CN112083421B - Runway intrusion early warning system and method based on millimeter wave radar technology - Google Patents
Runway intrusion early warning system and method based on millimeter wave radar technology Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
- G01S13/934—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft on airport surfaces, e.g. while taxiing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
Abstract
The invention discloses a runway intrusion early warning system and method based on millimeter wave radar technology, which comprises a millimeter wave radar system, a data processing analysis control module and an airport runway intrusion prevention alarm rule database, wherein the millimeter wave radar system comprises a plurality of millimeter wave radar modules, the airport runway intrusion prevention alarm rule database comprises a runway intrusion prevention longitude and latitude map module and a runway intrusion prevention alarm planning module, each millimeter wave radar module carries out image scanning and transmits the image scanning to the airport runway intrusion prevention alarm rule database, the runway intrusion prevention longitude and latitude map module establishes a radar scanning longitude and latitude map, the airport runway intrusion prevention alarm rule database is used for mapping the real-time scanning result of a moving target to the radar scanning longitude and latitude map, and the data processing analysis control module is used for making runway intrusion early warning. The invention can detect the runway running area invasion event all day long and all day long, and realizes effective prevention and timely alarm of the runway invasion event.
Description
Technical Field
The invention relates to the field of safety of airport runway areas, in particular to a runway invasion early warning system and method based on a millimeter wave radar technology.
Background
Civil aircrafts in China increase year by year, vehicles and personnel running on the airport surface also grow at an incredible speed, the safety problem of the airport surface is increasingly prominent, and particularly, unsafe events of runways occur frequently. The runway invasion is an important factor influencing the operation safety of a flight area, and how to effectively reduce the occurrence of runway invasion events is a problem which is addressed by civil aviation management departments, airports and research institutions of all countries around the world.
Runway incursion events involve primarily aircraft, vehicle, personnel targets, FAAs (i.e., federal aviation administration in the united states) classify runway incursion error causes primarily into three categories, operational control errors, pilot deviations, vehicle/pedestrian deviations, and runway incursion reduction requires three-party collaboration of air-traffic, flight crew, and ground. During the 2017-year and 2019-year period, the runway invasion event 5345 occurs in the united states, and only in the 2019-year, the runway invasion event 1761 occurs. Aiming at the problem of frequent runway invasion, the technical research and application for preventing runway invasion are actively developed by civil aviation scientific research and practitioners of various countries, and the technical means mainly comprise light-emission stopping, runway state lights, GNSS vehicle-mounted equipment and electronic fences and the like.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a runway intrusion early warning system and method based on a millimeter wave radar technology, the millimeter wave radar technology can be used for detecting the runway operation area intrusion events all day long, monitoring the possible conflict risks, comprehensively improving the alarm accuracy and timeliness, realizing the monitoring and risk prevention of the runway intrusion events and being beneficial to managers to make rapid response and command.
The purpose of the invention is realized by the following technical scheme:
a runway intrusion early warning system based on millimeter wave radar technology comprises a millimeter wave radar system, a data processing analysis control module and an airport runway intrusion prevention warning rule database, wherein the millimeter wave radar system, the data processing analysis control module and the airport runway intrusion prevention warning rule database are sequentially connected, the millimeter wave radar system comprises a plurality of millimeter wave radar modules, each millimeter wave radar module is arranged near a runway, and all millimeter wave radar modules of the millimeter wave radar system completely cover a runway area and a runway protection area; the anti-invasion alarm rule database of the airport runway comprises a runway anti-invasion longitude and latitude map module and a runway anti-invasion alarm planning module, each millimeter wave radar module of the millimeter wave radar system is used for scanning images of a runway area and a runway protection area and transmitting the scanned images to the airport runway anti-invasion alarm rule database, the runway anti-invasion longitude and latitude map module in the airport runway anti-invasion alarm rule database is correspondingly matched with the scanned images and establishes a radar scanning longitude and latitude map mapped correspondingly with the scanned images, the runway anti-invasion alarm planning module is used for planning a runway area, an alarm area and a pre-alarm area in the radar scanning longitude and latitude map, the alarm area is a first annular area with the edge of the runway area extending outwards, and the pre-alarm area is a second annular area with the edge of the alarm area extending outwards; each millimeter wave radar module of the millimeter wave radar system is further used for scanning a runway area and a runway protection area in real time and respectively transmitting the real-time scanning results of the moving target to the data processing analysis control module and the airport runway anti-intrusion alarm rule database, the airport runway anti-intrusion alarm rule database is further used for correspondingly mapping the real-time scanning results of the moving target to a radar scanning longitude and latitude map, the data processing analysis control module is used for judging whether the real-time scanning results are located in the runway area, the alarm area or the early-warning area and obtaining intrusion alarm results, and the intrusion alarm results comprise runway area intrusion alarm, alarm area intrusion alarm and early-warning area intrusion alarm.
In order to better respond to the alarm and play a role of alarm prompt, the runway intrusion early warning system also comprises an alarm device, wherein the alarm device is connected with the data processing analysis control module and is used for responding to an intrusion alarm result obtained by the data processing analysis control module correspondingly.
Preferably, the runway intrusion early warning system further comprises a communication module, and the communication module is connected with the data processing analysis control module.
Preferably, the data processing, analyzing and controlling module comprises a data processing and calculating module, the data processing and calculating module is used for calculating the longitude and latitude of the moving target, and the data processing and calculating module is further used for respectively calculating the approaching distance of the moving target from the edge of the runway and the moving speed of the moving target according to the real-time scanning result of the corresponding moving target.
Preferably, the warning device comprises a light warning module and a sound warning module, wherein the light warning module adopts red, yellow and orange lights to respectively and correspondingly respond to runway area intrusion warning, warning area intrusion warning and early warning area intrusion warning; the sound alarm module adopts three sound modes or sound intensity to respectively correspond to the response runway area intrusion alarm, the alarm area intrusion alarm and the early-warning area intrusion alarm.
A runway intrusion early warning method based on a millimeter wave radar technology comprises the following steps:
A. and (3) panoramic repeated scanning and establishing a radar scanning longitude and latitude map: all millimeter wave radar modules of the millimeter wave radar system respectively carry out panoramic scanning on a runway area and a runway protection area and transmit a scanning image to an airport runway anti-invasion warning rule database, a runway anti-invasion longitude and latitude map module in the airport runway anti-invasion warning rule database carries out feature point matching and longitude and latitude matching on the scanning image and establishes a radar scanning longitude and latitude map which is mapped correspondingly to the scanning image, and radar scanning data of the runway area and the runway protection area are all mapped to the radar scanning longitude and latitude map;
B. marking a runway invasion early warning area: sequentially marking a runway area, an alarm area and a pre-alarm area in a radar scanning longitude and latitude map through a runway anti-intrusion alarm marking module, wherein the runway area is positioned in the middle of the alarm area, the alarm area is positioned in the middle of the pre-alarm area, the alarm area is a first annular area with the edge of the runway area extending outwards, and the pre-alarm area is a second annular area with the edge of the alarm area extending outwards;
C. real-time scanning of runway area and runway protection area: all millimeter wave radar modules of the millimeter wave radar system scan moving targets or/and entering targets in a runway area and a runway protection area in real time and respectively transmit real-time scanning results to a data processing analysis control module and an airport runway anti-intrusion alarm rule database, wherein the moving targets comprise walking people and moving vehicles, and the airport runway anti-intrusion alarm rule database correspondingly maps the real-time scanning results to a radar scanning longitude and latitude map;
D. runway invasion early warning judgment and early warning output: the data processing analysis control module judges whether the real-time scanning result is positioned in a runway area, an alarm area or an early-warning area and obtains an intrusion alarm result, and the specific judgment method comprises the following steps:
d1, if the real-time scanning result is mapped to the radar scanning longitude and latitude map and is in the early warning area, judging that the early warning area invades to warn, outputting an early warning area invade warning instruction, and simultaneously locking and tracking the moving target by the millimeter wave radar system;
d2, if the real-time scanning result is mapped to the radar scanning longitude and latitude map and is in the warning area, judging that the warning area is invaded and warned, then outputting warning indication of the invasion of the warning area, and simultaneously, the millimeter wave radar system locks and tracks the moving target;
d3, if the real-time scanning result is mapped to the radar scanning longitude and latitude map and is in the runway area, judging that the runway area is invaded and alarming, and outputting a runway area invasion alarming instruction.
The further technical scheme is as follows: the runway invasion early warning method further comprises the following steps:
E. the data processing analysis control module outputs an intrusion alarm result to an alarm device, the alarm device comprises a light alarm module and a sound alarm module, and the alarm device makes the following runway intrusion alarm responses:
e1, when the data processing analysis control module obtains the warning indication of intrusion in the early warning area in D1, the light warning module adopts an orange light warning mode to perform warning response, and the sound warning module adopts a first sound mode or first sound intensity to perform warning response;
e2, when the data processing analysis control module obtains the alarm region intrusion alarm indication in D2, the light alarm module adopts a yellow light alarm mode to perform alarm response, and the sound alarm module adopts a second sound mode or second sound intensity to perform alarm response;
e3, when the data processing analysis control module obtains the runway area intrusion alarm indication in D3, the light alarm module adopts a red light alarm mode to perform alarm response, and the sound alarm module adopts a third sound mode or third sound intensity to perform alarm response.
The further technical scheme is as follows: the runway invasion early warning method further comprises the following steps:
F. and the data processing and resolving module of the data processing and analyzing control module calculates the longitude and latitude of the moving target according to the real-time scanning result of the corresponding moving target, and respectively calculates the approaching distance of the moving target from the edge of the runway and the moving speed of the moving target according to the real-time scanning result of the corresponding moving target.
The further technical scheme is as follows: the runway invasion early warning method further comprises the following steps:
H. the airport information system is characterized by further comprising a communication module and an airport information system, wherein the communication module is connected with the data processing analysis control module and is remotely transmitted to the airport information system through the communication module.
Preferably, a characteristic point extraction module, a longitude and latitude calculation module and a radar scanning longitude and latitude map construction module are arranged in a runway anti-invasion longitude and latitude map module in the airport runway anti-invasion alarm rule database, the characteristic point extraction module is used for extracting characteristic points in a panoramic scanning image, the longitude and latitude calculation module is used for carrying out longitude and latitude settlement, and the radar scanning longitude and latitude map construction module is used for constructing a radar scanning longitude and latitude map mapped corresponding to the scanning image.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the invention adopts the millimeter wave radar technology to detect the runway running area intrusion events all day long and all day long, monitors the possible conflict risks, for example, when personnel or vehicles enter the runway pre-alarm area, the alarm accuracy and timeliness are comprehensively improved, the monitoring and risk prevention of the runway intrusion events can be realized, and the management personnel can make rapid response and command.
(2) According to the invention, by arranging a plurality of millimeter wave radar modules, the airport runway area, the early warning area and the warning area can be effectively covered by adopting a millimeter wave radar technology, moving targets and entering targets in each protection area of the runway can be scanned and monitored in real time, warning judgment is obtained by data comparison, and warning indication can be responded in time in an acousto-optic mode.
(3) The invention is not influenced by satellite positioning signals, lighting light, weather environment and the like, can stably work in severe environment (rain, snow, fog, night and the like), has extremely high detection rate and very low false alarm rate, has the advantages of long service life, easy installation and maintenance, low failure rate, comprehensive application scene and the like, and can provide all-weather and all-day early warning and precaution.
Drawings
FIG. 1 is a block diagram of the schematic structure of a runway intrusion warning system of the present invention;
fig. 2 is a schematic diagram illustrating the millimeter wave radar system covering a runway protection area, a runway area, an alarm area, and an early warning area in this embodiment;
fig. 3 is a schematic diagram of signals transmitted and received by an exemplary FMCW millimeter-wave radar in this embodiment;
fig. 4 is a distance measurement schematic diagram of an exemplary FMCW millimeter wave radar in this embodiment.
Wherein, the names corresponding to the reference numbers in the drawings are:
1-runway area, 2-alarm area, 3-early-warning area, 4-moving target and 5-millimeter wave radar module.
Detailed Description
The present invention will be described in further detail with reference to the following examples:
examples
As shown in fig. 1 to 4, a runway intrusion warning system based on millimeter wave radar technology comprises a millimeter wave radar system, a data processing analysis control module and an airport runway intrusion prevention warning rule database, which are connected in sequence, wherein the millimeter wave radar system comprises a plurality of millimeter wave radar modules (see fig. 1, the millimeter wave radar system may comprise a millimeter wave radar module a, a millimeter wave radar module B … millimeter wave radar module N, N total millimeter wave radar modules, when in use, a corresponding number of millimeter wave radar modules are specifically set according to the actual length of the runway, the millimeter wave radar module of the embodiment adopts a millimeter wave radar of Frequency Modulated Continuous Wave (FMCW) operation mode, each millimeter wave radar module is set near the runway, all millimeter wave radar modules of the millimeter wave radar system completely cover a runway area and a runway protection area; in this embodiment, a millimeter wave radar module 5 (also called millimeter wave radar) is selectively disposed at a position near two sides of the runway area, and the coverage area of the two millimeter wave radar modules 5 includes the runway on the airport ground and the area around the runway (in this embodiment, at least the runway area 1, the warning area 2, and the early warning area 3). The anti-invasion alarm rule database of the airport runway comprises a runway anti-invasion longitude and latitude map module and a runway anti-invasion alarm planning module, each millimeter wave radar module of the millimeter wave radar system is used for carrying out image scanning on a runway area and a runway protection area and transmitting a scanning image to the airport runway anti-invasion alarm rule database, and the runway anti-invasion longitude and latitude map module in the airport runway anti-invasion alarm rule database is correspondingly matched with the scanning image and establishes a radar scanning longitude and latitude map which is mapped correspondingly to the scanning image; when the radar scanning longitude and latitude map is established, the radar scanning longitude and latitude map can be established by adopting a mode of combining longitude and latitude matching and feature point matching so as to facilitate the matching of real-time moving target scanning in the later period. The runway anti-intrusion alarm marking module is used for marking a runway area (see a runway area 1 in fig. 2, the marked runway area is a runway area correspondingly matched on a radar scanning longitude and latitude map), an alarm area (see an alarm area 2 in fig. 2, the marked alarm area is a corresponding alarm area matched on the radar scanning longitude and latitude map) and a pre-alarm area (see a pre-alarm area 3 in fig. 2, the marked pre-alarm area is a corresponding pre-alarm area matched on the radar scanning longitude and latitude map), wherein the alarm area is a first annular area (see the alarm area 2 corresponding to fig. 2) with an outward-extending runway area edge, and the pre-alarm area is a second annular area (see the pre-alarm area 3 corresponding to fig. 2) with an outward-extending alarm area edge.
Each millimeter wave radar module of the millimeter wave radar system is also used for scanning a runway area and a runway protection area in real time and respectively transmitting the real-time scanning result of a moving target to a data processing analysis control module and an airport runway anti-intrusion alarm rule database, the airport runway anti-intrusion alarm rule database is also used for correspondingly mapping the real-time scanning result of the moving target to a radar scanning longitude and latitude map, the data processing analysis control module is used for judging whether the real-time scanning result is positioned in the runway area, an alarm area or an early-warning area and obtaining an intrusion alarm result, and the intrusion alarm result comprises a runway area intrusion alarm, an alarm area intrusion alarm and an early-warning area intrusion alarm.
The invention also comprises an alarm device and a communication module, wherein the alarm device is connected with the data processing analysis control module and is used for responding to the intrusion alarm result obtained by the data processing analysis control module correspondingly. The communication module is connected with the data processing analysis control module, and the runway area intrusion alarm, the alarm area intrusion alarm and the early-warning area intrusion alarm can be remotely transmitted through the communication module, for example, the runway area intrusion alarm, the alarm area intrusion alarm and the early-warning area intrusion alarm are directly transmitted to an empty pipe end, so that intervention command and management of the empty pipe are facilitated. The warning device comprises a light warning module and a sound warning module, wherein the light warning module adopts red, yellow and orange lights to respectively and correspondingly respond to runway area intrusion warning, warning area intrusion warning and early warning area intrusion warning (namely, the red light warning of the light warning module corresponds to the runway area intrusion warning, the yellow light warning of the light warning module corresponds to the warning area intrusion warning, and the orange light warning of the light warning module corresponds to the early warning area intrusion warning); the sound alarm module adopts three sound modes (for example, alarm sound urgency degree or alarm sound content is adopted, and even a voice broadcasting mode is adopted for alarming) or sound intensities (for example, strong, medium and weak) to respectively and correspondingly respond to the runway area intrusion alarm, the alarm area intrusion alarm and the early-warning area intrusion alarm.
The data processing analysis control module comprises a data processing calculation module, wherein the data processing calculation module is used for calculating the longitude and latitude of a moving target, the longitude and latitude can be calculated through the transmitting wave, the echo and the transmitting angle or the receiving angle of the millimeter wave radar module, and the data processing calculation module is also used for calculating the approaching distance of the moving target from the edge of the runway according to the real-time scanning result of the corresponding moving target (calculating the distance between the moving target and the millimeter wave radar module)After the distance and the angle of the modules are obtained, and the distance between the millimeter wave radar module and the edge of the runway is known, the approach distance can be calculated; or the position and the motion track of the moving target are correspondingly matched in the radar scanning longitude and latitude map, and the access distance can be quickly obtained through calculation) and the motion speed of the moving target (for example, the position and the motion track of the moving target are correspondingly matched in the radar scanning longitude and latitude map, and the motion speed can be quickly obtained through calculation after the time is recorded). The distance between the moving target and the millimeter wave radar module can be calculated through the millimeter wave radar, the millimeter wave radar can be used for frequency modulation in a certain specific frequency range, the frequency values of the emitted and reflected waves can be clearly identified by the millimeter wave radar, and therefore the radar is difficult to generate channel blockage and influence other radars working at the same frequency. The warning device can be linked with a camera and a light warning system, and can push warning signals to corresponding modules through a control system to give out warning in forms of electronic signals, light, sound and the like. In consideration of the practical application requirements of airports, a Frequency Modulated Continuous Wave (FMCW) millimeter wave radar is generally adopted, and for the FMCW operation, the frequency of a transmitted wave is constantly changed, but the frequency change rate is constant, so that the millimeter wave radar mainly detects a beat frequency f between a transmitted signal and a reflected echo signal by performing cross-correlation on the transmitted signal and the reflected echo signalbAnd Doppler shift fdSubstituting the formula to obtain the distance and the speed. The distance S between the moving target and the millimeter wave radar module and the velocity v formula of the moving target are as follows:
in the formula: s-distance; v-velocity; c-speed of light; t is a signal transmission period; delta f-bandwidth modulation; f. ofb-beat frequency; λ -signal wavelength; f. ofd-Doppler shift.
And calculating the distance S between the moving target and the millimeter wave radar module, and calculating the approaching distance between the moving target and the edge of the runway by combining the transmitted wave angle or the echo angle of the millimeter wave radar module.
Or, the distance from the moving object to the millimeter wave radar module and the speed of the moving object in this embodiment may also adopt the following methods: the millimeter wave radar (also called millimeter wave radar module) of this embodiment adopts FMCW (frequency modulated continuous wave) radar system, the radar antenna emits a series of continuous frequency modulated millimeter waves, the frequency changes with time according to the rule of modulation voltage, generally, the frequency is continuous triangular wave, and the transmitted and received signals are as shown in fig. 3. In fig. 3, the solid line is the transmitted signal and the dashed line is the reflected signal of a relatively stationary and relatively moving object (thus, the present invention can achieve monitoring of a relatively moving object). The reflection is the same as the transmitted signal waveform, but differs by a delay time td. As shown in FIG. 4, assume that the center frequency of the transmission is f0B is frequency bandwidth, T is sweep frequency period, the modulation signal is triangular wave, c is light speed, and R and V are relative distance and relative speed of the moving target respectively. The intermediate frequency output signal is shown in fig. 4 during the rising and falling portions of the transmit signal. In order to obtain the information of the moving object, the real-time spectrum analysis of the intermediate frequency signal is required, and the method mainly uses fast fourier transform (FTT) to obtain the speed and distance of the moving object. The invention provides a runway intrusion early warning method based on a millimeter wave radar technology, starting from the angles of simple and convenient installation, easy maintenance and high environmental adaptability.
A runway intrusion early warning method based on a millimeter wave radar technology comprises the following steps:
A. and (3) panoramic repeated scanning and establishing a radar scanning longitude and latitude map: all millimeter wave radar modules of the millimeter wave radar system respectively carry out panoramic scanning on a runway area and a runway protection area and transmit a scanning image to an airport runway anti-invasion warning rule database, a runway anti-invasion longitude and latitude map module in the airport runway anti-invasion warning rule database carries out feature point matching and longitude and latitude matching on the scanning image and establishes a radar scanning longitude and latitude map which is mapped correspondingly to the scanning image, and radar scanning data of the runway area and the runway protection area are all mapped to the radar scanning longitude and latitude map; the airport runway anti-invasion longitude and latitude map module is internally provided with a feature point extraction module, a longitude and latitude calculation module and a radar scanning longitude and latitude map construction module, wherein the feature point extraction module is used for extracting feature points in a panoramic scanning image, the longitude and latitude calculation module is used for carrying out longitude and latitude settlement, and the radar scanning longitude and latitude map construction module is used for constructing a radar scanning longitude and latitude map mapped corresponding to the scanning image.
B. Marking a runway invasion early warning area: sequentially marking a runway area, an alarm area and a pre-alarm area in a radar scanning longitude and latitude map through a runway anti-intrusion alarm marking module, wherein the runway area is positioned in the middle of the alarm area, the alarm area is positioned in the middle of the pre-alarm area, the alarm area is a first annular area with the edge of the runway area extending outwards, and the pre-alarm area is a second annular area with the edge of the alarm area extending outwards;
C. real-time scanning of runway area and runway protection area: all millimeter wave radar modules of the millimeter wave radar system scan moving targets or/and entering targets in a runway area and a runway protection area in real time and respectively transmit real-time scanning results to a data processing analysis control module and an airport runway anti-intrusion alarm rule database, wherein the moving targets comprise walking people and moving vehicles, and the airport runway anti-intrusion alarm rule database correspondingly maps the real-time scanning results to a radar scanning longitude and latitude map;
D. runway invasion early warning judgment and early warning output: the data processing analysis control module judges whether the real-time scanning result is positioned in a runway area, an alarm area or an early-warning area and obtains an intrusion alarm result, and the specific judgment method comprises the following steps:
d1, if the real-time scanning result is mapped to the radar scanning longitude and latitude map and is in the early warning area, judging that the early warning area is invaded and warned, outputting an early warning area invasion warning instruction, and simultaneously locking and tracking the moving target by the millimeter wave radar system (the invention can adopt a millimeter wave radar module for tracking and locking, or a plurality of millimeter wave radar modules or other radars specially arranged for tracking and locking in the invention);
d2, if the real-time scanning result is mapped to the radar scanning longitude and latitude map and is in the warning area, judging that the warning area is invaded and warned, outputting a warning area invasion warning instruction, and simultaneously, locking and tracking the moving target by the millimeter wave radar system (the invention can adopt a millimeter wave radar module for tracking and locking, or a plurality of millimeter wave radar modules or other radars specially arranged for tracking and locking are adopted);
d3, if the real-time scanning result is mapped to the radar scanning longitude and latitude map and is in the runway area, judging that the runway area is invaded and alarming, outputting a runway area invasion alarming instruction, and in the step D3, the millimeter wave radar system is needed to lock and track the moving target.
E. The data processing analysis control module outputs an intrusion alarm result to an alarm device, the alarm device comprises a light alarm module and a sound alarm module, and the alarm device makes the following runway intrusion alarm responses:
e1, when the data processing analysis control module obtains the warning indication of intrusion in the early warning area in D1, the light warning module adopts an orange light warning mode to perform warning response, and the sound warning module adopts a first sound mode or first sound intensity to perform warning response;
e2, when the data processing analysis control module obtains the alarm region intrusion alarm indication in D2, the light alarm module adopts a yellow light alarm mode to perform alarm response, and the sound alarm module adopts a second sound mode or second sound intensity to perform alarm response;
e3, when the data processing analysis control module obtains the runway area intrusion alarm indication in D3, the light alarm module adopts a red light alarm mode to perform alarm response, and the sound alarm module adopts a third sound mode or third sound intensity to perform alarm response.
The light warning module of the embodiment can also adopt other three color combinations to correspondingly realize warning prompts of three protection areas.
F, performing a chemical mechanical polishing process on the substrate, the data processing and resolving module of the data processing and analyzing control module calculates the longitude and latitude of the moving target according to the real-time scanning result of the corresponding moving target, and the data processing and resolving module of the data processing and analyzing control module respectively calculates the approaching distance between the moving target and the edge of the runway according to the real-time scanning result of the corresponding moving target (after the distance and the angle between the moving target and the millimeter wave radar module are calculated, the distance between the millimeter wave radar module and the edge of the runway is known, the approaching distance can be calculated, or the position and the motion track of the moving target are correspondingly matched in the radar scanning longitude and latitude map, the approaching distance can be quickly obtained through calculation), and the motion speed of the moving target (for example, the position and the motion track of the moving target are correspondingly matched in the radar scanning longitude and latitude map, and the motion speed can be quickly calculated through recording time).
H. Still include communication module and airport information system, communication module is connected with data processing analysis control module, through communication module remote transmission to airport information system, and airport managers, air traffic control personnel can know the runway in time and invade the early warning through airport information system, are convenient for in time make the response command. The invention adopts the millimeter wave radar technology, is not influenced by satellite positioning signals, illumination light rays (such as night) and the like, greatly reduces the influence factors of weather on alarm, can detect the runway running area intrusion events all day long, monitors possible conflict risks, improves the alarm accuracy and timeliness, can realize the monitoring and risk prevention of the runway intrusion events, and is beneficial to managers to make rapid response and command. The invention is not influenced by weather environment, can stably work in severe environment (rain, snow, fog, night, and the like), has extremely high detection rate and extremely low false alarm rate, has the advantages of long service life, easy installation and maintenance, low failure rate, comprehensive application scene, and the like, and can provide all-weather and all-day early warning and prevention.
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 (10)
1. The utility model provides a runway invades early warning system based on millimeter wave radar technique which characterized in that: the system comprises a millimeter wave radar system, a data processing analysis control module and an airport runway anti-intrusion alarm rule database, wherein the millimeter wave radar system, the data processing analysis control module and the airport runway anti-intrusion alarm rule database are sequentially connected, the millimeter wave radar system comprises a plurality of millimeter wave radar modules, each millimeter wave radar module is arranged near a runway, and all millimeter wave radar modules of the millimeter wave radar system completely cover a runway area and a runway protection area; the anti-invasion alarm rule database of the airport runway comprises a runway anti-invasion longitude and latitude map module and a runway anti-invasion alarm planning module, each millimeter wave radar module of the millimeter wave radar system is used for scanning images of a runway area and a runway protection area and transmitting the scanned images to the airport runway anti-invasion alarm rule database, the runway anti-invasion longitude and latitude map module in the airport runway anti-invasion alarm rule database is correspondingly matched with the scanned images and establishes a radar scanning longitude and latitude map mapped correspondingly with the scanned images, the runway anti-invasion alarm planning module is used for planning a runway area, an alarm area and a pre-alarm area in the radar scanning longitude and latitude map, the alarm area is a first annular area with the edge of the runway area extending outwards, and the pre-alarm area is a second annular area with the edge of the alarm area extending outwards; each millimeter wave radar module of the millimeter wave radar system is further used for scanning a runway area and a runway protection area in real time and respectively transmitting the real-time scanning results of the moving target to the data processing analysis control module and the airport runway anti-intrusion alarm rule database, the airport runway anti-intrusion alarm rule database is further used for correspondingly mapping the real-time scanning results of the moving target to a radar scanning longitude and latitude map, the data processing analysis control module is used for judging whether the real-time scanning results are located in the runway area, the alarm area or the early-warning area and obtaining intrusion alarm results, and the intrusion alarm results comprise runway area intrusion alarm, alarm area intrusion alarm and early-warning area intrusion alarm.
2. A runway incursion early warning system based on millimeter wave radar technology as claimed in claim 1, characterized in that: the system also comprises an alarm device, wherein the alarm device is connected with the data processing analysis control module and is used for responding to an intrusion alarm result obtained by the data processing analysis control module correspondingly.
3. A runway incursion early warning system based on millimeter wave radar technology according to claim 1 or 2, characterized in that: the device also comprises a communication module, and the communication module is connected with the data processing analysis control module.
4. A runway incursion early warning system based on millimeter wave radar technology according to claim 1 or 2, characterized in that: the data processing, analyzing and controlling module comprises a data processing and resolving module, the data processing and resolving module is used for carrying out longitude and latitude calculation on the moving target, and the data processing and resolving module is further used for respectively calculating the approaching distance of the moving target from the edge of the runway and the moving speed of the moving target according to the real-time scanning result of the corresponding moving target.
5. A runway incursion early warning system based on millimeter wave radar technology as claimed in claim 2, characterized in that: the warning device comprises a light warning module and a sound warning module, wherein the light warning module adopts red, yellow and orange lights to respectively and correspondingly respond runway area intrusion warning, warning area intrusion warning and early warning area intrusion warning; the sound alarm module adopts three sound modes or sound intensity to respectively correspond to the response runway area intrusion alarm, the alarm area intrusion alarm and the early-warning area intrusion alarm.
6. A runway invasion early warning method based on a millimeter wave radar technology is characterized in that: the method comprises the following steps:
A. and (3) panoramic repeated scanning and establishing a radar scanning longitude and latitude map: all millimeter wave radar modules of the millimeter wave radar system respectively carry out panoramic scanning on a runway area and a runway protection area and transmit a scanning image to an airport runway anti-invasion warning rule database, a runway anti-invasion longitude and latitude map module in the airport runway anti-invasion warning rule database carries out feature point matching and longitude and latitude matching on the scanning image and establishes a radar scanning longitude and latitude map which is mapped correspondingly to the scanning image, and radar scanning data of the runway area and the runway protection area are all mapped to the radar scanning longitude and latitude map;
B. marking a runway invasion early warning area: sequentially marking a runway area, an alarm area and a pre-alarm area in a radar scanning longitude and latitude map through a runway anti-intrusion alarm marking module, wherein the runway area is positioned in the middle of the alarm area, the alarm area is positioned in the middle of the pre-alarm area, the alarm area is a first annular area with the edge of the runway area extending outwards, and the pre-alarm area is a second annular area with the edge of the alarm area extending outwards;
C. real-time scanning of runway area and runway protection area: all millimeter wave radar modules of the millimeter wave radar system scan moving targets in a runway area and a runway protection area in real time and respectively transmit real-time scanning results to a data processing analysis control module and an airport runway anti-intrusion alarm rule database, wherein the moving targets comprise walking people and moving vehicles, and the airport runway anti-intrusion alarm rule database correspondingly maps the real-time scanning results to a radar scanning longitude and latitude map;
D. runway invasion early warning judgment and early warning output: the data processing analysis control module judges whether the real-time scanning result is positioned in a runway area, an alarm area or an early-warning area and obtains an intrusion alarm result, and the specific judgment method comprises the following steps:
d1, if the real-time scanning result is mapped to the radar scanning longitude and latitude map and is in the early warning area, judging that the early warning area invades to warn, outputting an early warning area invade warning instruction, and simultaneously locking and tracking the moving target by the millimeter wave radar system;
d2, if the real-time scanning result is mapped to the radar scanning longitude and latitude map and is in the warning area, judging that the warning area is invaded and warned, then outputting warning indication of the invasion of the warning area, and simultaneously, the millimeter wave radar system locks and tracks the moving target;
d3, if the real-time scanning result is mapped to the radar scanning longitude and latitude map and is in the runway area, judging that the runway area is invaded and alarming, and outputting a runway area invasion alarming instruction.
7. The runway intrusion warning method based on the millimeter wave radar technology as claimed in claim 6, wherein: the method also comprises the following steps:
E. the data processing analysis control module outputs an intrusion alarm result to an alarm device, the alarm device comprises a light alarm module and a sound alarm module, and the alarm device makes the following runway intrusion alarm responses:
e1, when the data processing analysis control module obtains the warning indication of intrusion in the early warning area in D1, the light warning module adopts an orange light warning mode to perform warning response, and the sound warning module adopts a first sound mode or first sound intensity to perform warning response;
e2, when the data processing analysis control module obtains the alarm region intrusion alarm indication in D2, the light alarm module adopts a yellow light alarm mode to perform alarm response, and the sound alarm module adopts a second sound mode or second sound intensity to perform alarm response;
e3, when the data processing analysis control module obtains the runway area intrusion alarm indication in D3, the light alarm module adopts a red light alarm mode to perform alarm response, and the sound alarm module adopts a third sound mode or third sound intensity to perform alarm response.
8. The runway intrusion warning method based on the millimeter wave radar technology as claimed in claim 6 or 7, characterized in that: the method also comprises the following steps:
F. and the data processing and resolving module of the data processing and analyzing control module calculates the longitude and latitude of the moving target according to the real-time scanning result of the corresponding moving target, and respectively calculates the approaching distance of the moving target from the edge of the runway and the moving speed of the moving target according to the real-time scanning result of the corresponding moving target.
9. The runway intrusion warning method based on the millimeter wave radar technology as claimed in claim 6 or 7, characterized in that: the method also comprises the following steps:
H. the airport information system is characterized by further comprising a communication module and an airport information system, wherein the communication module is connected with the data processing analysis control module and is remotely transmitted to the airport information system through the communication module.
10. The runway intrusion warning method based on the millimeter wave radar technology as claimed in claim 6, wherein: the airport runway anti-invasion map building method comprises the steps that a runway anti-invasion longitude and latitude map module in an airport runway anti-invasion alarm rule database is internally provided with a feature point extraction module, a longitude and latitude calculation module and a radar scanning longitude and latitude map building module, the feature point extraction module is used for extracting feature points in a panoramic scanning image, the longitude and latitude calculation module is used for carrying out longitude and latitude settlement, and the radar scanning longitude and latitude map building module is used for building a radar scanning longitude and latitude map mapped corresponding to the scanning image.
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