RU2710983C1 - Method of multi-position observation, control and management over flights of manned and unmanned aerial systems in common air space - Google Patents

Abstract

FIELD: aviation.SUBSTANCE: invention relates to a method for self-organizing multi-position surveillance, flight control and management of manned and unmanned aerial systems. Method is realized using ground service of aircraft flight control and monitoring, where information on mutual flight traffic, aeronautical data is transmitted, flight-and-navigation characteristics of each aircraft, their identification numbers and coordinates and movement parameters, generate flight traffic control commands. In case of loss of communication with ground services, aircraft changes into autonomous flight mode, communicating with other aircrafts to correct flight. In case of aircraft control loss, technical data are transmitted to the unauthorized flight suppression service.EFFECT: higher controllability of aircrafts and safety of their flights.1 cl, 1 dwg

Description

FIELD OF TECHNOLOGY

The technical solution relates to the field of information-measuring equipment, namely to automated control and monitoring systems. The method relates to control and monitoring systems for manned and unmanned aircraft systems to ensure the safety of their flight in the common airspace, but can also be applied to other vehicles.

BACKGROUND

Currently, various systems and methods for the delivery of goods and goods using UAS (unmanned aerial systems) are widely used.

A known UAS navigation system is described in US patent No. 8626361, published November 25, 2008. In a known system, the first UAS contains data representing the flight path of the first UAS and a ground station. The ground station receives data from the UAS, which is the flight path of the first UAS, calculates the flight path for the second UAS, so that the flight paths of the first UAS and the second UAS do not intersect, and transmits the calculated flight route to the second UAS.

A known system for accounting for the position of ALS described in US patent No. 8386175, published 03/18/2010. The known system includes an air traffic control (ATC) reporting system in combination with a ground control station (NSI), an air traffic control system includes an automatic broadcast of UAS surveillance and broadcast service traffic information, a transceiver and one or more telecommunication modems. The NSO is configured to receive data on the position of the UAS in airspace and reports the position of the UAS in airspace to the air traffic control operator or to the communication center through the transceiver. ATC can also be configured to display the position of the UAS in midair, on one or more screens.

A known UAV control system described in US patent No. 8521339, published 08.04.2010. In the known system organized remote communication between the UAS and the base station. The UAS transmits its coordinates to the base station with reference to the map, the base station determines the velocity vectors for the UAS and sends the UAS in accordance with the determined velocity vector until the UAS reaches the target.

A known safety system for UAS flights in civilian airspace is described in US patent No. 8838289, published on 02/07/2008. The known system includes: a ground station equipped with a vision system; BASS; remote operator managing the ground station; communication channel between the UAS and the ground station; a system on board the UAS to detect the presence and position near aircraft and transmit this information to a remote operator; The prior art method for controlling an unmanned aerial vehicle and a device for its implementation (see patent RU No. 2390815, published May 27, 2010) characterizing the control of one or more unmanned aerial vehicles, each of which is equipped with an on-board automatic control system, satellite navigation system, high-precision synchronized clock, as well as an on-board computer and a radio transceiver, with the help of which digital radio communication is carried out with the base rad station, with a stationary or mobile control station, which is equipped with an automated workstation for the operator, while transmitting commands for controlling the movement of an unmanned aerial vehicle, transmitting data on the coordinates and parameters of its movement, as well as transmitting identification numbers and data on the coordinates and parameters of the movement of other moving objects equipped with transceiver radios and within radio visibility, is made into one or more common radio channels, moreover, trans yatsiya each transmitting radio messages produced in a predetermined segment of the discrete single timeline with the delay time, which is sufficient to compensate for the delay in the receipt and execution of these commands.

A disadvantage of the known methods for controlling an unmanned aerial vehicle is that the BVS is controlled and monitored from the ground control point within radio visibility, which makes it difficult to maintain the failure-free state of the BVS equipment during operation, as well as monitoring the execution of the authorized traffic of the BVS, and this reduces the level of safety flights, and essentially makes it impossible to integrate unmanned aerial systems into the common airspace.

Existing air traffic control (ATC) rules formed when the scale of UAS was essentially limited to aircraft modeling.

Airspace is penetrated by special paths that pass from one controlled area to another. The exact number of aircraft is difficult to say, since it is already measured by thousands of aircraft, the number of which is only growing from year to year.

One can imagine what will happen in mid-air when the number increases by orders of magnitude. And here, automated control of the operation of an unmanned aircraft during flights in the common airspace is indispensable, and not only the flight traffic, but also the residual life and precautionary state at all stages of the life cycle, as well as the detection of cases of unauthorized changes in flight traffic, should be automatically generated and controlled. BVS.

The typical structure of a control system for UAS consists of various data sources. The data obtained fall into the on-board control system (BASU) block, where the object’s motion parameters are evaluated and control actions are generated on the facility’s actuators. As input, the control unit can also take external control actions. The generated control signal values are fed to the UAS flight control elements. In the memory of the UAS, flight execution programs and control unit configurations are stored, changing under the influence of certain events that occur on the UAS in flight.

Currently, the traditional air traffic control systems of manned civil aviation are changing to multi-position surveillance systems (MPS) based on multi-position technologies AZN-V, are actively used as a high-precision source of information about the air situation in airport, airfield and route air traffic control zones. The ground station of the aerodrome multi-position observation system (MPSN-A) is designed to determine the location and control the movement of aircraft, special vehicles, technical equipment and other facilities equipped with transponders located on the landing line and the working area of the aerodrome (maneuvering area and apron, on the runway lane, taxiways and aircraft parking areas). Moscow Domodedovo Airport is the first in Russia to establish an airfield multi-position surveillance system. The AMPSN installation and its integration into the A-SMGCS (Advanced Ground Traffic Management and Control System) system already operating in Domodedovo is the best solution for providing ground control at the aerodrome. The combined functions of the two systems will ensure the most complete and accurate display on the monitors of the air traffic control tower of the location and movement of aircraft and vehicles on the runways, taxiways and aprons of the airport. The new system is based on the deployment of a network of ground stations of the AMPSN system dispersed throughout the aerodrome, a central information processing rack and 150 lighthouses (transmitting devices) installed on special vehicles.

However, MPSN has a significant drawback:

- It is a system of a high-precision source of information about the air situation in airport, airfield and highway zones of air traffic control and does not take into account the need to ensure joint flights in the common airspace, since equipping the entire territory of the Russian Federation will be a very expensive and practically impossible task.

ESSENCE OF TECHNICAL SOLUTION

The proposed technical solution is aimed at eliminating the disadvantages inherent in existing analogues. The objective of the proposed method is a self-organizing multi-position monitoring system, monitoring and control over the flights of manned and unmanned aircraft systems in the common airspace, which will increase the level of flight safety in all areas of the UAS flight.

The technical result from the use of this technical solution is to ensure safe flights of manned and unmanned aircraft in the common airspace.

This technical result of the proposed method is provided due to the fact that along with ground-based multi-position surveillance systems, which are located primarily in the area of airports, combined with the air traffic control service, an air multi-position surveillance system is formed using the aircraft themselves, which are used as mobile elements of a multi-position observation system.

A method of self-organizing multi-position monitoring, control and control over flights of manned and unmanned aircraft systems in a common airspace, which includes the ground structure of a multi-position monitoring, control and control system, manned and unmanned vehicles, and each aircraft is equipped with an on-board automatic control system, satellite navigation system , high-precision synchronized clocks, as well as an on-board computer and a radio transceiver using digital radio communication with the base radio station, with stationary or mobile control centers, which are equipped with an operator's automated workstation, characterized in that, along with ground based multi-position monitoring systems, which are located primarily in the vicinity of airports, combined with the control service air traffic, an airborne multi-position observation system is formed using the aircraft themselves, which are used as moving beacons, which Identification numbers are assigned that are transmitted with the unmanned aerial vehicle’s motion control commands and data on the coordinates and parameters of its movement, as well as a unit for receiving information from other aircraft in the near space about their flight traffic, and the radio signal is additionally processed, for example, using Doppler principle, to clarify the real coordinates of other aircraft, and in the processing unit received information about the traffic of mutual flight, as well as air navigation ion data and flight and navigation characteristics, including commands from the ground control and flight control service of aircraft, are converted into flight traffic control commands, ensuring safe joint flight eliminating collision, and identification numbers and data on coordinates and motion parameters of other aircraft are transmitted equipped with transceiver radios and within the radio visibility of the terrestrial multi-position monitoring system and service I by air traffic, forming a unified self-organizing network of multi-position monitoring, control and management of flights of manned and unmanned aerial vehicles in the common airspace, including the ground structure and the network of aircraft, and the transmitted message from the aircraft indicates the identification number of the ground station that carries out control and management of its flight, which indicates the need to relay the received message to this address, and the generated communication traffic serves as a control and monitoring channel for the flight of aircraft, and when it is impossible to organize traffic for monitoring and control, the aircraft switches to autonomous flight mode, receiving warning signals from approaching aircraft, ensuring flight safety, and if it is detected false information about flight traffic from an aircraft that deviates from authorized flight traffic, the flight traffic of such flyers is adjusted apparatus, transmitting control signals through the relay system, and if it is impossible to adjust the flight of the aircraft, for example, when false information from the aircraft is transmitted intentionally, then information about the time of loss of control with such an aircraft and its motion parameters, the planned traffic traffic, and technical data are also transmitted online to the service for suppressing unauthorized flight of an unmanned aerial vehicle.

This will allow an effective way to solve the problem of joint flights of manned and unmanned aircraft in the common airspace.

The analysis of technical solutions made it possible to establish that analogues, characterized by a combination of features that are identical to all the features of the claimed technical solution, are absent in known information carriers, which indicates the compliance of the claimed method with the condition of patentability "novelty".

The search results for known solutions in this and related fields of technology in order to identify features that match the distinctive features of the prototype signs showed that they do not follow explicitly from the prior art.

The prior art also did not reveal the popularity of the impact provided by the essential features of the claimed invention transformations to achieve the specified technical result. Therefore, the claimed invention meets the condition of patentability "inventive step".

This will allow an effective way to solve the problems of information content of airborne surveillance equipment, as well as the use of effective methods for controlling UAS.

BRIEF DESCRIPTION OF THE DRAWINGS

The claimed method is implemented according to the flowchart shown in FIG. 1, which consists of the following main blocks:

1 - airborne multi-position observation system using aircraft, including a network of manned aircraft P ₁ , P ₁ , ..., P _m and unmanned aerial vehicles B ₁ , B ₂ , ..., B _n ;

2 - ground-based multi-position observation systems using distributed ground beacons N ₁ , N ₂ , ..., N _k ;

3 - an air traffic control service using a control center 3-1, a center for analyzing and processing information 3-2, a center for receiving and transmitting information 3-3; database portal 3-4.

DETAILED DESCRIPTION OF THE TECHNICAL SOLUTION

The invention relates to the field of information-measuring equipment, namely to automated control and monitoring systems. The method relates to manned and unmanned aircraft systems to ensure the safety of their flight in the common airspace, but can be applied to other vehicles.

This technical solution is aimed at eliminating the disadvantages inherent in existing analogues. The objective of the proposed method is a self-organizing multi-position monitoring system, control and management over flights of manned and unmanned aircraft systems in the common airspace, which will increase the level of flight safety in all areas of their flight.

The technical result from the use of this technical solution is to ensure safe flights of manned and unmanned aircraft in the common airspace.

This technical result of the proposed method is provided due to the fact that along with ground-based multi-position surveillance systems, which are located primarily in the area of airports, combined with the air traffic control service, an air multi-position surveillance system is formed using the aircraft themselves, which are used as mobile elements of a multi-position surveillance system.

The claimed method is illustrated by a diagram showing the control and management of aircraft that implements the claimed method.

For flights, UAS must be registered in the database with the assignment of a registration number and subsequent changes reflecting the technical condition of UAS during the entire life cycle, both during maintenance and repair, and during the flight. This information is used to monitor UAS flight in order to ensure safe flight.

To perform a specific flight, using a registered BVS, an application is submitted, which is analyzed for its feasibility, is adjusted if necessary, and permission is issued for a coordinated flight in a given airspace.

Each registered UAS must have a licensed information unit that does not allow unauthorized opening and reconfiguration, including the following basic equipment - UAS navigation unit, UAS data transmission unit, UAS data reception unit, UAS control command generation unit, UAS relay unit (simplified configuration is allowed) .

The UAS regional flight control center receives information characterizing the current technical condition and UAS flight traffic, compares it with the agreed flight parameters, identifies deviations from the authorized one and makes a decision based on the analysis results. Moreover, such control is carried out over all UAS, which are located in the control zone of this regional center, using either information transmission lines directly from UAS, or by relaying through other UAS.

Additionally, Doppler measurements are used to calculate the current flight traffic parameters of other UAS, which are relayed via communication channels to the ground-based air traffic control services.

In the case of the transfer of UAS from one regional center to another in accordance with the planned authorized traffic of the flight, further control passes to this center.

In the absence of direct radio visibility, the information is relayed through other UAS to the ground-based air traffic control services.

The packet of information for relaying is supplemented by packets with information received for relaying from other UAS and is sent to ground-based air traffic control services (relaying can be carried out via satellite communication channels).

In case of deviation from the authorized flight traffic, the air traffic control service gives commands to return to the authorized flight traffic and this information is automatically sent to the unauthorized flight suppression service of an unmanned aircraft.

In the case of a return of BVS to authorized flight traffic, the normal operation of the air traffic control service continues, and if the measures taken do not give a positive result, the service for preventing unauthorized flights of unmanned aircraft takes measures to prevent such a flight using information about the characteristics of the BVS, time and place the beginning of an unauthorized flight.

This goal is achieved by the fact that in the known method of self-organizing multi-position monitoring, control and control over flights of manned and unmanned aircraft systems in the common airspace, which includes the ground structure of the multi-position monitoring, control and control system, manned and unmanned vehicles, and each aircraft is equipped On-board automatic control system, satellite navigation system, high-precision synchronized clock, as well as more a commercial computer and a radio transceiver, through which digital radio communication is made with the radio base station, with stationary or mobile control centers, which are equipped with an operator’s workstation, along with terrestrial multi-position monitoring systems, which are located primarily in the area of airports , combined with the air traffic control service, an airborne multi-position surveillance system is formed using the aircraft themselves, which are used as moving beacons, which are assigned identification numbers transmitted with the unmanned aerial vehicle's motion control commands and data on the coordinates and parameters of its movement, as well as a unit for receiving information from other aircraft located in the nearest space about their flight traffic, moreover, a radio signal it is additionally processed, for example, using the Doppler principle, to clarify the real coordinates of other aircraft, and in the processing unit the received traffic information reciprocal flight, as well as aeronautical data and flight and navigation characteristics, including commands from the ground control and flight control service of aircraft, are converted into flight traffic control commands, ensuring safe joint flight eliminating collision, and identification numbers and coordinate data are transmitted and motion parameters of other aircraft equipped with transceiver radios and within radio range of the ground multi-position th monitoring system and air traffic control services, forming a unified self-organizing network of multi-position monitoring, control and management of flights of manned and unmanned aerial vehicles in the common airspace, including the ground structure and the network of aircraft, and the transmitted message from the aircraft indicates the identification number ground station, which monitors and controls its flight, which indicates the need for relay, scientific message, at this address, and the generated communication traffic serves as a control and monitoring channel for the flight of aircraft, and when traffic monitoring and control cannot be organized, the aircraft switches to autonomous flight mode, receiving warning signals from approaching aircraft, providing flight safety, and in the event of detection of false information about flight traffic from an aircraft that deviates from authorized flight traffic, they correct the flight traffic of such aircraft, transmitting control signals through the relay system, and if it is impossible to adjust the flight of the aircraft, for example, when false information from the aircraft is transmitted intentionally, then information about the time of loss of control with such an aircraft and its motion parameters planned flight traffic, as well as technical data online are transmitted to the service of restraint of unauthorized flight of an unmanned aerial vehicle. This will allow an effective way to solve the problems of information content of airborne surveillance tools, as well as the use of effective UAS control methods.

Claims (1)

A method of multi-position observation, control and management of flights of manned and unmanned aircraft systems, which consists in the fact that each aircraft transmits an application for performing a flight in a given airspace to the ground control and flight control service of the aircraft of the corresponding regional center, where traffic information is analyzed reciprocal flight aeronautical data and flight and navigation characteristics of each of the aircraft, their identification numbers and, the coordinates and parameters of the movement of aircraft in flight are continuously analyzed, receiving information from aircraft, for example using AZN-V, form a ground-air network of multi-position observation, control and management of flights of manned and unmanned aerial vehicles in common airspace, develop control commands flight traffic, in case of loss of communication with ground services, the aircraft goes into autonomous flight mode, accepting communication attempts with other aircraft to correct the flight and relay its flight data to the regional center, in case of deviation from the authorized flight traffic, a command is issued to return to the authorized traffic and this information is automatically sent to the unauthorized flight suppression service, which takes measures to prevent the flight in case of non-return of the aircraft authorized traffic.

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