CN108183770A - A kind of automatic clearance management method of unmanned plane - Google Patents
A kind of automatic clearance management method of unmanned plane Download PDFInfo
- Publication number
- CN108183770A CN108183770A CN201711498833.5A CN201711498833A CN108183770A CN 108183770 A CN108183770 A CN 108183770A CN 201711498833 A CN201711498833 A CN 201711498833A CN 108183770 A CN108183770 A CN 108183770A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- client
- flight
- flight plan
- cloud server
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18517—Transmission equipment in earth stations
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0078—Avoidance of errors by organising the transmitted data in a format specifically designed to deal with errors, e.g. location
- H04L1/0079—Formats for control data
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
- H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
- H04L63/0876—Network architectures or network communication protocols for network security for authentication of entities based on the identity of the terminal or configuration, e.g. MAC address, hardware or software configuration or device fingerprint
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/08—Protocols specially adapted for terminal emulation, e.g. Telnet
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Computer Security & Cryptography (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Computer Hardware Design (AREA)
- Computing Systems (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Astronomy & Astrophysics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of automatic clearance management method of unmanned plane, including 1), build unmanned plane during flying management system；2) flight plan, is uploaded；3) flight plan, is audited：Cloud server and Chinese abortive haul (https：//www.airspace.cn/) interconnection, after flight plan is uploaded to cloud server, cloud server parses flight plan, the data packet of the Chinese abortive haul prescribed form of generation satisfaction sends Chinese abortive haul to and is examined, result waiting for approval, and approval results are transmitted to earth station's client, examination result is sent to unmanned aerial vehicle (UAV) control device by earth station's client again, very convenient, efficient.It solves the problems, such as very troublesome when unmanned plane declares flight plan and spatial domain and lacks live application means, and according to the big data Real Time Monitoring of high in the clouds platform rear end, so as to which new course line be generated for user, it is automatic to submit application, parsing report, the global function navigation declared spatial domain plan in time under complex situations when becoming unmanned plane autonomous flight and fulfiled assignment.
Description
Technical field
The invention belongs to unmanned plane linkage cloud computing, cloud process fields, fly automatically in particular to a kind of unmanned plane
License management method, real-time course line detection acquisition, analysis, planning flight and the method for submitting application and processing to relevant departments.
Background technology
As unmanned air vehicle technique is more and more ripe, the application field of unmanned plane is also more and more extensive, removes consumer level within nearly 2 years
Other than unmanned plane is hot, unmanned plane also obtains broad development in other many industries, and such as logistics unmanned plane, is detectd unmanned plane of taking photo by plane
Look into unmanned plane etc..
Current unmanned plane, which declares spatial domain and the flow in course line, is mostly：1), common mode submits associated materials, in advance Shen
Flight plan is reported, phone is put on record before flying and at winged backward local air force control.Above-mentioned flow is in general, relatively cumbersome, for
It is unfamiliar with for the people of flow or even the address of relevant departments and contact method is all hard to know, and waste of manpower cost,
Time cost.
2), online application logs in Chinese abortive haul (https：//www.airspace.cn/), relevant information is submitted, is waited for
Examination ＆ approval, executive plan.Above-mentioned flow is simpler for first way, but needs to perform the unit of unmanned machine operation
Or individual submits a variety of materials etc., such as the valid certificates of unmanned operators, traffic pass file, client to use ratio
It is cumbersome.
Invention content
The purpose of the present invention is to provide a kind of automatic clearance management methods of unmanned plane, solve traditional unmanned plane during flying
Course line approval process is cumbersome, efficiency is low, can not on-line intelligence audit the technical issues of.
To solve the above-mentioned problems, the present invention adopts the following technical scheme that：
A kind of automatic clearance management method of unmanned plane, includes the following steps：
1) unmanned plane during flying management system, is built：Unmanned plane long-distance management system includes comprehensive control client, earth station client
End, cloud server and unmanned generator terminal；Controller and wireless communication module, comprehensive control client, earth station are provided on unmanned plane
Client is also equipped with wireless communication module, and unmanned plane is carried out wireless communication with earth station client, cloud server；User is led to
Earth station's client registers account is crossed, each account corresponds to one frame of binding or multiple UAVs；
2) flight plan, is uploaded：After user is by earth station's client login account, flight plan data packet is compiled
Code, and the upload flight plan data packet after coding is sent to cloud server；The flight plan includes the flight time, flies
Walking along the street line and the unmanned plane number for performing flight plan；
3) flight plan, is audited：Cloud server and Chinese abortive haul (https：//www.airspace.cn/) interconnection, lead to
Crossing cloud server being capable of all flight plan for having been audited by Chinese abortive haul of real time inspection；The cloud server receives
It to after flight plan data packet, is parsed, and carries out authentication operations, then with being flown by all of audit in Chinese abortive haul
Row plan be compared, when judging to perform this flight plan, corresponding spatial domain and course line it is whether occupied, whether with other nothings
There is conflict in man-machine flight plan, while check whether this Flight Plan Type is normal：
3.1), if flight plan is abnormal or there is conflict, following steps are performed：
3.1.1) query result is sent to earth station's client by cloud server, and user is notified to reset flight meter
It draws or flight time point, unmanned plane takeoff point and terminal factor of the cloud server in user's flight plan, with reference to reality
When the Chinese abortive haul database that gets by other flight plans in all flight plans and this system of audit, pass through
The adaptive Integrated Navigation Algorithms of GPS/INS generate new air navigation plan and are pushed to earth station's client；The GPS/INS is adaptive
Integrated Navigation Algorithm is answered to be repeated no more for the prior art.
3.1.2), user receives the query result of cloud server transmission, the air navigation plan pushed according to cloud server
Carry out following steps：
3.1.2.1) if, user upload the air navigation plan of new flight plan or push, repeatedly step 2), 3)；
3.1.2.2) if, user cancel a plan, directly terminate this flight plan；
3.2), if flight plan is without abnormal, and is not rushed with all flight plans by audit in Chinese abortive haul
It is prominent, perform following steps：
3.2.1), cloud server parsing flight plan, the data packet that generation meets Chinese abortive haul prescribed form are sent to
Chinese abortive haul is examined, it is waiting for approval as a result, and examination result is transmitted to earth station's client, earth station's client will be examined again
The fruit that comes to an end is sent to unmanned aerial vehicle (UAV) control device；
3.2.2), after by examination ＆ approval, this flight plan by audit is sent to by earth station's client
Unmanned aerial vehicle (UAV) control device, then after the departure time point for reaching flight plan, unmanned aerial vehicle (UAV) control device controls unmanned plane according to flight plan
Autonomous flight, and pass through earth station's client and push real-time course line situation to cloud server in real time；In flight course, user
Comprehensive control client, the related flight parameter of earth station's client real time inspection unmanned plane can be passed through；
4) aerial mission, is completed according to flight plan, is maked a return voyage after the completion；Earth station's client reports this flight record
To cloud server, cloud server carries out data storage, adds in big data analysis library, is provided to formulate flight plan next time
It helps.
By by cloud server and Chinese abortive haul (https：//www.airspace.cn/) interconnection, it will be in flight plan
After being transmitted to cloud server, cloud server parsing flight plan, generation meets the data packet transmission of Chinese abortive haul prescribed form
Examined to Chinese abortive haul, it is waiting for approval as a result, and approval results are transmitted to earth station's client, earth station's client again will
Examination result is sent to unmanned aerial vehicle (UAV) control device, very convenient, efficient.It solves when unmanned plane declares flight plan and spatial domain very
Trouble and the problem of lack live application means, and according to the big data Real Time Monitoring of high in the clouds platform rear end, so as to for
User generates new course line, automatic to submit application, and parsing report is declared in time when becoming unmanned plane autonomous flight under complex situations
The global function navigation that spatial domain plans and fulfils assignment.
Be further improved, the step 3.2.2) in, unmanned plane in the process, when encountering urgent abnormal conditions：As temporarily
Urgent abnormal conditions data are sent to earth station's client, ground standee by no-fly or course line by road occupying, unmanned aerial vehicle (UAV) control device
Urgent abnormal conditions data are then forwarded to cloud server by family end, and cloud server reported data gives Chinese abortive haul, and according to
VSLAM video algorithms and high in the clouds big data analysis carry out real-time navigation, generate new Circuitous Route, and Circuitous Route is generated newly
Approval process be sent to Chinese abortive haul and examined again, unmanned plane hovers at this time, wait for user send control instruction and in
State's abortive haul approval results or makes a return voyage again according to preset strategy；The VSLAM video algorithms are the prior art, are repeated no more.
3.2.2.1) if, according to navigation results, user instruction and abortive haul return information comprehensive descision to make a return voyage, unmanned plane
It makes a return voyage；
3.2.2.2) if, the permission of Chinese abortive haul continue to fly according to Circuitous Route, cloud server passes through Circuitous Route
Earth station's client sends unmanned aerial vehicle (UAV) control device to, and control unmanned plane continues to fly according to new course line, appoints until completing flight
Business.
When encountering urgent abnormal conditions：If interim no-fly or course line is by road occupying, according to the big data of high in the clouds platform rear end
New course line is generated for user in Real Time Monitoring, automatic to submit application, and parsing report is answered when becoming unmanned plane autonomous flight
The global function navigation declared spatial domain plan in the case of miscellaneous in time and fulfiled assignment.
Be further improved, the cloud server is CEEWA cloud servers, earth station's client and cloud server it
Between communicated using asynchronous NIO, and compiled based on CTP agreements (CEEWA Transmission Protocol) using automatic
Decoding technique enhances message transmission reliability；The self-defined encoding and decoding of CTP agreements, transmission efficiency is high, is passed with less space
Send more bytes, ciphered compressed transmission.
Central administration node of the CEEWA cloud servers as PASS clouds, the every frame unmanned plane of integrated treatment and account
Information, analysis user behavior, integrated management is carried out to Comprehensive Control end and unmanned generator terminal；Comprehensive Control end and unmanned generator terminal are all
It is interconnected with CEEWA cloud servers, the data that CEEWA cloud servers send Comprehensive Control end and unmanned generator terminal carry out data
Forwarding, i.e., mutually converted the proprietary protocol of the procotol at Comprehensive Control end and UAV Communication and sent, CEEWA clouds
The ability that server is held to provide data storage, by data storage of the conventional store in PC the machine or SD card beyond the clouds.It utilizes
High in the clouds big data treatment technology, provides the service of customization to the user, such as：Forest fires detect, gas pipeline leakage, vehicle
Tracking etc. service, provide restful interfaces, ensure various platforms can fast and easy access, live video stream is stored, is propped up
Hold video on demand etc..
It is further improved, the comprehensive control client, i.e. user carry out unmanned plane the terminal of integrated management, including browser
(B/S frameworks), the client (C/S frameworks) on PC and three kinds of mobile client (the mobile equipment of the specified APP of installation)
Form；In comprehensive control client, user can check the basic letter of this user binding and the unmanned plane without binding by internet
Breath, essential information include every frame unmanned plane model, current location, whether in execution task, perform what task and electricity is more
It is few；After user logs in the account of oneself, the unmanned plane that it is bound can be managed, you can unmanned plane to be controlled to take off, drop
It falls, upload task, execution task, the unmanned plane of no binding can only be checked, no permission is managed, controls.Such as
Ten frame unmanned planes is needed to go to perform a hot job now, and this account is only bundled with six frame unmanned planes, and has a frame
Another task is performed, then other five framves unmanned plane is needed to cooperate with completion task together, then the user can be by checking
There is the information of unmanned plane, it is known which unmanned plane is currently in idle state, and the user of account corresponding with these unmanned planes takes
It must contact, finally form a ten frame unmanned plane team and go to complete task jointly.
Browser (B/S frameworks) form, as direct login account on the internet, does not need in terminals such as computers
Upper installation client, it is only necessary to a server, and with Internet connectivity.The C/S frameworks form, needs client in electricity
Client is installed in the terminals such as brain, it then could logon account by client.The mobile client, pacifies on the mobile apparatus
Corresponding APP is filled, user opens APP login accounts by mobile terminal, and the APP is used to manage for applicant's independent development
The application program of unmanned plane may be mounted on the mobile terminals such as mobile phone, tablet computer, small to be convenient for carrying.Three kinds of forms
Autonomous selection can be needed according to user, to meet the requirement of different user.
It is further improved, described that comprehensive control client is provided with unmanned plane community, user can be at nobody by internet
Machine community shares the relevant information of unmanned plane, leases unmanned plane or other professional equipments, issues or the plan of receiving an assignment.Fully
Using Internet technology, reach resource-sharing, utilization rate of equipment and installations maximumlly acts on.The unmanned plane community is developed for applicant
A database community forum, it is all with unmanned plane relevant information can be shared in the community per family, such as publication is rented, by means of nothing
Man-machine or other professional equipments, issue or receive an assignment plan etc., make full use of internet technology, reaches resource-sharing, sets
Standby utilization rate maximumlly acts on.
It is further improved, the unmanned generator terminal, that is, unmanned plane or a unmanned plane group of planes, is the real terminal for performing user instruction,
Unmanned generator terminal can be with the various external equipments of carry.Such as：The equipment such as megaphone, saving casting device, camera, and by Unmanned Aerial Vehicle Data and extension
It carries collected data and uploads to high in the clouds.
It is further improved, each account corresponds to a unique coding, and each unmanned plane corresponds to one and uniquely compiles
Code, each account correspond to one frame of binding or multiple UAVs, i.e. the coding of unmanned plane forms corresponding pass with the account number bound
System；The authentication operations, that is, judge to manage, the unmanned plane that controls and the account whether there is binding relationship, passes through password, mouth
Order is verified, improves safety.
It is further improved, the cloud server parses flight plan, and generation meets the data of Chinese abortive haul prescribed form
Packet sends Chinese abortive haul to and is examined, and the examination ＆ approval time is 5-20min, and relatively traditional approval process substantially reduces flight meter
The examination ＆ approval time is drawn, examination ＆ approval efficiency is greatly improved.
Compared with prior art, this programme has the advantages that：
1st, by by cloud server and Chinese abortive haul (https：//www.airspace.cn/) interconnection, by flight plan
After being uploaded to cloud server, cloud server parsing flight plan, the data packet that generation meets Chinese abortive haul prescribed form passes
Chinese abortive haul is given to be examined, it is waiting for approval as a result, and approval results are transmitted to earth station's client, earth station's client is again
Examination result is sent to unmanned aerial vehicle (UAV) control device, it is very convenient, efficient.Solve unmanned plane declare it is non-when flight plan and spatial domain
The problem of often troublesome and shortage live application means.
2nd, during unmanned plane during flying, when encountering urgent abnormal conditions：If interim no-fly or course line is by road occupying, according to
The big data Real Time Monitoring of high in the clouds platform rear end, is generated for user new course line, automatic to submit application, and parsing is reported, into
The global function navigation declared spatial domain plan during for unmanned plane autonomous flight under complex situations in time and fulfiled assignment.
Description of the drawings
Fig. 1 is the system architecture diagram of CEEWA high in the clouds controller.
Fig. 2 is the flow chart of the automatic clearance management method of unmanned plane.
Specific embodiment
To make the purpose of the present invention and technical solution clearer, with reference to the embodiment of the present invention to the technology of the present invention
Scheme carries out clear, complete description.
As shown in Fig. 2, a kind of automatic clearance management method of unmanned plane, includes the following steps：
1) unmanned plane during flying management system, is built, as shown in Figure 1：Unmanned plane long-distance management system include it is comprehensive control client,
Earth station's client, cloud server and unmanned generator terminal；Controller and wireless communication module, comprehensive control client are provided on unmanned plane
End, earth station's client are also equipped with wireless communication module, and unmanned plane carries out channel radio with earth station's client, cloud server
Letter；User corresponds to one frame of binding or multiple UAVs by earth station's client registers account, each account；
2) flight plan, is uploaded：After user is by earth station's client login account, flight plan data packet is compiled
Code, and the upload flight plan data packet after coding is sent to cloud server；The flight plan includes the flight time, flies
Walking along the street line and the unmanned plane number for performing flight plan；
3) flight plan, is audited：Cloud server and Chinese abortive haul (https：//www.airspace.cn/) interconnection, lead to
Crossing cloud server being capable of all flight plan for having been audited by Chinese abortive haul of real time inspection；The cloud server receives
It to after flight plan data packet, is parsed, and carries out authentication operations, then with being flown by all of audit in Chinese abortive haul
Row plan be compared, when judging to perform this flight plan, corresponding spatial domain and course line it is whether occupied, whether with other nothings
There is conflict in man-machine flight plan, while check whether this Flight Plan Type is normal：
3.1), if flight plan is abnormal or there is conflict, following steps are performed：
3.1.1) query result is sent to earth station's client by cloud server, and user is notified to reset flight meter
It draws or flight time point, unmanned plane takeoff point and terminal factor of the cloud server in user's flight plan, with reference to reality
When the Chinese abortive haul database that gets by other flight plans in all flight plans and this system of audit, pass through
The adaptive Integrated Navigation Algorithms of GPS/INS generate new air navigation plan and are pushed to earth station's client；
3.1.2), user receives the query result of cloud server transmission, the air navigation plan pushed according to cloud server
Carry out following steps：
3.1.2.1) if, user upload the air navigation plan of new flight plan or push, repeatedly step 2), 3)；
3.1.2.2) if, user cancel a plan, directly terminate this flight plan；
3.2), if flight plan is without abnormal, and is not rushed with all flight plans by audit in Chinese abortive haul
It is prominent, perform following steps：
3.2.1), cloud server parsing flight plan, the data packet that generation meets Chinese abortive haul prescribed form are sent to
Chinese abortive haul is examined, it is waiting for approval as a result, and examination result is transmitted to earth station's client, earth station's client will be examined again
The fruit that comes to an end is sent to unmanned aerial vehicle (UAV) control device；
3.2.2), after by examination ＆ approval, this flight plan by audit is sent to by earth station's client
Unmanned aerial vehicle (UAV) control device, then after the departure time point for reaching flight plan, unmanned aerial vehicle (UAV) control device controls unmanned plane according to flight plan
Autonomous flight, and pass through earth station's client and push real-time course line situation to cloud server in real time；In flight course, user
Comprehensive control client, the related flight parameter of earth station's client real time inspection unmanned plane can be passed through；When encountering urgent abnormal feelings
Condition：If interim no-fly or course line is by road occupying, urgent abnormal conditions data are sent to earth station's client by unmanned aerial vehicle (UAV) control device,
Urgent abnormal conditions data are then forwarded to cloud server by earth station's client, and cloud server reported data is empty to China
Net, and real-time navigation is carried out according to VSLAM video algorithms and high in the clouds big data analysis, new Circuitous Route is generated, and will detour
The new approval process of airline generation is sent to Chinese abortive haul and is examined again, and unmanned plane hovers at this time, and user is waited for send control
System instruction and Chinese abortive haul approval results or make a return voyage again according to preset strategy；
3.2.2.1) if, according to navigation results, user instruction and abortive haul return information comprehensive descision to make a return voyage, unmanned plane
It makes a return voyage；
3.2.2.2) if, the permission of Chinese abortive haul continue to fly according to Circuitous Route, cloud server passes through Circuitous Route
Earth station's client sends unmanned aerial vehicle (UAV) control device to, and control unmanned plane continues to fly according to new course line, appoints until completing flight
Business.
4) aerial mission, is completed according to flight plan, is maked a return voyage after the completion；Earth station's client reports this flight record
To cloud server, cloud server carries out data storage, adds in big data analysis library, is provided to formulate flight plan next time
It helps.
By by cloud server and Chinese abortive haul (https：//www.airspace.cn/) interconnection, it will be in flight plan
After being transmitted to cloud server, cloud server parsing flight plan, generation meets the data packet transmission of Chinese abortive haul prescribed form
Examined to Chinese abortive haul, it is waiting for approval as a result, and approval results are transmitted to earth station's client, earth station's client again will
Examination result is sent to unmanned aerial vehicle (UAV) control device, very convenient, efficient.It solves when unmanned plane declares flight plan and spatial domain very
Trouble and the problem of lack live application means, when encountering urgent abnormal conditions：If interim no-fly or course line is by road occupying, according to
The big data Real Time Monitoring of high in the clouds platform rear end, is generated for user new course line, automatic to submit application, and parsing is reported, into
The global function navigation declared spatial domain plan during for unmanned plane autonomous flight under complex situations in time and fulfiled assignment.
In the present embodiment, the cloud server is CEEWA cloud servers, earth station's client and cloud server
Between communicated using asynchronous NIO, and used based on CTP agreements (CEEWA Transmission Protocol) automatic
Encoding and decoding technique enhances message transmission reliability；The self-defined encoding and decoding of CTP agreements, transmission efficiency is high, with less space
Transmit more bytes, ciphered compressed transmission.
Central administration node of the CEEWA cloud servers as PASS clouds, the every frame unmanned plane of integrated treatment and account
Information, analysis user behavior, integrated management is carried out to Comprehensive Control end and unmanned generator terminal；Comprehensive Control end and unmanned generator terminal are all
It is interconnected with CEEWA cloud servers, the data that CEEWA cloud servers send Comprehensive Control end and unmanned generator terminal carry out data
Forwarding, i.e., mutually converted the proprietary protocol of the procotol at Comprehensive Control end and UAV Communication and sent, CEEWA clouds
The ability that server is held to provide data storage, by data storage of the conventional store in PC the machine or SD card beyond the clouds.It utilizes
High in the clouds big data treatment technology, provides the service of customization to the user, such as：Forest fires detect, gas pipeline leakage, vehicle
Tracking etc. service, provide restful interfaces, ensure various platforms can fast and easy access, live video stream is stored, is propped up
Hold video on demand etc..
The comprehensive control client, i.e. user carry out unmanned plane the terminal of integrated management, in the present embodiment, using browsing
Device (B/S frameworks) form, as direct login account on the internet, does not need to install client in the terminals such as computer, only
Need a server, and with Internet connectivity.At Comprehensive Control end, all unmanned planes can be checked by internet
Essential information after user logs in, can be managed the equipment that it is bound, you can unmanned plane to be controlled to take off, land, upload
Task performs task dispatching；User can also community's shared data, lease unmanned plane or other professional equipments, publication/execution is appointed
Business plan etc., make full use of internet technology, reaches resource-sharing, utilization rate of equipment and installations maximumlly acts on.
In other embodiments, the client (C/S frameworks) being mounted on PC or mobile client (installation can also be used
The mobile equipment of specified APP) form.
In the present embodiment, described that comprehensive control client is provided with unmanned plane community, user can be in nothing by internet
Man-machine community shares the relevant information of unmanned plane, leases unmanned plane or other professional equipments, issues or the plan of receiving an assignment.It fills
Divide using Internet technology, reach resource-sharing, utilization rate of equipment and installations maximumlly acts on.The unmanned plane community is opened for applicant
One database community forum of hair, it is all with can share unmanned plane relevant information in the community per family, such as publication rent, borrow
Unmanned plane or other professional equipments, issue or receive an assignment plan etc., make full use of internet technology, reach resource-sharing,
Utilization rate of equipment and installations maximumlly acts on.
In the present embodiment, the unmanned generator terminal, that is, unmanned plane or a unmanned plane group of planes are the real ends for performing user instruction
End, unmanned generator terminal can be with the various external equipments of carry.Such as：The equipment such as megaphone, saving casting device, camera, and by Unmanned Aerial Vehicle Data
And the collected data of carry upload to high in the clouds.
In the present embodiment, each account corresponds to a unique coding, and each unmanned plane corresponds to one uniquely
Coding, each account correspond to one frame of binding or multiple UAVs, i.e. the coding of unmanned plane is formed corresponding with the account number bound
Relationship；The authentication operations, that is, judge to manage, the unmanned plane that controls and the account whether there is binding relationship, by password,
Password is verified, improves safety.
In the present embodiment, the cloud server parsing flight plan, generation meet the number of Chinese abortive haul prescribed form
Chinese abortive haul is sent to according to packet to be examined, the examination ＆ approval time is about 10min, and relatively traditional approval process substantially reduces flight
The plan examination ＆ approval time, examination ＆ approval efficiency is greatly improved.
Do not done in the present invention illustrate be the prior art or can be realized by the prior art, and the present invention
Described in specific implementation case be only the present invention preferable case study on implementation, not be used for limit the present invention practical range.
The equivalent changes and modifications that i.e. all contents according to scope of the present invention patent are made all should be used as the technology scope of the present invention.
Claims (8)
1. a kind of automatic clearance management method of unmanned plane, which is characterized in that include the following steps：
1) unmanned plane during flying management system, is built：Unmanned plane long-distance management system include it is comprehensive control client, earth station's client,
Cloud server and unmanned generator terminal；Controller and wireless communication module, comprehensive control client, earth station client are provided on unmanned plane
End is also equipped with wireless communication module, and unmanned plane is carried out wireless communication with earth station client, cloud server；User passes through ground
Face station client login account, each account correspond to one frame of binding or multiple UAVs；
2) flight plan, is uploaded：After user is by earth station's client login account, flight plan data packet is encoded,
And the upload flight plan data packet after coding is sent to cloud server；The flight plan includes flight time, flight
Route and the unmanned plane number for performing flight plan；
3) flight plan, is audited：Cloud server and Chinese abortive haul (https：//www.airspace.cn/) interconnection, pass through cloud
End server being capable of all flight plans for having been audited by Chinese abortive haul of real time inspection；The cloud server receives winged
It after row planning data packet, is parsed, and carries out authentication operations, then with passing through all flight meters of audit in Chinese abortive haul
Draw be compared, when judging to perform this flight plan, corresponding spatial domain and course line it is whether occupied, whether with other unmanned planes
Flight plan there is conflict, while check whether this Flight Plan Type normal：
3.1), if flight plan is abnormal or there is conflict, following steps are performed：
3.1.1) query result is sent to earth station's client by cloud server, notify user reset flight plan or
Flight time point, unmanned plane takeoff point and terminal factor of person's cloud server in user's flight plan, with reference to obtaining in real time
The Chinese abortive haul database got by other flight plans in all flight plans and this system of audit, passes through GPS/
The adaptive Integrated Navigation Algorithms of INS generate new air navigation plan and are pushed to earth station's client；
3.1.2), user receives the query result of cloud server transmission, is carried out according to the air navigation plan that cloud server pushes
Following steps：
3.1.2.1) if, user upload the air navigation plan of new flight plan or push, repeatedly step 2), 3)；
3.1.2.2) if, user cancel a plan, directly terminate this flight plan；
3.2), if flight plan is without abnormal, and does not conflict with all flight plans by audit in Chinese abortive haul, hold
Row following steps：
3.2.1), cloud server parsing flight plan, the data packet that generation meets Chinese abortive haul prescribed form send China to
Abortive haul is examined, it is waiting for approval as a result, and examination result is transmitted to earth station's client, earth station's client will examine tie again
Fruit is sent to unmanned aerial vehicle (UAV) control device；
3.2.2), after by examination ＆ approval, this flight plan by audit is sent to by nobody by earth station's client
Machine controller, then after the departure time point for reaching flight plan, unmanned aerial vehicle (UAV) control device controls unmanned plane autonomous according to flight plan
Flight, and pass through earth station's client and push real-time course line situation to cloud server in real time；In flight course, user can be with
Pass through comprehensive control client, the related flight parameter of earth station's client real time inspection unmanned plane；
4) aerial mission, is completed according to flight plan, is maked a return voyage after the completion；This flight record is reported to cloud by earth station's client
Server is held, cloud server carries out data storage, adds in big data analysis library.
2. the automatic clearance management method of unmanned plane according to claim 1, which is characterized in that the step 3.2.2)
In, unmanned plane in the process, when encountering urgent abnormal conditions：If interim no-fly or course line is by road occupying, unmanned aerial vehicle (UAV) control device will
Urgent abnormal conditions data are sent to earth station's client, and urgent abnormal conditions data are then forwarded to high in the clouds by earth station's client
Server, cloud server reported data gives Chinese abortive haul, and is carried out in fact according to VSLAM video algorithms and high in the clouds big data analysis
When navigate, generate new Circuitous Route, and Circuitous Route generated into new approval process be sent to Chinese abortive haul and examined again
Batch, unmanned plane hovers at this time, and user is waited for send control instruction with Chinese abortive haul again approval results or according to preset strategy
It makes a return voyage；
3.2.2.1) if, according to navigation results, user instruction and abortive haul return information comprehensive descision to make a return voyage, unmanned plane returns
Boat；
3.2.2.2) if, the permission of Chinese abortive haul continue to fly according to Circuitous Route, Circuitous Route is passed through ground by cloud server
Client of standing sends unmanned aerial vehicle (UAV) control device to, and control unmanned plane continues to fly according to new course line, until completing aerial mission.
3. the automatic clearance management method of unmanned plane according to claim 1 or 2, which is characterized in that the high in the clouds clothes
Business device is CEEWA cloud servers, is communicated between earth station's client and cloud server using asynchronous NIO, and base
Enhance message transmission reliability using automatic encoding and decoding technique in CTP agreements (CEEWA Transmission Protocol)；Institute
The self-defined encoding and decoding of CTP agreements are stated, transmission efficiency is high, more bytes are transmitted with less space, ciphered compressed transmission；
The letter of central administration node of the CEEWA cloud servers as PASS clouds, the every frame unmanned plane of integrated treatment and account
Breath, analysis user behavior, integrated management is carried out to Comprehensive Control end and unmanned generator terminal；Comprehensive Control end and unmanned generator terminal all and
CEEWA cloud servers interconnect, and the data that CEEWA cloud servers send Comprehensive Control end and unmanned generator terminal carry out data and turn
Hair, i.e., mutually converted the proprietary protocol of the procotol at Comprehensive Control end and UAV Communication and sent, CEEWA high in the clouds
Server provides the ability of data storage, by data storage of the conventional store in PC the machine or SD card beyond the clouds.
4. the automatic clearance management method of unmanned plane according to claim 3, which is characterized in that the comprehensive control client
End, i.e. user carry out unmanned plane the terminal of integrated management, including browser (B/S frameworks), the client (C/ on PC
S frameworks) and three kinds of forms of mobile client (the mobile equipment of the specified APP of installation)；In comprehensive control client, user passes through internet
Can check this user binding and without binding unmanned plane essential information, essential information including every frame unmanned plane model, when
Front position, whether in execution task, how much perform what task and electricity；It, can be to it after user logs in the account of oneself
The unmanned plane of binding is managed, you can unmanned plane to be controlled to take off, is landed, upload task, execution task, for not binding
Unmanned plane can only check that no permission is managed, controls.
5. the automatic clearance management method of unmanned plane according to claim 4, which is characterized in that described in comprehensive control client
End is provided with unmanned plane community, and user can share the relevant information of unmanned plane by internet in unmanned plane community, lease nothing
Man-machine or other professional equipments are issued or the plan of receiving an assignment.
6. the automatic clearance management method of unmanned plane according to claim 5, which is characterized in that described
Unmanned generator terminal, that is, unmanned plane or a unmanned plane group of planes are the real terminals for performing user instruction, and unmanned generator terminal can be with carry
Various external equipments.
7. the automatic clearance management method of unmanned plane according to claim 6, which is characterized in that each account pair
Answer a unique coding, each unmanned plane corresponds to a unique coding, each account correspond to one frame of binding or multi rack nobody
The coding of machine, i.e. unmanned plane forms correspondence with the account number of binding；The authentication operations judge manage, control
Unmanned plane and the account whether there is binding relationship.
8. the automatic clearance management method of unmanned plane according to claim 6, which is characterized in that the cloud server
Flight plan is parsed, the data packet of the Chinese abortive haul prescribed form of generation satisfaction sends Chinese abortive haul to and examined, and examines the time
For 5-20min.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711498833.5A CN108183770A (en) | 2017-12-29 | 2017-12-29 | A kind of automatic clearance management method of unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711498833.5A CN108183770A (en) | 2017-12-29 | 2017-12-29 | A kind of automatic clearance management method of unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108183770A true CN108183770A (en) | 2018-06-19 |
Family
ID=62549620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711498833.5A Pending CN108183770A (en) | 2017-12-29 | 2017-12-29 | A kind of automatic clearance management method of unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108183770A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109118827A (en) * | 2018-09-28 | 2019-01-01 | 北京理工大学 | A kind of unmanned plane during flying management method and system based on cloud platform |
| CN109656261A (en) * | 2018-12-05 | 2019-04-19 | 智灵飞（北京）科技有限公司 | A kind of communication systems and method of gesture stability test macro and different winged controls |
| WO2020124379A1 (en) * | 2018-12-18 | 2020-06-25 | 北京小米移动软件有限公司 | Flight reporting method and apparatus |
| CN111582840A (en) * | 2020-05-26 | 2020-08-25 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle operation airspace monitoring method, system, equipment and storage medium |
| CN111724247A (en) * | 2020-06-19 | 2020-09-29 | 中国银行股份有限公司 | Unmanned aerial vehicle-based home-entry money receiving and delivering method and device, storage medium and equipment |
| CN111746789A (en) * | 2019-03-29 | 2020-10-09 | 本田技研工业株式会社 | Imaging system, server, control method, and storage medium storing program |
| CN112202702A (en) * | 2020-07-30 | 2021-01-08 | 中国民用航空上海航空器适航审定中心 | Airworthiness data transmission method, system, device and storage medium |
| CN112235729A (en) * | 2020-10-13 | 2021-01-15 | 中国联合网络通信集团有限公司 | Control method and system of networked unmanned aerial vehicle, terminal device and storage medium |
| CN112419789A (en) * | 2020-10-13 | 2021-02-26 | 北京瓴域航空技术研究院有限公司 | Automatic approval method, device and medium for unmanned aerial vehicle flight application |
| CN112434855A (en) * | 2020-11-25 | 2021-03-02 | 浩亚信息科技有限公司 | UTM-based flight plan planning method |
| WO2021087656A1 (en) * | 2019-11-04 | 2021-05-14 | 深圳市大疆创新科技有限公司 | Method for monitoring unmanned aerial vehicle, and device and storage medium |
| CN113096447A (en) * | 2019-12-23 | 2021-07-09 | 中航空管系统装备有限公司 | Airspace authorization coordination operation method |
| CN113359857A (en) * | 2021-07-14 | 2021-09-07 | 广西电网有限责任公司电力科学研究院 | Unmanned aerial vehicle power equipment autonomous inspection method and device |
| CN114093201A (en) * | 2020-08-24 | 2022-02-25 | 中移(成都)信息通信科技有限公司 | Flight equipment management method, device, equipment and storage medium |
| CN115503541A (en) * | 2022-10-28 | 2022-12-23 | 中国联合网络通信集团有限公司 | Vehicle charging method, server and vehicle |
| CN117894214A (en) * | 2024-03-15 | 2024-04-16 | 天津云圣智能科技有限责任公司 | Unmanned aerial vehicle collision detection method and device, storage medium and electronic equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104077927A (en) * | 2014-07-02 | 2014-10-01 | 中国民航大学 | Flight plan acceptance system applicable to general aviation flight and control method |
| CN104750111A (en) * | 2015-03-09 | 2015-07-01 | 王琪杰 | Flying monitoring system of unmanned aerial vehicle |
| CN105867181A (en) * | 2016-04-01 | 2016-08-17 | 腾讯科技（深圳）有限公司 | Control method and apparatus of unmanned aerial vehicle |
| CN105913691A (en) * | 2016-06-06 | 2016-08-31 | 北京威胜通达科技有限公司 | Flight space declaration service method |
| CN106297417A (en) * | 2016-09-27 | 2017-01-04 | 南京航空航天大学 | A kind of unmanned plane during flying service and supervisory systems and method |
| CN206039874U (en) * | 2016-08-16 | 2017-03-22 | 中电科现代导航（西安）科技有限公司 | General aviation flight plan processing system |
-
2017
- 2017-12-29 CN CN201711498833.5A patent/CN108183770A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104077927A (en) * | 2014-07-02 | 2014-10-01 | 中国民航大学 | Flight plan acceptance system applicable to general aviation flight and control method |
| CN104750111A (en) * | 2015-03-09 | 2015-07-01 | 王琪杰 | Flying monitoring system of unmanned aerial vehicle |
| CN105867181A (en) * | 2016-04-01 | 2016-08-17 | 腾讯科技（深圳）有限公司 | Control method and apparatus of unmanned aerial vehicle |
| CN105913691A (en) * | 2016-06-06 | 2016-08-31 | 北京威胜通达科技有限公司 | Flight space declaration service method |
| CN206039874U (en) * | 2016-08-16 | 2017-03-22 | 中电科现代导航（西安）科技有限公司 | General aviation flight plan processing system |
| CN106297417A (en) * | 2016-09-27 | 2017-01-04 | 南京航空航天大学 | A kind of unmanned plane during flying service and supervisory systems and method |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109118827A (en) * | 2018-09-28 | 2019-01-01 | 北京理工大学 | A kind of unmanned plane during flying management method and system based on cloud platform |
| CN109656261A (en) * | 2018-12-05 | 2019-04-19 | 智灵飞（北京）科技有限公司 | A kind of communication systems and method of gesture stability test macro and different winged controls |
| WO2020124379A1 (en) * | 2018-12-18 | 2020-06-25 | 北京小米移动软件有限公司 | Flight reporting method and apparatus |
| CN111746789A (en) * | 2019-03-29 | 2020-10-09 | 本田技研工业株式会社 | Imaging system, server, control method, and storage medium storing program |
| CN111746789B (en) * | 2019-03-29 | 2024-04-30 | 本田技研工业株式会社 | Shooting system, server, control method, and storage medium storing program |
| WO2021087656A1 (en) * | 2019-11-04 | 2021-05-14 | 深圳市大疆创新科技有限公司 | Method for monitoring unmanned aerial vehicle, and device and storage medium |
| CN113096447A (en) * | 2019-12-23 | 2021-07-09 | 中航空管系统装备有限公司 | Airspace authorization coordination operation method |
| CN111582840A (en) * | 2020-05-26 | 2020-08-25 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle operation airspace monitoring method, system, equipment and storage medium |
| CN111724247B (en) * | 2020-06-19 | 2023-09-08 | 中国银行股份有限公司 | Method, device, storage medium and equipment for receiving and sending money by going to door based on unmanned aerial vehicle |
| CN111724247A (en) * | 2020-06-19 | 2020-09-29 | 中国银行股份有限公司 | Unmanned aerial vehicle-based home-entry money receiving and delivering method and device, storage medium and equipment |
| CN112202702A (en) * | 2020-07-30 | 2021-01-08 | 中国民用航空上海航空器适航审定中心 | Airworthiness data transmission method, system, device and storage medium |
| CN114093201A (en) * | 2020-08-24 | 2022-02-25 | 中移(成都)信息通信科技有限公司 | Flight equipment management method, device, equipment and storage medium |
| CN114093201B (en) * | 2020-08-24 | 2023-08-15 | 中移(成都)信息通信科技有限公司 | Flight equipment management method, device, equipment and storage medium |
| CN112235729A (en) * | 2020-10-13 | 2021-01-15 | 中国联合网络通信集团有限公司 | Control method and system of networked unmanned aerial vehicle, terminal device and storage medium |
| CN112419789A (en) * | 2020-10-13 | 2021-02-26 | 北京瓴域航空技术研究院有限公司 | Automatic approval method, device and medium for unmanned aerial vehicle flight application |
| CN112419789B (en) * | 2020-10-13 | 2024-01-26 | 北京瓴域航空技术研究院有限公司 | Automatic approval method, equipment and medium for unmanned aerial vehicle flight application |
| CN112434855A (en) * | 2020-11-25 | 2021-03-02 | 浩亚信息科技有限公司 | UTM-based flight plan planning method |
| CN113359857A (en) * | 2021-07-14 | 2021-09-07 | 广西电网有限责任公司电力科学研究院 | Unmanned aerial vehicle power equipment autonomous inspection method and device |
| CN115503541A (en) * | 2022-10-28 | 2022-12-23 | 中国联合网络通信集团有限公司 | Vehicle charging method, server and vehicle |
| CN115503541B (en) * | 2022-10-28 | 2024-07-23 | 中国联合网络通信集团有限公司 | Vehicle charging method, server and vehicle |
| CN117894214A (en) * | 2024-03-15 | 2024-04-16 | 天津云圣智能科技有限责任公司 | Unmanned aerial vehicle collision detection method and device, storage medium and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108183770A (en) | A kind of automatic clearance management method of unmanned plane | |
| CN108200168A (en) | A kind of unmanned plane during flying method for remote management | |
| CN106021396B (en) | A method of the graphical representation SCD configuration file based on B/S framework | |
| CN106355319A (en) | Safety risk assessment system and method | |
| CN103338206B (en) | Method and device for realizing data exchange based on data bus technology | |
| CN101867959B (en) | Satellite mobile communication network multi-machine collaborative simulation system and method | |
| CN107579845A (en) | Spatial information web services architectural framework | |
| CN102663545A (en) | Power distribution network maintenance operation management system based on intelligent mobile phone | |
| CN108388268A (en) | A kind of unmanned plane route planning method based on high in the clouds | |
| CN104636868A (en) | Application management system for nuclear power station equipment maintenance information and application method thereof | |
| CN105760272B (en) | Monitoring backstage business customizing method and its system based on plug-in unit | |
| CN109032091A (en) | Cloud platform remote agricultural monitors sample distribution system and the method for sampling | |
| CN107395773A (en) | A kind of Internet of Things management method and Internet of Things management platform | |
| CN107063236A (en) | Positioning and navigation system and implementation method in a kind of building | |
| CN106161399A (en) | A kind of security service delivery method and system | |
| CN104933607A (en) | Satellite remote sensing data order service system | |
| CN103149855B (en) | Marine guidance piling long distance control system | |
| CN106921704A (en) | Tax-control terminal Internet of Things network control method and system | |
| CN107517246A (en) | Large-scale scientific research apparatus based on Internet of Things shares and on-line intelligence test system | |
| CN105868936A (en) | Intelligent operation and maintenance and overhaul system applied to integrated operation and maintenance and overhaul of power transformation equipment | |
| CN109656905A (en) | A kind of processing method, device and the shared system of power grid meteorological disaster data | |
| CN108055234A (en) | The shared lease platform of one kind | |
| CN106897410A (en) | A kind of WiFi increased value service systems and implementation method based on big data | |
| CN107241311A (en) | One kind selects seat method and device in real time | |
| CN106161535A (en) | Water power gas meter data acquisition treatment method based on cloud node server and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180619 |