CN101923789A - Safe airplane approach method based on multisensor information fusion - Google Patents
Safe airplane approach method based on multisensor information fusion Download PDFInfo
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Abstract
The invention relates to a safe airplane approach method based on multisensor information fusion. In the method, space-time registration and fusion are carried out on a flight control radar, a ground surveillance radar, navigation localization information, infrared and visible light image information to obtain space and ground target (barrier, people, vehicle and airplane) information, automatically generate a safe airplane approach channel and display both the targets and safe approach channel information in the three-dimensional airport scene in a fused mode. The concrete implementation steps are as follows: firstly, employing a radar and a navigation positioning system to obtain airplane information and carrying out time-space registration and fusion to obtain three-dimensional airplane information; secondly, carrying out detection, tracking and behavior prediction on ground targets to obtain track information of ground targets by using the information obtained after registration and fusion of visible light and infrared images are performed; thirdly, reestablishing a three-dimensional airplane information scene; and finally, fusing the real time detected target information in the three-dimensional airplane information scene and establishing the safe airplane approach channel and displaying the channel in the three-dimensional airplane information scene in real time so as to provide decision-making information for flight control personnel.
Description
Technical field
The present invention relates to a kind of safe airplane approach method, can be used for the aviation safety management domain, realize that the blank pipe personnel provide decision-making assistant information for the airport, reduction accident/sign rate to the real-time monitoring of aerial and terrain object based on multi-sensor information fusion.
Background technology
In existing air traffic control system, utilize the flight path of surveillance radar surveillance aircraft and predict, but for ground runway intrusion event majority is to rely on the people to finish to monitor and dredge, particularly under complicated weather condition, rely on ground controlling officer's guiding to finish aircraft especially and advance nearly landing.
Aircraft is in high density traffic zone around the airport during advancing nearly landing, the required running program complexity of finishing of unit, particularly under the changeable condition of weather, the problem that is run into is generally all comparatively thorny and require to deal carefully with in the short time, therefore the unit work load is heavy, pressure is big, is accident and the accident proneness stage occurred frequently in the whole flight course.How reducing the accident rate that aircraft advances the nearly stage, is global military-civil field question of common concern.
At present advance accident/sign when near, take usually putting prevention first, and strengthening the unit operation training at ordinary times and improving the program executive capability for reducing aircraft.In the last few years, along with the development of information science technology, aeronautical technology had obtained fast development, at threat object and crashproof, on machine successful Application the height and flight collision warning system, airborne collision avoidance system and Automatic dependent surveillance broadcast system etc.And adopt the safety of multi-sensor information fusion technology to advance the attention that nearly technology is subjected to more and more countries and civil aviation organization.Safe airplane approach method based on multi-sensor information fusion is on the basis that makes up the airport three-dimensional scenic, will from multi-angle, various dimensions to various sensor acquisition to information carry out registration, fusion and analysis, realization is to the wisdom perception of environment, and will be aerial and terrain object information be added in real time in the three-dimensional scenic of airport, and then plan that aircraft safety advances nearly passage and also is presented in real time in the three-dimensional scenic of airport, guarantee that aircraft advances nearly landing safely under complex environment.
Summary of the invention
The technical problem to be solved in the present invention is: advance nearly landing period because the limitation of driver's vision is to cause aircraft to advance the principal element of nearly accident with the foreign body intrusion that advances in the nearly passage at aircraft.Under complicated weather condition, existing airport monitoring system can not guarantee aerial and terrain object are effectively surveyed.For improving, provide a kind of safe airplane approach method based on multi-sensor information fusion to aerial and terrain object real-time detection ability.
The technical solution used in the present invention is: a kind of safe airplane approach method based on multi-sensor information fusion, infrared image and visible light image information that this method utilizes information that airport air traffic control radar, ground surveillance radar, navigation positioning system obtain and photoelectric sensor to obtain carry out space-time registration and fusion, obtain aerial and ground target (barrier, people, car and aircraft) information, and generate aircraft safety automatically according to target information and advance nearly channel information, target information and safety are advanced nearly channel information merge and be presented in the three-dimensional virtual scene of airport.The specific implementation step is:
(1) utilize airport air traffic control radar, ground surveillance radar and navigation positioning system to obtain airplane information, and information is carried out synchronous registration of space-time and fusion, the step of calculating the three dimensional local information of aircraft is:
1. the airplane information that ground surveillance radar, air traffic control radar and navigation positioning system are obtained carries out registration and fusion;
2. the airplane information after merging is carried out coordinate transform, airplane information is downconverted under the rectangular coordinate system in space from polar coordinates, obtain the three dimensional local information of aircraft under world coordinate system.
(2) visible images and the infrared image information of photoelectric sensor collection are carried out registration and fusion, and detect on a surface target, tracking and behavior prediction, the step that obtains the positional information of terrain object is:
1. utilize photoelectric sensor to obtain visible images and infrared image, realize visible images and infrared image registration and fusion;
2. utilize fused images to the airport ground target detect, tracking and behavior prediction, obtain the information of terrain object in real time;
3. according to the perspective imaging principle, calculate the three dimensional local information of terrain object under world coordinate system.
(3) utilizing 3S is GPS---Global Positioning System (GPS), and RS---remote sensing system, the concrete steps that GIS---geographic information system technology is set up the airport three-dimensional scenic are:
1. utilizing the 3S technology to obtain the airport digital elevation model is that dem data, digital surface model are that DSM data and orthophotoquad are the DOM data;
2. utilize 3D MAX and AUTO cad tools software and dem data, DSM data and DOM data to set up the airport three-dimensional scene models, and the coordinate of definite airport in world coordinate system.
The positional information of the aerial and terrain object that (4) will real-time detect merges in the three-dimensional scenic of described airport, and set up aircraft safety according to the positional information of aerial and terrain object and advance nearly channel information, and described safety is advanced the concrete steps that nearly channel information is presented in the three-dimensional scenic of described airport in real time be:
1. according to the three-dimensional space position information of the aerial and terrain object that real-time detects, will be aerial and terrain object merge in the three-dimensional scenic of airport, make in the air and terrain object demonstration in real time in the three dimensions of airport;
2. generate aircraft safety in real time according to the positional information of the aerial and terrain object that real-time detects and advance nearly channel information, and described safety is advanced nearly channel information be presented in real time in the three-dimensional scenic of described airport.
Principle of the present invention is: at first, utilize airport air traffic control radar, ground surveillance radar and navigation positioning system to obtain airplane information, and information is carried out synchronous registration of space-time and fusion, obtain the three dimensional local information of aircraft; Secondly, the visible images and the infrared image information of photoelectric sensor collection are carried out registration and fusion, and detect on a surface target, tracking and behavior prediction, obtain the positional information of terrain object; Once more, utilizing 3S is GPS---Global Positioning System (GPS), and RS---remote sensing system, GIS---geographic information system technology is set up the airport three-dimensional scenic; At last, with the aerial and terrain object information fusion that real-time detects in the three-dimensional scenic of airport, and set up aircraft safety according to aerial and terrain object information and advance nearly passage, and escape way information is presented in the three-dimensional scenic of airport in real time, personnel provide decision information for blank pipe.
The present invention's advantage compared with prior art is: the present invention has remedied the deficiency of existing air traffic control system, can not effectively survey and threaten the people in the airport ground target, car and barrier and carry out early warning, can't guarantee that under complicated weather condition aircraft safety advances nearly landing; And the blank pipe personnel can only rely on artificial and the radar surveillance picture carries out safe approach guidance, can't form visual three-dimensional environment.Safe airplane approach method based on multi-sensor information fusion is to utilize Multi-sensor Fusion information to guarantee aerial and terrain object are effectively surveyed and intellectual analysis, aerial and terrain object information real time fusion are presented in the three-dimensional scenic of airport, and form aircraft safety and advance nearly passage, make full use of the real space sense of three-dimensional scenic.Can be blank pipe and flight based on the safe airplane approach method of multi-sensor information fusion and drive safe decision-making assistant information is provided, improve China's aviation safety management level.
Description of drawings
Fig. 1 is a kind of safe airplane approach method theory diagram based on multi-sensor information fusion of the present invention.
Embodiment
As shown in Figure 1, specific implementation method of the present invention is as follows:
(1) utilize airport air traffic control radar, ground surveillance radar and navigation positioning system to obtain airplane information, and information is carried out synchronous registration of space-time and fusion, the step of calculating the three dimensional local information of aircraft is:
1. the airplane information that ground surveillance radar, air traffic control radar and navigation positioning system are obtained carries out registration and fusion;
2. the airplane information after merging is carried out coordinate transform, airplane information is downconverted under the rectangular coordinate system in space from polar coordinates, obtain the three dimensional local information of aircraft under world coordinate system.
(2) visible images and the infrared image information of photoelectric sensor collection are carried out registration and fusion, and detect on a surface target, tracking and behavior prediction, the step that obtains the positional information of terrain object is:
1. utilize photoelectric sensor to obtain visible images and infrared image, realize visible images and infrared image registration and fusion;
2. utilize fused images to the airport ground target detect, tracking and behavior prediction, obtain the information of terrain object in real time;
3. according to the perspective imaging principle, calculate the three dimensional local information of terrain object under world coordinate system.
(3) utilizing 3S is GPS---Global Positioning System (GPS), and RS---remote sensing system, the concrete steps that GIS---geographic information system technology is set up the airport three-dimensional scenic are:
1. utilizing the 3S technology to obtain the airport digital elevation model is that dem data, digital surface model are that DSM data and orthophotoquad are the DOM data;
2. utilize 3D MAX and AUTO cad tools software and dem data, DSM data and DOM data to set up the airport three-dimensional scene models, and the coordinate of definite airport in world coordinate system.
The positional information of the aerial and terrain object that (4) will real-time detect merges in the three-dimensional scenic of described airport, and set up aircraft safety according to the positional information of aerial and terrain object and advance nearly channel information, and described safety is advanced the concrete steps that nearly channel information is presented in the three-dimensional scenic of described airport in real time be:
1. according to the three-dimensional space position information of the aerial and terrain object that real-time detects, will be aerial and terrain object merge in the three-dimensional scenic of airport, make in the air and terrain object demonstration in real time in the three dimensions of airport;
2. generate aircraft safety in real time according to the positional information of the aerial and terrain object that real-time detects and advance nearly channel information, and described safety is advanced nearly channel information be presented in real time in the three-dimensional scenic of described airport.
Claims (5)
1. safe airplane approach method based on multi-sensor information fusion is characterized in that may further comprise the steps:
(1) utilizes airport air traffic control radar, ground surveillance radar and navigation positioning system to obtain airplane information, and information is carried out the synchronous registration of space-time, calculate the three dimensional local information of aircraft;
(2) visible images and the infrared image information of photoelectric sensor collection are carried out registration and fusion, and detect on a surface target, tracking and behavior prediction, obtain the positional information of terrain object;
(3) utilizing 3S is GPS---Global Positioning System (GPS), and RS---remote sensing system, GIS---geographic information system technology is set up the airport three-dimensional scenic;
The positional information of the aerial and terrain object that (4) will real-time detect merges in the three-dimensional scenic of described airport, and set up aircraft safety according to the positional information of aerial and terrain object and advance nearly channel information, and described safety is advanced nearly channel information be presented in real time in the three-dimensional scenic of described airport.
2. a kind of safe airplane approach method according to claim 1 based on multi-sensor information fusion, it is characterized in that: utilize airport air traffic control radar, ground surveillance radar and navigation positioning system to obtain airplane information in the described step (1), and information carried out synchronous registration of space-time and fusion, the step of calculating the three dimensional local information of aircraft is:
1. the airplane information that ground surveillance radar, air traffic control radar and navigation positioning system are obtained carries out registration and fusion;
2. the airplane information after merging is carried out coordinate transform, airplane information is downconverted under the rectangular coordinate system in space from polar coordinates, obtain the three dimensional local information of aircraft under world coordinate system.
3. a kind of safe airplane approach method according to claim 1 based on multi-sensor information fusion, it is characterized in that: in the described step (2) visible images and the infrared image information of photoelectric sensor collection are carried out registration and fusion, and detect on a surface target, tracking and behavior prediction, the step that obtains the positional information of terrain object is:
1. utilize photoelectric sensor to obtain visible images and infrared image, realize visible images and infrared image registration and fusion;
2. utilize fused images to the airport ground target detect, tracking and behavior prediction, obtain the information of terrain object in real time;
3. according to the perspective imaging principle, calculate the three dimensional local information of terrain object under world coordinate system.
4. a kind of safe airplane approach method according to claim 1 based on multi-sensor information fusion, it is characterized in that: utilizing 3S in the described step (3) is GPS---Global Positioning System (GPS), the concrete steps that RS---remote sensing system, GIS---geographic information system technology are set up the airport three-dimensional scenic are:
1. utilizing the 3S technology to obtain the airport digital elevation model is that dem data, digital surface model are that DSM data and orthophotoquad are the DOM data;
2. utilize 3D MAX and AUTO cad tools software and dem data, DSM data and DOM data to set up the airport three-dimensional scene models, and the coordinate of definite airport in world coordinate system.
5. a kind of safe airplane approach method according to claim 1 based on multi-sensor information fusion, it is characterized in that: the positional information of the aerial and terrain object that will real-time detect in the described step (4) merges in the three-dimensional scenic of described airport, and set up aircraft safety according to the positional information of aerial and terrain object and advance nearly channel information, and described safety is advanced the concrete steps that nearly channel information is presented in the three-dimensional scenic of described airport in real time be:
1. according to the three-dimensional space position information of the aerial and terrain object that real-time detects, will be aerial and terrain object merge in the three-dimensional scenic of airport, make in the air and terrain object demonstration in real time in the three dimensions of airport;
2. generate aircraft safety in real time according to the positional information of the aerial and terrain object that real-time detects and advance nearly channel information, and described safety is advanced nearly channel information be presented in real time in the three-dimensional scenic of described airport.
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