the outer surface of the ultra-low altitude aircraft, corresponding to the ultra-low altitude aircraft, connected with the integrated regulatory platform; A base station pole comprising: an ultra-wideband enhanced base station, a meteorological sensor, an emission pollutant monitoring device, an aircraft noise monitoring device, a lighting device, a monitoring device, a solar panel and an emergency battery, and an integrated control box; the base station pole is connected with the integrated regulatory platform through an optical fiber, and uploads the obtained data information to the integrated regulatory platform; The integrated regulatory platform is used to obtain the data information collected by the base station pole and the equipment information of the ultra-low altitude aircraft, and control the flight of the ultra-low altitude aircraft based on the data information and the equipment information.

2. The system of claim 1, wherein, The regulatory box comprises: An equipment identification plate attached to the surface of the regulatory box, the equipment identification plate carrying a unique identification code; An approval result indicating light for indicating the approval result of the flight task of the ultra-low altitude aircraft; A display screen for displaying the related flight information of the ultra-low altitude aircraft.

3. The system of claim 1, wherein, The regulatory box further comprises: A Bluetooth pairing module for pairing and binding with the ultra-low altitude aircraft; A communication module for transmitting and receiving signals with the base station pole; A positioning module for determining the position information of the ultra-low altitude aircraft; A data transmission module for data transmission with the integrated regulatory platform, uploading the position information of the ultra-low altitude aircraft to the integrated regulatory platform, and also for data transmission with the ultra-low altitude aircraft, obtaining the equipment information of the ultra-low altitude aircraft; An abnormality monitoring module for monitoring the state of the ultra-low altitude aircraft; A control takeover module for flight control of the ultra-low altitude aircraft; An instruction transmission module connected with the integrated regulatory platform, the ultra-low altitude aircraft and the control takeover module, for transmitting instructions; A hardware control module for controlling the flight approval indicating light and the display screen of the regulatory box.

4. The system of claim 1, wherein, The integrated regulatory platform comprises: A visualization module for constructing a three-dimensional space digital base of the regulatory area, an aircraft and the flight situation of the aircraft.

5. The system of claim 1, wherein, The integrated regulatory platform comprises: A flight approval module for obtaining the flight plan of the ultra-low altitude aircraft, and judging whether the flight plan is allowed to be implemented.

6. The system of claim 1, wherein, The integrated regulatory platform comprises: A route planning module for planning the flight route of the ultra-low altitude aircraft according to the starting position and flight time of the ultra-low altitude aircraft.

7. The system of claim 1, wherein, The integrated regulatory platform comprises: A flight evaluation module for supervising the flight plan, and evaluating the current flight of the ultra-low altitude aircraft according to the actual flight situation of each flight.

8. The system of claim 1, wherein, The integrated regulatory platform comprises: A noise pollution monitoring and positioning module is configured to acquire pollution data monitored by an emission pollution monitoring device of a base station pole, noise data monitored by an aircraft noise monitoring device, and meteorological data monitored by a meteorological sensor, and monitor and position the ultra-low altitude aircraft with noise exceeding a standard and / or pollution exceeding a standard based on the pollution data, noise data, and meteorological data.

9. The system of claim 1, wherein, The comprehensive management platform comprises: An emergency disposal module is configured to dispose and respond to an emergency encountered by the ultra-low altitude aircraft during flight.

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