CN116863761A - Low-altitude unmanned aerial vehicle detection and early warning method and device based on situation sharing - Google Patents
Low-altitude unmanned aerial vehicle detection and early warning method and device based on situation sharing Download PDFInfo
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Abstract
The invention provides a low-altitude unmanned aerial vehicle detection and early warning method and device based on situation sharing, which belong to the technical field of air traffic management and flight supervision information, and a fence space geometric model is built based on collected sensitive airspace range data; by utilizing the active and passive multisource combined detection and UTM-ATM interoperation technology, legal unmanned aerial vehicles and illegal unmanned aerial vehicles are effectively distinguished; establishing an operation risk comprehensive quantitative evaluation method, evaluating threat levels of unmanned aerial vehicles based on operation risks, and triggering early warning and alarming; and constructing a unified low-altitude air traffic panoramic situation view to realize situation sharing of airspace users. The method can effectively identify the legality of the unmanned aerial vehicle flight activities; for an illegal unmanned plane, an operation risk comprehensive quantitative evaluation system is established, and early warning is given to a user in time; the method realizes real-time detection and analysis pre-alarm of the low-altitude space unmanned aerial vehicle, effectively prevents the security threat of illegal unmanned aerial vehicle invasion to other space users, and meets the demands of low-altitude space situation sharing and continuous security and stability.
Description
Technical Field
The invention relates to the technical field of air traffic management and flight supervision information, in particular to a low-altitude unmanned aerial vehicle detection and early warning method and device based on situation sharing.
Background
In recent years, under the promotion of technical progress of batteries, power and the like, the application scene and performance of the civil unmanned aerial vehicle are greatly expanded and improved, and the civil unmanned aerial vehicle gradually permeates from the fields of logistics, emergency rescue, agriculture, forestry, animal husbandry and the like to the whole industry. According to statistics, the flight height of the unmanned aerial vehicle which is approximately 99.9% at present is below 1000m (inclusive), and a low-altitude airspace is mainly used. Due to the fact that management of the low-altitude unmanned aerial vehicle is in an exploration stage and the characteristics of low operation threshold and imperfect flight control technology of the low-altitude unmanned aerial vehicle, the problem of 'black flight' which is not registered and approved frequently occurs, and low-altitude flight order and public safety are seriously affected. In order to ensure the normal operation of air traffic activities, there is a need to enhance the recognition and supervision of low-altitude unmanned aerial vehicles.
However, the low-altitude unmanned aerial vehicle generally has the characteristics of small volume, low flying height, flexible operation mode, difficult prediction of the process and the like, the detection distance and the detection probability of the traditional single-type detection means are greatly limited, and the conditions of target missed detection and the like can occur. In addition, the low-altitude airspace is used as an active space for interleaving and influencing multiple types of airspace users such as general aviation, unmanned aviation, transportation aviation (take-off and landing stage) and the like, and relates to a plurality of stakeholders such as a civil aviation air traffic management system (Air Traffic Management, ATM) deployed in a controlled airspace, an unmanned aerial vehicle traffic management system (Unmanned Aircraft Systems Traffic Management, UTM) deployed in an unregulated airspace and the like, and the risk of flight conflict among multiple aircrafts is high and the operation situation is complex. How to accurately identify and risk evaluate unmanned aerial vehicles illegally operated in an air space and timely early warn surrounding aircraft affected by the unmanned aerial vehicles, and ensure comprehensive and unified perception evaluation of low-altitude airspace users on complex situations of airspace is a research difficulty in the field of air traffic management at present.
Disclosure of Invention
The invention aims to provide a low-altitude unmanned aerial vehicle detection and early warning method and device based on situation sharing, which can effectively realize the identification supervision of a low-altitude unmanned aerial vehicle and the collaborative situation sharing of low-altitude airspace users, ensure the continuous safety and stability of the low-altitude airspace and solve at least one technical problem in the background technology.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
on the one hand, the invention provides a low-altitude unmanned aerial vehicle detection and early warning method based on situation sharing, which comprises the following steps:
and predefining a low-altitude sensitive area, and establishing a fence space geometric model based on the acquired sensitive airspace range data. The sensitive airspace specifically relates to an airport clearance protection area (10 kilometers on both sides of a central line of an airport runway and 20 kilometers on both ends of the runway), key sensitive units (such as military control areas), personnel intensive areas and the like, and airspace data comprises longitude and latitude data, limit height, limit time and other information;
and by utilizing the active and passive multi-source combined detection and UTM-ATM interoperation technology, legal unmanned aerial vehicles and illegal unmanned aerial vehicles are effectively distinguished. The unmanned aerial vehicle monitoring information is obtained through comprehensive detection of a plurality of interconnected active detection radars, wireless detection positioning equipment and photoelectric detection systems, and is compared with information of authorized aircrafts of the connected ATM and UTM systems to identify validity of flight activities of the unmanned aerial vehicle;
and carrying out unmanned aerial vehicle threat level assessment based on operation risk, and triggering early warning and alarming. According to factors such as the weight of the unmanned aerial vehicle, the flight altitude interval, the relative convergence rate of tracks, the collision strength and the like, an operation risk comprehensive quantitative evaluation method is established, the operation risk class of the unmanned aerial vehicle is divided into three classes of low, medium and high, and the unmanned aerial vehicle with medium and high operation risk is pre-warned;
and realizing situation sharing of airspace users and constructing a uniform panoramic situation view of low-altitude air traffic. And early warning information is sent to ATM and UTM related airspace users by means of air traffic information service broadcasting and the like, so that the users are assisted to obtain comprehensive and clear air traffic information, and situation awareness capacity of an operation airspace is enhanced.
In a second aspect, the invention provides a low-altitude unmanned aerial vehicle detection early warning device based on situation sharing, which comprises an airspace predefined module, a detection and identification module, a risk assessment module and a situation sharing module; wherein:
the airspace predefining module is used for realizing fence space geometric modeling of a low-altitude sensitive airspace, wherein the sensitive airspace comprises an airport clearance protection area, a key sensitive unit, a personnel-intensive area and the like, and the space geometric model comprises a polygon and a sector fence;
the detection and identification module is used for jointly identifying unmanned aerial vehicle flight activities authorized by a non-ATM/UTM system, acquiring unmanned aerial vehicle azimuth and identification information thereof by using active detection radar, wireless detection positioning equipment and multi-source detection technical means of a photoelectric detection system, and judging whether the flight activities are authorized by the ATM/UTM system;
the risk assessment module is used for comprehensively and quantitatively assessing the operation risk (including the weight, the flying height interval, the track relative convergence rate and the collision strength) of the illegal unmanned aerial vehicle and carrying out early warning on the unmanned aerial vehicle with the operation risk of middle and high level;
the situation sharing module is used for realizing collaborative situation sharing of airspace users, ensuring that ATM and UTM related airspace users obtain early warning information in time, and improving the perceptibility of low-altitude airspace operation situations.
In a third aspect, the present invention provides a non-transitory computer readable storage medium, where the non-transitory computer readable storage medium is configured to store computer instructions, where the computer instructions, when executed by a processor, implement a low-altitude unmanned aerial vehicle detection and early warning method based on situation sharing as described above.
In a fourth aspect, the invention provides a computer program product comprising a computer program for implementing a situation sharing based low-altitude unmanned aerial vehicle detection warning method as described above when run on one or more processors.
In a fifth aspect, the present invention provides an electronic device, comprising: a processor, a memory, and a computer program; the processor is connected with the memory, the computer program is stored in the memory, and when the electronic equipment runs, the processor executes the computer program stored in the memory, so that the electronic equipment executes the instruction for realizing the low-altitude unmanned aerial vehicle detection and early warning method based on situation sharing.
The invention has the beneficial effects that: the space geometric modeling of the sensitive airspace fence is realized by predefining a low-altitude sensitive area, and then on the basis of the interoperation of UTM-ATM systems, the legality of the unmanned aerial vehicle flight activity is effectively identified by utilizing unmanned aerial vehicle monitoring information obtained by the active and passive multisource combined detection equipment; for an illegally-active unmanned aerial vehicle, establishing an operation risk comprehensive quantitative evaluation system comprising unmanned aerial vehicle weight, flight altitude interval, track relative convergence rate, collision strength and the like, and timely early warning airspace users around the medium-high-level operation risk unmanned aerial vehicle by means of situation sharing means such as air traffic information service broadcasting and the like; the method realizes real-time detection and analysis pre-alarm of the low-altitude space unmanned aerial vehicle, effectively prevents the security threat of illegal unmanned aerial vehicle invasion to other space users, and meets the demands of low-altitude space situation sharing and continuous security and stability.
The advantages of additional aspects of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a low-altitude unmanned aerial vehicle detection and early warning method based on situation sharing according to an embodiment of the invention.
Fig. 2 is a flow chart of unmanned aerial vehicle flight activity validity identification using active-passive multi-source joint detection and UTM-ATM interoperation techniques according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a radar target area determination window according to an embodiment of the present invention.
Fig. 4 is a process diagram of unmanned aerial vehicle threat level assessment and early warning based on operation risk according to an embodiment of the invention.
Fig. 5 is a block diagram of a low-altitude unmanned aerial vehicle detection and early warning device based on situation sharing according to the embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements throughout or elements having like or similar functionality. The embodiments described below by way of the drawings are exemplary only and should not be construed as limiting the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, and/or groups thereof.
In order that the invention may be readily understood, a further description of the invention will be rendered by reference to specific embodiments that are illustrated in the appended drawings and are not to be construed as limiting embodiments of the invention.
It will be appreciated by those skilled in the art that the drawings are merely schematic representations of examples and that the elements of the drawings are not necessarily required to practice the invention.
Example 1
In this embodiment 1, first, a low-altitude unmanned aerial vehicle detection and early warning system based on situation sharing is provided, including: the airspace predefining module is used for establishing a fence space geometric model based on the acquired sensitive airspace range data; the detection and identification module is used for effectively distinguishing legal unmanned aerial vehicles from illegal unmanned aerial vehicles by utilizing active and passive multisource combined detection and UTM-ATM interoperation technology; the risk assessment module is used for establishing an operation risk comprehensive quantitative assessment method, carrying out unmanned aerial vehicle threat level assessment based on operation risk, and triggering early warning and alarming; and the situation sharing module is used for constructing a unified low-altitude air traffic panoramic situation view and realizing situation sharing of airspace users.
In this embodiment 1, the method for detecting and early warning of a low-altitude unmanned aerial vehicle based on situation sharing is implemented by using the system, including: establishing a fence space geometric model based on the acquired sensitive airspace range data by using an airspace predefined module; the detection and identification module is used for effectively distinguishing legal unmanned aerial vehicles from illegal unmanned aerial vehicles by utilizing active and passive multisource combined detection and UTM-ATM interoperation technology; establishing an operation risk comprehensive quantitative evaluation method by using a risk evaluation module, evaluating threat levels of unmanned aerial vehicles based on operation risks, and triggering early warning and alarming; and constructing a unified low-altitude air traffic panoramic situation view by using a situation sharing module, so as to realize situation sharing of airspace users.
Establishing a fence space geometric model based on the acquired sensitive airspace range data, including: collecting longitude and latitude data of a low-altitude sensitive airspace, limiting the altitude and limiting time information; based on the acquired airspace data, establishing a corresponding polygonal fence space geometric model or a sector fence space geometric model; the polygonal fence space geometric model consists of cubes formed by bottom surfaces and top surfaces with different altitudes, wherein the bottom surfaces and the top surfaces are closed space areas formed by N space points on the same plane; the space geometric model of the sector fence is formed by cubes formed by sector bottom surfaces and top surfaces of different altitudes, wherein the bottom surfaces and the top surfaces are closed space areas formed by sector origins, sector radiuses and sector start-stop azimuth angles on the same plane.
By utilizing the active and passive multi-source combined detection and UTM-ATM interoperation technology, the method effectively distinguishes legal unmanned aerial vehicles from illegal unmanned aerial vehicles and comprises the following steps:
collecting multisource monitoring information of a sensitive airspace in real time;
intelligent recognition of the flying target in the air space is carried out on the collected multi-source monitoring information, and the low-altitude air space clutter interference is removed and the suspicious flying target is separated according to the radar image obtained by the omnibearing air space scanning of the active radar;
after the radar finds a long-distance suspicious flying target, the imaging angle of the photoelectric equipment is operated to lock the target, and an optical image processing method is adopted to identify and confirm the flying target, so as to judge the specific attribute of the flying target;
and the identity of the photoelectric detection targets is confirmed one by utilizing a radio monitoring technology, and unmanned aerial vehicle identification positioning is carried out by monitoring unmanned aerial vehicle remote control or image signaling signals in corresponding directions, so that the identification information of the unmanned aerial vehicle is obtained.
The method comprises the steps of utilizing low-altitude controlled airspace ATM and non-controlled airspace UTM communication gateway to fully share information and interact data, and comparing to judge whether the monitored unmanned aerial vehicle activity has validity; if the unmanned aerial vehicle flight task does not obtain the approval permission of ATM and UTM or the space scope of the flight application data is not consistent with the space scope of the flight application data, the unmanned aerial vehicle is determined to be an illegal unmanned aerial vehicle, otherwise, the unmanned aerial vehicle is determined to be a legal unmanned aerial vehicle.
According to a radar image obtained by active radar omnibearing airspace scanning, removing low-altitude airspace clutter interference and separating suspicious flying targets, comprising:
wherein D (i, j, k) is the coordinate (i, j) to be detected, and the k frame image is represented by L out ×L out And L in ×L in The average gray value of the pixels in the shadow area between L out 、L in The sizes of the rectangular frames are respectively the outside and the inside, M out 、M in The sum of the gray values of the pixels in the rectangular frames representing the outer side and the inner side is calculated as follows:
wherein G (·) is the gray value of the original radar image pixel, when D (i, j, k) satisfies the following judgment formula:
when S is a set threshold value and D (i, j, k) is larger than S, the detection target is considered to be capable of effectively reflecting the active radar electromagnetic wave due to factors such as materials, structures and the like, and a bright area with larger gray scale is displayed in an image, so that the pixel point is judged to belong to a flying target, and otherwise, the pixel point is a clutter pixel.
Developing unmanned aerial vehicle threat level assessment based on operation risk, triggering early warning and alarming, comprising: continuously and dynamically tracking the detected illegal unmanned aerial vehicle, analyzing a moving target according to accumulated tracking data, and updating situation information of the illegal unmanned aerial vehicle; and (3) combining the situation information of the peripheral airspace users provided by the ATMs and the UTMs, carrying out comprehensive quantitative evaluation on the running risk of the illegal unmanned aerial vehicle, and carrying out risk evaluation index calculation and weighted scoring including the weight, the flying height interval, the track relative convergence rate and the collision strength of the unmanned aerial vehicle.
Constructing a unified low-altitude air traffic panoramic situation view to realize situation sharing of airspace users, comprising: and determining corresponding risk areas and affected aircraft, timely carrying out safety early warning on ATM and UTM related airspace users interfered by the operation of the illegal unmanned aerial vehicle by utilizing air traffic information service broadcast, guiding the users to avoid the ATM and UTM related airspace users, and displaying the air traffic situation to the user airborne terminal by combining a visual interface.
Example 2
In the embodiment 2, a low-altitude unmanned aerial vehicle detection early warning method based on situation sharing is provided, based on air management data provided by an ATM and UTM system, threat level assessment based on operation risks is carried out by utilizing the thought of active and passive combined detection of multi-source detection equipment, accurate and timely warning of illegal unmanned aerial vehicles is achieved, and situation awareness capability of low-altitude airspace users is enhanced.
The detection and early warning of the low-altitude unmanned aerial vehicle refers to the monitoring information of the unmanned aerial vehicle provided by the multi-source detection equipment and the air traffic control data provided by the ATM and the UTM system, and the detection and early warning of the unmanned aerial vehicle can timely give an alarm to potential threats caused by illegal and illegal flight of the unmanned aerial vehicle. The recognition and supervision of the low-altitude unmanned aerial vehicle is an important guarantee means for ensuring the continuous safety and stability of the low-altitude airspace. The low-altitude airspace users can obtain comprehensive and clear air traffic information through sharing of unmanned aerial vehicle early warning information, and accurate perception of the running airspace situation is achieved.
As shown in fig. 1, the low-altitude unmanned aerial vehicle detection and early warning method based on situation sharing comprises the following steps:
step 101, space geometric modeling of a low-altitude sensitive airspace fence.
Information including low altitude sensitive airspace longitude and latitude data, limit altitude, limit time and the like of an airport clearance protection area (10 kilometers on both sides of an airport runway center line and 20 kilometer ranges on both sides of the runway center line), key sensitive units (such as military control areas), personnel intensive areas and the like is collected. Based on the acquired airspace data, a corresponding polygonal or sector fence space is established. The polygonal fence space geometric model consists of cubes consisting of bottom surfaces and top surfaces with different altitudes, wherein the bottom (top) surface is a closed space region consisting of N space points on the same plane (named sequentially and clockwise on a horizontal plane with true north as a starting point). The space geometric model of the sector-shaped fence is formed by cubes formed by sector-shaped bottom surfaces and top surfaces with different altitudes, and the bottom (top) surface is a closed space region formed by a sector origin point, a sector radius and a sector start-stop azimuth angle on the same plane.
Step 102, identifying the illegal unmanned aerial vehicle by utilizing the active and passive multi-source combined detection and UTM-ATM interoperation technology.
As shown in fig. 2, a flowchart of step 102 specifically includes the following steps:
(1) Active and passive heterogeneous sensor monitoring networks including active radars, radio detection equipment, photoelectric detection equipment (such as infrared thermal imagers and visible light cameras) and the like are arranged, and monitoring information such as sensitive airspace video images, control radio frequency and the like is acquired in real time;
(2) Intelligent recognition of flight targets in the air space is carried out on the collected multi-source monitoring information, clutter interference such as low-altitude airspace buildings is removed according to radar images (shown in fig. 3) obtained by all-dimensional airspace scanning of active radar, and suspicious flight targets are separated:
wherein D (i, j, k) is the coordinate (i, j) to be detected, and the k frame image is represented by L out ×L out And L in ×L in The average gray value of the pixels in the shadow area between L out 、L in The sizes of the rectangular frames are respectively the outside and the inside, M out 、M in The sum of the gray values of the pixels in the rectangular frames representing the outer side and the inner side is calculated as follows:
wherein G (·) is the gray value of the original radar image pixel, when D (i, j, k) satisfies the following judgment formula:
when S is a set threshold value and D (i, j, k) is larger than S, the detection target is considered to be capable of effectively reflecting the active radar electromagnetic wave due to factors such as materials, structures and the like, and a bright area with larger gray scale is displayed in an image, so that the pixel point is judged to belong to a flying target, and otherwise, the pixel point is a clutter pixel.
(3) On the basis of active radar detection and screening of key flying targets, a photoelectric detection technology is used as a supplement of a radar system, after a radar finds a long-distance suspicious flying target, an imaging angle of photoelectric equipment is operated to lock the target, and an optical image processing method is adopted to identify and confirm the flying target and judge specific properties of the flying target, including unmanned aerial vehicle, birds or air floaters.
(4) And identifying and positioning the unmanned aerial vehicle by monitoring the remote control or the image signal of the unmanned aerial vehicle in the corresponding direction to obtain the invasion position information and the model, brand, fingerprint information, frequency band and other identification information of the unmanned aerial vehicle.
(5) And by coordinating and leading the data of the ATM and UTM air management systems, the full information sharing and data interaction of the ATM in the low-altitude air management system and the UTM communication gateway in the non-air management system are utilized, and whether the monitored unmanned aerial vehicle activity has validity is compared and judged. If the unmanned aerial vehicle flight task does not obtain the approval permission of ATM and UTM or the space scope of the flight application data is not consistent with the space scope of the flight application data, the unmanned aerial vehicle is determined to be an illegal unmanned aerial vehicle, otherwise, the unmanned aerial vehicle is determined to be a legal unmanned aerial vehicle.
And 103, carrying out unmanned aerial vehicle threat level assessment based on operation risk, and triggering early warning and alarming.
Continuously and dynamically tracking the detected illegal unmanned aerial vehicle, analyzing a moving target according to accumulated tracking data, and updating situation information such as the accurate position, the flying speed, the moving track and the like of the illegal unmanned aerial vehicle. And combining the situation information (such as three-dimensional position, flight speed, flight intention and the like) of the peripheral airspace users provided by the ATMs and UTMs, carrying out comprehensive quantitative evaluation on the running risk of the illegal unmanned aerial vehicle, and mainly carrying out risk evaluation index calculation and weighted scoring including unmanned aerial vehicle weight, flight altitude interval, track relative convergence rate, collision strength and the like, wherein the specific process is shown in figure 4.
Referring to the light unmanned aerial vehicle operation rule and the unmanned aerial vehicle general rule, according to the takeoff Weight of the unmanned aerial vehicle, the unmanned aerial vehicle is divided into 5 classes, and the corresponding score (weight_score) is as follows: class I unmanned aerial vehicle, weight W is less than or equal to 1.5kg, and dangerous score is 3 minutes; class II unmanned aerial vehicle-weight is 1.5 < W < 7kg, dangerous score is 8 minutes; class III unmanned aerial vehicle, weight is 7 < W and less than or equal to 25kg, and dangerous score is 16 minutes; class IV unmanned aerial vehicle, weight is more than 25 and less than or equal to 150kg, and dangerous score is 22 minutes; class V unmanned aerial vehicle-weight W > 150kg, dangerous score 33;
referring to the flight interval regulation and a related dividing method, according to the current flight altitude interval of the unmanned aerial vehicle and other aircrafts, the unmanned aerial vehicle and other aircrafts are divided into 5 classes, and corresponding scores (height_score) are as follows: class I unmanned aerial vehicle-altitude interval H is more than or equal to 300m, and dangerous score is 3 minutes; class II unmanned aerial vehicles with a height interval of 260-300 m and a risk score of 8 minutes; class III unmanned aerial vehicle, the height interval is 180-260 m, and the dangerous score is 16 minutes; class VI unmanned aerial vehicles, wherein the height interval is 100-180 m, and the danger score is 22; class V unmanned aerial vehicle-height interval H is less than 100m, and dangerous score is 33 minutes;
according to the real-time flight situation data of the low-altitude space illegal unmanned aerial vehicle and the surrounding aircraft, calculating the track approximation degree among the aircraft, namely the track relative Convergence rate (convergence_rate):
wherein the method comprises the steps ofIs the relative position vector between the illegal unmanned plane i and the surrounding aircraft j, +.>Is the relative velocity vector between the aircraft, +.>Is the vector inner product.
Similarly, the collision strength (Conflict_safety) of the illegal drone and the surrounding aircraft is calculated:
wherein d is min (i, j) is the closest distance between the illegal unmanned plane i and the surrounding aircraft j, D 0 For a given safety interval, the collision intensity coefficient β is calculated as follows:
where α is an adjustable parameter, typically set to 0.67; d, d CPA (i, j) is the distance of the current position of the illegal unmanned aerial vehicle i from the closest point of approach.
Combining the four risk index scores, determining the weight coefficient w of each influence index by adopting an expert consultation method 1 ～w 4 Obtaining a risk quantization value after composite superposition:
normalizing the risk quantification value S:
wherein S is max 、S min The maximum S value and the minimum S value of the sample data are respectively.
The normalized risk quantification value S 'is divided into three categories, namely low risk (S' ∈ [0,0.4 ]), medium risk (S '∈ [0.4,0.7 ]), high risk (S' ∈ [0.7,1 ]), and an illegal unmanned aerial vehicle with medium and high running risk triggers a system alarm;
and 104, realizing situation sharing of airspace users and constructing a unified low-altitude air traffic panoramic situation view.
Corresponding risk areas and affected aircraft are determined, safety early warning is timely carried out on ATM and UTM related airspace users interfered by the operation of illegal unmanned aerial vehicles and the users are guided to avoid the users, and visual perception capability of a user airborne terminal on the air traffic situation of the operation airspace is enhanced by combining a visual interface.
According to the low-altitude unmanned aerial vehicle detection early warning method based on situation sharing, firstly, low-altitude sensitive airspace data are collected to establish a corresponding fence space geometric model, then, the validity of unmanned aerial vehicle flight activities is identified by utilizing active and passive multi-source combined detection and UTM-ATM interoperation technology, further, threat level assessment based on operation risks is carried out on detected illegal unmanned aerial vehicles, and finally, situation awareness capacity of airspace users on the unmanned aerial vehicle with high operation risks is enhanced by utilizing an air traffic information service broadcasting means. Therefore, the safety threat of illegal unmanned aerial vehicle invasion in a low-altitude airspace to other airspace users can be effectively prevented, and the low-altitude airspace real-time situation sharing and continuous safety and stability are ensured.
Example 3
As shown in fig. 5, in this embodiment 3, a low-altitude unmanned aerial vehicle detection and early warning device based on situation sharing is provided, which may specifically include an airspace predefined module 1, a detection and identification module 2, a risk assessment module 3, and a situation sharing module 4. The airspace pre-defining module 1 is used for carrying out acquisition of low-altitude sensitive airspace data and establishment of a fence space geometric model; the detection and identification module 2 is used for identifying the validity of the flight activities of the unmanned aerial vehicle by utilizing active and passive multi-source combined detection and UTM-ATM interoperation; the risk assessment module 3 is used for quantitatively assessing the running risk threat level of the illegal unmanned aerial vehicle; the situation sharing module 4 is used for providing the perception of the illegal unmanned aerial vehicle operation situation by the airspace user.
The airspace predefined module 1 may include an airspace data acquisition module 11 and a fence space geometry modeling module 12. The airspace data acquisition module 11 is used for acquiring information such as latitude and longitude data, height limitation, time limitation and the like of a low-altitude sensitive airspace, and the fence space geometric modeling module 12 is used for constructing a polygonal or sector fence space.
The probe identification module 2 may include an active radar probe module 21, a photo-probe module 22, a radio probe module 23, and a UTM-ATM interoperation module 24. The active radar detection module 21 is used for realizing intelligent detection of a flying target in a low-altitude airspace, the photoelectric detection module 22 is used for judging specific attributes of the flying target, the radio detection module 23 is used for unmanned aerial vehicle positioning and identification information acquisition, and the UTM-ATM interoperation module 24 is used for comparing and identifying whether unmanned aerial vehicle activities are legal or not.
The risk assessment module 3 may include an operational risk indicator calculation module 31 and a threat level assessment module 32. The operation risk index calculation module 31 is configured to calculate index values such as a weight risk score, a flying height interval risk score, a track relative convergence rate, and a collision intensity of the unmanned aerial vehicle, and the threat level evaluation module 32 is configured to determine an operation threat level by integrating operation risk indexes of multiple unmanned aerial vehicles.
Specifically, the situation sharing module 4 may include a security early warning notification module 41 and a visual panoramic situation display module 42. The safety warning notification module 41 is configured to issue effective information warning and flight advice to ATM and UTM related airspace users that are interfered by the operation of the illegal unmanned aerial vehicle, and the visual panoramic situation display module 42 is configured to realize visual display of the airborne airspace panoramic situation.
According to the low-altitude unmanned aerial vehicle detection early warning device based on situation sharing, an airspace predefined module, a detection identification module, a risk assessment module and a situation sharing module are arranged, a low-altitude sensitive airspace fence space is established according to airspace data acquisition and fence space geometric modeling, the activity legitimacy of an unmanned aerial vehicle is identified by combining various combined detection means of active radar detection, photoelectric detection and radio detection and UTM-ATM interoperation capability, threat levels of an illegal unmanned aerial vehicle are determined through calculation and comprehensive assessment of a plurality of operation risk index values, and finally safety early warning is issued to ATM (automatic teller machine) and UTM (universal time and location) related airspace users affected by illegal invasion of the unmanned aerial vehicle, so that panoramic situation perception of an airspace of an airborne end of the airspace user is realized, and continuous safety and stability of the low-altitude airspace are ensured.
Example 4
The present embodiment 4 provides a non-transitory computer readable storage medium, where the non-transitory computer readable storage medium is configured to store computer instructions, and when the computer instructions are executed by a processor, implement a low-altitude unmanned aerial vehicle detection and early warning method based on situation sharing as described above, and the method includes:
establishing a fence space geometric model based on the acquired sensitive airspace range data;
by utilizing the active and passive multisource combined detection and UTM-ATM interoperation technology, legal unmanned aerial vehicles and illegal unmanned aerial vehicles are effectively distinguished;
establishing an operation risk comprehensive quantitative evaluation method, evaluating threat levels of unmanned aerial vehicles based on operation risks, and triggering early warning and alarming;
and constructing a unified low-altitude air traffic panoramic situation view to realize situation sharing of airspace users.
Example 5
Embodiment 5 provides a computer program product comprising a computer program for implementing a situation sharing based low-altitude unmanned aerial vehicle detection warning method as described above when run on one or more processors, the method comprising:
establishing a fence space geometric model based on the acquired sensitive airspace range data;
by utilizing the active and passive multisource combined detection and UTM-ATM interoperation technology, legal unmanned aerial vehicles and illegal unmanned aerial vehicles are effectively distinguished;
establishing an operation risk comprehensive quantitative evaluation method, evaluating threat levels of unmanned aerial vehicles based on operation risks, and triggering early warning and alarming;
and constructing a unified low-altitude air traffic panoramic situation view to realize situation sharing of airspace users.
Example 6
Embodiment 6 provides an electronic device including: a processor, a memory, and a computer program; wherein the processor is connected with the memory, and the computer program is stored in the memory, and when the electronic device runs, the processor executes the computer program stored in the memory, so that the electronic device executes the instruction for realizing the low-altitude unmanned aerial vehicle detection and early warning method based on situation sharing, and the method comprises the following steps:
establishing a fence space geometric model based on the acquired sensitive airspace range data;
by utilizing the active and passive multisource combined detection and UTM-ATM interoperation technology, legal unmanned aerial vehicles and illegal unmanned aerial vehicles are effectively distinguished;
establishing an operation risk comprehensive quantitative evaluation method, evaluating threat levels of unmanned aerial vehicles based on operation risks, and triggering early warning and alarming;
and constructing a unified low-altitude air traffic panoramic situation view to realize situation sharing of airspace users.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it should be understood that various changes and modifications could be made by one skilled in the art without the need for inventive faculty, which would fall within the scope of the invention.
Claims (10)
1. A low-altitude unmanned aerial vehicle detection and early warning method based on situation sharing is characterized by comprising the following steps:
establishing a fence space geometric model based on the acquired sensitive airspace range data;
by utilizing the active and passive multisource combined detection and UTM-ATM interoperation technology, legal unmanned aerial vehicles and illegal unmanned aerial vehicles are effectively distinguished;
establishing an operation risk comprehensive quantitative evaluation method, evaluating threat levels of unmanned aerial vehicles based on operation risks, and triggering early warning and alarming;
and constructing a unified low-altitude air traffic panoramic situation view to realize situation sharing of airspace users.
2. The situation sharing-based low-altitude unmanned aerial vehicle detection and early warning method according to claim 1, wherein establishing the fence space geometric model based on the acquired sensitive airspace range data comprises: collecting longitude and latitude data of a low-altitude sensitive airspace, limiting the altitude and limiting time information; based on the acquired airspace data, establishing a corresponding polygonal fence space geometric model or a sector fence space geometric model; the polygonal fence space geometric model consists of cubes formed by bottom surfaces and top surfaces with different altitudes, wherein the bottom surfaces and the top surfaces are closed space areas formed by N space points on the same plane; the space geometric model of the sector fence is formed by cubes formed by sector bottom surfaces and top surfaces of different altitudes, wherein the bottom surfaces and the top surfaces are closed space areas formed by sector origins, sector radiuses and sector start-stop azimuth angles on the same plane.
3. The situation sharing-based low-altitude unmanned aerial vehicle detection and early warning method according to claim 1, wherein the method for effectively distinguishing legal unmanned aerial vehicles from illegal unmanned aerial vehicles by utilizing active and passive multisource joint detection and UTM-ATM interoperation technology comprises the following steps:
collecting multisource monitoring information of a sensitive airspace in real time;
intelligent recognition of the flying target in the air space is carried out on the collected multi-source monitoring information, and the low-altitude air space clutter interference is removed and the suspicious flying target is separated according to the radar image obtained by the omnibearing air space scanning of the active radar;
after the radar finds a long-distance suspicious flying target, the imaging angle of the photoelectric equipment is operated to lock the target, and an optical image processing method is adopted to identify and confirm the flying target, so as to judge the specific attribute of the flying target;
and the identity of the photoelectric detection targets is confirmed one by utilizing a radio monitoring technology, and unmanned aerial vehicle identification positioning is carried out by monitoring unmanned aerial vehicle remote control or image signaling signals in corresponding directions, so that the identification information of the unmanned aerial vehicle is obtained.
The method comprises the steps of utilizing low-altitude controlled airspace ATM and non-controlled airspace UTM communication gateway to fully share information and interact data, and comparing to judge whether the monitored unmanned aerial vehicle activity has validity; if the unmanned aerial vehicle flight task does not obtain the approval permission of ATM and UTM or the space scope of the flight application data is not consistent with the space scope of the flight application data, the unmanned aerial vehicle is determined to be an illegal unmanned aerial vehicle, otherwise, the unmanned aerial vehicle is determined to be a legal unmanned aerial vehicle.
4. The low-altitude unmanned aerial vehicle detection and early warning method based on situation sharing according to claim 3, wherein the method for removing low-altitude airspace clutter interference and separating suspicious flying targets according to radar images obtained by active radar omnidirectional airspace scanning comprises the following steps:
wherein D (i, j, k) is the coordinate (i, j) to be detected, and the k frame image is represented by L out ×L out And L in ×L in The average gray value of the pixels in the shadow area between L out 、L in The sizes of the rectangular frames are respectively the outside and the inside, M out 、M in The sum of the gray values of the pixels in the rectangular frames representing the outer side and the inner side is calculated as follows:
wherein G (·) is the gray value of the original radar image pixel, when D (i, j, k) satisfies the following judgment formula:
when S is a set threshold value and D (i, j, k) is larger than S, the detection target is considered to be capable of effectively reflecting the active radar electromagnetic wave due to factors such as materials, structures and the like, and a bright area with larger gray scale is displayed in an image, so that the pixel point is judged to belong to a flying target, and otherwise, the pixel point is a clutter pixel.
5. The situation sharing-based low-altitude unmanned aerial vehicle detection and early warning method according to claim 1, wherein performing unmanned aerial vehicle threat level assessment based on operation risk, triggering early warning and warning comprises: continuously and dynamically tracking the detected illegal unmanned aerial vehicle, analyzing a moving target according to accumulated tracking data, and updating situation information of the illegal unmanned aerial vehicle; and (3) combining the situation information of the peripheral airspace users provided by the ATMs and the UTMs, carrying out comprehensive quantitative evaluation on the running risk of the illegal unmanned aerial vehicle, and carrying out risk evaluation index calculation and weighted scoring including the weight, the flying height interval, the track relative convergence rate and the collision strength of the unmanned aerial vehicle.
6. The low-altitude unmanned aerial vehicle detection and early warning method based on situation sharing according to claim 1, wherein the method is characterized by constructing a unified low-altitude air traffic panoramic situation view to realize situation sharing of airspace users, and comprises the following steps: and determining corresponding risk areas and affected aircraft, timely carrying out safety early warning on ATM and UTM related airspace users interfered by the operation of the illegal unmanned aerial vehicle by utilizing air traffic information service broadcast, guiding the users to avoid the ATM and UTM related airspace users, and displaying the air traffic situation to the user airborne terminal by combining a visual interface.
7. A low-altitude unmanned aerial vehicle detection early warning system based on situation sharing is characterized by comprising:
the airspace predefining module is used for establishing a fence space geometric model based on the acquired sensitive airspace range data;
the detection and identification module is used for effectively distinguishing legal unmanned aerial vehicles from illegal unmanned aerial vehicles by utilizing active and passive multisource combined detection and UTM-ATM interoperation technology;
the risk assessment module is used for establishing an operation risk comprehensive quantitative assessment method, carrying out unmanned aerial vehicle threat level assessment based on operation risk, and triggering early warning and alarming;
and the situation sharing module is used for constructing a unified low-altitude air traffic panoramic situation view and realizing situation sharing of airspace users.
8. A computer program product comprising a computer program for implementing the situation sharing based low-altitude unmanned aerial vehicle detection warning method of any of claims 1 to 6 when run on one or more processors.
9. A non-transitory computer readable storage medium for storing computer instructions which, when executed by a processor, implement the situation sharing-based low-altitude unmanned aerial vehicle detection and pre-warning method of any one of claims 1-6.
10. An electronic device, comprising: a processor, a memory, and a computer program; wherein the processor is connected to the memory, and the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the instructions for implementing the low-altitude unmanned aerial vehicle detection and early warning method based on situation sharing according to any one of claims 1 to 6.
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