CN112085970A - Air traffic anti-collision method and device and airplane - Google Patents
Air traffic anti-collision method and device and airplane Download PDFInfo
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Abstract
The embodiment of the disclosure provides an air traffic anti-collision method, an air traffic anti-collision device and an airplane, and belongs to the technical field of aircrafts. The method comprises the following steps: acquiring a current first position parameter of the airplane and a second position parameter of the intruder in a monitoring range; acquiring relative displacement parameters of the intrusion machine relative to the airplane according to the first position parameters and the second position parameters; calculating the closest time period and the closest distance of the closest point of the aircraft and the intruder according to the relative position and the relative speed; if the closest time period is less than or equal to the TA/RA alarm time threshold, the closest distance is less than or equal to the TA/RA relative distance threshold, and the relative distance in the vertical direction is less than or equal to the TA/RA relative height threshold, generating a corresponding TA/RA alarm; and if the RA alarm is generated, controlling the airplane to execute a vertical maneuver avoidance measure relative to the invader. The passive receiving of the monitoring data can reduce unnecessary inquiry, solve the problems of error alarm, false alarm and the like which are easy to occur, and improve the monitoring and anti-collision performance of the equipment.
Description
Technical Field
The disclosure relates to the technical field of aircrafts, in particular to an air traffic anti-collision method, an air traffic anti-collision device and an aircraft.
Background
Conventional air traffic collision avoidance systems actively send out interrogation signals to surrounding targets and extract the required information from the received reply information to determine the specific location of the target. The invention provides a novel air traffic collision avoidance method based on ADS-B passive monitoring data, which acquires the monitoring data in a passive receiving rather than active inquiring mode and performs collision avoidance processing by utilizing richer information in the passive monitoring data.
The broadcast type automatic dependent surveillance ADS-B is a novel air traffic control surveillance technology which completes traffic surveillance and information transmission based on 1090MHz data link communication and a GPS global satellite positioning system, and achieves perception of surrounding environments among airplanes and the airplanes by receiving broadcast information of other airplanes and broadcasting self information of positions, speeds and the like of the airplanes outwards through a local machine. The air collision avoidance is implemented by using other machines ADS-B to passively monitor the broadcast data, so that a plurality of problems existing in collision avoidance calculation and judgment by using active monitoring data are effectively solved, the monitoring performance can be remarkably improved, and the efficiency and the precision of system collision avoidance are improved.
The current air anti-collision technology based on active monitoring data has the following disadvantages:
the active monitoring data acquisition needs to be fully coordinated between the local computer and other computers, so that the timeliness and accuracy of the sampled data compared with real-time data are low, and adverse factors such as data loss or distortion can occur, so that the data reliability is reduced;
the monitoring is based on the receiving and sending of electromagnetic wave signals actively, and the monitoring range is relatively small;
the accuracy of active monitoring angle measurement is generally low, which causes the accuracy of monitoring and anti-collision result judgment to be reduced.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide an air traffic collision avoidance method, an air traffic collision avoidance apparatus, and an aircraft, which at least partially solve the problems in the prior art.
In a first aspect, an embodiment of the present invention provides an air traffic collision avoidance method, which is applied to monitoring collision avoidance of an aircraft equipped with ADS-B in on an intrusion machine equipped with ADS-B out, where the method includes:
acquiring a current first position parameter of the airplane and a second position parameter of the intruder within a monitoring range, wherein the first position parameter and the second position parameter at least comprise longitude, latitude, altitude and heading;
acquiring relative displacement parameters of the invader relative to the airplane according to the first position parameters and the second position parameters, wherein the relative displacement parameters comprise relative positions, relative speeds and relative distances in the vertical direction;
calculating the closest time period and the closest distance of the closest point of the aircraft and the intruder according to the relative position and the relative speed;
judging whether the closest time period is less than or equal to a TA/RA alarm time threshold, whether the closest distance is less than or equal to a TA/RA relative distance threshold, and whether the relative distance in the vertical direction is less than or equal to a TA/RA relative height threshold;
if the closest time period is less than or equal to a TA/RA alarm time threshold, the closest distance is less than or equal to a TA/RA relative distance threshold, and the relative distance in the vertical direction is less than or equal to a TA/RA relative height threshold, generating a corresponding TA/RA alarm;
and if an RA alarm is generated, controlling the airplane to execute a vertical maneuver avoidance measure relative to the invader.
Optionally, the step of obtaining a relative displacement parameter of the intrusion machine relative to the aircraft according to the first position parameter and the second position parameter includes:
calculating the relative position of the invader relative to the airplane and the relative distance in the vertical direction according to the first position parameter and the second position parameter;
and tracking and calculating the change of the relative distance and calculating the relative speed.
Optionally, the step of calculating a closest period and a closest distance between the aircraft and a closest point of the intruder according to the relative position and the relative speed includes:
establishing a plane coordinate system in a plane with the aircraft as a coordinate origin and a speed vector corresponding to the relative speed of the invader relative to the aircraft;
in the plane coordinate system, acquiring a relative movement path of the invader relative to the airplane according to the relative position and the relative speed;
searching a point which is closest to the airplane on the moving path to serve as the closest point;
and calculating the closest time period and the closest distance corresponding to the closest contact point.
Optionally, the airplane and the invader are set to do uniform linear motion;
the closest distance
Wherein (x)0,y0) Is the initial position of the intruder, vx' and vy' is the velocity component of the intruder relative to the aircraft within the planar coordinate system;
the closest period of time
Wherein the parameter meanings are the same as described above.
Optionally, if an RA alarm is generated, the step of controlling the aircraft to execute a vertical maneuver avoidance measure with respect to the intruder includes:
selecting a target maneuver matched with the current RA alarm from all available maneuvers as a vertical maneuver avoidance measure, wherein the available maneuvers comprise level flight, climbing and descending;
outputting the vertical maneuver avoidance measure to an operator port of the aircraft such that a pilot of the operator port executes the vertical maneuver avoidance measure.
Optionally, the step of selecting a target maneuver matching the current RA alert from all available maneuvers comprises:
selecting flat flight as an initial maneuvering measure;
judging whether the distance between the initial maneuver at the closest point and the estimated relative height of the invader in the vertical direction is greater than the RA relative height threshold or not;
if the estimated relative altitude distance is greater than the RA removal altitude threshold, taking the initial maneuver as the target maneuver;
and if the estimated relative altitude distance is smaller than or equal to the RA removal altitude threshold, selecting climbing or descending as the target maneuver.
Optionally, the step of selecting climbing or descending as the target maneuver includes:
determining a collision trend of the airplane relative to the intrusion machine according to the relative speed and the heading of the airplane and the intrusion machine, wherein the collision trend comprises an upward collision, a downward collision and a horizontal collision;
if the collision trend is upward collision, selecting descending as the target maneuvering measure;
and if the collision trend is downward collision or horizontal collision, climbing is selected as the target maneuvering measure.
In a second aspect, an embodiment of the present invention provides an air traffic collision avoidance apparatus, which is applied to monitoring collision avoidance of an ADS-B out-equipped intruder by an ADS-B in-equipped aircraft, and the apparatus includes:
the first acquisition module is used for acquiring a current first position parameter of the airplane and a second position parameter of the intruder within a monitoring range, wherein the first position parameter and the second position parameter at least comprise longitude, latitude, altitude and course;
a second obtaining module, configured to obtain a relative displacement parameter of the intrusion machine relative to the aircraft according to the first position parameter and the second position parameter, where the relative displacement parameter includes a relative position, a relative speed, and a relative distance in a vertical direction;
the calculation module is used for calculating the closest time period and the closest distance of the closest point of the aircraft and the invader according to the relative position and the relative speed;
a judging module, configured to judge whether the closest time period is less than or equal to a TA/RA warning time threshold, whether the closest distance is less than or equal to a TA/RA relative distance threshold, and whether the relative distance in the vertical direction is less than or equal to a TA/RA relative height threshold;
the warning module is used for generating a corresponding TA/RA warning if the closest time period is less than or equal to a TA/RA warning time threshold, the closest distance is less than or equal to a TA/RA relative distance threshold, and the relative distance in the vertical direction is less than or equal to a TA/RA relative height threshold;
and the collision avoidance module is used for controlling the airplane to execute a vertical maneuver avoidance measure relative to the invader if the RA alarm is generated.
Optionally, the collision avoidance module is configured to:
selecting a target maneuver matched with the current RA alarm from all available maneuvers as a vertical maneuver avoidance measure, wherein the available maneuvers comprise level flight, climbing and descending;
outputting the vertical maneuver avoidance measure to an operator port of the aircraft such that a pilot of the operator port executes the vertical maneuver avoidance measure.
In a third aspect, an embodiment of the present invention provides an aircraft, where the aircraft includes an aircraft body, an ADS-B in, and a processor; the processor is configured to perform the method of any of the first aspect.
The invention provides a novel air traffic collision avoidance method based on ADS-B passive monitoring data, which can directly receive the monitoring data without coordination interaction, effectively shorten the communication delay between the local machine and other machines, and simultaneously avoid the data loss or distortion possibly occurring in the coordination process, thereby greatly improving the accuracy of the monitoring data and the precision of collision avoidance calculation.
Aiming at the problem that the active monitoring range in the traditional air collision avoidance system is limited, the ADS-B data can be adopted to realize the monitoring range of 66 nm. The ADS-B passive monitoring data not only contain position information, speed information and data quality parameters, but also can provide airplane flight state information and speed information in all directions, and abundant data sources provide more convenient conditions for later threat judgment and collision avoidance calculation.
The passive receiving of the monitoring data can reduce unnecessary inquiry, effectively solves the problems of error alarm, false alarm and the like easily occurring in the existing air anti-collision system while avoiding aggravating airspace channel congestion, and improves the monitoring and anti-collision performance of equipment. The method can realize monitoring and collision avoidance of the airplane only provided with the ADS-B, and is more suitable for a wider range of airplane types.
The invention solves a plurality of defects of air collision avoidance by using active monitoring data, and realizes the following functions:
passively receiving ADS-B broadcast data;
extracting and analyzing ADS-B passive monitoring information to obtain parameters required by collision avoidance;
and performing collision avoidance calculation by using ADS-B passive monitoring data.
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In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of an air traffic collision avoidance method according to an embodiment of the present invention;
fig. 2 and 3 are process schematic diagrams of an air traffic collision avoidance method provided by an embodiment of the invention;
fig. 4 is a block diagram of an air traffic collision avoidance apparatus according to an embodiment of the present invention.
Detailed Description
The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
Referring to fig. 1, a schematic flow chart of an air traffic collision avoidance method is provided for an embodiment of the present invention, and is applied to monitoring collision avoidance of an intrusion machine equipped with ADS-B out by an aircraft equipped with ADS-B in. As shown in fig. 1, the method includes:
s101, acquiring a current first position parameter of the airplane and a second position parameter of the intruder within a monitoring range, wherein the first position parameter and the second position parameter at least comprise longitude, latitude, altitude and heading;
the method adopts ADS-B passive monitoring data as other tracking data sources, and simultaneously modifies the original anti-collision calculation process to a certain extent according to the characteristics of the data sources, thereby providing a new method for air traffic anti-collision. The ADS-B passive monitoring data source provides position and speed vector information according to the speed of 2 times/second, and the method adjusts the period related data in the original collision prevention algorithm according to the position and speed vector information to adapt to the new update frequency of the tracking data.
The method of the invention does not involve a maneuver coordination function since the information source employs passive monitoring data that only installs ADS-B. By passively monitoring intention information and speed vectors in data, the method can accurately predict the flight tracks of other aircrafts, and can perform anti-collision calculation and take measures to avoid without a maneuvering coordination process.
The method can obtain more accurate angle measurement results by utilizing the velocity vector information, the position information and the like in all directions in the passive monitoring data, and solves the time and the distance of reaching a Closest Point of Approach (CPA) by using a calculation method based on angle measurement and velocity prediction so as to help obtain more accurate decision consultation results.
When collision avoidance monitoring is carried out, the current first position parameter of the airplane and the monitored second position parameter of the intruder are obtained.
S102, acquiring relative displacement parameters of the invader relative to the airplane according to the first position parameters and the second position parameters, wherein the relative displacement parameters comprise relative positions, relative speeds and relative distances in the vertical direction;
optionally, the step of obtaining a relative displacement parameter of the intrusion machine relative to the aircraft according to the first position parameter and the second position parameter includes:
calculating the relative position of the invader relative to the airplane and the relative distance in the vertical direction according to the first position parameter and the second position parameter;
and tracking and calculating the change of the relative distance and calculating the relative speed.
There are two methods of using the intrusion machine ADS-B data, both of which can perform calculations based on goniometric and velocity predictions:
the method comprises the following steps: using longitude, latitude, height and course provided by ADS-B, longitude and latitude, height and course information of the local machine, calculating the relative angle of the invader compared with the local machine and the relative position on the x-axis and y-axis, and finally estimating the relative speed on the x-axis and y-axis by tracking and calculating the change of the relative distance;
the second method comprises the following steps: the speed vector information and the course information provided by ADS-B are used, and the speed and the course of the vehicle are combined, so that the relative speed on the x axis and the y axis can be calculated; the relative position on the x axis and the y axis can be calculated by using the longitude and latitude height and the course information provided by ADS-B and combining the corresponding information of the machine.
The principle of the calculation method based on the angle measurement and the speed prediction is as follows:
the relative motion geometrical relationship between the local machine and the intrusion machine is established by taking the local machine as the coordinate origin and the speed vector of the intrusion machine relative to the local machine and the position of the intrusion machine as shown in figure 2. Assuming that the local machine and the invading machine both fly linearly at a constant speed, the invading machine has a velocity component v relative to the local machinex' and vy' is a known constant value.
S103, calculating the closest time period and the closest distance of the closest point of the aircraft and the intruder according to the relative position and the relative speed;
optionally, the step of calculating a closest period and a closest distance between the aircraft and a closest point of the intruder according to the relative position and the relative speed includes:
establishing a plane coordinate system in a plane with the aircraft as a coordinate origin and a speed vector corresponding to the relative speed of the invader relative to the aircraft;
in the plane coordinate system, acquiring a relative movement path of the invader relative to the airplane according to the relative position and the relative speed;
searching a point which is closest to the airplane on the moving path to serve as the closest point;
and calculating the closest time period and the closest distance corresponding to the closest contact point.
Optionally, the airplane and the invader are set to do uniform linear motion;
the closest distance
Wherein (x)0,y0) Is the initial position of the intruder, vx' and vy' is the velocity component of the intruder relative to the aircraft within the planar coordinate system;
the closest period of time
Wherein the parameter meanings are the same as described above.
Assuming that after time t, the intruder has known initial position (x)0,y0) When the vehicle flies to the current position (x, y), the distance of the invader relative to the vehicle at the time t is shown in the formula (1). When the formula (1) has the minimum value, the closest point time T _ CPA can be obtained, see formula (2).
From the formula (2)
Combining the position value of the intrusion machine at the time of T _ CPA, the distance between the closest point of the intrusion machine and the local machine is known as an equation (3).
S104, judging whether the closest time period is less than or equal to a TA/RA alarm time threshold, whether the closest distance is less than or equal to a TA/RA relative distance threshold, and whether the relative distance in the vertical direction is less than or equal to a TA/RA relative height threshold;
s105, if the closest time period is less than or equal to a TA/RA alarm time threshold, the closest distance is less than or equal to a TA/RA relative distance threshold, and the relative distance in the vertical direction is less than or equal to a TA/RA relative height threshold, generating a corresponding TA/RA alarm;
when T _ CPA is smaller than the corresponding TA/RA alarm time threshold, R _ CPA is smaller than the relative distance threshold, and the relative height reaching the CPA is smaller than the relative height threshold, the corresponding TA/RA alarm is generated.
And S106, if an RA alarm is generated, controlling the airplane to execute a vertical maneuver avoidance measure relative to the invader.
After the RA warning is generated, the vertical maneuver avoidance measures taken are further considered. Preferentially selecting a maneuvering mode with the minimum change to the current route, calculating the warning moment to the T _ CPA moment for the preselected maneuvering measures (comprising level flight, climbing/descending 500(ft/min)/1000(ft/min)/1500(ft/min)/2000(ft/min)/2500(ft/min)), adopting whether the maneuvering can generate enough height distance with an intrusion machine, and selecting the maneuvering measures with higher climbing/descending speed until the requirements are met if the calculated relative height is not more than the RA relief height threshold.
Optionally, if an RA alarm is generated, the step of controlling the aircraft to execute a vertical maneuver avoidance measure with respect to the intruder includes:
selecting a target maneuver matched with the current RA alarm from all available maneuvers as a vertical maneuver avoidance measure, wherein the available maneuvers comprise level flight, climbing and descending;
outputting the vertical maneuver avoidance measure to an operator port of the aircraft such that a pilot of the operator port executes the vertical maneuver avoidance measure.
Optionally, the step of selecting a target maneuver matching the current RA alert from all available maneuvers comprises:
selecting flat flight as an initial maneuvering measure;
judging whether the distance between the initial maneuver at the closest point and the estimated relative height of the invader in the vertical direction is greater than the RA relative height threshold or not;
if the estimated relative altitude distance is greater than the RA removal altitude threshold, taking the initial maneuver as the target maneuver;
and if the estimated relative altitude distance is smaller than or equal to the RA removal altitude threshold, selecting climbing or descending as the target maneuver.
Optionally, the step of selecting climbing or descending as the target maneuver includes:
determining a collision trend of the airplane relative to the intrusion machine according to the relative speed and the heading of the airplane and the intrusion machine, wherein the collision trend comprises an upward collision, a downward collision and a horizontal collision;
if the collision trend is upward collision, selecting descending as the target maneuvering measure;
and if the collision trend is downward collision or horizontal collision, climbing is selected as the target maneuvering measure.
As shown in fig. 3, the method of the present invention is improved based on the TCASIIV7.1 version collision avoidance method. The method can be realized in an engineering way, and specifically comprises the following execution steps:
step 1: initializing all variable parameters at the beginning of program operation;
step 2: processing the received ADS-B data of the intrusion machine;
and step 3: tracking information such as longitude and latitude height, course and the like of the local machine at the speed of 2 times per second, and extracting the information such as longitude and latitude height, course and the like of the invader in the processing result of the step 2;
and 4, step 4: under the condition that the local computer allows the generation of decision consultation, the tracking data in the step 3 is adopted to calculate T _ CPA and R _ CPA, and the threat judgment logic is used for judging whether the intrusion machine can form a threat to the local computer;
and 5: for the airplane forming the threat, preferentially selecting a maneuvering mode which changes the current route to the minimum, calculating the warning moment to the closest point moment of the preselected maneuvering measures (comprising level flight, climbing/descending 500(ft/min)/1000(ft/min)/1500(ft/min)/2000(ft/min)/2500(ft/min)), and adopting whether the maneuvering can generate enough height distance with an intrusion machine or not, if the distance requirement cannot be met, selecting the maneuvering measures with higher climbing/descending speed until the requirement is met;
step 6: if the airplane generating the collision threat has a plurality of airplanes, multi-decision consultation is carried out, the same maneuvering measure is selected as much as possible in principle, the measure can ensure that the enough altitude interval is kept with each target, and if no maneuvering measure is adopted, different maneuvers are adopted in different periods to ensure that the enough altitude interval is kept with each target;
and 7: carrying out traffic consultation judgment on the invader which does not generate collision threat;
and 8: the traffic consultation and decision consultation results are sent to a display, and necessary alarm audio information is generated.
In summary, the method of the present invention has the following advantages:
1) the TA/RA data interruption caused by the loss of the periodic tracking data is greatly reduced;
2) providing a more real-time and accurate air traffic collision avoidance operation result;
3) the method expands the classes of the anti-collision objects, and a plurality of small airplanes are only provided with ADS-B, so that the prior art can not avoid the airplanes in an anti-collision way.
The method can achieve the purposes of expanding the classes of the anti-collision objects, further enhancing the effectiveness of the air traffic anti-collision calculation result and guaranteeing the flight safety.
The invention is mainly applied to the field of aviation, in particular to the traffic collision prevention of small airplanes which are not provided with answering machines and medium and large airplanes which have faults of the answering machines.
Referring to fig. 4, a block diagram of an air traffic collision avoidance apparatus according to an embodiment of the present invention is provided, which is applied to monitoring collision avoidance of an intrusion machine equipped with ADS-B out by an aircraft equipped with ADS-B in. As shown in fig. 4, the apparatus 40 includes:
a first obtaining module 401, configured to obtain a current first location parameter of the aircraft and a second location parameter of the intruder within a monitoring range, where the first location parameter and the second location parameter at least include a longitude, a latitude, an altitude, and a heading;
a second obtaining module 402, configured to obtain a relative displacement parameter of the intrusion machine relative to the aircraft according to the first position parameter and the second position parameter, where the relative displacement parameter includes a relative position, a relative speed, and a relative distance in a vertical direction;
a calculating module 403, configured to calculate a closest time period and a closest distance between the aircraft and a closest point of the intruder according to the relative position and the relative speed;
a determining module 404, configured to determine whether the closest time period is less than or equal to a TA/RA warning time threshold, whether the closest distance is less than or equal to a TA/RA relative distance threshold, and whether the relative distance in the vertical direction is less than or equal to a TA/RA relative height threshold;
an alarm module 405, configured to generate a corresponding TA/RA alarm if the closest time period is less than or equal to a TA/RA alarm time threshold, the closest distance is less than or equal to a TA/RA relative distance threshold, and the relative distance in the vertical direction is less than or equal to a TA/RA relative height threshold;
and the collision avoidance module 406 is configured to control the aircraft to execute a vertical maneuver avoidance measure relative to the intruder if the RA alarm is generated.
Optionally, the collision avoidance module is configured to:
selecting a target maneuver matched with the current RA alarm from all available maneuvers as a vertical maneuver avoidance measure, wherein the available maneuvers comprise level flight, climbing and descending;
outputting the vertical maneuver avoidance measure to an operator port of the aircraft such that a pilot of the operator port executes the vertical maneuver avoidance measure.
In addition, the embodiment of the invention provides an airplane, which comprises an airplane body, an ADS-B in and a processor; the processor is configured to perform the method of any of the first aspect.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. An air traffic collision avoidance method applied to surveillance collision avoidance of an ADS-B in equipped aircraft against an ADS-B out equipped intruder, the method comprising:
acquiring a current first position parameter of the airplane and a second position parameter of the intruder within a monitoring range, wherein the first position parameter and the second position parameter at least comprise longitude, latitude, altitude and heading;
acquiring relative displacement parameters of the invader relative to the airplane according to the first position parameters and the second position parameters, wherein the relative displacement parameters comprise relative positions, relative speeds and relative distances in the vertical direction;
calculating the closest time period and the closest distance of the closest point of the aircraft and the intruder according to the relative position and the relative speed;
judging whether the closest time period is less than or equal to a TA/RA alarm time threshold, whether the closest distance is less than or equal to a TA/RA relative distance threshold, and whether the relative distance in the vertical direction is less than or equal to a TA/RA relative height threshold;
if the closest time period is less than or equal to a TA/RA alarm time threshold, the closest distance is less than or equal to a TA/RA relative distance threshold, and the relative distance in the vertical direction is less than or equal to a TA/RA relative height threshold, generating a corresponding TA/RA alarm;
and if an RA alarm is generated, controlling the airplane to execute a vertical maneuver avoidance measure relative to the invader.
2. The method of claim 1, wherein the step of obtaining the relative displacement parameter of the intruder relative to the aircraft based on the first and second position parameters comprises:
calculating the relative position of the invader relative to the airplane and the relative distance in the vertical direction according to the first position parameter and the second position parameter;
and tracking and calculating the change of the relative distance and calculating the relative speed.
3. The method of claim 1, wherein the step of calculating a closest time period and a closest distance of the aircraft to a closest point of approach of the aggressor based on the relative position and relative velocity comprises:
establishing a plane coordinate system in a plane with the aircraft as a coordinate origin and a speed vector corresponding to the relative speed of the invader relative to the aircraft;
in the plane coordinate system, acquiring a relative movement path of the invader relative to the airplane according to the relative position and the relative speed;
searching a point which is closest to the airplane on the moving path to serve as the closest point;
and calculating the closest time period and the closest distance corresponding to the closest contact point.
4. The method of claim 3, wherein the aircraft and the intruder are both configured to move linearly at a constant velocity;
the closest distance
Wherein (x)0,y0) Is the initial position of the intruder, vx' and vy' is the velocity component of the intruder relative to the aircraft within the planar coordinate system;
the closest period of time
Wherein the parameter meanings are the same as described above.
5. The method of any one of claims 1 to 4, wherein the step of controlling the aircraft to perform a vertical maneuver avoidance maneuver with respect to the intruder if the RA warning is generated comprises:
selecting a target maneuver matched with the current RA alarm from all available maneuvers as a vertical maneuver avoidance measure, wherein the available maneuvers comprise level flight, climbing and descending;
outputting the vertical maneuver avoidance measure to an operator port of the aircraft such that a pilot of the operator port executes the vertical maneuver avoidance measure.
6. The method of claim 5, wherein the step of selecting a target maneuver from all available maneuvers that matches the current RA alert comprises:
selecting flat flight as an initial maneuvering measure;
judging whether the distance between the initial maneuver at the closest point and the estimated relative height of the invader in the vertical direction is greater than the RA relative height threshold or not;
if the estimated relative altitude distance is greater than the RA removal altitude threshold, taking the initial maneuver as the target maneuver;
and if the estimated relative altitude distance is smaller than or equal to the RA removal altitude threshold, selecting climbing or descending as the target maneuver.
7. The method of claim 6, wherein the step of selecting either climb or descent as the target maneuver comprises:
determining a collision trend of the airplane relative to the intrusion machine according to the relative speed and the heading of the airplane and the intrusion machine, wherein the collision trend comprises an upward collision, a downward collision and a horizontal collision;
if the collision trend is upward collision, selecting descending as the target maneuvering measure;
and if the collision trend is downward collision or horizontal collision, climbing is selected as the target maneuvering measure.
8. An air traffic collision avoidance apparatus for use in surveillance collision avoidance of an ADS-B in equipped aircraft against an ADS-B out equipped intruder, the apparatus comprising:
the first acquisition module is used for acquiring a current first position parameter of the airplane and a second position parameter of the intruder within a monitoring range, wherein the first position parameter and the second position parameter at least comprise longitude, latitude, altitude and course;
a second obtaining module, configured to obtain a relative displacement parameter of the intrusion machine relative to the aircraft according to the first position parameter and the second position parameter, where the relative displacement parameter includes a relative position, a relative speed, and a relative distance in a vertical direction;
the calculation module is used for calculating the closest time period and the closest distance of the closest point of the aircraft and the invader according to the relative position and the relative speed;
a judging module, configured to judge whether the closest time period is less than or equal to a TA/RA warning time threshold, whether the closest distance is less than or equal to a TA/RA relative distance threshold, and whether the relative distance in the vertical direction is less than or equal to a TA/RA relative height threshold;
the warning module is used for generating a corresponding TA/RA warning if the closest time period is less than or equal to a TA/RA warning time threshold, the closest distance is less than or equal to a TA/RA relative distance threshold, and the relative distance in the vertical direction is less than or equal to a TA/RA relative height threshold;
and the collision avoidance module is used for controlling the airplane to execute a vertical maneuver avoidance measure relative to the invader if the RA alarm is generated.
9. The apparatus of claim 8, wherein the collision avoidance module is configured to:
selecting a target maneuver matched with the current RA alarm from all available maneuvers as a vertical maneuver avoidance measure, wherein the available maneuvers comprise level flight, climbing and descending;
outputting the vertical maneuver avoidance measure to an operator port of the aircraft such that a pilot of the operator port executes the vertical maneuver avoidance measure.
10. An aircraft, comprising an aircraft body, ADS-B in, and a processor; the processor is configured to perform the method of any one of claims 1 to 8.
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