CN112530207A - Airport bird condition monitoring method and system - Google Patents
Airport bird condition monitoring method and system Download PDFInfo
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- CN112530207A CN112530207A CN202011364502.4A CN202011364502A CN112530207A CN 112530207 A CN112530207 A CN 112530207A CN 202011364502 A CN202011364502 A CN 202011364502A CN 112530207 A CN112530207 A CN 112530207A
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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]
- G08G5/0073—Surveillance aids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/36—Videogrammetry, i.e. electronic processing of video signals from a single source or from different sources to give parallax or range information
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Abstract
The invention relates to the technical field of intelligent monitoring, and discloses an airport bird condition monitoring system to ensure the traffic safety of flights. The method comprises the following steps: deploying an ADS-B terminal for acquiring ADS-B information of the airplane at an airport; acquiring bird activity information by adopting pure passive infrared detection equipment; and combining the bird activity information with the ADS-B information of the airplane to judge whether the airplane is dangerous in flying or taking off and landing. Furthermore, an artificial intelligence analysis system can be constructed to analyze the bird activity types and the activity rules, and the weather and climate factors are combined to form airport bird condition prediction information; and judging whether the flying or the taking off and landing of the airplane is dangerous or not by combining the bird condition prediction information with the ADS-B information of the airplane.
Description
Technical Field
The invention relates to the technical field of intelligent monitoring, in particular to an airport bird condition monitoring system.
Background
With the rapid increase of civil aviation flight traffic and the improvement of ecological environment, the bird collision aircraft event is in an ascending trend. Around ten thousand bird-aircraft crashes occur worldwide each year, and the international aviation union has upgraded bird damage to the "class a" (the most common) aviation disaster. Birds are abundant in variety, activity mobility is strong, activities day and night and pursuing are deceitful, mystery and deceased objective reasons and the like enable aviation safety guarantee personnel to be rapid and rapid, and great hidden dangers and direct injuries are brought to aviation safety.
At present, the airport bird situation detection radar can complete the airport bird activity detection function, but the airport signal frequency band limitation causes that the radar cannot be used in a large scale.
Most of the existing bird condition analysis systems are aerial security personnel observing and recording the bird condition and activity conditions through human eyes, the height of the bird activity distance and the position relation of an aircraft cannot be accurately identified through human eye observation, the bird condition threat level cannot be judged, and early warning notification cannot be carried out. Therefore, the existing bird condition analysis system can not predict bird activities according to bird habits, ecological factors, environment factors, climate factors, weather factors and the like, and aviation support personnel can only defend passively.
Disclosure of Invention
The invention aims to disclose a method and a system for monitoring bird conditions in an airport so as to ensure the traffic safety of flights.
In order to achieve the above object, the present invention discloses a bird condition monitoring method for an airport, comprising:
deploying an ADS-B terminal for acquiring ADS-B information of the airplane at an airport;
acquiring bird activity information by adopting pure passive infrared detection equipment;
and combining the bird activity information with the ADS-B information of the airplane to judge whether the airplane is dangerous in flying or taking off and landing.
Preferably, the infrared detection device is provided with a binocular camera, an imaging plane of the binocular camera is located in front of the lens after being twisted, and the calculation method for obtaining the position of the center of mass of the activity information of the target birds comprises the following steps:
let P be the center of mass of the tracked target bird, QR、QTAre respectively twoThe optical center of each camera, the imaging points of the point P on the binocular camera photoreceptor are P and P ', f is the focal length of the camera, B is the center distance of the two cameras, Z is the depth information to be obtained, and the distance from the point P to the point P' is set as D, then:
D＝B–(XR-XT)
wherein, XR-XTFor parallax, there are the following according to the principle of similar triangles:
D/B＝(Z-f)/Z
obtaining:
Z＝fB/(XR-XT)
the focal length f and the camera center distance B are obtained through calibration, and depth information is obtained according to parallax; calculating the height of the target birds by combining the pitch angle and the distance of the infrared detection equipment servo platform; and then obtaining the activity track data of the bird target under a three-dimensional coordinate system taking the infrared detection device as the center, wherein the activity track data comprises the flying speed, the flying direction and the flying height.
Preferably, the process of combining the bird activity information with the ADS-B information of the aircraft includes:
calculating the position information of the airplane under a geodetic coordinate system according to ADS-B data sent by the airplane, wherein the position information comprises longitude and latitude and altitude information;
and projecting the longitude and latitude onto a plane according to a corresponding mathematical rule to obtain a plane direct coordinate, converting the plane direct coordinate into a rectangular coordinate system taking the infrared detection system as a center, comparing the height information of the airplane and the target birds, and judging whether the airplane is in danger in flying or taking off and landing.
Preferably, the mathematical law uses the gaussian-gram-luger projection law.
Preferably, the method of the present invention further comprises: constructing an artificial intelligence analysis system to analyze bird activity types and activity rules, and forming airport bird condition prediction information by combining weather and climate factors; and judging whether the flying or the taking off and landing of the airplane is dangerous or not by combining the bird condition prediction information with the ADS-B information of the airplane.
In order to achieve the above object, the present invention further discloses an airport bird condition monitoring system, which is used for implementing the corresponding method steps, and comprises:
the ADS-B terminal is deployed at an airport and used for acquiring ADS-B information of the airplane;
the pure passive infrared detection equipment is used for acquiring bird activity information;
and the central control system is used for combining the bird activity information with the ADS-B information of the airplane and judging whether the airplane is in danger in flying or taking off and landing.
The invention has the following beneficial effects:
the adoption of pure passive infrared detection equipment can not cause electromagnetic wave interference to the airplane, and the reliability of the acquired data can be ensured based on ADS-B information; simple and practical and the precision is high, can effectively ensure aviation safety.
The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flow chart of an airport bird situation monitoring method according to an embodiment of the invention.
FIG. 2 is a schematic diagram of a geometric relationship for calculating the centroid position of the target bird activity information according to the embodiment of the invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
Example 1
The embodiment discloses an airport bird condition monitoring method, as shown in fig. 1, including:
and step S1, deploying ADS-B terminals for acquiring ADS-B information of the airplane at the airport.
And step S2, acquiring bird activity information by adopting a pure passive infrared detection device.
Preferably, the infrared detection device adopts a photoelectric detection radar which is a patent device of the prior application CN110940993A of the applicant of the present application.
Preferably, in this step, referring to fig. 2, the infrared detection device is provided with a binocular camera, and an imaging plane of the binocular camera is twisted and then positioned in front of the lens, and the calculation method for obtaining the centroid position of the activity information of the target bird includes:
let P be the center of mass of the tracked target bird, QR、QTThe optical centers of the two cameras are respectively, the imaging points of a point P on a binocular camera photoreceptor are P and P ', f is the focal length of the cameras, B is the center distance of the two cameras, Z is the depth information to be obtained, and the distance from the point P to the point P' is set as D, then:
D＝B–(XR-XT)
wherein, XR-XTFor parallax, there are the following according to the principle of similar triangles:
D/B＝(Z-f)/Z
obtaining:
Z＝fB/(XR-XT)
the focal length f and the camera center distance B are obtained through calibration, and depth information is obtained according to parallax; calculating the height of the target birds by combining the pitch angle and the distance of the infrared detection equipment servo platform; and then obtaining the activity track data of the bird target under a three-dimensional coordinate system taking the infrared detection device as the center, wherein the activity track data comprises the flying speed, the flying direction and the flying height.
And step S3, combining the bird activity information with the ADS-B information of the airplane to judge whether the airplane is in danger in flying or taking off and landing.
In this step, preferably, the combining the bird activity information with the ADS-B information of the aircraft includes:
and step S31, calculating the position information of the airplane under a geodetic coordinate system according to ADS-B data sent by the airplane, wherein the position information comprises longitude and latitude and altitude information.
And S32, projecting the longitude and latitude onto a plane according to a corresponding mathematical rule to obtain a plane direct coordinate, calculating the plane direct coordinate into a rectangular coordinate system with the infrared detection system as the center, comparing the height information of the airplane and the target birds, and judging whether the airplane is in danger in flying or taking off and landing.
Preferably, the mathematical law uses the gaussian-gram-luger projection law. The specific process is detailed as follows:
setting a major semi-axis of the earth as a, a minor semi-axis of the earth as b, an earth oblateness as c, a first eccentricity e and a second eccentricity e'; then:
c＝(a-b)/a
the geodetic coordinate system is a coordinate system established by taking the reference ellipsoid as a datum plane in geodetic surveying. The location of the ground point is represented by the geodetic longitude L, the geodetic latitude B, and the geodetic altitude H.
The Gaussian projection forward calculation formula comprises:
in the formula: x and y are coordinates of a plane coordinate system, and L is a difference value between the airplane longitude L and the central meridian longitude;
t＝tan(B)
β2＝e′2cos2B
therefore, the coordinate system can be conveniently converted into a plane coordinate system taking the observation system as the origin of coordinates.
Preferably, the method of the present invention further comprises: constructing an artificial intelligence analysis system to analyze bird activity types and activity rules, and forming airport bird condition prediction information by combining weather and climate factors; and judging whether the flying or the taking off and landing of the airplane is dangerous or not by combining the bird condition prediction information with the ADS-B information of the airplane. When danger exists, birds with high threat level can be driven away in real time through the airport bird situation driving-away equipment, or security personnel are instructed to drive away manually; to avoid a bird strike event.
Example 2
The embodiment discloses an airport bird condition monitored control system, its characterized in that includes:
and the ADS-B terminal is deployed at an airport and used for acquiring ADS-B information of the airplane.
And the pure passive infrared detection equipment is used for acquiring bird activity information.
And the central control system is used for combining the bird activity information with the ADS-B information of the airplane and judging whether the airplane is in danger in flying or taking off and landing.
Preferably, the infrared detection device is provided with a binocular camera, an imaging plane of the binocular camera is located in front of the lens after being twisted, and the calculation method for obtaining the position of the center of mass of the activity information of the target birds comprises the following steps:
let P be the center of mass of the tracked target bird, QR、QTThe optical centers of the two cameras are respectively, the imaging points of a point P on a binocular camera photoreceptor are P and P ', f is the focal length of the cameras, B is the center distance of the two cameras, Z is the depth information to be obtained, and the distance from the point P to the point P' is set as D, then:
D＝B–(XR-XT)
wherein, XR-XTFor parallax, there are the following according to the principle of similar triangles:
D/B＝(Z-f)/Z
obtaining:
Z＝fB/(XR-XT)
the focal length f and the camera center distance B are obtained through calibration, and depth information is obtained according to parallax; calculating the height of the target birds by combining the pitch angle and the distance of the infrared detection equipment servo platform; and then obtaining the activity track data of the bird target under a three-dimensional coordinate system taking the infrared detection device as the center, wherein the activity track data comprises the flying speed, the flying direction and the flying height.
Preferably, the process of combining the bird activity information with the ADS-B information of the aircraft includes:
calculating the position information of the airplane under a geodetic coordinate system according to ADS-B data sent by the airplane, wherein the position information comprises longitude and latitude and altitude information;
and projecting the longitude and latitude onto a plane according to a corresponding mathematical rule to obtain a plane direct coordinate, converting the plane direct coordinate into a rectangular coordinate system taking the infrared detection system as a center, comparing the height information of the airplane and the target birds, and judging whether the airplane is in danger in flying or taking off and landing.
Similarly, the mathematical algorithm may employ the gaussian-gram projection algorithm.
Furthermore, the central control system is integrated or associated with a system for analyzing bird activity types and activity rules and forming airport bird situation prediction information by combining weather and climate factors; and then the bird condition prediction information is combined with the ADS-B information of the airplane to judge whether the airplane is in danger during flying or taking off and landing.
It should be noted that the execution main body for calculating bird activity information in this embodiment may be an infrared detection device, or may be a central control system; can be flexibly configured according to the requirements of users. Further, this embodiment system can also set up the mobile terminal APP, mainly used realizes: the method comprises the steps of positioning aviation safety guarantee personnel, displaying the situation of bird activities in real time, guiding the aviation safety guarantee personnel to drive away or informing airport towers to adjust the take-off and landing time of airplanes and the like.
Preferably, the central control system of the embodiment is further provided with the following functions in a related software interface to monitor bird activity in linkage with the infrared detection device:
firstly, a tracking mode: the method comprises a manual tracking mode and an automatic tracking mode, wherein the device detects that the bird activity does not enter a tracking state during manual tracking, the automatic tracking mode directly enters tracking, and the automatic tracking mode is recommended.
Secondly, stopping tracking: after entering the target tracking state, the user can click the button to stop tracking, and the device automatically enters the last detection mode.
Thirdly, video switching: the detection video is divided into two detector videos which can be switched by clicking, wherein 1 represents a large view field, and more scenes are available; 2 represents a small field of view and a small scene.
Fourthly, staring mode: device orientation and pitch are specified for fixed point gaze detection.
A sweeping mode: and the appointed equipment starts to end the azimuth and the pitching information to carry out area sweep detection.
Step mode: the designated device starts to end the azimuth and pitch information for zone stepping detection, and this mode is recommended.
And seventhly, airplane tracking: and entering a take-off and landing airplane tracking mode by one key.
And stopping: when the mode is switched, the last operation mode of the equipment must be stopped.
Optionally, the system management of the central control system can be divided into functions of equipment management, event tracking, bird situation statistics, user logs and the like. Among them, tracking events and bird situation statistics are commonly used. Tracking events are event records triggered by the discovery of bird activity by the device and entry into the tracking, and the user can view and confirm the target according to event playback. Bird situation statistics show detailed positions of bird activities in a three-dimensional thermodynamic diagram mode, and bird activity thermodynamic diagrams of different dates can be selected according to events.
In summary, the airport bird condition monitoring method and system disclosed in the above embodiments of the present invention have the following advantages:
the adoption of pure passive infrared detection equipment can not cause electromagnetic wave interference to the airplane, and the reliability of the acquired data can be ensured based on ADS-B information; simple and practical and the precision is high, can effectively ensure aviation safety.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An airport bird condition monitoring method, comprising:
deploying an ADS-B terminal for acquiring ADS-B information of the airplane at an airport;
acquiring bird activity information by adopting pure passive infrared detection equipment;
and combining the bird activity information with the ADS-B information of the airplane to judge whether the airplane is dangerous in flying or taking off and landing.
2. The airport bird situation monitoring method of claim 1, wherein the infrared detection device is provided with a binocular camera, an imaging plane of the binocular camera is twisted and then positioned in front of the lens, and the calculation method for obtaining the position of the center of mass of the activity information of the target birds comprises the following steps:
let P be the center of mass of the tracked target bird, QR、QTThe optical centers of the two cameras are respectively, the imaging points of a point P on a binocular camera photoreceptor are P and P ', f is the focal length of the cameras, B is the center distance of the two cameras, Z is the depth information to be obtained, and the distance from the point P to the point P' is set as D, then:
D＝B–(XR-XT)
wherein, XR-XTFor parallax, there are the following according to the principle of similar triangles:
D/B＝(Z-f)/Z
obtaining:
Z＝fB/(XR-XT)
the focal length f and the camera center distance B are obtained through calibration, and depth information is obtained according to parallax; calculating the height of the target birds by combining the pitch angle and the distance of the infrared detection equipment servo platform; and then obtaining the activity track data of the bird target under a three-dimensional coordinate system taking the infrared detection device as the center, wherein the activity track data comprises the flying speed, the flying direction and the flying height.
3. The airport bird condition monitoring method of claim 2, wherein the combining the bird activity information with the ADS-B information of the aircraft comprises:
calculating the position information of the airplane under a geodetic coordinate system according to ADS-B data sent by the airplane, wherein the position information comprises longitude and latitude and altitude information;
and projecting the longitude and latitude onto a plane according to a corresponding mathematical rule to obtain a plane direct coordinate, converting the plane direct coordinate into a rectangular coordinate system taking the infrared detection system as a center, comparing the height information of the airplane and the target birds, and judging whether the airplane is in danger in flying or taking off and landing.
4. The airport avidity monitoring method of claim 3 wherein said mathematical algorithm uses the Gaussian-gram projection algorithm.
5. The airport bird situation monitoring method of any one of claims 1 to 4, further comprising:
constructing an artificial intelligence analysis system to analyze bird activity types and activity rules, and forming airport bird condition prediction information by combining weather and climate factors; and judging whether the flying or the taking off and landing of the airplane is dangerous or not by combining the bird condition prediction information with the ADS-B information of the airplane.
6. An airport bird condition monitoring system, comprising:
the ADS-B terminal is deployed at an airport and used for acquiring ADS-B information of the airplane;
the pure passive infrared detection equipment is used for acquiring bird activity information;
and the central control system is used for combining the bird activity information with the ADS-B information of the airplane and judging whether the airplane is in danger in flying or taking off and landing.
7. The airport bird situation monitoring system of claim 1, wherein the infrared detection device is provided with a binocular camera, an imaging plane of the binocular camera is twisted and then positioned in front of the lens, and the calculation method for obtaining the position of the center of mass of the activity information of the target birds comprises the following steps:
let P be the center of mass of the tracked target bird, QR、QTThe optical centers of the two cameras are respectively, the imaging points of a point P on a binocular camera photoreceptor are P and P ', f is the focal length of the cameras, B is the center distance of the two cameras, Z is the depth information to be obtained, and the distance from the point P to the point P' is set as D, then:
D＝B–(XR-XT)
wherein, XR-XTFor parallax, there are the following according to the principle of similar triangles:
D/B＝(Z-f)/Z
obtaining:
Z＝fB/(XR-XT)
the focal length f and the camera center distance B are obtained through calibration, and depth information is obtained according to parallax; calculating the height of the target birds by combining the pitch angle and the distance of the infrared detection equipment servo platform; and then obtaining the activity track data of the bird target under a three-dimensional coordinate system taking the infrared detection device as the center, wherein the activity track data comprises the flying speed, the flying direction and the flying height.
8. The airport bird monitoring system of claim 7, wherein the process of combining the bird activity information with the ADS-B information of the aircraft comprises:
calculating the position information of the airplane under a geodetic coordinate system according to ADS-B data sent by the airplane, wherein the position information comprises longitude and latitude and altitude information;
and projecting the longitude and latitude onto a plane according to a corresponding mathematical rule to obtain a plane direct coordinate, converting the plane direct coordinate into a rectangular coordinate system taking the infrared detection system as a center, comparing the height information of the airplane and the target birds, and judging whether the airplane is in danger in flying or taking off and landing.
9. The airport avidity monitoring system of claim 8 wherein said mathematical algorithm employs a gaussian-gram projection algorithm.
10. The airport bird situation monitoring system of any one of claims 6 to 9, wherein the central control system is further integrated or associated with a system for analyzing bird activity types and activity rules, and combining weather and climate factors to form airport bird situation prediction information; and then the bird condition prediction information is combined with the ADS-B information of the airplane to judge whether the airplane is in danger during flying or taking off and landing.
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Application publication date: 20210319 |