CN-121603969-B - Distributed RID receiving system based on edge multisource fusion

CN121603969BCN 121603969 BCN121603969 BCN 121603969BCN-121603969-B

Abstract

The invention discloses a distributed RID receiving system based on edge multisource fusion, which relates to the technical field of low-altitude supervision and comprises a distributed RID receiving node cluster, an edge multisource fusion processing unit, a cloud management and control platform, a clock synchronization module and a control module, wherein the distributed RID receiving node cluster adopts a gridding deployment scheme of cooperation of fixed nodes and maneuvering nodes, RID signals of a low-altitude aircraft are captured in real time and primarily resolved and then are processed through a primary fusion algorithm to output node data, the edge multisource fusion processing unit is deployed in each management and control zone, the node data in the convergence zone is calibrated, de-duplicated and noise reduced through a secondary fusion algorithm to output structured RID data, the cloud management and control platform realizes overall data overall planning, situation visualization, intelligent decision and instruction issuing through a three-level fusion algorithm, and the urban low-air conditioning system is linked to form a closed loop control, and the clock synchronization module provides nanosecond time reference for the whole system. The invention solves the problems of insufficient coverage and insufficient data processing precision of the traditional RID receiving scheme, and realizes the global perception, accurate data processing and closed-loop control of the low-altitude aircraft.

Inventors

WU HAO
LUO JIANGYONG
GAO ZIRAN
GAO PENG

Assignees

成都空御科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260129

Claims (6)

1. The distributed RID receiving system based on the edge multisource fusion is characterized by comprising a distributed RID receiving node cluster, an edge multisource fusion processing unit, a cloud management and control platform and a clock synchronization module, wherein the data interaction and the collaborative work are realized among the parts in the system through redundant communication links; The distributed RID receiving node cluster adopts a grid deployment scheme of cooperation of fixed nodes and maneuvering nodes and is used for capturing RID signals of the low-altitude aircraft in real time and carrying out preliminary analysis to obtain corresponding original analysis data; The edge multisource fusion processing unit is deployed at a set position of each control partition, and is used for converging node data of all nodes in the control partition, finishing data calibration, de-duplication and noise reduction processing through a two-level fusion algorithm and outputting structured RID data; The cloud management and control platform realizes global structured RID data overall planning, situation visualization, intelligent decision and instruction issuing through a three-level fusion algorithm, and is connected with a city low air conditioning system to form closed loop control; The clock synchronization module adopts a Beidou time service and local calibration combination scheme to provide a nanosecond time reference for the whole system; the primary fusion algorithm comprises: Each distributed RID receiving node corrects errors caused by GNSS positioning data drift through a Kalman filtering algorithm based on historical analysis data cached in a preset time period, and meanwhile, data noise reduction and abnormal jump data rejection are completed; The secondary fusion algorithm comprises: converging multi-node data of the same low-altitude aircraft, aligning time stamps based on reference time provided by the clock synchronization module, adopting a weighted average fusion algorithm, and correcting positioning deviation caused by a shielding object by combining with a city digital map, wherein weights in the weighted average fusion algorithm are dynamically distributed based on node signal intensity and distance from the low-altitude aircraft; the three-level fusion algorithm comprises: and converging the structured RID data output by each edge multisource fusion processing unit, adopting a multisource heterogeneous RID data fusion algorithm aiming at the trans-regional multispeed data of the same low-altitude aircraft, removing corresponding false signals and repeated data, and realizing the accurate tracking of the full-route track of the low-altitude aircraft.
2. A distributed RID receiving system based on edge multisource fusion according to claim 1, wherein said edge multisource fusion processing unit is further configured to: And acquiring the route track of the low-altitude aircraft after the positioning deviation correction in the corresponding control zone, judging whether the corresponding low-altitude aircraft is illegal or not based on a preset low-altitude route rule and an aircraft safety interval threshold value, if so, triggering local early warning, and if not, not acting.
3. The distributed RID receiving system based on edge multisource fusion according to claim 1, wherein said cloud management and control platform is further configured to: Aiming at the same low-altitude aircraft, acquiring full-route track data of the low-altitude aircraft based on cross-region multi-node data with false signals and repeated data removed; Based on the full-route track data, corresponding low-altitude aircraft situations are displayed on the urban electronic map in real time, whether the low-altitude aircraft has abnormal behaviors or potential conflicts is analyzed, if yes, hierarchical early warning is triggered, and early warning information and route adjustment suggestions are issued to low-altitude aircraft operators and a ground dispatching center.
4. The distributed RID receiving system based on edge multisource fusion according to claim 1, wherein each distributed RID receiving node is an independent hardware unit, and integrates a radio frequency receiving module, a protocol decoding module, a local preprocessing module, an anti-interference module and a communication module.
5. A distributed RID receiving system based on edge multisource fusion according to claim 4, further comprising: The radio frequency receiving module specifically supports 2.4GHz/5.2GHz/5.8GHz three-frequency-band broadband reception, adopts a high-gain combined antenna design and combines an adaptive gain adjustment technology; The protocol decoding module is specifically provided with a built-in national standard protocol library and an ASTM F3411 protocol library, supports multi-protocol self-adaptive analysis, extracts corresponding core fields of the low-altitude aircraft and completes data validity verification; the local preprocessing module is specifically used for executing the primary fusion algorithm; The anti-interference module is specifically characterized by integrating a frequency spectrum sensing and frequency hopping avoidance technology, detecting an interference source in real time and automatically switching a working frequency band, and simultaneously adopting an SM4 encryption algorithm to ensure data transmission safety; The communication module specifically supports optical fiber and 5G private network double-link transmission, the fixed node adopts an optical fiber link to carry out data transmission, and the mobile node adopts a 5G private link to carry out data transmission.
6. The distributed RID receiving system based on edge multisource fusion according to claim 1, wherein the cloud management and control platform is deployed in an urban low-altitude traffic command center and is in butt joint with an urban intelligent traffic system, a logistics scheduling platform and an emergency management system to realize data sharing and collaborative scheduling.

Description

Distributed RID receiving system based on edge multisource fusion Technical Field The invention relates to the technical field of low-altitude supervision, in particular to a distributed RID receiving system based on edge multisource fusion. Background With the industrialized promotion of low-altitude economy, urban low-altitude logistics distribution, manned eVTOL (electric vertical take-off and landing aircraft) commute and the like are rapidly landed, the number of low-altitude aircrafts is increased rapidly, the route interweaving is complex, and rigidity requirements are provided for the global coverage, high precision and high reliability of space domain perception. The RID technology is used as a core means which can be identified and traced by a low-altitude aircraft, requires the aircraft to actively broadcast standardized information such as identity, position, state and the like, and constructs a management and control link through ground receiving equipment, so that the RID technology is a key for guaranteeing the orderly operation of low-altitude traffic. The existing RID receiving scheme has two main technical bottlenecks, namely, firstly, the adaptability of a deployment mode is insufficient, traditional single-point or simple networking receiving equipment is influenced by urban building shielding and multipath effects, a perception blind area is easy to form, no dead angle coverage of the whole domain cannot be realized, secondly, the data processing precision and reliability are poor, single receiving node data are easily influenced by electromagnetic interference and GNSS signal drift, and an effective multi-source data fusion mechanism is lacking, so that the analysis deviation of core parameters such as position, speed and the like is larger, and the precision requirement of low-altitude aircraft route planning and conflict early warning is difficult to meet. Therefore, there is a need to design an RID receiving system based on the distributed deployment and multi-source data fusion technology, which breaks the difficult problems of coverage and precision in urban low-altitude scenes and provides technical support for low-altitude economic and safe operation. Disclosure of Invention In view of the above, the present application provides a distributed RID receiving system based on edge multisource fusion, so as to solve the defects existing in the prior art. The application provides a distributed RID receiving system based on edge multisource fusion, which comprises a distributed RID receiving node cluster, an edge multisource fusion processing unit, a cloud management and control platform and a clock synchronization module, wherein each part in the system realizes data interaction and collaborative work through a redundant communication link; The distributed RID receiving node cluster adopts a grid deployment scheme of cooperation of fixed nodes and maneuvering nodes and is used for capturing RID signals of the low-altitude aircraft in real time and carrying out preliminary analysis to obtain corresponding original analysis data; The edge multisource fusion processing unit is deployed at a set position of each control partition, and is used for converging node data of all nodes in the control partition, finishing data calibration, de-duplication and noise reduction processing through a two-level fusion algorithm and outputting structured RID data; The cloud management and control platform realizes global structured RID data overall planning, situation visualization, intelligent decision and instruction issuing through a three-level fusion algorithm, and is connected with a city low air conditioning system to form closed loop control; the clock synchronization module provides a time reference for the whole system. In a possible implementation manner of the first aspect, the first-level fusion algorithm includes: And each distributed RID receiving node corrects errors caused by GNSS positioning data drift through a Kalman filtering algorithm based on the historical analysis data cached in a preset time period, and meanwhile, data noise reduction and abnormal jump data rejection are completed. In a possible implementation manner of the first aspect, the second-level fusion algorithm includes: and converging multi-node data of the same low-altitude aircraft, aligning time stamps based on the reference time provided by the clock synchronization module, adopting a weighted average fusion algorithm, and correcting positioning deviation caused by a shelter by combining with a city digital map, wherein weights in the weighted average fusion algorithm are dynamically distributed based on node signal intensity and distance from the low-altitude aircraft. In a possible implementation manner of the first aspect, the edge multisource fusion processing unit is further configured to: And acquiring the route track of the low-altitude aircraft after the positioning deviation correction in the correspondi