CN205507094U - Airport shelter bridge butt joint aircraft hatch navigation - Google Patents

Abstract

The utility model discloses an airport shelter bridge butt joint aircraft hatch navigation belongs to airport shelter bridge butt joint technical field. The utility model discloses an airport shelter bridge butt joint aircraft hatch navigation is including navigation the main control module (1), shelter bridge position detection module (2), aircraft position detection module (8), the 1st satellite positioning antenna (201), the 2nd satellite positioning antenna (202), satellite positioning basic station (203), wherein: navigation the main control module (1) links to each other with shelter bridge position detection module (2), aircraft position detection module (8) electrical property respectively, shelter bridge position detection module (2) link to each other with the 1st satellite positioning antenna (201), the 2nd satellite positioning antenna (202), satellite positioning basic station (203) electrical property respectively. Compared with the prior art, the utility model have characteristics such as dependable performance, degree of accuracy height, both can carry out artifical shelter bridge butt joint, also can automize the shelter bridge and dock.

Description

Airport shelter bridge docking aircraft hatch navigation system

Technical field

The invention belongs to shelter bridge docking technique field, airport, in particular, belong to a kind of airport shelter bridge pair Connect aircraft hatch navigation system.

Background technology

Along with China's economy grows continuously and fast, air passenger traffic becomes more and more important.And it is direct with this Relevant Airport Operation safety and efficiency the most increasingly comes into one's own.Airport is one in aviation industry The place that important component part is takeoff and landing, parks, safeguard.The evolution process on airport reflects The evolution of civil aviaton's cause.After civil aviation passenger transport enters the nineties, after various places build an airport like rain Spring bamboo, the line that newly sets sail is doubled and redoubled, and the passenger of airplane gets more and more.The existing airport 147 of China Individual, it is up to 244 to the year two thousand twenty planning civil airport sum, wherein increases 97, airport newly.Peace Entirely making these airports properly functioning efficiently is a very difficult task.

Passenger how can the boarding of safe and convenient, become an important mark of inspection airport operation management Accurate.Nowadays air bridge steps on the equipment of the disembarking advantage with himself in the world as the passenger that airport is important Each big airport is commonly used.Air bridge, also known as empty bridge or connecting bridge, hereinafter referred to as shelter bridge, is a kind of Facility in airport building, extends to aircraft cabin door from landing gate, facilitates passenger to pass in and out cabin. Before air bridge comes out, passenger must walking and ground with on high asphalt road, then climb up movement Formula airstair, this kind of boarding method still uses on majority airport, the world at present, but is generally all to hold Receive the airpark of baby plane.Under any weather condition, use shelter bridge that passenger can be allowed without Exposure to Sunlight Drench with rain and be easy to boarding and disembark.

Fig. 3 and Fig. 4 is the structural representation of shelter bridge, and shelter bridge includes rotary extension arm 101, pick platform 401, rotary extension arm includes movable internal channel 1011 and movable outer tunnel 1012, movable outer tunnel 1012 are sleeved on outside movable internal channel 1011, and the platform 401 that picks is provided with front edge of airport pickup port 4011； Rotary extension arm 101 is hinged and connected with the fixing passage 301 of terminal, picks platform 401 and rotates The movable outer tunnel 1012 of telescopic arm 101 is hinged and connected.The driven object bag of the drive system of shelter bridge Including rotary extension arm drives motor, rotary extension arm height adjustment to drive motor, the platform that picks to rotate tune Three motors such as whole driving motor, are corresponding in turn to rotary extension arm and drive the control module of motor, rotation Turning telescopic arm height adjustment drives the control module of motor, the platform that picks to rotate the control adjusting driving motor Molding block；Rotary extension arm drives motor control the rotation of rotary extension arm and stretch, rotary extension arm Height adjustment drives motor to control the lifting of rotary extension arm, and the platform that picks rotates to adjust and drives motor control Make the rotation of the platform that picks；Aircraft after shelter bridge be typically by shelter bridge operator's manual operation this Three motors realize docking of shelter bridge and aircraft door.Rotary extension arm drives below motor and shelter bridge Universal wheel is connected, and the universal wheel below shelter bridge can be rotated telescopic arm 101 around fixing passage 301 Hinged place rotate, the movable outer tunnel 1012 of telescopic arm 101 can be rotated logical in activity The external extension in road 1011.Can rest in the when of aircraft berth on the normal line of berth, owing to aircraft is moored The when of position, airport is artificial vector aircraft berth, so aircraft can not rest in normal line completely On, aircraft and normal line there will certainly be certain transverse position error, lengthwise position error and with mark The angular error of directrix.

The shelter bridge on current domestic and international most of airports is abutted against aircraft door work, is by shelter bridge driver entirely Drive shelter bridge.Mainly completing by people exactly because shelter bridge is abutted against, safety and efficiency all will be the biggest Based on guiding commander and the quality of shelter bridge operator in degree.In July, 2010, Denmark's Stirling Airline one airplane causes the loading arcade connecting aircraft at Malaga of Spain airport unknown cause Bridge begins to ramp up, and aircraft tilts to tail the most therewith, and an emergency braking system starts, but nothing Method stops aircraft nose landing gear to leave ground；Finally this airplane is just as the attitude taken off, prow Steeve, tail declivity；Fortunately airplane tail group does not touch ground, does not cause heavy losses.2005 Year Guangzhou's Baiyun International Airport one air bridge collapses, by the hatch door of South Airways one frame Air Passenger A20200 type aircraft Shut down；Before this aircraft prepares upper visitor, cleanup crew is doing main cabin health, by chance one bag is cleared Rubbish be placed on by the induction apparatus on doorway, main cabin, resultant induction device sends rub-out signal to connecting bridge to be caused Collision.In December, 2007, boat implemented by Shenzhen Airlines' B5187 B737 800 type aircraft on airport, Wuxi In rear maintenance process, because airport shelter bridge operator operate against regulations, cause on the left of shelter bridge mouth and aircraft cabin Door scratching, causes the leading arm on aircraft door deform, decorative panel breakage on the left of shelter bridge mouth.2011 CA1854 time, Pekinese flight flies in Ningbo because of " machinery in year Air China Co., Ltd. in March Fault " occur to be delayed continuously, fault is to be caused by the shelter bridge on airport aircraft door peripheral part of swiping 's.

Previous example explanation shelter bridge operator's manual operation these three motor realizes shelter bridge and aircraft cabin There are problems in the docking of door, not only needs substantial amounts of manpower, it is also possible to cause aircraft to stop artificially By error, human accident even can occur；Additionally can shelter bridge driver operation shelter bridge the fastest Shelter bridge is come to aircraft door and depends on a lot of anthropic factor by speed exactly.Based on visual shelter bridge pair Connecing navigation system and be aiming at above-mentioned safety and efficiency problem, using advance technology is that the driving of shelter bridge carries For solution, thus reduce personnel cost and the mistake caused because of artificial behavior, improve peace The operational efficiency on Quan Xing, accuracy, and airport.

Summary of the invention

The present invention, in order to efficiently solve above technical problem, gives a kind of airport shelter bridge docking aircraft Hatch navigation system.

A kind of airport shelter bridge docking aircraft hatch navigation system of the present invention, it is characterised in that: include navigation Main control module, shelter bridge position detecting module, aircraft position detection module, the first satellite positioning antennas, Second satellite positioning antennas, satellite fix base station；Wherein:

Navigation main control module is electrical connected with shelter bridge position detecting module, aircraft position detection module respectively； Shelter bridge position detecting module respectively with the first satellite positioning antennas, the second satellite positioning antennas, satellite fix Base station is electrical connected；

Shelter bridge position detecting module controls the first satellite positioning antennas, the second satellite positioning antennas and satellite Base station, position coordinates absolute position and the absolute angle of detection shelter bridge in real time jointly；

With the standard of shutdown after the type of detection module detection berth, aircraft position aircraft and aircraft stop berth The deviation value of position；

Navigation main control module is to the detection signal of shelter bridge position detecting module and aircraft position detection module Detection signal carry out processing to obtain between shelter bridge and the final docking location of aircraft door position the most relatively Signal with relative angle.

Airport shelter bridge docking aircraft hatch navigation system in accordance with the above, preferably: the first satellite fix Antenna is arranged on above the movable outer tunnel of shelter bridge rotary extension arm, and the second satellite positioning antennas is arranged on and connects Above machine mouth.

Airport shelter bridge docking aircraft hatch navigation system in accordance with the above, preferably: aircraft position is detected The berth video camera that module is arranged at around aircraft berth with at least one is electrical connected.

Airport shelter bridge docking aircraft hatch navigation system in accordance with the above, preferably: berth video camera is Two.

Airport shelter bridge docking aircraft hatch navigation system in accordance with the above, preferably: also include and navigation The aircraft shelter bridge difference in height acquisition module that main control module is electrical connected.

Airport shelter bridge docking aircraft hatch navigation system in accordance with the above, preferably: aircraft shelter bridge height Difference acquisition module is electrical connected with at least one difference in height video camera being arranged at shelter bridge front edge of airport pickup port.

Airport shelter bridge docking aircraft hatch navigation system in accordance with the above, preferably: difference in height video camera It it is two.

Airport shelter bridge docking aircraft hatch navigation system in accordance with the above, preferably: also include and navigation Shelter bridge height detection module that main control module is electrical connected, plane distance detection module.

Airport shelter bridge docking aircraft hatch navigation system in accordance with the above, preferably: shelter bridge height detection Module is ultrasonic detection sensor or laser beam detecting sensor, and shelter bridge height detection module is arranged on rotation Turn the bottom of the movable outer tunnel of telescopic arm；Plane distance detection module be ultrasonic detection sensor or Laser beam detecting sensor, bottom plane distance detection module front edge of airport pickup port.

Airport shelter bridge docking aircraft hatch navigation system in accordance with the above, preferably: also include and navigation Shelter bridge Artificial Control module that main control module is electrical connected, shelter bridge automatic control module；

Shelter bridge Artificial Control module and rotary extension arm drive the control module of motor, rotary extension arm high Degree adjust drive the control module of motor, the platform that picks rotate adjust drive motor control module electrical It is connected；

Shelter bridge automatic control module and rotary extension arm drive the control module of motor, rotary extension arm high Degree adjust drive the control module of motor, the platform that picks rotate adjust drive motor control module electrical It is connected.

First satellite positioning antennas, the second satellite positioning antennas and satellite fix base station and the detection of shelter bridge position Module detects the absolute position of shelter bridge jointly, shelter bridge front edge of airport pickup port aligns northern absolute angle and the sea of shelter bridge mutually Degree of lifting, absolute position, absolute angle and height above sea level are given navigation master control by shelter bridge position detecting module Molding block.Shelter bridge height detection module will detect the height of shelter bridge in real time and sends result to master control of navigating Molding block.Plane distance detection module and will be tied detecting shelter bridge front edge of airport pickup port in real time to the distance of airframe Fruit is sent to the main control module that navigates.Aforementioned various information are carried out at aggregate analysis by navigation main control module Reason is also supported with the offer optimal route strategy that docks of aircraft for shelter bridge.Due to aircraft door height along with The upper and lower machine of passenger there may be slight variation, thus shelter bridge by bridge dock successfully after, aircraft shelter bridge height Difference acquisition module just starts the most constantly to read hatch door real-time status data and give shelter bridge to automatically control mould Block is until shelter bridge removes bridge.If finding in the process, hatch door height change value is more than setting, and shelter bridge is certainly Dynamic control module start the most immediately rotary extension arm height adjustment drive motor so that shelter bridge height with Cabin door is highly consistent.

The present invention compared with prior art has dependable performance, accuracy high, both can carry out Artificial shelter bridge docks, can also carry out automatization's shelter bridge docking.

Accompanying drawing explanation

Accompanying drawing 1 is the structural representation of airport of the present invention shelter bridge docking aircraft hatch navigation system；

Accompanying drawing 2 is the schematic flow sheet of airport of the present invention shelter bridge docking aircraft hatch；

Accompanying drawing 3 is the structural representation one of shelter bridge in the present invention；

Accompanying drawing 4 is the structural representation two of shelter bridge in the present invention；

Accompanying drawing 5 is the schematic top plan view of shelter bridge of the present invention；

Accompanying drawing 6 is the elevational schematic view of shelter bridge of the present invention.

Detailed description of the invention

Fig. 1 is the structural representation of airport of the present invention shelter bridge docking aircraft hatch navigation system；The present invention's Airport shelter bridge docking aircraft hatch navigation system, system includes navigate main control module 1, the inspection of shelter bridge position Survey module 2, aircraft shelter bridge difference in height acquisition module 3, shelter bridge height detection module 4, plane distance detection Module 5, shelter bridge Artificial Control module 6, shelter bridge automatic control module 7, aircraft position detection module 8. Shelter bridge position detecting module 2, aircraft shelter bridge difference in height acquisition module 3, shelter bridge height detection module 4, fly Machine distance detection module 5, shelter bridge Artificial Control module 6, shelter bridge automatic control module 7, aircraft position inspection Survey module 8 to be electrical connected with navigation main control module 1.

Shelter bridge success docking machine cabin door, the positional information and the aircraft that are accurately determined shelter bridge in advance stop The positional information leaned on is very important, and shelter bridge position detecting module 2 detects the positional information of shelter bridge, flies Machine position detecting module 8 detects the positional information that aircraft is stopped, and shelter bridge position detecting module 2 detects The aircraft stop position information that shelter bridge positional information and aircraft position detection module 8 detect feeds back to master control Molding block 1, main control module 1 determines shelter bridge pair according to shelter bridge positional information and aircraft stop position information Connect the optimal case route of front edge of airport pickup port.Main control module 1, shelter bridge position detecting module 2 and plane distance Position between detection module 5 and shelter bridge height detection module 4 cooperation detection shelter bridge and final docking location, Height and the differential signal of relative angle.

Shelter bridge position detecting module 2 respectively with first satellite positioning antennas the 201, second satellite positioning antennas 202, satellite fix base station 203 is electrical connected, the first satellite positioning antennas 201 and the second satellite fix sky Line 202 can carry out wire signal communication with shelter bridge position detecting module 2, and satellite fix base station 203 can To carry out wired or wireless signal communication with shelter bridge position detecting module 2.

Satellite fix base station 203 can be arranged on the position of have no occluder near shelter bridge, the first satellite Position antenna 201 and the second satellite positioning antennas 202 are all contained rover stations in shelter bridge position detecting module Navigator fix antenna, satellite fix base station 203 is fixing, the first satellite positioning antennas 201 and second Satellite positioning antennas 202 is motion；First satellite positioning antennas 201 is arranged on the platform 401 that picks Ceiling position or be arranged in rotary extension arm 101 the ceiling position of movable outer tunnel, second Satellite positioning antennas 202 is arranged on the ceiling position of front edge of airport pickup port 4011 in the platform 401 that picks；First Satellite positioning antennas 201 is for detecting real-time longitude, latitude and the height above sea level of the rotary extension arm of shelter bridge Degree information, the second satellite positioning antennas 202 is for detecting the front edge of airport pickup port angle information of shelter bridge.

First satellite positioning antennas 201 and the second satellite positioning antennas 202, satellite fix base station 203 This mode that is equipped with can ensure that system can accept satellite positioning navigation satellite-signal effectively, the One satellite positioning antennas 201 and the second satellite positioning antennas 202 are to follow shelter bridge to enter centered by its rotation heart Row is in rotary moving, and the first satellite positioning antennas 201 and the second satellite positioning antennas 202 act on jointly can Accurately to obtain the physical location of shelter bridge.Satellite fix base station 203 is arranged on airport or near airports At the fixed position of have no occluder.

First satellite positioning antennas 201 and the second satellite positioning antennas 202 are all Centimeter Level or grade Satellite positioning navigation location antenna.Owing to occasion used in the present invention is the most special, it is desirable to must be to corridor Bridge carries out being controlled very precisely docking of guarantee shelter bridge and aircraft cabin hatch door, therefore the first satellite Position antenna 201 and the second satellite positioning antennas 202 are all at least Centimeter Level or grade satellite fix is led Boat location antenna, Centimeter Level or grade satellite positioning navigation location antenna can ensure that the technology of the present invention The reliability of scheme.

The berth video camera 801 that aircraft position detection module 8 is arranged at around aircraft with at least one is electrical It is connected.Berth video camera 801 can be one, two or more, and berth video camera 801 is arranged on Around the aircraft of berth, berth video camera 801 detects the berth video information signal of aircraft in real time to determine With the deviation value shutting down normal place after the type of berth aircraft and aircraft stop berth；Pool stopped by aircraft After Wei and shut down the deviation value of normal place include fuselage and standard shut down the angle between line, fuselage front-wheel with The transversal discrepancy of standard aircraft gate and longitudinal difference, effectively detect after berth stopped by aircraft and mark with shutting down Gross data support will be provided for follow-up shelter bridge docking optimization highway route design after the deviation value that level is put. The type of berth aircraft can also be inputted by manual type, with the standard of shutdown behind aircraft stop berth The deviation value of position can also carry out inputting but inaccurate, loaded down with trivial details and the most time-consuming by manual type.

Shelter bridge position detecting module 2 controls first satellite positioning antennas the 201, second satellite positioning antennas 202 The real-time absolute position detecting shelter bridge and absolute angle and height above sea level is jointly coordinated with satellite fix base station 203 Degree；Aircraft position detection module 8 detect the type of berth aircraft and aircraft stop berth after with shut down mark The deviation value that level is put；Navigation main control module 1 to the detection signal of shelter bridge position detecting module 2 and The detection signal of aircraft position detection module 8 carries out processing to obtain reality between shelter bridge and final docking location Phase is to position and the signal of relative angle.

After shelter bridge docks successfully with aircraft door, can along with the upper and lower machine of passenger due to aircraft door height Slight variation can be had, thus shelter bridge by bridge dock successfully after, aircraft shelter bridge difference in height acquisition module 3 Just start the most constantly read hatch door real-time status data and give shelter bridge automatic control module 7 until corridor Bridge removed by bridge.If finding in the process, hatch door height change value is more than setting, and shelter bridge automatically controls mould Block 7 starts rotary extension arm height adjustment the most immediately and drives motor so that shelter bridge height and cabin door Highly consistent.Aircraft shelter bridge difference in height acquisition module 3 and one or two difference in height video camera 301 electricity Property be connected, difference in height video camera 301 is preferably disposed at the upper position of front edge of airport pickup port, this position is close Will not be blocked by people again above aircraft door therefore preferable Detection results can be obtained；If only using one Individual difference in height video camera 301, difference in height video camera 301 is arranged on shelter bridge front edge of airport pickup port position.If only Using two difference in height video cameras 301, two difference in height video cameras 301 are symmetrically arranged and have binocular vision The effect that feel identifies, it is ensured that the video signal detected is reliable and stable.

Shelter bridge height detection module 4 and plane distance detection module 5 are ultrasonic detection sensors or swash Light detecting sensors.Shelter bridge height detection module 4 and plane distance detection module 5 height to shelter bridge respectively The distance of degree and aircraft accurately detects, ultrasonic detection sensor or the inspection of laser beam detecting sensor Survey precision and Detection results can meet requirement completely.

Shelter bridge Artificial Control module 6 can be by isolating device or direct and rotary extension arm driving motor Control module, rotary extension arm height adjustment drive the control module of motor, the platform that picks to rotate and adjust The control module driving motor is electrical connected.If needing manually to dock, then have only to start shelter bridge Artificial Control module 6 can complete, and artificial shelter bridge Artificial Control module 6 of passing through directly controls rotary extension Arm drives motor, rotary extension arm height adjustment to drive motor, the platform that picks to rotate and adjusts driving motor So that shelter bridge is walked to, the final docking location precomputed is to complete the docking with aircraft door. Shelter bridge Artificial Control module 6 has for manually-operated display operation screen, manual operation display operation Screen with the current position of in real time display shelter bridge and final docking location and the route that should walk and direction, Display that height adjustment direction and numerical value simultaneously.Shelter bridge rotatory and extending device drives motor, shelter bridge height Adjust and drive the rotation adjustment of motor, shelter bridge to drive motor can be motor.Shelter bridge people can be passed through Work control module 6 inputs side-play amount and the difference in height of the type of berth aircraft, aircraft and standard parking place Replace the input of aircraft position detection module 8.

Shelter bridge automatic control module 7 can be by isolating device or direct and rotary extension arm driving motor Control module, rotary extension arm height adjustment drive the control module of motor, the platform that picks to rotate and adjust The control module driving motor is electrical connected.If needing to carry out automatic butt, then have only to start shelter bridge Automatic control module 7 can complete, and shelter bridge automatic control module 7 directly controls rotary extension arm and drives electricity Machine, rotary extension arm height adjustment drive motor, the platform that picks to rotate to adjust and drive motor so that corridor Bridge and aircraft door directly dock.Shelter bridge rotatory and extending device drives motor, shelter bridge height adjustment Driving motor, shelter bridge to rotate adjustment drives motor can be motor.

Fig. 2 is the flow process signal of the shelter bridge automatic control module of airport of the present invention shelter bridge docking aircraft hatch Figure；Shelter bridge automatic butt control system control flow, after startup system is initially drawn, reads navigation The data that processing unit is uploaded, drive motor, shelter bridge according to related data to shelter bridge rotatory and extending device Height adjustment drives motor, shelter bridge to rotate adjustment driving motor and is driven controlling.Wherein shelter bridge rotates Adjust and drive the driving of motor and shelter bridge height adjustment to drive the driving of motor during shelter bridge is by bridge Carry out, but need to complete before plane distance is more than 1m at shelter bridge, when the two distance is 1m, on State two motors to be adjusted in place not yet, then stop shelter bridge rotatory and extending device and drive the driving of motor, treat After the height of shelter bridge and axial line angle adjustment put in place, after i.e. shelter bridge is directed at cabin door, it is further continued for Motor is driven to be driven shelter bridge rotatory and extending device.Owing to aircraft cabin door height is along with on passenger Lower machine there may be slight variation, so after shelter bridge is automatically by bridge success, starting constantly to read at video Reason cell data, until shelter bridge removes bridge.If finding in the process, cabin door height change value is more than rule Definite value, starts shelter bridge lift in height motor, makes shelter bridge height change consistent with cabin door height change.

Fig. 3, Fig. 4 are the structural representations of shelter bridge in the present invention, shelter bridge include rotary extension arm 101, Pick platform 401, rotary extension arm 101 include movable internal channel 1011 and movable outer tunnel 1012, Movable outer tunnel 1012 is sleeved on outside movable internal channel 1011, the platform 401 that picks is provided with and connects Machine mouth 4011；Rotary extension arm 101 is hinged and connected with the fixing passage 301 of terminal, and pick platform 401 are hinged and connected with the movable outer tunnel 1012 of rotary extension arm 101.First satellite positioning antennas 201 It is arranged on the ceiling position of the platform 401 that picks or is arranged in rotary extension arm 101 outside activity The ceiling position of passage, the second satellite positioning antennas 202 is arranged on front edge of airport pickup port in the platform 401 that picks The ceiling position of 4011.

Fig. 5 is the schematic diagram overlooking shelter bridge from top；Fig. 6 is the schematic diagram looking up shelter bridge from below；The One satellite positioning antennas 201 and the second satellite positioning antennas 202 are all rover station navigator fix antennas, defend Star locating base station 203 is fixing, the first satellite positioning antennas 201 and the second satellite positioning antennas 202 It it is motion；First satellite positioning antennas 201 be arranged on the platform 401 that picks ceiling position or It is arranged in rotary extension arm 101 the ceiling position of movable outer tunnel, the second satellite positioning antennas 202 It is arranged on the ceiling position of front edge of airport pickup port 4011 in the platform 401 that picks；First satellite positioning antennas 201 For detecting real-time longitude, latitude and the altitude info ination of the rotary extension arm of shelter bridge, the second satellite Location antenna 202 is for detecting the front edge of airport pickup port angle information of shelter bridge.

Aircraft shelter bridge difference in height acquisition module 3 is electrical connected with one or two difference in height video cameras 301, Difference in height video camera 301 is preferably disposed at the upper position of front edge of airport pickup port, this position is near aircraft door Top thus preferable Detection results can be obtained；If only using a difference in height video camera 301, highly Difference video camera 301 is arranged on shelter bridge front edge of airport pickup port position.If only using two difference in height video cameras 301, Two difference in height video cameras 301 are symmetrically arranged the effect with binocular vision identification, it is ensured that detection The video signal arrived is reliable and stable.

Shelter bridge height detection module 4 and plane distance detection module 5 are separately positioned on the platform that picks of shelter bridge Bottom and front edge of airport pickup port lower position, towards the shelter bridge height detection module 4 on ground and flying towards aircraft The pick shelter bridge respectively height of platform and shelter bridge front edge of airport pickup port of machine distance detection module 5 enters to the distance of aircraft Row accurately detection.

Claims (10)

1. an airport shelter bridge docking aircraft hatch navigation system, it is characterised in that: include main control of navigating Module (1), shelter bridge position detecting module (2), aircraft position detection module (8), the first satellite positioning antennas (201), the second satellite positioning antennas (202), satellite fix base station (203)；Wherein:

Navigation main control module (1) respectively with shelter bridge position detecting module (2), aircraft position detection module (8) electricity Property be connected；Shelter bridge position detecting module (2) respectively with the first satellite positioning antennas (201), the second satellite fix Antenna (202), satellite fix base station (203) are electrical connected；

Shelter bridge position detecting module (2) controls the first satellite positioning antennas (201), the second satellite positioning antennas (202) absolute position and the absolute angle of detection shelter bridge in real time is jointly coordinated with satellite fix base station (203)；

The type of aircraft position detection module (8) detection berth aircraft and aircraft are marked with shutting down after stopping berth The deviation value that level is put；

Detection signal and the aircraft position of shelter bridge position detecting module (2) are detected by navigation main control module (1) The detection signal of module (8) carries out processing to obtain real-time phase between shelter bridge and the final docking location of aircraft door To position and the signal of relative angle.

Airport the most according to claim 1 shelter bridge docking aircraft hatch navigation system, it is characterised in that: First satellite positioning antennas (201) is arranged on above the movable outer tunnel of shelter bridge rotary extension arm, the second satellite Location antenna (202) is arranged on above front edge of airport pickup port.

Airport the most according to claim 1 shelter bridge docking aircraft hatch navigation system, it is characterised in that: Aircraft position detection module (8) and the berth video camera (801) that at least one is arranged at around aircraft berth are electrical It is connected.

Airport the most according to claim 3 shelter bridge docking aircraft hatch navigation system, it is characterised in that: Berth video camera (801) is two.

Airport the most according to claim 1 shelter bridge docking aircraft hatch navigation system, it is characterised in that: Also include aircraft shelter bridge difference in height acquisition module (3) being electrical connected with navigation main control module (1).

Airport the most according to claim 5 shelter bridge docking aircraft hatch navigation system, it is characterised in that: Aircraft shelter bridge difference in height acquisition module (3) is arranged at the difference in height video camera at shelter bridge front edge of airport pickup port with at least one (301) it is electrical connected.

Airport the most according to claim 6 shelter bridge docking aircraft hatch navigation system, it is characterised in that: Difference in height video camera (301) is two.

Airport the most according to claim 1 shelter bridge docking aircraft hatch navigation system, it is characterised in that: Also include shelter bridge height detection module (4), the plane distance detection being electrical connected with navigation main control module (1) Module (5).

Airport the most according to claim 8 shelter bridge docking aircraft hatch navigation system, it is characterised in that: Shelter bridge height detection module (4) is ultrasonic detection sensor or laser beam detecting sensor, and shelter bridge height is examined Survey the bottom that module (4) is arranged on the movable outer tunnel of rotary extension arm；Plane distance detection module (5) is Ultrasonic detection sensor or laser beam detecting sensor, plane distance detection module (5) is arranged on front edge of airport pickup port Bottom.

Airport the most according to claim 1 shelter bridge docking aircraft hatch navigation system, its feature exists In: also include that shelter bridge Artificial Control module (6), the shelter bridge that are electrical connected with navigation main control module (1) are automatic Control module (7)；

Shelter bridge Artificial Control module (6) drives the control module of motor, rotary extension arm with rotary extension arm Height adjustment drives the control module of motor, the platform that picks to rotate and adjusts the control module electricity driving motor Property be connected；

Shelter bridge automatic control module (7) drives the control module of motor, rotary extension arm with rotary extension arm Height adjustment drives the control module of motor, the platform that picks to rotate and adjusts the control module electricity driving motor Property be connected.