CN112419792B - Aircraft flight conflict detection method, system, device and medium - Google Patents

Aircraft flight conflict detection method, system, device and medium Download PDF

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CN112419792B
CN112419792B CN202011242870.1A CN202011242870A CN112419792B CN 112419792 B CN112419792 B CN 112419792B CN 202011242870 A CN202011242870 A CN 202011242870A CN 112419792 B CN112419792 B CN 112419792B
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aircraft
flight
longitude
latitude
speed
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CN112419792A (en
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丁前军
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Aerospace Information Research Institute of CAS
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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]
    • G08G5/0043—Traffic management of multiple aircrafts from the ground

Abstract

The invention provides an aircraft flight conflict detection method, which comprises the following steps: acquiring a first information source of the current aircraft and a second information source of the adjacent aircraft; calculating a relative movement velocity of the neighboring aircraft relative to the current aircraft based on the first information source and the second information source; calculating a third longitude and latitude of the adjacent aircraft after the adjacent aircraft is predicted to fly at the relative movement speed relative to the current aircraft for a first preset time period; calculating the distance of the adjacent aircraft relative to the current aircraft according to the first longitude and the third latitude; and comparing the sum of the first protective radius and the second protective radius with the distance of the adjacent aircraft relative to the current aircraft, and judging whether a flight conflict condition exists. The method aims at the characteristics of the type, flight characteristics and safety interval of the aircraft, takes the alarm time as the only judgment basis, and is suitable for different flight scenes.

Description

Aircraft flight conflict detection method, system, device and medium
Technical Field
The invention relates to the field of general aviation flight monitoring management, in particular to a method, a system, equipment and a medium for detecting aircraft flight conflicts.
Background
With the development of the field of general aviation, the requirements for monitoring and managing flying aircrafts such as man-machines and unmanned planes, and particularly for conflict detection between two aircrafts in the same plane, are getting larger and larger.
General aviation flight is different from the operation of fixed flights of civil aviation route routes, and has the following obvious characteristics:
firstly, the types of general aircrafts are various, and the sizes and flight characteristics of the aircrafts, the equipment of airborne equipment, the altitude/speed/course holding capacity and the like are different;
secondly, flight routes and airspaces are various, and the flight situations among different aircrafts are not limited to civil aviation flight common scenes such as equidirectional flight, opposite flight, intersection and the like;
third, the variability in flight maneuvers, turning radii, etc. results in: the fixed transverse interval and longitudinal interval standards adopted by civil aviation (applicable to airway routes) are not suitable to be directly adopted; the conflict warning algorithm is suitable for situations such as man-machine interaction, man-machine interaction with unmanned machine interaction, different airborne equipment capacity aircrafts, different aircraft flight situations (relative position, speed and height) and the like; the navigation flight conflict detection is realized by adopting the same information source (longitude and latitude and speed vector) and adopting a unified flight conflict detection algorithm.
Therefore, the types of aircrafts are various, and the equipment on board the aircrafts is equipped differently; the flight situations of different aircrafts are various and complex; the conventional general aviation flight conflict detection technology for cooperative monitoring information has a plurality of technical difficulties due to different aircraft braking capacities, different flight radii and the like.
Disclosure of Invention
Technical problem to be solved
In view of the above, the present invention provides a method, system, device and medium for detecting aircraft flight conflicts, which at least partially solve the above technical problems.
(II) technical scheme
One aspect of the present invention provides an aircraft flight conflict detection method for detecting a flight conflict situation of a neighboring aircraft relative to a current aircraft, including: acquiring a first information source of the current aircraft and a second information source of the adjacent aircraft, wherein the first information source comprises a first flight speed, a first longitude and latitude and a first protection radius, and the second information source comprises a second flight speed, a second longitude and latitude and a second protection radius; calculating a relative movement velocity of the neighboring aircraft relative to the current aircraft based on the first information source and the second information source; calculating a third longitude and latitude of the adjacent aircraft after the adjacent aircraft is predicted to fly at the relative movement speed relative to the current aircraft for a first preset time period; calculating the distance of the adjacent aircraft relative to the current aircraft according to the first longitude and the third latitude; and comparing the sum of the first protective radius and the second protective radius with the distance of the adjacent aircraft relative to the current aircraft, and judging whether a flight conflict condition exists.
Optionally, the first airspeed comprises a first north-south airspeed or a first east-west airspeed, and the first north-south airspeed or the first east-west airspeed is calculated by:
Figure GDA0003297664820000021
wherein, | VAL is a first flight speed; thetaAThe first heading angle is an included angle between a longitudinal axis of the aircraft and the north pole of the earth; vAEWA first east-west airspeed; vASNThe first north-south flight speed; and
the second flying speed comprises a second north-south flying speed or a second east-west flying speed, and the second north-south flying speed or the second east-west flying speed is calculated by the following formula:
Figure GDA0003297664820000022
wherein, | VBL is the second flight speed; thetaBThe second heading angle is an included angle between the longitudinal axis of the aircraft and the north pole of the earth; vBEWA second east-west airspeed; vBSNThe second north-south flight speed.
Optionally, the directional angles of the relative movement speed are divided into the following five cases:
at VBEW≥VAEWAnd V isBSN＞VASNWhen, psiBAIs composed of
Figure GDA0003297664820000031
At VBEW＜VAEWAnd V isBSN＞VASNWhen, psiBAIs composed of
Figure GDA0003297664820000032
At VBEW＜VAEWAnd V isBSN＝VASNWhen, psiBAIs composed of
ψBA＝270°；
At VBEW＞VAEWAnd V isBSN＝VASNWhen, psiBAIs composed of
ψBA＝90°；
At VBSN＜VASNWhen, psiBAIs composed of
Figure GDA0003297664820000033
Wherein psiBADirection angle of relative motion speed; vAEWA first east-west airspeed; vASNThe first north-south flight speed; vBEWA second east-west airspeed; vBSNThe second north-south flight speed.
Optionally, the calculating a third longitude and latitude of the neighboring aircraft comprises: calculating the third longitude and latitude according to the following formula:
L＝|VBA|·t
Figure GDA0003297664820000034
α＝arccos(cos(90°-Bw)cosδ+sin(90°-Bw)sinδcosψBA)
Figure GDA0003297664820000035
Figure GDA0003297664820000036
wherein t is a first preset time period; i VBAL is the magnitude of the relative movement speed; l is the flight distance of the adjacent aircraft; r is the radius of the earth; b iswIs the latitude value in the second longitude and latitude; psiBADirection angle of relative motion speed; δ is a first intermediate angle; α is a second intermediate angle;
Figure GDA0003297664820000037
is a third intermediate angle; b isjThe longitude value in the second longitude and latitude is taken as the longitude value; cj、CwRespectively the longitude value and the latitude value in the third longitude and latitude.
Optionally, the calculating the distance of the neighboring aircraft relative to the current aircraft comprises: calculating a distance of the neighboring aircraft relative to the current aircraft according to:
Figure GDA0003297664820000041
wherein, Cj、CwRespectively the longitude value and the latitude value in the third longitude and latitude; a. thej、AwRespectively a longitude value and a latitude value in a first longitude latitude; σ is a fourth intermediate angle; r is the radius of the earth; d is the distance of the adjacent aircraft relative to the current aircraft.
Optionally, the determining whether a flight conflict condition exists includes: and judging whether the sum of the first protective radius and the second protective radius is larger than or equal to the distance between the adjacent aircraft and the current aircraft, if so, determining that a flight conflict condition exists, and if not, determining that the flight conflict condition does not exist.
Optionally, the method further comprises: issuing warning information when the adjacent aircraft has flight conflict; and when the adjacent aircraft does not have flight conflict, the adjacent aircraft continues to execute the sailing task according to the estimated track and the predicted flight time.
Another aspect of the invention provides an aircraft flight conflict detection system, comprising: the data acquisition module is used for acquiring a first information source of the current aircraft and a second information source of the adjacent aircraft, wherein the first information source comprises a first flight speed, a first longitude and latitude and a first protection radius, and the second information source comprises a second flight speed, a second longitude and latitude and a second protection radius; a relative speed calculation module for calculating the relative movement speed of the adjacent aircraft relative to the current aircraft; the longitude and latitude calculation module is used for calculating a third longitude and latitude of the adjacent aircraft after predicting that the adjacent aircraft flies at the relative movement speed for a first preset time period relative to the current aircraft; a relative distance calculation module for calculating the distance of the neighboring aircraft relative to the current aircraft; and the collision detection module is used for comparing the sum of the first protective radius and the second protective radius with the distance between the adjacent aircraft and the current aircraft and judging whether a flight collision condition exists or not.
Yet another aspect of the present invention provides an electronic device for aircraft flight conflict detection, comprising a memory and a processor, wherein; the memory has stored therein executable instructions of the processor; the processor is configured to perform the aircraft flight conflict detection method of any one of claims 1-7 via execution of the executable instructions.
Yet another aspect of the invention provides a computer-readable medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the aircraft flight collision detection method according to any one of claims 1 to 7.
(III) advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
the characteristics that to adjacent aircraft variety various, flight characteristic, flight density, safe interval are diverse to warning or early warning time are the only judgement basis, are adapted to the different flight scenes of general aircraft, include:
the longitude and latitude, the velocity vector, the aircraft type and the like in the cooperative monitoring information are used as collision detection information sources, and most navigation aircrafts can provide the cooperative monitoring information sources meeting the precision requirement.
The aircraft protection radius can be determined and set according to the type (size, weight and the like) of the aircraft, flight characteristics (flying height, turning radius and the like) and flight mission attributes (whether passenger flight is carried out or not, flight area) and the like, and the method is suitable for the reality of collision warning or early warning of adjacent aircraft.
Whether flight conflicts exist or not is judged through comprehensive calculation of alarming or early warning time, the relative speed direction and the protection radius, and the method has the advantages of simplicity, intuition, unified mathematical model and simplicity in realization.
The method solves the problems that in the field of navigation, the protection intervals of different aircrafts are different in flight conflict detection, flight routes and airspaces are various, and the flight situation is not limited to civil aviation flight common scenes such as the same direction, the opposite direction and the intersection.
Drawings
Fig. 1 schematically illustrates a flow chart of an aircraft flight conflict detection method according to an embodiment of the invention.
FIG. 2 schematically illustrates an operational flow diagram of an aircraft flight conflict detection method, in accordance with an embodiment of the present invention.
FIG. 3 schematically illustrates a vector operation diagram of a first airspeed according to an embodiment of the present invention.
Fig. 4A to 4E schematically show five calculation cases of the direction angle of the relative movement speed according to the embodiment of the present invention.
Fig. 5 schematically illustrates a flow chart for calculating a third longitude and latitude of the neighboring aircraft according to an embodiment of the present invention.
Fig. 6 schematically shows a flow chart for calculating the distance of the neighboring aircraft relative to the current aircraft according to an embodiment of the invention.
Fig. 7 schematically illustrates a computational schematic of an aircraft flight conflict detection method according to an embodiment of the present invention.
FIG. 8 schematically illustrates a block diagram of an aircraft flight conflict detection system, in accordance with an embodiment of the present invention.
FIG. 9 schematically illustrates a block diagram of electronics for aircraft flight conflict detection, in accordance with an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
In the present invention, the terms "include" and "comprise," as well as derivatives thereof, mean inclusion without limitation; the term "or" is inclusive, meaning and/or.
In this specification, the various embodiments described below which are used to describe the principles of the present disclosure are by way of illustration only and should not be construed in any way to limit the scope of the disclosure. The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of exemplary embodiments of the present disclosure as defined by the claims and their equivalents. The following description includes various specific details to aid understanding, but such details are to be regarded as illustrative only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Moreover, descriptions of well-known functions and constructions are omitted for clarity and conciseness. Moreover, throughout the drawings, the same reference numerals are used for similar functions and operations.
The invention discloses a method, a system, equipment and a medium for detecting aircraft flight conflicts, which comprehensively judge and judge that two aircrafts can not generate alarm or early warning information in alarm time through alarm time, relative movement speed and direction angle and protection radius, and realize the function of detecting the conflicts of adjacent aircrafts.
Fig. 1 schematically illustrates a flow chart of an aircraft flight conflict detection method according to an embodiment of the invention. FIG. 2 schematically illustrates an operational flow diagram of an aircraft flight conflict detection method, in accordance with an embodiment of the present invention.
Referring to fig. 2, the method shown in fig. 1 is described in detail, and as shown in fig. 1, an aspect of the present invention provides a flight collision detection method, which includes steps S1 to S5.
And S1, acquiring a first information source of the current aircraft and a second information source of the adjacent aircraft, wherein the first information source comprises a first flying speed, a first longitude and latitude and a first protection radius, and the second information source comprises a second flying speed, a second longitude and latitude and a second protection radius.
Specifically, information sources of the flight speed, the longitude and latitude and the aircraft type of the aircraft are acquired in an airborne equipment terminal system of the aircraft respectively aiming at a neighboring aircraft and a current aircraft. Wherein the flying speed is a speed vector V including southNorth velocity VSNOr east-west speed VEW(ii) a The longitude and latitude include longitude and latitude values.
The protection radii of a neighboring aircraft and a current aircraft are determined based on the type of aircraft, the flight characteristics of the aircraft, and the mission attributes, for the neighboring aircraft and the current aircraft, respectively.
It should be understood that the aircraft type may include, for example, aircraft size and weight information; the flight characteristics of the aircraft may include, for example, flight altitude and turn radius information; the mission attributes may include, for example, whether to carry a passenger flight or flight zone range information. In the present invention, the type of aircraft, the flight characteristics of the aircraft, and the flight mission attributes are not particularly limited.
The first airspeed comprises a first north-south airspeed or a first east-west airspeed. In the embodiment of the invention, the running speeds and the heading angles of the adjacent aircraft and the current aircraft are obtained through airborne GPS equipment, and the north-south flying speed or the east-west flying speed of the adjacent aircraft and the current aircraft is obtained through vector operation.
FIG. 3 schematically illustrates a vector operation diagram of a first airspeed according to an embodiment of the present invention.
Referring to fig. 3, in the embodiment of the present invention, the first north-south flying speed or the first east-west flying speed is calculated by the following formula:
Figure GDA0003297664820000071
wherein, | VAL is a first flight speed; thetaAThe first heading angle is an included angle between a longitudinal axis of the aircraft and the north pole of the earth; vAEWA first east-west airspeed; vASNThe first north-south flight speed.
The second flying speed comprises a second north-south flying speed or a second east-west flying speed, and the second north-south flying speed or the second east-west flying speed is also obtained by the calculation.
It should be noted that in other embodiments, the north-south flying speed or the east-west flying speed may be directly obtained through the onboard device terminal system. The method for obtaining the north-south flying speed or the east-west flying speed is not particularly limited in the present invention.
S2, calculating the relative movement speed of the adjacent aircraft relative to the current aircraft based on the first information source and the second information source.
The relative movement speed comprises the magnitude of the relative movement speed and the direction angle of the relative movement speed.
Fig. 3 schematically shows a relative movement velocity vector calculation diagram in the embodiment of the present invention.
As shown in fig. 3, according to the first flying speed and the second flying speed, the relative moving speed of the adjacent aircraft relative to the current aircraft can be obtained as follows:
Figure GDA0003297664820000081
wherein, VAEWA first east-west airspeed; vASNThe first north-south flight speed; vBEWA second east-west airspeed; vASNThe second north-south flight speed; i VBAAnd | is the magnitude of the relative motion velocity.
Fig. 4A to 4E schematically show five calculation cases of the direction angle of the relative movement speed according to the embodiment of the present invention. Wherein FIG. 4A corresponds to a first calculation of the directional angle of the relative motion velocity; FIG. 4B corresponds to a second calculation of the direction angle of the relative movement speed; FIG. 4C corresponds to a third calculation of the bearing angle of the relative motion velocity; FIG. 4D corresponds to a fourth calculation of the bearing angle for the relative motion velocity; fig. 4E corresponds to a fifth calculation case of the direction angle of the relative movement speed.
Referring to fig. 4A to 4E, according to the first flight speed and the second flight speed, the directional angles of the relative movement speed are divided into the following five cases:
(1) at VBEW≥VAEWAnd V isBSN＞VASNWhen, psiBAIs composed of
Figure GDA0003297664820000082
(2) At VBEW＜VAEWAnd V isBSN＞VASNWhen, psiBAIs composed of
Figure GDA0003297664820000083
(3) At VBEW＜VAEWAnd V isBSN＝VASNWhen, psiBAIs composed of
ψBA＝270°；
(4) At VBEW＞VAEWAnd V isBSN＝VASNWhen, psiBAIs composed of
ψBA＝90°；
(5) At VBSN＜VASNWhen, psiBAIs composed of
Figure GDA0003297664820000091
Wherein psiBADirection angle of relative motion speed; vAEWA first east-west airspeed; vASNThe first north-south flight speed; vBEWA second east-west airspeed; vBSNThe second north-south flight speed.
And S3, calculating a third longitude and latitude of the adjacent aircraft after predicting that the adjacent aircraft flies at the relative movement speed relative to the current aircraft for a first preset time period.
The first preset time period is set by the flight management service system according to needs, and the first preset time period is alarm time.
Fig. 5 schematically illustrates a flow chart for calculating a third longitude and latitude of the neighboring aircraft according to an embodiment of the present invention.
Referring to fig. 5, step S3 includes the following sub-steps:
and S31, calculating the flying distance of the adjacent aircraft after predicting that the adjacent aircraft flies at the relative movement speed relative to the current aircraft for a first preset time period.
Specifically, the flight distance L of the adjacent aircraft is:
L＝|VBA|·t
wherein t is a first preset time period, also called alarm time.
And S32, calculating a first intermediate angle, a second intermediate angle and a third intermediate angle according to the flight distance of the adjacent aircraft, the second longitude and latitude and the direction angle of the relative movement speed.
Specifically, the first intermediate angle, the second intermediate angle, and the third intermediate angle are calculated by:
Figure GDA0003297664820000092
α＝arccos(cos(90°-Bw)cosδ+sin(90°-Bw)sinδcosψBA)
Figure GDA0003297664820000093
wherein R is the radius of the earth; b iswIs the latitude value in the second longitude and latitude; δ is a first intermediate angle; α is a second intermediate angle;
Figure GDA0003297664820000101
is a third intermediate angle.
Delta, alpha,
Figure GDA0003297664820000102
The angle system is adopted uniformly instead of the radian system.
And S33, calculating a third longitude and latitude of the adjacent aircraft according to the second longitude and latitude, the second intermediate angle and the third intermediate angle.
The third longitude and latitude is the longitude and latitude where the adjacent aircraft flies for a first preset time period.
Specifically, the third longitude and latitude of the neighboring aircraft may be calculated by:
Figure GDA0003297664820000103
wherein, BjAdopting an angle system for longitude values in the second longitude and latitude; cj、CwThe longitude value and the latitude value in the third longitude and latitude are respectively, and an angle system is also uniformly adopted.
Through the step, the relative movement speed V of the adjacent aircraft can be obtainedBAAnd moving the longitude and latitude after the first preset time period t.
S4, calculating the distance of the adjacent aircraft relative to the current aircraft according to the first longitude and the third longitude and latitude.
Fig. 6 schematically shows a flow chart for calculating the distance of the neighboring aircraft relative to the current aircraft according to an embodiment of the invention.
Referring to fig. 6, step S4 includes the following sub-steps:
and S41, calculating a fourth intermediate angle according to the first longitude and the third longitude and latitude.
The fourth intermediate angle may be calculated by:
σ＝arccos(cos(90°-Cw)cos(90°-Aw)+sin(90°-Cw)sin(90°-Aw)cos(Cj-Aj))
wherein, Cj、CwRespectively the longitude value and the latitude value in the third longitude and latitude; a. thej、AwRespectively a longitude value and a latitude value in a first longitude latitude; σ is a fourth intermediate angle.
S42, calculating the distance of the adjacent aircraft relative to the current aircraft according to the fourth intermediate angle.
The distance d of the neighboring aircraft relative to the current aircraft is:
Figure GDA0003297664820000104
and S5, comparing the sum of the first protective radius and the second protective radius with the distance between the adjacent aircraft and the current aircraft, and judging whether a flight conflict situation exists.
Specifically, determining whether a flight conflict condition exists includes:
and judging whether the sum of the first protective radius and the second protective radius is larger than the distance between the adjacent aircraft and the current aircraft, if so, determining that a flight conflict condition exists, and if not, determining that the flight conflict condition does not exist.
Fig. 7 schematically illustrates a computational schematic of an aircraft flight conflict detection method according to an embodiment of the present invention.
Referring to fig. 7, the distance d between the adjacent aircraft and the current aircraft is greater than the sum of the protective radii of the adjacent aircraft and the current aircraft, i.e., d > RA+RBNo flight conflicts exist with neighboring aircraft; the distance d between the adjacent aircraft and the current aircraft is less than or equal to the sum of the protection radii of the adjacent aircraft and the current aircraft, namely d ≦ RA+RBThere is a flight conflict adjacent the aircraft.
Further, in the embodiment of the invention, when the adjacent aircraft has flight conflict, warning information is issued; and when the adjacent aircraft does not have flight conflict, the adjacent aircraft continues to execute the sailing task according to the estimated track and the predicted flight time.
In other embodiments, the subsequent operations based on the determination of whether a flight conflict condition exists are not limiting of the present invention.
The aircraft flight conflict detection method provided by the invention comprehensively judges and judges that two aircrafts can not generate alarm or early warning information within preset alarm or early warning time through alarm or early warning time, relative movement speed and direction angle and protection radius, thereby playing a conflict detection function and having the advantages of simplicity, intuition, unified mathematical model and simplicity in realization. The invention is suitable for the situations of human-computer interaction, human-computer interaction and unmanned-aerial vehicle interaction, different airborne equipment capability, different airborne device flight situations (relative position, speed and height) and the like.
The invention further provides an aircraft flight conflict detection system. FIG. 8 schematically illustrates a block diagram of an aircraft flight conflict detection system in accordance with an embodiment of the present invention.
As shown in fig. 8, an aircraft flight collision detection system 800 according to an embodiment of the present invention may include, for example, a data acquisition module 810, a relative speed calculation module 820, a longitude and latitude calculation module 830, a relative distance calculation module 840, and a collision detection module 850.
Specifically, the data obtaining module 810 is configured to obtain a first information source of the current aircraft and a second information source of the neighboring aircraft, where the first information source includes a first flight speed, a first longitude and latitude, and a first protection radius, and the second information source includes a second flight speed, a second longitude and latitude, and a second protection radius;
a relative velocity calculation module 820 for calculating the relative motion velocity of the neighboring aircraft relative to the current aircraft;
a latitude and longitude calculation module 830, configured to calculate a third latitude and longitude of the neighboring aircraft after predicting that the neighboring aircraft flies at the relative movement speed for a first preset time period with respect to the current aircraft;
a relative distance calculation module 840 for calculating the distance of the neighboring aircraft relative to the current aircraft;
a collision detection module 850, configured to compare the sum of the first protection radius and the second protection radius with the distance between the adjacent aircraft and the current aircraft, and determine whether a flight collision condition exists.
It is understood that the data obtaining module 810, the relative speed calculating module 820, the latitude and longitude calculating module 830, the relative distance calculating module 840, and the collision detecting module 850 may be combined into one module to be implemented, or any one of the modules may be split into a plurality of modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of the other modules and implemented in one module. According to an embodiment of the present invention, at least one of the data acquisition module 810, the relative speed calculation module 820, the latitude and longitude calculation module 830, the relative distance calculation module 840, and the collision detection module 850 may be implemented at least partially as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or any other reasonable manner of integrating or packaging a circuit, as hardware or firmware, or as a suitable combination of three implementations of software, hardware, and firmware. Alternatively, at least one of the data acquisition module 810, the relative speed calculation module 820, the latitude and longitude calculation module 830, the relative distance calculation module 840, and the collision detection module 850 may be at least partially implemented as a computer program module that, when executed by a computer, may perform the functions of the respective modules.
It should be noted that the embodiment of the system part is similar to the embodiment of the method part, and the achieved technical effects are also similar, and for specific details, reference is made to the embodiment of the method part, and no further description is given here.
The invention further provides electronic equipment for detecting the flight conflict of the aircraft. FIG. 9 schematically illustrates a block diagram of electronics for aircraft flight conflict detection, in accordance with an embodiment of the present invention. The electronic device shown in fig. 9 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 9, the electronic device 900 includes a processor 910, a memory 920. The electronic device 900 may perform the methods described above with reference to fig. 1 and 2 for aircraft flight conflict detection.
In particular, processor 910 may include, for example, a general purpose microprocessor, an instruction set processor and/or related chip set and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), and/or the like. The processor 910 may also include onboard memory for caching purposes. Processor 910 may be a single processing unit or a plurality of processing units for performing the different actions of the method flows according to embodiments of the present invention described with reference to fig. 1 and 2.
The memory 920 may be, for example, any medium that can contain, store, communicate, propagate, or transport the instructions. For example, a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the readable storage medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links.
Memory 920 may include a computer program 921, which computer program 921 may include code/computer-executable instructions that, when executed by processor 910, cause processor 910 to perform a method flow such as described above in connection with fig. 1 and 2, and any variations thereof.
The computer program 921 may be configured with, for example, computer program code comprising computer program modules. For example, in an example embodiment, code in computer program 921 may include one or more program modules, including for example 921A, module 921B … …. It should be noted that the division and number of modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual situations, which when executed by the processor 910, enable the processor 910 to perform the method flows described above in connection with fig. 1 and 2, for example, and any variations thereof.
According to an embodiment of the present invention, at least one of the data acquisition module 810, the relative speed calculation module 820, the latitude and longitude calculation module 830, the relative distance calculation module 840, and the collision detection module 850 may be implemented as a computer program module described with reference to fig. 9, which, when executed by the processor 910, may implement the corresponding operations described above.
The present invention also provides a computer-readable storage medium, which may be included in the device/system described in the above embodiments, or may exist separately without being assembled into the device/system. The computer-readable storage medium carries one or more programs which, when executed, implement the method according to an embodiment of the present invention.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. An aircraft flight conflict detection method for detecting a flight conflict situation of a neighboring aircraft relative to a current aircraft, the method comprising:
acquiring a first information source of the current aircraft and a second information source of the adjacent aircraft, wherein the first information source comprises a first flight speed, a first longitude and latitude and a first protection radius, and the second information source comprises a second flight speed, a second longitude and latitude and a second protection radius;
calculating a relative movement velocity of the neighboring aircraft relative to the current aircraft based on the first information source and the second information source;
calculating a third longitude and latitude of the adjacent aircraft after the adjacent aircraft is predicted to fly at the relative movement speed relative to the current aircraft for a first preset time period;
calculating the distance of the adjacent aircraft relative to the current aircraft according to the first longitude and the third latitude;
comparing the sum of the first protective radius and the second protective radius with the distance between the adjacent aircraft and the current aircraft, and judging whether a flight conflict condition exists;
wherein the calculating a third longitude and latitude of the neighboring aircraft comprises:
calculating the third longitude and latitude according to the following formula:
L＝|VBA|·t
Figure FDA0003297664810000011
α＝arccos(cos(90°-Bw)cosδ+sin(90°-Bw)sinδcosψBA)
Figure FDA0003297664810000012
Figure FDA0003297664810000013
wherein t is a first preset time period; i VBAL is the magnitude of the relative movement speed; l is the flight distance of the adjacent aircraft; r is the radius of the earth; b iswIs the latitude value in the second longitude and latitude; psiBADirection angle of relative motion speed; δ is a first intermediate angle; α is a second intermediate angle;
Figure FDA0003297664810000014
is a third intermediate angle; b isjThe longitude value in the second longitude and latitude is taken as the longitude value; cj、CwRespectively the longitude value and the latitude value in the third longitude and latitude;
the calculating the distance of the neighboring aircraft relative to the current aircraft comprises:
calculating a distance of the neighboring aircraft relative to the current aircraft according to:
σ＝arccos(cos(90°-Cw)cos(90°-Aw)+sin(90°-Cw)sin(90°-Aw)cos(Cj-Aj))
Figure FDA0003297664810000021
wherein, Cj、CwRespectively the longitude value and the latitude value in the third longitude and latitude; a. thej、AwRespectively a longitude value and a latitude value in a first longitude latitude; σ is a fourth intermediate angle; r is the radius of the earth; d is the distance of the adjacent aircraft relative to the current aircraft.
2. The aircraft flight conflict detection method of claim 1, wherein the first airspeed comprises a first north-south airspeed or a first east-west airspeed, and the first north-south airspeed or the first east-west airspeed is calculated by:
Figure FDA0003297664810000022
wherein, | VAL is a first flight speed; thetaAThe first heading angle is an included angle between a longitudinal axis of the aircraft and the north pole of the earth; vAEWA first east-west airspeed; vASNThe first north-south flight speed; and
the second flying speed comprises a second north-south flying speed or a second east-west flying speed, and the second north-south flying speed or the second east-west flying speed is calculated by the following formula:
Figure FDA0003297664810000023
wherein, | VBL is the second flight speed; thetaBThe second heading angle is an included angle between the longitudinal axis of the aircraft and the north pole of the earth; vBEWA second east-west airspeed; vBSNThe second north-south flight speed.
3. The aircraft flight conflict detection method according to claim 1, wherein the first flight speed comprises a first north-south flight speed or a first east-west flight speed, the second flight speed comprises a second north-south flight speed or a second east-west flight speed, the relative motion speed comprises the magnitude of the relative motion speed and the direction angle of the relative motion speed, and the direction angle of the relative motion speed is divided into the following five cases:
at VBEW≥VAEWAnd V isBSN＞VASNWhen, psiBAIs composed of
Figure FDA0003297664810000031
At VBEW＜VAEWAnd V isBSN＞VASNWhen, psiBAIs composed of
Figure FDA0003297664810000032
At VBEW＜VAEWAnd V isBSN＝VASNWhen, psiBAIs composed of
ψBA＝270°；
At VBEW＞VAEWAnd V isBSN＝VASNWhen, psiBAIs composed of
ψBA＝90°；
At VBSN＜VASNWhen, psiBAIs composed of
Figure FDA0003297664810000033
Wherein psiBADirection angle of relative motion speed; vAEWA first east-west airspeed; vASNThe first north-south flight speed; vBEWA second east-west airspeed; vBSNThe second north-south flight speed.
4. The aircraft flight conflict detection method of claim 1, wherein the determining whether a flight conflict condition exists comprises:
and judging whether the sum of the first protective radius and the second protective radius is larger than or equal to the distance between the adjacent aircraft and the current aircraft, if so, determining that a flight conflict condition exists, and if not, determining that the flight conflict condition does not exist.
5. The aircraft flight conflict detection method of claim 4, further comprising:
issuing warning information when the adjacent aircraft has flight conflict;
and when the adjacent aircraft does not have flight conflict, the adjacent aircraft continues to execute the sailing task according to the estimated track and the predicted flight time.
6. An aircraft flight conflict detection system, comprising:
the data acquisition module is used for acquiring a first information source of a current aircraft and a second information source of an adjacent aircraft, wherein the first information source comprises a first flight speed, a first longitude and latitude and a first protection radius, and the second information source comprises a second flight speed, a second longitude and latitude and a second protection radius;
a relative speed calculation module for calculating the relative movement speed of the adjacent aircraft relative to the current aircraft;
the longitude and latitude calculation module is used for calculating a third longitude and latitude of the adjacent aircraft after predicting that the adjacent aircraft flies at the relative movement speed for a first preset time period relative to the current aircraft;
a relative distance calculation module for calculating the distance of the neighboring aircraft relative to the current aircraft;
the collision detection module is used for comparing the sum of the first protective radius and the second protective radius with the distance between the adjacent aircraft and the current aircraft and judging whether a flight collision condition exists or not;
wherein the latitude and longitude calculation module calculates the third latitude and longitude according to the following formula:
L＝|VBA|·t
Figure FDA0003297664810000041
α＝arccos(cos(90°-Bw)cosδ+sin(90°-Bw)sinδcosψBA)
Figure FDA0003297664810000042
Figure FDA0003297664810000043
wherein t is a first preset time period; i VBAL is the magnitude of the relative movement speed; l is the flight distance of the adjacent aircraft; r is the radius of the earth; bw is a latitude value in the second longitude and latitude; psiBADirection angle of relative motion speed; δ is a first intermediate angle; α is a second intermediate angle;
Figure FDA0003297664810000044
is a third intermediate angle; b isjThe longitude value in the second longitude and latitude is taken as the longitude value; cj、CwRespectively the longitude value and the latitude value in the third longitude and latitude;
the relative distance calculation module calculates the distance of the neighboring aircraft relative to the current aircraft according to the following equation:
σ＝arccos(cos(90°-Cw)cos(90°-Aw)+sin(90°-Cw)sin(90°-Aw)cos(Cj-Aj))
Figure FDA0003297664810000051
wherein, Cj、CwRespectively the longitude value and the latitude value in the third longitude and latitude; a. thej、AwRespectively a longitude value and a latitude value in a first longitude latitude; σ is a fourth intermediate angle; r is the radius of the earth; d is the distance of the adjacent aircraft relative to the current aircraft.
7. An electronic device for aircraft flight conflict detection, comprising a memory and a processor, wherein;
the memory has stored therein executable instructions of the processor;
the processor is configured to perform the aircraft flight conflict detection method of any one of claims 1-5 via execution of the executable instructions.
8. A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the aircraft flight collision detection method according to any one of claims 1 to 5.
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