CN201918032U - Low-altitude flying anti-collision device of aircraft - Google Patents
Low-altitude flying anti-collision device of aircraft Download PDFInfo
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Abstract
The utility model provides a low-altitude flying anti-collision device of an aircraft, which comprises a multi-detector device, a computer system, a man-machine interface and an automatic flying control system. The multi-detector device comprises a GPS (global position system), a height gauge, radars and a photographic device, wherein the GPS is provided with an ultrasonic sensor and an infrared sensor, the radars includes a microwave radar and a laser radar, the computer system comprises a terrain matching calculating module, a target identification module, a situation threat assessment module and a decision module which are connected successively, the terrain matching calculating module is further respectively connected with the GPS and the height gauge, the target identification module is respectively connected with the radars and the photographic device, and the decision module is connected to the man-machine interface and the automatic flying control system. The automatic flying control system comprises an automatic collision avoidance system which is connected with the decision module. The low-altitude flying anti-collision device can be operated for fire extinguishment of complex places such as land, water and forests, can automatically take a collision avoidance measure, increases survivability of the aircraft, and reduces burden of pilots.
Description
Technical field
The utility model relates to the aircraft flight equipment technical field, is specifically related to the crashproof device of a kind of aircraft low-latitude flying.
Background technology
The mountain range, buildings etc. all may constitute a kind of potential threat to the aircraft of low altitude high speed flight.The statistical study of association of Japan Airlines shows that 50% of helicopter flight accident is because direct collision is hanged down observability barrier institute extremely.The near-earth collision avoidance system is intended to for the aircraft low-latitude flying provides safety guarantee, escapes the danger of bumping against with ground obstacle.Solving the crashproof problem of near-earth has become a great problem that many in the world countries pay close attention to and make every effort to solve, at present both at home and abroad all in the development of actively carrying out the extreme low-altitude collision avoidance system of relevant aircraft.
Speedily carry out rescue work, in the process such as rescue, aircraft will be executed the task the as easy as rolling off a log threat that is subjected to obstruction of its flight safety often under extreme condition such as low visibility, extreme low-altitude 60m-200m.If the detectivity on the aircraft only limits to conventional observation such as human eye or CCD camera etc., then the possibility that bumps of aircraft and natural obstacle thing and cultural obstacle is just very big.Therefore, speedily carry out rescue work, rescue etc. had higher requirement to the detectivity of near-earth collision avoidance system with aircraft.
In addition, domestic research to the near-earth collision avoidance system at present only is confined to ground proximity warning system, has ignored aircraft is taked the measure of saving oneself automatically under state of necessity research.With forest extinguishing and water life-saving is that the flood dragon 600 of main task is an example, to researching and proposing of this respect higher requirement.At first, at first must guarantee the flight safety of pilot and aircraft self in fire fighting, on the other hand, we can not only consider potential threat, therefore whether rescue action must be seized every minute and second, the threat that exists is assessed and determined to take avoidance behaviour to be very important.Secondly, the water source that generally is used for the forest fire fighting is from nearby lake or sea, so air tanker must possess the ability of discerning the water surface or land within a short period of time, so that take different operational modes.
In sum, development one cover have detectivity strong, can be extremely urgent to the near-earth collision avoidance system that the obstacle that detects is discerned as early as possible and threat is assessed.
The utility model content
Problem to be solved in the utility model provides a kind of collision avoidance system that can carry out obstacle identification and threat assessment as early as possible.The utility model is that the technical scheme that its technical matters of solution is taked provides the crashproof device of a kind of aircraft low-latitude flying, and the computer system that this device is attached thereto by multidetector, man-machine interface system, automatic flight control system are formed:
Described GPS links to each other with RS-422, is used for determining the three-dimensional coordinate of aircraft; Described altitude gauge links to each other with RS-422, is used for determining aircraft and floor level; Described radar is that microwave radar or laser radar are installed in the Vehicle nose position and link to each other with MAX485, produces the delivering path that involves ripple, and the information that detector detects is delivered to computer system by the MIL-STD-1553 bus.
Described computer system comprises terrain match computing module, Target Recognition module, situation threat assessment module, the decision-making module that is complementary successively; The terrain match computing module is connected with altitude gauge with GPS respectively, and the Target Recognition module is connected with camera head with radar respectively, and decision-making module is connected to man-machine interface and automatic flight control system.
The utility model may operate in the complicated occasion of land and water and forest extinguishing, it is at first surveyed barrier by the multidetector device, pass through D-S evidence theory algorithm then to the capable target classification of its barrier, again according to the target classification result assessment that impends, and make comprehensive reply at threaten degree and make a strategic decision, at last with result's demonstration or by the voice informing pilot.
Compared with prior art, the crashproof device of a kind of aircraft low-latitude flying of the utility model is owing to adopted the multidetector configuration, so detectivity is strong, effectively raises obstacle identification and threat assessment ability.The utility model guarantees pilot's personal safety to a certain extent and reduces the aviation accident rate, special occasions such as it can operate in and speedily carry out rescue work, rescue, filled up the domestic application of anti-collision technique of having widened, also further developed and improve near-earth alarm collision avoidance system strong support is provided for China at aviation field.
Description of drawings
Fig. 1 is the crashproof apparatus structure synoptic diagram of a kind of aircraft low-latitude flying of the utility model
Fig. 2 is the Bayes network model structural representation that the crashproof device situation threat assessment module of a kind of aircraft low-latitude flying of the utility model adopts
Fig. 3 is the structural representation of automatic flight control system
Embodiment
Below in conjunction with accompanying drawing, specify the utility model.
Seeing also Fig. 1 is the crashproof apparatus structure synoptic diagram of a kind of aircraft low-latitude flying of the utility model;
Form by computer system, man-machine interface system, automatic flight control system that multidetector is attached thereto:
Described GPS links to each other with RS-422, is used for determining the three-dimensional coordinate of aircraft; Described altitude gauge links to each other with RS-422, is used for determining aircraft and floor level; Described radar is that microwave radar or laser radar are installed in the Vehicle nose position, links to each other with MAX485, produces the delivering path that involves ripple, and the information that detector detects is delivered to computer system by the MIL-STD-1553 bus.
Man-machine interface 3 is connected with display device, earphone and the emergency warning lamp etc. of aircraft, and the pilot is exported in the decision support that decision-making module 25 provides.The utility model all adopts prior art in this part, therefore, no longer is described in detail at this.Below respectively multidetector 1, computer system 2 and automatic flight control system 4 are described.
In Detection Techniques, active sensor commonly used mainly contains four kinds of ultrasound wave, infrared, microwave radar and laser radars.Following table has been done lateral comparison at these four kinds of sensors:
Table one transducer transversely is analyzed comparison sheet
The utility model is at particular job environment of large-scale fire extinguishing/rescue land-and-sea aircraft operation, compare in conjunction with above-mentioned analysis various sensors, function by simulation human brain overall treatment challenge, make full use of a plurality of sensor resources, by reasonable domination and use to various sensors and observation information thereof, complementation and the redundant information of various sensors on room and time got up according to certain optimization combination of criteria, produce the consistance of observing environment is explained and description.
The information that computer system 2 provides according to multidetector 1 is carried out Target Recognition, situation threat assessment, and by the target threat degree of determining, for the pilot provides decision support.
Target Recognition is the prerequisite of situation threat assessment, and Target Recognition module 23 is connected with radar 13, camera head 14 and terrain match computing module 22 respectively, extracts Doppler frequency, polarization characteristic, target frequency response, the harmonic wave target of radar echo signal.Terrain match computing module 22 is connected with GPS11, altitude gauge 12 and terrain lib 21 respectively again, this Target Recognition module is carried out respectively based on topographic database and GPS real time data, draw information by terrain match computing module 22, as the Target Recognition of building, mountain range, forest etc.; Radar target recognition and discern based on the multi-source image fusion goal.
Detector provides mostly is multiple focussing image, promptly when video camera is taken a plurality of target different with distance of camera lens, can't focus on these targets simultaneously and make it clear, focuses on each target respectively and repeatedly takes and obtain many sub-pictures.Therefore, the utility model adopts the potential target in the invariant moments recognition image of border, at first extracts edge feature, describes each target signature with the border moment characteristics then.
In addition, according to the kind and the influence of environment, barrier, the utility model is divided into target type: aircraft, building, mountain range, electric wire, flying bird, trees, fire, water, land be totally nine classes.The attribute of object is divided into: the position, speed, the time, quantity and intensity is totally five attributes.
Target Recognition is that the feature of the target object that obtains according to characteristic extraction procedure is separated target from background, and the type of definite target, position and other Useful Information.Target Recognition has methods such as neural network, support vector machine, D-S evidence theory usually, compare to neural network, support vector machine can be sought best compromise according to limited sample information between the complicacy of model and learning ability, obtain higher generalization ability.The D-S evidence theory can effectively be handled uncertain information, but under conflicting information, its normalization process often produces perverse null result.Therefore, the utility model adopts support vector machine (SVM, Support Vector Machine) method to carry out Target Recognition and classification.Simultaneously, in order to improve the arithmetic speed of SVM, the utility model is improving the SVM algorithm aspect support vector, the decision function.At first select base vector, seek one group of base vector in high-dimensional feature space, the number of base vector can both be organized the sample subclass by linear hybrid reconstruct by this less than support vector and all samples, so that improve arithmetic speed.Determine decision function then,, determine its corresponding simplified decision function according to selected base vector.
The situation threat assessment provides the basis for decision support, the situation appraisal procedure that situation threat assessment module 24 of the present utility model adopts based on Bayesian network, with the Bayesian network is model, in conjunction with the computable situation appraisal procedure that expertise makes up, the target threat degree is defined as the most at last: high, medium and low, four grades of nothing.As shown in Figure 2, the Bayes network model structural representation that it adopts for the utility model, at first, by multidetector device 1 acquisition environment information, after obtaining GPS information, elevation information, radar information and image information, determine target type, target location, target velocity, object time, destination number and target strength by Target Recognition module 23 according to above-mentioned information again.At last, situation threat assessment module 24 is determined the target threat degree according to the type and the attribute of target.
Decision-making module 25 is connected with man-machine interface 3 with situation threat assessment module 24 respectively, and the target threat degree that it is determined according to situation threat assessment module 24 is for the pilot provides decision support.As shown in Figure 1, decision-making module 25 also is connected with automatic flight control system 4, in addition, it also connects a watch-dog, and watch-dog is connected with man-machine interface 3 again, when threaten degree surpasses boundary line, in case the pilot does not take corresponding actions at the appointed time and threatens still to exist, at this moment, decision-making module 25 is exported to automatic flight control system 4 with the specifying information of barrier, and aircraft will be taked the measure of dodging accordingly automatically.
Below respectively each module of calculating machine system 2 is illustrated, need to prove that each above-mentioned module is normally mutual and parallel, do not have the fine limit of completely dividing.See also Fig. 3, be the crashproof device of a kind of aircraft low-latitude flying of the utility model, its MIL-STD-1553 bus is connected with automatic flight control system, the automatic manipulation and the instruction driving that are used for aircraft, the utility model this system of position has on the basis of existing technology increased automatic anti-collision system 41, and anti-collision system 41 is connected with plane control system 42 with decision-making module 25 respectively automatically.The obstacle information that multidetector device 1 detects is successively by Target Recognition module 23, situation threat assessment module 34 and decision-making module 25, if ultimate demand is carried out collision avoidance, but the pilot does not have the relevant collision avoidance action of execution and threatens still existence in the predefined time.In this case, decision-making module 25 with the specifying information of this barrier (as classification, physical dimension etc.) be input to automatic anti-collision system 41, calculate corresponding crashproof signal through automatic anti-collision system 41, and crashproof signal is sent to flight path control system 42, flight path control system 42 is controlled autonomous steering wheel 44 by robot pilot 43, and finally realizes that by the control operation to rudder face 45 change of vector is to reach the collision avoidance effect.
The crashproof device detectivity of a kind of aircraft low-latitude flying of the utility model is strong and can carry out obstacle identification and threat assessment, and it can operate in the complicated occasion of land and water and forest extinguishing.In addition, the utility model has also increased automatic anti-collision system, and aircraft can be taked the collision avoidance measure automatically when threatening above warning line, has improved the survivability of aircraft, has alleviated pilot's burden.
More than disclosed only be several specific embodiment of the present utility model, but the utility model is not limited thereto, any those skilled in the art can think variation, all should drop in the protection domain of the present utility model.
Claims (4)
1. device that the aircraft low-latitude flying is crashproof, it is characterized in that, the computer system that this device is attached thereto by multidetector, man-machine interface system, automatic flight control system are formed: described GPS links to each other with RS-422, is used for determining the three-dimensional coordinate of aircraft; Described altitude gauge links to each other with RS-422, is used for determining aircraft and floor level; Described radar is that microwave radar or laser radar are installed in the Vehicle nose position and link to each other with MAX485, produces the delivering path that involves ripple, and the information that detector detects is delivered to computer system by the MIL-STD-1553 bus.
2. the crashproof device of a kind of aircraft low-latitude flying as claimed in claim 1 is characterized in that, described computer system comprises terrain match computing module, Target Recognition module, situation threat assessment module, the decision-making module that is complementary successively; The terrain match computing module links to each other with altitude gauge with GPS respectively, and the Target Recognition module links to each other with camera head with radar respectively, and decision-making module links to each other with automatic flight control system with man-machine interface.
3. the crashproof device of a kind of aircraft low-latitude flying as claimed in claim 1 is characterized in that described computer system also comprises terrain lib, and described terrain lib links to each other with described terrain match computing module.
4. the crashproof device of a kind of aircraft low-latitude flying as claimed in claim 1, it is characterized in that, described radar is that microwave radar or laser radar are installed in the Vehicle nose position and link to each other with MAX485, and the information that detector detects is delivered to computer system by the MIL-STD-1553 bus.
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| CN2010206968009U CN201918032U (en) | 2010-12-31 | 2010-12-31 | Low-altitude flying anti-collision device of aircraft |
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| CN2010206968009U CN201918032U (en) | 2010-12-31 | 2010-12-31 | Low-altitude flying anti-collision device of aircraft |
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| CN102568251A (en) * | 2011-12-13 | 2012-07-11 | 天利航空科技深圳有限公司 | Aircraft high-voltage wire anti-collision alarm device and aircraft |
| CN103344218A (en) * | 2013-06-18 | 2013-10-09 | 桂林理工大学 | System and method for measuring altitude of low-altitude unmanned plane |
| RU2496120C2 (en) * | 2011-12-30 | 2013-10-20 | Открытое акционерное общество "Корпорация "Фазотрон - научно-исследовательский институт радиостроения" | Multifunctional multirange scalable radar system for aircraft |
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| CN104793630A (en) * | 2015-05-13 | 2015-07-22 | 沈阳飞羽航空科技有限公司 | Light airplane comprehensive obstacle avoiding system |
| US9240001B2 (en) | 2012-05-03 | 2016-01-19 | Lockheed Martin Corporation | Systems and methods for vehicle survivability planning |
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- 2010-12-31 CN CN2010206968009U patent/CN201918032U/en not_active Expired - Fee Related
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