CN114783216B - Airport scene digital guiding system and method - Google Patents
Airport scene digital guiding system and method Download PDFInfo
- Publication number
- CN114783216B CN114783216B CN202210373022.7A CN202210373022A CN114783216B CN 114783216 B CN114783216 B CN 114783216B CN 202210373022 A CN202210373022 A CN 202210373022A CN 114783216 B CN114783216 B CN 114783216B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- guiding
- path
- information
- flight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
- G08G5/065—Navigation or guidance aids, e.g. for taxiing or rolling
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
- G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an airport scene digital guiding system and method, comprising the following steps: a guiding processing control center system and an airborne digital guiding terminal; the guiding processing control center system and the airborne digital guiding terminal perform data transmission through a wireless network; the invention realizes digital sliding guidance and control information guidance for airplanes and vehicles running on airport scenes, scene situation and information sharing, flexible display of navigation digital map and comprehensive guidance information display and broadcasting; compared with the existing modes of light guidance, guided vehicle guidance and the like, the method has the characteristics of comprehensive information sharing, flexible display of navigation digital maps, low cost, short period, easy deployment, easy maintenance and the like, and improves the safety and efficiency of airport scene guidance operation.
Description
Technical Field
The invention belongs to the technical field of airport scene operation management, and particularly relates to an airport scene digital guiding system and method.
Background
With the increasing take-off and landing of airports and the increasing number of multi-runway airports, the traffic running complexity of airport scene airplanes and vehicles is obviously increased, and in order to avoid running conflicts such as dangerous approaching and collision, the airports mainly adopt a guide vehicle (follow me) to guide the airplanes from the intersection point of an empty pipe and an apron to a stand. With the development of technology, after the 90 th century of the 20 th century, some countries have proposed to adopt an advanced scene activity guidance and control system (a-SMGCS) to control the taxiway center installed on the airport pavement, stop the lighting of the row lights, and realize the plane taxiing guidance (abbreviated as "light guidance"). At present, the guiding mode is realized in a few airports such as Beijing Daxing international airports, and the scene sliding safety and efficiency are improved to a certain extent.
At present, the airport scene operation guidance adopts a mode of guiding a vehicle and guiding light, and has a plurality of defects. The guiding mode of the guiding vehicle has the problems of high workload of manual dispatching and manual driving, easy forgetting and leakage, low command dispatching efficiency, low collision risk early warning only by visual safety and the like. The light guiding mode has a plurality of problems, and the light guiding mode needs to construct a large number of airport navigation light equipment and monitoring systems in advance at airports, so that the cost is high, the period is long, and the maintenance is difficult; the delay of the lamplight switch can reduce the operation efficiency; only the situation of operation is displayed at the controller end, so that situation awareness and risk early warning common to pilots, vehicle drivers and controllers cannot be realized, rich guiding prompt information cannot be provided for the pilots and the vehicle drivers, and the problems of information sharing, operation safety reduction, efficiency reduction, experience degree reduction and the like exist.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an airport scene digital guiding system and method, which are used for solving a plurality of problems caused by the way that light guiding and guiding vehicle guiding are adopted for airport scene operation guiding in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention relates to an airport scene digital guiding system, which comprises: a guiding processing control center system and an airborne digital guiding terminal; the guiding processing control center system and the airborne digital guiding terminal perform data transmission through a wireless network;
the boot process control center system includes: the system comprises an input interface module, a machine/vehicle cooperative path planning module, an alarm processing module, a conflict resolution control module, a real-time navigation information generating module and a communication module;
the input interface module is used for receiving the data of the comprehensive flight path, the flight plan, the plane taxiing planning path and the scene limiting area of the moving target sent by the advanced scene activity guiding and controlling system, analyzing and processing the data to form the requirement format data;
the locomotive/car cooperative path planning module is used for planning a vehicle driving path and generating full-field movable target path planning data, namely a planned path;
the alarm processing module is used for carrying out alarm processing on unsafe events according to the position, the speed and the movement direction of the movable target in the comprehensive track of the movable target, the flight plan and the plane taxiing planning path to generate corresponding alarm information;
the conflict resolution control module is used for carrying out conflict resolution processing on the airplane and the vehicle with running conflict and generating conflict resolution control instruction information;
the real-time navigation information generation module is used for generating and displaying the position and trend of the moving target, the planned path/non-advanced path, the warning information, the navigation graphical indication mark and the conflict resolution stop/advance graphical mark on the map in real time according to the comprehensive track, the planned path, the warning information and the conflict resolution control command information of the moving target in combination with the 3-dimensional vector GIS airport map;
the communication module is used for carrying out wireless communication with the airborne digital guiding terminal;
the airborne digital guidance terminal comprises: the system comprises a user subscription module, a real-time navigation map generation display module and a navigation voice broadcasting module;
the user subscription module is used for carrying out safety authentication on the identities of the pilot and the vehicle driver, selecting the bound flight number or vehicle number aiming at the user, and subscribing the user subscription module to the guiding processing control center system to obtain the information of the flight or the vehicle and the related flight or vehicle information;
the real-time navigation map generation display module is used for combining the acquired flight or vehicle information and related flight or vehicle information with the 3-dimensional vector GIS airport map to generate a real-time navigation map for display;
the navigation voice broadcasting module is used for converting navigation information of an airplane/vehicle into audio data in the process of traveling guidance and conflict resolution avoidance, and is used for broadcasting navigation information of pilots and vehicle drivers.
Furthermore, the plane/vehicle cooperative path planning module plans a vehicle running path by taking the plane sliding planning path priority sent by the advanced scene activity guiding and controlling system as a principle and taking a vehicle service lane, a taxiway, a limiting area, a service task plan and a scene running rule as constraint factors, so as to generate full-field movable plane and vehicle path planning data.
Further, the unsafe event includes: operational conflicts, aircraft taxiing deviation paths, runway intrusions, limit area intrusions, stand conflicts, and overspeed.
Further, the conflict resolution process generates control instruction information that one target stops and the other target advances in a conflict pair according to the airplane priority, the VIP flight priority and the principle of first-come first-serve of the same type of flights.
Further, the present flight or vehicle information includes: flight number or vehicle number, active target position/speed/heading, flight plan, planned path, warning information, conflict resolution control command information; the related flights or vehicles are leading flights, flights or vehicles which are smaller than the parameter value range from the own flights or vehicles; the relevant flight or vehicle information includes: flight number or vehicle number, activity target location/speed/heading, flight plan.
Further, the real-time navigation map display content includes: background map, present flight or vehicle location and trend, planned path traveled/not traveled, alert, navigation graphical indication mark, conflict resolution stop/forward graphical mark, relevant flight or vehicle identification, location, preface flight flag.
Further, the navigation information broadcasting content includes: travel path broadcasting, intersection guiding, waiting, stopping, continuing to advance and alarming.
The invention discloses an airport scene digital guiding method, which is based on the system and comprises the following steps:
1) Receiving comprehensive flight path, flight plan, plane sliding planning path and scene limiting area data sent by an advanced scene activity guiding and controlling system, analyzing and processing the comprehensive flight path, flight plan, plane sliding planning path and scene limiting area data to form a demand format;
2) Aligning the map of the advanced scene activity guiding and controlling system with the calibration coordinates of the map of the airborne digital guiding terminal;
3) Generating path planning data of a full-field movable target (airplane and vehicle), namely planning a path;
4) Carrying out alarm processing on unsafe events to generate corresponding alarm information;
5) Aiming at the operation conflict event of the movable target, conflict resolution processing is carried out, and conflict resolution control instruction information is generated;
6) Generating global real-time navigation information;
7) Transmitting global real-time navigation information to an airborne digital guiding terminal;
8) And subscribing, displaying and voice broadcasting navigation information of the airborne digital guiding terminal.
Further, the step 2) specifically includes:
21 The advanced scene activity guiding and controlling system adopts a CAD plane map, the airborne digital guiding terminal adopts a 3-dimensional vector GIS airport map (in order to solve the problem that the display coordinates of the A-SMGCS system are inconsistent with that of 2 sets of maps used by the airborne digital guiding terminal, the map used by the A-SMGCS system is manually calibrated and aligned by manually surveying accurate longitude and latitude data of at least 4 points such as a runway head, a runway center point and the like);
22 Map files of the advanced scene activity guiding and controlling system are analyzed and stored into GeoJSON data in a unified mode, and the GeoJSON data are displayed in a 3-dimensional vector GIS airport map mode at an airborne digital guiding terminal.
Further, the step 3) specifically includes:
31 Abstracting the airborne digital guidance terminal scene map into a two-dimensional network map G= (V, E) composed of points and directed line segment arcs, wherein V is a point set and E is a directed line segment arc set;
32 Analyzing an aircraft taxiing planning path of the advanced scene activity guiding and controlling system to form a point and directed line segment arc set, and matching with the two-dimensional network map;
33 Based on the improved Dijkstra algorithm, the default vehicle driving paths are set by the vehicle service lanes, taxiways, restricted areas, service mission plans, scene operation rules and airports as constraint factors, the shortest paths are taken into consideration as planning targets at the same time, and the vehicle driving paths are planned.
Further, the modified Dijkstra algorithm path planning in step 33) specifically includes:
the design uses the boundary rectangle screening method to screen the route key points, which comprises the following steps:
in the two-dimensional grid graph G= (V, E) of the airport scene, the length of each edge E [ i ] is assumed to be w [ i ], so as to obtain the shortest path from the vertex V0 to other points;
let g= (V, E) be a weighted directed graph, divide vertex set V in the graph into two groups, the first group is the vertex set that has found the shortest path (denoted by S, there is only one source point in S initially, and every time a shortest path is found later, it will be added to set S until all vertices are added to S, the algorithm ends), the second group is the vertex set U of the remaining undetermined shortest paths, add vertices of the second group to S sequentially in ascending order of shortest path length; during the joining process, keeping the shortest path length from the source point V to each vertex in S not greater than the shortest path length from the source point V to any vertex in U; each vertex corresponds to a distance, the distance of the vertex in S is the shortest path length from V to the vertex, and the distance of the vertex in U is the current shortest path length from V to the vertex which only comprises the vertex in S as the middle vertex;
establishing a virtual area which is a quadrangle, takes two points as diagonal vertexes, and expands outwards by a certain margin (can be set by experience parameters); obtaining key points and arc segments contained in the area by using geographic relation operation; when the geographic relation operation is carried out, key points of geographic coordinates in the area are selected to form a new key point set, arcs associated with the key points form a new arc segment set, and then the path optimization is carried out on the key points and the arc segments by using a Dijkstra algorithm, so that the number of the key points and the arc segments is simplified.
Further, the step 4) specifically includes:
based on the position, speed and movement direction of the moving target in the comprehensive flight path of the advanced scene activity guiding and controlling system, and the flight plan and planning path, respectively carrying out alarm processing on unsafe events including running conflict (the running conflict of the airplane and the vehicle respectively), the taxiing deviation path of the airplane, runway invasion, limit area invasion, stand conflict and overspeed, and generating corresponding alarm information.
Further, the operation conflict alarm processing in the step 4) specifically includes:
the operation conflict processing can establish EVENT conflict collision models between airplanes and vehicles to perform conflict calculation according to the position, the speed and the movement direction in the comprehensive flight path of the airplane/vehicle and the planning parameter data of the taxi path of the airplane, and when a conflict threshold value is reached, a conflict alarm is generated.
Further, the step 5) specifically includes:
aiming at the running conflict among the aircrafts and the vehicles, a certain target in the conflict pair is stopped according to the principle of priority of the aircrafts, priority of VIP flights and first-come first-serve of the same type of flights, and conflict resolution control instruction information for advancing the other target is sent to a man-machine interface for graphical display, so that pilots and vehicle drivers are reminded to perform stopping and advancing operations, and conflict avoidance is realized.
Further, the step 6) specifically includes:
and generating and displaying all the moving target positions and trends, the traveling path/non-traveling planning path, the warning information, the navigation graphical indication mark and the conflict resolution stop/advance graphical mark on the map in real time according to the moving target running positions/speeds/heading, the planning path, the warning information and the conflict resolution control instruction by combining with a 3-dimensional vector GIS airport map.
Further, the step 8) specifically includes:
81 Selecting a pilot and a vehicle driver to correspondingly bind a flight number or a vehicle number, and subscribing the pilot processing control center system to obtain information of the flight or the vehicle and related flights or vehicles;
82 Combining the subscribed own flights or vehicles, the related flights or vehicles information with a 3-dimensional vector GIS airport map to generate a real-time navigation map for display;
83 The navigation information of the airplane/vehicle in the process of travel guidance and conflict resolution avoidance is converted into audio data for broadcasting to pilots and vehicle drivers.
Further, the step 81) specifically includes:
the present flight or vehicle information includes: flight number or vehicle number, active target position/speed/heading, flight plan, planned path, warning information, conflict resolution control command information; the related flights or vehicles are leading flights, flights or vehicles which are smaller than the parameter value range from the own flights or vehicles; the relevant flight or vehicle information includes: flight number or vehicle number, activity target location/speed/heading, flight plan.
Further, the step 82) specifically includes:
the real-time navigation map display content includes: background map, present flight or vehicle location and trend, planned path traveled/not traveled, alert information, navigation graphical indication mark, conflict resolution stop/go graphical mark, relevant flight or vehicle identification, location, preface flight flag.
Further, the step 83) specifically includes:
the navigation information broadcasting content comprises: travel path (taxiway number, lane number) broadcast, intersection guidance (distance to intersection, turn direction), wait, stop, proceed alert (conflict, runway intrusion, limit intrusion, departure from taxiway, overspeed, etc. alert).
The invention has the beneficial effects that:
the invention realizes digital sliding guidance and control information guidance for airplanes and vehicles running on airport scenes, scene situation and information sharing, flexible display of navigation digital map and comprehensive guidance information display and broadcasting; compared with the existing modes of light guidance, guided vehicle guidance and the like, the method has the characteristics of comprehensive information sharing, flexible display of navigation digital maps, low cost, short period, easy deployment, easy maintenance and the like, and improves the safety and efficiency of airport scene guidance operation.
The system has the capability of planning the cooperative paths of the aircrafts and the vehicles, realizes the comprehensive travel path planning of aircrafts and vehicles on the airport scene, and provides a solid foundation for the subsequent guidance; the method for aligning the calibration coordinates of the A-SMGCS system map and the airborne digital guidance terminal map solves the problem of dislocation of track display and driving path display among systems caused by poor alignment effect of different types of maps among different systems in the current industry; the device has the capabilities of detecting and releasing the running conflict of the airplane and the vehicle, and realizes the rapid conflict avoidance in the guiding process; the navigation map information is generated in real time based on the combination of the 3-dimensional vector GIS airport map and the control command information of the running position/speed/course of the moving target, planning the path, alarming and conflict resolution, and is sent to the airborne digital guidance terminal through 5G aeroMACS communication, so that real-time scene situation and information sharing, flexible display of the navigation digital map, comprehensive guidance information display and broadcasting are realized, and digital sliding guidance and control information guidance are provided for the aircraft and the vehicle.
Drawings
Fig. 1 is a schematic block diagram of the system of the present invention.
Fig. 2 is a schematic diagram of the method of the present invention.
Fig. 3 is a schematic diagram of a two-dimensional grid of airport surfaces.
Detailed Description
The invention will be further described with reference to examples and drawings, to which reference is made, but which are not intended to limit the scope of the invention.
Referring to fig. 1, an airport scene digital guidance system of the present invention comprises: a guiding processing control center system and an airborne digital guiding terminal; the guiding processing control center system and the airborne digital guiding terminal perform data transmission through a wireless network (5G aeroMACS (Aeronautical Mobile Airport Communications System airport aviation mobile communication system));
the boot process control center system includes: the system comprises an input interface module, a machine/vehicle cooperative path planning module, an alarm processing module, a conflict resolution control module, a real-time navigation information generating module and a communication module;
the input interface module is used for receiving the data of the comprehensive flight path, the flight plan, the plane sliding planning path and the scene limiting area of the moving target (plane and vehicle) sent by the advanced scene activity guiding and controlling system, analyzing and processing the data to form the requirement format data;
the locomotive/car cooperative path planning module is used for planning a vehicle driving path and generating path planning data of a full-field movable target (airplane and vehicle), namely a planned path;
the plane/vehicle collaborative path planning module plans a vehicle running path by taking plane sliding planning path priority sent by the advanced scene activity guiding and controlling system as a principle and taking a vehicle service lane, a sliding lane, a limiting area, a service task plan and scene running rules as constraint factors, so as to generate full-field movable plane and vehicle path planning data;
the alarm processing module is used for carrying out alarm processing on unsafe events according to the position, the speed and the movement direction of the movable target in the comprehensive track of the movable target, the flight plan and the plane taxiing planning path to generate corresponding alarm information;
wherein the unsafe event includes: operational conflicts (aircraft vs. aircraft, vehicle operational conflicts), aircraft taxiing deviation paths, runway intrusions, limit area intrusions, stand conflicts, overspeed;
the conflict resolution control module is used for carrying out conflict resolution processing on the airplane and the vehicle with running conflict and generating conflict resolution control instruction information;
and the conflict resolution process generates control instruction information that one target stops and the other target advances in a conflict pair according to the airplane priority, the VIP flight priority and the principle of first-come first-serve of the same type of flights.
The real-time navigation information generation module is used for generating and displaying the position and trend of the moving target, the planned path/non-advanced path, the warning information, the navigation graphical indication mark and the conflict resolution stop/advance graphical mark on the map in real time according to the comprehensive track, the planned path, the warning information and the conflict resolution control command information of the moving target in combination with the 3-dimensional vector GIS airport map;
the communication module is used for carrying out wireless communication with the airborne digital guiding terminal;
the airborne digital guidance terminal comprises: the system comprises a user subscription module, a real-time navigation map generation display module and a navigation voice broadcasting module;
wherein, the real-time navigation map display content includes: background map, present flight or vehicle position and trend, planned path traveled/not traveled, warning, navigation graphical indication mark, conflict resolution stop/forward graphical mark, relevant flight or vehicle identification, position, preface flight mark;
the user subscription module is used for carrying out safety authentication on the identities of the pilot and the vehicle driver, selecting the bound flight number or vehicle number aiming at the user, and subscribing the user subscription module to the guiding processing control center system to obtain the information of the flight or the vehicle and the related flight or vehicle information;
wherein the present flight or vehicle information includes: flight number or vehicle number, active target position/speed/heading, flight plan, planned path, warning information, conflict resolution control command information; the related flights or vehicles are leading flights, flights or vehicles which are smaller than the parameter value range from the own flights or vehicles; the relevant flight or vehicle information includes: flight number or vehicle number, activity target location/speed/heading, flight plan;
the real-time navigation map generation display module is used for combining the acquired flight or vehicle information and related flight or vehicle information with the 3-dimensional vector GIS airport map to generate a real-time navigation map for display;
the navigation voice broadcasting module is used for converting navigation information of an airplane/vehicle into audio data in the process of traveling guidance and conflict resolution avoidance, and is used for broadcasting navigation information of pilots and vehicle drivers.
Wherein, the navigation information broadcasting content includes: travel path (taxiway number, lane number) broadcast, intersection guidance (distance to intersection, turn direction), wait, stop, proceed alert (conflict, runway intrusion, limit intrusion, departure from taxiway, overspeed, etc. alert).
Referring to fig. 2, the method for digitally guiding airport scenes according to the invention is based on the system and comprises the following steps:
1) Receiving comprehensive flight path, flight plan, plane sliding planning path and scene limiting area data sent by an advanced scene activity guiding and controlling system, analyzing and processing the comprehensive flight path, flight plan, plane sliding planning path and scene limiting area data to form a demand format;
2) Aligning the map of the advanced scene activity guiding and controlling system with the calibration coordinates of the map of the airborne digital guiding terminal;
21 The advanced scene activity guiding and controlling system adopts a CAD plane map, the airborne digital guiding terminal adopts a 3-dimensional vector GIS airport map (in order to solve the problem that the display coordinates of the A-SMGCS system are inconsistent with that of 2 sets of maps used by the airborne digital guiding terminal, the map used by the A-SMGCS system is manually calibrated and aligned by manually surveying accurate longitude and latitude data of at least 4 points such as a runway head, a runway center point and the like);
22 Map files of the advanced scene activity guiding and controlling system are analyzed and stored into GeoJSON data in a unified mode, and the GeoJSON data are displayed in a 3-dimensional vector GIS airport map mode at an airborne digital guiding terminal.
3) Generating path planning data of a full-field movable target (airplane and vehicle), namely planning a path;
31 Abstracting the airborne digital guidance terminal scene map into a two-dimensional network map G= (V, E) composed of points and directed line segment arcs, wherein V is a point set and E is a directed line segment arc set;
32 Analyzing an aircraft taxiing planning path of the advanced scene activity guiding and controlling system to form a point and directed line segment arc set, and matching with the two-dimensional network map;
33 Based on the improved Dijkstra algorithm, the default vehicle driving paths are set by the vehicle service lanes, taxiways, restricted areas, service mission plans, scene operation rules and airports as constraint factors, the shortest paths are taken into consideration as planning targets at the same time, and the vehicle driving paths are planned.
Specifically, the modified Dijkstra algorithm path planning in step 33) specifically includes:
the design uses the boundary rectangle screening method to screen the route key points, which comprises the following steps:
in the two-dimensional grid graph G= (V, E) of the airport scene, the length of each edge E [ i ] is assumed to be w [ i ], so as to obtain the shortest path from the vertex V0 to other points;
let g= (V, E) be a weighted directed graph, divide vertex set V in the graph into two groups, the first group is the vertex set that has found the shortest path (denoted by S, there is only one source point in S initially, and every time a shortest path is found later, it will be added to set S until all vertices are added to S, the algorithm ends), the second group is the vertex set U of the remaining undetermined shortest paths, add vertices of the second group to S sequentially in ascending order of shortest path length; during the joining process, keeping the shortest path length from the source point V to each vertex in S not greater than the shortest path length from the source point V to any vertex in U; each vertex corresponds to a distance, the distance of the vertex in S is the shortest path length from V to the vertex, and the distance of the vertex in U is the current shortest path length from V to the vertex which only comprises the vertex in S as the middle vertex;
establishing a virtual area which is a quadrangle, takes two points as diagonal vertexes, and expands outwards by a certain margin (can be set by experience parameters); obtaining key points and arc segments contained in the area by using geographic relation operation; when carrying out geographic relation operation, selecting key points of geographic coordinates in the area to form a new key point set, forming a new arc segment set by arc segments associated with the key points, carrying out path optimization on the key points and the arc segments by using a Dijkstra algorithm, and simplifying the number of the key points and the arc segments;
referring to fig. 3, the optimized algorithm procedure is shown in table 1 below:
TABLE 1
The optimized algorithm has obvious effect:
a. the algorithm traversal times and time consumption are reduced;
b. in the algorithm process, the number of times of updating the shortest path is reduced, and the stability of the algorithm is improved;
c. the algorithm plans the first successful route earlier, so that the boundary rectangle method can be adopted to screen the route key points earlier, and the method is a factor for saving the time consumption of the algorithm.
4) Carrying out alarm processing on unsafe events to generate corresponding alarm information; the method specifically comprises the following steps:
based on the position, speed and movement direction of the moving target in the comprehensive flight path of the advanced scene activity guiding and controlling system, and the flight plan and planning path, respectively carrying out alarm processing on unsafe events including running conflict (the running conflict of the airplane and the vehicle respectively), the taxiing deviation path of the airplane, runway invasion, limit area invasion, stand conflict and overspeed, and generating corresponding alarm information.
The operation conflict alarm processing specifically comprises the following steps:
the operation conflict processing can establish EVENT conflict collision models between airplanes and vehicles to perform conflict calculation according to the position, the speed and the movement direction in the comprehensive flight path of the airplane/vehicle and the planning parameter data of the taxi path of the airplane, and when a conflict threshold value is reached, a conflict alarm is generated.
5) Aiming at the operation conflict event of the movable target, conflict resolution processing is carried out, and conflict resolution control instruction information is generated;
aiming at the running conflict among the aircrafts and the vehicles, a certain target in the conflict pair is stopped according to the principle of priority of the aircrafts, priority of VIP flights and first-come first-serve of the same type of flights, and conflict resolution control instruction information for advancing the other target is sent to a man-machine interface for graphical display, so that pilots and vehicle drivers are reminded to perform stopping and advancing operations, and conflict avoidance is realized.
6) Generating global real-time navigation information;
and generating and displaying all the moving target positions and trends, the traveling path/non-traveling planning path, the warning information, the navigation graphical indication mark and the conflict resolution stop/advance graphical mark on the map in real time according to the moving target running positions/speeds/heading, the planning path, the warning information and the conflict resolution control instruction by combining with a 3-dimensional vector GIS airport map.
7) Transmitting global real-time navigation information to an airborne digital guiding terminal;
8) Subscribing, displaying and voice broadcasting navigation information of the airborne digital guiding terminal;
81 Selecting a pilot and a vehicle driver to correspondingly bind a flight number or a vehicle number, and subscribing the pilot processing control center system to obtain information of the flight or the vehicle and related flights or vehicles;
82 Combining the subscribed own flights or vehicles, the related flights or vehicles information with a 3-dimensional vector GIS airport map to generate a real-time navigation map for display;
83 The navigation information of the airplane/vehicle in the process of travel guidance and conflict resolution avoidance is converted into audio data for broadcasting to pilots and vehicle drivers.
Wherein, the step 81) specifically includes:
the present flight or vehicle information includes: flight number or vehicle number, active target position/speed/heading, flight plan, planned path, warning information, conflict resolution control command information; the related flights or vehicles are leading flights, flights or vehicles which are smaller than the parameter value range from the own flights or vehicles; the relevant flight or vehicle information includes: flight number or vehicle number, activity target location/speed/heading, flight plan.
The step 82) specifically includes:
the real-time navigation map display content includes: background map, present flight or vehicle location and trend, planned path traveled/not traveled, alert information, navigation graphical indication mark, conflict resolution stop/go graphical mark, relevant flight or vehicle identification, location, preface flight flag.
The step 83) specifically includes:
the navigation information broadcasting content comprises: travel path (taxiway number, lane number) broadcast, intersection guidance (distance to intersection, turn direction), wait, stop, proceed alert (conflict, runway intrusion, limit intrusion, departure from taxiway, overspeed, etc. alert).
The present invention has been described in terms of the preferred embodiments thereof, and it should be understood by those skilled in the art that various modifications can be made without departing from the principles of the invention, and such modifications should also be considered as being within the scope of the invention.
Claims (10)
1. An airport scene digitized guiding system, comprising: a guiding processing control center system and an airborne digital guiding terminal; the guiding processing control center system and the airborne digital guiding terminal perform data transmission through a wireless network;
the boot process control center system includes: the system comprises an input interface module, a machine/vehicle cooperative path planning module, an alarm processing module, a conflict resolution control module, a real-time navigation information generating module and a communication module;
the input interface module is used for receiving the data of the comprehensive flight path, the flight plan, the plane taxiing planning path and the scene limiting area of the moving target sent by the advanced scene activity guiding and controlling system, analyzing and processing the data to form the requirement format data;
the locomotive/car cooperative path planning module is used for planning a vehicle driving path and generating full-field movable target path planning data, namely a planned path;
the alarm processing module is used for carrying out alarm processing on unsafe events according to the position, the speed and the movement direction of the movable target in the comprehensive track of the movable target, the flight plan and the plane taxiing planning path to generate corresponding alarm information;
the conflict resolution control module is used for carrying out conflict resolution processing on the airplane and the vehicle with running conflict and generating conflict resolution control instruction information;
the real-time navigation information generation module is used for generating and displaying the position and trend of the moving target, the planned path/non-advanced path, the warning information, the navigation graphical indication mark and the conflict resolution stop/advance graphical mark on the map in real time according to the comprehensive track, the planned path, the warning information and the conflict resolution control command information of the moving target in combination with the 3-dimensional vector GIS airport map;
the communication module is used for carrying out wireless communication with the airborne digital guiding terminal;
the airborne digital guidance terminal comprises: the system comprises a user subscription module, a real-time navigation map generation display module and a navigation voice broadcasting module;
the user subscription module is used for carrying out safety authentication on the identities of the pilot and the vehicle driver, selecting the bound flight number or vehicle number aiming at the user, and subscribing the user subscription module to the guiding processing control center system to obtain the information of the flight or the vehicle and the related flight or vehicle information;
the real-time navigation map generation display module is used for combining the acquired flight or vehicle information and related flight or vehicle information with the 3-dimensional vector GIS airport map to generate a real-time navigation map for display;
the navigation voice broadcasting module is used for converting navigation information of an airplane/vehicle into audio data in the process of traveling guidance and conflict resolution avoidance, and is used for broadcasting navigation information of pilots and vehicle drivers.
2. The airport scene digitized guiding system of claim 1 wherein said cooperative path planning module plans a vehicle travel path based on the priority of the plane taxi planning path sent by the advanced scene activity guiding and control system, and based on the restraint factors of the vehicle service lanes, taxiways, restricted areas, service mission plans, scene operation rules, and generates full-field active plane, vehicle path planning data.
3. The airport surface digitized guiding system of claim 1 wherein said conflict resolution process generates control instruction information for a stop of one target and a forward of another target in a conflict pair based on airplane priority, VIP flight priority, same type of flight first come first serve principle.
4. The airport scene digitized guiding system of claim 1, wherein said own flight or vehicle information comprises: flight number or vehicle number, active target position/speed/heading, flight plan, planned path, warning information, conflict resolution control command information; the related flights or vehicles are leading flights, flights or vehicles which are smaller than the parameter value range from the own flights or vehicles; the relevant flight or vehicle information includes: flight number or vehicle number, activity target location/speed/heading, flight plan.
5. An airport scene digitized guiding method based on the system of any one of claims 1-4, characterized by the steps of:
1) Receiving comprehensive flight path, flight plan, plane sliding planning path and scene limiting area data sent by an advanced scene activity guiding and controlling system, analyzing and processing the comprehensive flight path, flight plan, plane sliding planning path and scene limiting area data to form a demand format;
2) Aligning the map of the advanced scene activity guiding and controlling system with the calibration coordinates of the map of the airborne digital guiding terminal;
3) Generating full-field activity target path planning data, namely planning paths;
4) Carrying out alarm processing on unsafe events to generate corresponding alarm information;
5) Aiming at the operation conflict event of the movable target, conflict resolution processing is carried out, and conflict resolution control instruction information is generated;
6) Generating global real-time navigation information;
7) Transmitting global real-time navigation information to an airborne digital guiding terminal;
8) And subscribing, displaying and voice broadcasting navigation information of the airborne digital guiding terminal.
6. The method for digitally guiding the airport surface of claim 5, wherein said step 2) comprises:
21 The advanced scene activity guiding and controlling system adopts a CAD plane map, and the airborne digital guiding terminal adopts a 3-dimensional vector GIS airport map;
22 Map files of the advanced scene activity guiding and controlling system are analyzed and stored into GeoJSON data in a unified mode, and the GeoJSON data are displayed in a 3-dimensional vector GIS airport map mode at an airborne digital guiding terminal.
7. The method for digitally guiding the airport surface of claim 5, wherein said step 3) comprises:
31 Abstracting the airborne digital guidance terminal scene map into a two-dimensional network map G= (V, E) composed of points and directed line segment arcs, wherein V is a point set and E is a directed line segment arc set;
32 Analyzing an aircraft taxiing planning path of the advanced scene activity guiding and controlling system to form a point and directed line segment arc set, and matching with the two-dimensional network map;
33 Based on the improved Dijkstra algorithm, the default vehicle driving paths are set by the vehicle service lanes, taxiways, restricted areas, service mission plans, scene operation rules and airports as constraint factors, the shortest paths are taken into consideration as planning targets at the same time, and the vehicle driving paths are planned.
8. The method according to claim 7, wherein the modified Dijkstra algorithm path planning in step 33) specifically comprises:
the design uses the boundary rectangle screening method to screen the route key points, which comprises the following steps:
in the two-dimensional grid graph G= (V, E) of the airport scene, the length of each edge E [ i ] is assumed to be w [ i ], so as to obtain the shortest path from the vertex V0 to other points;
setting G= (V, E) as a weighted directed graph, dividing a vertex set V in the graph into two groups, wherein the first group is a vertex set with the shortest path already calculated, the second group is a vertex set U with the rest undetermined shortest paths, and adding the vertexes of the second group into the S in turn according to the increasing sequence of the length of the shortest paths; during the joining process, keeping the shortest path length from the source point V to each vertex in S not greater than the shortest path length from the source point V to any vertex in U; each vertex corresponds to a distance, the distance of the vertex in S is the shortest path length from V to the vertex, and the distance of the vertex in U is the current shortest path length from V to the vertex which only comprises the vertex in S as the middle vertex;
establishing a virtual area which is a quadrangle, taking two points as diagonal vertexes, and expanding a certain margin outwards; obtaining key points and arc segments contained in the area by using geographic relation operation; when the geographic relation operation is carried out, key points of geographic coordinates in the area are selected to form a new key point set, arcs associated with the key points form a new arc segment set, and then the path optimization is carried out on the key points and the arc segments by using a Dijkstra algorithm, so that the number of the key points and the arc segments is simplified.
9. The method for digitally guiding the airport surface of claim 5, wherein said step 5) comprises:
aiming at the running conflict among the aircrafts and the vehicles, a certain target in the conflict pair is stopped according to the principle of priority of the aircrafts, priority of VIP flights and first-come first-serve of the same type of flights, and conflict resolution control instruction information for advancing the other target is sent to a man-machine interface for graphical display, so that pilots and vehicle drivers are reminded to perform stopping and advancing operations, and conflict avoidance is realized.
10. The method for digitally guiding the airport surface of claim 5, wherein said step 8) comprises:
81 Selecting a pilot and a vehicle driver to correspondingly bind a flight number or a vehicle number, and subscribing the pilot processing control center system to obtain information of the flight or the vehicle and related flights or vehicles;
82 Combining the subscribed own flights or vehicles, the related flights or vehicles information with a 3-dimensional vector GIS airport map to generate a real-time navigation map for display;
83 The navigation information of the airplane/vehicle in the process of travel guidance and conflict resolution avoidance is converted into audio data for broadcasting to pilots and vehicle drivers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210373022.7A CN114783216B (en) | 2022-04-11 | 2022-04-11 | Airport scene digital guiding system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210373022.7A CN114783216B (en) | 2022-04-11 | 2022-04-11 | Airport scene digital guiding system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114783216A CN114783216A (en) | 2022-07-22 |
| CN114783216B true CN114783216B (en) | 2023-08-15 |
Family
ID=82428400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210373022.7A Active CN114783216B (en) | 2022-04-11 | 2022-04-11 | Airport scene digital guiding system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114783216B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115775057B (en) * | 2022-11-04 | 2023-12-22 | 北京中航科电测控技术股份有限公司 | Emergency rescue system for aircraft |
| CN116704804B (en) * | 2023-08-08 | 2023-12-01 | 青岛民航凯亚系统集成有限公司 | Guide vehicle path guiding and early warning method and system under airport low visibility condition |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020228228A1 (en) * | 2019-05-15 | 2020-11-19 | 南京莱斯信息技术股份有限公司 | Method for identifying operation intention of moving target on apron scene based on radar track construction |
| CN112270847A (en) * | 2020-09-30 | 2021-01-26 | 民航数据通信有限责任公司 | High-path data chain-based aircraft routing sharing system and method |
| CN112270845A (en) * | 2020-09-30 | 2021-01-26 | 民航数据通信有限责任公司 | Guide parking lot face air traffic control situation sharing device based on high-path data chain |
| CN113190635A (en) * | 2021-04-22 | 2021-07-30 | 民航数据通信有限责任公司 | Enhanced airport mobile map device based on data link |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8965671B2 (en) * | 2013-03-16 | 2015-02-24 | Honeywell International Inc. | Aircraft taxiing system |
-
2022
- 2022-04-11 CN CN202210373022.7A patent/CN114783216B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020228228A1 (en) * | 2019-05-15 | 2020-11-19 | 南京莱斯信息技术股份有限公司 | Method for identifying operation intention of moving target on apron scene based on radar track construction |
| CN112270847A (en) * | 2020-09-30 | 2021-01-26 | 民航数据通信有限责任公司 | High-path data chain-based aircraft routing sharing system and method |
| CN112270845A (en) * | 2020-09-30 | 2021-01-26 | 民航数据通信有限责任公司 | Guide parking lot face air traffic control situation sharing device based on high-path data chain |
| CN113190635A (en) * | 2021-04-22 | 2021-07-30 | 民航数据通信有限责任公司 | Enhanced airport mobile map device based on data link |
Non-Patent Citations (1)
| Title |
|---|
| 北京新机场高级地面引导控制系统的设计应用;赵爱卿;;网络安全技术与应用(第08期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114783216A (en) | 2022-07-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114783216B (en) | Airport scene digital guiding system and method | |
| CN112270847B (en) | High-path data chain-based aircraft routing sharing system and method | |
| US8700234B2 (en) | System and method for communicating intent of aircraft | |
| CN111613095B (en) | Operation control method of scene before takeoff for commercial aircraft remote piloting system | |
| CN112270845B (en) | Guide parking lot face air traffic control situation sharing device based on high-path data chain | |
| US20080270020A1 (en) | Method, Arrangement and Monitoring Device for Navigation of Aircraft and Ground Vehicles Using Satellite-Assisted Positioning | |
| US11164468B2 (en) | Standardizing platform approaches for aircraft | |
| EP3109845A1 (en) | Aircraft systems and methods to improve airport traffic management | |
| CN111707282B (en) | Route planning method and route planning system | |
| CN101244765A (en) | Visual guidance for takeoff and landing of airplane in low visibility condition, monitor system and technique thereof | |
| CN111062644A (en) | Airport ground service vehicle management and control system and method based on high-precision navigation positioning | |
| CN112200352A (en) | Guide vehicle aircraft route sharing device based on high-channel data link | |
| CN113990114A (en) | Method for realizing airport ground aircraft operation management based on airport digital map | |
| CN113190635A (en) | Enhanced airport mobile map device based on data link | |
| CN112767726A (en) | Control method and system for manned and automatic driving vehicles in airport | |
| CN109817026B (en) | Method, device, equipment and medium for controlling runway entering light | |
| CN108470455A (en) | A kind of priority system and control method | |
| CN112817323A (en) | Dynamic flight mode control method for land-based cruise process | |
| Cheng et al. | Automation tools for enhancing ground-operation situation awareness and flow efficiency | |
| CN115564147B (en) | Method, system and storage medium for apron management | |
| JP4181072B2 (en) | Travel guidance support system in airport and travel guidance support method in airport | |
| Zammit et al. | An enhanced automatic taxi control algorithm for fixed wing aircraft | |
| CN213365781U (en) | Test system for autonomous vehicles at airports | |
| Cheng | Research progress on an automation concept for surface operation with time-based trajectories | |
| Cheng et al. | Flight-deck automation for trajectory-based surface operations |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |