CN106323295B - A kind of aircraft under the dangerous meteorological condition based on weather radar data for communication changes boat method - Google Patents
A kind of aircraft under the dangerous meteorological condition based on weather radar data for communication changes boat method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/95—Radar or analogous systems specially adapted for specific applications for meteorological use
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
Aircraft under the dangerous meteorological condition based on weather radar data for communication that the invention discloses a kind of changes boat method, relevant weather data are obtained by weather radar first, the thunderstorm region for delineating out different danger classes determines position and the coverage in each grade thunderstorm region；Secondly it according to thunderstorm region danger classes, establishes aircraft and changes bit path plan model；Finally change bit path planing method in conjunction with dynamic, the safe flight path of an evacuation thunderstorm danger zone is planned for aircraft in real time, realize that the aircraft under hazardous weather changes boat, the present invention is able to achieve the flight path for planning a safety automatically for aircraft under dangerous meteorological condition, it is effectively reduced the workload of air traffic controller, guarantees safe flight of the aircraft under hazardous weather.
Description
Technical field
The present invention relates to air traffic control field specific technique fields, and in particular to a kind of danger based on weather radar data for communication
Aircraft under meteorological condition changes boat method.
Background technique
With the fast development of China's aviation transport, the delay of a large amount of flights is following, wherein hazardous weather at
To influence the delayed key factor in China, therefore how to reduce the delay of the flight under hazardous weather phenomenon, improves sky
The utilization rate of domain resource ensures aircraft safe flight, and having become urgent need, we solve the problems, such as.
In civil aviation system, hazardous weather refers on aircraft influential weather phenomenon safely, mainly are as follows:
Thunderstorm, turbulent flow, wind shear, obstruction to vision and strong wind etc. have 47% from the point of view of history Civil Aviation Meteorological aircraft accident statistical data
Aircraft accident caused by thunderstorm, therefore present invention foundation carries out changing on the basis of analyzing thunderstorm boat research, subsequent to mention
Hazardous weather all refer to thunderstorm.
Aircraft under hazardous weather changes boat and refers in the case where hazardous weather influences aircraft planned course, is aviation
One safety of device arrangement, economic temporary track avoid hazardous weather.Currently, the boat research that changes under hazardous weather mostly uses vacation
If weather data, with China, meteorological system is not combined well.The aircraft that the present invention focuses under hazardous weather changes
Boat technology plans the flight path of a safety for aircraft in conjunction with the data that weather radar provides under thunderstorm meteorological condition.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention is provided under a kind of dangerous meteorological condition based on weather radar data for communication
Aircraft change boat method, under thunderstorm meteorological condition, in conjunction with meteorological system be aircraft plan a safety flight path,
It reduces the flight delay phenomenon under hazardous weather, the utilization rate of raising airspace resource, ensure aircraft safe flight.It is used
Technical solution is:
A kind of aircraft under the dangerous meteorological condition based on weather radar data for communication changes boat method, comprising the following steps:
Step 1, thunderstorm region is delineated
According to the radar return picture that weather radar provides, different grades of thunderstorm belt is isolated using image processing techniques
Domain obtains the height change in each thunderstorm region in combination with the high picture of echo high and echo bottom that weather radar provides
Range, and different grades of thunderstorm region is shown on empty graph；
Step 2, rerouting strategy models
According to the thunderstorm region that step 1 delineates, in conjunction with corresponding thunderstorm danger classes, fully consider that pilot's work is negative
The limiting factors such as lotus, aircraft performance establish the mathematical model for changing bit path planning using single aircraft as research object；
Step 3, Dynamic Programming changes bit path
The characteristics of constantly moving, change for thunderstorm, in conjunction with rerouting strategy model, thunderstorm zone level coverage and
Height coverage changes bit path in real time for aircraft planning.
The beneficial effect of method provided by the invention is: obtaining relevant weather data by weather radar first, delineates
The thunderstorm region of different danger classes out determines that the position in each grade thunderstorm region and coverage, this method are different from
The method in traditional single hazardous weather region of delineating, the present invention delineate different grades of thunderstorm region, determine simultaneously
The height change range of thunderstorm；Secondly most short to change bit path according to thunderstorm region danger classes, averagely change bit path danger etc.
The minimum optimization aim of grade establishes aircraft and changes bit path plan model；Finally change bit path planing method in conjunction with dynamic, in real time
The safe flight path of an evacuation thunderstorm danger zone is planned for aircraft, this method and conventional dynamic change bit path planning side
Method the difference is that, while consider thunderstorm horizontal coverage, it is also contemplated that thunderstorm height change range is to changing air route
The influence of diameter planning.Therefore, the present invention is able to achieve the flight for planning a safety automatically for aircraft under dangerous meteorological condition
Path is effectively reduced the workload of air traffic controller, guarantees safe flight of the aircraft under hazardous weather, improves empty
Domain resource utilization efficiently reduces the flight delay under hazardous weather.
Detailed description of the invention
Fig. 1 is that the aircraft under a kind of dangerous meteorological condition based on weather radar data for communication provided by the invention changes boat method
Overall flow figure
Fig. 2 is that the aircraft under a kind of dangerous meteorological condition based on weather radar data for communication provided by the invention changes boat method
Thunderstorm region delineate flow chart
Fig. 3 is that the aircraft under a kind of dangerous meteorological condition based on weather radar data for communication provided by the invention changes boat method
Dynamic change bit path planning flow chart
Fig. 4 is that the aircraft under a kind of dangerous meteorological condition based on weather radar data for communication provided by the invention changes boat method
Described in thunderstorm grade circle schematic diagram
Specific embodiment
The present invention is described further with reference to the accompanying drawing.
Boat in conjunction with Fig. 1, Fig. 2, Fig. 3, under a kind of dangerous meteorological condition based on weather radar data for communication proposed by the present invention
Pocket changes boat method, specifically includes the following steps:
Step 1, thunderstorm region is delineated
According to the radar return picture that weather radar provides, different grades of thunderstorm belt is isolated using image processing techniques
Domain obtains the height change in each thunderstorm region in combination with the high picture of echo high and echo bottom that weather radar provides
Range, and different grades of thunderstorm region is shown on empty graph；Specifically:
Step 101, radar return picture is handled, obtains the RGB color value of each echo grade, and according to thunderstorm
Grade obtains the position of each grade thunderstorm pixel；
Step 102, echo high, the high picture in echo bottom are handled, obtains the RGB color value of each height, and root
According to thunderstorm pixel position obtained in step 101, corresponding echo is obtained in the high picture of echo high picture and echo bottom
It rises, the high data in echo bottom；
Step 103, it is corresponding more than or equal to the pixel of specified thunderstorm grade and the pixel to save echo reflection rate
Coordinate forms the picture in the grade thunderstorm region；
Step 104, the thunderstorm region picture of a certain grade obtained to step 103, using image processing techniques, obtaining should
The polygonal profile in thunderstorm region；
Step 105, schemed according to the latitude and longitude coordinates of weather radar position, the resolution ratio of picture and thunderstorm region
The position coordinates of on piece calculate the corresponding latitude and longitude coordinates of different brackets thunderstorm region pixel；
Step 106, according to the latitude and longitude coordinates in thunderstorm region, different brackets thunderstorm region contour is drawn with different colours
Onto empty graph, thunderstorm grade circle is formed.
Thunderstorm region is divided into 0-6 grade according to the echo class information of weather radar, as shown in the table:
1 thunderstorm region grade classification of table
Step 2, rerouting strategy models
According to the thunderstorm region that step 1 delineates, in conjunction with corresponding thunderstorm danger classes, fully consider that pilot's work is negative
The limiting factors such as lotus, aircraft performance, it is most short to change bit path using single aircraft as research object, averagely change bit path
The minimum optimization aim of danger classes establishes the mathematical model for changing bit path planning；
Objective function:
Dis expression changes air route electrical path length, wherein p0、To change boat starting point and end point, piFor change boat during
Turning point, NTFor turning point number, ld(pi,pi+1) indicate segment pi-pi+1Voyage；Safe indicates to change the average danger of bit path
Dangerous grade, change equal to every section bit path the sum of the average danger classes through thunderstorm region.Wherein echo is the danger in thunderstorm region
Dangerous grade, decho(pi,pi+1) be the grade thunderstorm regional effect (pi,pi+1) section changes the segment length of bit path.
Constraint condition:
Echo < 3 (2)
Formula (2) indicates to change bit path not and allow the thunderstorm region for being more than or equal to 3 by danger classes due to safety concerns；
Formula (3), which represents, ensures that aircraft smoothly completes turning, and segment length should be greater than being equal to most short segment length, wherein
ldMin indicates most short segment length；Formula (4) indicates to combine aircraft performance and pilot guidance level, the turning of aircraft
Angle should be less than equal to the maximum angle of turn allowed, whereinExpression changes the angle of turn of bit path, θmaxIt indicates to allow most
Big angle of turn.
Step 3, Dynamic Programming changes bit path
The characteristics of constantly moving, change for thunderstorm, in conjunction with rerouting strategy model, thunderstorm zone level coverage and
Height coverage changes bit path in real time for aircraft planning.Specifically:
Step 301, according to aircraft cruising speed, weather radar renewal time, judge that aircraft flies in the timeslice
When whether influenced by thunderstorm, if having an impact, go to step 302, otherwise terminate；
Step 302, current time piece i=1 is set；
Step 303, according to the corresponding hazardous weather region of i-th of timeslice, (thunderstorm danger classes is more than or equal to 3 area
Domain) position, horizontal coverage in conjunction with the latitude and longitude information in aircraft project flight path judge aircraft in two-dimensional space
Whether by the thunderstorm regional occlusion, if blocking, step 304 is gone to, step 307 is otherwise gone to；
Step 304, according to the height change range in aircraft height hazardous weather corresponding with timeslice region,
Judge whether aircraft flies in the altitude range, is to go to step 305, otherwise goes to step 307；
Step 305, it for needing to change the aircraft of boat, determines and changes boat starting point and end point, utilize rerouting strategy model
Planning one changes bit path；
Step 306, according to bit path voyage, aircraft cruising speed and weather radar renewal time is changed, calculating changes boat
Path needs the timeslice number n to fly；
Step 307, i=i+1；
Step 308, position of the prediction aircraft after changing bit path one timeslice of flight, it is P, root that the position, which is arranged,
According to the position in the corresponding hazardous weather region of i-th of timeslice, horizontal extent, in conjunction with the longitude and latitude in aircraft project flight path
Information judges that aircraft changes whether bit path is blocked by thunderstorm from P point to change boat end point, if blocking, goes to step
309, otherwise go to step 307；
Step 309, according to aircraft height, the height change range in the corresponding hazardous weather region of the timeslice,
Judge whether aircraft flies in the altitude range, is to go to step 310, otherwise goes to step 307；
Step 310, with P be change boat starting point, change boat end point it is constant, re-start change bit path planning；
Step 311, if i=n, dynamically changing bit path planning terminates, and otherwise goes to step 307.
The part not illustrated in specification is the prior art or common knowledge.The present embodiment is merely to illustrate the invention,
Rather than limit the scope of the invention, the modifications such as equivalent replacement that those skilled in the art make the present invention are considered
It falls into invention claims institute protection scope.
Claims (3)
1. the aircraft under a kind of dangerous meteorological condition based on weather radar data for communication changes boat method, it is characterised in that:
Detailed process is as follows:
Step 1, thunderstorm region is delineated
According to the radar return picture that weather radar provides, different grades of thunderstorm region is isolated using image processing techniques,
In combination with the high picture of echo high and echo bottom that weather radar provides, the height change model in each thunderstorm region is obtained
It encloses, and different grades of thunderstorm region is shown on empty graph；
The thunderstorm region is divided into 0-6 grade according to the echo class information of weather radar, as shown in the table:
1 thunderstorm region grade classification of table
Step 1 detailed process is as follows:
Step 101, radar return picture is handled, obtains the RGB color value of each echo grade, and according to thunderstorm etc.
Grade, obtains the position of each grade thunderstorm pixel；
Step 102, echo high picture, the high picture in echo bottom are handled, obtains the RGB color value of each height, and root
According to thunderstorm pixel position obtained in step 101, corresponding echo is obtained in the high picture of echo high picture and echo bottom
It rises, the high data in echo bottom；
Step 103, pixel and the corresponding coordinate of the pixel that echo reflection rate is more than or equal to specified thunderstorm grade are saved,
Form the picture in the grade thunderstorm region；
Step 104, the thunderstorm region picture of a certain grade obtained to step 103 obtains the thunderstorm using image processing techniques
The polygonal profile in region；
Step 105, according to the latitude and longitude coordinates of weather radar position, the resolution ratio of picture and thunderstorm region on picture
Position coordinates, calculate the corresponding latitude and longitude coordinates of different brackets thunderstorm region pixel；
Step 106, according to the latitude and longitude coordinates in thunderstorm region, different brackets thunderstorm region contour is plotted to sky with different colours
On figure, thunderstorm grade circle is formed, and according to echo high, the high data in echo bottom, the height for obtaining the thunderstorm grade circle influences model
It encloses；
Step 2, rerouting strategy models
Pilot work load, boat are fully considered in conjunction with corresponding thunderstorm danger classes according to the thunderstorm region that step 1 delineates
The limiting factors such as pocket performance establish the mathematical model for changing bit path planning using single aircraft as research object；
The step 2 specifically:
It is most short to change bit path in conjunction with thunderstorm danger classes, averagely change the minimum optimization aim foundation of bit path danger classes and changes
Bit path mathematics for programming model, model are as follows:
Objective function:
Dis expression changes air route electrical path length, wherein p0、To change boat starting point and end point, piTo change the turning during boat
Point, NTFor turning point number, ld(pi,pi+1) indicate segment pi-pi+1Voyage；Safe expression changes average danger of bit path etc.
Grade, change equal to every section bit path the sum of the average danger classes through thunderstorm region；Wherein echo is the danger etc. in thunderstorm region
Grade, decho(pi,pi+1) be the grade thunderstorm regional effect (pi,pi+1) section changes the segment length of bit path；
Constraint condition:
Echo < 3 (2)
Formula (2) indicates to change bit path not and allow the thunderstorm region for being more than or equal to 3 by danger classes due to safety concerns；Formula (3)
It represents and ensures that aircraft smoothly completes turning, segment length should be greater than being equal to most short segment length, wherein ldMin is indicated
Most short segment length；Formula (4) indicates that aircraft performance and pilot guidance level, the angle of turn of aircraft is combined to should be less than
Equal to the maximum angle of turn of permission, wherein θpiExpression changes the angle of turn of bit path, θmaxIndicate the maximum turning angle allowed
Degree；
Step 3, Dynamic Programming changes bit path
The characteristics of constantly moving, change for thunderstorm, in conjunction with rerouting strategy model, thunderstorm zone level coverage and height
Coverage changes bit path in real time for aircraft planning.
2. the aircraft under a kind of dangerous meteorological condition based on weather radar data for communication according to claim 1 changes boat side
Method, it is characterised in that: the detailed process of the step 3 is as follows:
Step 301, according to aircraft cruising speed, weather radar renewal time, judge that aircraft is in the timeslice flight
It is no to be influenced by thunderstorm, if having an impact, step 302 is gone to, is otherwise terminated；
Step 302, current time piece i=1 is set；
Step 303, according to the corresponding hazardous weather regional location of i-th of timeslice, horizontal coverage, in conjunction with aircraft plan
The latitude and longitude information of flight path, judges whether aircraft is gone to if blocking by the thunderstorm regional occlusion in two-dimensional space
Step 304, step 307 is otherwise gone to；
Step 304, according to the height change range in aircraft height hazardous weather corresponding with timeslice region, judgement
Whether aircraft flies in the altitude range, is to go to step 305, otherwise goes to step 307；
Step 305, it for needing to change the aircraft of boat, determines and changes boat starting point and end point, utilize the planning of rerouting strategy model
One changes bit path；
Step 306, according to bit path voyage, aircraft cruising speed and weather radar renewal time is changed, calculating changes bit path
The timeslice number n for needing to fly；
Step 307, i=i+1；
Step 308, position of the prediction aircraft after changing bit path one timeslice of flight, it is P that the position, which is arranged, according to i-th
The position in the corresponding hazardous weather region of a timeslice, horizontal extent, in conjunction with the latitude and longitude information in aircraft project flight path,
Judge that aircraft changes whether bit path is blocked by thunderstorm from P point to change boat end point, if blocking, goes to step 309, it is no
Then go to step 307；
Step 309, according to aircraft height, the height change range in the corresponding hazardous weather region of the timeslice, judgement
Whether aircraft flies in the altitude range, is to go to step 310, otherwise goes to step 307；
Step 310, with P be change boat starting point, change boat end point it is constant, re-start change bit path planning；
Step 311, if i=n, dynamically changing bit path planning terminates, and otherwise goes to step 307.
3. the aircraft under a kind of dangerous meteorological condition based on weather radar data for communication according to claim 2 changes boat side
Method, it is characterised in that: hazardous weather region described in step 303 refers to the region that thunderstorm danger classes is more than or equal to 3.
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