CN113470442B - Method for detecting dangerous approaching of high-voltage line of low-altitude flight of aircraft - Google Patents
Method for detecting dangerous approaching of high-voltage line of low-altitude flight of aircraft Download PDFInfo
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Abstract
The invention discloses a method for detecting the dangerous approach of a high-voltage line of low-altitude flight of an aircraft, which comprises the steps of establishing a mathematical model of the high-voltage line of a flight area; acquiring the position information of the current aircraft, wherein the position information comprises a flight height and longitude and latitude coordinates, judging whether the longitude and latitude of the current aircraft are between the maximum latitude and the minimum latitude, and the maximum longitude and the minimum longitude of the high-voltage line segment, if so, starting the dangerous approach detection of the high-voltage line, otherwise, judging the current aircraft to be safe; when starting the high-voltage line dangerous proximity detection, firstly judging whether the flying height of the current aircraft is lower than the vertical warning height of the line segment of the high-voltage line, if so, starting the horizontal dangerous proximity warning detection, otherwise, judging the detection as safe; when the horizontal dangerous approach warning detection is started, the minimum horizontal distance between the current aircraft and the line segment of the high-voltage line is calculated, when the minimum distance is smaller than the horizontal early warning or warning distance, the high-voltage line dangerous approach early warning or warning is sent out, and otherwise, the high-voltage line dangerous approach warning or warning is regarded as safe.
Description
Technical Field
The invention relates to the technical field of aviation hazard detection, in particular to a method and a system for detecting the low-altitude flight high-voltage line hazard approach of an aircraft.
Background
In recent years, helicopter and unmanned aerial vehicle low-altitude flight are increasingly applied to the fields of industrial and agricultural production, living consumption, social public service and the like, the flight range is increasingly expanded, the flight environment, particularly the low-altitude flight environment, is complex and various, and high-voltage lines all over the country have serious influence on the low-altitude flight safety.
The high-voltage wires are distributed all over the places, the trend of the high-voltage wires fluctuates along with the shape of the place and has a vertical bending shape (the high-voltage wires between two high-voltage wire towers are not vertical, and the high-voltage wires between the two high-voltage wire towers are not straight lines between the two towers); the high-voltage line in the flight area is formed by connecting a plurality of line segments, and warning of low-altitude flight danger approaching of the aircraft at the turning of the fold line needs to be processed for different line segments respectively. The existing high-voltage line danger detection needs to distinguish transverse and longitudinal danger distances, the calculation method is complex, the realization is difficult, and different aircrafts adopt different modes and lack universality.
Disclosure of Invention
The invention aims at the defects in the prior art, and provides a method and a system for detecting the dangerous approach of a high-voltage line in low-altitude flight of an aircraft.
In order to achieve the purpose, the invention provides the following technical scheme:
a dangerous approaching detection method for a high-voltage line of an aircraft in low-altitude flight comprises the following steps:
establishing a mathematical model of the high-voltage lines in the flight area, dividing each high-voltage line into a plurality of line segments which are connected with each other, and determining the longitude and latitude of two end points of each high-voltage line segment and the vertical warning height of the high-voltage line segment;
acquiring the position information of the current aircraft, wherein the position information comprises flight height and longitude and latitude coordinates, judging whether the longitude and latitude of the current aircraft are between the maximum latitude and the minimum latitude, and the maximum longitude and the minimum longitude of the high-voltage line segment by taking each high-voltage line segment as an object, and if the longitude and latitude of the current aircraft are within the range, starting high-voltage line danger approaching detection, otherwise, judging the current aircraft to be safe;
when starting the high-voltage line dangerous approaching detection, firstly judging whether the current flying height of the aircraft is lower than the vertical warning height of the line segment of the high-voltage line, if so, starting the horizontal dangerous approaching warning detection, otherwise, judging the detection to be safe;
when the horizontal dangerous approaching alarm detection is started, calculating the minimum horizontal distance between the current aircraft and the line segment of the high-voltage line, and when the minimum distance is smaller than the horizontal early warning or alarm distance, sending out a dangerous approaching early warning or alarm of the high-voltage line, otherwise, judging the safety;
and when the current aircraft does not detect the dangerous approach of the high-voltage line, the current aircraft continues to execute the flight mission according to the estimated track and the predicted flight time.
Preferably, the method for calculating the vertical alarm height of the high-voltage line segment comprises the following steps,
wherein the content of the first and second substances,
the vertical warning height of the current aircraft in the flight in the high-voltage line section area,
、
the altitude at two end points of the segment AB of the high-voltage line adopts the same reference as the altitude information contained in the current aircraft position information,
the protection height of the aircraft from the high-voltage line is required to be kept for ensuring the safe flight of the aircraft.
Preferably, the method for calculating the minimum horizontal distance between the current aircraft and the high-voltage line segment is that,
when the perpendicular line from the current aircraft position to the high-voltage line segment is in the triangle formed by the current aircraft position and the high-voltage line segment,
when the perpendicular line from the current aircraft position to the high-voltage line segment is outside the triangle formed by the current aircraft position and the high-voltage line segment,
wherein d is the minimum horizontal distance between the current aircraft and the segment of the high-voltage line,
the horizontal distance from the current aircraft position C point to the high-voltage line segment end point B is obtained;
the horizontal distance from the current aircraft position C point to the high-voltage line segment end point A is obtained;
the horizontal distance from the end point A to the end point B of the high-voltage line segment is shown.
Preferably, the horizontal distances a, b, c between two points are calculated by,
wherein r is the horizontal distance between two points,
、
respectively longitude and latitude of one end point of the horizontal distance of the line segment,
、
respectively for calculating line segment levelThe longitude and latitude of the other end of the distance,
to calculate the intermediate angle, R is the radius of the earth.
An aircraft low-altitude flight high-voltage line hazard proximity detection system, comprising:
the data acquisition module is used for acquiring the position information of the current aircraft and the high-voltage line mathematical model data of the flight area;
the horizontal distance calculation module is used for calculating the distance from the current aircraft position to two end points of the high-voltage line segment and the horizontal distance of the high-voltage line segment; the minimum distance calculation module is used for calculating the minimum horizontal distance between the current aircraft and the high-voltage line segment;
and the danger approach detection module is used for comparing the current flying height of the aircraft with the vertical warning height of the line segment of the high-voltage line where the current aircraft is located, comparing the minimum horizontal distance between the current aircraft and the line segment of the high-voltage line where the current aircraft is located with the horizontal early warning or warning distance, and judging whether the dangerous approach condition of the high-voltage line exists or not.
Preferably, the position information of the current aircraft includes a flight height and a longitude and latitude, and the mathematical model data of the high-voltage line in the flight area includes the longitude and latitude of two end points of each high-voltage line segment and a vertical warning height of the high-voltage line segment in which the high-voltage line segment is located.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention adopts a unified model, is suitable for high-voltage lines consisting of any multi-segment line segment, any relative speed direction and any relative speed, does not need to distinguish transverse and longitudinal alarm distances, simplifies calculation and processing, and has the advantages of simplicity, intuition, unified mathematical model and simple realization.
2. The parameters used for alarming are all obtained by cooperative monitoring information, and are longitude and latitude without conversion, and most of navigation aircrafts can provide airborne position information and cooperative monitoring information sources meeting the precision requirement.
3. The continuous high-voltage line is decomposed into multi-end high-voltage line segments for calculation, the high-voltage line conflict detection is to compare the shortest distance between the aircraft and the high-voltage line at the current moment and the safety distance limit standard of the high-voltage line, and the position relation between the aircraft and the high-voltage line is judged according to the shortest distance between a point and the line segments, so that the calculation complexity is reduced.
4. The early warning or warning distance (protection distance) of the high-voltage line danger approaching level of the low-altitude flight of the aircraft can be determined and set according to the type (size, weight and the like) of the aircraft, flight characteristics (flight height, turning radius and the like) and flight task attributes (whether passenger-carrying flight is carried or not and flight area is carried), the low-altitude flight condition is suitable for diversified low-altitude flight conditions such as different low-altitude airspaces, flight environments, flight properties and flight density, and the universality is improved.
Drawings
FIG. 1 is a schematic diagram of horizontal pre-warning and alarm of a high-voltage line segment;
FIG. 2 is a first schematic view of a structure of a vertical distance from a current aircraft position to a high-voltage line segment;
FIG. 3 is a second schematic structural view of the vertical distance from the current aircraft position to the high-voltage line segment;
fig. 4 is a third structural diagram illustrating the vertical distance from the current aircraft position to the high-voltage line segment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
According to the invention, whether the current aircraft is in danger proximity with the high-voltage line segment and further popularized to all the high-voltage line segments in the area is comprehensively judged according to the longitude and latitude of two end points of each high-voltage line segment, the vertical warning height of the high-voltage line segment, the position information of the current aircraft, the high-voltage line danger proximity horizontal warning or warning distance and other information, so that the function of high-voltage line danger proximity warning or warning is realized.
The invention provides a method for detecting dangerous approach of a high-voltage line of low-altitude flight of an aircraft, which comprises the following steps.
S1, acquiring a mathematical model of each high-voltage line segment in a flight area, and acquiring longitude and latitude of two end points of each high-voltage line segment and a vertical alarm height of the high-voltage line segment in which the high-voltage line segment is located;
the method for calculating the vertical alarm height of the high-voltage line segment comprises the following steps,
wherein the content of the first and second substances,
the vertical warning height of the current aircraft in the flight in the high-voltage line section area,
、
the altitude at two end points of the segment AB of the high-voltage line adopts the same reference as the altitude information contained in the current aircraft position information,
is the protective height of the aircraft from the high-voltage line that must be maintained to ensure safe flight of the aircraft.
S2, acquiring position information (including flight altitude and longitude and latitude coordinates) of the current aircraft, taking each high-voltage line segment as an object, judging whether the longitude and latitude of the current aircraft are between the maximum latitude and the minimum latitude, and the maximum longitude and the minimum longitude of the high-voltage line segment, if so, starting high-voltage line danger approaching detection, otherwise, judging as safe;
in the current position information of the aircraft, the longitude and latitude and the flying height, the longitude and latitude of the high-voltage line segment where the aircraft is located and the vertical warning height of the high-voltage line segment adopt the same height reference;
the vertical warning height of the high-voltage line segment can be determined according to the type of the aircraft, the flight characteristics of the aircraft and the flight mission attributes of the aircraft according to different aircrafts and environments where the high-voltage lines are located.
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.
S3, when starting the high-voltage line dangerous proximity detection, firstly judging whether the flying height of the current aircraft is lower than the vertical warning height of the line segment of the high-voltage line, if so, starting the horizontal dangerous proximity warning detection, otherwise, judging the detection as safe;
s4, when horizontal dangerous proximity alarm detection is started, as shown in figure 1, calculating the minimum horizontal distance between the current aircraft and the line segment of the high-voltage line, and when the minimum distance is smaller than the horizontal early warning or alarm distance, sending out a dangerous proximity early warning or alarm of the high-voltage line, otherwise, judging the safety; the horizontal early warning or warning distance needs to be set according to the type of the aircraft and the attribute of a flight task, for example, if a person flies a helicopter, a larger horizontal early warning or warning distance can be set; the high-voltage line inspection unmanned aerial vehicle flies at a proper distance, and a smaller horizontal early warning or warning distance can be set;
s41, calculating the horizontal distance between the three points according to the longitude and latitude of the current aircraft position and the longitude and latitude of the two end points of the high-voltage line segment where the aircraft is located,
the horizontal distance from the current aircraft position C point to the high-voltage line segment end point B is obtained;
from the current aircraft position C to the high-voltage line segment end point AA horizontal distance;
the horizontal distance from the end point A to the end point B of the high-voltage line segment is,
the horizontal distances a, b, c between two points are calculated by,
wherein r is the horizontal distance between two points (r represents a or b or c),
、
respectively longitude and latitude of one end point of the horizontal distance of the line segment,
、
respectively longitude and latitude of the other end point of the horizontal distance of the line segment,
to calculate the intermediate angle, R is the radius of the earth.
For example: taking the calculation of the horizontal distance between the current aircraft position C and the endpoint A of the high-voltage line segment where the aircraft is located as an example, the intermediate angle is calculated according to the longitude and latitude of the two points.
The intermediate angle can be calculated by:
wherein the content of the first and second substances,
、
respectively a longitude value and a latitude value of the current aircraft position C;
、
respectively is the longitude value and the latitude value of the end point A of the high-voltage line segment;
is an intermediate angle.
Calculating the horizontal distance b between the current aircraft position C and the high-voltage line segment endpoint A according to the intermediate angle:
and by analogy, calculating a horizontal distance a between the current aircraft position C and the high-voltage line segment endpoint B where the current aircraft position C is located, and calculating a high-voltage line segment distance (length) C.
S42, calculating the minimum horizontal distance between the current aircraft and the high-voltage line segment according to the distance between the current aircraft and the end point of the high-voltage line segment where the current aircraft is located and the distance between the high-voltage line segments where the current aircraft is located, which are obtained through calculation in S41;
as shown in fig. 2, when the perpendicular line from the current aircraft position to the high-voltage line segment falls within the triangle formed by the current aircraft position and the high-voltage line segment,
as shown in fig. 3-4, when the perpendicular to the high-voltage line segment where the current aircraft position is located falls outside the triangle formed by the current aircraft position and the high-voltage line segment where the current aircraft position is located,
wherein d is the minimum horizontal distance between the current aircraft and the segment of the high-voltage line,
the horizontal distance from the current aircraft position C point to the high-voltage line segment end point B is obtained;
the horizontal distance from the current aircraft position C point to the high-voltage line segment end point A is obtained;
the horizontal distance from the end point A to the end point B of the high-voltage line segment is shown.
S43, according to the minimum horizontal distance between the current aircraft and the high-voltage line segment where the current aircraft is located, the high-voltage line danger approaching detection and early warning/alarming are carried out: when the minimum horizontal distance is smaller than the horizontal early warning or warning distance, sending out a high-voltage line dangerous approaching early warning or warning, otherwise, judging the high-voltage line dangerous approaching early warning or warning as safe; when the early warning is sent out, an operator can close the early warning prompt, when the early warning is sent out, the warning sound cannot be closed, the alarm can be continuously given out, and when the current aircraft does not detect that the high-voltage line is in danger proximity, the current aircraft continues to execute the flight task according to the estimated track and the predicted flight time.
When the method is applied to the high-voltage line danger approach detection of the aircraft onboard equipment, the current aircraft is the aircraft onboard equipment, and the detection is sequentially performed on each high-voltage line segment of the flight area, as shown in fig. 1.
When the method is applied to a ground low-altitude flight monitoring system, each high-voltage line segment in a flight area is taken as an object to carry out detection, and the current aircraft is all aircrafts entering the segment of the currently detected high-voltage line between the maximum latitude and the minimum latitude and between the maximum longitude and the minimum longitude and is sequentially detected.
The method for detecting the dangerous approach of the high-voltage line of the low-altitude flight of the aircraft adopts a unified model, and can be suitable for the high-voltage line consisting of any multiple line segments, any relative speed direction and any relative speed; the method does not need to distinguish transverse and longitudinal alarm distances, simplifies calculation and processing, and has the advantages of simplicity, intuition, unified mathematical model and simple realization. The parameters used for alarming are all obtained by cooperative monitoring information, and are longitude and latitude without conversion, and most of navigation aircrafts can provide airborne position information and cooperative monitoring information sources meeting the precision requirement.
The invention discloses an aircraft low-altitude flight high-voltage line danger proximity detection system which comprises a data acquisition module, a horizontal distance calculation module, a minimum distance calculation module and a danger proximity detection module.
Specifically, the data acquisition module is used for acquiring the position information of the current aircraft and the high-voltage line mathematical model data of the concerned area. The position information of the current aircraft comprises flight height and longitude and latitude, and the mathematical model data of the high-voltage line in the flight area comprises the longitude and latitude of two end points forming each high-voltage line segment and the vertical warning height of the high-voltage line segment in which the high-voltage line segment is positioned;
the horizontal distance calculation module is used for calculating the horizontal distance from the current aircraft position to the two end points of the high-voltage line segment where the current aircraft is located and the horizontal distance from the two end points of the high-voltage line segment where the current aircraft is located;
the minimum distance calculation module is used for calculating the minimum horizontal distance between the current aircraft and the high-voltage line segment;
and the danger approaching detection module is used for comparing the longitude and latitude of the current aircraft position with the maximum latitude and the minimum latitude of the high-voltage line segment where the current aircraft position is located, the maximum longitude and the minimum longitude range, comparing the flying altitude of the current aircraft with the vertical warning altitude of the high-voltage line segment where the current aircraft is located, and comparing the minimum horizontal distance between the current aircraft and the high-voltage line segment where the current aircraft is located with the horizontal early warning or warning distance to judge whether the high-voltage line danger approaching condition exists or not.
The data acquisition module, the horizontal distance calculation module, the minimum distance calculation module and the danger proximity detection module may be combined in 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 part of the functionality of other modules and implemented in one module. According to an embodiment of the present invention, at least one of the data acquisition module, the horizontal distance calculation module, the minimum distance calculation module, the hazardous proximity detection module 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 may be implemented in hardware or firmware in any other reasonable manner of integrating or packaging a circuit, or in a suitable combination of three implementations of software, hardware, and firmware. At least one of the data acquisition module, the horizontal distance calculation module, the minimum distance calculation module, the hazardous proximity detection module may be at least partly implemented as a computer program module, which, when executed by a computer, may perform the functions of the respective module.
Also included are electronic devices comprising a processor, a memory, which may comprise, for example, a general purpose microprocessor, an instruction set processor, and/or associated chipset, and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), and so forth. The processor may also include on-board memory for caching purposes. The processor may be a single processing unit or a plurality of processing units for performing the methods of embodiments of the invention.
The memory, for example, can be 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. The memory may comprise a computer program which may comprise code/computer executable instructions which, when executed by the processor, cause the processor to perform the detection method as described.
The computer program may be configured with computer program code, for example, comprising computer program modules. For example, in an example embodiment, code in the computer program may include one or more program modules. It should be noted that the division and number of modules are not fixed, and those skilled in the art may use any suitable program module or program module combination according to actual situations, so that when the program module combination is executed by the processor, the processor may execute the detection method.
The subsequent operations based on the detection result of whether there is a dangerous approach condition of the high-voltage line in the present invention are not limited by the present invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (1)
1. A dangerous approaching detection method for a high-voltage line of an aircraft in low-altitude flight is characterized by comprising the following steps: the method comprises the following steps:
establishing a mathematical model of high-voltage wires in a flight area, dividing each high-voltage wire into a plurality of mutually connected wire segments, and determining the longitude and latitude of two end points of each high-voltage wire segment and the vertical alarm height of the high-voltage wire segment, wherein the calculation method of the vertical alarm height of the high-voltage wire segment comprises the following steps of,
wherein the content of the first and second substances,
the vertical warning height of the current aircraft in the high-voltage line section area is the vertical warning height,
、
the altitude at two end points of the segment AB of the high-voltage line adopts the same reference as the altitude information contained in the current aircraft position information,
the protection height of the aircraft from a high-voltage line is required to be kept for ensuring the safe flight of the aircraft;
acquiring the position information of the current aircraft, wherein the position information comprises flight height and longitude and latitude coordinates, judging whether the longitude and latitude of the current aircraft are between the maximum latitude and the minimum latitude, and the maximum longitude and the minimum longitude of the high-voltage line segment by taking each high-voltage line segment as an object, and if the longitude and latitude of the current aircraft are within the range, starting high-voltage line danger approaching detection, otherwise, judging the current aircraft to be safe;
when starting the high-voltage line dangerous proximity detection, firstly judging whether the flying height of the current aircraft is lower than the vertical warning height of the line segment of the high-voltage line, if so, starting the horizontal dangerous proximity warning detection, otherwise, judging the detection as safe;
when the horizontal dangerous approach warning detection is started, calculating the minimum horizontal distance between the current aircraft and the line segment of the high-voltage line, and when the minimum distance is smaller than the horizontal early warning or warning distance, sending out a dangerous approach early warning or warning of the high-voltage line, otherwise, judging the safety;
the minimum horizontal distance of the current aircraft from the high-voltage line segment is calculated by the following method,
when the perpendicular line from the current aircraft position to the high-voltage line segment is in the triangle formed by the current aircraft position and the high-voltage line segment,
when the perpendicular line from the current aircraft position to the high-voltage line segment is outside the triangle formed by the current aircraft position and the high-voltage line segment,
wherein d is the minimum horizontal distance between the current aircraft and the segment of the high-voltage line,
the horizontal distance from the current aircraft position C point to the high-voltage line segment end point B is obtained;
point C to the current aircraft positionThe horizontal distance of the end point A of the high-voltage line segment;
the horizontal distance from the endpoint A to the endpoint B of the high-voltage line segment is shown;
the horizontal distances a, b, c between two points are calculated by,
wherein r is the horizontal distance between two points,
、
respectively longitude and latitude of one end point of the horizontal distance of the line segment,
、
respectively longitude and latitude of the other end point of the horizontal distance of the line segment,
for calculating the intermediate angle, R is the radius of the earth;
and when the current aircraft does not detect the dangerous approach of the high-voltage line, the current aircraft continuously executes the flight mission according to the estimated track and the predicted flight time.
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