CN104443434B - The bootstrap technique of airborne vehicle docking process - Google Patents
The bootstrap technique of airborne vehicle docking process Download PDFInfo
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Abstract
A kind of bootstrap technique of airborne vehicle docking process, to detect an airborne vehicle stop guide line along machine level ground, to prepare to stop to a stop line, put back into, at different detecting positions, the distance answered including according to laser scanner, detect distance and the angle of left and right skew of above-mentioned airborne vehicle above-mentioned stop line of distance during stopping；Show that above-mentioned distance and deviation angle information operate above-mentioned airborne vehicle reference in an information display billboard, the human pilot for airborne vehicle；Including a loitering phase, a positioning stage, a cognitive phase and a vectoring phase.
Description
Technical field
The present invention relates to the bootstrap technique of a kind of airborne vehicle docking process, particularly relate to a kind of detection one boat
Pocket is along a stop guide line on machine level ground, to prepare to stop the bootstrap technique to a stop line.
Background technology
Guide the way differentiated with type about aircraft, the previous practice once had utilization transmitting and swashed with collecting
The mode of light pulse wave, at different distance scope (about 10 to 100 meters, measure point every 1 meter one),
The mode in different angles orientation (about-5 to 5 degree, measure point for every 0.1 degree), sets up one
About 100X100 point range distribution table, then compare with the aircraft shape prestored, flies reaching identification
Machine vector aircraft arrive the function of stop line.
But above-mentioned use original laser light emission and receive the mode of pulse, the Laser Measuring of part at present
Do not support away from equipment, and it is the most numerous and diverse to process details, it is impossible to guiding is absorbed in the work of system
And identification operation.Additionally, above-mentioned processing mode needs to set up the range distribution table that data are huge, with
Time also to record huge aircraft shape table as comparison, the substantial amounts that data process can be caused, and
And computing becomes extremely complex.
Then, improving of the present inventor's thoughts the problems referred to above, is the fortune concentrating on studies and coordinating scientific principle
With, and the present invention that is a kind of reasonable in design and that be effectively improved the problems referred to above is proposed.
Summary of the invention
It is an object of the invention to provide the bootstrap technique of a kind of airborne vehicle docking process, fully use new
The Laser Distance Measuring Equipment function of a generation, gives laser scanner completely by laser treatment work and processes, be
As long as system utilizes the output distance of laser scanner, coordinate the machine nasal height degree of various aircraft, fuselage height
And engine position just can simply reach aircraft stop guide and the Core Feature of type identification, significantly
Simplify the complicated operation of existing algorithm.
In order to solve above-mentioned technical problem, according to the one of which scheme of the present invention, it is provided that a kind of aviation
The bootstrap technique of device docking process, to detect an airborne vehicle stop guide line along machine level ground, with standard
Standby stop to a stop line, including:
There is provided a laser scanner, to scan above-mentioned airborne vehicle；
The rotation of one cooperation X-axis and the stepper motor of Y-axis is provided；
There is provided an information display billboard, to provide driver necessary display information；
Control the orientation angles of the scanning of above-mentioned stepper motor, to change the detecting position of this laser scanner
Put；
Put back into the distance of report according to above-mentioned laser scanner difference detecting position, detect above-mentioned airborne vehicle and stopping
The distance of the above-mentioned stop line of distance and the angle of left and right skew during leaning on；
Show that above-mentioned distance and offset information, in above-mentioned information display billboard, supply driving of above-mentioned airborne vehicle
Sail human users's above-mentioned airborne vehicle reference；
Carry out a loitering phase, wait that above-mentioned airborne vehicle enters above-mentioned stop guide line (J-Line)
In the stage, in multiple test points of the most above-mentioned scanning, when falling within predetermined height range, i.e. regarded
For above-mentioned airborne vehicle being detected；
Carry out a positioning stage, to judge whether the portion finding above-mentioned airborne vehicle near above-mentioned stop line
Position, when finding the above-mentioned airborne vehicle position near above-mentioned stop line, then enters next stage；
Carry out a cognitive phase, for the external physical characteristic of above-mentioned airborne vehicle, enter for multiple characteristic portions
Row checking, to verify whether the actual type of this airborne vehicle meets with the type inputted；And
Carry out a vectoring phase, by providing this airborne vehicle near the position of above-mentioned stop line with above-mentioned
The distance of stop line deviates the offset information of above-mentioned stop guide line with this airborne vehicle, is drawn by this airborne vehicle
Lead on a predetermined stop position.
The method have the advantages that the present invention utilizes the output distance of laser scanner, coordinate
Machine nasal height degree, fuselage height and the engine position of various aircraft, simply reach aircraft stop guide and
The function of type identification, significantly simplifies the complicated operation of existing algorithm.
In order to be able to be further understood that technology, method and the merit that the present invention is taked by reaching set purpose
Effect, refers to below in connection with detailed description of the invention, graphic, it is believed that to the purpose of the present invention, spy
Levying and feature, when can thus be goed deep into and concrete understanding, but institute's accompanying drawings only provides with adnexa
Reference and explanation use, be not used for being any limitation as the present invention.
Accompanying drawing explanation
Fig. 1 is the schematic diagram in each stage of the present invention.
Fig. 2 is the schematic diagram that the present invention uses laser scanner to detect.
Fig. 3 is the loitering phase flow chart of the present invention.
Fig. 4 is the positioning stage schematic diagram of the airborne vehicle docking process of the present invention.
Fig. 5 is that the present invention judges machine nose position flow chart.
Fig. 6 is the flow chart that the present invention processes aircraft model identification.
Fig. 7 is the schematic diagram of detecting and alarm position of the present invention.
Fig. 8 is the vectoring phase schematic diagram of the present invention.
[symbol description]
Laser scanner 100
Stop guide line J
Stop line S
Detailed description of the invention
The present invention utilizes the new pattern laser scanning device that the present inventor proposes, and uses its school, location invented
Just with skew line processing method obtained by range information develop the guiding of this airborne vehicle docking process
Method.Utilize this bootstrap technique, can grasp at any time the airborne vehicle real-time distance when stop line and
The information such as orientation angles, stop as airborne vehicle according to this and guide and the purposes of type differentiation.Above-mentioned aviation
Device is not restricted to aircraft, the most only illustrates with aircraft, therefore calls it with aircraft.
The basic assumption of the bootstrap technique of the airborne vehicle docking process of the present invention, it is believed that aircraft is in stopping
During pool, can turn along ground stop guide line J from plane track (Taxi way)
Advance in (J-Line joins Fig. 2) direction.The stop operation on current nearly all airport, is in accordance with
Such mode operates.According to this operating type as a result, it is possible to obtain following items result:
One, the laser equipment of general measure distance can be used, it is possible to complete airfield approach and guide work
Industry and type identification operation.
Two, need not record aircraft shape, only need to record several type parameters, such as machine nasal height degree,
The parameters such as engine position and fuselage height just can reach above-mentioned operation.
Three, need not just set up huge Data Position distribution table (Distance distributed table)
Can reach to guide and the purpose of plane type recognition.
Four, the application of this bootstrap technique, is actually not limited solely to the aircraft guiding operation near empty bridge,
All similar objects are stopped and are guided operation to apply mechanically.
This bootstrap technique executive mode, is divided into what several stage was carried out, including wait, location,
Identify and guide four-stage.The data sampling mode in each stage is similar, reads system fixed in advance
After the array of justice one group multiple (in the present embodiment about nine to ten one) detection position, read each position
The distance that detection obtains, and calculate the height of correspondence.According to these data, guide and aircraft
The operation identified.The order in each stage is as it is shown in figure 1, be the airborne vehicle stop guiding identification of the present invention
The schematic diagram of method, respectively loitering phase (SW), positioning stage (SP), identification stage (SD)
And the vectoring phase (SG).The bootstrap technique of the present invention is described according to each stage individually below.
Due in the various stages, need the position of sampling different, so the present invention will be according to not
The same stage is described separately the position of sampling and the method for calculation.Before each stage way is described, this
Invention first explanation range measurement and height between relation as follows: laser scanner be placed on one known
On fixing point, laser beam can change its trunnion axis (X-axis) or vertical axis (Y by stepper motor
Axle) angle orientation.Laser equipment such as can use MDL company of Britain (Measurement
Devices Ltd) ILM-500D product, but be not limited to this.This equipment can respond longest distance
Reach 500 meters, about can reach to sample each second 400 times, and reach ± distance the accuracy of 10 centimetres.
Motor portion such as can use the ARM series of Japan Oriental motor company (Oriental motor)
Stepper motor, but it is not limited to this.Every 360 ° of this motor is divided into 10000 steps (steps), resolution
0.036 °/step can be reached, coordinate tooth belt and vertical axis (Y-axis) reflecting optics of 1:2,
Horizontal axis can accomplish the resolution of 0.018 °/step, and Y direction can accomplish 0.036 °/step
Resolution.About the CONSTRUCTED SPECIFICATION of above-mentioned laser scanner, refer to applicant and have pointed out China's platform
Gulf number of patent application 102211977 " airborne vehicle approach guidance system ".
Refer to Fig. 2, use, for the present invention, the schematic diagram that laser scanner 100 detects.
H=H r*sin(θ) ... ..(1)
Wherein H is the laser scanner 100 height relative to ground, and this height H works as laser scanning
Device 100 is installed and is a fixing constant that can learn after fixing；
Wherein h represents the height of measured object, is the height of airborne vehicle F with Fig. 2 embodiment；
R is that laser penetrates the standby distance measured；
θ is the angle that laser rays tilts relative to horizontal line.
Assume the laser beam motor position when Y-axis keeps horizontal level, when Y-axis motor often moves
One scale, relative to the move angle of laser beam be:
δ=(360 °)/10000=0.036 ° ... (2)
The present embodiment is when record detects this measurement point, if the number of division that Y-axis motor is moved is N,
The angle of inclination of Y-axis laser beam was i.e. at that time:
θ=δ * N.........(3)
Distance r responded according to laser scanner 100, after substituting into formula (1), it is possible to obtain
The height h of measured object.It is to say, the present invention is appreciated that distance r of a known angle and tested
Point height h, this conclusion, is the basis of subsequent boots method of the present invention.
With the aircraft of all machines in the market, they all possess symmetrical characteristic.Profit
By this characteristic, during detection aircraft left and right sidesing shifting, left and right angle that can be identical scans, then compares
Data measured by its both sides, so that it may use the drift condition judging airframe.It addition, when needing
During certain equipment (such as engine) position of detection aircraft, it is also possible to just for left and right setting wherein
For detecting the effect that i.e. can reach measurement.
According to above basis, the present invention continues to develop the guiding side of following airborne vehicle docking process
Method, as the following stage illustrates.
Stage one: loitering phase (SW)
When, after aircraft landing, starting to be proceeded to the stop guide line on machine level ground by plane track (Taxi way)
J(J-Line) to prepare to be accommodated on stop line S, as shown in Figure 2.So-called loitering phase refers to
Just wait for aircraft and enter the stage of above-mentioned stop guide line (J-Line).At this loitering phase SW,
Determination methods is as it is shown on figure 3, represent the loitering phase flow chart of the present invention.
As it is shown on figure 3, be first step W10, set vertical scan position array N point.This
The bright mode first by vertical scanning detects aircraft, because aircraft once occurs, will necessarily stop
Guide line J(J-Line) on detect.So the present embodiment is stopping guide line J(J-Line) on
Setting different detection positions to read, counting of reading is set as multiple point, and the present embodiment is preferably built
View can be 11 points, and can set predeterminable range as inspection center's point, detects 6 points backward,
The arrangement of 4 forward, the angular distance of each scanning element is set to the 24step of revolution.
Then, step W20, reads distance and the height of each point in this array.Predeterminable range is according to airport
The length stopping guide line (J-Line) is set, and typically stops guide line (J-Line) length about
It it is 100 meters, on the position being substantially set in 65 meters of marching into the arena (preset length marched into the arena).Fly
It is machine nose height and position that the machine-readable location point taken then is set in height.Because when starting to guide, use
Person must input default type, and according to this type, machine nasal height degree is assured that.
The general environment guided, the height of laser scanner 100 is generally installed on 7 meters of height,
At this height.According to this distribution mode, the scope that sweep interval can be contained is generally from 30 meters
Position is included to the position of 150 meters.So, in once aircraft enters this region, can
It is detected.Owing to aircraft is bulky, even if therefore type plant by mistake and can also be detected.
Then, such as step W30, it may be judged whether there is test point aircraft being detected.Judging aircraft
In the way whether being detected, the present embodiment uses the height h alignments of detectable substance, or is referred to as
" aspect ratio is to step ".Distance is only responded, even if laser light detects ground, machine level ground due to laser equipment
Face can receive a distance too, then how to judge that this detectable substance is belonging to aircraft, it is simply that lean on
The height (as shown in the h of Fig. 2) calculated judges.The height setting ground is then 0,
And aircraft has certain height, necessarily more than 0.The present embodiment can be defeated for aircraft by user
Enter ventral or the engine bottom of the parameter of a minimum effective depth, such as aircraft, then, comparison institute
When the height recorded is less than above-mentioned minimum effective depth, i.e. it is considered as non-genus Airplane detection and responds.It addition,
The present embodiment can also include " coverage comparison step ", the longest effectively by additionally setting one
Distance, the longest coverage can be the preset length marched into the arena, when the distance scanned exceedes above-mentioned
The longest coverage, it is invalid to be i.e. considered as.Because runway and be a range of distance after all between marching into the arena,
Long distance can also be considered as invalid distance.
When rational height range occur in 11 test points of scanning, i.e. it is considered to detect
Aircraft, and enter next positioning stage.
Stage two: positioning stage (SP)
The main target in this stage is to find machine nose position.The machine nose position of general aircraft be aircraft
Front position, namely an airplane is near the position of stop line.In bootup process, information shows
Show shown by billboard that distance out i.e. refers to machine nose distance between stop line.Meanwhile, in order to sentence
Determine whether aircraft deviates the foundation of this stop guide line (J-Line) position, be also according to machine nose position
Whether it is offset from this stop guide line (J-Line), so finding out machine nose position is to guide in operation
Critically important work.
When aircraft is slided this stop guide line (J-Line) of entrance by plane track (Taxi way),
Aircraft will gradually be become a full member.When aircraft by laser detection then, it may be possible to any position of aircraft, differ
Surely it is the machine nose position of aircraft.Now, by the position of aircraft being detected, it is known that what aircraft occurred
Distance.By this distance centered by, start thin portion scanning aircraft, detail flowchart as shown in Figure 4,
Positioning stage (SP) schematic diagram of bootstrap technique for the airborne vehicle docking process of the present invention.
In the diagram, first, as shown in step P10 and P20, will detection success and the frequency of failure
Zero.Then, step P30, set vertical scan position array N point；Start stopping guide line
(J-Line) vertical scanning on direction.Now its position the most generally known by aircraft, so
The scope of scanning can reduce, and in a preferred embodiment of the present invention, uses 11 vertical scanning points,
The Y-axis motor point of each scanning element sets away from according to the distance at aircraft place, when plane distance exists
It is set as 12 lattice (steps) time beyond 30 meters, time within 30 meters, is set as 14 lattice (steps).?
In 11 spot scan points, counting of backward scanning is set as 6 points, and number of scan points is 4 points forward.As
Shown in step P40, read distance and the height of each point in this array；After this 11 spot scan is completed,
I.e. can obtain 11 distances corresponding to scanning element and height.The most how to be come by these scan datas
Judging whether to read machine nose position, determination methods substantially is as it is shown in figure 5, Fig. 5 is the present invention judges
Machine nose position flow chart.
As it is shown in figure 5, before Kai Shiing, as shown in step P501, set machine nose distance, for example,
500 meters, and set machine nose location point equal to-1.The height position of the present embodiment elder generation spot check each point
Put.Then, as shown in step P502 and P503, data point check post from 1 to N, spot check；
And judge that whether this some distance is less than current machine nose distance.As shown in step P504, it is judged that this number
Strong point height is the most default less than one with the machine nose height error of setting tolerates distance.If the height of this point
Spending the height with institute vectoring aircraft nose when differing more than 30 centimetres, this point is i.e. not qualified as possible
Machine nose position, returns step P502.The conduct one taking 30 centimetres presets tolerance distance, on the one hand
It is because the resolution relation of scanning, it is not necessary to can just sweep to machine nose position, on the other hand then flies
Machine, may slightly just the most completely on center line or machine level ground runway is not necessarily a complete plane
Rise and fall, so each point not necessarily can sweep to position, machine nose middle completely in scanning array.
When the height h of this scanning element is when the machine nose height error with expection type is in 30 centimetres,
This point is just considered to be position candidate, then enters step P505, sets new machine nose and sweep away from equal to this
Retouch away from pushing away, and set machine nose position equal to this position.In all position candidate, find out one
The position candidate that point is closest, this point is exactly the machine nose position that we want.
Return to step P51 and the P53 of Fig. 4, reading machine nose distance and height, and detect and successfully remember
Record number of times add 1, repeat above vertical scanning operation, as shown in step P60, if continuous three times all
Machine nose position can be found, mean that the location success of this aircraft, be prepared to enter into next identification
Stage (as shown in step P70).If but in scanning process, it is impossible to find machine nose position, enter
To step P52, adding 1 by detection failure record number of times, that represents that aircraft may not yet be become a full member, and needs
Repeat scanning operation.When upper once vertical scanning, will take in the legal height point scanned, away from
From nearest point as the base reference point scanned next time.
Such as step P54, it is assumed that through the scanning of a predetermined number of failed (such as five times), still without
Method finds machine nose position, and that expresses possibility is type input error, it is necessary to display Stop message, such as step
Shown in rapid P80, position unsuccessfully, stop computer and guide, change and guide manually.
Stage three: cognitive phase (SD)
After aircraft has been positioned to, i.e. starts one side and follow the trail of the conduct of aircraft, on the one hand identify
Operation.Aircraft identification operation checks according to the appearance characteristics of aircraft, checks that aircraft to be guided is
The no aircraft homotype with operator's input, to confirm the most wrong situation planted of type of input.
Owing to different aircrafts have different features, need the position stopped the most different.If as operation
The type that personnel plant by mistake, and make guiding system misquote be directed at mistake stop line position, that it would be possible to
Cause the danger of collision, so performing the identification operation of aircraft, equal to peaces together many in manual operation
Full protection, to increase the safety of operation.
The present invention, for the way of aircraft identification, is the external physical characteristic for aircraft, to specific feature
Position is verified.For the aircraft of specific model, its external physical characteristic is a fixing constant.
Such as, the height of aircraft machine nose, the height of fuselage, the length of fuselage, the width of wing, monolateral draw
The number held up, first engine and the vertical dimension of machine nose position, horizontal range, engine are overhead
The characteristics such as the diameter of height and engine, can serve as judging the reference of aircraft type correctness.?
In these features, the present embodiment choose machine nasal height degree and first engine characteristic judge as main
Foundation.Fuselage height is as auxiliary property.
, there is a following consideration in the direction that the present invention selects about characteristic:
One, convenience: the convenience of this characteristic reading and necessity.The such as detection of machine nasal height degree,
In bootup process, after once aircraft is positioned, the position of machine nose just needs the most tracked, with
Grasp the distance that aircraft offsets from distance and the left and right of stop line.At the same time, the height of actually machine nose
Degree is to be known always.So the data of machine nasal height degree are to also exist always.
Two, independence: though organic nasal height degree, this information there is no method and confirms aircraft model according to this.
Such as, A330, A340, B777(A beginning represents the aircraft of Airbus company, and B starts expression
The aircraft of Boeing company) the machine nasal height degree of three sections of aircrafts is close, if with 30 centimetres
For error permission, these three sections of types (including its handset type) cannot distinguish.More how
Condition, for A330, its handset type A330-200 is with the head section of A330-300 almost
Just the same, say, that machine nasal height degree is the most just the same, so for from scientific principle, by machine nasal height
Degree also cannot tell various type completely.
Certainly, for some airport, the type of possible flight is limited, depends merely on machine nasal height degree and differentiates
Type is enough.At this time it is also possible to consider only do machine nasal height degree identification, with save identification time
Between, strengthen the efficiency guided.
The present invention is for needs identification similar model again, or same type machine, but belongs to different handset type
Aircraft, it is necessary to select other parameters to do identification further.First, the present embodiment selects engine
Further comparison is done in position.Similar model or the interplane of different handset type, its first is drawn
Hold up position, substantially will not be identical.The vertical dimension at engine position place is generally and fuselage
Length has direct relation.Cooperation machine nasal height degree and the confirmation of engine position, have the most on the market flies
For machine type, the most almost can be with a fully validated airplane.
Even if likely having similar model future, but possess close machine nasal height degree and engine position,
During so that cannot distinguish, it is likely that this kind of aircraft is to have similar fuselage head feature and fuselage
Length, has and uses identical stop line position.For guiding operation, since using identical stopping
Only line position, the processing mode in bootup process is the most duplicate, say, that by this
It is considered as same type to process, it should be reasonably to dispose and can be received.
Refer to Fig. 6, process the flow process of aircraft identification for the present invention.First the present embodiment does vertical reading
Being taken as industry, way is identical with positioning stage, as shown in step D10, sets vertical scan position array
N point also shows correlation distance information.Read back to obtain data according to orthogonal array, can obtain machine nose away from
From the information such as, machine nasal height degree and fuselage height, current plane distance can be shown by machine nose distance,
Machine nasal height degree, fuselage height can also be done and once check simultaneously, see the most in the reasonable scope.Inspection
Come to an end fruit in addition record, as shown in step D20, namely inspection machine nasal height degree and fuselage height, and
Correct/true number of times by mistake of record.The information of fuselage height can be maximum high by choosing in the data read back
Degree is fuselage height, but when aircraft altitude is more than radio scanner height, is typically only capable to read laser
The height at scanning device place.
After finishing vertical scanning, then performing horizontal sweep, as shown in step D30, setting level is swept
Retouch position array M point and show relative offset information.Although horizontal sweep and aircraft identification are relatively without straight
Connect relation, but it can provide aircraft skew and range information, it is provided that guide display.Horizontal sweep
Operation principles will describe in detail in next stage.In the idea of the present invention, guide operation required preferential
In identification operation, so the present embodiment is in the identification stage, still needs to perform the work of many guiding, be allowed to
Do not affect guiding operation.
After horizontal sweep completes and shown, available neutral gear performs an engine detection operation,
Confirm that engine position is the most correct.As shown in step D40, whether check engine position
Correctly, and record the number of times of correct/error.Engine detection operation can calculate its expection with following equation
Place angle and position, then laser light is detected this orientation, sees and whether can read engine as sentencing
Disconnected foundation.Illustrate such as Fig. 7, for the schematic diagram of detecting and alarm of the present invention.
In Fig. 7, associated parameter data is described as follows:
D=d+Ed.........(4)
X=Ex........(5)
δ=atan((H h)/D) ... .(6)
θ=atan(X/D) ... .(7)
In above equation, the D in (4) formula represent between engine with laser scanner vertical away from
From；
D represents the vertical dimension between machine nose and laser scanner；
Ed represents the vertical dimension between machine nose and engine.
(5) X in formula represents the horizontal range between engine and laser scanner；
Ex represents the horizontal range between machine nose and engine.
(6) angle inclined vertically when the δ in formula represents laser scanning；
H represents the height of laser scanner；
H represents the height of engine.
(7) the horizontal direction deviation angle when θ in formula represents laser scanning.
According to above position angle, the present embodiment takes 9 scanning elements, and wherein the position of Y-axis is public
The numerical value that formula is calculated, the numerical value that X-axis is then calculated with formula increases outward, the increasing of each lattice
Dosage is:
σ=(atan(k*R/D))/N......(8)
σ in above-mentioned formula (8) represent each every incremental angle,
K is a regulation coefficient, and numerical value is 1；
R is the diameter of engine；
The meaning of D represents with in (4)；
N is scanning sampling number.
Owing to, in scanning process, aircraft continues in advance.This formula is from the center of engine toward extension
Stretch the lateral separation of an engine diameter R, aircraft substantially can be allowed still can to examine under certain speed
Measure engine, as because of aircraft pace comparatively fast, can go to amplify k-factor according to speed.
The present embodiment, in digital array read above, can read corresponding distance and height letter
Breath.If the distance read can be reasonable value between [D-40, D+10] (dm).Because reading
During, aircraft continues to advance, can be short compared with D value so reading distance, but because of engine not
It is solid target, it is possible to engine wall position can be read, thus bigger than D.
About the engine height value read, should be reasonable error model between [h-1, h+1] (dm)
Enclose.In the present embodiment, above-mentioned D, h and evaluation thereof all with 10 centimetres (cm) as unit.
In one group of 9 reading, if wherein there being a point to read engine, i.e. it is considered engine in this position
It is to exist.
Step D60, it is judged that type is the most recognizable out.Sentence otherwise about type, permissible
According to the correct interpretation several times of machine nasal height degree at last with success, the failure at last of misinterpretation several times.It is similar to
Idea, it is also possible in engine interpretation.Consider actual operation situation, 3 interpretations can be selected to become
Even if this project success of merit, 5 interpretations unsuccessfully decide that this project failure.The selection of number of times can root
The length of stop guide line (J-Line) and the time of permission aircraft identification according to airport determine.Distinguish
In knowledge project, as long as one of them project identification failure, decide that this time is recognized as failure.If machine
Type identification unsuccessfully returns to step D10.
Have part airport to be limited to machine level ground have height to rise and fall or stop guide line (J-Line) runway spy
Property, it is necessary in certain distance, just it is suitable for doing machine nose or engine test, then above detection can add
A upper distance condition, it is necessary to just start to do identification detection in aircraft arrives certain distance.
It addition, the present embodiment in order to probably due to the erroneous judgement of aircraft model and cause the danger of stop, need
In certain distance, to complete identification, be the most i.e. considered as identification failure.As shown in step D50 of Fig. 6,
The present embodiment is before step D60, also plus judging that type identifying position is the nearest, if so,
Then enter step D90, it is determined that identification failure, stop guide, i.e. stop computer guide operation, change by
Artificial guidance mode.The generally selection of this minimum identification distance, a kind of preferred embodiment is set in 12
About meter, conveniently guide operation for subsequent artefacts, have enough spaces to perform.If type identification
Position is the nearest, still in safety can continue the distance of identification, then enters step D60, it is judged that
Type has identified.
Stage four: vectoring phase (SG)
After aircraft is by success identification, aircraft is directed to intended stop by ensuing task exactly
On position, here it is the vectoring phase (SG).At this stage, system to be mainly provided that and fly
The information of machine driver's distance and skew.Range information refer to the machine nose position of aircraft and stop line it
Between distance, allow well driver can control travel speed and the orientation of aircraft.Skew refers to aircraft
Deviate the degree of this stop guide line (J-Line), after deviation distance arrives the warning degree set,
Must inform that driver revises skew at information display billboard, to reach to be docked in the mesh of tram
's.
Refer to Fig. 8, for the boot flow schematic diagram of the present invention.In fig. 8, system first carries out vertical
The operation of straight scanning.As shown in step G10, set vertical scan position array N point and show phase
Close range information.Scan mode is generally identical with positioning stage (SP), for vertical scan direction
Mode, about 11 points of counting.The central point of scanning is scheduled on the position at aircraft place at that time, sweeps forward
Retouch 4 points, scan 6 points backward.According to these 11 information responded, aircraft can be grasped in real time
The position of machine nose, and display distance information according to this.
As shown in step G20, after every run-down vertical data, it may be judged whether aircraft has reached close
Stop line one allows apart from interior.(it is typically set at stop line 3 meters before the certain distance that aircraft is stopped
Before), i.e. perform a horizontal sweep, as shown in step G30, set horizontal sweep position array M
Put and show relative offset information.Horizontal sweep generally can also take 11 spot scan positions, vertically
Direction is point centered by machine nose position, and horizontal direction then respectively takes 5 points in symmetrical mode.Sweep
Retouching the twice that width setup is machine nasal width, so-called machine nasal width refers to rise with machine nose centre distance
Calculate, extend toward both sides and respectively take an extension point, extend the distance between point and the scanning element of laser scanner
Than machine nose distance difference scope within 30 centimetres.Take a formula as follows:
β=atan(W*2/D)/N......(9)
In formula (9), β refers to during level takes a little, the angle of adjacent point-to-point transmission.
W refers to the width of machine nose.
D refers to work as the distance between nose on opportunity and laser scanner.
N refer to sampling count, substantially 11.
According to above formula, and put to the left and right centered by stopping guide line (J-Line) position
Respectively take 5 test points, distance and the elevation information of N point can be obtained.These are counted, takes
Obtain distance (D) recently, be i.e. to scan the new distance worked as between nose on opportunity and laser scanner, can do
Update display for distance to be used.
The present embodiment, can be according in the following manner about deviation angle or the calculating of distance:
Asking for the point started most, i.e. start to choose from a position 0, this distance is bigger than minimum distance D
Numerical value within 30 centimetres.Assume that this position is Hfst.Same idea, asks for last
Point, i.e. starts down to choose from a position N-1, and this distance numerical value bigger than minimum distance D is 30
Within centimetre.Assume that this position is Hend.According to upper type, after trying to achieve Hfst Yu Hend,
I.e. can calculate deviation angle and position offset according to this, formula is as follows:
N=((N-1)-Hend-Hfst)/2......(10)
γ=| n | * β ... (11)
D=D*tan(γ) ... (12)
In above equation, in formula (10), N refers to counting of sampling.
N is the sampling interval number of skew, the skew about the positive and negative representative of n.
(11) deviation angle that in formula, γ refers to, n takes absolute value.
(12) absolute value of the distance of the skew that d refers in formula, D is machine nose and laser
Distance between scanning device.
When side-play amount γ is more than the warning value set, system, i.e. according to left and right directions, demonstrates skew
Warning message.
Lasting replacement via above vertical scanning Yu horizontal sweep, it is possible to reach real-time update from stopping
Only linear distance and the effect of skew display, reach the purpose correctly guided.
When aircraft is from stop line to the shortest distance (usually 3 meters), namely step 20 is
The condition of "Yes", now generally aircraft gait of march is the slowest, and moves left and right and be not easy,
Therefore system can provide only range information just for vertical scan direction.
As shown in step G40, under conditions of step 20 is "Yes", determine whether that aircraft is
As reach stop line one closely in.Its idea is, when aircraft is very close to stop line, such as, exists
Distance 20 cm, as shown in step G50, system i.e. can show Stop message, with notice
Aircraft stops.Aircraft may fail to stop therebetween at once on, therefore plus step G60, it is judged that aircraft is
No stop.After aircraft stops, through Scanning Detction several times, when finding aircraft stop over
Time the most motionless, can show, as shown in step G70, the information guided, terminate the most once
Guide operation.
The feature of the present invention and function are fully to use the Laser Distance Measuring Equipment function of a new generation, will swash
Optical processing work is given laser scanner completely and is processed, if system utilize the output of laser scanner away from
From, coordinate machine nasal height degree, fuselage height and the engine position of various aircraft just can simply reach and fly
Machine is stopped and is guided and the Core Feature of type identification, significantly simplifies the complicated operation of existing algorithm.
The foregoing is only the preferred possible embodiments of the present invention, all according to scope of the present invention patent institute
Impartial change and the modification done, all should belong to the covering scope of the present invention.
Claims (17)
1. a bootstrap technique for airborne vehicle docking process, to detect an airborne vehicle stop guide line along machine level ground, to prepare to stop to a stop line, it is characterised in that described bootstrap technique includes:
There is provided a laser scanner, to scan described airborne vehicle；
The rotation of one cooperation X-axis and the stepper motor of Y-axis is provided；
There is provided an information display board, to provide driver necessary display information；
Control the orientation angles of the scanning of described stepper motor, to change the detection position of described laser scanner；
Put back into, at different detecting positions, the distance answered according to described laser scanner, detect distance and the angle of left and right skew of described airborne vehicle stop line described in distance in approach process；
Showing the information of described distance and skew in described information display board, the human pilot for described airborne vehicle carries out reference when operating described airborne vehicle；
Carrying out a loitering phase, described loitering phase is to wait the stage that described airborne vehicle enters described stop guide line, wherein in multiple test points of scanning, when falling within predetermined height range, is i.e. considered described airborne vehicle to be detected；
Carry out a positioning stage, to judge whether the position finding described airborne vehicle near described stop line, when finding the described airborne vehicle position near described stop line, then enter next stage；
Carry out a cognitive phase, for the external physical characteristic of described airborne vehicle, verify for multiple characteristic portions, to verify whether the actual type of described airborne vehicle meets with the type inputted；And
Carry out a vectoring phase, by providing the described airborne vehicle position near described stop line and the distance of described stop line and described airborne vehicle to deviate the offset information of described stop guide line, described airborne vehicle is directed on a predetermined stop position.
The bootstrap technique of airborne vehicle docking process the most according to claim 1, it is characterised in that the step obtaining the distance of a known angle and the height of measured point includes:
Rotation scale according to described stepper motor, it is assumed that the quantity of scale is N, obtains and often moves the scale move angle δ relative to laser beam；
It is taken along the tilt angle theta=δ * N of the laser beam of Y-axis；
Obtain distance r that described laser scanner is responded；
The height h of measured point is obtained according to following formula；
H=H r*sin (θ)；
Wherein H is the described laser scanner height relative to ground.
The bootstrap technique of airborne vehicle docking process the most according to claim 1, it is characterised in that described loitering phase include an aspect ratio to step, to judge whether described airborne vehicle is positioned at described predetermined height, step is included by described aspect ratio:
Set the height on ground as zero；
Set the parameter of the described minimum effective depth of airborne vehicle one；
When the height measured by comparison is less than described minimum effective depth, the detection being i.e. considered as non-genus airborne vehicle is responded.
The bootstrap technique of airborne vehicle docking process the most according to claim 2, it is characterised in that described loitering phase also includes a coverage comparison step, to judge whether described airborne vehicle is positioned at described predetermined distance, described coverage comparison step includes:
Set the longest coverage；
If the distance scanned exceed described in the longest coverage, then be considered as invalid distance.
The bootstrap technique of airborne vehicle docking process the most according to claim 4, it is characterised in that the longest described coverage is the preset length marched into the arena.
The bootstrap technique of airborne vehicle docking process the most according to claim 1, it is characterised in that described airborne vehicle is a machine nose near the position of described stop line.
The bootstrap technique of airborne vehicle docking process the most according to claim 6, it is characterised in that described positioning stage includes:
A vertical scanning operation is carried out on the direction of described stop guide line；
Set the vertical scanning point of a predetermined quantity,
The height and position of each scanning element of spot check；
When the height of each described scanning element of comparison differs in a default tolerance when above with the height of the described machine nose guided, and described scanning element is i.e. not qualified as machine nose position；When the height of described scanning element differs in described default tolerance when interior with the height of described machine nose, then it is considered as the position candidate of described machine nose；And
Repeat described vertical scanning operation, if the position all finding described machine nose continuous three times, mean that the location success of described airborne vehicle, be prepared to enter into described cognitive phase.
The bootstrap technique of airborne vehicle docking process the most according to claim 7, it is characterised in that described default tolerance distance is 30 centimetres.
The bootstrap technique of airborne vehicle docking process the most according to claim 7, it is characterized in that, the step of the quantity setting vertical scanning point includes setting according to the distance at described airborne vehicle place, it is set as 12 lattice when plane distance is beyond 30 meters, 14 lattice it are set as time within 30 meters, in 11 spot scan points, behind described machine nose position, counting of scanning is set as 6 points, and number of scan points is set to 4 points forward.
The bootstrap technique of airborne vehicle docking process the most according to claim 7, it is characterised in that when described bootstrap technique also includes being set in the position that still cannot find described machine nose more than a predetermined number of failed, then need show Stop message and stop computer guiding.
The bootstrap technique of 11. airborne vehicle docking process according to claim 1, it is characterized in that, in described cognitive phase, the described characteristic portion of described airborne vehicle includes the vertical dimension of machine nasal height degree, fuselage height, first engine and machine nose position and horizontal range, engine height overhead and the diameter of engine.
The bootstrap technique of 12. airborne vehicle docking process according to claim 11, it is characterized in that, the described characteristic portion of described airborne vehicle chooses described machine nasal height degree and described first engine is main judgment basis, and to choose described fuselage height be auxiliary property.
The bootstrap technique of 13. airborne vehicle docking process according to claim 1, it is characterised in that in the described vectoring phase, including:
Performing the operation of vertical scanning, scan multiple counting in the way of vertically scanning, the central point wherein scanned is scheduled on the position at the machine nose place of described airborne vehicle；And
After every run-down vertical data, at described airborne vehicle before a preset distance of described stop line, i.e. perform a horizontal sweep.
The bootstrap technique of 14. airborne vehicle docking process according to claim 13, it is characterised in that the step of described horizontal sweep includes:
Multiple scanning element is respectively taken in symmetrical mode along horizontal direction；
Setting the sweep length twice as the machine nasal width of described airborne vehicle, wherein said machine nasal width is started at the centre distance of described machine nose, respectively takes an extension point toward both sides；And
The described distance extended between point and the scanning element of described laser scanner differs the scope within 30 centimetres than machine nose distance.
The bootstrap technique of 15. airborne vehicle docking process according to claim 13, it is characterised in that the formula asking for described scanning element is as follows:
β=atan (W*2/D)/N；
In described formula, β refers to the angle during level takes a little between adjacent two points；
W is the width of machine nose；
D is to work as the distance between nose on opportunity and laser scanner；
N is counting of sampling, is 11.
The bootstrap technique of 16. airborne vehicle docking process according to claim 13, it is characterised in that described deviation angle or the calculating of distance, comprises the following steps:
Asking for the point started most, i.e. start to choose from a position 0, the distance of the described some numerical value bigger than minimum distance D is within 30 centimetres, it is assumed that the position of described point is Hfst；
Asking for last point, i.e. start down to choose from a position N-1, the distance of the described some numerical value bigger than minimum distance D is within 30 centimetres, it is assumed that the position of described point is Hend；
After trying to achieve Hfst Yu Hend, calculating deviation angle and position offset according to this, formula is as follows:
N=((N-1)-Hend-Hfst)/2...... (formula 10)
γ=| n | * β ... (formula 11)
D=D*tan (γ) ... (formula 12)
In above-mentioned formula, in formula (10), N refers to counting of sampling；
N is the sampling interval number of skew, the skew about the positive and negative representative of n；
(11) deviation angle that in formula, γ refers to, n takes absolute value；
(12) distance of the skew that d refers in formula, D is machine nose and the distance of laser scanner takes absolute value；
Wherein when side-play amount γ is more than the warning value set, i.e. demonstrate skew warning message according to left and right directions.
The bootstrap technique of 17. airborne vehicle docking process according to claim 16, it is characterised in that when described airborne vehicle close to described stop line one predetermined closely time, then show that Stop message is to notify that described airborne vehicle stops；And
After described airborne vehicle stops, detecting through Multiple-Scan, when finding that described airborne vehicle is slack, the information that display has guided is to terminate described bootstrap technique.
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| CN1300750C (en) * | 2005-03-07 | 2007-02-14 | 张积洪 | Airplane berth plane type automatic identification and indication system |
| US7945356B2 (en) * | 2007-06-29 | 2011-05-17 | The Boeing Company | Portable autonomous terminal guidance system |
| CN101639990B (en) * | 2009-08-28 | 2011-06-22 | 张积洪 | Visual sliding berthing approaching guide device of airplane berth system |
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