阅读说明：本技术 一种无人机系统安全能力等级检验及围栏管理系统及方法 (Unmanned aerial vehicle system safety capability level inspection and fence management system and method ) 是由 张正娟 郑志刚 刘艳思 柏艺琴 陈新锋 于 2019-08-05 设计创作，主要内容包括：本发明提供了一种无人机系统安全能力等级检验及围栏管理系统及方法,属于电子信息领域。该系统包括：检验任务管理模块、检验过程监视模块、检验分析数据管理模块、检验报告分析生成模块、围栏信息管理模块、系统参数设置管理模块、数据库管理模块。利用本发明能够根据检验任务要求生成本次校验的检验项目,检验人员在检验过程中依据该检验项目逐项测试和校验。并将检验结果数据提交系统保存。检验包括无人机系统电子围栏数据规范性检验、无人机与电子围栏空间位置冲突提示检验、无人机冲突处置行为检验、无人机电子围栏数据更新功能检验。(The invention provides a system and a method for unmanned aerial vehicle system safety capability level inspection and fence management, and belongs to the field of electronic information. The system comprises: the system comprises a checking task management module, a checking process monitoring module, a checking analysis data management module, a checking report analysis generation module, a fence information management module, a system parameter setting management module and a database management module. The invention can generate the checking item of the checking according to the checking task requirement, and the checking personnel tests and checks item by item according to the checking item in the checking process. And submitting the inspection result data to a system for storage. The detection comprises unmanned aerial vehicle system electronic fence data normative detection, unmanned aerial vehicle and electronic fence space position conflict prompt detection, unmanned aerial vehicle conflict handling behavior detection and unmanned aerial vehicle electronic fence data updating function detection.)

1. The utility model provides an unmanned aerial vehicle system security capability level inspection and rail management system which characterized in that: unmanned aerial vehicle system security capability level inspection and rail management system includes:

the inspection task management module: for creating, modifying and managing inspection tasks;

a checking process monitoring module: the system is used for monitoring the flight process of the unmanned plane to be inspected, and carrying out the safety capability level inspection of the unmanned plane system according to the inspection task created by the inspection task management module to obtain an inspection result;

the inspection analysis data management module: the system comprises a monitoring module, a data acquisition module, a data processing module and a data processing module, wherein the monitoring module is used for monitoring the inspection process;

the inspection report analysis generation module: the system is used for making a safety capability level inspection report of the unmanned aerial vehicle system according to the analysis and inspection data obtained by the inspection and analysis data management module;

the fence information management module: the unmanned aerial vehicle fence is used for managing the unmanned aerial vehicle fence for inspection;

the system parameter setting management module: setting index values and parameters corresponding to the inspection tasks;

the database management module: for storing data.

2. The unmanned aerial vehicle system security capability level inspection and fence management system of claim 1, wherein: each inspection task corresponds to an inspected unmanned aerial vehicle and an inspection unmanned aerial vehicle fence;

each of the inspection tasks includes: the detection grade, the data of the unmanned plane fence for detection, the name and the model of the unmanned plane to be detected, the flight control version number of the unmanned plane and a manufacturer;

and the inspection task management module determines inspection items according to the inspection levels.

3. The unmanned aerial vehicle system security capability level inspection and fence management system of claim 2, wherein: the inspection process monitoring module records real-time flight data sent by airborne positioning equipment installed on the unmanned aerial vehicle to be inspected, monitors the flight process of the unmanned aerial vehicle to be inspected according to the real-time flight data, and inspects all inspection items determined by the inspection task management module one by one to obtain an inspection result.

4. The unmanned aerial vehicle system security capability level inspection and fence management system of claim 3, wherein: the inspection analysis data management module compares the inspection results of all inspection items corresponding to the inspection levels obtained by the inspection process monitoring module with the index parameters of all inspection items corresponding to the inspection levels respectively, judges whether all the inspection results meet requirements or not, judges that the unmanned aerial vehicle for inspection reaches the inspection levels if all the inspection results meet the requirements, judges that the unmanned aerial vehicle for inspection does not reach the inspection levels if all the inspection results do not meet the requirements, and records whether the inspection levels are reached and the inspection results of all the inspection items as analysis inspection data.

5. The unmanned aerial vehicle system security capability level inspection and fence management system of claim 1, wherein: the fence information management module can create and update the unmanned aerial vehicle fence for inspection, maintain the attributes of the unmanned aerial vehicle fence for inspection, and set the effective time period of the unmanned aerial vehicle fence for inspection.

6. An unmanned aerial vehicle system security level inspection and fence management method implemented by the unmanned aerial vehicle system security level inspection and fence management system of any one of claims 1-5, characterized by: the method comprises the following steps:

(1) preparation before flight inspection:

(11) formulating a checking task, and then determining a checking item according to the checking level in the checking task;

(12) defining an unmanned plane fence for inspection of the inspection task, and injecting the unmanned plane fence for inspection into a flight control system of the unmanned plane to be inspected;

(2) carrying out actual flight inspection to obtain an inspection result:

selecting a detection task to be monitored in an actual flight field area, starting to monitor the flight process of the detected unmanned aerial vehicle, and detecting each detection item corresponding to the detection level set in the detection task one by one to obtain a detection result;

(3) carrying out data analysis to obtain a safety capability level inspection report of the unmanned aerial vehicle system:

and analyzing the inspection result to obtain analysis and inspection data, and generating an unmanned aerial vehicle system safety capability level inspection report according to the analysis and inspection data.

7. The unmanned aerial vehicle system security capability level inspection and fence management method of claim 6, wherein: the step (1) further comprises:

(13) and (4) after arriving at the inspection site, judging whether the unmanned plane fence for inspection exists, if not, returning to the step (12), and if so, entering the step (2).

8. The unmanned aerial vehicle system security capability level inspection and fence management method of claim 6, wherein: the operation of monitoring the flight process of the unmanned plane to be inspected in the step (2) comprises the following steps:

the detection process monitoring module is used for displaying a fence of the unmanned aerial vehicle for detection on a map, visually displaying the spatial position of the unmanned aerial vehicle to be detected on the map by using flight path data sent by the airborne positioning equipment, and checking the basic parameters and flight path parameters of the unmanned aerial vehicle to be detected;

calculating the arrival time according to the current speed of the unmanned plane to be detected and the shortest distance from the test boundary of the unmanned plane fence for detection, and displaying the relative positions of the unmanned plane to be detected and the unmanned plane fence for detection according to the current position of the unmanned plane to be detected;

if the set position index value is triggered, the inspection process monitoring module sends out an alarm and simultaneously prompts the occurrence of conflict on a map; the position index value is the position of the detected unmanned aerial vehicle when the difference value between the arrival time and the set time is less than or equal to the set threshold value.

9. The unmanned aerial vehicle system security capability level inspection and fence management method of claim 6, wherein: the step (2) of inspecting each inspection item corresponding to the inspection level set in the inspection task one by one to obtain an inspection result includes:

a1, obtaining a detection result of collision handling behaviors of the unmanned aerial vehicle:

the function cannot be started in the unmanned plane fence to be inspected: placing the unmanned aerial vehicle to be inspected with the power supply turned off into an unmanned aerial vehicle fence for inspection, starting the power supply of the unmanned aerial vehicle to be inspected, judging whether the unmanned aerial vehicle to be inspected can be started, if not, recording that the first inspection result is yes, and if so, recording that the first inspection result is no;

checking the automatic landing/hovering function of the unmanned plane to be checked: judging according to the flight track of the unmanned plane to be detected and the position of the fence of the unmanned plane for detection, under the condition that an operator of the unmanned plane does not operate the unmanned plane to be detected, when the unmanned plane to be detected is infinitely close to the fence of the unmanned plane for detection, judging whether the unmanned plane to be detected automatically lands or hovers nearby the fence of the unmanned plane for detection, if so, recording that the second detection result is yes, and if not, recording that the second detection result is no; if the tested unmanned aerial vehicle is a fixed wing, only the automatic landing function is tested, and if the tested unmanned aerial vehicle is a multi-rotor wing, the hovering function or the automatic landing function is tested;

the automatic return function of the unmanned plane to be inspected is inspected: judging according to the flight track of the unmanned plane to be inspected and the position of the fence of the unmanned plane to be inspected, under the condition that an operator of the unmanned plane does not operate the unmanned plane to be inspected, when the unmanned plane to be inspected is infinitely close to the fence of the unmanned plane to be inspected, judging whether the unmanned plane to be inspected flies away from the fence and returns to a flying starting point for landing, if so, recording that the third inspection result is yes, and if not, recording that the third inspection result is no;

checking the conflict handling function 60s before the unmanned plane to be checked conflicts with the unmanned plane fence: the method comprises the steps that arrival time is obtained in real time according to the current speed of an unmanned plane to be detected and the shortest distance from a test boundary of an unmanned plane fence for detection, when the difference value between the arrival time and 60s is smaller than or equal to a set threshold value, a detection process monitoring module sends an alarm prompt and simultaneously judges whether a ground station of the unmanned plane corresponding to the unmanned plane to be detected has a corresponding prompt or not, if yes, the fourth detection result is recorded to be yes, and if not, the fourth detection result is recorded to be no;

checking a conflict handling function 30s before a conflict occurs between the unmanned plane being checked and the unmanned plane fence: the method comprises the steps that arrival time is obtained in real time according to the current speed of an unmanned plane to be detected and the shortest distance from a test boundary of an unmanned plane fence for detection, when the difference value between the arrival time and 30s is smaller than or equal to a set threshold value, a detection process monitoring module sends an alarm prompt and simultaneously judges whether a ground station of the unmanned plane corresponding to the unmanned plane to be detected has a corresponding prompt or not, if yes, the fifth detection result is recorded to be yes, and if not, the fifth detection result is recorded to be no;

the unmanned aerial vehicle conflict handling behavior verification result corresponding to each verification level comprises one or more of the first verification result, the fifth verification result and the like;

a2, obtaining other function test results:

the inspection is examined whether unmanned aerial vehicle is in the unmanned aerial vehicle rail: firstly, deleting a fence of the unmanned aerial vehicle for inspection from a flight control system of the unmanned aerial vehicle to be inspected, ensuring that the unmanned aerial vehicle to be inspected can enter the fence of the unmanned aerial vehicle for inspection under the condition of starting, then loading the fence of the unmanned aerial vehicle for inspection into the flight control system of the unmanned aerial vehicle to be inspected, and finally judging whether a ground station of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle to be inspected has a corresponding prompt or not, if so, recording a sixth inspection result as yes, and if not, recording the sixth inspection result as no;

checking whether the unmanned aerial vehicle to be checked has a data updating function: introducing updated data of the unmanned plane fence for inspection into the inspected unmanned plane, then repeating the step A1, recording the unmanned plane conflict handling behavior inspection result obtained in the step A1, and taking the unmanned plane conflict handling behavior inspection result as a seventh inspection result;

checking the online authorization function of the checked unmanned aerial vehicle: sending an instruction to the detected unmanned aerial vehicle, judging whether the detected unmanned aerial vehicle can hover or automatically return according to the instruction, if so, recording the eighth detection result as yes, and if not, recording the eighth detection result as no;

checking the Location Based Service (LBS) check function of the unmanned plane to be checked: closing a GPS (global positioning system) of the unmanned aerial vehicle to be inspected, judging whether the unmanned aerial vehicle to be inspected can carry out automatic return voyage according to the base station positioning, if so, recording the ninth inspection result as yes, and if not, recording the ninth inspection result as no;

the test result corresponding to each test grade comprises one or more of the first test result to the ninth test result.

10. The unmanned aerial vehicle system security capability level inspection and fence management method of claim 9, wherein: the analyzing the test result in the step (3) to obtain analysis test data includes:

and judging whether all the inspection results corresponding to the inspection grade meet the requirements, if so, judging that the inspection grade is reached by the unmanned aerial vehicle system for inspection, if not, judging that the inspection grade is not reached, and recording whether the inspection grade is reached and the inspection results of all the inspection items as analysis inspection data.

Technical Field

The invention belongs to the field of electronic information, and particularly relates to a system and a method for unmanned aerial vehicle system safety capability level inspection and fence management.

Background

According to the requirements of the civil aviation administration 'light and small unmanned aerial vehicle operation regulations' (AC-91-FS-2015-31), electronic fences are installed and used for unmanned aerial vehicles of types III, IV, VI and VII, and type II and type V unmanned aerial vehicles which operate in key areas and below airport clearance areas. The drone operation management classification is shown in table 1.

TABLE 1

The civil aviation industry standard unmanned plane fence (MH/T2008- & gt 2017) requires relevant parameters which the unmanned plane system fence function should meet, and defines the requirements of the fence function safety capability level. As shown in table 2:

TABLE 2

At present, each unmanned aerial vehicle manufacturer only stops marking a space fence which completely covers a control airspace in relation to the setting of an unmanned aerial vehicle system fence, and is used for preventing and controlling the unmanned aerial vehicle from flying into or flying out of the control airspace, so that safety accidents are avoided. The drawback that this kind of technique exists at present is unable effectual utilization airspace space, and the space that unmanned aerial vehicle flies diminishes, often is subject to the airspace scope when city survey and drawing, experimental flight, can't accurate flight. At present, a method and a system for detecting the electronic fence of the unmanned aerial vehicle are not available, and the detection of the safety capability level of the fence function of the unmanned aerial vehicle system cannot be realized.

Disclosure of Invention

The present invention is directed to solve the above-mentioned problems in the prior art, and provides a system and a method for unmanned aerial vehicle system security level inspection and fence management, which can inspect the security level of the fence of the unmanned aerial vehicle (rotor wing/fixed wing) systems of class iii, iv, vi and vii, and class ii and class v unmanned aerial vehicles (rotor wing/fixed wing) operating in key areas and under airport clearance areas (i.e. it is inspected whether the electronic fence reaches a certain level of 4 levels in table 2 (5, 6 or even more levels in table 2 are reserved levels for inspecting future unmanned aerial vehicles with more new functions, and each level may be one or more functions to be inspected added on the basis of the previous level)). According to the method, whether an alarm prompt light/a prompt tone exists when the unmanned aerial vehicle is far away from a planned fence boundary is verified through track recording and displaying of the high-precision unmanned aerial vehicle, the unmanned aerial vehicle can be verified to land/hover outside the planned fence boundary, start states and other items in the planned fence, and the level of the function safety capability of the unmanned aerial vehicle system fence is determined, so that the detection service of the level of the function safety capability of the unmanned aerial vehicle system fence is provided for operation supervision of unmanned aerial vehicle research and development units, manufacturers, operators and supervisors, and the unmanned aerial vehicle is guaranteed to fly safely in a control airspace.

The invention is realized by the following technical scheme:

an unmanned aerial vehicle system security capability level inspection and fence management system, comprising:

the inspection task management module: for creating, modifying and managing inspection tasks;

a checking process monitoring module: the system is used for monitoring the flight process of the unmanned plane to be inspected, and carrying out the safety capability level inspection of the unmanned plane system according to the inspection task created by the inspection task management module to obtain an inspection result;

the inspection analysis data management module: the system comprises a monitoring module, a data acquisition module, a data processing module and a data processing module, wherein the monitoring module is used for monitoring the inspection process;

the inspection report analysis generation module: the system is used for making a safety capability level inspection report of the unmanned aerial vehicle system according to the analysis and inspection data obtained by the inspection and analysis data management module;

the fence information management module: the unmanned aerial vehicle fence is used for managing the unmanned aerial vehicle fence for inspection;

the system parameter setting management module: setting index values and parameters corresponding to the inspection tasks;

the database management module: for storing data.

Each inspection task corresponds to an inspected unmanned aerial vehicle and an inspection unmanned aerial vehicle fence;

each of the inspection tasks includes: the detection grade, the data of the unmanned plane fence for detection, the name and the model of the unmanned plane to be detected, the flight control version number of the unmanned plane and a manufacturer;

and the inspection task management module determines inspection items according to the inspection levels.

The inspection process monitoring module records real-time flight data sent by airborne positioning equipment installed on the unmanned aerial vehicle to be inspected, monitors the flight process of the unmanned aerial vehicle to be inspected according to the real-time flight data, and inspects all inspection items determined by the inspection task management module one by one to obtain an inspection result.

The inspection analysis data management module compares the inspection results of all inspection items corresponding to the inspection levels obtained by the inspection process monitoring module with the index parameters of all inspection items corresponding to the inspection levels respectively, judges whether all the inspection results meet requirements or not, judges that the unmanned aerial vehicle for inspection reaches the inspection levels if all the inspection results meet the requirements, judges that the unmanned aerial vehicle for inspection does not reach the inspection levels if all the inspection results do not meet the requirements, and records whether the inspection levels are reached and the inspection results of all the inspection items as analysis inspection data.

The fence information management module can create and update the unmanned aerial vehicle fence for inspection, maintain the attributes of the unmanned aerial vehicle fence for inspection, and set the effective time period of the unmanned aerial vehicle fence for inspection.

The unmanned aerial vehicle system safety capability level inspection and fence management method realized by utilizing the system comprises the following steps:

(1) preparation before flight inspection:

(11) formulating a checking task, and then determining a checking item according to the checking level in the checking task;

(12) defining an unmanned plane fence for inspection of the inspection task, and injecting the unmanned plane fence for inspection into a flight control system of the unmanned plane to be inspected;

(2) carrying out actual flight inspection to obtain an inspection result:

selecting a detection task to be monitored in an actual flight field area, starting to monitor the flight process of the detected unmanned aerial vehicle, and detecting each detection item corresponding to the detection level set in the detection task one by one to obtain a detection result;

(3) carrying out data analysis to obtain a safety capability level inspection report of the unmanned aerial vehicle system:

and analyzing the inspection result to obtain analysis and inspection data, and generating an unmanned aerial vehicle system safety capability level inspection report according to the analysis and inspection data.

The step (1) further comprises:

(13) and (4) after arriving at the inspection site, judging whether the unmanned plane fence for inspection exists, if not, returning to the step (12), and if so, entering the step (2).

The operation of monitoring the flight process of the unmanned plane to be inspected in the step (2) comprises the following steps:

the detection process monitoring module is used for displaying a fence of the unmanned aerial vehicle for detection on a map, visually displaying the spatial position of the unmanned aerial vehicle to be detected on the map by using flight path data sent by the airborne positioning equipment, and checking the basic parameters and flight path parameters of the unmanned aerial vehicle to be detected;

calculating the arrival time according to the current speed of the unmanned plane to be detected and the shortest distance from the test boundary of the unmanned plane fence for detection, and displaying the relative positions of the unmanned plane to be detected and the unmanned plane fence for detection according to the current position of the unmanned plane to be detected;

if the set position index value is triggered, the inspection process monitoring module sends out an alarm and simultaneously prompts the occurrence of conflict on a map; the position index value is the position of the detected unmanned aerial vehicle when the difference value between the arrival time and the set time is less than or equal to the set threshold value.

The step (2) of inspecting each inspection item corresponding to the inspection level set in the inspection task one by one to obtain an inspection result includes:

a1, obtaining a detection result of collision handling behaviors of the unmanned aerial vehicle:

the function cannot be started in the unmanned plane fence to be inspected: placing the unmanned aerial vehicle to be inspected with the power supply turned off into an unmanned aerial vehicle fence for inspection, starting the power supply of the unmanned aerial vehicle to be inspected, judging whether the unmanned aerial vehicle to be inspected can be started, if not, recording that the first inspection result is yes, and if so, recording that the first inspection result is no;

checking the automatic landing/hovering function of the unmanned plane to be checked: judging according to the flight track of the unmanned plane to be detected and the position of the fence of the unmanned plane for detection, under the condition that an operator of the unmanned plane does not operate the unmanned plane to be detected, when the unmanned plane to be detected is infinitely close to the fence of the unmanned plane for detection, judging whether the unmanned plane to be detected automatically lands or hovers nearby the fence of the unmanned plane for detection, if so, recording that the second detection result is yes, and if not, recording that the second detection result is no; if the tested unmanned aerial vehicle is a fixed wing, only the automatic landing function is tested, and if the tested unmanned aerial vehicle is a multi-rotor wing, the hovering function or the automatic landing function is tested;

the automatic return function of the unmanned plane to be inspected is inspected: judging according to the flight track of the unmanned plane to be inspected and the position of the unmanned plane fence for inspection, under the condition that an unmanned plane operator does not operate the unmanned plane to be inspected, when the unmanned plane to be inspected is infinitely close to the unmanned plane fence for inspection, judging whether the unmanned plane to be inspected flies away from the fence and returns to a flying starting point for landing, if so, recording that the third inspection result is yes, and if not, recording that the third inspection result is no;

checking the conflict handling function 60s before the unmanned plane to be checked conflicts with the unmanned plane fence: the method comprises the steps that arrival time is obtained in real time according to the current speed of an unmanned plane to be detected and the shortest distance from a test boundary of an unmanned plane fence for detection, when the difference value between the arrival time and 60s is smaller than or equal to a set threshold value, a detection process monitoring module sends an alarm prompt and simultaneously judges whether a ground station of the unmanned plane corresponding to the unmanned plane to be detected has a corresponding prompt or not, if yes, the fourth detection result is recorded to be yes, and if not, the fourth detection result is recorded to be no;

checking a conflict handling function 30s before a conflict occurs between the unmanned plane being checked and the unmanned plane fence: the method comprises the steps that arrival time is obtained in real time according to the current speed of an unmanned plane to be detected and the shortest distance from a test boundary of an unmanned plane fence for detection, when the difference value between the arrival time and 30s is smaller than or equal to a set threshold value, a detection process monitoring module sends an alarm prompt and simultaneously judges whether a ground station of the unmanned plane corresponding to the unmanned plane to be detected has a corresponding prompt or not, if yes, the fifth detection result is recorded to be yes, and if not, the fifth detection result is recorded to be no;

the unmanned aerial vehicle conflict handling behavior verification result corresponding to each verification level comprises one or more of the first verification result, the fifth verification result and the like;

a2, obtaining other function test results:

the inspection is examined whether unmanned aerial vehicle is in the unmanned aerial vehicle rail: firstly, deleting a fence of the unmanned aerial vehicle for inspection from a flight control system of the unmanned aerial vehicle to be inspected, ensuring that the unmanned aerial vehicle to be inspected can enter the fence of the unmanned aerial vehicle for inspection under the condition of starting, then loading the fence of the unmanned aerial vehicle for inspection into the flight control system of the unmanned aerial vehicle to be inspected, and finally judging whether a ground station of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle to be inspected has a corresponding prompt or not, if so, recording a sixth inspection result as yes, and if not, recording the sixth inspection result as no;

checking whether the unmanned aerial vehicle to be checked has a data updating function: introducing updated data of the unmanned plane fence for inspection into the inspected unmanned plane, then repeating the step A1, recording the unmanned plane conflict handling behavior inspection result obtained in the step A1, and taking the unmanned plane conflict handling behavior inspection result as a seventh inspection result;

checking the online authorization function of the checked unmanned aerial vehicle: sending an instruction to the detected unmanned aerial vehicle, judging whether the detected unmanned aerial vehicle can hover or automatically return according to the instruction, if so, recording the eighth detection result as yes, and if not, recording the eighth detection result as no;

checking the Location Based Service (LBS) check function of the unmanned plane to be checked: closing a GPS (global positioning system) of the unmanned aerial vehicle to be inspected, judging whether the unmanned aerial vehicle to be inspected can carry out automatic return voyage according to the base station positioning, if so, recording the ninth inspection result as yes, and if not, recording the ninth inspection result as no;

the test result corresponding to each test grade comprises one or more of the first test result to the ninth test result.

The analyzing the test result in the step (3) to obtain analysis test data includes:

and judging whether all the inspection results corresponding to the inspection grade meet the requirements, if so, judging that the inspection grade is reached by the unmanned aerial vehicle system for inspection, if not, judging that the inspection grade is not reached, and recording whether the inspection grade is reached and the inspection results of all the inspection items as analysis inspection data.

Compared with the prior art, the invention has the beneficial effects that:

(1) different types of space unmanned aerial vehicle fence test environments can be dynamically and quickly constructed on the basis of measurement means such as satellite navigation equipment, tracking equipment and an unmanned aerial vehicle airspace big data system;

(2) the unmanned plane fence data in the standard format can be generated quickly, and can be written into an unmanned plane system correctly;

(3) the unmanned plane fence range generated by the test can be displayed in a test verification system in a two-dimensional map representation form, and the flight position and the flight track of the unmanned plane in the test process can be visually displayed;

(4) by the installation tracking equipment additional of inspection unmanned aerial vehicle, test system can acquire in real time by the coordinate, speed and the height of inspection unmanned aerial vehicle through receiving tracking equipment signal to can show the orbit of inspection unmanned aerial vehicle in real time at test system.

(5) The test system parameters and the inspection indicators may be adjusted.

(6) The acquired unmanned aerial vehicle fence related test data and the fence inspection index data for inspection can be compared and analyzed, whether the standard requirements are met or not is determined, and an inspection report is formed.

(7) The system generates a checking item of the checking according to the checking task requirement, and the checking personnel tests and checks item by item according to the checking item in the checking process. And submitting the inspection result data to a system for storage. The detection comprises unmanned aerial vehicle system electronic fence data normative detection, unmanned aerial vehicle and electronic fence space position conflict prompt detection, unmanned aerial vehicle conflict handling behavior detection and unmanned aerial vehicle electronic fence data updating function detection.

Drawings

Fig. 1 is a schematic diagram of a verification task established by an unmanned aerial vehicle system security capability level verification task management module in the system of the present invention;

fig. 2 is a schematic structural diagram of the unmanned aerial vehicle system safety capability level inspection and fence management system of the present invention;

fig. 3 is a block diagram of the steps of the method of the present invention.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings:

as shown in fig. 2, the unmanned aerial vehicle system security capability level inspection and fence management system of the present invention includes an inspection task management module, an inspection process monitoring module, an inspection analysis data management module, an inspection report analysis generation module, a fence information management module, a system parameter management module, and a database management module, and specifically includes the following:

the inspection task management module: based on the login of the authorized user, the authorized user performs creation, modification and management of the inspection task through the inspection task management module after logging in, and the inspection task is as shown in fig. 1 and comprises the following steps: inspection grade (i.e. level of security capability to be inspected), drone type, drone number, drone manufacturer, drone fence data for inspection. The system adopts a tasking management scheme for the unmanned aerial vehicle system safety capability level inspection executed each time. Every fence for the inspection of each unmanned aerial vehicle to be inspected is set as an inspection task, namely, one inspection task corresponds to one unmanned aerial vehicle to be inspected and one unmanned aerial vehicle fence for the inspection. Before the inspection is started, the inspection task management module determines inspection items according to the inspection level (the level of safety capability to be inspected), for example, if the inspection level to be inspected is two levels, 7 inspection items are generated according to 7 inspection items corresponding to the two levels in table 2, and whether the inspection items are met is verified one by one in the subsequent inspection process.

The inspection process monitoring module: used for carrying out unmanned aerial vehicle system security ability level inspection, through loading high accuracy airborne positioning equipment on unmanned aerial vehicle (this equipment is current equipment, it utilizes the differential data of carrier differential positioning equipment output, carry out differential processing to the positioning equipment data of installing additional on unmanned aerial vehicle, reach unmanned aerial vehicle's accurate position data), realize that real-time accurate flight data of unmanned aerial vehicle (flight data includes the longitude, the latitude, the height, the course, horizontal velocity, the location type, the difference age, the satellite number, apart from rail length) tracks, and real-time recording, transmission and demonstration unmanned aerial vehicle flight path, each inspection item that the inspection grade that sets for in the inspection task corresponds inspects one by one: in the inspection task execution process, the inspection process monitoring module can monitor the flight process of the inspected unmanned aerial vehicle by utilizing flight data returned by the airborne positioning equipment, monitors the space position conflict relationship between the unmanned aerial vehicle and the inspection fence in real time and inspects the conflict handling behavior of the unmanned aerial vehicle, and records the inspection result in the inspection item list.

The inspection process monitoring module verifies and analyzes each inspection item one by one, and ensures that an inspector inspects each inspection item of the inspected unmanned aerial vehicle without missing inspection items. If any one of the missed tests exists, the test analysis data management module is not started. And the inspection analysis data management module performs data analysis, and performs matching analysis on all inspection results obtained by inspection and the standard of unmanned aerial vehicle system safety capacity grading in the unmanned aerial vehicle fence standard to obtain whether the unmanned aerial vehicle system safety capacity grade passes or not. The inspection process monitoring module can record and store the video at any time.

The inspection analysis data management module: the unmanned aerial vehicle for the inspection is used for analyzing the flight track of the unmanned aerial vehicle and the inspection result and judging whether the unmanned aerial vehicle for the inspection reaches the inspection grade or not. Specifically, after the external field test is completed, the inspection results obtained by the inspection process monitoring module are managed in a unified manner by adopting a list and are associated with the inspection task. The analysis state of the inspection task is divided into two states of waiting and completing, if the analysis is completed, the analysis state is changed into the completing state, otherwise, the analysis state is the waiting state. After the field flight test of the inspection task is completed, the inspection results acquired and recorded in the flight verification process of the task are analyzed and compared with preset index parameters (for example, the index parameters are 'yes'), whether the electronic fence setting of the unmanned plane of the model meets the corresponding inspection grade is determined, and analysis inspection data are formed and stored in the system. Specifically, whether all inspection results corresponding to the inspection grade meet requirements is judged, if yes, the unmanned aerial vehicle system for inspection is judged to reach the inspection grade, if not, the unmanned aerial vehicle system for inspection does not reach the inspection grade, and whether the inspection grade is reached and the inspection results of all inspection items are recorded as analysis inspection data. Specifically, whether the test result meets the requirement is judged according to each test result corresponding to the test level, for example, if the test level is 1 level, whether the second test result and the fourth test result are both yes is judged, if yes, the test level is judged to be reached, if not, the test level is judged not to be reached, if the test level is 2 levels, whether the first test result to the seventh test result are both yes is judged, if yes, the test level is judged to be reached, if no, the test level is judged not to be reached, wherein the seventh test result comprises the first test result to the fifth test result obtained after updating the unmanned aerial vehicle fence for testing, whether the first test result to the fifth test result are both yes is judged, if yes, the seventh test result is recorded as yes, and otherwise, the seventh test result is recorded as no.

After the test data is analyzed and verified, a verification report generation module can be used for generating a verification report according to the analysis and verification data obtained by the verification and analysis data management module and a pre-designed report template. The inspection report analyzing and generating module is used for recording and integrating the unmanned aerial vehicle system safety capability level inspection project result and the flight track (sent by the unmanned aerial vehicle system safety capability level inspection process monitoring module) of the unmanned aerial vehicle flying to the inspection fence, and generating an unmanned aerial vehicle system safety capability level inspection report meeting the requirements of unmanned aerial vehicle fence (namely civil aviation industry standard unmanned aerial vehicle fence (MH/T2008 + 2017)) given in table 2, so that an integrated process is realized, and the situation of human intervention and tampering is avoided.

The fence information management module: the method is used for managing the fence for inspection, and comprises the steps of creating and updating the fence of the unmanned aerial vehicle, maintaining the fence attributes of the unmanned aerial vehicle (as shown in table 3, the fence attributes comprise the plane area range and the top surface ground clearance of the fence, the effective time period of the fence, the description of the fence, whether the fence is effective, and the like), and enabling the fence of the unmanned aerial vehicle to take effect, namely the functions of creating, updating, inquiring and downloading the fence; according to the definition modes of three unmanned plane fences in the unmanned plane fence standard, the unmanned plane fence is defined by adopting one of the following three modes: 1, map clicking: and displaying the accurate range of the unmanned plane fence on the map, clicking the vertex of the unmanned plane fence to draw a geometric shape on the map, filling the attribute of the unmanned plane fence, and storing the attribute in a database. 2, manually inputting coordinate values: and manually inputting the vertex coordinate value of the unmanned plane fence, drawing a geometric shape on a map, filling the unmanned plane fence attribute, and storing the unmanned plane fence attribute in a database. The positioning mode has high precision. 3, importing electronic fence data: importing an Excel electronic fence data definition file, drawing a geometric shape on a map, and storing the geometric shape in a database. The positioning mode has high precision. A fence file template is defined (the file template is a fence attribute for creating a fence, and there are three fence file templates, wherein, a polygonal fence comprises a fence number, a fence name, a fence type, a relative height from the top to the ground, an effective time period, a fence description and fence coordinates. And multiple pens can be introduced at one time.

The type of unmanned plane fence definition supports three types of requirements required by the unmanned plane fence standard, and supports three definition modes: map clicking, manual input coordinate values and importing unmanned plane fence data.

The fence attributes are defined as shown in table 3:

TABLE 3

The system parameter setting management module: the system is used for providing various index values required by the unmanned plane fence standard, parameter setting for system verification and a data dictionary function, can be flexibly configured according to test requirements, and can be stored persistently. For example, the system parameter setting can realize 60s and 30s changes of fence collision warning time, and can manage tracking equipment, check equipment and unmanned aerial vehicle types.

The database management module: the database of the system adopts a MySQL database and a PostGreSQL database of the latest version. The MySQL database mainly stores business data (flight track and inspection data items during unmanned plane fence task creation and unmanned plane fence inspection, data analysis and the like), and the PostGreSQL database mainly stores space data of unmanned plane fences.

Because the importance of system test data, the system data need to be backed up regularly, the invention provides a data backup tool and a script, and realizes the purpose of regularly backing up the data to a specified disk, a mobile hard disk or a server every day or every week.

The method for verifying the safety capability level of the unmanned aerial vehicle system and managing the fence by using the system is shown in fig. 3 and comprises the following steps:

(1) preparation before flight inspection:

(11) formulating an inspection task according to the inspection requirement of an unmanned aerial vehicle manufacturer, then determining inspection projects according to inspection grades in the inspection task, and planning each inspection project of a flight test in detail;

(12) defining an unmanned plane fence for inspection of the inspection task, exporting the unmanned plane fence into a file format required by a standard, and enabling a manufacturer worker to inject the unmanned plane fence for inspection into a flight control system of the unmanned plane to be inspected; and the test tracking equipment is well installed on the unmanned aerial vehicle system body, and the normal work is ensured by electrifying the test. The data are stored in a system database, and the map data are directly acquired from the AeroMap platform.

The "import fence" in the "unmanned plane fence list" in fig. 3 refers to a third method (i.e., an import method) defined by selecting a fence, and importing the fence in batches through a template. The step of exporting the fence refers to exporting the defined fence from the system to the unmanned aerial vehicle, wherein the derived fence data is defined according to the definition of the unmanned aerial vehicle fence standard, and the unmanned aerial vehicle operator is led into the unmanned aerial vehicle system for inspection after the fence data is exported. The "import task" and the "export task" in the "inspection task list" in fig. 3 refer to import and export tasks, and there are two ways to establish tasks, one is to input on a web page (i.e., to create a task), and the other is to import a task in batch.

The step (1) further comprises:

(13) when the inspector arrives at the inspection site, whether the fence of the unmanned aerial vehicle for inspection exists is judged (namely, the fence can be selected, and whether the fence can be selected by adopting various conventional methods) because the condition of airspace change sometimes occurs, if the originally defined fence range for inspection is in the no-fly area, namely, the fence of the unmanned aerial vehicle for inspection does not exist, the step (12) is returned, and if the fence range for inspection exists, the step (2) is entered. This can increase the flexibility of the system.

(2) Carrying out actual flight inspection to obtain an inspection result:

and selecting the inspection tasks to be monitored in the actual flight field area, starting to monitor the flight process of the inspected unmanned aerial vehicle, and inspecting each inspection item corresponding to the inspection grade set in the inspection tasks one by one to obtain an inspection result. The whole testing process can be monitored by the inspection process monitoring module, and inspection personnel record inspection data.

The monitoring of the flight process of the unmanned plane to be inspected is as follows: in the task execution process, the inspection process monitoring module can display the fence of the unmanned aerial vehicle for the current flight inspection on a map, visually display the spatial position of the inspected unmanned aerial vehicle on the map by utilizing flight path data returned by the airborne tracking equipment, and can view the basic parameters and the detailed flight path parameters of the inspected unmanned aerial vehicle. The system detects the spatial position relation between the position of the detected unmanned aerial vehicle and the fence of the unmanned aerial vehicle for detection in real time (the arrival time is calculated according to the current speed of the detected unmanned aerial vehicle and the shortest distance from the test boundary of the fence of the unmanned aerial vehicle for detection, and the relative position between the detected unmanned aerial vehicle and the fence of the unmanned aerial vehicle for detection is displayed according to the current position information of the detected unmanned aerial vehicle), if a set position index value is triggered, the detection process monitoring module sends an alarm, and meanwhile, the occurrence of conflict is indicated on a map; the position index value refers to a position where the detected unmanned aerial vehicle is located when a difference between the arrival time and a set time (for example, 60s or 30s) is less than or equal to a threshold value.

The inspection process monitoring module inspects each inspection item corresponding to the inspection level set in the inspection task one by one, and the inspection process monitoring module is as follows:

a1, obtaining a detection result of collision handling behaviors of the unmanned aerial vehicle: the unmanned plane conflict handling behavior refers to conflict handling behaviors such as automatic hovering or returning of the detected unmanned plane when the detected unmanned plane approaches the unmanned plane fence for detection. Specifically, the position and the behavior of the unmanned aerial vehicle to be inspected can be displayed in real time in the inspection process monitoring module, the inspection results of all inspection items of the unmanned aerial vehicle to be inspected can be obtained through the position and the behavior of the unmanned aerial vehicle to be inspected, which are displayed in real time, and the inspection results are recorded in the corresponding inspection items. The types of unmanned plane conflict handling behavior include: unmanned aerial vehicle automatic descending/hover, unmanned aerial vehicle automatic back navigation, can not start up in the unmanned aerial vehicle rail, unmanned aerial vehicle and unmanned aerial vehicle rail take place the conflict of 60s before the conflict deals with, unmanned aerial vehicle and unmanned aerial vehicle rail take place the conflict of 30s before the conflict deals with, specifically as follows:

checking the function of the unmanned plane to be checked, which cannot be started: placing the unmanned aerial vehicle to be inspected who closes the power in the unmanned aerial vehicle rail for the inspection, then starting the power of unmanned aerial vehicle to be inspected judges whether this unmanned aerial vehicle to be inspected can start, if can not start, then the first inspection result of record is yes, if can start, then the first inspection result of record is no.

Checking the automatic landing/hovering function of the unmanned plane to be checked: judging according to the flight track of the unmanned aerial vehicle to be inspected and the position of the fence of the unmanned aerial vehicle for inspection, under the condition that an unmanned aerial vehicle operator does not operate the unmanned aerial vehicle to be inspected, when the unmanned aerial vehicle to be inspected infinitely approaches the fence of the unmanned aerial vehicle for inspection, judging whether the unmanned aerial vehicle to be inspected lands or hovers nearby the fence of the unmanned aerial vehicle for inspection, if so, recording that the second inspection result is yes, and if not, recording that the second inspection result is no. If the unmanned aerial vehicle being inspected is a fixed wing, only the auto-landing function is inspected, and if the unmanned aerial vehicle being inspected is a multi-rotor, the hovering function or the auto-landing function is inspected.

The automatic return function of the unmanned plane to be inspected is inspected: according to being examined unmanned aerial vehicle's flight orbit and the position of examining with unmanned aerial vehicle rail judge, do not control this under the condition of being examined unmanned aerial vehicle at unmanned aerial vehicle operator, when being examined unmanned aerial vehicle infinitely close to examining with unmanned aerial vehicle rail, judge whether to keep away from rail flight and descend at the point of departure by examining unmanned aerial vehicle. If yes, the third check result is recorded as yes, and if no, the third check result is recorded as no.

Checking the conflict handling function 60s before the unmanned plane to be checked conflicts with the unmanned plane fence:

the method comprises the steps that arrival time is obtained in real time according to the current speed of an unmanned plane to be inspected and the shortest distance between the current speed and the test boundary of the unmanned plane fence for distance inspection (the arrival time can be obtained by dividing the shortest distance by the speed), when the difference value between the arrival time and 60s is smaller than or equal to a set threshold value, an inspection process monitoring module can send an alarm prompt, whether the ground station of the unmanned plane corresponding to the unmanned plane to be inspected has a corresponding prompt or not is judged, if yes, a fourth inspection result is recorded, and if not, the fourth inspection result is recorded. The set threshold value may be determined according to the actual inspection accuracy, and may be 5s, for example

Checking a conflict handling function 30s before a conflict occurs between the unmanned plane being checked and the unmanned plane fence:

the method comprises the steps that arrival time is obtained according to the current speed of an unmanned plane to be inspected and the shortest distance of a test boundary of an unmanned plane fence for distance inspection in real time, when the difference value between the arrival time and 30s is smaller than or equal to a set threshold value, an inspection process monitoring module can send an alarm prompt, whether corresponding prompts exist in an unmanned plane ground station corresponding to the unmanned plane to be inspected or not is judged, if yes, the fifth inspection result is recorded, and if not, the fifth inspection result is recorded.

The unmanned aerial vehicle conflict handling behavior verification result comprises one or more of the first verification result to a fifth verification result.

A2, obtaining other function test results:

the inspection is examined whether unmanned aerial vehicle is in the unmanned aerial vehicle rail: firstly, deleting the fence of the unmanned aerial vehicle for inspection from the flight control system of the unmanned aerial vehicle to be inspected, ensuring that the unmanned aerial vehicle to be inspected can enter the fence of the unmanned aerial vehicle for inspection under the condition of starting, then loading the fence of the unmanned aerial vehicle for inspection into the flight control system of the unmanned aerial vehicle to be inspected, and finally judging whether the ground station of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle to be inspected has corresponding prompt, if so, recording that the sixth inspection result is yes, and if not, recording that the sixth inspection result is no.

Checking whether the unmanned aerial vehicle to be checked has a data updating function: the drone operator re-performs step a1 after importing the updated data of the drone fence for inspection into the drone system, and records the results of each inspection item (for example, if the inspection level to be tested is level 1, only the second and fourth inspection items may be performed according to step a1 to obtain the second and fourth inspection results). Specifically, the "data update" function of the drone fence in table 2 means that the drone system can change different drone fence types (the fence types are divided into multiple types, such as polygon and sector), and after the drone fence type is updated, the drone can still implement a collision handling behavior close to the fence. When unmanned aerial vehicle rail data update is used in the inspection to inspection process monitoring module, support to derive the data of a plurality of unmanned aerial vehicle rails for the inspection, select a plurality of unmanned aerial vehicle rails for the inspection during the test, but only introduce one unmanned aerial vehicle rail for the inspection in the unmanned aerial vehicle system at every turn, introduce the binary file of the unmanned aerial vehicle rail for the inspection who generates into the unmanned aerial vehicle system of being inspected to update the result record of the file of introducing unmanned aerial vehicle rail for the inspection in the inspection project list. And after the updated unmanned plane fence for inspection is successfully led in, carrying out each inspection item of unmanned plane conflict handling behavior inspection corresponding to the inspection grade again, recording the unmanned plane conflict handling behavior inspection result, and taking the unmanned plane conflict handling behavior inspection result as a seventh inspection result.

Checking the online authorization function of the checked unmanned aerial vehicle: and sending an instruction to the unmanned aerial vehicle to be inspected through an unmanned aerial vehicle operator, judging whether the unmanned aerial vehicle to be inspected can hover or automatically return according to the instruction, if so, recording that the eighth inspection result is yes, and if not, recording that the eighth inspection result is no.

Checking the Location Based Service (LBS) check function of the unmanned plane to be checked: and closing the GPS positioning system of the unmanned aerial vehicle to be inspected, judging whether the unmanned aerial vehicle to be inspected can carry out automatic return voyage according to the positioning of the base station, if so, recording the ninth inspection result as yes, and if not, recording the ninth inspection result as no.

The 9 inspection results include all the inspection items in table 2, and the seventh inspection result includes the unmanned plane conflict handling behavior inspection result corresponding to the inspection level. After the inspection level is determined, each inspection item corresponding to the inspection level is directly found from table 2 to be inspected, and an inspection result of each inspection item corresponding to the inspection level is obtained, for example, if the inspection level to be tested is 1 level, only the second and fourth inspection items are performed, and the second inspection result and the fourth inspection result are obtained, and if the inspection level to be tested is 2 levels, the first, second, third, fourth, fifth, sixth and seventh inspection items are performed, and the first inspection result to the seventh inspection result are obtained.

(3) Carrying out data analysis to obtain a safety capability level inspection report of the unmanned aerial vehicle system:

and (3) analyzing the inspection result obtained in the step (2), obtaining analysis inspection data, generating an unmanned aerial vehicle system safety capability level inspection report according to the analysis inspection data, and completing the whole unmanned aerial vehicle system electronic fence inspection and verification.

The system and the method can be used for detecting the safety capability level of the unmanned aerial vehicle system, freely marking a fence with non-positioning property and accurately tracking the real-time flight track of the unmanned aerial vehicle. The system can acquire real-time track data of the unmanned aerial vehicle in real time and process the acquired track data to obtain the flight track of the unmanned aerial vehicle with a high-precision error smaller than 3cm, is used for verifying safety capability grade inspection projects of the unmanned aerial vehicle system, and grades the safety capability of the unmanned aerial vehicle system; by using the unmanned aerial vehicle system, the manufacturer of the unmanned aerial vehicle can carry out safety capability level inspection on the unmanned aerial vehicle system, and the safety flight safety of the unmanned aerial vehicle is guaranteed.

The above-described embodiment is only one embodiment of the present invention, and it will be apparent to those skilled in the art that various modifications and variations can be easily made based on the application and principle of the present invention disclosed in the present application, and the present invention is not limited to the method described in the above-described embodiment of the present invention, so that the above-described embodiment is only preferred, and not restrictive.