CN106323295A - Method for diverting aircraft under dangerous weather conditions on basis of weather radar data - Google Patents

Abstract

The invention discloses a method for diverting an aircraft under dangerous weather conditions on the basis of weather radar data. Firstly, related weather data are acquired through weather radar, thunderstorm areas at different dangerous grades are drawn, and the position and the range of influence of the thunderstorm area at each dangerous grade are determined; secondarily, an aircraft diversion route planning model is established according to the dangerous grades of the thunderstorm areas; finally, a safe flight route avoiding the dangerous thunderstorm areas is planned in real time for the aircraft in combination with a dynamic diversion route planning method, and the aircraft is diverted in the dangerous weather. By means of the method, the safe flight route can be automatically planned for the aircraft under the dangerous weather condition, the workload of an air traffic control worker is effectively reduced, and safe flight of the aircraft in the dangerous weather is guaranteed.

Description

Airborne vehicle under a kind of dangerous meteorological condition based on weather radar data for communication changes boat method

Technical field

The present invention relates to specific technique field, air traffic control field, be specifically related to a kind of danger based on weather radar data for communication Airborne vehicle under meteorological condition changes boat method.

Background technology

Along with the fast development of China's aviation transport, a large amount of flights are delayed following, and wherein hazardous weather has become For affecting the delayed key factor of China, the most how to reduce the flight under hazardous weather and be delayed phenomenon, improve sky The utilization rate of territory resource, guarantee airborne vehicle safe flight, have become as and be badly in need of the problem that we solve.

In civil aviation system, hazardous weather refers to the aircraft influential weather phenomenon of safety, predominantly: Thunderstorm, turbulent flow, wind shear, obstruction to vision and strong wind etc., from the point of view of history Civil Aviation Meteorological aviation accident statistical data, have 47% Aviation accident caused by thunderstorm, therefore the present invention sets up and changing boat research on the basis of to thunderstorm analysis, follow-up mentions Hazardous weather all refer to thunderstorm.

Airborne vehicle under hazardous weather changes boat and refers in the case of hazardous weather affects airborne vehicle planned course, for aviation One safety of device arrangement, economic temporary track dodge hazardous weather.At present, the boat research that changes under hazardous weather uses vacation more If weather data, not well do not combine with China meteorological system.The airborne vehicle that the present invention focuses under hazardous weather changes Boat technology, the data provided in conjunction with weather radar, under thunderstorm meteorological condition, the flight path of a safety is planned for airborne vehicle.

Summary of the invention

In order to overcome the deficiencies in the prior art, the present invention provides under a kind of dangerous meteorological condition based on weather radar data for communication Airborne vehicle change boat method, under thunderstorm meteorological condition, in conjunction with meteorological system be airborne vehicle planning one safety flight path, Reduce the flight under hazardous weather to be delayed phenomenon, the utilization rate improving spatial domain resource, guarantee airborne vehicle safe flight.Used Technical scheme is:

Airborne vehicle under a kind of dangerous meteorological condition based on weather radar data for communication changes boat method, comprises the following steps:

Step 1, changes and sets thunderstorm region

The radar return picture provided according to weather radar, uses image processing techniques to isolate different grades of thunderstorm belt Territory, height picture at the bottom of the echo high provided in combination with weather radar and echo, obtain the height change in each thunderstorm region Scope, and different grades of thunderstorm region is shown on empty graph；

Step 2, rerouting strategy models

The thunderstorm region set according to step 1 stroke, in conjunction with corresponding thunderstorm danger classes, takes into full account that pilot works negative The limiting factor such as lotus, aircraft performance, using single airborne vehicle as object of study, sets up the mathematical model changing bit path planning；

Step 3, dynamic programming changes bit path

The feature constantly move for thunderstorm, changed, in conjunction with rerouting strategy model, thunderstorm zone level coverage and Highly coverage, changes bit path for airborne vehicle planning in real time.

Having the beneficial effects that of the method that the present invention provides: first pass through weather radar and obtain relevant weather data, draw and set Going out the thunderstorm region of different danger classes, determine position and the coverage in each grade thunderstorm region, the method is different from Traditional drawing the method setting single hazardous weather region, different grades of thunderstorm region is carried out drawing and sets by the present invention, determines simultaneously The height change scope of thunderstorm；Secondly according to thunderstorm region danger classes, the shortest to change bit path, averagely change bit path danger etc. The minimum optimization aim of level is set up airborne vehicle and is changed bit path plan model；Finally combine and dynamically change bit path planing method, in real time Plan that a safe flight path dodging thunderstorm deathtrap, the method and conventional dynamic change bit path planning side for airborne vehicle The difference of method is, it is considered to while the horizontal coverage of thunderstorm, it is also contemplated that thunderstorm height change scope is to changing air route The impact of footpath planning.Therefore, the present invention can realize automatically planning for airborne vehicle the flight of a safety under dangerous meteorological condition Path, is effectively reduced the workload of air traffic controller, it is ensured that airborne vehicle safe flight under hazardous weather, improves sky Territory resource utilization, efficiently reduces the flight under hazardous weather and is delayed.

Accompanying drawing explanation

Fig. 1 is that the airborne vehicle under a kind of based on weather radar data for communication the dangerous meteorological condition that the present invention provides changes boat method Overall flow figure

Fig. 2 is that the airborne vehicle under a kind of based on weather radar data for communication the dangerous meteorological condition that the present invention provides changes boat method Thunderstorm region draw and set flow chart

Fig. 3 is that the airborne vehicle under a kind of based on weather radar data for communication the dangerous meteorological condition that the present invention provides changes boat method Dynamically change bit path planning flow chart

Fig. 4 is that the airborne vehicle under a kind of based on weather radar data for communication the dangerous meteorological condition that the present invention provides changes boat method Described in thunderstorm grade circle schematic diagram

Detailed description of the invention

Below in conjunction with the accompanying drawings the present invention is described further.

In conjunction with Fig. 1, Fig. 2, Fig. 3, the boat under a kind of based on weather radar data for communication the dangerous meteorological condition that the present invention proposes Pocket changes boat method, specifically includes following steps:

Step 1, changes and sets thunderstorm region

The radar return picture provided according to weather radar, uses image processing techniques to isolate different grades of thunderstorm belt Territory, height picture at the bottom of the echo high provided in combination with weather radar and echo, obtain the height change in each thunderstorm region Scope, and different grades of thunderstorm region is shown on empty graph；Particularly as follows:

Step 101, processes radar echo map, it is thus achieved that the RGB color value of each echo grade, and according to thunderstorm etc. Level, obtains the position of each grade thunderstorm pixel；

Step 102, processes height figure at the bottom of echo high, echo, it is thus achieved that the RGB color value of each height, and according to The thunderstorm pixel position obtained in step 101, obtains corresponding echo high in height figure at the bottom of echo high figure and echo, returns Wave base high data；

Step 103, it is corresponding more than or equal to the pixel and this pixel specifying thunderstorm grade to preserve echo reflection rate Coordinate, forms the picture in this grade thunderstorm belt territory；

Step 104, the thunderstorm region picture of a certain grade that step 103 is obtained, use image processing techniques, obtaining should The polygonal profile in thunderstorm region；

Step 105, is scheming according to the latitude and longitude coordinates of weather radar position, the resolution of picture and thunderstorm region Position coordinates on sheet, calculates the latitude and longitude coordinates that different brackets thunderstorm region pixel is corresponding；

Step 106, according to the latitude and longitude coordinates in thunderstorm region, draws different brackets thunderstorm region contour different colours On empty graph, form thunderstorm grade circle.

Thunderstorm region is divided into 0-6 grade according to the echo class information of weather radar, as shown in the table:

Table 1 thunderstorm region grade classification

Step 2, rerouting strategy models

The thunderstorm region set according to step 1 stroke, in conjunction with corresponding thunderstorm danger classes, takes into full account that pilot works negative The limiting factor such as lotus, aircraft performance, using single airborne vehicle as object of study, the shortest to change bit path, averagely change bit path The minimum optimization aim of danger classes sets up the mathematical model changing bit path planning；

Object function:

$\left\{\begin{array}{c}\min Dis=\underset{i=0}{\overset{N_T}{\mathrm{\Σ}}}{l}_d(p_i,p_{i+1})\\ \min Safe=\underset{i=0}{\overset{N_T}{\mathrm{\Σ}}}\underset{echo=0}{\overset{6}{\mathrm{\Σ}}}\frac{echo}{6}\×d_{echo}(p_i,p_{i+1})\end{array}\right.$

Dis represents and changes bit path length, wherein p₀、p_NT+1For changing boat starting point and end point, p_iFor changing turning during boat Curved, N_TFor turning point number, l_d(p_i,p_i+1) represent leg p_i-p_i+1Voyage；Safe represents the average danger changing bit path Grade, change equal to every section bit path through the danger classes sum in thunderstorm region.Wherein echo is the danger classes in thunderstorm region, d_echo(p_i,p_i+1) it is the thunderstorm regional effect (p of this grade_i,p_i+1) section changes the leg length of bit path.

Constraints:

Echo ＜ 3 (1)

$l_d(p_i,p_{i+1})\≥l_{d}min,\∀i=0,...,N_T---\left(2\right)$

${\mathrm{\θ}}_{p_i}\≤{\mathrm{\θ}}_{max},\∀i=1,...,N_T---\left(3\right)$

Formula (1) represents for security consideration, changes bit path and does not allow to be more than through danger classes the thunderstorm region of 3；Formula (2) Representing guarantee airborne vehicle and smoothly complete turning, its leg length should be greater than equal to the shortest leg length, wherein l_dMin represents The shortest leg length；Formula (3) expression combines aircraft performance and pilot guidance level, and the angle of turn of airborne vehicle should be less than Equal to the maximum angle of turn allowed, wherein θ_piRepresent the angle of turn changing bit path, θ_maxRepresent the maximum turning angle allowed Degree.

Step 3, dynamic programming changes bit path

The feature constantly move for thunderstorm, changed, in conjunction with rerouting strategy model, thunderstorm zone level coverage and Highly coverage, changes bit path for airborne vehicle planning in real time.Particularly as follows:

Step 301, updates the time according to airborne vehicle cruising speed, weather radar, it is judged that airborne vehicle flies in this timeslice Time whether affected by thunderstorm, if having an impact, then go to step 302, otherwise terminate；

Step 302, arranges current time sheet i=1；

Step 303, according to hazardous weather region (the thunderstorm danger classes region more than the 3) position that i-th timeslice is corresponding Put, horizontal coverage, in conjunction with the latitude and longitude information in airborne vehicle project flight path, it is judged that whether airborne vehicle is subject at two-dimensional space To this thunderstorm regional occlusion, if blocking, then go to step 304, otherwise go to step 307；

Step 304, according to the height change scope in the aircraft height hazardous weather region corresponding with this timeslice, Judge whether airborne vehicle flies in this altitude range, be to go to step 305, otherwise go to step 307；

Step 305, for needing to change the airborne vehicle of boat, determines and changes boat starting point and end point, utilize rerouting strategy model Plan one and change bit path；

Step 306, updates the time according to changing bit path voyage, airborne vehicle cruising speed and weather radar, calculates and change boat Path needs timeslice number n of flight；

Step 307, i=i+1；

Step 308, it was predicted that airborne vehicle edge changes the position after bit path one timeslice of flight, and arranging this position is P, according to The position in hazardous weather region corresponding to i-th timeslice, horizontal extent, the longitude and latitude in conjunction with airborne vehicle project flight path is believed Breath, it is judged that airborne vehicle from P point to change boat end point change whether bit path is blocked by thunderstorm, if blocking, then go to step 309, otherwise go to step 307；

Step 309, according to aircraft height, the height change scope in the hazardous weather region that this timeslice is corresponding, Judge whether airborne vehicle flies in this altitude range, be to go to step 310, otherwise go to step 307；

Step 310, with P for changing boat starting point, changes boat end point constant, re-starts and change bit path planning；

Step 311, if i=n, dynamically changes bit path planning and terminates, otherwise go to step 307.

The part not illustrated in description is prior art or common knowledge.The present embodiment is merely to illustrate this invention, Rather than restriction the scope of the present invention, the equivalent replacement that those skilled in the art are made for the present invention etc. is revised and is all considered Fall in this invention claims institute protection domain.

Claims (6)

1. the airborne vehicle under a dangerous meteorological condition based on weather radar data for communication changes boat method, it is characterised in that:

Idiographic flow is as follows:

Step 1, changes and sets thunderstorm region

The radar return picture provided according to weather radar, uses image processing techniques to isolate different grades of thunderstorm region, Height picture at the bottom of the echo high provided in combination with weather radar and echo, obtains the height change model in each thunderstorm region Enclose, and different grades of thunderstorm region is shown on empty graph；

Step 2, rerouting strategy models

The thunderstorm region set according to step 1 stroke, in conjunction with corresponding thunderstorm danger classes, takes into full account pilot work load, boat The limiting factors such as pocket performance, using single airborne vehicle as object of study, set up the mathematical model changing bit path planning；

Step 3, dynamic programming changes bit path

The feature constantly move for thunderstorm, changed, in conjunction with rerouting strategy model, thunderstorm zone level coverage and height Coverage, changes bit path for airborne vehicle planning in real time.

Airborne vehicle under a kind of dangerous meteorological condition based on weather radar data for communication the most according to claim 1 changes boat side Method, it is characterised in that: described thunderstorm region is divided into 0-6 grade according to the echo class information of weather radar, such as following table institute Show:

Table 1 thunderstorm region grade classification

。

Airborne vehicle under a kind of dangerous meteorological condition based on weather radar data for communication the most according to claim 2 changes boat side Method, it is characterised in that: described step 1 idiographic flow is as follows:

Step 101, processes radar echo map, it is thus achieved that the RGB color value of each echo grade, and according to thunderstorm grade, Obtain the position of each grade thunderstorm pixel；

Step 102, processes height figure at the bottom of echo high, echo, it is thus achieved that the RGB color value of each height, and according to step The thunderstorm pixel position obtained in 101, obtains at the bottom of corresponding echo high, echo in height figure at the bottom of echo high figure and echo High data；

Step 103, preserves echo reflection rate more than or equal to the pixel specifying thunderstorm grade and the coordinate that this pixel is corresponding, Form the picture in this grade thunderstorm belt territory；

Step 104, the thunderstorm region picture of a certain grade that step 103 is obtained, use image processing techniques, obtain this thunderstorm The polygonal profile in region；

Step 105, according to the latitude and longitude coordinates of weather radar position, the resolution of picture and thunderstorm region on picture Position coordinates, calculate the latitude and longitude coordinates that different brackets thunderstorm region pixel is corresponding；

Step 106, according to the latitude and longitude coordinates in thunderstorm region, is plotted to sky by different brackets thunderstorm region contour different colours On figure, form thunderstorm grade circle.

Airborne vehicle under a kind of dangerous meteorological condition based on weather radar data for communication the most according to claim 3 changes boat side Method, it is characterised in that: described step 2 particularly as follows:

In conjunction with thunderstorm danger classes, the shortest to change bit path, averagely change the foundation of bit path danger classes minimum optimization aim and change Bit path mathematics for programming model, model is as follows:

Object function:

Dis represents and changes bit path length, wherein p₀、For changing boat starting point and end point, p_iFor changing the turning during boat Point, N_TFor turning point number, l_d(p_i,p_i+1) represent leg p_i-p_i+1Voyage；Safe represents the average danger etc. changing bit path Level, change equal to every section bit path through the danger classes sum in thunderstorm region.Wherein echo is the danger classes in thunderstorm region, d_echo(p_i,p_i+1) it is the thunderstorm regional effect (p of this grade_i,p_i+1) section changes the leg length of bit path.

Constraints:

Echo ＜ 3 (1)

Formula (1) represents for security consideration, changes bit path and does not allow to be more than through danger classes the thunderstorm region of 3；Formula (2) represents In order to ensure that airborne vehicle smoothly completes turning, its leg length should be greater than equal to the shortest leg length, wherein l_dMin represents the shortest Leg length；Formula (3) expression combines aircraft performance and pilot guidance level, and the angle of turn of airborne vehicle should be less than being equal to The maximum angle of turn allowed, whereinRepresent the angle of turn changing bit path, θ_maxRepresent the maximum angle of turn allowed.

Airborne vehicle under a kind of dangerous meteorological condition based on weather radar data for communication the most according to claim 4 changes boat side Method, it is characterised in that: the idiographic flow of described step 3 is as follows:

Step 301, updates the time according to airborne vehicle cruising speed, weather radar, it is judged that airborne vehicle when this timeslice flight is No affected by thunderstorm, if having an impact, then go to step 302, otherwise terminate；

Step 302, arranges current time sheet i=1；

Step 303, according to hazardous weather regional location corresponding to i-th timeslice, horizontal coverage, in conjunction with airborne vehicle plan The latitude and longitude information of flight path, it is judged that whether airborne vehicle, by this thunderstorm regional occlusion then goes to if blocking at two-dimensional space Step 304, otherwise goes to step 307；

Step 304, according to the height change scope in the aircraft height hazardous weather region corresponding with this timeslice, it is judged that Whether airborne vehicle flies in this altitude range, is to go to step 305, otherwise goes to step 307；

Step 305, for needing to change the airborne vehicle of boat, determines and changes boat starting point and end point, utilize rerouting strategy model to plan Article one, change bit path；

Step 306, updates the time according to changing bit path voyage, airborne vehicle cruising speed and weather radar, calculates and change bit path Need timeslice number n of flight；

Step 307, i=i+1；

Step 308, it was predicted that airborne vehicle edge changes the position after bit path one timeslice of flight, and arranging this position is P, according to i-th The position in hazardous weather region corresponding to individual timeslice, horizontal extent, in conjunction with the latitude and longitude information in airborne vehicle project flight path, Judge airborne vehicle from P point to change boat end point change whether bit path is blocked by thunderstorm, if blocking, then go to step 309, Otherwise go to step 307；

Step 309, according to aircraft height, the height change scope in the hazardous weather region that this timeslice is corresponding, it is judged that Whether airborne vehicle flies in this altitude range, is to go to step 310, otherwise goes to step 307；

Step 310, with P for changing boat starting point, changes boat end point constant, re-starts and change bit path planning；

Step 311, if i=n, dynamically changes bit path planning and terminates, otherwise go to step 307.

Airborne vehicle under a kind of dangerous meteorological condition based on weather radar data for communication the most according to claim 5 changes boat side Method, it is characterised in that: the hazardous weather region described in step 303 refers to the thunderstorm danger classes region more than 3.