CN111145600B - A runway intrusion front-end early warning system and method based on vehicle behavior prediction - Google Patents

Abstract

The invention discloses a runway intrusion front-end early warning system and method based on vehicle behavior prediction, comprising a satellite positioning module, an ADSB module, a power supply module, a processor and an acousto-optic alarm module. The module and the sound and light alarm module are connected, and the power module is electrically connected with the satellite positioning module, the ADSB module, the processor, and the sound and light alarm module; the processor has a runway warning zone early warning module, an aircraft safety distance warning module, and a runway warning zone early warning module. There is a warning zone database inside. By analyzing the behavior of the vehicle and combining the position data of the vehicle and the scope of the airport safety zone, the present invention provides the vehicle driver with accurate and timely runway intrusion warning information in real time, reduces the number of runway incursions, helps prevent runway accidents, and does not interfere with The operation of airport business has improved the airport's prevention and control capabilities.

Description

A runway intrusion front-end early warning system and method based on vehicle behavior prediction

technical field

The invention relates to the field of airport runway warning and warning, in particular to a runway intrusion front-end warning system and method based on vehicle behavior prediction.

Background technique

Runway incursion refers to an event that occurs in an airport that adversely affects the safety of the runway. Runway incursion is one of the most important sources of danger in the aviation operation industry. Inevitably, it will seriously affect airport security. Runway intrusion incidents are caused by the wrong aircraft, vehicles and pedestrians in the protection zone for aircraft takeoff and landing. Among them, the runway intrusion incident caused by vehicles is particularly prominent. According to incomplete statistics, vehicle intrusion into the runway has accounted for nearly 8 years of Chinese civil aviation. For 44% of runway incursion incidents, it is urgent to use technical means to improve prevention and control capabilities and reduce the probability of such incidents.

At present, most airports have installed Beidou equipment for vehicles and built a vehicle navigation system, but the occurrence of vehicle runway intrusion events cannot be avoided. The main reason is that the current system is only for background monitoring and vehicle navigation. Immediately notify the vehicle driver that there is not enough time to prevent the intrusion incident, and the vehicle driver has no time to respond to the intrusion incident; another important factor is that the vehicle driver loses situational awareness and enters the safety zone by mistake, and he is completely unaware of the intrusion incident.

SUMMARY OF THE INVENTION

Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a runway intrusion front-end early warning system and method based on vehicle behavior prediction. Provide vehicle drivers with accurate and timely runway incursion warning information, reduce the number of runway incursions, help prevent runway accidents, and at the same time do not interfere with airport business operations, improving the airport's prevention and control capabilities.

The object of the present invention is achieved through the following technical solutions:

A runway intrusion front-end early warning system based on vehicle behavior prediction, comprising a satellite positioning module, an ADSB module, a power supply module, a processor and an acousto-optic alarm module, the processor is respectively connected with the satellite positioning module, the ADSB module, the power supply module, the acousto-optical module The alarm module is connected, and the power module is respectively electrically connected with the satellite positioning module, the ADSB module, the processor, and the sound and light alarm module; the processor has a runway warning area early warning module and an aircraft safety distance early warning module inside, and the runway warning area There is a warning area database inside the early warning module, and the warning area database stores all geographic coordinate data of the airport runway warning area. The satellite positioning module is used to locate the satellite data in real time to obtain real-time geographic coordinate data and transmit it to the processor. The runway warning zone warning module of the processor is used to compare the real-time geographic coordinate data of the satellite positioning module with all the geographic coordinate data in the warning zone database, perform data comparison and runway intrusion judgment processing, and issue a sound and light alarm command to the sound and light alarm module; The ADSB module is used to provide the position data of the parked aircraft in the airport, and the position data is geographic coordinate data. A safety distance threshold is set inside the aircraft safety distance early warning module, and the aircraft safety distance early warning module is used to The real-time geographic coordinate data of the positioning module and the position data of the parked aircraft in the airport perform distance calculation to obtain the real-time distance value between the vehicle and the parked aircraft, and the aircraft safety distance warning module of the processor calculates the real-time distance value and the safety distance threshold. Comparing, judging, processing, and sending out an acousto-optic alarm command to an acousto-optic alarm module, which is used to issue an acousto-optic alarm signal.

In order to better realize the runway intrusion front-end early warning system of the present invention, it also includes an inertial navigation module and an AI co-processor, the processors are respectively connected with the inertial navigation module and the AI co-processor, and the power module is respectively connected with the inertial navigation module, the AI co-processor AI coprocessor connection.

Preferably, the runway intrusion front-end early warning system of the present invention further comprises a voice module, and the voice module is respectively connected with the ADSB module, the processor and the power supply module.

Preferably, the runway intrusion front-end early warning system of the present invention further includes 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 latitude and longitude coordinates.

A front-end early warning method for runway intrusion based on vehicle behavior prediction, the method is as follows:

A. Extend the runway lift area in the airport by M meters to define the runway safety area, and then extend N meters outside the runway safety area to define the warning area area; obtain the runway through satellite positioning equipment or satellite positioning module All geographic coordinate data in the lift belt area, runway safety area and warning area are stored in the warning area database of the runway warning area warning module;

B. The satellite data of the vehicle is located in real time through the satellite positioning module located inside the vehicle to obtain real-time geographic coordinate data and transmit it to the processor. The inertial navigation module is used to provide short-term vehicle position data in the absence of satellite signals and transmit it to processing The AI co-processor is used to provide intelligent prediction of vehicle driving behavior and transmit it to the processor. The runway warning zone warning module of the processor compares the real-time geographic coordinate data of the satellite positioning module with all geographic coordinate data in the warning zone database. Judging and processing runway incursions and issuing sound and light alarm commands to the sound and light alarm module;

C. The ADSB module provides the position data of the parked aircraft in the airport, where the position data is geographic coordinate data. The aircraft safety distance warning module has a safety distance threshold set inside, and the aircraft safety distance warning module will be located in the vehicle. The real-time geographic location of the satellite positioning module The coordinate data and the position data of the parked aircraft in the airport perform distance calculation to obtain the real-time distance value between the vehicle and the parked aircraft. The aircraft safety distance early warning module of the processor compares the real-time distance value with the safety distance threshold for judgment and processing, and sends to the sound and light. The alarm module sends out sound and light alarm commands;

D. There is a display on the processor, and the processor transmits the alarm signal and the vehicle position data to the remote monitoring machine through the communication module.

A front-end early warning method for runway intrusion based on vehicle behavior prediction, the method is as follows:

A. Extend the runway lift area in the airport by M meters to define a runway safety area, M≥90 meters; then extend D ₂ meters outside the runway safety area to define a warning area, with the extended width D ₂ is the distance of the warning zone, and the method of extending the width of the warning zone to ₂ meters is as follows:

警戒区区域所延伸宽度D₂，D₂＝D₁*T₂；A1. Set the early warning operation processing time of runway safety zone intrusion as T ₀ , and reserve the buffer time of T ₁ , then the vehicle early warning braking reaction time is: less than T ₂ , T ₂ =T ₀ +T ₁ , T ₂ The units of , T ₁ and T ₀ are all seconds. The maximum speed limit of vehicles in the airport is V _m , and the unit of V _m is km/h. The calculated distance traveled per second is D ₁ .

The extended width D ₂ of the warning zone area, D ₂ =D ₁ *T ₂ ;

B. The satellite data of the vehicle is located in real time through the satellite positioning module located inside the vehicle to obtain real-time geographic coordinate data and transmit it to the processor. At the same time, the satellite positioning module obtains the speed V ₁ of the vehicle, and the satellite positioning module, inertial navigation module and AI co-processing The processor jointly obtains the traveling direction θ of the vehicle under the processing of the processor. The processor calculates the straight-line distance D ₃ between the vehicle and the edge of the runway safety area according to the real-time geographic coordinate data of the vehicle, and the processor determines the straight-line distance D ₃ and the warning zone distance D ₂ The size relationship between;

B1. When the straight-line distance D ₃ > the warning zone distance D ₂ , the processor does not issue an alarm monitoring command to the sound and light alarm module;

B2. When the straight-line distance D ₃ ≤ the warning zone distance D ₂ , the processor sends an alarm monitoring command to the sound and light alarm module;

C. _The processor calculates the distance D4 and time T3 required for the vehicle to enter the runway safety area through the following _formula ,

After obtaining the time _T3 , the processor performs the following alarm judgment and alarm response:

C1. When T ₃ ≥ T ₂ , the processor sends an alarm monitoring command to the sound and light alarm module;

C2. When T ₃ < T ₂ , the processor sends an audible and visual alarm prompt to the audible and visual alarm module to inform the vehicle to exit immediately. When the vehicle exits, the audible and visual alarm prompt of the audible and visual alarm module terminates.

A front-end early warning method for runway intrusion based on vehicle behavior prediction, the method is as follows:

A. Extend the runway lift area in the airport by M meters to define a runway safety area, M=90 meters; then extend D ₂ meters outside the runway safety area to define a warning area area, and the extended width D ₂ is the distance of the warning zone, and the method of extending the width of the warning zone to ₂ meters is as follows:

警戒区区域所延伸宽度D₂，D₂＝D₁*T₂＝50.1m；A1. Set the early warning operation processing time of runway safety zone intrusion as T ₀ = _2s , and reserve the buffer time of T1, T1 _{= 1s} , then the vehicle early warning braking reaction time is: less _than T2, T2=T ₀ +T ₁ =3s, the units of T ₂ , T ₁ , and T ₀ are all seconds, the maximum speed limit of vehicles in the airport is V _m , the unit of V _m is km/h, and the calculated distance per second is D ₁ ,

The extended width of the warning zone area D ₂ , D ₂ =D ₁ *T ₂ =50.1m;

B. The satellite data of the vehicle is located in real time through the satellite positioning module located inside the vehicle to obtain real-time geographic coordinate data and transmit it to the processor. At the same time, the satellite positioning module obtains the speed V ₁ of the vehicle, and the satellite positioning module, inertial navigation module and AI co-processing The processor jointly obtains the traveling direction θ of the vehicle under the processing of the processor. The processor calculates the straight-line distance D ₃ between the vehicle and the edge of the runway safety area according to the real-time geographic coordinate data of the vehicle, and the processor determines the straight-line distance D ₃ and the warning zone distance D ₂ The size relationship between;

B1. When the straight-line distance D ₃ > the warning zone distance D ₂ , the processor does not issue an alarm monitoring command to the sound and light alarm module;

B2. When the straight-line distance D ₃ ≤ the warning zone distance D ₂ , the processor sends an alarm monitoring command to the sound and light alarm module;

C. _The processor calculates the distance D4 and time T3 required for the vehicle to enter the runway safety area through the following _formula ,

After obtaining the time _T3 , the processor performs the following alarm judgment and alarm response:

C1. When T ₃ ≥ T ₂ , the processor sends an alarm monitoring command to the sound and light alarm module;

C2. When T ₃ < T ₂ , the processor sends an audible and visual alarm prompt to the audible and visual alarm module to inform the vehicle to exit immediately. When the vehicle exits, the audible and visual alarm prompt of the audible and visual alarm module terminates.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

(1) The present invention provides accurate and timely runway intrusion warning information for vehicle drivers in real time by analyzing the behavior of the vehicle, combining the position data of the vehicle and the scope of the airport safety zone, reducing the number of runway intrusions, and helping to prevent the occurrence of runway accidents, At the same time, it does not interfere with the operation of the airport business, which improves the airport's prevention and control capabilities.

(2) The present invention can be remotely transmitted to the airport monitoring terminal through the communication module, which is beneficial to the remote monitoring operation and monitoring command.

Description of drawings

Fig. 1 is the structural block diagram of the runway intrusion front-end early warning system of the present invention;

Fig. 2 is the structural block diagram of the processor of the present invention;

3 is a schematic diagram of the delineation of the runway area of the present invention;

FIG. 4 is a schematic diagram of the calculation of a vehicle entering a warning area.

Wherein, the names corresponding to the reference signs in the accompanying drawings are:

1 satellite positioning module, 2 processor, 21 runway warning zone warning module, 22 aircraft safety distance warning module, 3 inertial navigation module, 4 AI co-processor, 5 ADSB module, 6 voice module, 7 sound and light alarm module, 8 power supply Modules, 9 communication modules, 10 runway lift area, 11 runway safety area, 12 warning zone area.

Detailed ways

Below in conjunction with embodiment, the present invention is described in further detail:

Example 1

As shown in FIGS. 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 supply module 8, a processor 2 and an acousto-optic alarm module 7. The satellite positioning module 1 is a Beidou positioning module or a GPS positioning module. The geographic coordinate data is latitude and longitude coordinates. Among them, the ADSB module 5 can be expressed as an ADS-B module, that is, a device using the ADS-B system technology, and the ADSB module 5 can use the ADS-B airborne equipment of Beijing General Aviation Electronic Technology Co., Ltd. The processor 2 is respectively connected with the satellite positioning module 1, the ADSB module 5, the power module 8 and the sound and light alarm module 7, and the power module 8 is respectively connected with the satellite positioning module 1, the ADSB module 5, the processor 2 and the sound and light alarm module 7. . The processor 2 has a runway warning area early warning module 21 and an aircraft safety distance early warning module 22. The runway warning area early warning module 21 has a warning area database inside, and the warning area database stores all the geographic coordinate data of the airport runway warning area. The coordinate data are latitude and longitude coordinates.

The satellite positioning module 1 is used to locate satellite data in real time to obtain real-time geographic coordinate data and transmit it to the processor 2. The runway warning zone warning module 21 of the processor 2 is used to combine the real-time geographic coordinate data of the satellite positioning module 1 with the warning zone database. All geographic coordinate data of the data comparison and runway intrusion judgment processing are carried out, and the sound and light alarm command is issued to the sound and light alarm module 7. The ADSB module 1 is used to provide the position data of the parked aircraft in the airport. The position data is geographic coordinate data. The ADSB module 1 can provide the positions of all aircraft within the receiving distance, including the runway stop and the flight position trajectory of the aircraft flying in the air (the ADSB module 1 reports The flight position trajectory of the incoming aircraft), calculate the landing time and the runway occupancy, that is, ADSB module 1 can calculate the runway occupied by the aircraft, such as the runway is occupied by the aircraft, the vehicle position and the runway coordinates are calculated, and the conflict is prompted; the aircraft safety distance warning module 22 is internally set with a safety distance threshold, and the aircraft safety distance early warning module 22 is used to perform distance calculation on the real-time geographic coordinate data of the satellite positioning module 1 and the position data of the parked aircraft in the airport and obtain the real-time distance value between the vehicle and the parked aircraft. , the aircraft safety distance early warning module 22 of the processor 2 compares the real-time distance value with the safety distance threshold for judgment and processing, and issues an acousto-optic alarm command to the acousto-optic alarm module 7, which is used to issue an acousto-optic alarm signal.

As shown in Figures 1 to 3, a front-end early warning method for runway intrusion based on vehicle behavior prediction is as follows:

A. The runway lift area 10 in the airport extends M meters to define a runway safety area 11 , and then extends N meters outside the runway safety area 11 to define a warning area 12 . All geographic coordinate data in the runway lift zone area 10 , the runway safety area 11 , and the warning zone area 12 are obtained through the satellite positioning device or the satellite positioning module 1 and stored in the warning zone database of the runway warning zone warning module 21 .

B. The satellite data of the vehicle is located in real time through the satellite positioning module 1 located inside the vehicle to obtain real-time geographic coordinate data and transmit it to the processor 2. The runway warning zone early warning module 21 of the processor 2 converts the real-time geographic coordinate data of the satellite positioning module 1 to the processor 2. Perform data comparison and runway intrusion judgment processing with all the geographic coordinate data in the warning area database, and issue a sound and light alarm command to the sound and light alarm module 7 .

C. The ADSB module 1 provides the position data of the parked aircraft in the airport, wherein the position data is geographic coordinate data, the aircraft safety distance early warning module 22 is internally set with a safety distance threshold, and the aircraft safety distance early warning module 22 will be located in the satellite positioning module inside the vehicle The real-time geographic coordinate data of 1 and the position data of the parked aircraft in the airport perform distance calculation to obtain the real-time distance value between the vehicle and the parked aircraft, and the aircraft safety distance warning module 22 of the processor 2 compares the real-time distance value with the safety distance threshold. Judging and processing and sending out the sound and light alarm command to the sound and light 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 the remote monitoring machine through the communication module 9 .

Embodiment 2

As shown in FIGS. 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 supply module 8, a processor 2 and an acousto-optic alarm module 7. The satellite positioning module 1 is a Beidou positioning module or a GPS positioning module. Among them, the ADSB module 5 can adopt the ADS-B airborne equipment of Beijing General Aviation Electronic Technology Co., Ltd. The processor 2 is respectively connected with the satellite positioning module 1, the ADSB module 5, the power module 8 and the sound and light alarm module 7, and the power module 8 is respectively connected with the satellite positioning module 1, the ADSB module 5, the processor 2 and the sound and light alarm module 7. . The processor 2 has a runway warning area early warning module 21 and an aircraft safety distance early warning module 22. The runway warning area early warning module 21 has a warning area database inside, and the warning area database stores all the geographic coordinate data of the airport runway warning area. The geographic coordinate data is latitude and longitude coordinates.

The satellite positioning module 1 is used to locate satellite data in real time to obtain real-time geographic coordinate data and transmit it to the processor 2. The runway warning zone warning module 21 of the processor 2 is used to combine the real-time geographic coordinate data of the satellite positioning module 1 with the warning zone database. All geographic coordinate data of the data comparison and runway intrusion judgment processing are carried out, and the sound and light alarm command is issued to the sound and light alarm module 7. The ADSB module 1 is used to provide the position data of the parked aircraft in the airport. The position data is geographic coordinate data. The ADSB module 1 can provide the positions of all aircraft within the receiving distance, including the runway stop and the flight position trajectory of the aircraft flying in the air (the ADSB module 1 reports The flight position trajectory of the incoming aircraft), calculate the landing time and the runway occupancy, that is, ADSB module 1 can calculate the runway occupied by the aircraft, such as the runway is occupied by the aircraft, the vehicle position and the runway coordinates are calculated, and the conflict is prompted; the aircraft safety distance warning module 22 is internally set with a safety distance threshold, and the aircraft safety distance early warning module 22 is used to perform distance calculation on the real-time geographic coordinate data of the satellite positioning module 1 and the position data of the parked aircraft in the airport and obtain the real-time distance value between the vehicle and the parked aircraft. , the aircraft safety distance early warning module 22 of the processor 2 compares the real-time distance value with the safety distance threshold for judgment and processing, and issues an acousto-optic alarm command to the acousto-optic alarm module 7, which is used to issue an acousto-optic alarm signal. The aircraft safety distance warning module 22 in this embodiment may mainly calculate the distance between the vehicle and the runway safety zone to determine whether to enter the safety zone, and entering the safety zone is considered an intrusion.

The present invention also includes an inertial navigation module 3, an AI coprocessor 4 and a voice module 6. 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 connections. The voice module 6 is respectively connected with the ADSB module 5 , the processor 2 and the power supply module 8 .

The present invention also includes a communication module 9, which is connected with the processor 2 and the satellite positioning module 1 respectively.

As shown in FIGS. 1 to 3 , when in use, the runway safety area 11 is drawn by extending M meters from the runway lift area 10 in the airport, and then a warning is drawn by extending N meters outside the runway safety area 11 District area 12. All geographic coordinate data in the runway lift zone area 10 , the runway safety area 11 , and the warning zone area 12 are obtained through the satellite positioning device or the satellite positioning module 1 and stored in the warning zone database of the runway warning zone warning module 21 . The satellite positioning module 1 located inside the vehicle locates the real-time geographic coordinate data of the vehicle in real time and transmits the real-time geographic coordinate data to the processor 2. In the normal satellite positioning of the satellite positioning module 1, it mainly relies on the satellite positioning module 1 to locate the geographic coordinates of the positioning. The data is transmitted to the processor 2, and the inertial navigation module 3 can also provide the processor 2 with short-term vehicle position data (the position data is geographic coordinate data), and the AI co-processor 4 also provides intelligent prediction of vehicle behavior to facilitate To provide vehicle travel prediction, the AI co-processor 4 is also connected to the inertial navigation module 3 . The runway warning area warning module 21 of the processor 2 performs data comparison processing on the above-mentioned integrated real-time geographic coordinate data and all geographic coordinate data in the warning area database, and compares whether the real-time geographic coordinate data is the same as the geographic coordinate data in the warning area database. (that is, whether the real-time geographic coordinate data is located in the warning area database, that is, whether the vehicle is located in the warning area area 12, or even the runway safety area 11 or the runway lift zone area 10), if the data comparison analysis is the same, it is determined that the vehicle is in the warning area Inside, the processor 2 will trigger the sound and light alarm module 7 to send out the sound and light alarm signal, if the data comparison is not the same, it will not be processed. The ADSB module 5 can provide the position data and time data of the aircraft, the ADSB module 5 transmits the position data of the parked aircraft to the processor 2, and the aircraft safety distance warning module 22 compares the real-time geographic coordinate data of the satellite positioning module 1 with the parked aircraft in the airport. The distance calculation is performed on the position data and the real-time distance value between the vehicle and the parked aircraft is obtained. In this embodiment, a safety distance threshold (the safety distance threshold is the latitude and longitude coordinate threshold) can be set, and the aircraft safety distance warning module 22 of the processor 2 will real-time The distance value and the safety distance threshold are compared and judged and processed and the sound and light alarm module 7 is issued a sound and light alarm command. When the real-time distance value reaches the safety distance threshold, the aircraft safety distance warning module 22 of the processor 2 will trigger the sound and light alarm module. 7 Send out sound and light alarm signal. The voice module 6 in this embodiment is connected with the ADSB module 5, and can broadcast the position and time of the aircraft independently at any time.

As shown in Figures 1 to 3, a front-end early warning method for runway intrusion based on vehicle behavior prediction is as follows:

A. The runway lift area 10 in the airport extends M meters to define a runway safety area 11 , and then extends N meters outside the runway safety area 11 to define a warning area 12 . All geographic coordinate data in the runway lift zone area 10 , the runway safety area 11 , and the warning zone area 12 are obtained through the satellite positioning device or the satellite positioning module 1 and stored in the warning zone database of the runway warning zone warning module 21 .

B. The satellite positioning module 1 located inside the vehicle locates the satellite data of the vehicle in real time to obtain real-time geographic coordinate data and transmits it to the processor 2. The inertial navigation module 3 is used to provide short-term vehicle position data in the absence of satellite signals and It is transmitted to the processor 2, and the AI co-processor 4 is used to provide intelligent prediction of the driving behavior of the vehicle and transmit it to the processor 2. The inertial navigation module 3 can use the inertial navigation module produced by Shenzhen Tiangong Measurement and Control Technology Co., Ltd. The processor 4 is a vehicle-mounted mature technology. The runway warning zone 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 the warning zone database, performs data comparison and runway intrusion judgment processing, and issues an audible and visual alarm to the audible and visual alarm module 7 Order.

C. The ADSB module 1 provides the position data of the parked aircraft in the airport, wherein the position data is geographic coordinate data, the aircraft safety distance early warning module 22 is internally set with a safety distance threshold, and the aircraft safety distance early warning module 22 will be located in the satellite positioning module inside the vehicle The real-time geographic coordinate data of 1 and the position data of the parked aircraft in the airport perform distance calculation to obtain the real-time distance value between the vehicle and the parked aircraft, and the aircraft safety distance warning module 22 of the processor 2 compares the real-time distance value with the safety distance threshold. Judging and processing and sending out the sound and light alarm command to the sound and light 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 the remote monitoring machine through the communication module 9 .

Embodiment 3

As shown in FIGS. 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 supply module 8, a processor 2 and an acousto-optic alarm module 7. The satellite positioning module 1 is a Beidou positioning module or a GPS positioning module. Among them, the ADSB module 5 can adopt the ADS-B airborne equipment of Beijing General Aviation Electronic Technology Co., Ltd. The processor 2 is respectively connected with the satellite positioning module 1, the ADSB module 5, the power module 8 and the sound and light alarm module 7, and the power module 8 is respectively connected with the satellite positioning module 1, the ADSB module 5, the processor 2 and the sound and light alarm module 7. . The processor 2 has a runway warning area early warning module 21 and an aircraft safety distance early warning module 22. The runway warning area early warning module 21 has a warning area database inside, and the warning area database stores all the geographic coordinate data of the airport runway warning area. The geographic coordinate data is latitude and longitude coordinates.

The satellite positioning module 1 is used to locate satellite data in real time to obtain real-time geographic coordinate data and transmit it to the processor 2. The runway warning zone warning module 21 of the processor 2 is used to combine the real-time geographic coordinate data of the satellite positioning module 1 with the warning zone database. All geographic coordinate data of the data comparison and runway intrusion judgment processing are carried out, and the sound and light alarm command is issued to the sound and light alarm module 7. The ADSB module 1 is used to provide the position data of the parked aircraft in the airport. The position data is geographic coordinate data. The ADSB module 1 can provide the positions of all aircraft within the receiving distance, including the runway stop and the flight position trajectory of the aircraft flying in the air (the ADSB module 1 reports The flight position trajectory of the incoming aircraft), calculate the landing time and runway occupancy, such as the runway is occupied by the aircraft, the vehicle position and the runway coordinates are calculated, and the conflict is prompted; the aircraft safety distance warning module 22 is internally set with a safety distance threshold, the aircraft safety distance The early warning module 22 is used to perform distance calculation on the real-time geographic coordinate data of the satellite positioning module 1 and the position data of the parked aircraft in the airport and obtain the real-time distance value between the vehicle and the parked aircraft. The aircraft safety distance early warning module 22 of the processor 2 will The real-time distance value and the safety distance threshold are compared and judged, and an acousto-optic alarm command is issued to the acousto-optic alarm module 7, which is used to issue an acousto-optic alarm signal.

As shown in Figures 1 to 4, a front-end early warning method for runway intrusion based on vehicle behavior prediction, the method is as follows:

A. The runway lift area 10 in the airport extends M meters outward to define a runway safety area 11, where M=90 meters. Then, a warning zone area 12 is drawn by extending D ₂ meters outside the runway safety area 11, and the extended width D ₂ is the warning zone distance. The method of extending the width D ₂ meters of the warning zone area 12 is as follows:

警戒区区域12所延伸宽度D₂，D₂＝D₁*T₂＝50.1m。A1. Set the early warning operation processing time of runway safety zone intrusion as T ₀ = _2s , and reserve the buffer time of T1, T1 _{= 1s} , then the vehicle early warning braking reaction time is: less _than T2, T2=T ₀ +T ₁ =3s, the units of T ₂ , T ₁ , and T ₀ are all seconds, the maximum speed limit of vehicles in the airport is V _m , the unit of V _m is km/h, and the calculated distance per second is D ₁ ,

The extended width D ₂ of the warning zone area 12 is D ₂ =D ₁ *T ₂ =50.1m.

B. The satellite data of the vehicle is located in real time through the satellite positioning module 1 located inside the vehicle to obtain the real-time geographic coordinate data and transmit it to the processor 2, while the satellite positioning module 1 obtains the speed V ₁ of the vehicle, the satellite positioning module 1, the inertial navigation module 3 and the AI co-processor 4 jointly obtain the traveling direction θ of the vehicle under the processing of the processor 2. The processor 2 calculates the straight-line distance D ₃ between the vehicle and the edge of the runway safety area 11 according to the real-time geographic coordinate data of the vehicle, and the processor 2 determines The magnitude relationship between the straight _- line distance _D3 and the warning zone distance D2.

B1. When the straight-line distance D ₃ > the warning zone distance D ₂ , the processor 2 does not issue an alarm monitoring command to the sound and light alarm module 7 .

B2. When the straight-line distance D ₃ ≤ the warning zone distance D ₂ , the processor 2 sends an alarm monitoring command to the sound and light alarm module 7 .

C. The processor 2 calculates the distance D ₄ and the time T ₃ required for the vehicle to enter the runway safety area 11 through the following formula,

After obtaining the time T3, the processor ₂ performs the following alarm judgment and alarm response:

C1. When T ₃ ≥ T ₂ , the processor 2 sends an alarm monitoring command to the sound and light alarm module 7 .

C2. When T ₃ <T ₂ , the processor 2 sends an audible and visual alarm prompt to the audible and visual alarm module 7 to inform the vehicle to exit immediately. When the vehicle exits, the audible and visual alarm prompt of the audible and visual alarm module 7 is terminated.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (7)

1. a runway intrusion front-end early warning system based on vehicle behavior prediction, is characterized in that: comprise satellite positioning module (1), ADSB module (5), power supply module (8), processor (2), sound and light alarm module ( 7), an inertial navigation module (3) and an AI coprocessor (4), the processor (2) is respectively connected with the satellite positioning module (1), the ADSB module (5), the power supply module (8), the sound and light alarm module (7) Connection, the power supply module (8) is electrically connected with the satellite positioning module (1), the ADSB module (5), the processor (2), and the sound and light alarm module (7) respectively; the processor (2) There is a runway warning area early warning module (21) and an aircraft safety distance early warning module (22) inside, and the runway warning area early warning module (21) has a warning area database inside, and the warning area database stores all geographic information of the airport runway warning area. Coordinate data, the satellite positioning module (1) is used to locate satellite data in real time to obtain real-time geographic coordinate data and transmit it to the processor (2), and the runway warning zone early warning module (21) of the processor (2) is used for Carry out data comparison and runway intrusion judgment processing with the real-time geographic coordinate data of the satellite positioning module (1) and all the geographic coordinate data in the warning zone database, and issue a sound and light alarm command to the sound and light alarm module (7); the ADSB module (1) for providing the position data of the parked aircraft in the airport, the position data is geographic coordinate data, and the aircraft safety distance early warning module (22) is internally set with a safety distance threshold, and the aircraft safety distance early warning module (22) ) for carrying out distance calculation with the real-time geographic coordinate data of satellite positioning module (1) and the position data of the parked aircraft in the airport and obtains the real-time distance value between the vehicle and the parked aircraft, the aircraft safety distance of the processor (2) The early warning module (22) compares and judges the real-time distance value with the safety distance threshold, and issues a sound and light alarm command to the sound and light alarm module (7), and the sound and light alarm module (7) is used to issue a sound and light alarm signal; The processor (2) is respectively connected to the inertial navigation module (3) and the AI coprocessor (4), the power supply module (8) is respectively connected to the inertial navigation module (3) and the AI coprocessor (4), and the inertial navigation module (3) and the AI coprocessor (4) are respectively connected. The guidance module is used to provide short-term vehicle position data and transmit it to the processor in the absence of satellite signals. The AI co-processor is used to provide intelligent prediction of vehicle driving behavior and transmit it to the processor. The satellite positioning module, inertial navigation module and AI The co-processor jointly obtains the traveling direction θ of the vehicle under the processing of the processor. The processor calculates the straight-line distance D ₃ between the vehicle and the edge of the runway safety area according to the real-time geographic coordinate data of the vehicle, and the processor determines the straight-line distance D ₃ and the warning zone distance. _The size relationship between D2. 2. according to a kind of runway intrusion front-end early warning system based on vehicle behavior prediction according to claim 1, it is characterized in that: also comprise voice module (6), described voice module (6) and ADSB module (5), process respectively The device (2) and the power module (8) are connected. 3. a kind of runway intrusion front-end early warning system based on vehicle behavior prediction according to claim 1, is characterized in that: also comprises communication module (9), described communication module (9) is respectively with processor (2), satellite The positioning module (1) is connected. 4. according to a kind of runway intrusion front-end early warning system based on vehicle behavior prediction according to claim 3, it is characterized in that: described satellite positioning module (1) is Beidou positioning module or GPS positioning module; Described geographic coordinate data is longitude and latitude coordinate. 5. A runway intrusion front-end early warning method based on vehicle behavior prediction is characterized in that: its method is as follows: A. The runway lift zone area (10) in the airport extends M meters to define a runway safety area (11), and then extends N meters outside the runway safety area (11) to define a warning zone area (12). ); obtain all geographic coordinate data in the runway lift zone area (10), the runway safety area (11), and the warning zone area (12) through the satellite positioning device or the satellite positioning module (1) and store them in the runway warning zone warning module ( 21) in the warning zone database; B. Real-time positioning of the satellite data of the vehicle through the satellite positioning module (1) located inside the vehicle to obtain real-time geographic coordinate data and transmit it to the processor (2), the runway warning zone early warning module (21) of the processor (2) sends the satellite The real-time geographic coordinate data of the positioning module (1) is compared with all the geographic coordinate data in the warning zone database, and the runway intrusion is judged and processed, and a sound and light alarm command is issued to the sound and light alarm module (7); C. The ADSB module (1) provides the position data of the parked aircraft in the airport, wherein the position data is geographic coordinate data, the aircraft safety distance early warning module (22) is internally set with a safety distance threshold, and the aircraft safety distance early warning module (22) will be located in the The real-time geographic coordinate data of the satellite positioning module (1) inside the vehicle and the position data of the parked aircraft in the airport perform distance calculation to obtain the real-time distance value between the vehicle and the parked aircraft, and the aircraft safety distance warning module ( 22) compare and judge the real-time distance value with the safety distance threshold and issue an audible and visual alarm command to the audible and visual alarm module (7); D. A display is provided on the processor (2), and the processor (2) transmits the alarm signal and the vehicle position data to the 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: its method is as follows: A. The runway lift zone area (10) in the airport extends M meters to delineate the runway safety area (11), M ≥ 90 meters; and then extends D ₂ meters outside the runway safety area (11) to delineate Out of the warning zone area (12), the extended width D ₂ is the warning zone distance, and the method of extending the width D ₂ m of the warning zone area (12) is as follows: A1. Set the early warning operation processing time of runway safety zone intrusion as T ₀ , and reserve the buffer time of T ₁ , then the vehicle early warning braking reaction time is: less than T ₂ , T ₂ =T ₀ +T ₁ , T ₂ The units of , T ₁ and T ₀ are all seconds. The maximum speed limit of vehicles in the airport is V _m , and the unit of V _m is km/h. The calculated distance traveled per second is D ₁ .

The extended width D ₂ of the warning zone area (12), D ₂ =D ₁ *T ₂ ; B. Real-time positioning of the satellite data of the vehicle through the satellite positioning module (1) located inside the vehicle to obtain real-time geographic coordinate data and transmit it to the processor (2), while the satellite positioning module (1) obtains the speed V ₁ of the vehicle, and the satellite positioning The module (1), the inertial navigation module (3) and the AI co-processor (4) jointly obtain the traveling direction θ of the vehicle under the processing of the processor (2), and the processor (2) calculates the vehicle according to the real-time geographic coordinate data of the vehicle. The straight line distance D ₃ from the edge of the runway safety area (11), the processor (2) judges the magnitude relationship between the straight line distance D ₃ and the warning area distance D ₂ ; B1. When the straight-line distance _D3 > the warning zone distance D2, the processor ( ₂ ) does not issue an alarm monitoring command to the sound and light alarm module (7); B2. When the straight-line distance D ₃ ≤ the warning zone distance D ₂ , the processor (2) sends an alarm monitoring command to the sound and light alarm module (7); C. The processor ( ₂ ) calculates the distance D4 and the time T3 required for the vehicle to enter the runway safety area (11) through the following _formula ,

After obtaining the time T3, the processor ( ₂ ) performs the following alarm judgment and alarm response: C1. When T ₃ ≥ T ₂ , the processor (2) sends an alarm monitoring command to the sound and light alarm module (7); C2. When T ₃ <T ₂ , the processor (2) sends a sound and light alarm prompt to the sound and light alarm module (7) to inform the vehicle to exit immediately. 7. A runway intrusion front-end early warning method based on vehicle behavior prediction is characterized in that: its method is as follows: A. The runway lift belt area (10) in the airport extends M meters to set out the runway safety area (11), M=90 meters; and then extends D ₂ meters outside the runway safety area (11) to set up Out of the warning zone area (12), the extended width D ₂ is the warning zone distance, and the method of extending the width D ₂ m of the warning zone area (12) is as follows: A1. Set the early warning operation processing time of runway safety zone intrusion as T ₀ = _2s , and reserve the buffer time of T1, T1 _{= 1s} , then the vehicle early warning braking reaction time is: less _than T2, T2=T ₀ +T ₁ =3s, the units of T ₂ , T ₁ , and T ₀ are all seconds, the maximum speed limit of vehicles in the airport is V _m , the unit of V _m is km/h, and the calculated distance per second is D ₁ ,

The extended width D ₂ of the warning zone area (12), D ₂ =D ₁ *T ₂ =50.1m; B. Real-time positioning of the satellite data of the vehicle through the satellite positioning module (1) located inside the vehicle to obtain real-time geographic coordinate data and transmit it to the processor (2), while the satellite positioning module (1) obtains the speed V ₁ of the vehicle, and the satellite positioning The module (1), the inertial navigation module (3) and the AI co-processor (4) jointly obtain the traveling direction θ of the vehicle under the processing of the processor (2), and the processor (2) calculates the vehicle according to the real-time geographic coordinate data of the vehicle. The straight line distance D ₃ from the edge of the runway safety area (11), the processor (2) judges the magnitude relationship between the straight line distance D ₃ and the warning area distance D ₂ ; B1. When the straight-line distance _D3 > the warning zone distance D2, the processor ( ₂ ) does not issue an alarm monitoring command to the sound and light alarm module (7); B2. When the straight-line distance D ₃ ≤ the warning zone distance D ₂ , the processor (2) sends an alarm monitoring command to the sound and light alarm module (7); C. The processor ( ₂ ) calculates the distance D4 and the time T3 required for the vehicle to enter the runway safety area (11) through the following _formula ,

After obtaining the time T3, the processor ( ₂ ) performs the following alarm judgment and alarm response: C1. When T ₃ ≥ T ₂ , the processor (2) sends an alarm monitoring command to the sound and light alarm module (7); C2. When T ₃ <T ₂ , the processor (2) sends a sound and light alarm prompt to the sound and light alarm module (7) to inform the vehicle to exit immediately.

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