CN111276011A - Safety assessment warning method and system for multi-runway flight program operation - Google Patents

Safety assessment warning method and system for multi-runway flight program operation Download PDF

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CN111276011A
CN111276011A CN202010029766.8A CN202010029766A CN111276011A CN 111276011 A CN111276011 A CN 111276011A CN 202010029766 A CN202010029766 A CN 202010029766A CN 111276011 A CN111276011 A CN 111276011A
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aircraft
flight
vertical
horizontal
tcas
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CN111276011B (en
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王旭辉
黄荣顺
杨乐
张锐
马强
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China Academy of Civil Aviation Science and Technology
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China Academy of Civil Aviation Science and Technology
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0008—Transmission of traffic-related information to or from an aircraft with other aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
    • G08G5/065—Navigation or guidance aids, e.g. for taxiing or rolling

Abstract

The invention discloses a safety evaluation warning method and a safety evaluation warning system for multi-runway flight program operation, which comprise an aircraft and a TCAS warning evaluation system, wherein the aircraft is internally provided with an aircraft performance calculation software system, an aircraft program simulation software system, an obstacle data storage module and a flight program parameter storage module, the aircraft performance calculation software system comprises an aircraft performance calculation module and an aircraft performance data storage module, and the aircraft program simulation software system comprises an aircraft program simulation module and a flight data storage module. The method is used for evaluating the possibility of triggering the TCAS alarm in the executing process of the multi-runway flight program, and further evaluating the safety of the executed flight program; and the spatial regions of the TA warning region and the RA warning region in the horizontal direction and the vertical direction can be drawn to judge whether the flight path of another aircraft is in the spatial region, whether TCAS warning is triggered can be judged, and the flight procedure flight path can be redesigned according to the spatial region to avoid warning triggering.

Description

Safety assessment warning method and system for multi-runway flight program operation
Technical Field
The invention relates to the technical field of aviation flight early warning, in particular to a safety assessment warning method and system for multi-runway flight program operation.
Background
With the rapid development of civil aviation industry in China, the target throughput of long-term planning of a plurality of domestic transport airports is reached in advance, and most airports prepare or start runway reconstruction and extension work, and develop from a single runway to two runways or develop towards the direction of multiple runways, so that the airport flight programs are more and more intensive, the organization structure is more and more complex, the risk of triggering TCAS (traffic collision avoidance system) alarm between airplanes executing different flight programs is higher and higher, and the normal operation of the airports is greatly influenced.
An air traffic warning and collision avoidance system (TCAS for short) is an independent airborne collision avoidance system and aims to help aircrews avoid air collisions. TCAS in an active state is the last means to turn on and operate collision avoidance protection for Air Traffic Control Radar Beacon Systems (ATCRBS) or S-mode transponder aircraft, by actively interrogating and looking for replies from transponders of other aircraft nearby, continuously surveying the airspace around the aircraft to identify and determine the distance, relative bearing, and relative altitude of the other aircraft. The TCAS predicts the flight path of the aircraft of interest, estimates the two-aircraft distance that the aircraft flies to the Closest Point of Approach (CPA), and determines whether there is a potential risk of collision. If a collision risk is detected, the system will provide guidance for the optimal vertical avoidance maneuver for the aircraft.
The TCAS surrounds a protected airspace of the aircraft B, referred to as a collision zone 3 (shown in fig. 1 and 2), and sequentially forms an RA warning zone 2 and a TA warning zone 1 outside the collision zone 3, the TCAS system being a time-based system, the size and shape of the TA warning zone 1 and the RA warning zone 2 varying with the rate of approach and relative orientation of an intruding aircraft (such as the aircraft a shown in fig. 1 and 2), and the system simultaneously visually and audibly signals to the crew if the flight trajectory of the intruding aircraft is expected to penetrate the RA warning zone 2, these warnings being intended to protect or increase the vertical separation required to avoid the intruding aircraft.
The TCAS alarm evaluation aims at establishing a relative relationship between two aircrafts according to respective flight states of the two aircrafts and evaluating whether the current states of the two aircrafts can avoid triggering of TCAS alarms. The TCAS alarm is currently used as a standby conflict evasion service, so that the number of times of TCAS alarm really occurs in China is low, an airplane needs to operate according to TCAS guidance after the TCAS alarm occurs, an event that the airplane stops approaching and flies again occurs sometimes, the influence of the alarm is not obvious, so that related research and application of the TCAS alarm are less, and the existing research result is not obvious at present.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a safety assessment warning method and a safety assessment warning system for the operation of a multi-runway flight program, which are used for assessing the possibility of triggering a TCAS warning in the execution process of the multi-runway flight program and further assessing the safety of the executed flight program; and based on the method and the system of the invention, a TA warning area and an RA warning area of a relevant program are drawn, and TCAS warning is taken as one of the consideration factors in the design of the flight program, so as to make up the shortages of the design of the flight program.
The purpose of the invention is realized by the following technical scheme:
a safety assessment warning method for multi-runway flight program operation comprises the following steps:
A. comprising at least two aircraft, wherein the two aircraft are respectively aircraft ACAAnd aircraft ACBThe aircraft ACAAircraft ACBAn airplane performance calculation software system and an airplane program simulation software system are respectively arranged in the airplane, the airplane performance calculation software system comprises an airplane performance data storage module, and the airplane program simulation software system comprises a flight data storage module; aircraft (including aircraft AC) of the inventionAAircraft ACB) Preferably an aircraft.
According to aircraft ACAObstacles to the program being executedObject data and passing through aircraft ACAThe aircraft performance calculation software system in the system calculates and obtains the aircraft ACAAircraft performance data including temperature, weight, limit speed, and the aircraft ACAStoring aircraft performance data to aircraft ACAThe aircraft performance data storage module;
according to aircraft ACBObstacle data of executed program and through aircraft ACBThe aircraft performance calculation software system in the system calculates and obtains the aircraft ACBAircraft performance data including temperature, weight, limit speed, and the aircraft ACBStoring aircraft performance data to aircraft ACBThe aircraft performance data storage module;
B. according to the aircraft AC in step AAAircraft performance data and aircraft ACAFlight procedure path information through the aircraft ACAAcquiring aircraft AC by aircraft program simulation software systemAFlight program track data in the system are stored in a flight data storage module in an airplane program simulation software system, and the flight program track data comprise coordinates, speed, height, course and attack angle of each waypoint; according to the aircraft AC in step ABAircraft performance data and aircraft ACBFlight procedure path information through the aircraft ACBAcquiring the AC of the aircraft by an aircraft program simulation software system in the systemBFlight program track data in the system are stored in a flight data storage module in an airplane program simulation software system, and the flight program track data comprise coordinates, speed, height, course and attack angle of each waypoint;
C. the aircraft ACAAircraft ACBTCAS alarm evaluation systems are respectively arranged in the aircraft, each TCAS alarm evaluation system comprises a flight data processing module and a TCAS alarm logic evaluation module, and the aircraft ACARespectively with the aircraft ACAAircraft program simulation software system and aircraft ACBThe aircraft AC, the aircraft program simulation software system communication connectionBTCAS alarm evaluation systemSystem with aircraft AC respectivelyAAircraft program simulation software system and aircraft ACBThe aircraft program simulation software system is in communication connection; flight data processing modules in the TCAS alarm evaluation system respectively receive aircraft ACAAnd aircraft ACBAnd calculating the horizontal distance L between the two aircrafts; flight data processing modules in the TCAS alarm evaluation system respectively receive aircraft ACAAltitude data and aircraft ACBAnd calculating the vertical height H between the two aircraft; the flight data processing module in the TCAS alarm evaluation system calculates the horizontal approaching speed V between the two aircrafts according to the speed, course and attack angle data of the two aircraftshorizontalVertical approach velocity VverticalAnd simultaneously calculating the horizontal approach time T between the two aircraftshorizontalAnd vertical approach time Tvertical；
D. And a TCAS alarm logic evaluation module of the TCAS alarm evaluation system judges the TCAS alarm according to the TCAS alarm logic and obtains an evaluation alarm result.
A safety assessment warning method for multi-runway flight program operation comprises the following steps:
A. comprising at least two aircraft, wherein the two aircraft are respectively aircraft ACAAnd aircraft ACBThe aircraft ACAAircraft ACBAn airplane performance calculation software system and an airplane program simulation software system are respectively arranged in the airplane, the airplane performance calculation software system comprises an airplane performance data storage module, and the airplane program simulation software system comprises a flight data storage module;
according to aircraft ACAObstacle data of executed program and through aircraft ACAThe aircraft performance calculation software system in the system calculates and obtains the aircraft ACAAircraft performance data including temperature, weight, limit speed, and the aircraft ACAStoring aircraft performance data to aircraft ACAThe aircraft performance data storage module;
according to aircraft ACBObstacle data of executed program and through aircraft ACBThe aircraft performance calculation software system in the system calculates and obtains the aircraft ACBAircraft performance data including temperature, weight, limit speed, and the aircraft ACBStoring aircraft performance data to aircraft ACBThe aircraft performance data storage module;
B. according to the aircraft AC in step AAAircraft performance data and aircraft ACAFlight procedure path information through the aircraft ACAAcquiring aircraft AC by aircraft program simulation software systemAFlight program track data in the system are stored in a flight data storage module in an airplane program simulation software system, and the flight program track data comprise coordinates, speed, height, course and attack angle of each waypoint; according to the aircraft AC in step ABAircraft performance data and aircraft ACBFlight procedure path information through the aircraft ACBAcquiring the AC of the aircraft by an aircraft program simulation software system in the systemBFlight program track data in the system are stored in a flight data storage module in an airplane program simulation software system, and the flight program track data comprise coordinates, speed, height, course and attack angle of each waypoint;
C. the aircraft ACAAircraft ACBTCAS alarm evaluation systems are respectively arranged in the aircraft, each TCAS alarm evaluation system comprises a flight data processing module and a TCAS alarm logic evaluation module, and the aircraft ACARespectively with the aircraft ACAAircraft program simulation software system and aircraft ACBThe aircraft AC, the aircraft program simulation software system communication connectionBRespectively with the aircraft ACAAircraft program simulation software system and aircraft ACBThe aircraft program simulation software system is in communication connection; flight data processing modules in the TCAS alarm evaluation system respectively receive aircraft ACAAnd aircraft ACBAnd calculates the level between two aircraftA distance L; flight data processing modules in the TCAS alarm evaluation system respectively receive aircraft ACAAltitude data and aircraft ACBAnd calculating the vertical height H between the two aircraft; the flight data processing module in the TCAS alarm evaluation system calculates the horizontal approaching speed V between the two aircrafts according to the speed, course and attack angle data of the two aircraftshorizontalVertical approach velocity VverticalAnd simultaneously calculating the horizontal approach time T between the two aircraftshorizontalAnd vertical approach time Tvertical；
D. The TCAS alarm logic evaluation module of the TCAS alarm evaluation system acquires a TCAS alarm threshold data table and obtains an estimated collision time TAU (TA)horizontal、TAU(TA)verticalAnd TAU (RA)horizontal、TAU(RA)vertical；
D1 passing through level to approach time ThorizontalVertical approach time Tvertical、TAU(TA)horizontalAnd TAU (TA)verticalThe horizontal and vertical proximity warning differences Δ T1 and Δ T2 are calculated respectively according to the following equations:
ΔT1＝Thorizontal—TAU(TA)horizontal；
ΔT2＝Tvertical—TAU(TA)vertical；
the following alert logic decision is then made:
when the delta T1 is greater than 0 and the delta T2 is greater than 0, the alarm thresholds of the two aircrafts in the horizontal direction and the vertical direction are not reached, the approach rates of the two aircrafts are recorded as trend risks, and the TCAS risk feature is not locked;
when the delta T1 is less than 0 and the delta T2 is greater than 0, the alarm thresholds in the vertical direction are not reached by the two aircrafts, the approach rates of the two aircrafts are recorded as tendency risks, and the TCAS risk feature is not locked;
when the delta T1 is greater than 0 and the delta T2 is less than 0, the alarm thresholds in the horizontal direction are not reached by the two aircrafts, the approach rates of the two aircrafts are recorded as tendency risks, and the TCAS risk feature is not locked;
when Δ T1<0 and Δ T2<0 indicate that both aircraft reach the warning threshold in both the horizontal and vertical directions, the approach rates of both aircraft are recorded as trending risks, and the TCAS risk feature is locked;
d2 passing through level to approach time ThorizontalVertical approach time Tvertical、TAU(RA)horizontalAnd TAU (RA)verticalThe horizontal approach warning difference Δ T3 and the vertical approach warning difference Δ T4 are calculated respectively according to the following formulas:
ΔT3＝Thorizontal—TAU(RA)horizontal；
ΔT4＝Tvertical—TAU(RA)vertical；
the following warning logic decisions are then made:
when the delta T3 is greater than 0 and the delta T4 is greater than 0, the TCAS RA alarm is not triggered;
when Δ T3<0 or Δ T4<0, in conjunction with the TCAS risk feature lock, a TCAS RA alert is triggered.
E. Drawing a TA warning area and an RA warning area, wherein the TCAS warning evaluation system also comprises a TCAS protection area drawing module;
e1, TCAS protection area drawing module of TCAS alarm evaluation system according to horizontal approaching speed Vhorizontal、TAU(TA)horizontalAnd TAU (RA)horizontalCalculating a horizontal TA warning interval and a horizontal RA warning interval required by the two aircrafts, and drawing a horizontal TA warning avoidance boundary and a horizontal RA warning avoidance boundary by combining an aircraft program simulation software system;
e2, TCAS protection area drawing module of TCAS alarm evaluation system according to vertical approaching speed Vvertical、TAU(TA)verticalAnd TAU (RA)verticalAnd calculating the vertical TA warning interval and the vertical RA warning interval required by the two aircrafts, and drawing a vertical TA warning avoidance boundary and a vertical RA warning avoidance boundary by combining an aircraft program simulation software system.
A safety evaluation and alarm system for multi-runway flight program operation comprises an aircraft and a TCAS alarm evaluation systemThe aircraft of the invention is preferably an aircraft. The aircraft is internally provided with an aircraft performance calculation software system, an aircraft program simulation software system, a barrier data storage module and a flight program parameter storage module, the barrier data storage module is connected with the aircraft performance calculation software system, the flight program parameter storage module and the aircraft performance calculation software system are respectively connected with the aircraft program simulation software system, the aircraft performance calculation software system comprises an aircraft performance calculation module and an aircraft performance data storage module, the aircraft program simulation software system comprises an aircraft program simulation module and a flight data storage module, the barrier data storage module is used for storing barrier data of the aircraft, the flight program parameter storage module is used for storing flight program path information of the aircraft, the aircraft performance calculation module is used for calculating aircraft performance data of the aircraft according to the barrier data of the aircraft and storing the aircraft performance data storage module, the aircraft performance data comprises temperature, weight and limiting speed; the aircraft program simulation module is used for obtaining flight program track data of the aircraft according to aircraft performance data and flight program path information of the aircraft and storing the flight program track data in the flight data storage module; the aircraft program simulation software system is connected with a TCAS alarm evaluation system, the TCAS alarm evaluation system comprises a flight data processing module, a TCAS alarm logic judgment module and a TCAS protection area drawing module, and the flight data processing module is used for calculating the horizontal distance L, the vertical height H and the horizontal approach speed V between two aircraftshorizontalVertical approach velocity VverticalHorizontal approach time ThorizontalAnd vertical approach time Tvertical(ii) a The TCAS alarm logic judgment module is internally provided with a TCAS alarm threshold data table and is used for calculating to obtain an evaluation alarm result, and the TCAS protection zone drawing module is used for drawing a horizontal TA alert avoidance boundary, a horizontal RA alert avoidance boundary, a vertical TA alert avoidance boundary and a vertical RA alert avoidance boundary respectively.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the method is used for evaluating the possibility of triggering the TCAS alarm in the executing process of the multi-runway flight program, and further evaluating the safety of the executed flight program; and based on the method and the system of the invention, a TA warning area and an RA warning area of a relevant program are drawn, and TCAS warning is taken as one of the consideration factors in the design of the flight program, so as to make up the shortages of the design of the flight program.
(2) The invention can draw the space areas of the TA warning area and the RA warning area in the horizontal direction and the vertical direction to judge whether the flight path of another aircraft is in the space area, can judge whether the TCAS warning is triggered, and can redesign the flight path of a flight program according to the space area to avoid warning triggering.
Drawings
FIG. 1 is a schematic diagram of a TA warning area, an RA warning area and a collision area constructed based on TCAS warning according to the invention;
FIG. 2 is a schematic view of FIG. 1 from above;
FIG. 3 is a schematic diagram depicting a horizontal TA alert avoidance boundary and a horizontal RA alert avoidance boundary;
FIG. 4 is a block diagram of the module structure of the security assessment alarm system of the present invention.
Wherein, the names corresponding to the reference numbers in the drawings are:
a 1-TA alert zone, a 2-RA alert zone, a 3-collision zone, a 4-horizontal TA alert avoidance boundary, and a 5-horizontal RA alert avoidance boundary.
Detailed Description
The present invention will be described in further detail with reference to the following examples:
example one
A safety assessment warning method for multi-runway flight program operation comprises the following steps:
A. comprising at least two aircraft, wherein the two aircraft are respectively aircraft ACAAnd aircraft ACBThe aircraft ACAAircraft ACBAn airplane performance calculating software system and an airplane program simulation software system are respectively arranged in the airplane performance calculating softwareThe system comprises an aircraft performance data storage module, and the aircraft program simulation software system comprises a flight data storage module; aircraft (including aircraft AC) of the inventionAAircraft ACB) Preferably an aircraft. The invention is primarily intended for safety assessment and warning of multi-runway flights of at least two aircraft, in case of an aircraft ACAFor local aircraft, the aircraft AC is usedATo determine surrounding aircraft (including aircraft AC)B) And to the aircraft ACAMaking safety assessments and warning flight tips to prevent aircraft ACAAnd the aircraft is collided, and early warning is given out in an RA warning area in advance.
According to aircraft ACAObstacle data of executed program and through aircraft ACAThe aircraft performance calculation software system in the system calculates and obtains the aircraft ACAAircraft performance data including temperature, weight, limit speed, and the aircraft ACAStoring aircraft performance data to aircraft ACAThe aircraft performance data storage module;
according to aircraft ACBObstacle data of executed program and through aircraft ACBThe aircraft performance calculation software system in the system calculates and obtains the aircraft ACBAircraft performance data including temperature, weight, limit speed, and the aircraft ACBStoring aircraft performance data to aircraft ACBThe aircraft performance data storage module;
B. according to the aircraft AC in step AAAircraft performance data and aircraft ACAFlight procedure path information through the aircraft ACAAcquiring aircraft AC by aircraft program simulation software systemAFlight program track data in the system are stored in a flight data storage module in an airplane program simulation software system, and the flight program track data comprise coordinates, speed, height, course and attack angle of each waypoint; according to the aircraft AC in step ABAircraft performance data and aircraft ACBFlight procedure path information through the aircraft ACBAircraft program simulation software system acquisitionAircraft ACBFlight program track data in the system are stored in a flight data storage module in an airplane program simulation software system, and the flight program track data comprise coordinates, speed, height, course and attack angle of each waypoint;
C. the aircraft ACAAircraft ACBTCAS alarm evaluation systems are respectively arranged in the aircraft, each TCAS alarm evaluation system comprises a flight data processing module and a TCAS alarm logic evaluation module, and the aircraft ACARespectively with the aircraft ACAAircraft program simulation software system and aircraft ACBThe aircraft AC, the aircraft program simulation software system communication connectionBRespectively with the aircraft ACAAircraft program simulation software system and aircraft ACBThe aircraft program simulation software system is in communication connection; flight data processing modules in the TCAS alarm evaluation system respectively receive aircraft ACAAnd aircraft ACBAnd calculating the horizontal distance L between the two aircrafts; flight data processing modules in the TCAS alarm evaluation system respectively receive aircraft ACAAltitude data and aircraft ACBAnd calculating the vertical height H between the two aircraft; the flight data processing module in the TCAS alarm evaluation system calculates the horizontal approaching speed V between the two aircrafts according to the speed, course and attack angle data of the two aircraftshorizontalVertical approach velocity VverticalAnd simultaneously calculating the horizontal approach time T between the two aircraftshorizontalAnd vertical approach time Tvertical；
D. And a TCAS alarm logic evaluation module of the TCAS alarm evaluation system judges the TCAS alarm according to the TCAS alarm logic and obtains an evaluation alarm result.
Example two
A safety assessment warning method for multi-runway flight program operation comprises the following steps:
A. comprising at least two aircraft, wherein the two aircraft are respectively aircraft ACAAnd aircraft ACBThe aircraft ACAAircraft ACBAn airplane performance calculation software system and an airplane program simulation software system are respectively arranged in the airplane, the airplane performance calculation software system comprises an airplane performance data storage module, and the airplane program simulation software system comprises a flight data storage module; aircraft (including aircraft AC) of the present embodimentAAircraft ACB) Preferably an aircraft. The embodiment is mainly used for safety assessment and warning prompt of multi-runway flight of at least two aircrafts, if the aircraft AC is usedAFor local aircraft, the aircraft AC is usedATo determine surrounding aircraft (including aircraft AC)B) And to the aircraft ACAMaking safety assessments and warning flight tips to prevent aircraft ACAAnd the aircraft is collided, and early warning is given out in an RA warning area in advance.
According to aircraft ACAObstacle data of executed program and through aircraft ACAThe aircraft performance calculation software system in the system calculates and obtains the aircraft ACAAircraft performance data including temperature, weight, limit speed, and the aircraft ACAStoring aircraft performance data to aircraft ACAThe aircraft performance data storage module;
according to aircraft ACBObstacle data of executed program and through aircraft ACBThe aircraft performance calculation software system in the system calculates and obtains the aircraft ACBAircraft performance data including temperature, weight, limit speed, and the aircraft ACBStoring aircraft performance data to aircraft ACBThe aircraft performance data storage module;
B. according to the aircraft AC in step AAAircraft performance data and aircraft ACAFlight procedure path information through the aircraft ACAAcquiring aircraft AC by aircraft program simulation software systemAThe flight program track data in the system comprises the coordinates, speed and height of each waypointDegree, course, angle of attack; according to the aircraft AC in step ABAircraft performance data and aircraft ACBFlight procedure path information through the aircraft ACBAcquiring the AC of the aircraft by an aircraft program simulation software system in the systemBFlight program track data in the system are stored in a flight data storage module in an airplane program simulation software system, and the flight program track data comprise coordinates, speed, height, course and attack angle of each waypoint;
C. the aircraft ACAAircraft ACBTCAS alarm evaluation systems are respectively arranged in the aircraft, each TCAS alarm evaluation system comprises a flight data processing module and a TCAS alarm logic evaluation module, and the aircraft ACARespectively with the aircraft ACAAircraft program simulation software system and aircraft ACBThe aircraft AC, the aircraft program simulation software system communication connectionBRespectively with the aircraft ACAAircraft program simulation software system and aircraft ACBThe aircraft program simulation software system is in communication connection; flight data processing modules in the TCAS alarm evaluation system respectively receive aircraft ACAAnd aircraft ACBAnd calculating the horizontal distance L between the two aircrafts; flight data processing modules in the TCAS alarm evaluation system respectively receive aircraft ACAAltitude data and aircraft ACBAnd calculating the vertical height H between the two aircraft; the flight data processing module in the TCAS alarm evaluation system calculates the horizontal approaching speed V between the two aircrafts according to the speed, course and attack angle data of the two aircraftshorizontalVertical approach velocity VverticalAnd simultaneously calculating the horizontal approach time T between the two aircraftshorizontalAnd vertical approach time Tvertical；
D. And a TCAS alarm logic evaluation module of the TCAS alarm evaluation system judges the TCAS alarm according to the TCAS alarm logic and obtains an evaluation alarm result.
E. Drawing a TA warning area and an RA warning area, wherein the TCAS warning evaluation system also comprises a TCAS protection area drawing module;
e1, TCAS protection area drawing module of TCAS alarm evaluation system according to horizontal approaching speed Vhorizontal、TAU(TA)horizontalAnd TAU (RA)horizontalCalculating a horizontal TA warning interval and a horizontal RA warning interval required by the two aircrafts, and drawing a horizontal TA warning avoidance boundary and a horizontal RA warning avoidance boundary by combining an aircraft program simulation software system;
e2, TCAS protection area drawing module of TCAS alarm evaluation system according to vertical approaching speed Vvertical、TAU(TA)verticalAnd TAU (RA)verticalAnd calculating the vertical TA warning interval and the vertical RA warning interval required by the two aircrafts, and drawing a vertical TA warning avoidance boundary and a vertical RA warning avoidance boundary by combining an aircraft program simulation software system.
EXAMPLE III
A safety assessment warning method for multi-runway flight program operation comprises the following steps:
A. comprising at least two aircraft, wherein the two aircraft are respectively aircraft ACAAnd aircraft ACBThe aircraft ACAAircraft ACBAn airplane performance calculation software system and an airplane program simulation software system are respectively arranged in the airplane, the airplane performance calculation software system comprises an airplane performance data storage module, and the airplane program simulation software system comprises a flight data storage module; aircraft (including aircraft AC) of the present embodimentAAircraft ACB) Preferably an aircraft. The embodiment is mainly used for safety assessment and warning prompt of multi-runway flight of at least two aircrafts, if the aircraft AC is usedAFor local aircraft, the aircraft AC is usedATo determine surrounding aircraft (including aircraft AC)B) And to the aircraft ACAMaking safety assessments and warning flight tips to prevent aircraft ACAAnd the aircraft is collided, and early warning is given out in an RA warning area in advance.
According to aircraft ACAObstacle data of executed program and through aircraft ACAThe aircraft performance calculation software system in the system calculates and obtains the aircraft ACAAircraft performance data including temperature, weight, limit speed, and the aircraft ACAStoring aircraft performance data to aircraft ACAThe aircraft performance data storage module;
according to aircraft ACBObstacle data of executed program and through aircraft ACBThe aircraft performance calculation software system in the system calculates and obtains the aircraft ACBAircraft performance data including temperature, weight, limit speed, and the aircraft ACBStoring aircraft performance data to aircraft ACBThe aircraft performance data storage module;
B. according to the aircraft AC in step AAAircraft performance data and aircraft ACAFlight procedure path information through the aircraft ACAAcquiring aircraft AC by aircraft program simulation software systemAFlight program track data in the system are stored in a flight data storage module in an airplane program simulation software system, and the flight program track data comprise coordinates, speed, height, course and attack angle of each waypoint; according to the aircraft AC in step ABAircraft performance data and aircraft ACBFlight procedure path information through the aircraft ACBAcquiring the AC of the aircraft by an aircraft program simulation software system in the systemBFlight program track data in the system are stored in a flight data storage module in an airplane program simulation software system, and the flight program track data comprise coordinates, speed, height, course and attack angle of each waypoint;
C. the aircraft ACAAircraft ACBTCAS alarm evaluation systems are respectively arranged in the aircraft, each TCAS alarm evaluation system comprises a flight data processing module and a TCAS alarm logic evaluation module, and the aircraft ACARespectively with the aircraft ACAAircraft program simulation software system and aircraft ACBThe aircraft AC, the aircraft program simulation software system communication connectionBRespectively with the aircraft ACAAircraft program simulation software system and aircraft ACBThe aircraft program simulation software system is in communication connection; flight data processing modules in the TCAS alarm evaluation system respectively receive aircraft ACAAnd aircraft ACBAnd calculating the horizontal distance L between the two aircrafts; flight data processing modules in the TCAS alarm evaluation system respectively receive aircraft ACAAltitude data and aircraft ACBAnd calculating the vertical height H between the two aircraft; the flight data processing module in the TCAS alarm evaluation system calculates the horizontal approaching speed V between the two aircrafts according to the speed, course and attack angle data of the two aircraftshorizontalVertical approach velocity VverticalAnd simultaneously calculating the horizontal approach time T between the two aircraftshorizontalAnd vertical approach time Tvertical；
D. The TCAS alarm logic evaluation module of the TCAS alarm evaluation system acquires a TCAS alarm threshold data table and obtains an estimated collision time TAU (TA)horizontal、TAU(TA)verticalAnd TAU (RA)horizontal、TAU(RA)vertical；
D1 passing through level to approach time ThorizontalVertical approach time Tvertical、TAU(TA)horizontalAnd TAU (TA)verticalThe horizontal and vertical proximity warning differences Δ T1 and Δ T2 are calculated respectively according to the following equations:
ΔT1＝Thorizontal—TAU(TA)horizontal；
ΔT2＝Tvertical—TAU(TA)vertical；
the following alert logic decision is then made:
when the delta T1 is greater than 0 and the delta T2 is greater than 0, the alarm thresholds of the two aircrafts in the horizontal direction and the vertical direction are not reached, the approach rates of the two aircrafts are recorded as trend risks, and the TCAS risk feature is not locked;
when the delta T1 is less than 0 and the delta T2 is greater than 0, the alarm thresholds in the vertical direction are not reached by the two aircrafts, the approach rates of the two aircrafts are recorded as tendency risks, and the TCAS risk feature is not locked;
when the delta T1 is greater than 0 and the delta T2 is less than 0, the alarm thresholds in the horizontal direction are not reached by the two aircrafts, the approach rates of the two aircrafts are recorded as tendency risks, and the TCAS risk feature is not locked;
when Δ T1<0 and Δ T2<0 indicate that both aircraft reach the warning threshold in both the horizontal and vertical directions, the approach rates of both aircraft are recorded as trending risks, and the TCAS risk feature is locked;
d2 passing through level to approach time ThorizontalVertical approach time Tvertical、TAU(RA)horizontalAnd TAU (RA)verticalThe horizontal approach warning difference Δ T3 and the vertical approach warning difference Δ T4 are calculated respectively according to the following formulas:
ΔT3＝Thorizontal—TAU(RA)horizontal；
ΔT4＝Tvertical—TAU(RA)vertical；
the following warning logic decisions are then made:
when the delta T3 is greater than 0 and the delta T4 is greater than 0, the TCAS RA alarm is not triggered;
when Δ T3<0 or Δ T4<0, in conjunction with the TCAS risk feature lock, a TCAS RA alert is triggered.
E. Drawing a TA warning area and an RA warning area, wherein the TCAS warning evaluation system also comprises a TCAS protection area drawing module;
e1, TCAS protection area drawing module of TCAS alarm evaluation system according to horizontal approaching speed Vhorizontal、TAU(TA)horizontalAnd TAU (RA)horizontalCalculating the horizontal TA alert spacing and the horizontal RA alert spacing required by two aircrafts, and drawing a horizontal TA alert avoiding boundary 4 (shown in figure 3) and a horizontal RA alert avoiding boundary 5 (shown in figure 3) by combining an airplane program simulation software system; in this embodiment, the aircraft a1 is used as the own aircraft, the track of the aircraft a1 is a11 shown in fig. 3, and the aircraft a1 is used to determine the surrounding aircraft (including the aircraft a2, and the track of the aircraft a2 is shown in fig. 3A21) and makes safety assessments and warning flight tips for aircraft a1 to prevent aircraft a1 from impacting the aircraft and to issue early warnings within the RA warning zone in advance.
E2, TCAS protection area drawing module of TCAS alarm evaluation system according to vertical approaching speed Vvertical、TAU(TA)verticalAnd TAU (RA)verticalAnd calculating the vertical TA warning interval and the vertical RA warning interval required by the two aircrafts, and drawing a vertical TA warning avoidance boundary and a vertical RA warning avoidance boundary by combining an aircraft program simulation software system. Similarly, in this embodiment, a vertical TA alert avoidance boundary and a vertical RA alert avoidance boundary similar to those in fig. 3 may be drawn, the drawing method of the vertical distance is consistent with the horizontal drawing method, the horizontal distance and the vertical distance are combined to draw a spatial region of the TA alert region and the RA alert region, and it is determined whether the flight path of another aircraft is in the spatial region, so as to determine whether a TCAS alarm will be triggered, or the flight path of the flight program may be redesigned according to the spatial region to trigger the avoidance alarm.
As shown in fig. 4, a safety assessment warning system for multi-runway flight program operation includes an aircraft and a TCAS warning assessment system, the aircraft is internally provided with an aircraft performance calculation software system, an aircraft performance simulation software system, an obstacle data storage module and a flight program parameter storage module, the obstacle data storage module is connected with the aircraft performance calculation software system, the flight program parameter storage module and the aircraft performance calculation software system are respectively connected with the aircraft performance simulation software system, the aircraft performance calculation software system includes an aircraft performance calculation module and an aircraft performance data storage module, the aircraft performance simulation software system includes an aircraft program simulation module and a flight data storage module, the obstacle data storage module is used for storing obstacle data of the aircraft, the flight program parameter storage module is used for storing flight program path information of the aircraft, the aircraft performance calculating module is used for calculating aircraft performance data of the aircraft according to obstacle data of the aircraft and storing the aircraft performance data in the aircraft performance data storage module, wherein the aircraft performance data comprise temperature, weight and limiting speed; what is needed isThe aircraft program simulation module is used for obtaining flight program track data of the aircraft according to aircraft performance data and flight program path information of the aircraft and storing the flight program track data in the flight data storage module; the aircraft program simulation software system is connected with a TCAS alarm evaluation system, the TCAS alarm evaluation system comprises a flight data processing module, a TCAS alarm logic judgment module and a TCAS protection area drawing module, and the flight data processing module is used for calculating the horizontal distance L, the vertical height H and the horizontal approach speed V between two aircraftshorizontalVertical approach velocity VverticalHorizontal approach time ThorizontalAnd vertical approach time Tvertical(ii) a The TCAS alarm logic judgment module is internally provided with a TCAS alarm threshold data table and is used for calculating to obtain an evaluation alarm result, and the TCAS protection zone drawing module is used for drawing a horizontal TA alert avoidance boundary, a horizontal RA alert avoidance boundary, a vertical TA alert avoidance boundary and a vertical RA alert avoidance boundary respectively.
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 (6)

1. A safety assessment warning method for multi-runway flight program operation is characterized in that: the method comprises the following steps:
A. comprising at least two aircraft, wherein the two aircraft are respectively aircraft ACAAnd aircraft ACBThe aircraft ACAAircraft ACBAn airplane performance calculation software system and an airplane program simulation software system are respectively arranged in the airplane, the airplane performance calculation software system comprises an airplane performance data storage module, and the airplane program simulation software system comprises a flight data storage module;
according to aircraft ACAObstacle data of executed program and through aircraft ACAThe aircraft performance calculation software system in the system calculates and obtains the aircraft ACAAircraft performanceEnergy data, including temperature, weight, speed limit, and AC aircraft performance dataAStoring aircraft performance data to aircraft ACAThe aircraft performance data storage module;
according to aircraft ACBObstacle data of executed program and through aircraft ACBThe aircraft performance calculation software system in the system calculates and obtains the aircraft ACBAircraft performance data including temperature, weight, limit speed, and the aircraft ACBStoring aircraft performance data to aircraft ACBThe aircraft performance data storage module;
B. according to the aircraft AC in step AAAircraft performance data and aircraft ACAFlight procedure path information through the aircraft ACAAcquiring aircraft AC by aircraft program simulation software systemAFlight program track data in the system are stored in a flight data storage module in an airplane program simulation software system, and the flight program track data comprise coordinates, speed, height, course and attack angle of each waypoint; according to the aircraft AC in step ABAircraft performance data and aircraft ACBFlight procedure path information through the aircraft ACBAcquiring the AC of the aircraft by an aircraft program simulation software system in the systemBFlight program track data in the system are stored in a flight data storage module in an airplane program simulation software system, and the flight program track data comprise coordinates, speed, height, course and attack angle of each waypoint;
C. the aircraft ACAAircraft ACBTCAS alarm evaluation systems are respectively arranged in the aircraft, each TCAS alarm evaluation system comprises a flight data processing module and a TCAS alarm logic evaluation module, and the aircraft ACARespectively with the aircraft ACAAircraft program simulation software system and aircraft ACBThe aircraft AC, the aircraft program simulation software system communication connectionBRespectively with the aircraft ACAAircraft program simulation software system and aircraft ACBAircraft program simulation software systemA signal connection; flight data processing modules in the TCAS alarm evaluation system respectively receive aircraft ACAAnd aircraft ACBAnd calculating the horizontal distance L between the two aircrafts; flight data processing modules in the TCAS alarm evaluation system respectively receive aircraft ACAAltitude data and aircraft ACBAnd calculating the vertical height H between the two aircraft; the flight data processing module in the TCAS alarm evaluation system calculates the horizontal approaching speed V between the two aircrafts according to the speed, course and attack angle data of the two aircraftshorizontalVertical approach velocity VverticalAnd simultaneously calculating the horizontal approach time T between the two aircraftshorizontalAnd vertical approach time Tvertical；
D. And a TCAS alarm logic evaluation module of the TCAS alarm evaluation system judges the TCAS alarm according to the TCAS alarm logic and obtains an evaluation alarm result.
2. A safety assessment warning method for multi-runway flight program operation is characterized in that: the method comprises the following steps:
A. including aircraft ACAAnd aircraft ACBThe aircraft ACAAircraft ACBAn airplane performance calculation software system and an airplane program simulation software system are respectively arranged in the airplane, the airplane performance calculation software system comprises an airplane performance data storage module, and the airplane program simulation software system comprises a flight data storage module;
according to aircraft ACAObstacle data of executed program and through aircraft ACAThe aircraft performance calculation software system in the system calculates and obtains the aircraft ACAAircraft performance data including temperature, weight, limit speed, and the aircraft ACAStoring aircraft performance data to aircraft ACAThe aircraft performance data storage module;
according to aircraft ACBObstacle data of executed program and through aircraft ACBAircraft in ChinaCalculating and obtaining the AC of the aircraft by a performance calculating software systemBAircraft performance data including temperature, weight, limit speed, and the aircraft ACBStoring aircraft performance data to aircraft ACBThe aircraft performance data storage module;
B. according to the aircraft AC in step AAAircraft performance data and aircraft ACAFlight procedure path information through the aircraft ACAAcquiring aircraft AC by aircraft program simulation software systemAFlight program track data in the system are stored in a flight data storage module in an airplane program simulation software system, and the flight program track data comprise coordinates, speed, height, course and attack angle of each waypoint; according to the aircraft AC in step ABAircraft performance data and aircraft ACBFlight procedure path information through the aircraft ACBAcquiring the AC of the aircraft by an aircraft program simulation software system in the systemBFlight program track data in the system are stored in a flight data storage module in an airplane program simulation software system, and the flight program track data comprise coordinates, speed, height, course and attack angle of each waypoint;
C. the aircraft ACAAircraft ACBTCAS alarm evaluation systems are respectively arranged in the aircraft, each TCAS alarm evaluation system comprises a flight data processing module and a TCAS alarm logic evaluation module, and the aircraft ACARespectively with the aircraft ACAAircraft program simulation software system and aircraft ACBThe aircraft AC, the aircraft program simulation software system communication connectionBRespectively with the aircraft ACAAircraft program simulation software system and aircraft ACBThe aircraft program simulation software system is in communication connection; flight data processing modules in the TCAS alarm evaluation system respectively receive aircraft ACAAnd aircraft ACBAnd calculating the horizontal distance L between the two aircrafts; flight data processing modules in the TCAS alarm evaluation system respectively receive aircraft ACAAltitude data and aircraftACBAnd calculating the vertical height H between the two aircraft; the flight data processing module in the TCAS alarm evaluation system calculates the horizontal approaching speed V between the two aircrafts according to the speed, course and attack angle data of the two aircraftshorizontalVertical approach velocity VverticalAnd simultaneously calculating the horizontal approach time T between the two aircraftshorizontalAnd vertical approach time Tvertical；
D. The TCAS alarm logic evaluation module of the TCAS alarm evaluation system acquires a TCAS alarm threshold data table and obtains an estimated collision time TAU (TA)horizontal、TAU(TA)verticalAnd TAU (RA)horizontal、TAU(RA)vertical；
D1 passing through level to approach time ThorizontalVertical approach time Tvertical、TAU(TA)horizontalAnd TAU (TA)verticalThe horizontal and vertical proximity warning differences Δ T1 and Δ T2 are calculated respectively according to the following equations:
ΔT1＝Thorizontal—TAU(TA)horizontal；
ΔT2＝Tvertical—TAU(TA)vertical；
the following alert logic decision is then made:
when the delta T1 is greater than 0 and the delta T2 is greater than 0, the alarm thresholds of the two aircrafts in the horizontal direction and the vertical direction are not reached, the approach rates of the two aircrafts are recorded as trend risks, and the TCAS risk feature is not locked;
when the delta T1 is less than 0 and the delta T2 is greater than 0, the alarm thresholds in the vertical direction are not reached by the two aircrafts, the approach rates of the two aircrafts are recorded as tendency risks, and the TCAS risk feature is not locked;
when the delta T1 is greater than 0 and the delta T2 is less than 0, the alarm thresholds in the horizontal direction are not reached by the two aircrafts, the approach rates of the two aircrafts are recorded as tendency risks, and the TCAS risk feature is not locked;
when Δ T1<0 and Δ T2<0 indicate that both aircraft reach the warning threshold in both the horizontal and vertical directions, the approach rates of both aircraft are recorded as trending risks, and the TCAS risk feature is locked;
d2 passing through level to approach time ThorizontalVertical approach time Tvertical、TAU(RA)horizontalAnd TAU (RA)verticalThe horizontal approach warning difference Δ T3 and the vertical approach warning difference Δ T4 are calculated respectively according to the following formulas:
ΔT3＝Thorizontal—TAU(RA)horizontal；
ΔT4＝Tvertical—TAU(RA)vertical；
the following warning logic decisions are then made:
when the delta T3 is greater than 0 and the delta T4 is greater than 0, the TCAS RA alarm is not triggered;
when Δ T3<0 or Δ T4<0, in conjunction with the TCAS risk feature lock, a TCAS RA alert is triggered.
3. The method of claim 2, wherein the method comprises: further comprising the following step E:
E. drawing a TA warning area and an RA warning area, wherein the TCAS warning evaluation system also comprises a TCAS protection area drawing module;
e1, TCAS protection area drawing module of TCAS alarm evaluation system according to horizontal approaching speed Vhorizontal、TAU(TA)horizontalAnd TAU (RA)horizontalCalculating a horizontal TA warning interval and a horizontal RA warning interval required by the two aircrafts, and drawing a horizontal TA warning avoidance boundary and a horizontal RA warning avoidance boundary by combining an aircraft program simulation software system;
e2, TCAS protection area drawing module of TCAS alarm evaluation system according to vertical approaching speed Vvertical、TAU(TA)verticalAnd TAU (RA)verticalAnd calculating the vertical TA warning interval and the vertical RA warning interval required by the two aircrafts, and drawing a vertical TA warning avoidance boundary and a vertical RA warning avoidance boundary by combining an aircraft program simulation software system.
4. A method for safety assessment warning of the operation of a multi-runway flight procedure according to claim 2 or 3, characterized in that: the aircraft is an aircraft.
5. A safety assessment warning system for multi-runway flight program operation is characterized in that: the aircraft performance evaluation system comprises an aircraft and a TCAS alarm evaluation system, wherein an aircraft performance calculation software system, an aircraft program simulation software system, a barrier data storage module and a flight program parameter storage module are arranged in the aircraft, the barrier data storage module is connected with the aircraft performance calculation software system, the flight program parameter storage module and the aircraft performance calculation software system are respectively connected with the aircraft program simulation software system, the aircraft performance calculation software system comprises an aircraft performance calculation module and an aircraft performance data storage module, the aircraft program simulation software system comprises an aircraft program simulation module and a flight data storage module, the barrier data storage module is used for storing barrier data of the aircraft, the flight program parameter storage module is used for storing flight program path information of the aircraft, the aircraft performance calculation module is used for calculating aircraft performance data of the aircraft according to the barrier data of the aircraft and storing the aircraft performance data of the aircraft In the airplane performance data storage module, the airplane performance data comprises temperature, weight and limiting speed; the aircraft program simulation module is used for obtaining flight program track data of the aircraft according to aircraft performance data and flight program path information of the aircraft and storing the flight program track data in the flight data storage module; the aircraft program simulation software system is connected with a TCAS alarm evaluation system, the TCAS alarm evaluation system comprises a flight data processing module, a TCAS alarm logic judgment module and a TCAS protection area drawing module, and the flight data processing module is used for calculating the horizontal distance L, the vertical height H and the horizontal approach speed V between two aircraftshorizontalVertical approach velocity VverticalHorizontal approach time ThorizontalAnd vertical approach time Tvertical(ii) a The TCAS alarm logic judgment module is internally provided with a TCAS alarm threshold data table and is used forAnd calculating to obtain an evaluation alarm result, wherein the TCAS protective zone drawing module is used for drawing a horizontal TA warning avoidance boundary, a horizontal RA warning avoidance boundary, a vertical TA warning avoidance boundary and a vertical RA warning avoidance boundary respectively.
6. The method of claim 5, wherein the method comprises: the aircraft is an aircraft.
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