CN102411851B - Method for realizing ACAS conflict alert in blank pipe ATC system - Google Patents

Abstract

A method for realizing ACAS conflict alert in a blank pipe ATC system is disclosed. A system is supported by a communication data processing server, a monitoring data processing server, a flight data processing server, a seat work station and network equipment. The method comprises the following steps: (1) acquiring real time radar monitoring data; (2) carrying out tracking filtering, smoothing and interpolation to a position of the obtained monitoring data; (3) selecting an aircraft, determining a flight scope and selecting a threat object in the flight scope; (4) selecting a threshold, using a threshold table to obtain the three thresholds of corresponding reserved time, a horizontal spacing and a vertical spacing according to a height of the threat object; (5) calculating a conflict alert parameter, which comprises an approach speed calculation and a reserved time calculation; (6) calculating alarm. In the invention, through the ATC system, ACAS alarm means encountered by a pilot can be know. A relief measure which is not consistent with the ACAS can be timely corrected. Therefore, hidden troubles can be eliminated and security of air traffic can be increased.

Description

Realize the method for ACAS collision detection in a kind of blank pipe ATC system

Technical field

The present invention relates to the air traffic control field, realize the method for ACAS collision detection in the especially a kind of blank pipe ATC system.

Background technology

Aloft in the traffic administration, blank pipe robotization ATC system obtains the real time monitoring information of aircraft by supervision means such as radars, make the controller who is positioned at ground can in time judge and grasp air traffic situation, flight by commander's aerospace plane, guarantee the interval of aerospace plane on vertical, level and longitudinal direction, thereby avoided risk of collision potential between the aerospace plane.Potential danger is also referred to as flight collision between the aerial aircraft, judges that the technology that whether occurs conflicting between the aircraft is called collision detection; After conflict takes place, make aircraft break away from the measure of bumping against danger and be called conflict Resolution.

Collision detection can be realized by air traffic control automation system and airborne collision avoidance system usually.Surface-based air traffic control automation system has collision detection STCA (the Short Term Conflict Alert) function of short-term usually, but there is not the conflict Resolution function, need rule of thumb provide the measure of freeing with the control rule by the controller, and be implemented by the pilot.Airborne collision avoidance system ACAS aboard is installed, it is by near self other airbound target this aircraft of detection and calculate threaten degree to oneself independently, if be judged as invasion then alarm, be judged as threat and then provide rising, descend degradation to free instruction, the pilot can realize conflict Resolution according to this instruction.

But because air traffic control automation system ATC and airborne collision avoidance system ACAS are two cover systems fully independently, both are variant on collision detection algorithm and standard, and this testing result that just leads to a conflict is not quite identical; There is no direct contact between two systems simultaneously, the conflict Resolution that is provided by controller and airborne collision avoidance system also may be inconsistent respectively.And in case occur this inconsistently, will make the pilot at a loss as to what to do, this has brought very big hidden danger safely for air traffic.Do not realize the conflict logic of ACAS in traditional ATC system, because the ACAS system is the system of installing aboard, active probe radar, the two-shipper data communication that depends on aircraft self such as replys at condition.

If can be arranged in the air traffic control automation system on ground, by the real time monitoring data that obtain in the air traffic control automation system, realize the collision alert function of ACAS system, then when airborne collision avoidance system ACAS sends collision alert and frees signal, the ground controller also can estimate its collision detection and free the result, thereby can in time revise may occur free measure with airborne collision avoidance system is inconsistent, thereby remove a hidden danger, improve the security of air traffic.Therefore, realize that in blank pipe ATC system the ACAS conflict logic has very large using value.Up to the present, do not retrieve similar techniques implementation method or relevant patent as yet.

Summary of the invention

The purpose of this invention is to provide a kind of method that in blank pipe ATC system, realizes ACAS collision detection logic, make the ground controlling officer understand the ACAS alarm means that the pilot runs into by the ATC system, estimate its collision detection and free the result, what correction in time may occur frees measure with airborne collision avoidance system is inconsistent, thereby remove a hidden danger, improve the security of air traffic.

The technology solution that realizes the object of the invention is such: realize the method for ACAS collision detection in a kind of blank pipe ATC system, comprise communication data processing server, monitoring data processing server, flying quality processing server, seat workstation and the network equipment of support system; This method comprises the steps:

(1) obtains radar real time monitoring data;

(2) tracking filter and level and smooth and interpolation are carried out in the position of the monitoring data that obtained;

(3) select an aircraft, determine its flight reach, in the flight reach, select to threaten target; Calculate and threaten target with respect to oblique distance, relative velocity, difference in height, the level interval of selected aircraft;

(4) threshold value is selected, and according to threatening the residing height of target, utilizes that threshold value table is set aside some time accordingly, level interval, three threshold values of vertical interval;

(5) collision detection calculation of parameter comprises that velocity of approach is calculated, the calculating of setting aside some time; Velocity of approach is calculated and to be referred to that Xuan Ding aircraft is the center of coordinate, threaten the relative position of target be (x, y, z), relative velocity be (vx, vy vz), then apart from the oblique distance d that selectes aircraft are:

Described set aside some time to calculate refer to, in the velocity of approach of oblique distance direction be (vz), level interval is x for vx, vy, and vertical interval is y, and the t that then sets aside some time is: $t=\frac{d}{\sqrt{{\mathrm{vx}}^2+{\mathrm{vy}}^2+{\mathrm{vz}}^2}};$

(6) alarm is calculated, and the t that sets aside some time that calculates according to step (5) sets aside some time threshold ratio with step (4) obtains, if t is less than setting aside some time threshold value then directly alarm, otherwise calculates vertical interval y;

With the vertical interval y that calculates, with the vertical interval threshold ratio that obtains previously, if y less than the vertical interval threshold value then directly alarm, otherwise calculated level spacing x;

With the level interval x that calculates, with the level interval threshold ratio that obtains previously, if x less than the level interval threshold value then directly alarm, otherwise finishes.

The significance of this method is, provides to allow the controller just can recognize the means of the ACAS alarm that the pilot runs into by blank pipe ATC system, avoids making at this moment the decision that makes mistake, and perhaps disturbs pilot's operation.Remove a hidden danger, improved the security of air traffic.

Description of drawings

Fig. 1 is ACAS collision detection method overall work schematic flow sheet of the present invention.

Fig. 2 is that schematic flow sheet is judged in ACAS collision detection method alarm of the present invention.

Fig. 3, Fig. 4 are one embodiment of the invention, radar control seat TA/RA display interface synoptic diagram.

Fig. 5 is further embodiment of this invention, radar control seat TA/RA display interface synoptic diagram.

Embodiment

Referring to Fig. 1, Fig. 2 as can be known, realize the method for ACAS collision detection in a kind of blank pipe ATC system, comprise communication data processing server, monitoring data processing server, flying quality processing server, seat workstation and the network equipment of support system; This method comprises the steps:

(1) obtains radar real time monitoring data;

(2) tracking filter and level and smooth and interpolation are carried out in the position of the monitoring data that obtained;

(3) select an aircraft, determine its flight reach, in the flight reach, select to threaten target; Calculate and threaten target with respect to oblique distance, relative velocity, difference in height, the level interval of selected aircraft; Generally be in 50 nautical miles, to threaten target to choose airbound target;

(4) threshold value is selected, and according to threatening the residing height of target, utilizes that threshold value table is set aside some time accordingly, level interval, three threshold values of vertical interval.The threshold value table of the value of seeing service is provided below:

According to the residing height of target aircraft, set aside some time accordingly, carried out the collision detection calculation of parameter after the level interval, three threshold values of vertical interval according to last table;

(5) collision detection calculation of parameter comprises that velocity of approach is calculated, the calculating of setting aside some time; Velocity of approach is calculated and to be referred to that Xuan Ding aircraft is the center of coordinate, threaten the relative position of target be (x, y, z), relative velocity be (vx, vy vz), then apart from the oblique distance d that selectes aircraft are:

Described set aside some time to calculate refer to, in the velocity of approach of oblique distance direction be (vz), level interval is x for vx, vy, and vertical interval is y, and the t that then sets aside some time is: $t=\frac{d}{\sqrt{{\mathrm{vx}}^2+{\mathrm{vy}}^2+{\mathrm{vz}}^2}};$

(6) alarm is calculated, and the t that sets aside some time that calculates according to step (5) sets aside some time threshold ratio with step (4) obtains, if t is less than setting aside some time threshold value then directly alarm, otherwise calculates vertical interval y;

With the vertical interval y that calculates, with the vertical interval threshold ratio that obtains previously, if y less than the vertical interval threshold value then directly alarm, otherwise calculated level spacing x;

With the level interval x that calculates, with the level interval threshold ratio that obtains previously, if x less than the level interval threshold value then directly alarm, otherwise finishes.

If two airplanes are head-on to flying, its result bumps against exactly.Generally, the ATC system at first finds, extracts usually 1-3 minute and early warning, alarm, if controller's this moment does not discover for example absent-minded, drowsiness etc., 15-48s before collision, comprise the factors such as height that depend on the aircraft place etc., the airborne early warning TA of elder generation of ACAS system alarms RA then, subsidiary two aircrafts of RA alarm are the solution desorption method that consults of in accordance with regulations ACAS logic, for example action of a decline of rising, if this moment, the controller intervened again, the pilot also should ignore.

But, under given conditions, can occur that STCA among the ATC does not alarm and the airborne ACAS situation of alarm earlier, fly in the same way as two airplanes one on the other, horizontal level is identical, between the upper and lower apart from 200 meters (656 feet), then according to the standard of ACASIIv7.0, threshold value on the vertical direction need be carried out the TA alarm less than 850 feet at this moment; And according to the standard of up-to-date STCA, then this moment is less than 150 meters, and do not have the vertical uplift decline rate, then need not alarm.

The STCA collision alert is two kinds of different warning technologies with the ACAS collision alert.The initial main distance threshold that adopts of STCA alarm, namely two machines less than a certain secure threshold with regard to early warning, littler just alarm; Later stage has also increased the standard of time threshold.

Technical indicator regulation in the ACAS collision detection is mature on the whole at present, the main concept of setting aside some time that adopts is judged, the meaning is if bump against, then how long just begin alarm in addition apart from this time, but early stage stipulating as the ACASv6.04 version, because some special circumstances, as two aircrafts one in front and one in back, back machine slowly catches up with preceding machine with acceleration extremely slowly, then also can not alarm when two machines distance is very near, because it is also very long to set aside some time.Therefore in the ACASIIv7.0 version, increased the minimum threshold of distance of height and horizontal both direction.Therefore, ACAS adopts time threshold, adopts distance threshold simultaneously.

Referring to Fig. 3, Fig. 4, Fig. 5 as can be known, enforcement of the present invention relies on communication data processing server, monitoring data processing server, flying quality processing server, seat workstation and the network equipment that comprises support system; The situation that the ACAS collision detection alarm that demonstrates at radar control seat TA/RA display interface is judged comes into plain view.

The course of work of the present invention is as follows: at first utilize the radar data that obtains in the air traffic control automation system, carry out time synchronized after, aerial all airbound targets are carried out preliminary screening.

Preliminary screening mainly be at less than 50 nautical miles aircraft to carrying out.If two airplanes distance is not then carried out this collision detection greater than this numerical value.

If the existence distance is less than 50 nautical miles aircraft, then this machine is called as " selected aircraft ", and another is called target aircraft.Obtain alarm required set aside some time threshold value, level and vertical threshold three indexs according to two machines height of living in this moment.

Calculate velocity of approach, vertical range, the horizontal range of two machines.

Calculating is the emphasis of this algorithm.Because it is 4～12 seconds that air traffic control radar obtains the time interval of position, and airborne radar was almost 1 second, therefore in blank pipe ATC, realize this algorithm, need by modes such as linear prediction, interpolation, obtain the airborne data frequency identical with airborne radar.This process need is realized by Kalman filtering scheduling algorithm in the application system of blank pipe ATC server.Last and threshold ratio determine whether to alarm TA or disengaging RA.

Claims (1)

1. realize the method for ACAS collision detection in the blank pipe ATC system, comprise the communication data processing server of support system, monitoring data processing server, flying quality processing server, seat workstation and the network equipment; It is characterized in that this method comprises the steps:

(1) obtains ground air traffic control radar real time monitoring data;

(2) tracking filter and level and smooth and interpolation are carried out in the position of the monitoring data that obtained;

(3) select an aircraft, determine its flight reach, in the flight reach, select to threaten target; Calculate and threaten target with respect to oblique distance, relative velocity, difference in height, the level interval of selected aircraft;

(4) threshold value is selected: according to threatening the residing height of target, utilize that threshold value table is set aside some time accordingly, level interval, three threshold values of vertical interval;

(5) collision detection calculation of parameter comprises that velocity of approach is calculated, the calculating of setting aside some time; Velocity of approach is calculated and to be referred to that Xuan Ding aircraft is the center of coordinate, threaten the relative position of target be (x, y, z), relative velocity be (vx, vy vz), then apart from the oblique distance d that selectes aircraft are: Described set aside some time to calculate refer to, the velocity of approach of oblique distance direction be relative velocity (vz), level interval is x for vx, vy, and vertical interval is y, and the t that then sets aside some time is:

(6) alarm is calculated, and the t that sets aside some time that calculates according to step (5) sets aside some time threshold ratio with step (4) obtains, if t is less than setting aside some time threshold value then directly alarm, otherwise calculates vertical interval y;

With the vertical interval y that calculates, with the vertical interval threshold ratio that obtains previously, if y less than the vertical interval threshold value then directly alarm, otherwise calculated level spacing x;

With the level interval x that calculates, with the level interval threshold ratio that obtains previously, if x less than the level interval threshold value then directly alarm, otherwise finishes.

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