CN115372988B - Method, device and medium for identifying and positioning aircraft wake vortexes - Google Patents
Method, device and medium for identifying and positioning aircraft wake vortexes Download PDFInfo
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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Abstract
The invention discloses a method, a device and a medium for identifying and positioning aircraft wake vortexes, which are suitable for the technical field of aviation. The method updates the corresponding current spectrum width threshold value every preset time, so that the current spectrum width threshold value is updated based on different wind field factors of different regions, and robustness is improved. And identifying and positioning the aircraft wake vortexes according to the updated relationship between the current spectral width threshold and the maximum spectral width data value, wherein the maximum spectral width data value is obtained by extracting from the current scanning segment, and if the maximum spectral width data value is larger than the current spectral width threshold, the wake vortexes are determined to exist, so that the location of the wake vortexes is further realized, and the location can be quickly identified and positioned by comparing the thresholds. Compared with the existing identification and positioning method, the method has the advantages that the problem of poor real-time performance caused by a complicated positioning mode is solved, the real-time performance is improved, and the identification mode is simple, so that a wake vortex identification and positioning model does not need to be trained by a large amount of data, and certain universality is realized.
Description
Technical Field
The invention relates to the technical field of aviation, in particular to a method, a device and a medium for identifying and positioning aircraft wake vortexes.
Background
According to statistics, many aviation safety accidents are related to the aircraft wake vortexes internationally, and the severe social and economic effects are caused. In order to avoid safety accidents caused by airplane wake vortexes, the flight taking-off and landing of domestic and foreign airports are released according to wake interval standards. In general, a relatively large safety space is reserved in the wake interval standard, but the standard limits the increase of the throughput of airport flights, and in few cases, flights released according to the wake interval standard still may encounter airplane wake vortexes, so that real-time and accurate automatic identification and positioning of the airplane wake vortexes are important.
The existing laser radar automatically identifies and positions the wake vortexes in two modes, one mode is that the wake vortexes are identified and positioned based on the unique characteristics of the wake vortexes expressed by physical quantities such as wind speed or spectrum width in a wind field; another is to use a machine learning method. The former method is mostly based on simulation data, less consideration is given to influence factors such as turbulence, wind shear and the like in a real atmospheric wind field, the positioning effect in an actual wind field is poor, the algorithm is complex, the calculation time in the positioning process is long, and the instantaneity is poor, so that the observation requirement of the wake vortex is difficult to meet. Meanwhile, due to the fact that the spectrum width values of different regions and different wind field factors are different, robustness is poor according to the same threshold value. The latter method needs to train the wake vortex identification and positioning model based on a large amount of sample data, so that over-fitting or under-fitting is prevented, and the model universality is poor for different regional climate backgrounds.
Therefore, it is an urgent need to solve the problem of finding a method for identifying and positioning the aircraft wake vortexes.
Disclosure of Invention
The invention aims to provide a method, a device and a medium for identifying and positioning aircraft wake vortexes.
In order to solve the technical problem, the invention provides an identification and positioning method of an aircraft wake vortex, which comprises the following steps:
selecting spectrum width data corresponding to a plurality of scanning segments within preset time;
acquiring a current spectrum width threshold, wherein the current spectrum width threshold is a threshold updated every preset time;
extracting a maximum spectral width data value within the spectral width data of the current scan segment;
and when the maximum spectral width data value is larger than the current spectral width threshold value, determining that the aircraft wake vortexes exist, and determining the positions of the aircraft wake vortexes according to the maximum spectral width data value to realize positioning.
Preferably, the selecting the spectrum width data corresponding to the plurality of scanning segments within the preset time includes:
determining a monitoring area of the laser radar according to the position relation of the observation point of the laser radar and the airport runway;
determining a spatial range corresponding to a pitch angle of the laser radar in a monitoring area;
spectral width data in respective spatial ranges within a plurality of scan segments are acquired over a preset time.
Preferably, obtaining the current spectral width threshold comprises:
selecting first spectral width data in each scanning segment according to preset time;
carrying out deduplication processing on each first spectral width data to obtain a plurality of second spectral width data, and sequencing the plurality of second spectral width data from small to large to obtain a spectral width sequence;
determining corresponding repetition times in the first spectral width data according to each second spectral width data corresponding to the spectral width sequence;
determining the frequency value of each second spectral width data according to the corresponding relation between each repetition time and the total time;
selecting a maximum frequency value from the frequency values;
determining corresponding target second spectral width data according to the maximum frequency value;
and determining the current spectral width threshold value according to the relationship between the frequency value corresponding to the target second spectral width data and the frequency values corresponding to other second spectral width data larger than the target second spectral width data.
Preferably, determining the current spectral width threshold according to the relationship between the frequency value corresponding to the target second spectral width data and the frequency values corresponding to other second spectral width data larger than the target second spectral width data includes:
starting with the target second spectral width data, selecting next second spectral width data larger than the target second spectral width data in the spectral width sequence;
performing difference processing on a frequency value corresponding to the target second spectral width data and a frequency value corresponding to the next second spectral width data to obtain a current frequency difference value;
judging whether the current frequency difference value is larger than a frequency difference threshold value or not;
if so, starting with the next second spectral width data as new target second spectral width data, and returning to the step of selecting the next second spectral width data larger than the target second spectral width data in the spectral width sequence;
if not, determining that the target second spectral width data is the current spectral width threshold;
the step of obtaining a current frequency difference value by performing difference processing on the frequency value corresponding to the target second spectral width data and the frequency value corresponding to the next second spectral width data includes:
and subtracting the frequency value corresponding to the target second spectral width data from the frequency value corresponding to the next second spectral width data to obtain the current frequency difference value.
Preferably, on the basis of obtaining the current spectral width threshold, the method further comprises:
calibrating the current spectrum width threshold value according to a preset time interval to obtain a calibrated current spectrum width threshold value, wherein the calibration process specifically comprises the following steps:
capturing an airplane passing picture through a camera and recording airplane passing time so as to trigger a video snapshot event;
if the maximum spectral width data value is larger than the last current spectral width threshold value, determining to trigger a spectral width event;
and starting backward at the current moment, and determining the relation between the occurrence moments of the video capture event and the spectrum width event and the current moment so as to determine the calibrated current spectrum width threshold.
Preferably, starting with the current time instant, determining a relationship between the occurrence time instant of the video capture event and the spectral width event and the current time instant to determine a calibrated current spectral width threshold comprises:
starting backward at the current moment, and determining the occurrence moment of a video snapshot event as a first moment and the occurrence moment of a spectrum width event as a second moment;
judging whether the first moment is earlier than the second moment;
if yes, judging whether the first moment exists in a preset moment before the second moment, wherein the preset moment is less than preset time;
if the current spectrum width threshold value does not exist, second spectrum width data corresponding to the last current spectrum width threshold value is searched in the spectrum width sequence, and the next second spectrum width data is used as the calibrated current spectrum width threshold value;
if so, keeping the current spectrum width threshold unchanged;
if not, judging whether a second moment exists in a preset moment before the first moment;
if the current spectrum width threshold value does not exist, second spectrum width data corresponding to the last current spectrum width threshold value is searched in the spectrum width sequence, and the last second spectrum width data is used as the calibrated current spectrum width threshold value;
if so, the current spectral width threshold is unchanged.
In order to solve the above technical problem, the present invention further provides an identification and positioning device for aircraft wake vortexes, including:
the selection module is used for selecting the spectrum width data corresponding to the plurality of scanning segments within the preset time;
the acquisition module is used for acquiring a current spectrum width threshold value, wherein the current spectrum width threshold value is a threshold value updated at intervals of preset time;
an extraction module for extracting a maximum spectral width data value within spectral width data of a current scan segment;
and the determining module is used for determining that the aircraft wake vortex exists when the maximum spectral width data value is larger than the current spectral width threshold value, and determining the position of the aircraft wake vortex according to the maximum spectral width data value so as to realize positioning.
In order to solve the above technical problem, the present invention further provides an identification and positioning device for aircraft wake vortexes, including:
a memory for storing a computer program;
and the processor is used for realizing the steps of the method for identifying and positioning the aircraft wake vortexes when executing the computer program.
In order to solve the technical problem, the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for identifying and positioning wake vortexes of an aircraft are implemented.
The invention provides a method for identifying and positioning aircraft wake vortexes, which comprises the following steps: selecting spectrum width data corresponding to a plurality of scanning segments within preset time; acquiring a current spectrum width threshold, wherein the current spectrum width threshold is a threshold updated every preset time; extracting a maximum spectral width data value within the spectral width data of the current scan segment; and when the maximum spectral width data value is larger than the current spectral width threshold value, determining that the aircraft wake vortexes exist, and determining the positions of the aircraft wake vortexes according to the maximum spectral width data value to realize positioning. The method updates the corresponding current spectrum width threshold value every preset time, so that the current spectrum width threshold value is updated based on different wind field factors in different regions, and the robustness is improved. And identifying and positioning the aircraft wake vortexes according to the updated relationship between the current spectral width threshold and the maximum spectral width data value, determining that the wake vortexes exist if the maximum spectral width data value is larger than the current spectral width threshold, further realizing the positioning of the wake vortexes, and quickly identifying and positioning by comparing the thresholds. Compared with the existing identification and positioning method, the method has the advantages that the problem of poor real-time performance caused by a complicated positioning mode is solved, the real-time performance is improved, and the identification mode is simple, so that a wake vortex identification and positioning model does not need to be trained by a large amount of data, and certain universality is realized.
In addition, the invention also provides an identification and positioning device and medium for the aircraft wake vortexes, and the identification and positioning device and medium have the same beneficial effects as the identification and positioning method for the aircraft wake vortexes.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flowchart of a method for identifying and positioning an aircraft wake vortex according to an embodiment of the present invention;
fig. 2 is a structural diagram of an identification and positioning device for an aircraft wake vortex according to an embodiment of the present invention;
FIG. 3 is a block diagram of another device for identifying and locating wake vortexes in an aircraft according to an embodiment of the present invention;
FIG. 4 is a flowchart of another method for identifying and locating wake vortexes of an aircraft according to an embodiment of the present invention;
fig. 5 is a flowchart of determining a spectral width threshold according to an embodiment of the present invention;
fig. 6 is a flowchart illustrating calibration of a spectral width threshold according to an embodiment of the present invention.
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 obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.
The core of the invention is to provide a method, a device and a medium for identifying and positioning aircraft wake vortexes, the current spectral width threshold is updated in real time based on different wind field factors in different regions, the robustness is improved, the identification and positioning can be rapidly realized by comparing the thresholds, the real-time performance is improved, and the identification mode is simple, does not need a large amount of data to train a positioning model, and has certain universality.
In order that those skilled in the art will better understand the disclosure, reference will now be made in detail to the embodiments of the disclosure as illustrated in the accompanying drawings.
It should be noted that an aircraft wake vortex is a trumpet-shaped and backward-extending wingtip vortex caused by aircraft lift force, and generally consists of two vortexes with opposite rotation directions and similar initial strength. There have been many aviation safety incidents related internationally to aircraft wake vortexes. The method for identifying and positioning the aircraft wake vortexes is realized based on coherent wind lidar. The coherent laser wind-finding radar is a novel remote sensing device for detecting a three-dimensional wind field by utilizing Doppler effect generated by atmospheric motion, can realize atmospheric parameter observation from the ground to the troposphere without a blind area in height, and has the advantages of high precision, high resolution, large detection range and the like.
Fig. 1 is a flowchart of a method for identifying and positioning an aircraft wake vortex according to an embodiment of the present invention, as shown in fig. 1, the method includes:
s11: selecting spectrum width data corresponding to a plurality of scanning segments within preset time;
s12: acquiring a current spectrum width threshold, wherein the current spectrum width threshold is a threshold updated at intervals of a preset time;
s13: extracting a maximum spectral width data value within the spectral width data of the current scan segment;
s14: judging whether the maximum spectral width data value is smaller than the current spectral width threshold value, if not, entering a step S15, and if so, entering a step S16;
s15: determining that the aircraft wake vortexes exist, and determining the positions of the aircraft wake vortexes according to the maximum spectral width data values to realize positioning;
s16: determining that aircraft wake vortexes are not present.
It should be noted that the spectral width data is the spectral width of each range gate that can be obtained by the coherent wind lidar when scanning the wind field, and the spectral width value is increased significantly when the aircraft wake vortex exists in a normal case. The range gate is generally present in an electronic circuit, and the electronic circuit that selects a signal within a predetermined time allows the signal to pass through during a set time, while the other time gates do not allow the signal to pass through. Regarding the spectral width data corresponding to the scanning segment, in a Range Height Indicator (RHI) scanning mode, the coherent wind lidar performs vertical plane scanning at a certain azimuth angle by changing the pitch angle. The scanning segment is that the coherent wind lidar finishes one pitch angle scanning within a certain range in an RHI scanning mode. The spectral width data is obtained under the condition of fixed azimuth angle.
As a preferred embodiment, the selecting the spectrum width data corresponding to the plurality of scanning segments within the preset time in step S11 includes:
determining a monitoring area of the laser radar according to the position relation of the observation point of the laser radar and the airport runway;
determining a spatial range corresponding to a pitch angle of the laser radar in a monitoring area;
spectral width data in respective spatial ranges within a plurality of scan segments are acquired over a preset time.
Specifically, the position of an observation point of the laser radar is fixed, the position of an airport runway is fixed, and a monitoring area of the laser radar is determined according to the corresponding relation between the position of the observation point of the laser radar and the position of the runway. And the monitoring area is fixed, and the space range corresponding to the pitch angle of the laser radar is determined in the monitoring area. For example, only spectral width data in the spatial range of pitch angles from 2 to 22 is acquired.
Each scanning segment has a plurality of spatial ranges, the spectral width data in a certain spatial range in each scanning segment is selected, namely the spatial range is fixed, and the spectral width data in the spatial range with the pitch angle of 2-22 degrees is selected and acquired in each scanning segment.
In order to adapt the spectral width threshold to the wind field in the current time interval while avoiding unnecessary operations, it is necessary to acquire the current spectral width threshold at intervals (predetermined times). The acquisition and update of the corresponding spectrum width threshold are not limited, and can be set according to actual conditions.
Extracting a maximum spectral width data value from the spectral width data of the current scanning segment, wherein the maximum spectral width data value is selected from the spectral width data in the corresponding spatial range in the current scanning segment. The resulting maximum spectral width data values may be the same in data value but different in corresponding scan segments, so that there may be one or more of the same maximum spectral width data values. Any one of the maximum spectrum width data values can be selected corresponding to the maximum spectrum width data values, and the first maximum spectrum width data value can be obtained according to the time sequence.
And judging whether the maximum spectral width data value is smaller than the current spectral width threshold value, if not, determining that the aircraft wake vortex exists, and if so, determining that no wake vortex exists.
In the case of determining the presence of aircraft wake vortexes, the location of the wake vortexes thereof may be clearly defined. Since the wake vortexes are mainly localized in the central region, the location of the wake vortexes in the central region can be confirmed from any point (a certain maximum spectral width data value) in the central region, regardless of the presence of one or more maximum spectral width data values.
The embodiment of the invention provides an identification and positioning method of aircraft wake vortexes, which comprises the following steps: selecting spectrum width data corresponding to a plurality of scanning segments within preset time; acquiring a current spectrum width threshold, wherein the current spectrum width threshold is a threshold updated at intervals of a preset time; extracting a maximum spectral width data value within the spectral width data of the current scan segment; and when the maximum spectral width data value is larger than the current spectral width threshold value, determining that the aircraft wake vortex exists, and determining the position of the aircraft wake vortex according to the maximum spectral width data value to realize positioning. The method updates the corresponding current spectrum width threshold value every preset time, so that the current spectrum width threshold value is updated based on different wind field factors of different regions, and robustness is improved. And identifying and positioning the aircraft wake vortexes according to the updated relationship between the current spectral width threshold and the maximum spectral width data value, determining that the wake vortexes exist if the maximum spectral width data value is larger than the current spectral width threshold, further realizing the positioning of the wake vortexes, and quickly identifying and positioning by comparing the thresholds. Compared with the existing identification and positioning method, the problem of poor real-time performance caused by a complicated positioning mode is solved, the real-time performance is improved, and the identification method is simple, does not need a large amount of data to train a wake vortex identification and positioning model, and has certain universality.
On the basis of the above embodiment, in an actual wind field, the aircraft wake vortex characteristics are not obvious under the influence of complex atmospheric turbulence, wind shear and the like, but a large amount of data indicates that the spectrum width value of the aircraft wake vortex is larger than that of a natural wind field in most cases, so that the aircraft wake vortex can be identified by selecting a proper spectrum width threshold, and the step S12 of obtaining the current spectrum width threshold includes:
selecting first spectral width data in each scanning segment according to preset time;
carrying out deduplication processing on each first spectral width data to obtain a plurality of second spectral width data, and sequencing the plurality of second spectral width data from small to large to obtain a spectral width sequence;
determining corresponding repetition times in the first spectral width data according to each second spectral width data corresponding to the spectral width sequence;
determining the frequency value of each second spectral width data according to the corresponding relation between each repetition time and the total time;
selecting a maximum frequency value from the frequency values;
determining corresponding target second spectral width data according to the maximum frequency value;
and determining the current spectral width threshold value according to the relation between the frequency value corresponding to the target second spectral width data and the frequency value corresponding to the second spectral width data larger than the target second spectral width data.
Specifically, the first spectral width data in each scanning segment is selected according to the predetermined time, that is, there is one first spectral width data in each scanning segment, and if there are 300 scanning segments, there are 300 first spectral width data correspondingly.
The 300 pieces of first spectral width data are subjected to the deduplication processing to obtain a plurality of pieces of second spectral width data, that is, the number of pieces of second spectral width data is smaller than or equal to that of the first spectral width data. The corresponding deduplication processing modes are not limited, one comparison may be performed, and other deduplication modes may also be adopted. For convenience of viewing and subsequent alignment, the second spectrum width data are sorted from small to large to obtain a spectrum width sequence, and the second spectrum width data can also be sorted from large to small with respect to the spectrum width sequence. As an example, the sequence is BW = (BW) 0 ，BW 1 ，BW 2 ，...，BW N-1 ）。
And determining the repetition times of each second spectral width data according to the second spectral width data corresponding to the spectral width sequence, and determining the corresponding frequency value according to the corresponding relation between the repetition times and the total times. Taking BW as an example, the frequency of occurrence of each spectral width value is Ni, the total frequency is SUM, and the frequency value fi of each spectral width value is expressed by the following formula: fi = Ni/SUM, with the total number of scan segments being 300, in conjunction with the above example.
And selecting the maximum frequency value through the obtained frequency values to determine target second spectral width data corresponding to the maximum frequency value. Since the probability that the aircraft wake vortex process reaches and includes the spectral width data that is greater than the spectral width data corresponding to the maximum frequency value is high, the current spectral width threshold is determined in a relationship where the frequency value of the second spectral width data that is greater than the target second spectral width data corresponds to the current maximum frequency value.
As a preferred embodiment, determining the current spectral width threshold value according to a relationship between a frequency value corresponding to the target second spectral width data and a frequency value corresponding to second spectral width data larger than the target second spectral width data includes:
starting with the target second spectral width data, selecting next second spectral width data larger than the target second spectral width data in the spectral width sequence;
carrying out difference processing on a frequency value corresponding to the target second spectral width data and a frequency value corresponding to the next second spectral width data to obtain a current frequency difference value;
judging whether the current frequency difference value is larger than a frequency difference threshold value or not;
if so, starting with the next second spectral width data as new target second spectral width data, and returning to the step of selecting the next second spectral width data larger than the target second spectral width data in the spectral width sequence;
if not, determining that the target second spectral width data is the current spectral width threshold;
the step of obtaining a current frequency difference value by performing difference processing on a frequency value corresponding to the target second spectral width data and a frequency value corresponding to the next second spectral width data includes:
and subtracting the frequency value corresponding to the target second spectral width data from the frequency value corresponding to the next second spectral width data to obtain the current frequency difference value.
Specifically, starting with the target second spectral width data, the next second spectral width data larger than the target second spectral width data is selected in the spectral width sequence, for example, the target second spectral width data is BW i The next second spectral width data is BW i+1 Respectively corresponding to frequency values f i ，f i+1 And obtaining the difference value of the current frequency by subtracting the former from the latter or subtracting the former from the latter according to the difference between the two frequency values. The difference between the current frequency difference and the current frequency difference is not limited herein, but the subsequent determination of the spectral width threshold is different.
As a preferred embodiment, the obtaining the current frequency difference value by performing difference processing on the frequency value corresponding to the target second spectral width data and the frequency value corresponding to the next second spectral width data includes:
and subtracting the frequency value corresponding to the target second spectral width data from the frequency value corresponding to the next second spectral width data to obtain the current frequency difference value.
The former frequency value is selected to subtract the latter frequency value to obtain the corresponding current frequency difference value k, namely k = f i -f i+1 . And judging whether the current frequency difference value is larger than the frequency difference value, if so, indicating that the frequency corresponding to the target second spectral width data is the maximum and a descending trend exists between the target second spectral width data and the next second spectral width data. And taking the next second spectral width data as new target second spectral width data, continuously selecting the current next second spectral width data, continuously comparing corresponding frequency values until the obtained corresponding current frequency value is less than or equal to the frequency difference value, and stopping calculation. Frequency difference threshold k 0 Empirical values obtained from a large number of experimental data.
In the determining process of the current spectral width threshold updated according to the preset time, the spectral width threshold is determined by the spectral width data obtained by the scanning segments corresponding to different regions of different wind fields, and the spectral width threshold can be automatically found by analyzing the maximum spectral width frequency distribution rule in consideration of the influence of factors such as atmospheric turbulence, wind shear and the like on the tail vortex of the airplane in the real atmospheric wind field; in order to find the spectrum width threshold value which accords with the current wind field in different areas, different time and different wind fields, the spectrum width threshold value is recalculated at intervals, and is updated once, so that the robustness is improved.
On the basis of the above embodiment, in order to further improve the identification and positioning method, on the basis of obtaining the current spectrum width threshold, the method further includes:
calibrating the current spectrum width threshold value according to a preset time interval to obtain a calibrated current spectrum width threshold value, wherein the calibration process specifically comprises the following steps:
capturing an airplane passing picture through a camera and recording airplane passing time so as to trigger a video snapshot event;
if the maximum spectral width data value is larger than the last current spectral width threshold value, determining to trigger a spectral width event;
and starting backward at the current moment, and determining the relation between the occurrence moments of the video capture event and the spectrum width event and the current moment so as to determine the calibrated current spectrum width threshold.
Specifically, on the basis of updating the current spectral width threshold, the current spectral width threshold is calibrated according to a preset time interval to improve the accuracy of the determination of the current spectral width threshold.
The calibration process specifically comprises: and setting a video snapshot event and a spectrum width event. The method comprises the steps of taking a video snapshot event, using a camera to carry out video recording on the attention range of the aircraft wake vortexes, if the aircraft enters, taking a snapshot and recording time, and taking a snapshot action to record the current snapshot elapsed time, wherein the camera can automatically identify the aircraft in the video recording process. The spectral width event is triggered when the maximum spectral width data is greater than the last current spectral width threshold.
And starting backward at the current moment of a preset time interval, and determining the corresponding relation between the occurrence moment of the video snapshot event and the spectrum width event and the current moment to determine a calibrated spectrum width threshold.
As an embodiment, the method specifically includes:
starting backward at the current moment, and determining the occurrence moment of the video snapshot event as a first moment and the occurrence moment of the spectrum width event as a second moment;
judging whether the first moment is earlier than the second moment;
if yes, judging whether the first moment exists in a preset moment before the second moment, wherein the preset moment is less than preset time;
if the current spectrum width threshold value does not exist, second spectrum width data corresponding to the last current spectrum width threshold value is searched in the spectrum width sequence, and the next second spectrum width data is used as the calibrated current spectrum width threshold value;
if so, keeping the current spectrum width threshold unchanged;
if not, judging whether a second moment exists in a preset moment before the first moment;
if the current spectrum width threshold value does not exist, second spectrum width data corresponding to the last current spectrum width threshold value is searched in the spectrum width sequence, and the last second spectrum width data is used as the calibrated current spectrum width threshold value;
if so, the current spectral width threshold is unchanged.
Specifically, the method starts to reverse at the current moment, and determines that the occurrence moment of the video snapshot event is a first moment and the occurrence moment of the spectrum width event is a second moment. And judging whether the first time is earlier than the second time, if so, indicating that the first time and the second time are both the comparison size of the normal time and are not the time counted by taking the current time as a standard. And when the first moment is earlier than the second moment, the spectral width event corresponding to the second moment is closest to the current moment, and when the second moment is later than the first moment, the video snapshot event corresponding to the first moment is closest to the current moment.
When the first moment is earlier than the second moment, whether the first moment exists in a preset moment before the second moment is judged, and for the accuracy of the calibration process and the accuracy of time, the preset moment is less than a preset time and the time is short.
If the first moment does not exist in the preset moment before the second moment, that is, the video capture event does not occur in the preset moment in the moment when the spectrum width event occurs, second spectrum width data corresponding to the last current spectrum width threshold value is searched in the spectrum width sequence, and next second spectrum width data of the current second spectrum width data is used as the calibrated current spectrum width threshold value for comparison of the maximum spectrum width data value and the current spectrum width threshold value. For example, the current spectral width threshold before misalignment is BW i If the video snapshot event does not occur within the preset moment within the moment when the spectrum width event occurs, the updated spectrum width threshold value is BW = BW i+1 . If the video snapshot event occurs within the preset moment within the moment of occurrence of the spectrum width event, the spectrum width threshold value does not need to be updated, and the calibration process is finished.
If the first time is later than the second time, whether the second time exists in the preset time before the first time is judged, and if the second time does not exist in the preset time before the first time, namely, the video snapshot event occursThe second spectral width data corresponding to the last current spectral width threshold value is searched in the spectral width sequence, and the last second spectral width data of the current second spectral width data is used as the calibrated current spectral width threshold value for comparing the maximum spectral width data value with the current spectral width threshold value. For example, the current spectral width threshold before misalignment is BW i If the spectrum width event does not occur within the preset time within the time of the video snapshot event, updating the spectrum width threshold value to be BW = BW i-1 . If the spectrum width event occurs within the preset time within the time of the video snapshot event, the spectrum width threshold value does not need to be updated, and the calibration process is finished.
According to the process for calibrating the current spectral width threshold value, provided by the embodiment of the invention, on the basis of updating the current spectral width threshold value, the airplane take-off and landing information is recorded through the video capture event, the calibrated current spectral width threshold value is determined through the comparison between the video capture event and the occurrence time of the spectral width event, the accuracy of determining the spectral width threshold value is improved, and a better wake vortex identification effect is achieved.
On the basis of the above detailed description of each embodiment corresponding to the method for identifying and positioning the aircraft wake vortex, the present invention further discloses an apparatus for identifying and positioning the aircraft wake vortex corresponding to the above method, and fig. 2 is a structural diagram of an apparatus for identifying and positioning the aircraft wake vortex provided in an embodiment of the present invention. As shown in fig. 2, the device for identifying and locating the aircraft wake vortex comprises:
the selection module 11 is configured to select spectrum width data corresponding to a plurality of scanning segments within a preset time;
an obtaining module 12, configured to obtain a current spectrum width threshold, where the current spectrum width threshold is a threshold updated every predetermined time;
an extraction module 13, configured to extract a maximum spectral width data value within the spectral width data of the current scan segment;
and the determining module 14 is configured to determine that an aircraft wake vortex exists when the maximum spectral width data value is greater than the current spectral width threshold, and determine a position of the aircraft wake vortex according to the maximum spectral width data value to implement positioning.
Since the embodiment of the apparatus portion corresponds to the above-mentioned embodiment, please refer to the above-mentioned embodiment of the method portion for describing the embodiment of the apparatus portion, and details are not repeated herein.
For the introduction of the device for identifying and positioning the aircraft wake vortexes provided by the present invention, please refer to the above method embodiment, which is not repeated herein, and has the same beneficial effects as the above method for identifying and positioning the aircraft wake vortexes.
Fig. 3 is a structural diagram of another device for identifying and locating wake vortexes of an aircraft according to an embodiment of the present invention, as shown in fig. 3, the device includes:
a memory 21 for storing a computer program;
and the processor 22 is used for realizing the steps of the method for identifying and positioning the aircraft wake vortexes when executing the computer program.
The device for identifying and locating the aircraft wake vortexes provided by the embodiment may include, but is not limited to, a tablet computer, a notebook computer, a desktop computer, or the like.
The processor 22 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The Processor 22 may be implemented in hardware using at least one of a Digital Signal Processor (DSP), a Field-Programmable Gate Array (FPGA), and a Programmable Logic Array (PLA). The processor 22 may also include a main processor and a coprocessor, the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 22 may be integrated with a Graphics Processing Unit (GPU) that is responsible for rendering and drawing the content that the display screen needs to display. In some embodiments, processor 22 may also include an Artificial Intelligence (AI) processor for processing computational operations related to machine learning.
Memory 21 may include one or more computer-readable storage media, which may be non-transitory. Memory 21 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 21 is at least used for storing the following computer program 211, wherein after being loaded and executed by the processor 22, the computer program can implement the relevant steps of the method for identifying and positioning aircraft wake vortexes disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 21 may also include an operating system 212, data 213, and the like, and the storage manner may be a transient storage or a permanent storage. Operating system 212 may include Windows, unix, linux, etc., among others. Data 213 may include, but is not limited to, data involved in a method of identifying and locating aircraft wake vortexes, and the like.
In some embodiments, the device for identifying and locating the aircraft wake vortexes may further include a display screen 23, an input/output interface 24, a communication interface 25, a power supply 26, and a communication bus 27.
Those skilled in the art will appreciate that the configuration shown in figure 3 does not constitute a definition of a device for identifying and locating wake vortexes in an aircraft and may include more or fewer components than those shown.
The processor 22 calls the instructions stored in the memory 21 to implement the method for identifying and locating the aircraft wake vortexes provided by any of the above embodiments.
For the introduction of the device for identifying and positioning the aircraft wake vortexes provided by the present invention, please refer to the above method embodiment, which is not repeated herein, and has the same beneficial effects as the above method for identifying and positioning the aircraft wake vortexes.
Further, the present invention also provides a computer readable storage medium, on which a computer program is stored, and the computer program when executed by the processor 22 implements the steps of the method for identifying and positioning aircraft wake vortexes as described above.
It is to be understood that if the method in the above embodiments is implemented in the form of software functional units and sold or used as a stand-alone product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and performs all or part of the steps of the methods according to the embodiments of the present invention, or all or part of the technical solution. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
For the introduction of a computer-readable storage medium provided by the present invention, please refer to the above method embodiment, which is not repeated herein, and has the same beneficial effects as the above method for identifying and positioning an aircraft wake vortex.
As an embodiment, fig. 4 is a flowchart of another method for identifying and positioning an aircraft wake vortex according to an embodiment of the present invention, and as shown in fig. 4, the method includes:
s21: acquiring the spectral width data of the wind field echo;
s22: calculating a spectrum width threshold bw every t time;
s23: calibrating a spectral width threshold bw;
s24: acquiring a maximum value bw _ max of a spectrum width in a scanning segment;
s25: judging whether the maximum value bw _ max of the spectrum width is greater than or equal to a spectrum width threshold bw, if so, entering a step S26; if not, the step S27 is executed;
s26: determining that a wake vortex exists and the position of the maximum spectral width bw _ max is the position of the wake vortex;
s27: and determining that no wake vortex exists.
On the basis of the foregoing embodiment, fig. 5 is a flowchart for determining a spectrum width threshold according to an embodiment of the present invention, and as shown in fig. 5, the calculating process of the spectrum width threshold in step S22 includes:
s31: extracting maximum spectral width data in all scanning segments of the selected time period;
s32: after the data with the maximum spectral width is subjected to de-duplication, a BW sequence is obtained according to a sequence from small to large;
s33: analyzing the maximum spectral width frequency distribution and determining a spectral width frequency difference value in a certain range according to the spectral width frequency;
s34: judging whether the frequency difference value of the spectrum width is smaller than or equal to the frequency domain difference value, if so, entering a step S35, otherwise, returning to the step S33;
s35: and outputting a spectral width threshold value.
On the basis of the foregoing embodiment, fig. 6 is a flowchart of a calibration process of a spectral width threshold according to an embodiment of the present invention, and as shown in fig. 6, the calibration process of the spectral width threshold in step S23 includes:
s41: determining an event of starting to push back an approach at a current time;
wherein the close events include video capture events (a events) and spectral width events (b events);
s42: the approaching event is a video capture event (a event), and the process proceeds to step S43;
s43: judging whether an event b occurs in a preset time period in the event a, if not, entering a step S44, and if so, ending;
s44: update BW = BW i-1 ；
S45: the approaching event is a spectrum-wide event (b event), and the process proceeds to step S46;
s46: judging whether the event a occurs in a preset time period in the event b, if not, entering a step S47, and if so, ending the step;
s47: update BW = BW i+1 。
For the introduction of another method for identifying and positioning an aircraft wake vortex, determining a spectral width threshold, and calibrating a spectral width threshold provided by the present invention, please refer to the above method embodiment, which is not repeated herein, and has the same beneficial effects as the above method for identifying and positioning an aircraft wake vortex.
The method for identifying and positioning the aircraft wake vortexes, the device for identifying and positioning the aircraft wake vortexes and the medium provided by the invention are described in detail above. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed in the embodiment corresponds to the method disclosed in the embodiment, so that the description is simple, and the relevant points can be referred to the description of the method part. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
It should also be noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
Claims (7)
1. An identification and positioning method for aircraft wake vortexes is characterized by comprising the following steps:
selecting spectrum width data corresponding to a plurality of scanning segments within preset time;
acquiring a current spectrum width threshold, wherein the current spectrum width threshold is a threshold updated at intervals of a preset time;
extracting a maximum spectral width data value within the spectral width data of a current scan segment;
when the maximum spectral width data value is larger than the current spectral width threshold value, determining that the aircraft wake vortexes exist, and determining the positions of the aircraft wake vortexes according to the maximum spectral width data value to realize positioning;
the selecting of the spectrum width data corresponding to the plurality of scanning segments within the preset time includes:
determining a monitoring area of the laser radar according to the position relation of the observation point of the laser radar and the airport runway;
determining a spatial range corresponding to the pitch angle of the laser radar in the monitoring area;
acquiring the spectral width data within the corresponding spatial range in a plurality of the scanning segments within the preset time;
correspondingly, the obtaining of the current spectrum width threshold includes:
selecting first spectral width data in each scanning segment according to the preset time;
performing de-duplication processing on each first spectral width data to obtain a plurality of second spectral width data, and sequencing the second spectral width data from small to large to obtain a spectral width sequence;
determining corresponding repetition times in the first spectral width data according to each second spectral width data corresponding to the spectral width sequence;
determining a frequency value of each second spectrum width data according to the corresponding relation between each repetition time and the total time;
selecting a maximum frequency value from the frequency values;
determining corresponding target second spectral width data according to the maximum frequency value;
and determining the current spectral width threshold value according to the relationship between the frequency value corresponding to the target second spectral width data and the frequency values corresponding to other second spectral width data larger than the target second spectral width data.
2. The method for identifying and locating aircraft wake vortexes as claimed in claim 1, wherein said determining the current spectral width threshold value according to a relationship between frequency values corresponding to the target second spectral width data and frequency values corresponding to other second spectral width data larger than the target second spectral width data comprises:
starting with the target second spectral width data, selecting next second spectral width data larger than the target second spectral width data in the spectral width sequence;
performing difference processing on a frequency value corresponding to the target second spectral width data and a frequency value corresponding to the next second spectral width data to obtain a current frequency difference value;
judging whether the current frequency difference value is larger than a frequency difference threshold value or not;
if so, starting with the next second spectral width data as new target second spectral width data, and returning to the step of selecting the next second spectral width data larger than the target second spectral width data in the spectral width sequence;
if not, determining that the target second spectral width data is the current spectral width threshold;
wherein, the subtracting the frequency value corresponding to the target second spectral width data from the frequency value corresponding to the next second spectral width data to obtain the current frequency difference value includes:
and subtracting the frequency value corresponding to the target second spectral width data by the frequency value corresponding to the next second spectral width data to obtain the current frequency difference value.
3. The method for identifying and locating aircraft wake vortexes as claimed in claim 2, wherein on the basis of obtaining the current spectral width threshold, the method further comprises:
calibrating the current spectrum width threshold value according to a preset time interval to obtain a calibrated current spectrum width threshold value, wherein the calibration process specifically comprises the following steps:
capturing an airplane passing picture through a camera and recording airplane passing time to trigger a video snapshot event;
if the maximum spectral width data value is larger than the last current spectral width threshold value, determining to trigger a spectral width event;
and starting backward at the current moment, and determining the relation between the occurrence moments of the video capture event and the spectrum width event and the current moment so as to determine the calibrated current spectrum width threshold.
4. The method for identifying and locating aircraft wake vortexes as claimed in claim 3, wherein the determining a relationship between the occurrence time of the video capture event and the spectrum width event and the current time to determine the calibrated current spectrum width threshold by starting the backward thrust at the current time comprises:
starting backward pushing at the current moment, and determining the occurrence moment of the video snapshot event as a first moment and the occurrence moment of the spectrum width event as a second moment;
judging whether the first time is earlier than the second time;
if yes, judging whether the first moment exists in a preset moment before the second moment, wherein the preset moment is less than the preset time;
if the current spectrum width threshold does not exist, searching the second spectrum width data corresponding to the last current spectrum width threshold in the spectrum width sequence, and taking the next second spectrum width data as the calibrated current spectrum width threshold;
if so, the current spectrum width threshold value is unchanged;
if not, judging whether the second moment exists in the preset moment before the first moment;
if the current spectrum width threshold does not exist, searching the second spectrum width data corresponding to the last current spectrum width threshold in the spectrum width sequence, wherein the last second spectrum width data is used as the calibrated current spectrum width threshold;
and if so, the current spectral width threshold value is not changed.
5. An identification and location device for an aircraft wake vortex, comprising:
the selection module is used for selecting the spectrum width data corresponding to the plurality of scanning segments within the preset time;
the acquisition module is used for acquiring a current spectrum width threshold value, wherein the current spectrum width threshold value is a threshold value updated at intervals of preset time;
an extraction module for extracting a maximum spectral width data value within the spectral width data of a current scan segment;
a determining module, configured to determine that the aircraft wake vortex exists when the maximum spectral width data value is greater than the current spectral width threshold, and determine a position of the aircraft wake vortex according to the maximum spectral width data value to achieve positioning;
the selecting of the spectrum width data corresponding to the plurality of scanning segments within the preset time includes:
determining a monitoring area of the laser radar according to the position relation of the observation point of the laser radar and the airport runway;
determining a spatial range corresponding to the pitch angle of the laser radar in the monitoring area;
acquiring the spectral width data in the corresponding space range in a plurality of scanning segments within the preset time;
correspondingly, the obtaining of the current spectrum width threshold includes:
selecting first spectral width data in each scanning segment according to the preset time;
performing de-duplication processing on each first spectral width data to obtain a plurality of second spectral width data, and sequencing the second spectral width data from small to large to obtain a spectral width sequence;
determining corresponding repetition times in the first spectral width data according to each second spectral width data corresponding to the spectral width sequence;
determining a frequency value of each second spectrum width data according to the corresponding relation between each repetition time and the total time;
selecting the maximum frequency value from the frequency values;
determining corresponding target second spectral width data according to the maximum frequency value;
and determining the current spectral width threshold value according to the relationship between the frequency value corresponding to the target second spectral width data and the frequency values corresponding to other second spectral width data larger than the target second spectral width data.
6. An identification and location device for an aircraft wake vortex, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method for identifying and locating aircraft wake vortexes as claimed in any one of claims 1 to 4 when the computer program is executed.
7. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method for the identification and localization of wake vortexes of an aircraft according to any one of claims 1 to 4.
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