CN116008994A - Aircraft landing deviation runway detection method, system, device and storage medium based on novel angle measurement method - Google Patents
Aircraft landing deviation runway detection method, system, device and storage medium based on novel angle measurement method Download PDFInfo
- Publication number
- CN116008994A CN116008994A CN202211325017.5A CN202211325017A CN116008994A CN 116008994 A CN116008994 A CN 116008994A CN 202211325017 A CN202211325017 A CN 202211325017A CN 116008994 A CN116008994 A CN 116008994A
- Authority
- CN
- China
- Prior art keywords
- runway
- aircraft
- signal output
- output function
- alarm
- 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.)
- Withdrawn
Links
- 238000000691 measurement method Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 title claims description 24
- 238000000034 method Methods 0.000 claims abstract description 36
- 238000003384 imaging method Methods 0.000 claims description 12
- 230000014509 gene expression Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010000369 Accident Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
The invention discloses a method, a system, a device and a storage medium for detecting landing deviation of an airplane based on a novel angle measurement method in the technical field of monitoring and early warning, and aims to solve the problem that the landing runway is easy to have accidents when the visibility is low in the prior art; determining signal output functions of the two beams, and then determining a difference signal output function and a sum signal output function of the two echo signals; the difference signal output function and the sum signal output function are subjected to difference sum ratio to determine the slope of the angle discrimination curve; and comparing the slope of the angle discrimination curve with a set threshold value, and finally judging whether the aircraft deviates from the runway. The invention realizes the monitoring and early warning of the aircraft landing runway under the low visibility environment, and reduces the probability of accidents caused by false break of pilots.
Description
Technical Field
The invention relates to a method, a system, a device and a storage medium for detecting landing deviation of an airplane based on a novel angle measurement method, and belongs to the technical field of monitoring and early warning.
Background
With the rapid promotion of national economy, the civil aviation industry of China is rapidly developed, and the safety of airplane navigation is increasingly focused by people. Although the probability of an accident of an aircraft is greatly reduced in the last ten years with the improvement of the scientific technology and the gradual enhancement of management measures, the probability of the accident of the aircraft during landing and runway entering is relatively high according to the statistics of scientific institutions.
Through research and analysis, the reasons for accidents of the aircraft in the landing and approach stage are mostly caused by human misoperation because pilots cannot fully know the runway environment. Because of wide regions and complex regions in China, particularly in Sichuan and cloud and precious mountain areas, the aircraft has the advantages of winding clouds and fog all the year round, low visibility and easiness in causing aircraft accidents.
Also, currently, pilots still need to visually observe the condition of the runway while the aircraft is landing. When cloud and fog appear at an airport and the visibility is low, the judgment of a pilot is influenced, so that the probability of accident caused by error disconnection of the pilot is greatly increased.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method, a system, a device and a storage medium for detecting the landing deviation of an airplane based on a novel angle measurement method, which can realize the monitoring and early warning of the landing runway of the airplane under a low-visibility environment and reduce the probability of accidents caused by false break of pilots.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the invention provides a method for detecting landing deviation of an aircraft on the basis of a novel angle measurement method, which comprises the following steps,
receiving basic wave beam echo signals returned from two sides of a runway in the aircraft landing process, and collecting angle information of the two echo signals;
according to the angle information of the two echo signals, the steering vector of the target beam and the weight of the two beams are calculated, so that the signal output functions of the two beams are determined;
simplifying the signal output functions of the two beams by using a Taylor formula;
determining a difference signal output function and a sum signal output function of the two echo signals according to the simplified signal output function;
the difference signal output function and the sum signal output function are subjected to difference sum ratio to determine the slope of the angle discrimination curve;
and comparing the slope of the angle discrimination curve with a set threshold value, and finally judging whether the aircraft deviates from the runway.
Further, the steering vector of the target beam is expressed as follows,
α(θ)＝[w 1 w 2 …w N ] T ；
wherein the method comprises the steps of
θ is the direction angle of the target beam, m is an intermediate parameter, N is the number of array elements, d is the array element spacing, and λ is the wavelength of the emitted electromagnetic wave;
the weight of the first beam is w1= [ w ] 11 w 12 …w 1N ] T Wherein
The weight of the second beam is w2= [ w ] 21 w 22 …w 2N ] T Wherein
Wherein θ 0 For the steering angle, Δθ is the deflection angle of the fundamental beam from the steering angle.
Still further, the expressions of the signal output functions of the two beams are respectively as follows,
where y1 represents the output function of the first echo signal and y2 represents the output function of the second echo signal.
Still further, after being simplified by the taylor formula, the signal output function expressions of the two beams are respectively as follows,
still further, the sum signal output function is expressed as follows,
y ∑ ＝|y1|+|y2|；
the expression of the difference signal output function is as follows,
y Δ ＝|y2|-|y1|。
still further, the expression of normalizing the difference signal output function and the sum signal output function is as follows,
where k is the slope of the corner discrimination curve.
Further, the detection method further comprises the steps that if the aircraft deviates from the runway, an alarm signal is transmitted, and an alarm module sends out an alarm prompt according to the alarm signal; and if the aircraft is not deviated from the runway, transmitting a release alarm signal, and sending out an alarm prompt by the alarm module according to the release alarm signal.
In a second aspect, the invention also provides an aircraft landing deviation runway detection system based on the novel angle measurement method, which comprises a detection module and a main control module, wherein the detection module is used for receiving basic beam echo signals returned from two sides of the runway in the aircraft landing process, and acquiring angle information and transmitting the angle information to the main control module;
the main control module is used for determining output functions of the two echo signals according to the angle information of the two echo signals; determining a difference signal output function and a sum signal output function of the two echo signals according to the output function; normalizing the difference signal output function and the sum signal output function to determine the slope of the angle discrimination curve; and comparing the slope of the angle discrimination curve with a set threshold value, and finally judging whether the aircraft deviates from the runway.
Optionally, the detection module includes a goniometer radar arranged on the aircraft and a plurality of corner reflectors arranged on two sides of the runway, wherein the goniometer radar is used for transmitting signals and receiving signals reflected by the corner reflectors, and the corner reflectors are used for reflecting the signals transmitted by the goniometer radar.
Optionally, the aircraft runway alarm system further comprises an alarm module and a release module, wherein the main control module judges that the aircraft deviates from the runway, and transmits an alarm signal to the alarm module, and the alarm module is used for sending an alarm prompt according to the alarm signal; and the main control module judges that the aircraft does not deviate from the runway, and transmits a release alarm signal to the release module, wherein the release module is used for stopping sending an alarm prompt according to the release alarm signal.
Optionally, the system further comprises a two-dimensional imaging module, wherein the two-dimensional imaging module is used for receiving signals of the main control module and two-dimensionally imaging the position conditions of the aircraft and the runway, so that a pilot can judge the relative position conditions of the aircraft and the runway according to the two-dimensional imaging under the condition of low visibility.
In a third aspect, the present invention also provides an aircraft landing deviation runway detection device based on the novel angle measurement method, which comprises a processor and a storage medium, wherein the storage medium is used for storing instructions, and the storage medium is used for operating according to the instructions to execute the steps of any one of the methods.
In a third aspect, the invention also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of any of the methods described above.
Compared with the prior art, the invention has the beneficial effects that:
the invention monitors and pre-warns the process of the aircraft landing runway in the low-visibility environment, and timely pre-warns the situation that the aircraft deviates from the runway to remind the pilot, thereby being beneficial to the pilot to make a change in time and return to the normal track again, and further avoiding the flight accident caused by the deviation of the aircraft landing from the runway; the detection system is based on the angle measurement radar, and the system reliability is high.
Drawings
Fig. 1 is a schematic flow chart of an aircraft landing deviation runway detection method based on a novel angle measurement method according to an embodiment of the invention;
fig. 2 is a layout diagram of corner reflectors in an embodiment of the present invention;
FIG. 3 is a schematic diagram showing calculation parameters of an aircraft landing deviation runway detection method based on a novel angle measurement method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an aircraft landing deviation runway detection system based on a novel angle measurement method according to a second embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Example 1:
the method for detecting the landing deviation of the aircraft on the basis of the novel angle measurement method provided by the embodiment is, as shown in fig. 1-3, used for receiving basic beam echo signals returned from two sides of the runway in the process of landing the aircraft and collecting angle information of the two echo signals.
Assuming θ is the direction angle of the target beam, the steering vector α (θ) = [ w ] of the target beam 1 w 2 …w N ] T Wherein
N is the number of array elements, d is the array element spacing, and lambda is the wavelength of the emitted electromagnetic wave.
The weight of the first beam is w1= [ w ] 11 w 12 …w 1N ] T Which is provided with
The weight of the second beam is w2= [ w ] 21 w 22 …w 2N ] T Wherein
Wherein θ is 0 For the magnitude of the steering angle, Δθ is the magnitude of the deflection angle of the fundamental beam from the steering angle.
Thus, the signal output functions for determining the two beams are:
where y1 represents the output function of the first echo signal and y2 represents the output function of the second echo signal.
Let u 1 ＝sinθ-sin(θ 0 -Δθ),u 2 ＝sinθ-sin(θ 0 +Δθ), and u 1 ,u 2 Respectively at theta by using a first-order Taylor formula 0 The vicinity is developed as follows:
u 1 ≈sinθ 0 +cos(θ 0 )(θ-θ 0 )-sinθ 0 -cos(θ 0 )Δθ≈cosθ 0 (θ-θ 0 -Δθ)
u 2 ≈sinθ 0 +cos(θ 0 )(θ-θ 0 )-sinθ 0 +cos(θ 0 )Δθ≈cosθ 0 (θ-θ 0 +Δθ)
will u 1 ,u 2 Substitution into y 1 ,y 2 The simplification is obtained:
sum and difference processing is carried out on the |y1| and the |y2| to obtain a sum signal output function y respectively Σ Sum and difference signal output function y Δ ：
y Σ ＝|y1|+|y2|
y Δ ＝|y2|-|y1|。
Normalizing the two to obtain a difference sum ratio:
where k is the slope of the corner discrimination curve.
Comparing the slope k of the angle discrimination curve with a set threshold value, and if the aircraft deviates from the runway, transmitting an alarm signal, and sending an alarm prompt by the alarm module according to the alarm signal; and if the aircraft is not deviated from the runway, transmitting a release alarm signal, and sending out an alarm prompt by the alarm module according to the release alarm signal. Wherein the threshold value is set in relation to runway width, aircraft altitude, flight speed, etc.
Example 2:
corresponding to the method for detecting an aircraft landing deviation runway provided in embodiment 1, this embodiment provides an aircraft landing deviation runway detection system, as shown in fig. 4, including a detection module and a main control module.
The detection module is used for receiving basic beam echo signals returned from two sides of the runway in the aircraft landing process, collecting angle information and transmitting the angle information to the main control module. The detection module comprises angle measuring radars and corner reflectors, the angle measuring radars arranged on the aircraft transmit signals, the angle information of two target echo signals reflected by the corner reflectors on two sides of the runway is collected by the angle measuring radars in real time, and in the specific implementation, the arrangement mode of the corner reflectors is approximately arranged at intervals of 2 meters.
The main control module is used for determining output functions of the two echo signals according to the angle information of the two echo signals; determining a difference signal output function and a sum signal output function of the two echo signals according to the output function; normalizing the difference signal output function and the sum signal output function to determine the slope of the angle discrimination curve;
and comparing the slope of the angle discrimination curve with a set threshold value, and finally judging whether the aircraft deviates from the runway.
The detection system also comprises an alarm module, an alarm and a release module, wherein the main control module judges that the aircraft deviates from the runway, and transmits an alarm signal to the alarm module, and the alarm module is used for controlling the alarm to send an alarm prompt according to the alarm signal; and the main control module is used for transmitting a release alarm signal to the release module when judging that the aircraft does not deviate from the runway, and the release module is used for controlling the alarm to stop sending alarm prompts according to the release alarm signal.
In the implementation, the alarm can be used for sending out an alarm prompt, the alarm sends out the alarm prompt when the alarm receives the signal of the alarm module, and the alarm prompt stops sending out when the alarm receives the signal of the contact module.
The aircraft landing system comprises a main control module, a two-dimensional imaging module and a control module, wherein the main control module sends position information to the two-dimensional imaging module in real time in the aircraft landing process, and the two-dimensional imaging module receives signals of the main control module and carries out two-dimensional imaging on the position conditions of the aircraft and the runway, so that a pilot can judge the relative position conditions of the aircraft and the runway according to the two-dimensional imaging under the low-visibility condition.
Example 3:
the embodiment of the invention provides an aircraft landing deviation runway detection device based on a novel angle measurement method, which comprises a processor and a storage medium, wherein the storage medium is used for storing instructions, and the processor is used for operating according to the instructions to execute the steps of the method in the embodiment 1.
Example 4:
the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method described in embodiment 1.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (12)
1. The method for detecting the landing deviation of the aircraft from the runway based on the novel angle measurement method is characterized by comprising the following steps of: the method comprises the following steps of receiving basic beam echo signals returned from two sides of a runway in the aircraft landing process, and collecting angle information of the two echo signals;
according to the angle information of the two echo signals, the steering vector of the target beam and the weight of the two beams are calculated, so that the signal output functions of the two beams are determined;
simplifying the signal output functions of the two beams by using a Taylor formula;
determining a difference signal output function and a sum signal output function of the two echo signals according to the simplified signal output function;
the difference signal output function and the sum signal output function are subjected to difference sum ratio to determine the slope of the angle discrimination curve;
and comparing the slope of the angle discrimination curve with a set threshold value, and finally judging whether the aircraft deviates from the runway.
2. The method for detecting aircraft landing deviation runway based on the novel angle measurement method according to claim 1, wherein the method comprises the following steps: the steering vector of the target beam is expressed as follows,
α(θ)＝[w 1 w 2 ...w N ] T ；
wherein the method comprises the steps of
θ is the direction angle of the target beam, m is an intermediate parameter, N is the number of array elements, d is the array element spacing, and λ is the wavelength of the emitted electromagnetic wave;
the weight of the first beam is w1= [ w ] 11 w 12 ...w 1N ] T Wherein
The weight of the second beam is w2= [ w ] 21 w 22 ...w 2N ] T Wherein
Wherein θ 0 For the steering angle, Δθ is the deflection angle of the fundamental beam from the steering angle.
3. The method for detecting the landing deviation of the aircraft on the basis of the novel angle measurement method according to claim 2, wherein the method comprises the following steps of: the expressions of the signal output functions of the two beams are respectively as follows,
where y1 represents the output function of the first echo signal and y2 represents the output function of the second echo signal.
4. The method for detecting landing deviation of an aircraft on the basis of the novel angle measurement method according to claim 3, wherein the method comprises the following steps: after being simplified by the taylor formula, the signal output function expressions of the two beams are respectively as follows,
5. the method for detecting the landing deviation of the aircraft on the basis of the novel angle measurement method according to claim 4, wherein the method comprises the following steps of: the expression of the sum signal output function is as follows,
y ∑ ＝|y1|+|y2|；
the expression of the difference signal output function is as follows,
y Δ ＝|y2|-|y1|。
6. the method for detecting aircraft landing deviation runway based on the novel angle measurement method according to claim 5, wherein the method comprises the following steps: the expression of normalizing the difference signal output function and the sum signal output function is as follows,
where k is the slope of the corner discrimination curve.
7. The method for detecting aircraft landing deviation runway based on the novel angle measurement method according to claim 1, wherein the method comprises the following steps: the detection method further comprises the steps of transmitting an alarm signal if the aircraft deviates from the runway, and sending an alarm prompt by the alarm module according to the alarm signal; and if the aircraft is not deviated from the runway, transmitting a release alarm signal, and sending out an alarm prompt by the alarm module according to the release alarm signal.
8. Aircraft landing deviation runway detecting system based on novel angle measurement method, its characterized in that: the system comprises a detection module and a main control module, wherein the detection module is used for receiving basic beam echo signals returned from two sides of a runway in the aircraft landing process, collecting angle information and transmitting the angle information to the main control module;
the main control module is used for determining output functions of the two echo signals according to the angle information of the two echo signals;
determining a difference signal output function and a sum signal output function of the two echo signals according to the output function;
normalizing the difference signal output function and the sum signal output function to determine the slope of the angle discrimination curve;
and comparing the slope of the angle discrimination curve with a set threshold value, and finally judging whether the aircraft deviates from the runway.
9. The aircraft landing deviation runway detection system based on the novel angle measurement method of claim 8, wherein: the system also comprises an alarm module and a release module, wherein the main control module judges that the aircraft deviates from the runway, and transmits an alarm signal to the alarm module, and the alarm module is used for sending an alarm prompt according to the alarm signal; and the main control module judges that the aircraft does not deviate from the runway, and transmits a release alarm signal to the release module, wherein the release module is used for stopping sending an alarm prompt according to the release alarm signal.
10. The aircraft landing deviation runway detection system based on the novel angle measurement method of claim 8, wherein: the system comprises a main control module, a two-dimensional imaging module and a pilot, wherein the main control module is used for receiving signals of the main control module and carrying out two-dimensional imaging on the position conditions of the aircraft and the runway, so that the pilot can judge the relative position conditions of the aircraft and the runway according to the two-dimensional imaging under the condition of low visibility.
11. Aircraft landing deviation runway detection device based on novel angle measurement method, its characterized in that: comprising a processor and a storage medium for storing instructions, the storage medium being for operating in accordance with the instructions to perform the steps of the method of any one of claims 1 to 7.
12. A computer readable storage medium having stored thereon a computer program characterized by: the program, when executed by a processor, implements the steps of the method of any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211325017.5A CN116008994A (en) | 2022-10-27 | 2022-10-27 | Aircraft landing deviation runway detection method, system, device and storage medium based on novel angle measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211325017.5A CN116008994A (en) | 2022-10-27 | 2022-10-27 | Aircraft landing deviation runway detection method, system, device and storage medium based on novel angle measurement method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116008994A true CN116008994A (en) | 2023-04-25 |
Family
ID=86032356
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211325017.5A Withdrawn CN116008994A (en) | 2022-10-27 | 2022-10-27 | Aircraft landing deviation runway detection method, system, device and storage medium based on novel angle measurement method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116008994A (en) |
-
2022
- 2022-10-27 CN CN202211325017.5A patent/CN116008994A/en not_active Withdrawn
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7903023B2 (en) | Obstacle detection system notably for an anticollision system | |
| US6462697B1 (en) | System and method for classifying and tracking aircraft vehicles on the grounds of an airport | |
| CN102891453B (en) | Unmanned aerial vehicle patrolling line corridor method and device based on millimeter-wave radar | |
| CN109747643B (en) | Information fusion method of intelligent vehicle sensing system | |
| JP5618313B2 (en) | Alarm display method and system for remote airflow | |
| FR2898686A1 (en) | AIRCRAFT EQUIPMENT FOR PREVENTING COLLISION RISK | |
| WO2023024669A1 (en) | Flight anti-collision method and apparatus based on electromagnetic field detection of overhead transmission line | |
| CN110596731A (en) | Active obstacle detection system and method for metro vehicle | |
| JP4694420B2 (en) | Airport surface monitoring device | |
| JP7416419B2 (en) | Atmospheric suspended solids mass concentration measurement lidar, atmospheric suspended solids mass concentration measurement method and program | |
| Cornic et al. | Sense and avoid radar using data fusion with other sensors | |
| CN115508862A (en) | Airport wind shear early warning method based on laser radar, electronic device and readable medium | |
| CN205801544U (en) | A kind of active CAS of airport passenger connecting bridge | |
| US5300933A (en) | Stick figure radar tracking process | |
| CN116008994A (en) | Aircraft landing deviation runway detection method, system, device and storage medium based on novel angle measurement method | |
| CN111610504B (en) | Static target detection method and system based on scene surveillance radar | |
| Fasano et al. | Experimental analysis of onboard non-cooperative sense and avoid solutions based on radar, optical sensors, and data fusion | |
| CN112799067A (en) | Anti-collision early warning method, device and system for chute of ship loader and early warning equipment | |
| CN115033026B (en) | Obstacle avoidance and height determination method for oblique side-mounted unmanned aerial vehicle millimeter wave radar carrying cloud deck | |
| Zhang et al. | Research on conflict detection model for taxi‐in process on the apron based on aircraft wingtip keypoint detection | |
| CN112455503A (en) | Train positioning method and device based on radar | |
| CN114779278A (en) | CNN-RNN airport runway wind shear early warning method based on laser radar | |
| Boskovic et al. | Sensor and tracker requirements development for sense and avoid systems for unmanned aerial vehicles | |
| CN113671992B (en) | Flying anti-collision method and device based on magnetic field intensity of overhead transmission line | |
| CN109471075A (en) | A kind of radar neutralization automatic testing method |
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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20230425 |