TWI539412B - Method of orientating calibration for aircraft approach guiding system - Google Patents

Description

Correction positioning method for aircraft approach guidance system

The invention relates to a method for correcting and positioning an aircraft approach guidance system. In particular, it refers to a method of correcting positioning using a laser beam and an information display kanban to locate, identify, and guide a target to a specific location.

The aircraft's approach guidance operation, the previously used techniques include manual guidance, guidance by loop coil sensing technology and more advanced guidance methods using laser detection technology.

In the manner of laser detection, in the manner of processing the positioning and J-LINE per displacement, the prior patents include, for example, US Patent Nos. US 6,023,665 and US 6,324,489, in the vertical direction, in a distance angle map. About 1 to 100 meters in front of the laser guiding device, make a recording point every one meter, and in the horizontal direction, from -5° to 5°, make a recording point every 0.1°, cross into one 100 X 100 database record area. When the aircraft enters this area, the difference between the actual detected value and the pre-stored database is compared to determine the distance of the aircraft and the left-right offset.

Although this method is technically feasible, it involves a large number of numerical comparisons on the one hand. On the other hand, most of the laser ranging devices currently on the market do not support the pure emission/collection of laser pulses. The action only provides the distance data measured at the angle of the laser. For this type of application, special laser ranging equipment must be used to achieve this, so it is not convenient in application.

The inventor of the present invention based on the application for the Republic of China Patent Application No. 102211977 "Aircraft Approach Guidance System", using the existing advanced laser ranging equipment and stepping motor, with the proposed algorithm can reach the motor at a specific position Home position positioning and the purpose of offset correction for aircraft approach guides. Improve the equipment level and computational efficiency required for guiding operations. For example, when the aircraft is landing, it is necessary to use the guidance system to perform guidance and model identification operations when docking to the specific stop line of the airport gate. The installation position of the guidance system is limited by the structure of the airport, and the approach route of the aircraft is related to the position of the apron. When the two cannot be on the same line, the detection operation during the guidance must have a set. Offset correction method to ensure correctness of model identification and guidance distance and offset angle detection.

The technical problem to be solved by the present invention is to provide a method for correcting and positioning an aircraft approaching guidance system. First, it is necessary to perform a positioning operation, that is, a positioning operation of a laser beam, including initial positional positioning in a vertical direction and a horizontal direction. The so-called vertical positioning is to set the vertical home position of the vertical motor for controlling the laser beam, so that the laser beam at this time is just parallel to the ground plane where the measuring object is located, such as the apron ground. The above horizontal orientation is to set a horizontal home position for controlling the horizontal beam of the laser beam for a certain point in front of the laser scanner, so that the laser beam at this time can just hit the target. Point.

In addition, the technical problem to be solved by the present invention is also to provide a method for offset correction, which is a correction method for offset adjustment when the approach guide line and the guiding device are not in a straight line, so that the laser scanner can be targeted At different points in the aircraft, the center point is corrected and aligned to the correct scanning area to produce the correct scanning result.

In order to solve the above technical problem, according to the solution of the present invention, a method for correcting positioning of an aircraft approach guidance system is provided, comprising the steps of: providing a laser scanner to generate a laser beam directed toward a mirror group; Rotating the mirror group along the horizontal axis and the vertical axis respectively; scanning the detected object on a forward line; setting a horizontal center coordinate and a vertical center coordinate of the laser beam scanning range in a computer database; Setting a sampling interval of the laser beam along the horizontal direction; setting a sampling interval of the laser beam along the vertical direction; performing a sampling operation along the central coordinate, respectively, respectively separating the sampling interval along the horizontal direction and the vertical direction Taking a plurality of scanning points; performing a scanning operation, measuring each point according to the scanning points sampled above, and recording the measured distance; determining whether the above-mentioned central coordinates need to be changed according to the distance displayed by each point; and judging the sampling Whether the interval needs to be adjusted; if the sampling interval is to be adjusted, return to the above step of performing the sampling operation, and if it is not necessary to adjust the sampling interval, it is completed.

According to an embodiment of the present invention, in order to accomplish the above other technical problem, wherein the position of the laser scanner is not located on the line of the forward line, the offset adjustment method is further performed, and the linear interpolation method is used to estimate The distance of a predetermined point.

The present invention has the following beneficial effects: the present invention can be used to align the laser scanner to the correct scanning position, and further, when the approaching guide line and the laser beam are not set on the same line, regardless of the two Whether the lines are parallel lines or not, the corresponding offset correction amount of any position can be obtained according to this method.

In order to further understand the technology, method and effect of the present invention in order to achieve the intended purpose, reference should be made to the detailed description and drawings of the present invention. The drawings and the annexed drawings are intended to be illustrative and not to limit the invention.

100‧‧‧Laser scanner

10‧‧‧ Pedestal

102‧‧‧Information display board

20‧‧‧Fixed frame

30‧‧‧ movable frame

40‧‧‧Mirror group

50‧‧‧First Rotary Module

52‧‧‧First motor

60‧‧‧Second Rotary Module

62‧‧‧second motor

70‧‧‧Light source module

200‧‧‧Trolley

201‧‧‧ rod body

202‧‧‧Detection board

2021‧‧‧Vertical reference rod

2022‧‧‧ horizontal reference rod

Xa, Ya‧‧ ‧ sampling interval

R‧‧‧Laser beam

J‧‧‧ Approach guide line

A‧‧‧ empty bridge

B‧‧‧Airport buildings

F‧‧‧Foreign line

S‧‧‧Stop line

M‧‧ ‧ scan area

1 is an aircraft approach guidance system utilized by the present invention.

Figure 2 is a schematic illustration of the advancement of the aircraft along the approach guide line of the ground.

3 is a schematic diagram of sampling of the calibration positioning method of the present invention along the X-axis.

4 is a schematic view of the calibration positioning method of the present invention taken along the Y-axis.

FIG. 5 is a flowchart of a method for correcting positioning according to the present invention.

Figure 6 is a top plan view of the offset adjustment of the present invention.

Figure 7 is a flow chart of the offset adjustment of the present invention.

The inventor of the present invention has been complicated to install by using the structure of the above-mentioned prior patents, and has applied for the Republic of China Patent Application No. 102211977 "Aircraft Approach Guidance System", particularly for locating, identifying and tracking a target object, for example, The airport measures the distance of the aircraft from the predetermined point (SPOT) after the aircraft has landed to guide the aircraft to the correct position or to other ground vehicles.

Based on the above patent, this embodiment cooperates with the above-mentioned aircraft approach guidance system (hereinafter referred to as a guidance system, or laser scanner) to explain the correction positioning method of the present invention. Referring to FIG. 1 , the aircraft approach guiding system utilized by the present invention is further described below, which includes a base 10 , a substantially square fixed frame 20 fixed to the base 10 , and a rack mounted in the fixed frame 20 . And a substantially U-shaped movable frame 30, a mirror group 40 disposed on the movable frame 30, a first rotating module 50 for driving the movable frame 30 to rotate along the Y-axis, and driving the mirror group 40 along the X-axis The rotating second rotating module 60 and a light source module 70. The movable frame 30 is rotatably mounted on the fixed frame 20 along a vertical axis Y perpendicular to the base 10. The mirror group 40 is rotatably mounted on the movable frame 30 along a horizontal axis X parallel to the base 10. The first rotation module 50 drives the movable frame 30 along the vertical axis Y by the first motor 52. The second rotation module 60 drives the mirror group along the horizontal axis X by the second motor 62. The light source module 70 is fixedly mounted on the movable frame 30 and A laser beam R directed to a mirror group 40 is provided. The above is mainly the laser scanner 100 of the guiding system used in the present case, and the guiding system further includes an information display panel 102, etc., and details about the guiding system have been described in the above-mentioned inventor's patent application, so Narration.

In this embodiment, a high-precision step-control motor is used, and the angle of the laser beam is positioned with the mirror surface, and the positioning resolution can reach a level of 0.018°/step and a vertical direction of 0.036°/step. Since the scale of the stepping motor is very fine, it can be distinguished into a resolution of 10,000 steps in the angle of 360°, and the laser light used is invisible light in the infrared range. How to achieve the setting purpose, the laser light can be projected to the position of the target object, which is the so-called correction positioning operation of the present invention.

As shown in Fig. 2, it is the approach guide line J (J-LINE) of the aircraft along the ground. The approach guide line J is the forward line followed by the aircraft approaching the empty bridge A. The approach guide line J's paintings depend on the airport's forward movement and cannot be changed at will. Accordingly, the present invention provides a positive method for the laser scanner 100 to be aligned to the correct scanning area, for example, after the guiding system is installed, or after a period of use, even before each use. The correct positioning method of the present invention is performed whereby a correct and efficient distance scan result is produced.

Furthermore, the position of the aircraft guidance system is often limited to be installed on the cement wall of the airport building B. The glass wall surface cannot be installed. In the position of Figure 2, the laser beam R and the guided aircraft are apparent. The approach guide line J cannot be the same line or even a parallel line. Therefore, the present invention is further capable of guiding an aircraft in this environment. Even if the above guidance system is not located on the route forward of the aircraft, each scan point must be able to estimate its center point position. Therefore, the present invention further proposes an offset adjustment method to compensate for the correct distance.

[Correction of calibration method]

First, the principle of the correction positioning method of the present invention will be explained. When the laser beam hits the detected object (such as an aircraft), it will be reflected back according to the optical principle. By using the time that the light passes back and forth, the laser scanner (or guiding system) and the detected object can be calculated. between the distance. As shown in FIG. 2, it is assumed that the laser scanner 100 is placed at a predetermined height H for a fixed angle scan. If there is no obstruction at the scanning position, the laser beam will hit the ground. Reflected back, the distance between the laser scanner 100 and the ground is returned. If there is a shield between the laser scanner 100 and the ground, the distance detected by the laser will be the distance between it and the object to be detected. Since the detected object (such as an aircraft) has a certain height, the measured distance is significantly different from the case without the detected object. Based on the difference in such distances, the present embodiment can be used to estimate the presence of a detected object (e.g., an aircraft).

Please refer to FIG. 3 and FIG. 4 , which are schematic diagrams of the positioning method of the present invention, and FIG. 5 is a flowchart of the calibration positioning method of the present invention. The present invention designs a specially shaped object to be detected. This embodiment is a vehicle 200. The trolley 200 mainly includes a detecting plate 202 which is erected by two rods 201. The detection board 202 also needs to be provided with a vertical reference rod 2021 and a horizontal reference rod 2022 to simulate the lateral wing or engine of the aircraft. When scanning a nearby area with a laser, you can sweep out a specific distance map. According to this distribution, the present invention can determine the orientation of the detected object relative to the laser scanner 100.

As shown in FIG. 5, first, the calibration starts. In step A10, a calibration object is placed at the correction target point. In this embodiment, the correction target point may be a forward line on the ground, and the forward line may be At the airport, the guide line J-LINE, or the temporary alignment line for indoor calibration. The object to be detected for correction may be a vehicle 200 instead of an airplane, and the person can conveniently cooperate with the correction positioning process to move.

In step A11, the horizontal and vertical center coordinates (X ₀ , Y ₀ ) are set in a computer database. The center coordinates (X ₀ , Y ₀ ) are not necessarily aligned with the detection board 202 of the trolley 200 at the beginning, and after scanning, the presence of the detected object (the trolley 200) can be inferred based on the scan data. Adjusted at the coordinates of the place.

In step A12, the laser beam is set along the horizontal direction (X-axis) scan interval Xa, as shown in FIG. The sampling interval Xa here may be, for example, 20 steps, and the angle of each step depends on the device of the laser scanner; A13, set the laser beam along the vertical direction (Y-axis) scan interval Ya, please match Figure 4. The sampling interval Ya here may be, for example, 20 to 30 steps, and this value may be adjusted for the object to be detected. In each step of the positioning resolution of the vertical motor of the laser scanner (i.e., the first motor 52 described above), the vertical direction (Y-axis) can reach 0.036°/step. The horizontal resolution (X-axis) of the positioning resolution of the horizontal motor (i.e., the second motor 62) can reach 0.018°/step.

As shown in step A14, the sampling operation is performed. The sampling operation of this embodiment is along the above-mentioned central coordinates, and a plurality of scanning points are respectively taken along the horizontal and vertical directions from the sampling intervals Xa and Ya. Specifically, the X-axis direction is from X ₀ -N ₁ *Xa to X ₀ +N ₁ *Xa, taking one point every other sampling interval Xa; the Y-axis direction is from Y ₀ -N ₂ *Ya to Y ₀ +N ₂ *Ya, take a little every other sampling interval Ya. This range is also the scan area M (see Figure 4). In this embodiment, N ₁ and N ₂ are the number of points taken, which may be 5 to 7 points, and are adjusted according to actual needs. When you get more points, the scanning time is longer and the range is wider. If the number of points N ₁ is calculated by 5 points and N ₂ is calculated by 7 points, this embodiment will have 11 scanning points on the X axis (2*N ₁ +1, 5 points on the left and right plus the central coordinate point). ), the Y-axis will have 15 scan points (2*N ₂ +1, 7 points above and below plus the central coordinate point). The above sampling intervals Xa, Ya, and the sampling center coordinates (X ₀ , Y ₀ ) may be set by the operator at the computer input.

As shown in step A15, the scanning operation is performed, and each point is measured and the measured distance is recorded according to the scanning points sampled above. In this embodiment, a matrix of (2*N ₁ +1)*(2*N ₂ +1) matrix is scanned, and each measured point is recorded. In this embodiment, the number of scanning points is a matrix of 11*15=165 points. In the X-axis, the distance value of the coordinate can be indicated by the sampling interval Xa, and the distance value of the coordinate can be indicated by the sampling interval Ya on the Y-axis. In this embodiment, preferably, the result of the scanning operation, that is, the matrix sequence may be a horizontal and vertical position, and the measured distance is displayed on the screen. It is more convenient for the operator to judge immediately.

As shown in step A16, according to the distance displayed by each point, it is determined whether the central coordinate (X ₀ , Y ₀ ) needs to be changed, mainly according to whether the scanning area is the position of the object to be detected 200, and whether the center needs to be changed. Coordinates (X ₀ , Y ₀ ). If it is necessary to change (Y), change back to step A11, and then set the horizontal and vertical center coordinates (X ₀ , Y ₀ ) in the computer database; if not (N), you do not need to change the center coordinates. This means that the position of the center coordinates and its scanning area are judged, and the object to be detected (trailer 200) has been displayed. The basis for the judgment here is the above-mentioned correction positioning principle, because the detected object (mainly the detection plate 202 of the observation trolley 200) has a certain height, so the measured distance and the object to be detected (the trolley) There is a clear distinction between the masking of the detection panel 202 of 200. Thereby, it is judged whether the detected object falls within the above-mentioned scanning area.

In step A17, it is judged whether or not the sampling interval (Xa and Ya) needs to be adjusted to more focus on the object to be detected (the trolley 200). For example, if the sampling interval is smaller, the position of the edge of the detected object can be more clearly known. If it is (Y), to adjust the sampling interval, return to step A12. If it is not necessary to adjust the sampling interval (N), the calibration operation is completed.

The present invention takes an indoor experiment with a ceiling as an example in FIG. 4, and uses the flow chart of FIG. 5 to exemplify the matrix sequence after scanning, which is as follows:

First, using a detector whose height is close to the height of the laser scanner, the object to be detected (the trolley 200) is moved to the desired position, and then the scanning area of the laser scanner 100 is adjusted. The block angle, after several scans and corrections, can get the relative coordinates of the position on the laser scanner.

For example, set the corrected center coordinate (X ₀ , Y ₀ ) = (1200, 2200), which is the relative coordinate preset by the laser scanner 100. It should be noted that the above coordinate value is that the motor of the laser scanner 100 used in accordance with the present invention can achieve a resolution of 10,000 steps, however, the reflection range of the mirror group 40 is matched to about 2500 steps. Within (step). In other words, the above coordinate values are mainly compared with the position points of the second motor 62 (horizontal motor) of the laser scanner 100 and the first motor 52 (vertical motor).

In this embodiment, the sampling interval of the X-axis is 20 steps, and the sampling interval of the Y-axis is 20 steps, and the unit is step; as shown in Table 1 below, the X-axis coordinate value of the matrix sequence is centered at 1200. The left is reduced by 20, and the right is added by 20. The Y-axis coordinate value is centered at 2200, and is sequentially decreased by 20 in the upward direction and 20 in the downward direction. Every point of the X-axis direction The corresponding angle value is 0.018 degrees; the corresponding angle value of each point in the Y-axis direction is 0.036 degrees.

From the scanning results, the position of the X-axis at 1160 will be the position of the object to be detected, because in the Y-axis portion, the position is highly shielded.

The X-axis coordinate is greater than 1320, and the Y-axis coordinate is greater than 2140. The value of >=149 is read. Compared with other places, the larger value indicates that the detected distance from the reflection is far, indicating that the orientation is not obscured by the trolley 200. The portion where the Y-axis value is less than 2120 indicates that the ceiling position is read. This portion is because the laser scanner equipped with the present embodiment is placed in a higher position in the room closer to the ceiling for testing.

The X-axis coordinate is less than 1300, and the distance is reduced to 91 at a position relative to the Y-axis value of 2320. It can be clearly seen that the orientation has been blocked by the detection plate 202 of the trolley 200.

The X-axis coordinate is blocked at the highest height in the 1160 part, and the value is at the position of 2240 with respect to the Y-axis. The distance value is 97, which is larger and not obscured at the left and right data of the point, indicating that the position is The center line of the test trolley 200, that is, the position of the detection board 202. According to the above information, it can be determined that the horizontal position of the detection board 202 of the trolley 200 is at 1160, and the vertical position is at 2240. s position.

Then, it is possible to consider the position of X ₀ to 1160, the position of Y ₀ to 2240, as the home position of the present embodiment. The vertical initial position is the position of the horizontal position in the application. Since the height of the laser scanner 100 is substantially the same as the height of the object to be detected, the vertical initial position can be estimated to be 2240.

The present invention further provides an offset adjustment method when the laser scanner of the present invention is not located on the line of the forward line, that is, the mounting position of the guiding system and the approach path of the aircraft cannot be on the same line. To ensure the correctness of the model identification and guiding distance and offset detection. The principles and operational steps thereof are described below. Please refer to FIG. 6 and FIG. 7 , which are schematic top views of the offset adjustment of the present invention, and a flow chart thereof. The present invention is based on the principle of linear interpolation, the slope of the line is a fixed value, and the distance between the intermediate points is estimated.

As shown in FIG. 6, the feature and function of the present invention is that the position of the laser scanner 100 is not on the same line as the forward line F (for example, may be the approach guide line J), but is obliquely scanned in the approach. The point of the lead J. According to FIG. 7, at the beginning of the offset adjustment, step B10 selects the stop line S (refer to FIG. 6) on the forward line F as the position one, the distance of the point is D1, and the horizontal coordinate of the point is measured as X1. Step B20 selects a point on the forward line F as position two, the distance of this point is D2, and the horizontal coordinate of the point is measured as X2.

As shown in step B30, when the detected object advances to a predetermined point on the forward line F, assuming that the distance of the point is D, then the horizontal offset X at that time can be estimated in the following manner: The principle that the slope of the planting method on the straight line is a fixed value: (X-X1)/(X2-X1)=(D-D1)/(D2-D1); therefore the horizontal coordinate of the above predetermined point X=X1+((D -D1)/(D2-D1))*(X2-X1).

Next, as shown in step B40, if the measurement (Y) is continued, the process returns to step B30, and if the measurement (N) is not continued, the flow of the offset adjustment is ended.

According to the above method, the corresponding horizontal offset of each distance can be obtained when entering the field. When the guide wire J (J-LINE) and the laser beam are not set on the same line, regardless of whether the two lines are parallel lines, the corresponding offset of any position can be obtained according to this method.

In accordance with the recommendations of the International Civil Aviation Convention (ICAO) flight standard Annex 14 airport design and operation, when the distance from the centerline reaches the distance between the aircraft and the laser detection equipment by one percent, a deviation warning should occur. According to the method of the present invention, when the approach guide line J-LINE is offset from the laser beam by 9 degrees, the distance of the aircraft and the offset with respect to the J-LINE can be accurately measured and guided. .

The above are only the preferred embodiments of the present invention, and all changes and modifications made to the scope of the present invention should be within the scope of the present invention.

The specified representative diagram is a flowchart, so there is no symbolic description of the component.

Claims (6)

A method for correcting and positioning an aircraft approach guidance system, such that a horizontal angle of a laser beam to a specific position and a vertical angle parallel to the measurement ground can be correctly positioned, including the following steps: providing a laser scanner to generate The laser beam is directed to a mirror group; the mirror group is rotated along a horizontal axis and a vertical axis, respectively; the detected object located on a forward line is scanned; and the laser beam scanning range is set in a computer database The horizontal center coordinates and the vertical center coordinates; set the sampling interval of the laser beam along the horizontal direction; set the sampling interval of the laser beam along the vertical direction; perform sampling operations, respectively, along the above-mentioned central coordinates, respectively The sampling interval takes a plurality of scanning points along the horizontal direction and the vertical direction; performing a scanning operation, measuring each point according to the scanning point sampled above, and recording the measured distance; wherein the position of the laser scanner is The offset adjustment method is further performed on the line not on the above forward line, and the distance of a predetermined point is estimated by linear interpolation; the distance displayed according to each point Determine whether to change the above-mentioned center coordinates; and determining whether to adjust said sampling interval; To adjust the sampling interval, the sampling operations performed in step goes back, if necessary to adjust the sampling interval is completed. The method for correcting positioning of an aircraft approach guidance system according to claim 1, wherein the result of the scan operation is arranged in a matrix sequence, and the measured distance per point is displayed on a screen according to horizontal and vertical positions. The method for correcting positioning of an aircraft approach guidance system according to claim 2, wherein in the performing the sampling operation, the X-axis direction is from X ₀ -N ₁ *Xa to X ₀ +N ₁ *Xa, every other sampling The interval Xa takes a point; the Y-axis direction is from Y ₀ -N ₂ *Ya to Y ₀ +N ₂ *Ya, and a point is taken every other sampling interval Ya; wherein N ₁ and N ₂ are the number of points taken; 2*N ₁ +1)*(2*N ₂ +1) points. The method for correcting positioning of an aircraft approach guidance system according to claim 3, wherein N ₁ and N ₂ are the number of points taken, which is 5 to 7 points. The method for correcting positioning of an aircraft approach guidance system according to claim 1, wherein determining whether the central coordinate needs to be changed depends on whether the scan area is the location of the detected object. If so, re-set the horizontal and vertical center coordinates in the computer's database; if not, do not need to change the center coordinates. The method for correcting positioning of an aircraft approach guidance system according to claim 1, comprising the steps of: selecting a stop line on the forward line as position 1, the distance is D1, and measuring the horizontal coordinate of the point as X1; A point on the line is the position 2, the distance is D2, and the horizontal coordinate of the point is measured as X2; wherein when the object to be detected advances to the predetermined point on the forward line, assuming that the distance of the predetermined point is D; the predetermined point The horizontal coordinate X=X1+((D-D1)/(D2-D1))*(X2-X1).