CN113919169A - Aircraft scene sliding conflict detection system based on simulation perception - Google Patents
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Abstract
The invention relates to the technical field of airport scene simulation operation trajectory data calculation processing, and discloses an aircraft scene sliding conflict detection system based on simulation perception, which comprises a scene data collector, an aircraft initial simulation view field module, a frame-by-frame dynamic updating module, a simulation view field perception conflict module, an aircraft sliding waiting module, an aircraft normal sliding module and a simulation view field perception conflict relief module, wherein the frame-by-frame dynamic updating module comprises a runway parking space allocation module, a sliding path allocation module and an aircraft sliding prediction module; the simulation visual field perception conflict module comprises a time driver, an aircraft running state calculation module and an aircraft sliding conflict prediction module. The aircraft scene sliding collision detection system based on the simulation perception has the advantages that the aircraft can have collision detection and automatic avoidance waiting behaviors through a simulation perception algorithm, and therefore operation simulation research of the whole scene is completed.
Description
Technical Field
The invention relates to the technical field of computation and processing of airport scene simulation running track data, in particular to an aircraft scene sliding conflict detection system based on simulation perception.
Background
In order to improve the operation efficiency of the airport, effectively reduce flight delay and simultaneously make a simulation operation demonstration on the planning and construction of the airport in the short term and the future, the design of reasonable flight operation and maintenance is particularly important.
The aircraft is launched from a passenger boarding, a flight push-out, a sliding to a take-off or a tower takeover to a runway to land, is slid to a designated parking position and a wheel gear off the runway to take off the passenger to complete the whole action on the airport surface, the whole process relates to effective connection and cooperation among a plurality of units, and the research on the collision detection and automatic avoidance waiting action of the aircraft is an important research direction at present.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an aircraft scene sliding collision detection system based on simulation perception, which has the advantages that the aircraft can be enabled to have collision detection and automatic avoidance waiting behaviors through a simulation perception algorithm, so that the operation simulation research of the whole scene is completed, and the problem that the research on the collision detection and automatic avoidance waiting behaviors of the aircraft is an important research direction at present is solved.
(II) technical scheme
In order to realize that the aircraft can have collision detection and automatic avoidance waiting behaviors through a simulation perception algorithm, thereby finishing the operation simulation research of the whole scene, the invention provides the following technical scheme: a simulation perception-based aircraft scene slide conflict detection system comprises a scene data collector, an aircraft initial simulation view field module, a frame-by-frame dynamic updating module, a simulation view field perception conflict module, an aircraft slide waiting module, an aircraft normal slide module and a simulation view field perception conflict resolution module, wherein the frame-by-frame dynamic updating module comprises a runway stand allocation module, a slide path allocation module and an aircraft slide prediction module;
the simulation visual field perception conflict module comprises a time driver, an aircraft running state calculation module and an aircraft sliding conflict prediction module;
the simulation visual field perception conflict resolution module comprises an airport flight take-off and landing flow counting module and an aircraft take-off and landing state detection module.
Preferably, the scene data collector is used for reading and structuring runway/taxiway/stop bit data in the scene data, wherein the data comprises a code number, a position and a direction, reading and structuring runway operation rules, wherein the runway code number, a take-off and landing rule, the occupation time of different aircraft types of the take-off and landing runway, a safety interval for crossing the runway and the like, reading and structuring taxiway operation rules, wherein the taxiway code number, a taxi direction, a taxiway available machine type and the like, and reading and structuring stop allocation rules, wherein the stop allocation rules comprise a stop available machine type, a direction, a limit airline company and the like.
Preferably, the aircraft initial simulation visual field module is created in advance according to the taxiing path of the aircraft.
Preferably, when the time-based scene slide simulation is dynamically updated frame by frame, the aircraft dynamically updates the slide position and the simulation visual field of the aircraft frame by frame according to the respective slide positions.
Preferably, the aircraft taxi prediction module predicts the time when the aircraft taxis to arrive at the stand, each taxi point and the runway according to the distribution condition of the runway, the stand and the taxi path and by combining a flight plan executed by the aircraft, and the specific method comprises the following steps:
aircraft ground driving acceleration a m/s2When the aircraft travels at a constant speed v, namely the time required from the standstill to the speed v is Ta ═ v/a, the distance Dis between the sliding path points represented by two longitudes and latitudes (WGS84) is calculated according to a Haverine distance formula, and then the predicted arrival time is obtained according to t ═ Dis/v.
Preferably, the time driver takes the number of frames as a time driving unit, and the running time of each frame can be set.
Preferably, the airport flight take-off and landing flow counting module counts the take-off and landing flow of the airport flight, and counts the delay of the airport flight by the ATOT of the airport take-off flight per hour.
Preferably, the aircraft take-off and landing state detection module detects whether the aircraft occupies the runway completely, sets the runway to be in an idle available state if the runway occupies completely, and performs detection and judgment according to the conditions of the aircraft waiting to cross the runway and the conditions of the aircraft waiting to take off in take-off queue.
(III) advantageous effects
Compared with the prior art, the invention provides an aircraft scene sliding conflict detection system based on simulation perception, which has the following beneficial effects:
the aircraft scene slide conflict detection system based on simulation perception is used for reading and structuring runway/taxiway/stop bit data in scene data through a scene data collector, wherein the runway/taxiway/stop bit data comprises a code number, a position and a direction, the runway operation rules are read and structured, the runway code number, a take-off and landing rule, the occupied time of different aircraft types of the take-off and landing runway, the safety interval of crossing the runway and the like, the taxiway operation rules are read and structured, the taxiway operation rules comprise a taxiway code number, a slide direction, available taxiway models and the like, the stop allocation rules are read and structured, the stop available models, the directions, limited airlines and the like are included, an aircraft initial simulation view field module creates an initial simulation view field of the aircraft in advance according to the slide path of the aircraft, and when a scene slide simulation of a frame-by-frame dynamic updating module based on time is carried out, the aircraft is carried out according to the respective slide position, the method comprises the steps of dynamically updating the taxi position and the simulation visual field of an aircraft frame by frame, dynamically updating a runway stand distribution module in a frame by frame module to distribute a runway and a stand to the aircraft to be operated on the scene, distributing the runway to meet the requirements of stand parking and runway taking off and landing, distributing a taxi path to the aircraft by a taxi path distribution module, calculating the shortest taxi path of the aircraft based on the stand position, the runway position, an available taxi path and a taxi rule, and forecasting the time of the aircraft arriving at the stand, each taxi point and the runway by combining a flight plan executed by the aircraft, wherein a simulation visual field perception conflict module is used for judging the respective simulation visual fields when the aircraft taxis on the scene, when a conflict of the simulation visual fields is found possibly generated during the next frame time, the method comprises the steps of carrying out deceleration waiting on aircrafts in advance when the aircrafts slide currently, simulating a time driver in a visual field perception conflict module, taking a frame number as a time driving unit, setting running time of each frame, starting from an Nth frame by an aircraft running state calculating module, calculating running states of all aircrafts on a scene of an (N + 1) th frame, calculating a predicted sliding position according to sliding speed by the aircraft, pushing out an aircraft to calculate a pushing-out state according to a scene busyness degree, calculating a landing state according to a landing speed by a landing aircraft, judging whether sliding conflicts occur among the aircrafts or not according to the predicted sliding positions by the aircraft sliding conflict predicting module or not, if conflicts occur, enabling the aircrafts to be in sliding waiting state by the aircraft sliding waiting module correspondingly of the (N + 1) th frame, and if not, enabling the aircrafts to slide normally in the (N + 1) th frame by the aircraft normal sliding module, the simulation visual field perception conflict resolution module is used for dynamically judging the respective simulation visual field positions of the next frame when the aircraft waits frame by frame, when the aircraft slides for the next frame and does not generate simulation visual field conflicts with other aircraft, the aircraft enters a sliding state again, and the airport flight take-off and landing flow counting module in the simulation visual field perception conflict resolution module is used for counting the take-off and landing flow of airport flights and using the ATOT of the airport take-off flights per hour; the method comprises the steps of counting the delay of airport flights, detecting whether an aircraft occupies a runway completely by an aircraft take-off and landing state detection module, setting the runway to be in an idle available state if the runway occupies completely, simultaneously carrying out detection and judgment according to the situations of the aircraft waiting through the runway and the aircraft waiting for takeoff after takeoff queuing, enabling the aircraft to have conflict detection and automatic avoidance waiting behaviors through a simulation perception algorithm, thereby completing the operation simulation research of the whole scene, providing a feasible scheme for simulating the ground taxi of the aircraft based on the simulation perception of the aircraft scene taxi conflict detection implementation algorithm, and providing technical support for the development of the research work of the airport scene operation efficiency, delay and airport planning construction based on track operation.
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Fig. 1 is a schematic structural diagram of an aircraft scene slide collision detection system based on simulation perception according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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.
Referring to fig. 1, an aircraft scene slide collision detection system based on simulation perception includes a scene data collector, an aircraft initial simulation view field module, a frame-by-frame dynamic update module, a simulation view field perception collision module, an aircraft slide waiting module, an aircraft normal slide module, and a simulation view field perception collision release module, where the frame-by-frame dynamic update module includes a runway stand allocation module, a slide path allocation module, and an aircraft slide prediction module;
the simulation visual field perception conflict module comprises a time driver, an aircraft running state calculation module and an aircraft sliding conflict prediction module;
the simulation visual field perception conflict resolution module comprises an airport flight take-off and landing flow counting module and an aircraft take-off and landing state detection module.
The scene data collector is used for reading and structuring runway/taxiway/shutdown bit data in the scene data, wherein the data comprises a code number, a position and a direction, reading and structuring runway operation rules, wherein the runway code number, a take-off and landing rule, the occupation time of different aircraft types of the take-off and landing runway, a safety interval for crossing the runway and the like, reading and structuring taxiway operation rules, wherein the taxiway code number, a sliding direction, available taxiway models and the like are included, and reading and structuring shutdown position distribution rules, wherein the shutdown position distribution rules comprise available shutdown models, directions, limited airlines and the like.
The aircraft initial simulation horizon module is created in advance according to the taxiing path of the aircraft.
And when the time-based scene slide simulation is dynamically updated frame by frame, the aircraft dynamically updates the slide position and the simulation visual field of the aircraft frame by frame according to the respective slide positions.
The aircraft sliding prediction module predicts the time of the aircraft sliding to arrive at the stand, each sliding point and the runway according to the distribution condition of the runway, the stand and the sliding path and by combining a flight plan executed by the aircraft, and the specific method comprises the following steps:
aircraft ground driving acceleration a m/s2When the aircraft travels at a constant speed v, namely the time required from the standstill to the speed v is Ta ═ v/a, the distance Dis between the sliding path points represented by two longitudes and latitudes (WGS84) is calculated according to a Haverine distance formula, and then the predicted arrival time is obtained according to t ═ Dis/v.
The time driver takes the number of frames as a time driving unit, and the running time of each frame can be set.
The airport flight take-off and landing flow counting module counts the take-off and landing flow of the airport flight, and counts the delay of the airport flight by the ATOT of the airport take-off flight per hour.
The aircraft take-off and landing state detection module detects whether the aircraft occupies the runway completely, sets the runway to be in an idle available state if the runway occupies completely, and meanwhile performs detection and judgment according to the condition of the aircraft waiting through the runway and the condition of the aircraft waiting for take-off in take-off queue.
To sum up, the simulation perception-based aircraft scene slide conflict detection system is used for reading and structuring runway/taxiway/stop data in scene data through a scene data collector, wherein the runway/taxiway/stop data comprises code numbers, positions and directions, the runway operation rules comprise the code numbers of the runway, the take-off and landing rules, the occupied time of different aircraft types on the take-off and landing runway, the safety interval of crossing the runway and the like, the taxiway operation rules comprise the code numbers of the taxiway, the sliding direction, the available model of the taxiway and the like, the stop allocation rules comprise the stop available model, the direction, the limited airline company and the like, an aircraft initial simulation view field module creates an initial simulation view field of the aircraft in advance according to the sliding path of the aircraft, and a frame-by-frame dynamic update module is used for simulating the scene slide based on time, the aircraft dynamically updates the sliding position and the simulation visual field of the aircraft frame by frame according to the respective sliding position, a runway stop position distribution module in a frame-by-frame dynamic update module distributes a runway and a stop position to the aircraft running on the scene, the distribution meets the requirements of stop position stop and runway taking off and landing, a sliding path distribution module distributes a sliding path to the aircraft, the shortest sliding path of the aircraft is calculated based on the stop position, the runway position, an available taxiway and a sliding rule, an aircraft sliding prediction module distributes the runway, the stop position and the sliding path according to the conditions, the time of the aircraft sliding to the stop position, each sliding point and the runway is predicted by combining a flight plan executed by the aircraft, a simulation visual field perception conflict module is used for judging the respective simulation visual field when the aircraft slides on the scene, when the conflict of the simulation visual field possibly generated during the next frame time sliding is discovered, the method comprises the steps of carrying out deceleration waiting on aircrafts in advance when the aircrafts slide currently, simulating a time driver in a visual field perception conflict module, taking a frame number as a time driving unit, setting running time of each frame, starting from an Nth frame by an aircraft running state calculating module, calculating running states of all aircrafts on a scene of an (N + 1) th frame, calculating a predicted sliding position according to sliding speed by the aircraft, pushing out an aircraft to calculate a pushing-out state according to a scene busyness degree, calculating a landing state according to a landing speed by a landing aircraft, judging whether sliding conflicts occur among the aircrafts or not according to the predicted sliding positions by the aircraft sliding conflict predicting module or not, if conflicts occur, enabling the aircrafts to be in sliding waiting state by the aircraft sliding waiting module correspondingly of the (N + 1) th frame, and if not, enabling the aircrafts to slide normally in the (N + 1) th frame by the aircraft normal sliding module, the simulation visual field perception conflict resolution module is used for dynamically judging the respective simulation visual field positions of the next frame when the aircraft waits frame by frame, when the aircraft slides for the next frame and does not generate simulation visual field conflicts with other aircraft, the aircraft enters a sliding state again, and the airport flight take-off and landing flow counting module in the simulation visual field perception conflict resolution module is used for counting the take-off and landing flow of airport flights and using the ATOT of the airport take-off flights per hour; the method comprises the steps of counting the delay of airport flights, detecting whether an aircraft occupies a runway completely by an aircraft take-off and landing state detection module, setting the runway to be in an idle available state if the runway occupies completely, simultaneously carrying out detection and judgment according to the situations of the aircraft waiting through the runway and the aircraft waiting for takeoff after takeoff queuing, enabling the aircraft to have conflict detection and automatic avoidance waiting behaviors through a simulation perception algorithm, thereby completing the operation simulation research of the whole scene, providing a feasible scheme for simulating the ground taxi of the aircraft based on the simulation perception of the aircraft scene taxi conflict detection implementation algorithm, and providing technical support for the development of the research work of the airport scene operation efficiency, delay and airport planning construction based on track operation.
It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an aircraft scene slides conflict detection system based on simulation perception, includes scene data collector, aircraft initial simulation field of vision module, frame-by-frame dynamic update module, simulation field of vision perception conflict module, aircraft slide and wait module, aircraft normal slide module, simulation field of vision perception conflict resolution module, characterized in that: the frame-by-frame dynamic updating module comprises a runway stand-off position distribution module, a taxi path distribution module and an aircraft taxi prediction module;
the simulation visual field perception conflict module comprises a time driver, an aircraft running state calculation module and an aircraft sliding conflict prediction module;
the simulation visual field perception conflict resolution module comprises an airport flight take-off and landing flow counting module and an aircraft take-off and landing state detection module.
2. The system of claim 1, wherein the system is configured to detect a flight conflict of an aircraft on a ground based on simulated perception, and further configured to: the scene data collector is used for reading and structuring runway/taxiway/stop bit data in the scene data, including code numbers, positions and directions, reading and structuring runway operation rules, including runway code numbers, take-off and landing rules, occupation time of different aircraft types of the take-off and landing runway, safety intervals for crossing the runway, reading and structuring taxiway operation rules, including taxiway code numbers, sliding directions, available taxiway models and the like, and reading and structuring stop allocation rules, including stop available models, directions, limited airlines and the like.
3. The system of claim 1, wherein the system is configured to detect a flight conflict of an aircraft on a ground based on simulated perception, and further configured to: the aircraft initial simulation horizon module is created in advance according to the taxiing path of the aircraft.
4. The system of claim 1, wherein the system is configured to detect a flight conflict of an aircraft on a ground based on simulated perception, and further configured to: and when the time-based scene slide simulation is dynamically updated frame by frame, the aircraft dynamically updates the slide position and the simulation visual field of the aircraft frame by frame according to the respective slide position.
5. The system of claim 1, wherein the system is configured to detect a flight conflict of an aircraft on a ground based on simulated perception, and further configured to: the aircraft sliding prediction module predicts the time of the aircraft sliding to arrive at the stand, each sliding point and the runway according to the distribution condition of the runway, the stand and the sliding path and by combining a flight plan executed by the aircraft, and the specific method comprises the following steps:
aircraft ground driving acceleration a m/s2The travel is constant v forward, i.e. when the aircraft is stationary to v, the time required is Ta ═ v/a, according to HaversinAnd e, calculating the distance Dis between the sliding path points represented by two longitudes and latitudes (WGS84) by using an e-distance formula, and obtaining the predicted arrival time according to t ═ Dis/v.
6. The system of claim 1, wherein the system is configured to detect a flight conflict of an aircraft on a ground based on simulated perception, and further configured to: the time driver takes the number of frames as a time driving unit, and the running time of each frame can be set.
7. The system of claim 1, wherein the system is configured to detect a flight conflict of an aircraft on a ground based on simulated perception, and further configured to: the airport flight take-off and landing flow counting module counts the take-off and landing flow of the airport flight, and counts the delay of the airport flight by the ATOT of the airport take-off flight per hour.
8. The system of claim 1, wherein the system is configured to detect a flight conflict of an aircraft on a ground based on simulated perception, and further configured to: the aircraft take-off and landing state detection module detects whether the aircraft occupies the runway completely, sets the runway to be in an idle available state if the runway occupies completely, and meanwhile performs detection and judgment according to the condition of the aircraft waiting through the runway and the condition of the aircraft waiting for take-off in take-off queue.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114877984A (en) * | 2022-04-25 | 2022-08-09 | 武汉理工大学 | Aircraft ground running track monitoring system based on grating array vibration sensing network |
| CN115311902A (en) * | 2022-03-25 | 2022-11-08 | 中国航空无线电电子研究所 | Real-time route planning and optimizing method based on multilayer time sequence network |
| CN116993137A (en) * | 2023-09-28 | 2023-11-03 | 民航成都信息技术有限公司 | Method and device for determining stand, electronic equipment and medium |
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- 2021-10-20 CN CN202111218665.6A patent/CN113919169A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115311902A (en) * | 2022-03-25 | 2022-11-08 | 中国航空无线电电子研究所 | Real-time route planning and optimizing method based on multilayer time sequence network |
| CN114877984A (en) * | 2022-04-25 | 2022-08-09 | 武汉理工大学 | Aircraft ground running track monitoring system based on grating array vibration sensing network |
| CN114877984B (en) * | 2022-04-25 | 2023-12-15 | 武汉理工大学 | Aircraft ground driving track monitoring system based on grating array vibration sensing network |
| CN116993137A (en) * | 2023-09-28 | 2023-11-03 | 民航成都信息技术有限公司 | Method and device for determining stand, electronic equipment and medium |
| CN116993137B (en) * | 2023-09-28 | 2023-12-05 | 民航成都信息技术有限公司 | Method and device for determining stand, electronic equipment and medium |
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