CN102103803A - Method for monitoring aircraft in airport terminal area - Google Patents
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Abstract
The invention provides a method for monitoring an aircraft in an airport terminal area, which comprises the following steps of: transforming the longitude and latitude of a horizontal position of a target aircraft into coordinates of a monitoring coordinate plane by using spherical azimuthal projection, judging whether the aircraft tends to fly towards noninvasive area, and if the aircraft tends to fly towards the noninvasive area, giving an alarm. By the method, the calculation accuracy is improved, the positioning accuracy of a descended airplane is improved, the capacity of closely spaced parallel runways forming pentagon in continuously approaching aircrafts is increased, a reliable judgment basis is provided for controllers to timely know parallel approaching positions, the load of the controllers is greatly reduced, and errors, omissions and forgetting of the controllers are effectively avoided.
Description
Technical field
The present invention relates to a kind of method for supervising of aircraft, particularly a kind of method for supervising for airport terminal district aircraft.
Background technology
The low coverage runway derives from closely spaced parallel runway one speech of English, is the relevant operating a kind of array mode of parallel runways.With reference to the regulation of FAA and some countries of Europe, the low coverage runway is defined as two distances between the parallel runways center line less than 760 meters, and wherein a runway is used to take off, and another runway is used for landing.Take off with land between set up relevant personal distance, this just need use the parallel nearly non-intruding area monitoring technology of advancing.
Big-and-middle-sized International airport its day flight amount is about 1000 sorties, and a runway can not meet the demands, can have influence on the percent of punctuality of flight, has influence on the operational efficiency on whole airport.And the low coverage runway technology is as the special case in the double course operational mode, because the landed property area is little, the flight capacity is higher with respect to the efficient of cost of investment, and therefore this construction scheme is all preferentially adopted on external many airports.This construction scheme has also been adopted in China Capital Airport and Pudong International Airport.
Make a general survey of the development of domestic many runway technologies, the layout of many runways system is subjected to influences such as design concept, spatial domain environment, geographical conditions, array mode between the runway is made a lot of variety, cruciferous, by groined type, erose in addition, through for many years to the understanding of many runways service efficiency and security, basically admit at present under conditions permit, can realize the runway capacity maximization with parallel runways mode layout.But this operational mode requires to improve aircraft is advancing the decline aircraft bearing accuracy in nearly stage, increases the aircraft air position and gathers density, improves flight path position display degree of accuracy.Existing automatic technology does not also reach precision.So, the parallel runways of existing domestic airport take off and land between personal distance still based on artificial judgment.Under the fewer situation of flight amount, the controller still can deal with, and the flight amount increases, and the controller will be very busy.
Therefore, need a kind of new technical scheme to address the above problem.
Summary of the invention
Problem and shortage at above-mentioned prior art existence, the method for supervising that the purpose of this invention is to provide a kind of airport terminal district aircraft, this method has and has improved decline aircraft bearing accuracy, for the controller in time understands the parallel advantage that reliable basis for estimation has been improved near position of advancing.
For achieving the above object, the present invention can adopt following technical scheme: the method for supervising of a kind of airport terminal district aircraft may further comprise the steps:
(1) adopts under the condition of sphere azimuthal projection at the supposition airport radar, calculate the longitude and the latitude of target aircraft horizontal level;
(2) with the longitude of the target aircraft horizontal level that obtains in the step (1) and latitude by the sphere azimuthal projection, transform to the coordinate of monitoring coordinate plane;
(3) in many radars Timing Processing, when whenever receiving the flight path report of radar, the course angle of this flight path report is subtracted the course angle of last flight path report, obtain the course angular difference, because this heading crossing angle has very big randomness, need carry out low-pass filtering to course angle, can obtain the course angle deviation of each second thus, when this value surpasses the actual ultimate value that can not reach, just ultimate value as input; Whether according to the course angle that draws each second in each radar period all is toward non-intruding zone increasing or decreasing, whether the heading trend of judging aircraft has the trend towards the non-intruding zone, if aircraft heading trend has the trend towards the non-intruding zone, then send warning.
The present invention compared with prior art has the following advantages:
By the method for supervising of this airport terminal district aircraft, strengthen computational accuracy, improved decline aircraft bearing accuracy; Use the method for supervising of this airport terminal district aircraft, improved the capacity that nearly aircraft is advanced on low coverage runway five limits continuously; For the controller in time understands parallelly to enter near position and improved reliable basis for estimation, alleviated controller's load greatly, controller " wrong, leak, forget " phenomenon has obtained the containment on effective rank.
Description of drawings
Fig. 1 is centre of sphere azimuthal projection among the present invention, and the sphere azimuthal projection is just being penetrated the synoptic diagram of azimuthal projection.
Embodiment
Below in conjunction with embodiment, further illustrate the present invention, should understand following embodiment only is used to the present invention is described and is not used in and limit the scope of the invention, after having read the present invention, those skilled in the art all fall within the application's claims institute restricted portion to the modification of the various equivalent form of values of the present invention.
Mainly (update cycle of air traffic control radar is 4 seconds based on the restriction that has radar performance now in the present invention, the update cycle of MDS DC servo driver is 1 second), how can between two cycles of radar, obtain the accurate position of each flight of marching into the arena in real time and exactly, become the key of this invention; The renewal of the monitoring data of this invention and algorithm have obtained solving well.
In the coordinate conversion process, the transformation result that adopts positive spherical model to derive, and the error that model and earth actual geometric configuration deviation cause can be done certain compensation with the method for best equivalence earth radius.And because process range is 60 kilometers, the error in transfer process is very little.Transfer process is as follows:
In the formula: λ is a target aircraft longitude;
Be target aircraft latitude; X, y are target aircraft display plane coordinate; λ
0Be the radar station longitude;
Be the radar station latitude; H is the radar station absolute altitude; R is the best equivalence earth radius.
(2) pass through the sphere azimuthal projection with the ground level location point P that obtains airflight target G in the step (1), transform to the coordinate of monitoring coordinate plane.Transformation for mula is as follows:
In the formula: λ is the target longitude;
Be the target latitude; X, y are the coordinate of target in the monitoring coordinate plane; λ
0Be Control Centre's longitude;
Be Control Centre's latitude; H is Control Centre's absolute altitude; R is the best equivalence earth radius.Can obtain the coordinate in the monitoring coordinate plane that target aircraft defines in the present invention so accurately, thereby give one of commanding basis for estimation intuitively.
Owing to identical computing formula has been adopted in the projective transformation of airflight target level position and landmark locations, in projective transformation, can between them, not introduce theoretical error.Because all calculate all to calculate with double-precision floating points and finish, the error of calculation also can be ignored.
Enter at aircraft before the drop point of glide path, according to the business need of control, the height flat that aircraft must keep gliding a little flies 4 kilometers, and in this flat process that flies, and the direction of aircraft is the line up with runway centerline direction always; Can get off the state recording of the aircraft during this, comprise planimetric position, speed, course angle and the height of aircraft, the data of noting are as a kind of information source of prediction aircraft to-be.
Present problem is when doing maneuvering flight as if aircraft in normal operational area, to belong to the normal flight aircraft and do not need alarm.And when aircraft had the trend that enters the non-intruding district, this aircraft belonged to improper flight aircraft, need give warning in advance.This lead that gives warning in advance will satisfy: if the controller does not intervene the flight of this aircraft, keep its flight attitude, this aircraft will inevitably enter the non-intruding district; After the controller sees alarm, issue dependent instruction if having time and make the aircraft switchback localizer that changes course, and avoid entering the non-intruding district after can making aircraft driver execution command.Therefore to carry out uniform interpolation or extrapolation process to the flight path in each radar period, now intend with each second level process, this also meets user's requirement.
Disposal route is as follows:
When target when doing maneuvering flight (turning), if extrapolation is during than multiple spot, the flight path of extrapolation will be that the tangent line along target flies away from away, the true flight path of this and target falls far short.Adopt a kind of method again: when carrying out the course extrapolation, course angle is revised simultaneously.Promptly in many radars Timing Processing, when whenever receiving the flight path report of radar, the course angle of this flight path report is subtracted the course angle of last flight path report, obtain the course angular difference, because this heading crossing angle has very big randomness, need carry out low-pass filtering to course angle, can obtain the course angle deviation of each second thus, when this value surpasses the actual value that can not reach, just ultimate value as input.Whether according to the course angle that draws each second in each radar period (maximal value was 3 degree/seconds) all is toward non-intruding regions increasing or decreasing, and whether the heading trend that can judge aircraft has the trend towards the non-intruding zone.If aircraft heading trend has the trend towards the non-intruding zone, then send warning.
Simultaneously the speed of aircraft is also done above identical analysis, draw the speed of per second.Certainly in this processing procedure, also need analyze the acceleration of aircraft.
But also to also carry out the historical record and following analysis, the position that draws per second to the position of aircraft.The KALMAN algorithm is adopted in the analysis of position, specifically handles as follows:
Kalman filtering
(1) model:
The kinetic model of target travel: dbjective state equation of transfer: X (k+1)=F (k) X (k)+V (k)
Describe and how to calculate the state variable X (k+1) in next moment by the state variable X (k) of current time k target, F in the formula (k) is the transition matrix of target travel, the essential part of reflection target travel rule, V (k) is a model error, random deviation part that can not Accurate Expression in the reflection target travel rule is the mathematical expression of the kinetic model of target travel.
Measurement model: in general, sensor (radar) can direct detection target component be not best suited in the state variable of statement target dynamics.For example, the oblique distance of the direct measurement target of navigation management secondary radar, position angle and the sea height of crossing mountains, the state variable that is suitable for explaining target dynamics most then is three-dimensional rectangular coordinate and their derived quantity.Therefore, need provide that to measure equation as follows:
(2) tracking filter algorithm:
The track algorithm of Kalman filtering follows these steps to loop iteration to carry out:
State variable prediction: by the predicted value of k state estimation value X (k|k) constantly by means of state transition equation computing mode variable:
X(k+1|k)＝F(k)X(k|k)
The measured value prediction: the predicted value X (k+1|k) with state variable calculates the predicted value of measurand by means of measuring Equation for Calculating:
Z(k+1|k)＝H(k+1)X(k+1|k)
Measured value remainder: obtain actual measured value Z (k+1) and predict that measured value Z's (k+1|k) is poor:
V(k+1)＝Z(k+1)-Z(k+1|k)
Be called the measured value remainder.
Z(k)＝H(k)X(k)+W(k)
The target component Z (k) that its reflection sensor is surveyed and the transformation relation of dbjective state variable X (k), H (k) is the transformation matrix battle array.Another very important W (k) is in order to inevitable stochastic error part in the reflection target detection process, i.e. radargrammetry error in the equation.
Error model: Kalman filtering is also done certain simplification supposition to the statistical property of measuring error and model error, has mathematics tightness iterative algorithm so that derive, i.e. Kalman filtering is the optimal tracking filtering algorithm under this meaning.The statistical property of measuring error and model error is used the covariance matrix R (k) and Q (k) quantitative description of corresponding stochastic variable respectively.
The state estimation value refreshes: on the basis of the predicted value X of state variable (k+1|k), revise the estimated value of Flushing status variable with measuring remainder V (k+1):
X(k+1|k+1)＝X(k+1|k)+K(k+1)V(k+1)
K in the formula (k+1) cries Kalman gain.
The Kalman gain calculating: in the tracking filter process, the parallel calculating of carrying out statistics covariance matrix P (k+1|k+1) and the P (k+1|k) of state variable estimated value X (k+1|k+1) and predicted value X (k+1|k); And further calculate, upgrade Kalman gain K (k+1) with their.Concrete computing formula relates to the statistics notion and the biometric variables of more complicated, no longer describes in detail here.Qualitative saying, Kalman gain K (k+1) depends primarily on the size that the state variable covariance matrix of comprehensive deviation is followed the tracks of in reflection, and tracking error increases, Kalman risings that gain, the tracking error reduction, Kalman gains and reduces.In fact the covariance matrix of state variable is exactly the tracking quality index of Kalman filtering.Say that roughly covariance matrix can qualitative sense be the measuring of square error of relevant variable.
The covariance matrix P (k|k) of state variable estimated value describes the precision of tracking filter, and the respective component of P (k|k) is more little, and the tracking accuracy of the respective component of state variable is good more.P (k|k) has summarized total effect of tracking filter process, is the synthesis result that comprises measuring error and two influences of model error.The performance of measuring error reflection sensor (radar head) itself, irrelevant with the current moving situation of target within the specific limits, model error is then represented the extent of deviation of the current actual motion situation of target to the target movement model set in the Kalman filtering.Therefore, P (k|k) is the total effect numeric measure of tracking filter.
Along with computer hardware technology and computing power improve fast, Kalman filtering progressively substitutes the standard method that the mosaic method becomes the filtering of ATC robotization invention Track In Track.The advantage of Kalman filtering is to handle sensor detecting error and the unification of target dynamics model error that Track In Track is primarily aimed within the same theory framework, obtains the optimum in theory estimation (Estimation) of radar track.Target maneuver or tracking effect that Kalman filtering does not need to be independent of the tracking filter process detect, but it is done unified the processing, have improved the standardization of algorithm.
Kalman filtering can also be followed the tracks of height tracing and horizontal level carry out integrated processing, thereby counts the coupling that short transverse and horizontal direction may exist.
But; because Kalman filtering has been taken all factors into consideration more factors and has been done a series of simplification supposition; the present invention is in the Kalman filtering algorithm is realized; considered: the tracking filter coordinate system is selected; as being rectangular coordinate system, the spheric polar coordinate system of initial point with the radar antenna position, ship trajectory moving coordinate system and the earth (the earth's core) geographic coordinate system etc.It is the rectangular coordinate system of initial point that the present invention selects for use with the radar antenna position.
The key problem of ATC invention Track In Track Kalman filtering practical algorithm, be seek to describe radar detection sum of errors aircraft (particularly civil aircraft) flight model error accurately and the mathematical model (statistical model) of practical, particularly be adapted to existing statistical model and model parameter with radar actual detection data.
The method for supervising of airport terminal of the present invention district aircraft passes through the sphere azimuthal projection by longitude and the latitude to target aircraft horizontal level, transform to the coordinate of the monitoring coordinate plane of definition, improve decline aircraft bearing accuracy, thereby can give one of commanding basis for estimation intuitively.Simultaneously, aircraft heading trend is had towards the trend in non-intruding zone send warning.Like this, need not aircraft takeoff between the parallel runways of airport and the landing between personal distance with artificial judgment, controller " wrong, leak, forget " phenomenon has obtained the containment on effective rank, thereby reduced airport employe's working strength, reduced accident simultaneously, especially the incidence that causes the accident of artificial origin.By the method for supervising of this airport terminal district aircraft, strengthen computational accuracy, improved decline aircraft bearing accuracy; Use the method for supervising of this airport terminal district aircraft, improved the capacity that nearly aircraft is advanced on low coverage runway five limits continuously; For the controller in time understands parallelly to enter near position and improved reliable basis for estimation, alleviated controller's load greatly, controller " wrong, leak, forget " phenomenon has obtained the containment on effective rank.
Below the method applied in the present invention is carried out lopsided computational accuracy analysis, with the proof the method applied in the present invention meet accuracy requirement.
1, the error analysis of coordinate transform
The nonlinear distortion of target level position projective transformation:
The nonlinear distortion of projective transformation is exactly that the difference of subpoint between straight length on the projection plane and real arc length causes.
In radar data showed, admissible projecting method had centre of sphere azimuthal projection, and the sphere azimuthal projection is just being penetrated azimuthal projection and simple conic projection etc.It is the advantage of straight line that there is the warp of maintenance in simple conic projection, but X, the different shortcoming of Y both direction nonlinear distortion are arranged.Below weight analysis centre of sphere azimuthal projection, the sphere azimuthal projection, the situation of just penetrating the azimuthal projection nonlinear distortion:
Just penetrating azimuthal projection, sphere azimuthal projection and centre of sphere azimuthal projection as shown in Figure 1, the horizontal level point P of target is T1 at the corresponding subpoint of coordinate plane, T2, T3 (being designated as 1,2,3 points among Fig. 1), P point and C point
If R1=R+h has:
T
2C ≈ (2R+h) tan (α/2) ≈ 2R
1Tan (α/2), h＜＜R (exact formulas is seen the 4th joint)
T
3C＝R
1·tanα
And distance D:D=R
1α
Obviously, sphere azimuthal projection T
2C=2R
1Tan (α/2) and distance D=R
1α approaches most.In 60 * 60 kilometer range, think margin and center in the time of 30 kilometers, 0.27 ° of α ≈, at this moment, 2tan (α/2) and α differ less than 0.0000000086722 r
12tan (α/2) and r
1α differs less than 0.055311 meter.Because projection does not produce distortion, the distortion of this radial distortion whole projection just on the position angle.
If the nonlinear distortion on the considering screen angle, get 43 kilometers of the distances that angle point and C order respectively, nonlinear distortion is accordingly: 0.000000025537, differ less than 0.16288 meter.
The nonlinear distortion of terrestrial reference horizontal level projective transformation:
The nonlinear distortion situation of landmark locations in the spherical projection process is similar fully to airflight target level position.Compare with the absolute altitude of Control Centre position, the height that all unlikely tool of nearly all terrestrial reference outside the venue and Control Centre's absolute altitude equate just, so degree need convert monitor coordinate plane equal altitudes position after, carry out projection again.
Therefore, the nonlinear distortion of background map projection is identical with top analysis result: in the 60*60 kilometer range, think margin and center in the time of 30 kilometers, nonlinear distortion is less than 0.0000000086722.
The precision of coordinate transform:
The coordinate transform precision of research in coordinate transformation process and the relative error of target and terrestrial reference below.The flight path data of spherical projection conversion excessively that original radar data has been a warp, most radar information exchange standard data (ASTERIX type form) of for example present domestic use, Thomson, Raytheon, radars such as Alenia, Siemens just belong to this situation.
At this moment, importing flight path data of the present invention has been X-Y coordinate or the r-βPing Mian polar data that projects to this radar station location coordinate plane (also being its display plane).Air Traffic Control radar data generally also adopts the sphere azimuthal projection to the projection of display plane.
In the formula: λ is a target aircraft longitude;
Be target aircraft latitude; X, y are target aircraft display plane coordinate; λ
0Be the radar station longitude;
Be the radar station latitude; H is the radar station absolute altitude; R is the best equivalence earth radius.
Ground level location point P to airflight target G passes through the sphere azimuthal projection,
In the formula: λ is the target longitude;
Be the target latitude; X, y are the coordinate of target in the monitoring coordinate plane; λ
0Be Control Centre's longitude;
Be Control Centre's latitude; H is Control Centre's absolute altitude; R is the best equivalence earth radius.Can obtain the coordinate in the monitoring coordinate plane that target aircraft defines in the present invention so accurately, thereby give one of commanding basis for estimation intuitively.
Be not difficult to find out,, in projective transformation, can between them, do not introduce theoretical error because identical computing formula has been adopted in the projective transformation of airflight target level position and landmark locations.Because all calculate all to calculate with double-precision floating points and finish, the error of calculation also can be ignored.
2, the error analysis of radar track extrapolation
The extrapolation flight path:
This programme proposes in the flight path extrapolation process, when carrying out the course extrapolation with the practical approach of course angle correction.When whenever receiving a flight path report, with the course angle β of this flight path report
iSubtract the course angle β of last flight path report
I-1, obtain the course angular difference:
δβ
i＝β
i-β
i-1
δ β
iBe this moment course angle poor between two antenna scanning cycles in succession.Because δ β
iObviously contain very big randomness, need carry out suitable low-pass filtering treatment.
Press following formula to δ β
iCarry out low-pass filtering (infinite impulse response digital filtering):
Δβ
i＝(1-λ)·δβ
i+λ·Δβ
i-1
λ can be in 0.4～0.9 scope value.λ is big more, and filtering bandwidth is narrow more, and filtering random disturbance effect is good more, but response is slow more.Otherwise λ is more little, and filtering bandwidth is wide more, and the effect that suppresses random disturbance weakens, but response is very fast, can make response quickly to motor-driven (turning) flight path.In general, in the radar source data variation hour, the λ value can be selected greatlyyer; When rate of change was big, the λ value then need be selected smallerly.The value of λ will be selected by experiment.Generally, filtered Δ β
iThan δ β
iStable, reliable.Δ β
iBe to calculate continuously.δ β
iNumerical value arrive actually can not degree the time greatly, can directly be limited in this ultimate value input filter again to it.Ultimate value is calculated with the turning angle (this programme was 3 degree/seconds) of aircraft per second maximum possible.During the filtering initialization, can establish initial value Δ β
0=0, be equivalent to be assumed to rectilinear flight.
Δ β
iPromptly obtain the estimated value α of bogey heading angular rate of change divided by the antenna scanning period T
i=Δ β
i/ T.At initial value Δ β
0Under=0 the condition, λ=0.4,2 reaches 84% of stationary value, λ=0.5,3 reach 87% of stationary value, and λ=0.6,5 reaches 92% of stationary value, λ=0.7,6 reach 88% of stationary value, and λ=0.8,9 reaches 87% of stationary value, λ=0.9,18 reaches 85% of stationary value.
With filtered Δ β
iWith a predetermined threshold T
βCompare.As Δ β
iLess than T
βThe time, with Δ β
iAbandon and need not, do not take the action of any course angle correcting process.Just belong to this situation during target line flight.As Δ β
iGreater than T
βThe time, then belong to maneuvering target.If carrying out extrapolation process, then using Δ β
iMake the course angle correcting process.
When radar track data variation rate is higher, show that flight path is subjected to current flight path variable effect bigger, therefore, λ is suitable less than normal.Corresponding therewith, T
βShould get bigger numerical value, not be subjected to error correction in order to guarantee the rectilinear flight flight path.When radar track data variation rate is low, show that flight path is subjected to current flight path variable effect less, and more should consider global impact that λ is suitable bigger than normal.Corresponding therewith, T
βOnly get smaller numerical value and just can guarantee that the rectilinear flight flight path has not been subjected to error correction.
Notice that the prerequisite of this modification method is, before the extrapolation after testing and formed correct Δ β
iOr course angle rate of change α
i=Δ β
i/ T valuation.No matter owing to what reason does not form correct Δ β
iOr α
iValuation all will cause algorithm to lose efficacy or fall flat.In other words, only caught up with abundant turning report track points, just can obtain effect preferably at algorithm.The essence of this method (rationale) is to detect and use the centripetal acceleration of target, does the course angle correction.
Error between correction course extrapolation flight path in 4 seconds and the possible maximum deviation amount is as follows:
Suppose: the turning rate of the true flight path of aircraft: α; The true velocity of aircraft: v; Extrapolation point current course (and the angle between the runway centerline parallel lines): γ; Current extrapolation turning rate: Δ β.The error of the real trace of extrapolation flight path and aircraft is:
e1＝a-Δβ；
a1＝(180.0-e1)/2；
d1＝2*v*sin(e1*pi/180.0)；
Δl
1＝dl*cos(γ+α-Δβ)；
b2＝180-Δβ-(180-e1)/2.0；
c2＝arcsin(v*sin(b2*pi/180.0)/12)*180.0/pi；
e2＝180.0-c2-a1+α；
a2＝arcsin(12/d2*sin(e2*pi/180.0))*180.0/pi；
Δl
2＝d2*cos(γ+α-Δβ)；
b3＝180-(180-b2-c2)-(180-e2-a2)-Δβ；
c3＝arcsin(v/l?3*sin(b3*pi/180.0))*180.0/pi；
e3＝180.0-c3-a2+α；
a3＝asin(13/d3*sin(e3*pi/180.0))*180.0/pi；
Δl
3＝d3*cos(γ+α-Δβ)；
b4＝180-(180-b3-c3)-(180-e3-a3)-Δβ；
c4＝arcsin(v/l?4*sin(b4*pi/180.0))*180.0/pi；
e4＝180.0-c4-a3+α；
Δl
4＝d4*cos(γ+α-Δβ)；
Wherein, Δ l
1, Δ l
2, Δ l
3, Δ l
4It is respectively the error of first, second, third, fourth second extrapolate flight path and true flight path.
When α=3 (degree/second), v=100 (meter per second), Δ β=-3 are (Δ β=-3 expression extrapolation flight paths are opposite with the turn direction of true flight path) when (degree/second), and following table is enumerated some situations according to current course γ:
Suppose:
Radar accuracy error: ε; Non-intruding peak width: d
tThe horizontal range of NOZ inboard and runway centerline: d
o=(two runway centerline horizontal range-d
t)/2; The speed of aircraft: v; Aircraft turning rate: α; The controller sees that early warning is to the time of notifying the captain: t1; The time that the captain makes a response: t2; Radar period: T; It is t=T+t1+t2 that the captain makes the time that the course of aircraft after the turn command goes back to normal course; Current course is γ; 4 seconds max calculation error delta l of flight path extrapolation.
The time that allows radar warning to make a response
t
f＝(d
o-ε-Δl)/sin(γ*π/180)/v-2*t
If t
fDuring＞radar period T, invention can be sent early warning.
Suppose that parameter is as follows among the present invention:
T1=3 second, t2=2 second, T=4 second, Δ l=104 rice
T＞=4.3 second when γ＜=14 are spent, invention 100% can be made early warning, promptly can false dismissal.
Claims (3)
1. the method for supervising of an airport terminal district aircraft is characterized in that: may further comprise the steps:
(1) adopts under the condition of sphere azimuthal projection at the supposition airport radar, calculate the longitude and the latitude of target aircraft horizontal level;
(2) with the longitude of the target aircraft horizontal level that obtains in the step (1) and latitude by the sphere azimuthal projection, transform to the coordinate of monitoring coordinate plane;
(3) in many radars Timing Processing, when whenever receiving the flight path report of radar, the course angle of this flight path report is subtracted the course angle of last flight path report, obtain the course angular difference, because this heading crossing angle has very big randomness, need carry out low-pass filtering to course angle, can obtain the course angle deviation of each second thus, when this value surpasses the actual ultimate value that can not reach, just ultimate value as input; Whether according to the course angle that draws each second in each radar period all is toward non-intruding zone increasing or decreasing, whether the heading trend of judging aircraft has the trend towards the non-intruding zone, if aircraft heading trend has the trend towards the non-intruding zone, then send warning.
2. the method for supervising of airport terminal according to claim 1 district aircraft is characterized in that: the longitude of target aircraft horizontal level and the computing method of latitude are in the described step (1):
In the formula: λ is a target aircraft longitude;
Be target aircraft latitude; X, y are target aircraft display plane coordinate; λ
0Be the radar station longitude;
Be the radar station latitude; H is the radar station absolute altitude; R is the best equivalence earth radius.
3. the method for supervising of airport terminal according to claim 1 district aircraft is characterized in that: the Coordinate Calculation method in the described step (2) in the target aircraft monitoring coordinate plane is:
In the formula: λ is the target longitude;
Be the target latitude; X, y are the coordinate of target in the monitoring coordinate plane; λ
0Be Control Centre's longitude;
Be Control Centre's latitude; H is Control Centre's absolute altitude; R is the best equivalence earth radius.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102506872A (en) * | 2011-11-28 | 2012-06-20 | 中国电子科技集团公司第五十四研究所 | Method for judging flight route deviation |
| CN103235291A (en) * | 2013-04-24 | 2013-08-07 | 四川九洲空管科技有限责任公司 | Method for filtering flight path |
| CN110807264A (en) * | 2019-11-07 | 2020-02-18 | 四川航天神坤科技有限公司 | Real-time monitoring and early warning method and device for radar target in three-dimensional system |
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| CN115856946A (en) * | 2023-02-21 | 2023-03-28 | 和普威视光电股份有限公司 | Aircraft alignment channel detection method, device, terminal and storage medium |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102506872A (en) * | 2011-11-28 | 2012-06-20 | 中国电子科技集团公司第五十四研究所 | Method for judging flight route deviation |
| CN102506872B (en) * | 2011-11-28 | 2015-02-11 | 中国电子科技集团公司第五十四研究所 | Method for judging flight route deviation |
| CN103235291A (en) * | 2013-04-24 | 2013-08-07 | 四川九洲空管科技有限责任公司 | Method for filtering flight path |
| CN103235291B (en) * | 2013-04-24 | 2014-12-10 | 四川九洲空管科技有限责任公司 | Method for filtering flight path |
| CN110807264A (en) * | 2019-11-07 | 2020-02-18 | 四川航天神坤科技有限公司 | Real-time monitoring and early warning method and device for radar target in three-dimensional system |
| CN110807264B (en) * | 2019-11-07 | 2023-09-01 | 四川航天神坤科技有限公司 | Real-time monitoring and early warning method and device for radar target in three-dimensional system |
| CN111563428A (en) * | 2020-04-23 | 2020-08-21 | 杭州云视通互联网科技有限公司 | Airport parking space intrusion detection method and system |
| CN111563428B (en) * | 2020-04-23 | 2023-10-17 | 杭州云视通互联网科技有限公司 | Airport stand intrusion detection method and system |
| CN115856946A (en) * | 2023-02-21 | 2023-03-28 | 和普威视光电股份有限公司 | Aircraft alignment channel detection method, device, terminal and storage medium |
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