CN104299455A - Automatic driving system for airport special vehicle - Google Patents
Automatic driving system for airport special vehicle Download PDFInfo
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- CN104299455A CN104299455A CN201410580617.5A CN201410580617A CN104299455A CN 104299455 A CN104299455 A CN 104299455A CN 201410580617 A CN201410580617 A CN 201410580617A CN 104299455 A CN104299455 A CN 104299455A
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Abstract
The invention provides an automatic driving system for an airport special vehicle. The automatic driving system for the airport special vehicle comprises a ground-based traffic control center, a satellite navigation module, a satellite navigation error receiving module, a data processing module, a ground-based traffic control center interaction module and a task processing module, wherein the satellite navigation module receives satellite navigation coordinates and transmits the satellite navigation coordinates to the data processing module, the satellite navigation error receiving module receives a satellite navigation error and transmits the satellite navigation error to the data processing module, accurate coordinates are calculated by the data processing module according to the received data and are sent to the ground-based traffic control center through the ground-based traffic control center interaction module, a driving task input by a person on the ground is transmitted to the data processing module through the task processing module and then is sent to the ground-based traffic control center through the ground-based traffic control center interaction module, and the airport special vehicle is controlled by the ground-based traffic control center to travel. By the adoption of the automatic driving system for the airport special vehicle, the ground transportation efficiency of an airport can be improved, the time for an airplane to be adapted to an engine on the ground is shortened, and oil loss is reduced.
Description
Technical field
The present invention relates to airdrome control system regions, specifically a kind of airport special vehicle automated driving system.
Background technology
Airport special vehicle refers to the vehicle for the aircraft service of providing safeguard in the service area of airport, comprises aircraft tractor, aircraft guide car, cargo tractor, fuel truck, clear water duties car, passenger ferry vehicle, ladder vehicle, goods delivery vehicle, deicing vehicle etc.
Within the scope of airport, various types of vehicles must travel according to the traffic rules in airport, as the road, speed limit, aircraft pas etc. formulated.
In airport, traffic above-ground is intricate, and surface car passage and aircraft passage usually cross one another.Due to the impact of aircraft engine wake flow, surface car must pay the utmost attention to aircraft pas in the process of moving.Often through a flight, the stand-by period of traffic above-ground will increase, and enters aircraft wake and accidents caused to avoid surface car.
Aircraft tractor is mainly when ensureing that aircraft is unpowered and draws aircraft to commitment positions, and before taking off, aircraft is pushed out to taxiway by tractor, finally opens aircraft engine and relies on self power to slide.
Aircraft relies on self power to slide to runway mouth from opening engine, and whole process is according to airport dimensions, and about 5-15 minute, as traffic peak, the stand-by period will increase further.In whole taxiing procedures, owing to relying on engine as power, cause certain fuel consumption, in addition, engine also has corresponding loss.
Major part airport has tens of, and even up to a hundred aircraft gates, a lot of pilot needs after arriving strange airport could correctly be berthed by the guiding of airport docking guidance vehicle.Arrive at the airport at aircraft and to slow down and after making the turnoff and entering taxiway, guide car is in place to be waited and vector aircraft enters and specifies aircraft gate.This type of vehicle and whole boot flow also increase traffic above-ground pressure.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of airport special vehicle automated driving system, utilize ground to strengthen system GBAS and obtaining accurate position coordinates, make vehicle control syetem control vehicle based on this accurate coordinates and arrive appointed place.
The present invention adopts following technical scheme to achieve these goals: airport special vehicle automated driving system comprises ground traffic control center and onboard system, and wherein said onboard system comprises satellite navigation module, satellite navigation error receiver module, data processing module, ground traffic control center interactive module and task processing module; Satellite navigation module receives satellite navigation coordinate and is transferred to data processing module, satellite navigation error receiver module receives by the satellite navigation error of ground enhancing system broadcasts and is transferred to data processing module, data processing module goes out accurate coordinates according to satellite navigation coordinate and satellite navigation error calculation, and described accurate coordinates is sent to ground traffic control center by ground traffic control center interactive module; The driving task that ground staff inputs is transferred to data processing module by task processing module, then by ground traffic control center interactive module, driving task is sent to ground traffic control center; Ground traffic control center calculates according to the signal received, and controls airport special vehicle enforcement.
The obtainable Advantageous Effects of native system has: use the present invention can improve airport ground transportation efficiency, reduce the time of aircraft at ground apply engine, reduce pol loss, reduce carbon emission, reduce aircraft engine maintenance cost, reduce the probability that aircraft crashes on ground, reduce pilot, because being unfamiliar with airport landform, aircraft is stopped wrong berth.
Accompanying drawing explanation
Fig. 1 is system chart of the present invention;
In figure: 1-ground traffic control center; 2-onboard system; 2.1-satellite navigation module; 2.2-satellite navigation error receiver module; 2.3-data processing module; 2.4-ground traffic control center interactive module; 2.5-task processing module.
Embodiment
Embodiment 1, see Fig. 1, present system is divided into ground traffic control center 1 and onboard system 2 two parts, and onboard system 2 is installed on the special vehicle of airport.Ground traffic control center 1 primary responsibility receives surface car coordinate and driving task thereof, and by calculating the whole traffic above-ground of overall planning, travels according to instruction eventually through broadcasting instructions notice airport special vehicle.In whole process, because aircraft other surface cars relative have absolute priority, therefore whether tractor only needs pay close attention to self task and clash with other aircrafts in distraction procedure.The pool ability at ground traffic control center is mainly reflected in, while the traction of commander's single rack aircraft, take into account other aircrafts, and according to the conflict that may exist, need to enter next taxiway from the aircraft of different directions as there being multi rack in taxiway crossing simultaneously, by system according to the sequencing of flight takeoff, arrange the aircraft taken off at first first to pass through, after the wait of taking off.
Onboard system 2 comprises satellite navigation module 2.1, satellite navigation error receiver module 2.2, data processing module 2.3, ground traffic control center interactive module 2.4, the assemblies such as task processing module 2.5 and dual-mode antenna.The forth generation Big Dipper that above satellite navigation module 2.1 can adopt Xi'an space flight Hua Xun Science and Technology Ltd. to manufacture/GPS dual-mode location navigation chip, or upgraded version, the master chip of data processing module 2.3 selects the chip that commercial processing power is strong.
Task processing module 2.5 major function is the driving task that reception ground staff inputs after vehicle is docked aircraft by ground, as certain type aircraft is pushed out to certain end that certain is gone to mouth.
Satellite navigation module 2.1 is responsible for receiving satellite navigation coordinate generally, and be transferred to data processing module 2.3, satellite navigation error is also transferred to data processing module 2.3 and calculates and draw accurate coordinates, satellite navigation relies on has source time range finding to position, namely determine that the three-dimensional coordinate of a point in space obtains longitude and latitude and sea level elevation (X accurately with this by cross principle and time dimension of space three ball, Y, Z), ground based augmentation system is then by the accurate longitude and latitude of ground reference point and sea level elevation, error (X between the reverse coordinate calculating actual coordinate and obtained by satnav
1, Y
1, Z
1), and this error is broadcast to user, native system strengthens the receiver of system by installation ground, directly receives error signal, directly difference and satellite navigation coordinate are carried out superposition calculation obtains accurate coordinates, i.e. smart longitude and latitude and true sea level elevation (X+X to data processing module 2.3
1, Y+Y
1, Z+Z
1), and got in touch with by ground traffic control center interactive module 2.4 and ground traffic control center 1, obtain the next nodes of locations of this car, and calculate vehicle control signal by the data processing centre (DPC) of onboard system.
The onboard system 2 that ground traffic control center interactive module 2.4 is responsible on vehicle is connected with ground traffic control center 1, and exchange instruction and current running state, if vehicle is to the coordinate of next node, path and timing node.
Ground traffic control center 1 calculates wagon control instruction and the traveling that drives a car according to vehicle operational performance after receiving and transmitting by ground traffic control center interactive module 2.4 instruction come, simultaneously, the accurate coordinate of vehicle also will be determined by satellite navigation coordinate and navigation error, and compare with preplanned mission, to reach the object that vehicle is accurately finished the work.
Embodiment 2, aircraft is released from shutdown berth and draws to runway mouth by tractor.
Pilot notifies after receiving control tower instruction that traction program is implemented on ground, is docked by tractor, and control tower instruction is input to the task processing module 2.5 of onboard system by ground staff with aircraft.
Task processing module 2.5 by task details, type and be sent to ground traffic control center 1 by the concrete coordinate of vehicle that navigation module receives.
The data encoding grouping that 1, ground traffic control center basis receives, calculating this car task needs the path of process and the time point of arrival.Because aircraft has pas, without the need to paying close attention to surface car travel situations during calculating, but still other aircraft taxi situations of ground need be taken into account, sequencing is arranged when sliding and conflicting in road according to the sequencing taken off, that namely first takes off is leading, after the wait of taking off, wait the aircraft that moves ahead to slip over rear continuation follow-up.During calculating, also need to consider aircraft size, and in systems in which according to aircraft size design safe distance, to prevent the collision of interplane.
After ground traffic control center calculation goes out associated vehicle driving instruction, by the mode of command broadcast, instruction is sent to corresponding vehicle.
Surface car transfers to travel speed and the steering order of vehicle-mounted control center calculation vehicle after receiving instruction by ground traffic control center interactive module, and maneuver vehicle travels.Set instruction, present satellites navigation coordinate and satellite navigation error synthesis are calculated the control command of vehicle by vehicle-mounted control center, meanwhile, compensate calculating according to current driving deviation, to guarantee that vehicle and aircraft accurately complete instruction and travel task.
In driving process, onboard system will detect the spacing of multiple performance objective vehicle, direction and speed automatically, and the automatic alarm when occurring bumping against also stops associated vehicle, until all clear.Meanwhile, control center's interactive module then sends vehicle changing coordinates in real time to ground traffic control center, and by result display over the display, by control tower personnel control.
Finally, when aircraft draws to assigned address by vehicle, automatically throw off aircraft, and arrange vehicle evacuation route by ground traffic control center and finally withdraw, aircraft is then opened engine line up with runway and is taken off.
Embodiment 3, tractor docks from runway mouth with aircraft, and aircraft draws to specifying aircraft gate the most at last.
Aircraft landing recession of slowing down is slided to the tractor Docking station on taxiway from runway, is docked aircraft with tractor by staff and inputs and draw object berth.Unit can close aircraft engine.
Task processing module then by task details, type and be sent to ground traffic control center by the concrete coordinate of vehicle that navigation module receives.
Similar with embodiment 2, ground traffic control center is that corresponding vehicle and aircraft arrange driving path and time node and instruction is sent to vehicle.
Similar with embodiment 2, vehicle-mounted control center then calculates vehicle operating instruction and controls vehicle and travels, and also needs to consider and the conflicting of other aircrafts and surrounding building simultaneously.
Finally, finish the work, throw off connecting of tractor and aircraft by staff.
Claims (3)
1. airport special vehicle automated driving system, it is characterized in that: comprise ground traffic control center (1) and onboard system (2), wherein said onboard system (2) comprises satellite navigation module (2.1), satellite navigation error receiver module (2.2), data processing module (2.3), ground traffic control center interactive module (2.4) and task processing module (2.5); Satellite navigation module (2.1) receives satellite navigation coordinate and is transferred to data processing module (2.3), satellite navigation error receiver module (2.2) receives by the satellite navigation error of ground enhancing system broadcasts and is transferred to data processing module (2.3), data processing module (2.3) goes out accurate coordinates according to satellite navigation coordinate and satellite navigation error calculation, and described accurate coordinates is sent to ground traffic control center (1) by ground traffic control center interactive module (2.4); The driving task that ground staff inputs is transferred to data processing module (2.3) by task processing module (2.5), then by ground traffic control center interactive module (2.4), driving task is sent to ground traffic control center (1); Ground traffic control center (1) calculates according to the signal received, and controls airport special vehicle enforcement.
2. airport special vehicle automated driving system according to claim 1, is characterized in that: described onboard system (2) is installed on the special vehicle of airport.
3. airport special vehicle automated driving system according to claim 1 or 2, is characterized in that: described onboard system (2) is also provided with dual-mode antenna.
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| CN201410580617.5A CN104299455A (en) | 2014-10-27 | 2014-10-27 | Automatic driving system for airport special vehicle |
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| CN201410580617.5A CN104299455A (en) | 2014-10-27 | 2014-10-27 | Automatic driving system for airport special vehicle |
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Cited By (12)
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| CN104820424A (en) * | 2015-05-15 | 2015-08-05 | 山东省计算中心（国家超级计算济南中心） | Automatic driving system and control method for electric automobile based on Beidou navigation |
| CN104933901A (en) * | 2015-06-12 | 2015-09-23 | 中国民航大学 | Disabled people boarding vehicle intelligent management device |
| CN106019337A (en) * | 2016-04-22 | 2016-10-12 | 长沙星际泛函网络科技有限公司 | Vehicle positioning system based on four star fusion |
| CN108241162A (en) * | 2016-12-23 | 2018-07-03 | 广东互云科技有限公司 | Satellite positioning circuitry, positioning cradle head and holder localization method |
| CN108510804A (en) * | 2018-05-25 | 2018-09-07 | 中国民用航空总局第二研究所 | A kind of airdrome scene enhancing what comes into a driver's guiding system |
| CN108564821A (en) * | 2018-06-19 | 2018-09-21 | 华航信息技术（绍兴）有限公司 | A kind of vehicle intelligent for airport is inducted into a safeguards system |
| CN111290353A (en) * | 2020-02-18 | 2020-06-16 | 北京九曜智能科技有限公司 | Control system and control method for apron lifting platform vehicle |
| CN112700651A (en) * | 2021-02-09 | 2021-04-23 | 中科大路(青岛)科技有限公司 | Test method and system for automatic driving vehicle of airport |
| CN112767728A (en) * | 2021-01-29 | 2021-05-07 | 中科大路(青岛)科技有限公司 | A autopilot guide car for airport |
| CN113291485A (en) * | 2021-06-30 | 2021-08-24 | 中国航空油料集团有限公司 | Refueling truck safety detection method and system |
| CN113344368A (en) * | 2021-05-31 | 2021-09-03 | 中国航空油料集团有限公司 | Refueling operation scheduling method and system |
| CN113791619A (en) * | 2021-09-14 | 2021-12-14 | 北京航空航天大学 | Dispatching navigation system and method for airport automatic driving tractor |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104820424A (en) * | 2015-05-15 | 2015-08-05 | 山东省计算中心（国家超级计算济南中心） | Automatic driving system and control method for electric automobile based on Beidou navigation |
| CN104820424B (en) * | 2015-05-15 | 2017-12-01 | 山东省计算中心（国家超级计算济南中心） | Electric automobile automated driving system and its control method based on Beidou navigation |
| CN104933901A (en) * | 2015-06-12 | 2015-09-23 | 中国民航大学 | Disabled people boarding vehicle intelligent management device |
| CN106019337A (en) * | 2016-04-22 | 2016-10-12 | 长沙星际泛函网络科技有限公司 | Vehicle positioning system based on four star fusion |
| CN108241162A (en) * | 2016-12-23 | 2018-07-03 | 广东互云科技有限公司 | Satellite positioning circuitry, positioning cradle head and holder localization method |
| CN108510804A (en) * | 2018-05-25 | 2018-09-07 | 中国民用航空总局第二研究所 | A kind of airdrome scene enhancing what comes into a driver's guiding system |
| CN108564821A (en) * | 2018-06-19 | 2018-09-21 | 华航信息技术（绍兴）有限公司 | A kind of vehicle intelligent for airport is inducted into a safeguards system |
| CN111290353A (en) * | 2020-02-18 | 2020-06-16 | 北京九曜智能科技有限公司 | Control system and control method for apron lifting platform vehicle |
| CN112767728A (en) * | 2021-01-29 | 2021-05-07 | 中科大路(青岛)科技有限公司 | A autopilot guide car for airport |
| CN112700651A (en) * | 2021-02-09 | 2021-04-23 | 中科大路(青岛)科技有限公司 | Test method and system for automatic driving vehicle of airport |
| CN113344368A (en) * | 2021-05-31 | 2021-09-03 | 中国航空油料集团有限公司 | Refueling operation scheduling method and system |
| CN113291485A (en) * | 2021-06-30 | 2021-08-24 | 中国航空油料集团有限公司 | Refueling truck safety detection method and system |
| CN113791619A (en) * | 2021-09-14 | 2021-12-14 | 北京航空航天大学 | Dispatching navigation system and method for airport automatic driving tractor |
| CN113791619B (en) * | 2021-09-14 | 2024-04-12 | 北京航空航天大学 | Airport automatic driving tractor dispatching navigation system and method |
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