JP3225934B2 - Ground collision prediction method and apparatus in air traffic control, and computer-readable recording medium - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for ground collision prediction in air traffic control for predicting approach and collision of an aircraft to the ground using three-dimensional terrain data in air traffic control for managing the operation of an aircraft, and The present invention relates to a computer-readable recording medium.

[0002]

2. Description of the Related Art In an air traffic control system, it is very important to predict approach and collision to the ground and to give a warning in order to prevent a collision accident or a crash on the ground. Some have a collision prediction function. In other words, ground collision prevention in conventional air traffic control systems has the minimum guidance altitude of the area to be controlled as a specified value, and based on the altitude information sent from the aircraft, whether the altitude of the aircraft falls below the minimum guidance altitude The collision prediction is performed by judging.

[0003]

However, the above-mentioned minimum guidance altitude does not indicate the undulation of the terrain, but has a uniform height at the highest point of the area in consideration of the safety margin. There is a problem that it is not suitable for the control around the airport, which is surrounded by high altitude mountains, such as the airport of some parts. In other words, with this method, the minimum guidance altitude is set uniformly for each area.Therefore, the minimum guidance altitude is set high at airports that have complicated terrain, such as mountainous areas, and effective collision prevention and control There was a problem that it was difficult to balance. Therefore, a more precise collision prevention system based on three-dimensional terrain information is required. On the other hand, it is conceivable to apply three-dimensional elevation data such as digital map data issued by the Geographical Survey Institute instead of the minimum guidance altitude. Also, in conventional air traffic control, the predicted reach of the aircraft was represented by a cube, but in order to perform a more detailed collision prediction, it should be considered stochastically and represented as a radial solid centering on the position of the aircraft Can be considered. However, in that case, there is a problem that the calculation amount becomes enormous because the collision prediction calculation of the three-dimensional data must be performed.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to hold three-dimensional elevation data in an area to be controlled, and to provide a predicted arrival range of an aircraft represented three-dimensionally. Judgment of the ground collision based on the actual terrain by judging the relative relationship with each altitude data from the two parameters of the current position and velocity vector of the aircraft. An object of the present invention is to provide a method and apparatus for predicting a ground collision in an air traffic control and a computer-readable recording medium capable of reliably predicting approach and collision of a vehicle.

[0005]

According to a first aspect of the present invention, there is provided a ground collision prediction method in an air traffic control for predicting an approach of an aircraft to the ground and a collision, wherein three-dimensional elevation data of an area to be controlled is held; A predicted three-dimensional reach of the aircraft is set from the position of the aircraft and the three-dimensional velocity vector, a difference vector is obtained based on the position of the aircraft and the elevation data, and the difference vector and the three-dimensional velocity of the aircraft are further determined. Based on the vector, it is determined whether or not the altitude data is within the three-dimensional predicted reach of the aircraft, and a plane component of the difference vector and the velocity vector is determined.
Altitude data within aircraft's expected range based on
A first process for determining whether or not
Is determined to be within the predicted reach, the difference vector
Projection velocity of the above velocity vector on a vertical plane including the torque
Find the projection velocity vector and the difference vector
The above altitude data is based on the estimated
And a second processing for determining whether the
It is characterized by. Claim 2 of the present invention claims that
Ground collision prediction system in air traffic control that performs approach and collision prediction
3D elevation data of the area to be controlled
Altitude data recording means and aircraft position in three dimensions
Enter specifications data consisting of position, flight direction and speed
From the specification data input means and from the specification data input means.
Based on the location of the aircraft, the area parcel containing that location and its location
Area extraction to extract area areas adjacent to the area area
Means and the regional ward extracted by this regional division extracting means
For each altitude data in the picture, the altitude data is
Whether the aircraft is within the 3D prediction range
Determining means, and the altitude data is determined by the determining means.
Data is within the three-dimensional predicted reach of the aircraft
Warning means for warning when it is determined that
Means that the altitude data is
Plane to determine whether it is inside the plane by plane operation
Performs a calculation including the height direction with the component determination unit, and calculates
Whether the data is within the expected range of the aircraft
And a vertical component determination unit that determines whether
I do. Claim 3 of the present invention is directed to approaching the aircraft to the ground,
A program for causing a computer to execute collision prediction processing
On a computer-readable recording medium on which
And hold the 3D elevation data of the area to be controlled
From this aircraft position and three-dimensional velocity vector
Set the three-dimensional predicted reach of the aircraft and
Difference vector based on the
And the difference vector and the three-dimensional velocity of the aircraft
Based on the vector, the elevation data is
Judge whether it is within the predicted reach in the dimension,
Elevation day based on vector and velocity vector plane components
Determine if the aircraft is within the expected range of the aircraft
The first processing and the first processing
Is determined, the vertical plane including the difference vector
The projection velocity vector of the above velocity vector.
Based on the projection velocity vector and the difference vector
Whether the altitude data is within the expected range of the aircraft
Causing the computer to execute the second processing to be determined
It is characterized by.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing one embodiment of the present invention. In FIG. 1, the ground collision prediction apparatus according to the present embodiment extracts an elevation data storage unit 1 storing elevation data, an specification data input unit 2 for inputting aircraft specification data, and an area block to be evaluated. And a horizontal component judging unit 4 for judging whether or not the altitude data is within the predicted reach of the aircraft in the horizontal plane component
And a vertical component determining unit 5 for determining the approach in the altitude direction, and a warning display output unit 6 for warning the approach. The elevation data storage unit 1 stores a combination of elevation data at a certain latitude / longitude for each area block. FIG. 2 shows an example of a regional block. The regional section is a rectangular area of a specific size, and four sides are in contact with one side of the adjacent regional section. FIG. 4 shows the inside of one area block. Referring to FIG. 4, each regional section is equally divided into several to several tens of meshes in each of the vertical and horizontal directions, and has elevation data at each intersection of the meshes. The specification data input unit 2 inputs specification data including the current position, flight direction, and speed of the aircraft to be controlled from the aircraft and the radar device. As shown in FIG. 2, the regional section extraction unit 3 extracts, from the current position of the aircraft input in the specification data, a regional section including the current position and a regional section adjacent to the current section. The horizontal component determination unit 4 determines for each of the elevation data in the extracted area block whether or not the elevation data is within the horizontal plane of the predicted reach of the aircraft to be controlled.
Judgment is performed by dimensional plane calculation and narrowing down is performed. The vertical component determination unit 5 performs a three-dimensional calculation including the height direction when the result of the horizontal component determination unit 4 falls below a certain threshold value, and determines whether the altitude data falls within the predicted reach.
When the vertical component determination unit 5 falls below a certain threshold, the warning display output unit 6 warns that the altitude data is within the predicted reach of the aircraft.

Next, a ground approach / collision prediction method in air traffic control according to the present invention will be described with reference to the drawings. FIG.
In step A1, an area block to be evaluated is first extracted from the information on the current position of the aircraft to be controlled input from the specification data input unit 2 (step A1). Referring to FIG. 2, an area section including the position of the aircraft and eight sections surrounding the area section are extracted as area sections to be evaluated.

Next, one altitude data is extracted from the extracted area block (step A2). For the extracted altitude data, it is determined whether or not the altitude point falls within the predicted reach of the aircraft. Referring to FIG. 3, the predicted arrival range 32 of the aircraft is a radial solid from the position 31 of the aircraft and centered on the velocity vector of the aircraft, taking into account the degree of margin in each of the plane and vertical directions. In the present invention, the shape of the horizontal plane is a sector shape centering on the position of the aircraft (42 in FIG. 4), and the height direction is a triangle with the farthest point being vertical in consideration of the amount of calculation (52 in FIG. 5). Is defined as the predicted reach. The size of the predicted reach from the position of the aircraft is a value proportional to the size of the speed vector.

First, it is determined whether or not the horizontal component of each of the extracted elevation data is within the predicted reach.
Referring to FIG. 4, the elevation data Hij (hx, hy, h
The plane component of z) is (hx, hy). First, the altitude data Hi from the position T (tx, ty, tz) of the aircraft
The difference vector D of j is obtained (step A3). The difference vector D is as follows. D (dx, dy, dz) = (hx-tx, hy-ty,
hz-tz) Next, it is determined whether or not the magnitude of the horizontal component (dx, dy) of the difference vector D is larger than a constant multiple of the magnitude of the horizontal component of the velocity vector V (step A4). Here, assuming that a constant (first specified value) is α, a conditional expression represented by the expression b1 in FIG. 7 is obtained. If the conditional expression of b1 is satisfied, the altitude data is outside the circle of the predicted reach, so that it is excluded from subsequent calculations. The first specified value α is set in accordance with the distance that the aircraft reaches in about 20 minutes, for example.

If the condition of b1 is not satisfied,
It is within a circle (within the predicted reach of the aircraft) having a radius equal to a constant multiple of the velocity vector around the position of the aircraft. Accordingly, next, the inner product of the plane component of the difference vector D and the velocity vector V is calculated (step A5), and FIG.
It is determined whether it is within the range of the fan-shaped predicted reach indicated by No. 42 (step A6). The inner product of the difference vector D and the speed vector V and the angle θa formed by the difference vector D and the speed vector V have a relationship represented by the equation b2 in FIG. In the equation b2, when cos θa is smaller than cos β obtained by substituting the second specified value β, the angle θa is larger than the second specified value β. Therefore, since it is out of the fan-shaped range shown by 42 in FIG. 4, it is excluded from the subsequent calculations.
Here, the value of the second specified value β is such that the angle of the center of the sector is 45 degrees.
In the case of the degree, it becomes like b3 of FIG.

On the other hand, the value cosθa of the equation b2 in FIG.
When it is larger than sβ, it is found that the horizontal component (hx, hy) of the elevation data exists in the horizontal plane of the predicted reach represented by the fan shape. Then, in order to determine whether or not the altitude value hz of the altitude data is within the predicted reach, the inner product of the vector is similarly calculated for a cross section obtained by cutting a line connecting the aircraft position T and the altitude data Hij vertically. Perform the operation. First, a projection velocity vector Vb having the same size as the velocity vector V and whose vector direction matches the vertical plane including the difference vector D (projected on the vertical plane) is obtained (step A7). The value of the projection velocity vector Vb is as shown by the b4 equation in FIG. Next, a three-dimensional inner product of the difference vector D and the projection velocity vector Vb is calculated (step A8), and FIG.
(Step A9). The inner product of the difference vector D and the projection speed vector Vb, and the difference vector D and the projection speed vector V
There is a relationship expressed by the equation b5 in FIG. 7 between the angle θb and the angle θb. In the equation b5, when cos θb is smaller than cos γ into which the third specified value γ is substituted, it is determined that the aircraft is out of the predicted reach of the aircraft, and the process proceeds to the next elevation data determination (step A11). ). here,
The third specified value γ is set, for example, to a value in the range of 15 to 20 degrees.

On the other hand, if the value cosθb of the expression b5 is larger than cosγ, it is determined that the elevation data is within the predicted reach even in the vertical component, that is, in the height direction, and a warning is displayed (step A10).

As described above, in this embodiment, in order to determine the relative relationship between the predicted reach of an aircraft and each elevation data, it is first determined whether or not the ranges overlap by a two-dimensional operation on a horizontal plane, and then the result is determined. By performing the calculation in the altitude direction only when the value falls below a certain threshold, the processing time of the calculation can be significantly reduced. In this embodiment,
Although the ground collision prediction method in the air traffic control system has been described, the invention can also be applied to a ground collision prediction system mounted on an aircraft. In the present embodiment, FIG.
The program for realizing the operation of the control unit shown in FIG. 6 or the flowchart shown in FIG. 6 is recorded on a computer-readable recording medium, and the program recorded on this recording medium is read and executed by a computer, thereby May be predicted for approaching and colliding with the ground.

[0014]

According to a first aspect of the present invention, there is provided a ground collision prediction method in an air traffic control for predicting an approach of an aircraft to the ground and a collision, wherein three-dimensional elevation data of an area to be controlled is held, and the position and the position of the aircraft are controlled. A three-dimensional predicted reach of the aircraft is set from the three-dimensional velocity vector, a difference vector is determined based on the position of the aircraft and the elevation data, and further based on the difference vector and the three-dimensional velocity vector of the aircraft. And determining whether or not the altitude data is within the three-dimensional predicted reach of the aircraft. Therefore, it is necessary to perform detailed approach to the ground and collision prediction in accordance with the terrain condition. Can be. As a result, more efficient and safe air traffic control can be performed. The reason for this is that three-dimensional elevation data in the control target area is retained, and the inclusion relationship between the predicted reach of the aircraft represented three-dimensionally and each elevation data is determined by the current position and velocity vector of the aircraft. This is to judge from the beginning. Furthermore, the difference vector and the velocity vector
The elevation data is within the expected range of the aircraft based on
A first process for determining whether or not
The difference vector
Of the above velocity vector on the vertical plane containing the
Vector and the difference vector
The above altitude data is within the estimated range of the aircraft based on the
And a second process for determining whether
Because of the characteristics of the aircraft,
It is possible to simplify the process of determining the overlap of high data areas.
Wear. As a result, the calculation processing time can be reduced
You. The reason is that the estimated range of the aircraft and each elevation data
First, to determine the inclusion relationship of
To determine if the areas overlap, and then
Only when the value falls below a certain threshold, the altitude direction
It is. Claim 2 of the present invention relates to the connection of the aircraft to the ground.
Ground collision prediction system in air traffic control that performs near and collision prediction
Holds 3D elevation data of the control target area
Altitude data recording means and aircraft position in three dimensions
Enter specifications data consisting of position, flight direction and speed
From the specification data input means and from the specification data input means.
Based on the location of the aircraft, the area parcel containing that location and its location
Regional compartment extraction to extract the regional compartment adjacent to the regional section of the
Means and the regional ward extracted by this regional division extracting means
For each altitude data in the picture, the altitude data is
Whether the aircraft is within the 3D prediction range
Determining means, and the altitude data is determined by the determining means.
Data is within the three-dimensional predicted reach of the aircraft
Warning means for warning when it is determined that
And the determination means determines
Each elevation data within the area plot extracted by the area plot extraction means
For each aircraft, its altitude data is
By determining whether you are in the enclosure,
Ground collision prediction based on the terrain
Can reliably predict approach and collisions on the ground
You. Further, the determination means determines whether the altitude data is
Whether or not it is within the horizontal plane of the reach
Performs a calculation including the plane component determination unit and height direction
The altitude data falls within the predicted reach of the aircraft.
And a vertical component determination unit that determines whether
First, the plane component determination unit
And then the aircraft
Only for elevation data within the expected
Useless judgment by performing judgment by the direct component judgment unit
Processing can be omitted and processing time can be reduced
You. According to the third aspect of the present invention, an aircraft approaches or collides with the ground.
A program for causing a computer to execute a prediction process
On a computer-readable recording medium on which
To hold the three-dimensional elevation data of the control target area, and
From the position of the aircraft and the three-dimensional velocity vector, this aircraft
Set the 3D predicted reach, and position the aircraft
And a difference vector is obtained based on the elevation data,
Furthermore, the difference vector and the three-dimensional velocity vector of the aircraft
The altitude data is based on the aircraft
The processing to determine whether or not the
Is it characterized by having a computer execute it?
Access to the ground by computer
Collisions can be quickly and reliably predicted. Furthermore,
Elevation based on the plane component of the difference vector and velocity vector
Determine if data is within expected range of aircraft
And a predicted reachable range by the first process.
If it is determined to be within the box, the vertical
Find the projected velocity vector of the above velocity vector on the surface
Because, based on the projection velocity vector and the difference vector
Whether the altitude data is within the expected range of the aircraft
The computer performs a second process of determining whether
Computer.
Thus, the determination can be made separately in the first process and the second process.
Thus, the determination process can be simplified .

[Brief description of the drawings]

FIG. 1 is a block diagram showing one embodiment of the present invention.

FIG. 2 is an explanatory diagram of an area block.

FIG. 3 is an explanatory diagram illustrating a predicted arrival range, a position, a velocity vector, and altitude data of an aircraft.

FIG. 4 is an explanatory diagram illustrating a state in an area block (a unit of management of elevation data).

FIG. 5 is an explanatory diagram illustrating a predicted arrival range, a position, a velocity vector, and altitude data of an aircraft in a vertical plane.

FIG. 6 is a flowchart (flow chart) for explaining the operation of the embodiment of the present invention.

FIG. 7 is an explanatory diagram listing relational expressions.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Elevation data storage part 2 Specification data input part 3 Area division extraction part 4 Horizontal component determination part 5 Vertical component determination part 6 Warning display output part 31,41,51 Aircraft position 32,42,52 Predicted arrival range of aircraft

────────────────────────────────────────────────── ─── Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) G08G 5/00-5/06 G01S 13/91-13/93 G05D 1/10 JICST file (JOIS)

Claims (3)

(57) [Claims] A ground collision prediction method in an air traffic control for predicting an approach of an aircraft to the ground and a collision, wherein three-dimensional elevation data of an area to be controlled is retained, and the aircraft's position and three-dimensional velocity vector are used to calculate the 3
A predicted reach in dimension is set, and a difference vector is obtained based on the position of the aircraft and the altitude data. Further, based on the difference vector and the three-dimensional velocity vector of the aircraft, the altitude data is set to 3 In a ground collision prediction method in air traffic control that determines whether the vehicle is within a predicted reach in three dimensions, an elevation based on a plane component of a difference vector and a velocity vector is used.
Determine if data is within expected range of aircraft
And a predicted reachable range by the first process.
If it is determined to be within the box, the vertical
Find the projected velocity vector of the above velocity vector on the surface
Based on this projection velocity vector and the above difference vector
Whether the altitude data is within the expected range of the aircraft
Ground collision prediction method in air traffic control, characterized by comprising a second process for determining emergence. 2. Predicting approach and collision of an aircraft to the ground
In a ground collision prediction device in air traffic control, elevation data that holds three-dimensional elevation data of the control target area
Data recording means and the position, flight direction and speed of the aircraft in three dimensions
Data input means for inputting specification data, and a position of the aircraft from the specification data input means.
Area adjacent to the area containing the location
A regional division extracting means for extracting a regional division, and each of the regional divisions extracted by the regional division extracting means.
For each altitude data, the altitude data is the third order of the aircraft.
Judge whether it is within the original expected range
Determining means for determining whether the altitude data of the aircraft is 3
If it is determined that the value is within the predicted reach of the dimension
Warning means for warning the aircraft that the altitude data indicates the horizontal
A plane component that determines whether or not it is
And minutes judging section, the operation, including the height direction is performed, the elevation de
Data is within the expected range of the aircraft.
And a vertical component determining unit for determining whether
Ground collision prediction device in air traffic control. 3. An aircraft approaching the ground and a collision prediction process.
Recorded program to be executed by computer
On computer readable storage media,
Holds three-dimensional elevation data of the elephant area and ranks the aircraft
From the position and the three-dimensional velocity vector
Set the predicted reach of the aircraft, the location of the aircraft and the
A difference vector is obtained based on the elevation data, and
Based on the difference vector and the three-dimensional velocity vector of the aircraft
And the altitude data is a three-dimensional prediction of the aircraft.
Judge whether it is within the reach, and calculate the altitude based on the plane component of the difference vector and the velocity vector.
Determine if data is within expected range of aircraft
And a predicted reachable range by the first process.
If it is determined to be within the box, the vertical
Find the projected velocity vector of the above velocity vector on the surface
Based on this projection velocity vector and the above difference vector
Whether the altitude data is within the expected range of the aircraft
The computer performs a second process of determining whether
Computer-readable recording program for
Recording media.