Design And Implementation Of Public Security Civil UAV Management And Control System

As an emerging industry,unmanned aerial vehicles(UAVs)are widely used in military and civilian fields.However,with the frequent occurrence of illegal flight incidents by UAVs,the resulting social security and public safety issues have become increasingly prominent.Because the public security organs have a single control method for "low,small,slow" aircraft such as UAVs,lack of real-name identity verification and flight plan management for controlled drones,and cannot effectively monitor their flight status and trajectory,the ability to control airspace security needs to be improved.Therefore,the paper is oriented to the actual needs of public security organs for the supervision of UAVs in large security activities such as international or domestic conferences and exhibitions,it is proposed to establish a public security civil UAV management and control system.At the same time,the related technologies of UAV supervision involved in the system are studied,including UAV tracking algorithm,UAV early warning algorithm and communication scheme based on Mavlink protocol.The main work and innovation are as follows.Firstly,based on analyzing the development status of the domestic and international UAV supervision platform,according to the relevant regulations of the aviation management department and the actual application requirements of the public security department,the overall architecture design of the system was completed,and the suitable development solutions were selected.Based on the overall design of the system,using the computer software development technology and Mavlink protocol,the functional modules are designed and implemented,each function works well and reaches the system design goal.Secondly,aiming at the problems that the positioning accuracy of the traditional UAV tracking algorithm is not high,and the adaptability of different motion modes and maneuvering strength is not strong,according to the characteristics of different motion models and tracking algorithms,the improved constant velocity model(CV)and the "current" statistical model(CS)are attached to the Kalman filter algorithm(KF),3D fixed center constant speed constant turning rate model(CSCTR)are attached to the unscented Kalman filter algorithm(UKF),an interacting multiple model UAV tracking algorithm based on three-dimensional space is proposed.The simulation results show that the algorithm has good positioning accuracy and robustness.Thirdly,due to the lack of effective means of detecting the no-fly zone during the operation of the UAV,and the real-time hazard warning capability is poor,based on the analysis of temporary no-fly airspace modeling rules and topological relations,the waypoint vector method based on position and velocity direction is used to study the UAV no-fly airspace warning algorithm.Using the digital elevation model and the bilinear interpolation algorithm,the near-earth warning algorithm of UAV is studied by real-time matching of the current position of the UAV with the minimum ground-level elevation library.Finally,in view of the existing UAV cloud system and the UAV manufacturer's ground station software,the temporary forbidden flight information is not timely,and UAV flight data between different systems is not circulating.Based on the Mavlink protocol,by designing intersystem communication uplink and downlink message frames,the communication scheme between the system and the UAV cloud system is studied.The information exchange between UAV manufacturers,UAV users,aviation management departments and public security control departments has been realized.