CN111145600B - Runway intrusion front-end early warning system and method based on vehicle behavior prediction - Google Patents
Runway intrusion front-end early warning system and method based on vehicle behavior prediction Download PDFInfo
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- CN111145600B CN111145600B CN201911374913.9A CN201911374913A CN111145600B CN 111145600 B CN111145600 B CN 111145600B CN 201911374913 A CN201911374913 A CN 201911374913A CN 111145600 B CN111145600 B CN 111145600B
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- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
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Abstract
The invention discloses a runway intrusion front-end early warning system and method based on vehicle behavior prediction, which comprises a satellite positioning module, an ADSB module, a power supply module, a processor and an acousto-optic alarm module, wherein the processor is respectively connected with the satellite positioning module, the ADSB module, the power supply module and the acousto-optic alarm module; the runway alert area early warning module and the airplane safety distance early warning module are arranged in the processor, and an alert area database is arranged in the runway alert area early warning module. By analyzing the behavior of the vehicle and combining the position data of the vehicle and the range of the airport safety area, the invention provides accurate and timely runway invasion early warning information for the vehicle driver in real time, reduces the number of runway invasion, is beneficial to preventing runway accidents, does not interfere the operation of airport services, and improves the prevention and control capability of the airport.
Description
Technical Field
The invention relates to the field of warning and early warning prompts of airfield runways, in particular to a runway intrusion front-end early warning system and method based on vehicle behavior prediction.
Background
Runway incursion refers to an event which has adverse effects on the safety of an airplane runway and is one of the most important danger sources in the current aviation operation industry, so that the runway incursion is a major safety event which is very easy to cause catastrophic aircraft collision and personal casualties, and the runway incursion hardly avoids and seriously affects the safety of the airport. The runway intrusion event is caused by the wrong airplane, vehicle and pedestrian appearing in the protection area for the takeoff and landing of the airplane, wherein the runway intrusion event caused by the vehicle is particularly prominent, and according to incomplete statistics, the vehicle intrusion runway accounts for 44% of the national runway intrusion event in nearly 8 years, so that the technical means is urgently needed to improve the prevention and control capability and reduce the occurrence probability of the event.
At present, a Beidou device is additionally arranged on a vehicle and a vehicle navigation system is built in most airports, but the occurrence of an event of vehicle runway intrusion still cannot be avoided, the main reason is that the conventional system only monitors and navigates the vehicle in a background, the background finds the runway intrusion event, but cannot immediately inform a vehicle driver, no enough time is provided for preventing the intrusion event, and the vehicle driver cannot deal with the intrusion event; another important factor is that the vehicle driver loses situational awareness, mistakenly enters a safe area, and is completely unaware that an intrusion event has occurred.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a runway invasion front-end early warning system and method based on vehicle behavior prediction, which can provide accurate and timely runway invasion early warning information for a vehicle driver in real time by analyzing the behavior of a vehicle and combining the position data of the vehicle and the range of an airport safety area, reduce the number of runway invasion, facilitate the prevention of runway accidents, simultaneously do not interfere the operation of airport services, and improve the prevention and control capability of the airport.
The purpose of the invention is realized by the following technical scheme:
a runway intrusion front-end early warning system based on vehicle behavior prediction comprises a satellite positioning module, an ADSB module, a power supply module, a processor and an acousto-optic alarm module, wherein the processor is respectively connected with the satellite positioning module, the ADSB module, the power supply module and the acousto-optic alarm module; the runway warning area early warning module is internally provided with a runway warning area early warning module and an airplane safety distance early warning module, a warning area database is internally arranged in the runway warning area early warning module, the warning area database stores all geographical coordinate data of a warning area of an airport runway, the satellite positioning module is used for positioning satellite data in real time to obtain real-time geographical coordinate data and transmitting the real-time geographical coordinate data to the processor, and the runway warning area early warning module of the processor is used for carrying out data comparison and runway intrusion judgment processing on the real-time geographical coordinate data of the satellite positioning module and all geographical coordinate data in the warning area database and sending an acousto-optic warning command to the acousto-optic warning module; the ADSB module is used for providing position data of a plane parked in an airport, the position data are geographic coordinate data, a safe distance threshold value is set in the plane safe distance early warning module, the plane safe distance early warning module is used for carrying out distance operation on real-time geographic coordinate data of the satellite positioning module and position data of the plane parked in the airport to obtain a real-time distance value between a vehicle and the plane parked, the plane safe distance early warning module of the processor compares the real-time distance value with the safe distance threshold value, judges and processes the real-time distance value and sends an acousto-optic alarm command to the acousto-optic alarm module, and the acousto-optic alarm module is used for sending an acousto-optic alarm signal.
In order to better realize the runway intrusion front-end early warning system, the runway intrusion front-end early warning system further comprises an inertial navigation module and an AI coprocessor, wherein the processor is respectively connected with the inertial navigation module and the AI coprocessor, and the power supply module is respectively connected with the inertial navigation module and the AI coprocessor.
Preferably, the runway intrusion front-end early warning system further comprises a voice module, and the voice module is respectively connected with the ADSB module, the processor and the power module.
Preferably, the runway intrusion front-end early warning system further comprises a communication module, and the communication module is respectively connected with the processor and the satellite positioning module.
Preferably, the satellite positioning module is a Beidou positioning module or a GPS positioning module; the geographic coordinate data is longitude and latitude coordinates.
A runway intrusion front-end early warning method based on vehicle behavior prediction comprises the following steps:
A. extending the runway lifting belt area in the airport outwards for M meters to form a runway safety area, and then extending the runway safety area outwards for N meters to form a warning area; obtaining all geographical coordinate data in a runway lifting belt area, a runway safety area and a warning area through a satellite positioning device or a satellite positioning module and storing the geographical coordinate data in the runway warning area, the runway safety area and the warning area into a warning area database of a runway warning area early warning module;
B. the method comprises the steps that satellite data of a vehicle are positioned in real time through a satellite positioning module located inside the vehicle to obtain real-time geographic coordinate data and transmitted to a processor, an inertial navigation module is used for providing short-time vehicle position data under the condition of no satellite signal and transmitting the short-time vehicle position data to the processor, an AI coprocessor is used for providing intelligent prediction of vehicle driving behaviors and transmitting the prediction to the processor, and a runway alert area early warning module of the processor performs data comparison and runway intrusion judgment processing on the real-time geographic coordinate data of the satellite positioning module and all geographic coordinate data in an alert area database and sends an acousto-optic warning command to an acousto-optic warning module;
C. the ADSB module provides position data of a plane parked in an airport, the position data is geographical coordinate data, a safety distance threshold value is set in the plane safety distance early warning module, the plane safety distance early warning module performs distance operation on real-time geographical coordinate data of a satellite positioning module located in a vehicle and the position data of the plane parked in the airport to obtain a real-time distance value between the vehicle and the plane parked, and the plane safety distance early warning module of the processor compares the real-time distance value with the safety distance threshold value, judges and processes the real-time distance value and sends an audible and visual alarm command to the audible and visual alarm module;
D. the processor is provided with a display and transmits the alarm signal and the vehicle position data to a remote monitor through the communication module.
A runway intrusion front-end early warning method based on vehicle behavior prediction comprises the following steps:
A. extending the runway lifting zone area in the airport outward for M meters to form a runway safety area, wherein M is more than or equal to 90 meters; then extend outside the safe area of the runway D2Dividing rice into a warning region with an extended width D2The distance of the warning zone is the extended width D of the warning zone area2The rice method comprises the following steps:
a1, setting the early warning operation processing time of the runway safety zone intrusion as T0And reserve T1The vehicle early warning braking reaction time is as follows: less than T2，T2＝T0+T1，T2、T1、T0The unit of (A) is seconds, and the maximum speed limit of the vehicle in the airport is Vm，VmThe unit of (a) is km/h, and the distance traveled per second is calculated to be D1，
The extended width D of the warning region2，D2＝D1*T2；
B. By being located in the vehicleThe satellite positioning module of the vehicle real-time positioning module is used for positioning satellite data of the vehicle in real time to obtain real-time geographic coordinate data and transmitting the real-time geographic coordinate data to the processor, and meanwhile, the satellite positioning module is used for obtaining the speed V of the vehicle1The satellite positioning module, the inertial navigation module and the AI coprocessor jointly obtain the advancing direction theta of the vehicle under the processing of the processor, and the processor calculates the linear distance D between the vehicle and the edge of the safety area of the runway according to the real-time geographic coordinate data of the vehicle3The processor judges the linear distance D3Distance D from warning area2The magnitude relationship between them;
b1, D when the straight line is distant3>Distance D of warning zone2When the alarm is not sent to the acousto-optic alarm module, the processor does not send an alarm monitoring command to the acousto-optic alarm module;
b2, D when the straight line is distant3Distance D less than or equal to warning area2When the alarm is received, the processor sends an alarm monitoring command to the sound and light alarm module;
C. the processor calculates the distance D required by the vehicle to enter a safe area of the runway according to the following formula4And time T3，
Obtaining a time T3Then, the processor performs the following alarm judgment and alarm response:
c1, when T3≥T2The processor sends an alarm monitoring command to the sound-light alarm module;
c2, when T3＜T2The processor sends out an acousto-optic alarm prompt to the acousto-optic alarm module to inform the vehicle of immediately exiting, and the acousto-optic alarm prompt of the acousto-optic alarm module is terminated after the vehicle exits.
A runway intrusion front-end early warning method based on vehicle behavior prediction comprises the following steps:
A. extending the runway lifting belt area in the airport outward for M meters to form a runway safety area, wherein M is 90 meters; then extend outside the safe area of the runway D2Dividing rice into a warning region with an extended width D2The distance of the warning zone is the extended width D of the warning zone area2The rice method comprises the following steps:
a1, setting the early warning operation processing time of the runway safety zone intrusion as T02s and reserve T1Buffer time of (T)1And 1s, the vehicle early warning braking reaction time is as follows: less than T2，T2＝T0+T1＝3s，T2、T1、T0The unit of (A) is seconds, and the maximum speed limit of the vehicle in the airport is Vm，VmThe unit of (a) is km/h, and the distance traveled per second is calculated to be D1，
The extended width D of the warning region2，D2＝D1*T2＝50.1m；
B. The satellite data of the vehicle is positioned in real time through a satellite positioning module positioned in the vehicle to obtain real-time geographic coordinate data and transmitted to a processor, and meanwhile, the satellite positioning module obtains the speed V of the vehicle1The satellite positioning module, the inertial navigation module and the AI coprocessor jointly obtain the advancing direction theta of the vehicle under the processing of the processor, and the processor calculates the linear distance D between the vehicle and the edge of the safety area of the runway according to the real-time geographic coordinate data of the vehicle3The processor judges the linear distance D3Distance D from warning area2The magnitude relationship between them;
b1, D when the straight line is distant3>Distance D of warning zone2When the alarm is not sent to the acousto-optic alarm module, the processor does not send an alarm monitoring command to the acousto-optic alarm module;
b2, D when the straight line is distant3Distance D less than or equal to warning area2When the alarm is received, the processor sends an alarm monitoring command to the sound and light alarm module;
C. the processor calculates the distance D required by the vehicle to enter a safe area of the runway according to the following formula4And time T3，
Obtaining a time T3Then, the processor performs the following alarm judgment and alarm response:
c1, when T3≥T2The processor sends an alarm monitoring command to the sound-light alarm module;
c2, when T3＜T2The processor sends out an acousto-optic alarm prompt to the acousto-optic alarm module to inform the vehicle of immediately exiting, and the acousto-optic alarm prompt of the acousto-optic alarm module is terminated after the vehicle exits.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) by analyzing the behavior of the vehicle and combining the position data of the vehicle and the range of the airport safety area, the invention provides accurate and timely runway invasion early warning information for the vehicle driver in real time, reduces the number of runway invasion, is beneficial to preventing runway accidents, does not interfere the operation of airport services, and improves the prevention and control capability of the airport.
(2) The invention can be transmitted to the airport monitoring terminal in a long distance through the communication module, thereby being beneficial to remote monitoring operation and monitoring command.
Drawings
FIG. 1 is a block diagram of a runway intrusion front-end warning system according to the present invention;
FIG. 2 is a block diagram of a processor according to the present invention;
FIG. 3 is a schematic view of a runway area marking according to the present invention;
FIG. 4 is a schematic view of a calculation of the entry of a vehicle into an armed zone.
Wherein, the names corresponding to the reference numbers in the drawings are:
the system comprises a satellite positioning module 1, a processor 2, a runway safe area early warning module 21, an airplane safe distance early warning module 22, an inertial navigation module 3, a 4 AI coprocessor, an ADSB module 5, a voice module 6, an acousto-optic warning module 7, a power supply module 8, a communication module 9, a runway lifting belt area 10, a runway safe area 11 and a warning area 12.
Detailed Description
The present invention will be described in further detail with reference to the following examples:
example one
As shown in fig. 1 to 3, a runway intrusion front-end early warning system based on vehicle behavior prediction includes a satellite positioning module 1, an ADSB module 5, a power module 8, a processor 2, and an acousto-optic alarm module 7, where the satellite positioning module 1 of this embodiment is a Beidou positioning module or a GPS positioning module. The geographic coordinate data is latitude and longitude coordinates. The ADSB module 5 can be expressed as an ADS-B module, namely equipment adopting ADS-B system technology, and the ADSB module 5 can be ADS-B airborne equipment of Beijing navigation electro-optical science and technology Limited. The processor 2 is respectively connected with the satellite positioning module 1, the ADSB module 5, the power supply module 8 and the acousto-optic alarm module 7, and the power supply module 8 is respectively electrically connected with the satellite positioning module 1, the ADSB module 5, the processor 2 and the acousto-optic alarm module 7. The processor 2 is internally provided with a runway alert area early warning module 21 and an airplane safety distance early warning module 22, the runway alert area early warning module 21 is internally provided with an alert area database, and the alert area database stores all geographical coordinate data of an airport runway alert area, wherein the geographical coordinate data of the embodiment is longitude and latitude coordinates.
The satellite positioning module 1 is used for positioning satellite data in real time to obtain real-time geographic coordinate data and transmitting the real-time geographic coordinate data to the processor 2, and the runway guard area early warning module 21 of the processor 2 is used for comparing the real-time geographic coordinate data of the satellite positioning module 1 with all the geographic coordinate data in the guard area database, judging runway invasion and processing and sending an acousto-optic alarm command to the acousto-optic alarm module 7. The ADSB module 1 is used for providing position data of a plane parked in an airport, the position data is geographical coordinate data, the ADSB module 1 can provide positions of all planes in a receiving distance, including a runway parking and air flying plane flying position track (the plane flying position track reported by the ADSB module 1), and calculates landing time and runway occupation conditions, namely the ADSB module 1 can calculate runway conditions occupied by the plane, such as the runway is occupied by the plane, and the vehicle position and the runway coordinate are calculated to prompt conflict; a safe distance threshold value is set in the airplane safe distance early warning module 22, the airplane safe distance early warning module 22 is used for performing distance operation on the real-time geographic coordinate data of the satellite positioning module 1 and the position data of the parked airplanes in the airport to obtain a real-time distance value between the vehicle and the parked airplanes, the airplane safe distance early warning module 22 of the processor 2 compares the real-time distance value with the safe distance threshold value, judges and processes the real-time distance value and sends an audible and visual alarm command to the audible and visual alarm module 7, and the audible and visual alarm module 7 is used for sending an audible and visual alarm signal.
As shown in fig. 1 to 3, a runway intrusion front-end early warning method based on vehicle behavior prediction includes the following steps:
A. a runway safety area 11 is defined by extending a runway lift belt area 10 in the airport outward for M meters, and then a guard area 12 is defined by extending the runway safety area 11 outward for N meters. All the geographic coordinate data in the runway lifting zone area 10, the runway safety area 11 and the warning area 12 are obtained through the satellite positioning device or the satellite positioning module 1 and stored in a warning area database of the runway warning area early warning module 21.
B. The method comprises the steps that satellite data of a vehicle are positioned in real time through a satellite positioning module 1 located inside the vehicle to obtain real-time geographic coordinate data and transmitted to a processor 2, a runway warning area early warning module 21 of the processor 2 compares the real-time geographic coordinate data of the satellite positioning module 1 with all geographic coordinate data in a warning area database, judges runway intrusion and processes the real-time geographic coordinate data and the geographic coordinate data, and sends an audible and visual alarm command to an audible and visual alarm module 7.
C. The ADSB module 1 provides position data of a plane parked in an airport, the position data is geographic coordinate data, a safe distance threshold is set in the plane safe distance early warning module 22, the plane safe distance early warning module 22 performs distance operation on real-time geographic coordinate data of the satellite positioning module 1 located in a vehicle and the position data of the plane parked in the airport to obtain a real-time distance value between the vehicle and the plane parked, and the plane safe distance early warning module 22 of the processor 2 compares the real-time distance value with the safe distance threshold to perform judgment processing and sends an audible and visual alarm command to the audible and visual alarm module 7.
D. The processor 2 is provided with a display, and the processor 2 transmits the alarm signal and the vehicle position data to a remote monitoring machine through the communication module 9.
Example two
As shown in fig. 1 to 3, a runway intrusion front-end early warning system based on vehicle behavior prediction includes a satellite positioning module 1, an ADSB module 5, a power module 8, a processor 2, and an acousto-optic alarm module 7, where the satellite positioning module 1 of this embodiment is a Beidou positioning module or a GPS positioning module. The ADSB module 5 can adopt ADS-B airborne equipment of Beijing navigation avionics technology, Inc. The processor 2 is respectively connected with the satellite positioning module 1, the ADSB module 5, the power supply module 8 and the acousto-optic alarm module 7, and the power supply module 8 is respectively electrically connected with the satellite positioning module 1, the ADSB module 5, the processor 2 and the acousto-optic alarm module 7. The processor 2 is internally provided with a runway alert area early warning module 21 and an airplane safety distance early warning module 22, the runway alert area early warning module 21 is internally provided with an alert area database, all geographical coordinate data of an airport runway alert area are stored in the alert area database, and the geographical coordinate data of the embodiment is longitude and latitude coordinates.
The satellite positioning module 1 is used for positioning satellite data in real time to obtain real-time geographic coordinate data and transmitting the real-time geographic coordinate data to the processor 2, and the runway guard area early warning module 21 of the processor 2 is used for comparing the real-time geographic coordinate data of the satellite positioning module 1 with all the geographic coordinate data in the guard area database, judging runway invasion and processing and sending an acousto-optic alarm command to the acousto-optic alarm module 7. The ADSB module 1 is used for providing position data of a plane parked in an airport, the position data is geographical coordinate data, the ADSB module 1 can provide positions of all planes in a receiving distance, including a runway parking and air flying plane flying position track (the plane flying position track reported by the ADSB module 1), and calculates landing time and runway occupation conditions, namely the ADSB module 1 can calculate runway conditions occupied by the plane, such as the runway is occupied by the plane, and the vehicle position and the runway coordinate are calculated to prompt conflict; a safe distance threshold value is set in the airplane safe distance early warning module 22, the airplane safe distance early warning module 22 is used for performing distance operation on the real-time geographic coordinate data of the satellite positioning module 1 and the position data of the parked airplanes in the airport to obtain a real-time distance value between the vehicle and the parked airplanes, the airplane safe distance early warning module 22 of the processor 2 compares the real-time distance value with the safe distance threshold value, judges and processes the real-time distance value and sends an audible and visual alarm command to the audible and visual alarm module 7, and the audible and visual alarm module 7 is used for sending an audible and visual alarm signal. The aircraft safety distance early warning module 22 of this embodiment may mainly calculate the distance between the vehicle and the runway safety zone to determine whether the vehicle enters the safety zone, and the vehicle enters the safety zone if the vehicle enters the safety zone.
The invention also comprises an inertial navigation module 3, an AI coprocessor 4 and a voice module 6, wherein the processor 2 is respectively connected with the inertial navigation module 3 and the AI coprocessor 4, and the power supply module 8 is respectively connected with the inertial navigation module 3 and the AI coprocessor 4. The voice module 6 is respectively connected with the ADSB module 5, the processor 2 and the power module 8.
The invention also comprises a communication module 9, wherein the communication module 9 is respectively connected with the processor 2 and the satellite positioning module 1.
As shown in fig. 1 to 3, in use, a runway safety region 11 is defined by extending outward M meters from a runway lift belt region 10 in an airport, and a fence region 12 is defined by extending outward N meters from the outside of the runway safety region 11. All the geographic coordinate data in the runway lifting zone area 10, the runway safety area 11 and the warning area 12 are obtained through the satellite positioning device or the satellite positioning module 1 and stored in a warning area database of the runway warning area early warning module 21. The satellite positioning module 1 located inside the vehicle positions real-time geographic coordinate data of the vehicle in real time and transmits the real-time geographic coordinate data to the processor 2, under the condition that the satellite positioning module 1 is normally positioned by a satellite, the satellite positioning module 1 is mainly used for transmitting the positioned geographic coordinate data to the processor 2, meanwhile, the inertial navigation module 3 can also provide position data of the vehicle in short time (the position data is the geographic coordinate data) for the processor 2, the AI coprocessor 4 also provides intelligent prediction of vehicle behaviors so as to provide vehicle running prediction, and the AI coprocessor 4 is also connected with the inertial navigation module 3. The runway alert area early warning module 21 of the processor 2 performs data comparison processing on the integrated real-time geographic coordinate data and all the geographic coordinate data in the alert area database, and compares whether the real-time geographic coordinate data is the same as the geographic coordinate data in the alert area database (i.e. compares whether the real-time geographic coordinate data is in the alert area database, i.e. whether the vehicle is in the alert area region 12, even in the runway security region 11 or the runway lifting zone region 10), if the data comparison and analysis are the same, it is determined that the vehicle is in the alert area, the processor 2 triggers the acousto-optic alarm module 7 to send out an acousto-optic alarm signal, and if the data comparison is different, the processing is not performed. The ADSB module 5 may provide position data and time data of an airplane, the ADSB module 5 transmits the position data of the parked airplane to the processor 2, the airplane safety distance early warning module 22 performs distance operation on the real-time geographic coordinate data of the satellite positioning module 1 and the position data of the parked airplane in the airport to obtain a real-time distance value between the vehicle and the parked airplane, a safety distance threshold value (the safety distance threshold value is a longitude and latitude coordinate threshold value) may be set in this embodiment, the airplane safety distance early warning module 22 of the processor 2 compares the real-time distance value with the safety distance threshold value to perform judgment processing and sends an acousto-optic alarm command to the acousto-optic alarm module 7, and when the real-time distance value reaches the safety distance threshold value, the airplane safety distance early warning module 22 of the processor 2 triggers the acousto-optic alarm module 7 to send an acousto-optic alarm signal. The voice module 6 of this embodiment is connected with ADSB module 5, can report the position and the time of aircraft alone at any time.
As shown in fig. 1 to 3, a runway intrusion front-end early warning method based on vehicle behavior prediction includes the following steps:
A. a runway safety area 11 is defined by extending a runway lift belt area 10 in the airport outward for M meters, and then a guard area 12 is defined by extending the runway safety area 11 outward for N meters. All the geographic coordinate data in the runway lifting zone area 10, the runway safety area 11 and the warning area 12 are obtained through the satellite positioning device or the satellite positioning module 1 and stored in a warning area database of the runway warning area early warning module 21.
B. The method comprises the steps that satellite data of a vehicle are positioned in real time through a satellite positioning module 1 located inside the vehicle to obtain real-time geographic coordinate data and transmitted to a processor 2, an inertial navigation module 3 is used for providing short-time vehicle position data under the condition of no satellite signal and transmitting the short-time vehicle position data to the processor 2, an AI coprocessor 4 is used for providing intelligent prediction of vehicle driving behaviors and transmitting the vehicle driving behaviors to the processor 2, the inertial navigation module 3 can adopt an inertial navigation module produced by Shenzhen astronomical measurement and control technology Limited, and the AI coprocessor 4 is a vehicle-mounted mature technology. The runway alert area early warning module 21 of the processor 2 compares the real-time geographic coordinate data of the satellite positioning module 1 with all the geographic coordinate data in the alert area database, judges runway intrusion, and sends an audible and visual alarm command to the audible and visual alarm module 7.
C. The ADSB module 1 provides position data of a plane parked in an airport, the position data is geographic coordinate data, a safe distance threshold is set in the plane safe distance early warning module 22, the plane safe distance early warning module 22 performs distance operation on real-time geographic coordinate data of the satellite positioning module 1 located in a vehicle and the position data of the plane parked in the airport to obtain a real-time distance value between the vehicle and the plane parked, and the plane safe distance early warning module 22 of the processor 2 compares the real-time distance value with the safe distance threshold to perform judgment processing and sends an audible and visual alarm command to the audible and visual alarm module 7.
D. The processor 2 is provided with a display, and the processor 2 transmits the alarm signal and the vehicle position data to a remote monitoring machine through the communication module 9.
EXAMPLE III
As shown in fig. 1 to 3, a runway intrusion front-end early warning system based on vehicle behavior prediction includes a satellite positioning module 1, an ADSB module 5, a power module 8, a processor 2, and an acousto-optic alarm module 7, where the satellite positioning module 1 of this embodiment is a Beidou positioning module or a GPS positioning module. The ADSB module 5 can adopt ADS-B airborne equipment of Beijing navigation avionics technology, Inc. The processor 2 is respectively connected with the satellite positioning module 1, the ADSB module 5, the power supply module 8 and the acousto-optic alarm module 7, and the power supply module 8 is respectively electrically connected with the satellite positioning module 1, the ADSB module 5, the processor 2 and the acousto-optic alarm module 7. The processor 2 is internally provided with a runway alert area early warning module 21 and an airplane safety distance early warning module 22, the runway alert area early warning module 21 is internally provided with an alert area database, all geographical coordinate data of an airport runway alert area are stored in the alert area database, and the geographical coordinate data of the embodiment is longitude and latitude coordinates.
The satellite positioning module 1 is used for positioning satellite data in real time to obtain real-time geographic coordinate data and transmitting the real-time geographic coordinate data to the processor 2, and the runway guard area early warning module 21 of the processor 2 is used for comparing the real-time geographic coordinate data of the satellite positioning module 1 with all the geographic coordinate data in the guard area database, judging runway invasion and processing and sending an acousto-optic alarm command to the acousto-optic alarm module 7. The ADSB module 1 is used for providing position data of a plane parked in an airport, the position data is geographical coordinate data, the ADSB module 1 can provide positions of all planes in a receiving distance, including a runway parking and air flying plane flying position track (the plane flying position track reported by the ADSB module 1), calculating landing time and runway occupation conditions, and calculating vehicle positions and runway coordinates to prompt conflicts if the runway is occupied by the plane; a safe distance threshold value is set in the airplane safe distance early warning module 22, the airplane safe distance early warning module 22 is used for performing distance operation on the real-time geographic coordinate data of the satellite positioning module 1 and the position data of the parked airplanes in the airport to obtain a real-time distance value between the vehicle and the parked airplanes, the airplane safe distance early warning module 22 of the processor 2 compares the real-time distance value with the safe distance threshold value, judges and processes the real-time distance value and sends an audible and visual alarm command to the audible and visual alarm module 7, and the audible and visual alarm module 7 is used for sending an audible and visual alarm signal.
As shown in fig. 1 to 4, a runway intrusion front-end early warning method based on vehicle behavior prediction includes the following steps:
A. a runway safety area 11 is arranged by extending outwards M meters from a runway lifting belt area 10 in an airport, wherein M is 90 meters. Then extends outside the runway safety area 11 to the outside D2 A warning area 12 is formed by dividing the rice into a plurality of extended widths D2A guard zone distance, the guard zone region 12 extends a width D2The rice method comprises the following steps:
a1, setting the early warning operation processing time of the runway safety zone intrusion as T02s and reserve T1Buffer time of (T)1And 1s, the vehicle early warning braking reaction time is as follows: less than T2，T2＝T0+T1＝3s，T2、T1、T0The unit of (A) is seconds, and the maximum speed limit of the vehicle in the airport is Vm，VmThe unit of (a) is km/h, and the distance traveled per second is calculated to be D1，
Guard zone region 12 extends a width D2，D2＝D1*T2＝50.1m。
B. The satellite data of the vehicle is positioned in real time through a satellite positioning module 1 positioned in the vehicle to obtain real-time geographic coordinate data and is transmitted to a processor 2, and meanwhile, the satellite positioning module 1 obtains the speed V of the vehicle1The satellite positioning module 1, the inertial navigation module 3 and the AI coprocessor 4 jointly obtain the advancing direction theta of the vehicle under the processing of the processor 2, and the processor 2 calculates the linear distance D between the vehicle and the edge of the safety area 11 of the runway according to the real-time geographic coordinate data of the vehicle3The processor 2 judges the linear distance D3Distance D from warning area2The magnitude relationship between them.
B1, D when the straight line is distant3>Distance D of warning zone2And when the alarm is not sent to the acousto-optic alarm module 7, the processor 2 does not send an alarm monitoring command to the acousto-optic alarm module 7.
B2, D when the straight line is distant3Distance D less than or equal to warning area2And then the processor 2 sends an alarm monitoring command to the sound and light alarm module 7.
C. The processor 2 calculates the distance D required for the vehicle to enter the runway safety area 11 by the following equation4And time T3，
Obtaining a time T3Then, the processor 2 performs the following alarm judgment and alarm response:
c1, when T3≥T2The processor 2 sends an alarm monitoring command to the sound and light alarm module 7.
C2、When T is3＜T2The processor 2 sends out the sound-light alarm prompt to the sound-light alarm module 7 to inform the vehicle to exit immediately, and when the vehicle exits, the sound-light alarm prompt of the sound-light alarm module 7 is stopped.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. The utility model provides a runway invasion front end early warning system based on vehicle behavior prediction which characterized in that: the device comprises a satellite positioning module (1), an ADSB module (5), a power supply module (8), a processor (2), an acousto-optic alarm module (7), an inertial navigation module (3) and an AI coprocessor (4), wherein the processor (2) is respectively connected with the satellite positioning module (1), the ADSB module (5), the power supply module (8) and the acousto-optic alarm module (7), and the power supply module (8) is respectively electrically connected with the satellite positioning module (1), the ADSB module (5), the processor (2) and the acousto-optic alarm module (7); the runway alert area early warning module (21) and the airplane safety distance early warning module (22) are arranged in the processor (2), an alert area database is arranged in the runway alert area early warning module (21), all geographical coordinate data of an airport runway alert area are stored in the alert area database, the satellite positioning module (1) is used for positioning satellite data in real time to obtain real-time geographical coordinate data and transmitting the real-time geographical coordinate data to the processor (2), and the runway alert area early warning module (21) of the processor (2) is used for comparing the real-time geographical coordinate data of the satellite positioning module (1) with all geographical coordinate data in the alert area database, judging runway intrusion and processing the real-time geographical coordinate data and sending an acousto-optic warning command to the acousto-optic warning module (7); the ADSB module (1) is used for providing position data of aircraft parked in an airport, the position data are geographic coordinate data, a safe distance threshold value is set in the aircraft safe distance early warning module (22), the aircraft safe distance early warning module (22) is used for performing distance operation on the real-time geographic coordinate data of the satellite positioning module (1) and the position data of the aircraft parked in the airport to obtain a real-time distance value between a vehicle and the aircraft parked in the airport, and the ADSB module (1) is used for providing position data of the aircraft parked in the airport, the position data are geographic coordinate data, theThe airplane safety distance early warning module (22) of the processor (2) compares the real-time distance value with a safety distance threshold value, judges and processes the real-time distance value and sends an acousto-optic alarm command to the acousto-optic alarm module (7), and the acousto-optic alarm module (7) is used for sending an acousto-optic alarm signal; the system comprises a processor (2), an inertial navigation module (3) and an AI coprocessor (4), wherein a power supply module (8) is respectively connected with the inertial navigation module (3) and the AI coprocessor (4), the inertial navigation module is used for providing short-time vehicle position data under the condition of no satellite signal and transmitting the short-time vehicle position data to the processor, the AI coprocessor is used for providing intelligent prediction of vehicle driving behaviors and transmitting the vehicle position data to the processor, the satellite positioning module, the inertial navigation module and the AI coprocessor jointly obtain the driving direction theta of a vehicle under the processing of the processor, and the processor calculates the linear distance D from the vehicle to the edge of a safety area of a runway according to real-time geographic coordinate data of the vehicle3The processor judges the linear distance D3Distance D from warning area2The magnitude relationship between them.
2. A runway intrusion front-end warning system based on vehicle behaviour prediction as claimed in claim 1 wherein: still include voice module (6), voice module (6) are connected with ADSB module (5), treater (2), power module (8) respectively.
3. A runway intrusion front-end warning system based on vehicle behaviour prediction as claimed in claim 1 wherein: the satellite positioning system is characterized by further comprising a communication module (9), wherein the communication module (9) is respectively connected with the processor (2) and the satellite positioning module (1).
4. A runway intrusion front-end warning system based on vehicle behaviour prediction as claimed in claim 3 wherein: the satellite positioning module (1) is a Beidou positioning module or a GPS positioning module; the geographic coordinate data is longitude and latitude coordinates.
5. A runway intrusion front-end early warning method based on vehicle behavior prediction is characterized in that: the method comprises the following steps:
A. a runway safety area (11) is marked out by extending an area (10) of a runway lifting belt in an airport for M meters outwards, and then a warning area (12) is marked out by extending an area (11) of the runway safety area for N meters outwards; obtaining all geographical coordinate data in a runway lifting belt area (10), a runway safety area (11) and a warning area (12) through a satellite positioning device or a satellite positioning module (1) and storing the geographical coordinate data in a warning area database of a runway warning area early warning module (21);
B. the method comprises the steps that satellite data of a vehicle are positioned in real time through a satellite positioning module (1) located inside the vehicle to obtain real-time geographic coordinate data and transmitted to a processor (2), a runway alert area early warning module (21) of the processor (2) compares the real-time geographic coordinate data of the satellite positioning module (1) with all geographic coordinate data in an alert area database, judges runway intrusion and sends an acousto-optic alarm command to an acousto-optic alarm module (7);
C. the ADSB module (1) provides position data of a parked airplane in an airport, the position data is geographical coordinate data, a safety distance threshold value is set in the airplane safety distance early warning module (22), the airplane safety distance early warning module (22) performs distance operation on real-time geographical coordinate data of a satellite positioning module (1) located in a vehicle and the position data of the parked airplane in the airport to obtain a real-time distance value between the vehicle and the parked airplane, and the airplane safety distance early warning module (22) of the processor (2) compares the real-time distance value with the safety distance threshold value to judge and process and sends an acousto-optic alarm command to the acousto-optic alarm module (7);
D. the processor (2) is provided with a display, and the processor (2) transmits the alarm signal and the vehicle position data to a remote monitoring machine through the communication module (9).
6. A runway intrusion front-end early warning method based on vehicle behavior prediction is characterized in that: the method comprises the following steps:
A. a runway safety area (11) is arranged in a runway lifting belt area (10) of an airport in a way of extending outwards for M meters, wherein M is more than or equal to 90 meters; then extends outside the safe area (11) of the runway to the outside D2A warning area (12) is formed by dividing the rice into a plurality of extended widths D2To be alertZone distance, the width D of which the guard zone region (12) extends2The rice method comprises the following steps:
a1, setting the early warning operation processing time of the runway safety zone intrusion as T0And reserve T1The vehicle early warning braking reaction time is as follows: less than T2，T2＝T0+T1，T2、T1、T0The unit of (A) is seconds, and the maximum speed limit of the vehicle in the airport is Vm，VmThe unit of (a) is km/h, and the distance traveled per second is calculated to be D1，
The extended width D of the guard zone region (12)2，D2＝D1*T2；
B. The satellite data of the vehicle is positioned in real time through a satellite positioning module (1) positioned in the vehicle to obtain real-time geographic coordinate data and transmitted to a processor (2), and meanwhile, the satellite positioning module (1) obtains the speed V of the vehicle1The satellite positioning module (1), the inertial navigation module (3) and the AI coprocessor (4) jointly obtain the advancing direction theta of the vehicle under the processing of the processor (2), and the processor (2) calculates the linear distance D between the vehicle and the edge of a safety area (11) of a runway according to the real-time geographic coordinate data of the vehicle3The processor (2) judges the linear distance D3Distance D from warning area2The magnitude relationship between them;
b1, D when the straight line is distant3>Distance D of warning zone2When the alarm is not sent to the acousto-optic alarm module (7), the processor (2) does not send an alarm monitoring command to the acousto-optic alarm module (7);
b2, D when the straight line is distant3Distance D less than or equal to warning area2When the alarm is started, the processor (2) sends an alarm monitoring command to the sound-light alarm module (7);
C. the processor (2) calculates the distance D required for the vehicle to enter the runway safety area (11) by the following formula4And time T3，
Obtaining a time T3Then, the processor (2) performs the following alarm judgment and alarm response:
c1, when T3≥T2The processor (2) sends an alarm monitoring command to the sound-light alarm module (7);
c2, when T3＜T2And the processor (2) sends an audible and visual alarm prompt to the audible and visual alarm module (7) to inform the vehicle of exiting immediately.
7. A runway intrusion front-end early warning method based on vehicle behavior prediction is characterized in that: the method comprises the following steps:
A. a runway safety area (11) is formed by extending outwards for M meters in a runway lifting belt area (10) in an airport, wherein M is 90 meters; then extends outside the safe area (11) of the runway to the outside D2A warning area (12) is formed by dividing the rice into a plurality of extended widths D2A guard zone distance, the guard zone region (12) of which extends over a width D2The rice method comprises the following steps:
a1, setting the early warning operation processing time of the runway safety zone intrusion as T02s and reserve T1Buffer time of (T)1And 1s, the vehicle early warning braking reaction time is as follows: less than T2，T2＝T0+T1＝3s，T2、T1、T0The unit of (A) is seconds, and the maximum speed limit of the vehicle in the airport is Vm，VmThe unit of (a) is km/h, and the distance traveled per second is calculated to be D1，
The extended width D of the guard zone region (12)2，D2＝D1*T2＝50.1m；
B. By means of a satellite positioning module (1) located inside the vehicleSatellite data of the vehicle is temporally positioned to acquire real-time geographic coordinate data and transmitted to the processor (2), and simultaneously the satellite positioning module (1) acquires the speed V of the vehicle1The satellite positioning module (1), the inertial navigation module (3) and the AI coprocessor (4) jointly obtain the advancing direction theta of the vehicle under the processing of the processor (2), and the processor (2) calculates the linear distance D between the vehicle and the edge of a safety area (11) of a runway according to the real-time geographic coordinate data of the vehicle3The processor (2) judges the linear distance D3Distance D from warning area2The magnitude relationship between them;
b1, D when the straight line is distant3>Distance D of warning zone2When the alarm is not sent to the acousto-optic alarm module (7), the processor (2) does not send an alarm monitoring command to the acousto-optic alarm module (7);
b2, D when the straight line is distant3Distance D less than or equal to warning area2When the alarm is started, the processor (2) sends an alarm monitoring command to the sound-light alarm module (7);
C. the processor (2) calculates the distance D required for the vehicle to enter the runway safety area (11) by the following formula4And time T3，
Obtaining a time T3Then, the processor (2) performs the following alarm judgment and alarm response:
c1, when T3≥T2The processor (2) sends an alarm monitoring command to the sound-light alarm module (7);
c2, when T3＜T2And the processor (2) sends an audible and visual alarm prompt to the audible and visual alarm module (7) to inform the vehicle of exiting immediately.
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