CN106056979B - A kind of anticollision alarm method suitable for helicopter - Google Patents
A kind of anticollision alarm method suitable for helicopter Download PDFInfo
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- CN106056979B CN106056979B CN201610455677.3A CN201610455677A CN106056979B CN 106056979 B CN106056979 B CN 106056979B CN 201610455677 A CN201610455677 A CN 201610455677A CN 106056979 B CN106056979 B CN 106056979B
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- 208000006096 Attention Deficit Disorder with Hyperactivity Diseases 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
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Abstract
The invention discloses a kind of anticollision alarm methods suitable for helicopter, including：Calculate normal trace and the escape track of helicopter during helicopter flight in real time with certain frequency；Determine that helicopter barrier/high-voltage line alerts boundary based on helicopter normal trace and escape track；Barrier and high-voltage line system are carried out to simplify processing；Topographic database reconstruct will be completed in barrier data and high-voltage line data investigation to topographic database；Barrier/high-voltage line alarm boundary is compared with the topographic database after reconstruct, to carry out alarm judgement；Multifunction display obtains the barrier/high-voltage line data information on helicopter periphery, and a certain range of barrier/high-voltage line around centered on helicopter position is shown over the display.The method of the present invention on helicopter service barrier and high-voltage line anticollision alarm is provided, remind pilot to take necessary motor-driven measure, occur to avoid barrier or high-voltage line collision accident.
Description
Technical field
The invention belongs to the barrier of helicopter flight/high-voltage line anticollision warning technology field more particularly to a kind of complexity
It is suitable for barrier/high-voltage line anticollision alarm method of low-latitude flying helicopter under meteorological condition.
Background technology
In aviation flight, crash to the perception of aircraft surrounding terrain, barrier and high-voltage line due to lacking
The case where accident, is referred to as controllable flight and hits ground（controlled flight into terrain,CFIT）, controllable flight hits
One of the main reason for ground is all modern Commercial aviation flight accident all the time.Helicopter often flight is in geographical environment complexity
Low clearance area, CFIT are also important cause of accident.It is not dangerous there is only ground is hit, it is also possible to hit during helicopter flight
Such as television tower, skyscraper, chimney, power transmission tower barrier and high-voltage line are hit, to cause CFIT accidents.American Helicopter
It is all straight that the report of flight safety tissue portion analysis helicopter flight risk shows that the accident caused by cable or barrier accounts for
The 16% of machine aircraft accident is risen, and in these accidents, disastrous accident's ratio has reached 60%.Therefore, exploitation one kind rationally has
The barrier of effect/high-voltage line anticollision alarm method has very important significance safely for helicopter low-latitude flying.
In order to reduce the generation of helicopter CFIT accidents, the avionics manufacturer headed by Honeywell Corp. USA has developed
Helicopter-carried land form perceives and warning system（helicopter terrain awareness warning system,HTAWS）.
The algorithm data many places of the HTAWS of each avionics manufacturer in non-public state, only Honeywell companies disclose its MKXXI and
The algorithm data of MKXXII types HTAWS.The operation principle of Honeywell companies HTAWS forward sights alarm is as follows：Flown based on helicopter
Row state spatially generates a virtual alarm boundary in its direction of advance, and alarm boundary is made of four parts, i.e., regards down
Boundary, above regards boundary and lateral boundaries at forward sight boundary.The terrain data information of database offer is provided simultaneously, is relatively alerted in real time
The spatial relation on boundary and periphery landform, the triggering alarm when alerting boundary and landform and touching, HTAWS when alarm triggered
Light alarm and phonic warning are provided simultaneously to prompt pilot to carry out evasion manoeuvre.However the algorithm only provides landform anticollision announcement
It is alert, do not have a barrier and high-voltage line anticollision alarm function, and barrier and high-voltage line are to cause that helicopter CFIT's is important
One of reason.In addition, the algorithm is in order to consider versatility, alarm boundary design is more conservative, therefore higher with false alarm rate
The shortcomings that, for the stronger military helicopter of maneuverability especially armed helicopter, the alarm range of the algorithm is excessive, in advance
Alarm time is long, thus can limit the performance of helicopter performance significantly.
Helicopter flight kinetic model carries out helicopter control by the effect in each pneumatic face of analysis helicopter
Analysis, establishes helicopter flight kinetics equation group, can solve the control response of helicopter.Helicopter flight dynamics is passed through
Years development has been able to the helicopter flight kinetic model for establishing degree of precision at present.
Topographic database is that earth surface is divided into countless landform grids, using the peak in the grid as the ground
The height value of shape grid, the fusion of these altitude datas constitute topographic database.Global altitude data global at present has very
It is a variety of, mainly there are German DLR data, U.S.'s ASTER GDEM data, the SRTM data in the U.S., the GMTED data in the U.S. etc..
The resolution ratio of U.S.'s ASTER GDEM data can reach 30 meters, and some areas can reach 10 meters even 3 meters.These ground
Graphic data can be downloaded to obtain by network, the basis that can be realized as the present invention.Barrier/high-voltage line data can be by surveying and drawing
Or power supply department provides, certain commercial companies can also provide barrier/high-voltage line data service in addition.
Electronics synthesis display instrument started to use aboard the 1970s, and electronics synthesis display instrument is logical by serial ports
Letter obtains the related data of other airborne equipments, and generating satisfactory information by graphic alphanumeric generator by information processing draws
Face.Integrated display is substantially the terminal data graphic display device of an airborne computer.
Invention content
Above-mentioned the deficiencies in the prior art are directed to, the purpose of the present invention is to provide a kind of anticollision announcements suitable for helicopter
Alarm method, to solve the problems, such as that the barrier and high-voltage line anticollision alarm function of helicopter can not be provided in the prior art, greatly
Ground limits the performance of helicopter performance.The method of the present invention is to the barrier and high-voltage line offer anticollision announcement on helicopter service
It is alert, it reminds pilot to take necessary motor-driven measure, occurs to avoid barrier or high-voltage line collision accident.
In order to achieve the above objectives, a kind of anticollision alarm method suitable for helicopter of the invention, including steps are as follows：
1）Calculate normal trace and the escape track of helicopter during helicopter flight in real time with certain frequency；
2）Determine that helicopter barrier/high-voltage line alerts boundary based on helicopter normal trace and escape track；
3）Barrier and high-voltage line system are carried out to simplify processing；
4）Topographic database reconstruct will be completed in barrier data and high-voltage line data investigation to topographic database；
5）Barrier/high-voltage line alarm boundary is compared with the topographic database after reconstruct, is sentenced to carry out alarm
It is disconnected；
6）Multifunction display obtains the barrier/high-voltage line data information on helicopter periphery, and will be with where helicopter
A certain range of barrier/high-voltage line is shown over the display around centered on position.
Preferably, above-mentioned steps 1）In specifically include：Normal trace is straight line, since current location, along working as
Preceding directional velocity extends forward；Escape track substitutes into high-precision helicopter flight dynamics by helicopter current flight parameter and imitates
Proper program is calculated.
Preferably, above-mentioned steps 2）In specifically include：One section of safe distance is reserved thereunder during helicopter flight,
That is minimum safe height, for helicopter normal flight not less than this height, barrier/high-voltage line alerts boundary firstly the need of determination
Minimum safe height, the then requirement according to FAA air standard file TSO-194C to the advanced warning time determine barrier/height
Crimping alerts the forward sight distance on boundary, and helicopter normal trace, escape track, minimum safe height and forward sight distance codetermine
Longitudinal alarm boundary.
Preferably, above-mentioned steps 2）In further include specifically：On the basis of start width, prolonged forward with certain angle of deviation
Stretch the lateral boundaries for obtaining barrier/high-voltage line alarm；Longitudinal alarm boundary has collectively constituted barrier/high-voltage line with lateral boundaries
Alert boundary.
Preferably, above-mentioned steps 2）In further include specifically：Barrier/high-voltage line alarm boundary is divided into two layers inside and outside, difference
Corresponding different emergency, inner boundary and outer boundary design cycle are completely the same, differ only in determining forward sight distance
When the corresponding advanced warning time it is different, the inner boundary corresponding advanced warning time is shorter, and outer layer alerts boundary and corresponds to
The advanced warning time it is longer.
Preferably, above-mentioned steps 3）In specifically include：It is according to the contour shape of barrier that it is simple when handling barrier
The cuboid column that chemical conversion bottom surface is square, using the center of barrier as bottom center, the largest contours model of barrier
It encloses for the bottom surface length of side, the maximum practicable height of barrier is the height of cuboid column, to which the barrier for constituting simplified is rectangular
Body column model.
Preferably, above-mentioned steps 3）In specifically include：When handling high-voltage line system, it is reduced to barrier cylinder mold
Type, for high voltage transmission line, the connection plane being simplified between two high voltage power transmission towers connects the height of plane by adjacent
Two high voltage power transmission towers height determine.
Preferably, above-mentioned steps 4）In, topographic database is that earth surface is divided into countless landform grids, with the party
Height value of the peak as the landform grid in lattice, the fusion of these altitude datas constitute topographic database；For obstacle
Object data first determine whether the landform grid residing for barrier, for containing the landform grid of barrier, in pre-existing topography elevation
Plus the height value that obstacle height is new as the grid on the basis of value；It is first for each section of high-voltage line in high-voltage line system
First judge which landform grid it spans, for high-voltage line pass through landform grid, using the height above sea level of high-voltage line be used as this
Grid new height value establishes a mark bit matrix in topographic database restructuring procedure, by barrier and high-voltage line institute simultaneously
Tick lables come out.
Preferably, above-mentioned steps 4）In, the alarm boundary that normal trace determines and the alarm boundary that track determines of escaping are same
When be compared with terrain data information, normal trace and escape track outer boundary with landform simultaneously when colliding, alarm module
Provide warning alarm；When normal trace and escape track inner boundary are collided with landform simultaneously, alarm module provides warning alarm.
Beneficial effects of the present invention：
1. the present invention escapes track as the basis on barrier/high-voltage line alarm boundary using helicopter, escape track is straight
The machine of liter is encountering the movement locus after taking motor-driven measure when potential landform threat, landform and helicopter escape track touching wink
Between diacritical point when can be helicopter escape successful, alarm too early will cause false-alarm, and alarm too late will cause alarm to fail；
Therefore forward sight alarm boundary is designed based on track of escaping to can be minimized false alarm rate and maximize successful alarm rate.
2. the present invention provides barrier and high-voltage line alarm function, can on helicopter flight course line barrier and
High-voltage line carries out early warning, this is not available for existing landform anticollision alarm method.
3. the present invention provides barrier/high-voltage line display function, the barrier and high-voltage line near helicopter periphery are with one
Fixed mode is shown over the display, so that pilot is potentially threatened periphery barrier/high-voltage line etc. and is understood more intuitively.
Description of the drawings
Fig. 1 is the principle schematic of the method for the present invention.
Fig. 2 a are the schematic diagram of barrier.
Fig. 2 b are the schematic diagram of high-voltage line system.
Specific implementation mode
For the ease of the understanding of those skilled in the art, the present invention is made further with reference to embodiment and attached drawing
Bright, the content that embodiment refers to not is limitation of the invention.
Shown in referring to Fig.1, a kind of anticollision alarm method suitable for helicopter of the invention, including steps are as follows：
Step 1：Calculate helicopter normal trace 103 and escape track during helicopter flight in real time with certain frequency
104；Wherein, normal trace and escape track are calculated in real time according to helicopter flight parameter 101, normal trace 103 is one straight
Line extends forward as normal trace along present speed direction since current location；Escape track 104 is flown by helicopter
Action mechanics simulated program 102 is calculated, and helicopter flight parameter 101 and maneuver mode are substituted into helicopter flight dynamics
Simulated program 102, you can acquire helicopter escape track 104.
Step 2：Determine that barrier/high-voltage line alerts boundary 105 based on helicopter normal trace and escape track；
Wherein, one section of safe distance should be reserved thereunder during helicopter flight, i.e. minimum safe height, helicopter normally flies
Row should be not less than this height, and barrier/high-voltage line alarm boundary should determine that minimum safe height, minimum safe height are set first
It is 50 meters.According to the requirement of TSO-194C, warning alarm at least shifts to an earlier date 20 seconds, and warning alarm at least shifts to an earlier date 30 seconds.According to this
Regulation warning forward sight distance be helicopter with current state fly 20 seconds by distance, warning forward sight distance be helicopter to work as
Preceding state fly 30 seconds by distance.Normal trace and escape track extend forwardly to terminate at forward sight distance；Helicopter
Normal trace, escape track, minimum safe height and forward sight distance combination define longitudinal alarm of barrier/high-voltage line alarm
Boundary.
Location has certain laterally uncertainty to helicopter flight in the process, therefore alarm boundary should have one
Fixed width degree.Front more distant place helicopter locational uncertainty is bigger, thus front alert the width on boundary more at a distance also should be more
Greatly；On the basis of start width, both sides extend forward the side for obtaining barrier/high-voltage line alarm with certain angle of deviation
Boundary.Start width is set as 60 meters, and angle of deviation is set as 1 degree（Other numerical value are alternatively in other embodiment）.Longitudinal alarm boundary,
Lateral boundaries have collectively constituted barrier/high-voltage line alarm boundary；Barrier/high-voltage line alarm boundary is divided into two layers inside and outside, difference
Corresponding warning alarm and warning alert, and inner boundary and outer boundary design cycle are completely the same, differ only in determining forward sight
Apart from when the corresponding advanced warning time it is different, the inner boundary corresponding advanced warning time is shorter, and outer layer alerts boundary
The corresponding advanced warning time is longer.
Step 3：Barrier and high-voltage line system are carried out to simplify processing；Wherein, there is TV than more typical barrier
Tower, communication base station, large-scale chimney, skyscraper etc..The common feature of these barriers be plane geometry size it is relatively small but
It is that height is higher, the cuboid that bottom surface is square can be simplified to according to the contour shape of these barriers in processing
Column（Because geometric parameter needed for cuboid is less）, using the center of barrier as bottom center, the most bull wheel of barrier
The wide ranging from bottom surface length of side, the maximum practicable height of barrier is the height of cuboid column, to constitute simplified barrier
Cuboid column model.
For high-voltage line system, generally it is made of high voltage power transmission tower and high voltage transmission line two parts.For high voltage power transmission tower
With reference to aforementioned obstacles object treating method, it is reduced to barrier cylinder model；For high voltage transmission line, then two are simplified to
Connection plane between a high voltage power transmission tower, the height for connecting plane are determined by the height of two adjacent high voltage power transmission towers.
Step 4：Topographic database reconstruct will be completed in barrier data and high-voltage line data investigation to topographic database
109, topographic database 106 is that earth surface is divided into countless landform grids, using the peak in the grid as the ground
The height value of shape grid, the fusion of these altitude datas constitute topographic database 106.For convenience, barrier can simplify
For the cuboid column that bottom surface is square, for barrier data 107, main data information includes：Bottom center's longitude and latitude
Degree, the bottom surface length of side, stem height；When topographic database reconstructs, first determine whether the landform grid residing for barrier, for comprising
The landform grid of barrier adds obstacle height the pre-existing topography height value on the basis of（That is stem height）As the party
The new height value of lattice.
Barrier location is there are many possible situation, as depicted in figure 2, when barrier be completely in it is same
When in shape grid, such as A barriers in figure, the height of barrier is added with the original height value of landform grid and is used as the grid
New height value；When barrier is located at the intersection of two landform grids, while spanning two landform grids, such as B in figure
The height of barrier is added the elevation new as the two grids by barrier with the two original height values of landform grid
Value；It is if spanning four landform grids as shown in C barriers, four landform grids of the height of barrier and this are original high
Journey value is added the height value new as this four landform grids.
For high-voltage line data 108, generally it is made of high voltage power transmission tower and high voltage transmission line two parts.Such as attached drawing 2b institutes
Show, D/E/F indicates high voltage power transmission tower in figure, and the line between power transmission tower indicates high voltage transmission line.The data of high-voltage line system are believed
It ceases and includes mainly：Starting point power transmission tower bottom center longitude and latitude, the starting point power transmission tower bottom surface length of side, starting point power transmission tower stem height, end
Point power transmission tower bottom center longitude and latitude, the terminal power transmission tower bottom surface length of side, terminal power transmission tower stem height；For its data of power transmission tower
Library restructing algorithm is identical as barrier, for the landform grid residing for power transmission tower, is added on the basis of pre-existing topography height value
Transmission of electricity tower height degree（That is stem height）The height value new as the grid；If power transmission tower spans multiple landform grid processing methods
It is identical as barrier, for each section of high-voltage line, first determine whether which landform grid it spans, the ground passed through for high-voltage line
Shape grid, using the height above sea level of high-voltage line as the new height value of the grid；When starting point power transmission tower and terminal power transmission tower institute are in place
Whens the Terrain Elevation set is not equal, high-voltage line will be tilted in space and be formed an angle with horizontal plane shape, therefore, high-voltage line difference position
The height above sea level for setting place is also different, and the boundary of high-voltage line and each landform grid can be there are two intersection point, at this point it is possible to respectively
The height of the two point of intersection high-voltage lines is calculated, and chooses the height value new as the landform grid of the higher value in the two.
A mark bit matrix 110 is established in topographic database restructuring procedure simultaneously, by the tick lables where barrier and high-voltage line
Out, for including that the landform grid of barrier its flag information is set as 1, for including the landform side of high voltage power transmission tower/line
Its flag information of lattice is set as 2, and for both not including barrier or the landform grid flag information not comprising high voltage power transmission tower/line is set
It is 0.
Step 5：Topographic database of the Threat verdict module 111 based on barrier/high-voltage line alarm boundary and by reconstruct
Carry out alarm judgement；Wherein, normal trace determine alarm boundary with escape track determine alarm boundary simultaneously with ground figurate number
It is believed that breath is compared, when normal trace and escape track outer boundary are collided with landform simultaneously, alarm module provides warning and accuses
Alert, alarm light 112 is yellow；When normal trace and escape track inner boundary are collided with landform simultaneously, alarm module provides
Warning alarm, alarm light 112 are red.When system alarm, threat types are judged according to the flag information of mark bit matrix, if
Barrier triggers alarm, and alarm voice 113 is " attention deficit disorder object "；If high-voltage line triggers alarm, alarm voice 113 is
" paying attention to high-voltage line "；If barrier and high-voltage line trigger alarm simultaneously, judge which kind of threat is closer apart from helicopter, according to
Closer threat types carry out phonic warning.
Step 6：Multifunction display obtains the barrier/high-voltage line data information on helicopter periphery by serial communication,
And by 10 nautical miles around centered on helicopter（It is specific example herein）Barrier/high-voltage line is shown in display in range
On 114.Barrier and high-voltage line are indicated with special symbol, and are being indicated in display corresponding position.High voltage power transmission
The signal mark of tower is identical as barrier, the line of the signal two neighboring high voltage power transmission tower of flag bit of high voltage transmission line, line
Width be generally subject to pilot naked eyes it is visible.If Threat verdict module 111 shows that somewhere barrier or high-voltage line result in
System alarm, barrier or high-voltage line at this will flash to give pilot with certain frequency more intuitively to be prompted.
There are many concrete application approach of the present invention, the above is only a preferred embodiment of the present invention, it is noted that for
For those skilled in the art, without departing from the principle of the present invention, it can also make several improvements, this
A little improve also should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of anticollision alarm method suitable for helicopter, which is characterized in that including steps are as follows：
1) normal trace and the escape track of helicopter are calculated during helicopter flight in real time with certain frequency；
2) determine that helicopter barrier/high-voltage line alerts boundary based on helicopter normal trace and escape track；
3) barrier and high-voltage line system are carried out simplifying processing；
4) topographic database reconstruct will be completed in barrier data and high-voltage line data investigation to topographic database；
5) barrier/high-voltage line alarm boundary is compared with the topographic database after reconstruct, to carry out alarm judgement；
6) multifunction display obtains the barrier/high-voltage line data information on helicopter periphery, and will be with helicopter position
Centered on around a certain range of barrier/high-voltage line show over the display；
Above-mentioned steps 1) in specifically include：Normal trace is straight line, since current location, along present speed direction to
Preceding extension；Escape track substitutes into high-precision helicopter flight dynamics simulation program by helicopter current flight parameter and calculates
It arrives；
When handling barrier, the cuboid column that bottom surface is square is simplified to according to the contour shape of barrier, with
The center of barrier is bottom center, and the maximum of the largest contours ranging from bottom surface length of side of barrier, barrier is practical high
Degree is the height of cuboid column, to constitute simplified barrier cuboid column model；
When handling high-voltage line system, it is reduced to barrier cylinder model, for high voltage transmission line, is simplified to two
Connection plane between high voltage power transmission tower, the height for connecting plane are determined by the height of two adjacent high voltage power transmission towers；
Above-mentioned steps 4) in, topographic database is that earth surface is divided into countless landform grids, with the highest in the grid
Height value of the point as the landform grid, the fusion of these altitude datas constitute topographic database；For barrier data, first
Landform grid residing for disturbance in judgement object, for containing the landform grid of barrier, on the basis of pre-existing topography height value
In addition the height value that obstacle height is new as the grid；In high-voltage line system, for each section of high-voltage line, first determine whether its across
Which landform grid is got over, for the landform grid that high-voltage line passes through, using the height above sea level of high-voltage line as the new height of the grid
Journey value establishes a mark bit matrix in topographic database restructuring procedure, the position where barrier and high-voltage line is marked simultaneously
Will comes out.
2. the anticollision alarm method according to claim 1 suitable for helicopter, which is characterized in that above-mentioned steps 2) in tool
Body includes：One section of safe distance, i.e. minimum safe height, helicopter normal flight are reserved thereunder during helicopter flight
Not less than this height, barrier/high-voltage line alarm boundary is firstly the need of minimum safe height is determined, then according to FAA aviations
Requirements of the normative document TSO-194C to the advanced warning time determines the forward sight distance on barrier/high-voltage line alarm boundary, goes straight up to
Machine normal trace, escape track, minimum safe height and forward sight distance have codetermined longitudinal alarm boundary.
3. the anticollision alarm method according to claim 2 suitable for helicopter, which is characterized in that above-mentioned steps 2) in tool
Body further includes：On the basis of start width, extend the side for obtaining barrier/high-voltage line alarm forward with certain angle of deviation
Boundary；Longitudinal alarm boundary has collectively constituted barrier/high-voltage line alarm boundary with lateral boundaries.
4. the anticollision alarm method according to claim 3 suitable for helicopter, which is characterized in that above-mentioned steps 2) in tool
Body further includes：Barrier/high-voltage line alarm boundary is divided into two layers inside and outside, correspond to different emergencies respectively, inner boundary with
Outer boundary design cycle is completely the same, differ only in determining forward sight apart from when the corresponding advanced warning time it is different,
The inner boundary corresponding advanced warning time is shorter, and it is longer that outer layer alerts the boundary corresponding advanced warning time.
5. the anticollision alarm method according to claim 1 suitable for helicopter, which is characterized in that high-voltage line system is by height
Press power transmission tower and high voltage transmission line two parts composition.
6. the anticollision alarm method according to claim 1 suitable for helicopter, which is characterized in that above-mentioned steps 4) in,
The alarm boundary that normal trace determines is compared with terrain data information simultaneously with the alarm boundary that escape track determines, normally
When track and escape track outer boundary are collided with landform simultaneously, alarm module provides warning alarm；Normal trace and escape rail
When mark inner boundary is collided with landform simultaneously, alarm module provides warning alarm.
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| CN108153750A (en) * | 2016-12-02 | 2018-06-12 | 上海航空电器有限公司 | A kind of method being superimposed upon cable data in topographic database |
| CN106741985B (en) * | 2016-12-06 | 2019-02-01 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of synthetic vision system barrier alarm implementation method |
| CN107817757A (en) * | 2017-11-03 | 2018-03-20 | 国家电网公司 | Method for early warning, device and storage medium |
| CN109903591B (en) * | 2017-12-11 | 2023-01-06 | 上海航空电器有限公司 | Aircraft automatic near-earth collision assessment method and system based on expert rules |
| CN109903590B (en) * | 2017-12-11 | 2023-04-07 | 上海航空电器有限公司 | Terrain envelope-based aircraft automatic maneuver evasion method |
| CN112017481B (en) * | 2020-09-11 | 2021-12-07 | 中国航空工业集团公司雷华电子技术研究所 | Helicopter self-adaptive forward-looking warning method and device and helicopter |
| CN113253274B (en) * | 2021-04-30 | 2024-02-06 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Fusion processing method for anti-collision ground surface power line of helicopter |
| CN114627687B (en) * | 2022-01-19 | 2023-04-07 | 南京航空航天大学 | Helicopter ground proximity warning method for predicting escape trajectory based on neural network |
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| CN103903482A (en) * | 2012-12-26 | 2014-07-02 | 上海航空电器有限公司 | Forward-looking forecast warning system in ground proximity warning system and method |
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| CN102737525A (en) * | 2012-06-28 | 2012-10-17 | 上海交通大学 | Method for generating warning envelope curve of helicopter terrain awareness and warning system |
| CN103903482A (en) * | 2012-12-26 | 2014-07-02 | 上海航空电器有限公司 | Forward-looking forecast warning system in ground proximity warning system and method |
| CN103354041A (en) * | 2013-06-25 | 2013-10-16 | 上海交通大学 | Warning envelope generating method for civil aircraft terrain awareness and warning system |
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