WO2020228228A1 - 基于雷达轨迹构建机坪场面运动目标运行意图识别的方法 - Google Patents
基于雷达轨迹构建机坪场面运动目标运行意图识别的方法 Download PDFInfo
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- G—PHYSICS
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
- G08G5/065—Navigation or guidance aids, e.g. for taxiing or rolling
Definitions
- the invention belongs to the technical field of airport ramp control automation of civil aviation air traffic control (ATC), and specifically relates to a method for constructing an apron scene moving target operation intention recognition method based on a radar track.
- ATC civil aviation air traffic control
- A-SMGCS advanced surface activity guidance and control systems
- A-SMGCS advanced surface activity guidance and control systems
- the scene conflict warning cannot meet the requirements of the controller in advance warning. Therefore, avoiding aircraft intrusion on the operating runway and avoiding various operating conflicts on the taxiway mainly rely on the controller passing the scene Surveillance radar and visual observation are completed.
- the method of the present invention combines the power and kinematics models of the aircraft or vehicle, and analyzes the speed and position of the aircraft or vehicle during the entire navigation stage of the surface activity through the massive radar trajectory data based on Hadoop to construct the scene motion Target operation intention recognition model and real-time correction using actual trajectory data.
- the relevant verification work is completed in the actual engineering project, which lays the foundation for improving the prediction ability of surface movement target operation, so as to resolve potential conflicts in advance and protect the flight scene Safe operation.
- the purpose of the present invention is to provide a method for recognizing the operation intention of moving targets on the apron scene based on radar trajectories, so as to solve the problem of recognizing the operation intention and movement of aircraft or vehicles by the controller in the prior art. It is difficult to distinguish between various types of aircraft or vehicles in the actual environment by manually predicting the position, and the problem of large errors in the recognition of operational intentions and prediction of motion trajectories, high deviation of the prediction results, and low data availability.
- the method of the present invention for constructing the operation intention recognition of the moving target on the apron scene based on the radar trajectory includes the following steps:
- Step 2) According to the apron scene site environment, construct the scene operation intention model of the site. Based on the establishment of the navigation trail sample library (referred to as the navigation trail sample library), the navigation trail sample library Correlate with the scene operation intention model, mark out the operation intention model category of the navigation track sample database, and establish the moving target operation intention recognition model of the airport apron scene (referred to as this field).
- the navigation trail sample library referred to as the navigation trail sample library
- the navigation trail sample library Correlate with the scene operation intention model, mark out the operation intention model category of the navigation track sample database, and establish the moving target operation intention recognition model of the airport apron scene (referred to as this field).
- step 1) specifically includes:
- the operational target voyage record information in step 11) includes: operational target type (aircraft or vehicle), model (model or vehicle type), task type number (flight number or task order number), marking number (aircraft tail No./Landing time or license plate number/Task release time), track point, coordinate position, passing time, passing speed.
- the label number if the aircraft is composed of "tail number” and "departure time”, if it is an inbound flight, the landing time will be adopted, and if it is an outbound flight, the departure time will be adopted; ”And “Task release time”.
- trajectory data and routing plan are divided into two types: aircraft and vehicles;
- Track data (multiple pieces of data): target type (aircraft), task type number (flight number), track point, coordinate position, transit time, transit speed;
- Routing plan single piece of data: target type (aircraft), model (model), task type number (flight number), tail number, departure and landing time, gear shift time (or gear withdrawal time);
- the trajectory data and the routing plan are associated with the target type and the task type number. For example, the flight track data is recorded and the "passing time” is recorded.
- the routing plan records the data between the "landing time” and the “shifting time” ; If departing from the port, take the route plan to record the data between the "withdrawal gear time” and "departure time”.
- Track data (multiple data): target type (vehicle), task type number (task order number), track point, coordinate position, passing point time, passing point speed;
- Routing plan single piece of data: target type (vehicle), model (model), task type number (task order number), license plate number, task release time, task end time;
- the trajectory data and the routing plan are associated with the target type and the task type number, and the trajectory data is taken to record the "time over time” and the routing plan records the data between the "task release time” and the "task end time”.
- the step 13) specifically includes: the radar track three-dimensional position observation data adopts the WGS-84 coordinate system, B K is the longitude of the K track point in the WGS-84 coordinate system, and L K is the WGS-84 coordinate system.
- the latitude of the track point, H K is the height of the track point K in the WGS-84 coordinate system; the track is expressed as:
- X K is an ECEF coordinate system x-axis value
- Y K is ECEF coordinate system y-axis values
- Z K ECEF coordinate system is a z-axis value
- N e is a front vertical radius of curvature, e is the eccentricity of the earth ellipsoid
- a is the semi-major axis of the earth's ellipsoid, that is, the radius of the earth's equator, a is 6,378,137 meters;
- b is the semi-minor axis of the earth's ellipsoid, that is, the polar radius of the earth, and b is 635,6752.3 meters;
- the origin is the center of mass of the earth, and the track is expressed as:
- the acceleration a k is used to describe the acceleration and deceleration movement characteristics of the sailing track on the apron scene, the formula is as follows:
- V K and T K are respectively the "pass point speed” and "pass point time” in the voyage record information of the surface operation target.
- step 2) specifically includes:
- the movement intention change of the aircraft or vehicle is basically in the intersection area, with the intersection as the center, and the nearby area is set as the movement intention recognition area;
- the big data distributed system architecture is used to replace the traditional system architecture, which solves the problem that the traditional system architecture is difficult to operate on massive data, and obtains the operation results efficiently;
- the recognition model obtained through the support of big data replaces manual experience, combined with various types of aircraft and vehicle kinematics models, refines the classification of recognition models, reduces the unity of recognition attributes of the intention model, and improves the accuracy of prediction;
- the intention recognition model is continuously revised in real time based on actual data to further improve the accuracy of navigation prediction, make early plans for the next work, greatly reduce or even avoid scene conflicts, and improve scene operation safety.
- High-precision intention recognition and navigation prediction will improve the level of traffic safety and efficiency at the same time. To a certain extent, it will also increase the surface operation flow, reduce the workload of the controller, and improve the air transport service capability.
- Figure 1 is a road map of the airport apron scene
- Figure 2 shows the intention of the moving target moving from the intersection R11 through the four-fork road R1;
- Figure 3 is an example of a model diagram of the running target identifying the running intention with acceleration a k ;
- Figure 4 shows the running target in the example with the heading angle Identify the operational intent model diagram
- Figure 5 is a diagram of a geocentric and ground-fixed rectangular coordinate system.
- the method of the present invention combines aircraft or vehicle dynamics and kinematics models, and uses a large data Hadoop distributed computing framework based on massive surface radar trajectory data to analyze the speed, position and other information of the aircraft or vehicle during the entire navigation phase of surface activities.
- Establish a target feature set that combines target type, model, task and other attributes and acceleration, trajectory angle, motion stage and other motion characteristics; through offline training and online testing of target feature set and operation intention information, carry out the taxiing route of the target scene Intent analysis, constructing a recognition model for the operation intention of moving targets on the apron scene.
- the model involves the main key factors including target type, model, mission attribute, movement intention, position, heading angle (that is, the distance between the vertical axis of the aircraft and the space shuttle and the north pole of the earth). Included angle) and acceleration recognition range, etc., and use the motion intention recognition model of the present invention to correct the trajectory prediction in real time in real scenes, and achieve very good results, which lays the foundation for the research of new and comprehensive scene aircraft and vehicle trajectory prediction.
- the method for constructing a target operation intention recognition model based on the radar trajectory of a moving target on an apron scene of the present invention includes the following steps:
- Step 1) Hadoop-based aircraft or vehicle operation target feature set; the specific steps are as follows:
- each apron surface voyage record consists of the operating target type (aircraft or vehicle), model (model or model), and task type number (flight number or task order number) , Marking number (tail number/landing time or license plate number/task release time), track point, coordinate position, passing point time, passing point speed and other attributes.
- Delete invalid records with empty attributes in the record add the serial number field, and fill in the value for this activity target in order of the past time during the scene operation.
- Migrate the scene voyage records in nine dimensions of serial number, operation target type, model, task type number, label number, track point, coordinate position, transit time, and transit speed to the distributed database HBase of the Hadoop cluster;
- the Map process maps the original data stored in HBase to the voyage record information related to two track points.
- the specific information items of the intermediate data of the Map are shown in Table 2;
- the radar track three-dimensional position observation data adopts the WGS-84 coordinate system (WGS-84 coordinate system is the global coordinate system adopted globally, and the GPS broadcast satellite
- WGS-84 coordinate system is the global coordinate system adopted globally, and the GPS broadcast satellite
- B K is the longitude of the K track point in the WGS-84 coordinate system
- L K is the latitude of the K track point in the WGS-84 coordinate system
- H K is the WGS-84 coordinate Is the height of the K track point.
- the track is expressed as:
- Figure 5 shows the Earth-Centered, Earth-Fixed, or ECEF for short. It is a ground-fixed coordinate system (also known as the Earth coordinate system) with the center of the earth as its origin. ECEF coordinates The system is firmly connected to the earth and rotates with the earth.
- the origin O(0,0,0) is the center of mass of the earth
- the z-axis is parallel to the earth's axis and points to the north pole
- the x-axis points to the intersection of the prime meridian and the equator
- the y-axis is perpendicular to the xOz plane (that is, the intersection of 90 degrees east longitude and the equator).
- Right-handed coordinate system is a ground-fixed coordinate system (also known as the Earth coordinate system) with the center of the earth as its origin.
- ECEF coordinates The system is firmly connected to the earth and rotates with the earth.
- the origin O(0,0,0) is the center of
- X K is an ECEF coordinate system x-axis value
- Y K is ECEF coordinate system y-axis values
- Z K ECEF coordinate system is a z-axis value
- N e is a front vertical radius of curvature, e is the eccentricity of the earth ellipsoid
- a is the semi-major axis of the earth's ellipsoid, which is the radius of the earth's equator, which is 6378137 meters;
- b is the semi-major axis of the earth's ellipsoid, which is the polar radius of the Earth, which is 635,6752.3 meters;
- the origin is the center of mass of the earth, and the track is expressed as:
- Heading It is used to describe the turning maneuvering characteristics of the sailing track on the apron surface.
- the acceleration a k is used to describe the acceleration and deceleration movement characteristics of the sailing track on the apron scene, the formula is as follows:
- V K and T K are respectively the "pass point speed” and "pass point time” in the voyage record information of the surface operation target.
- the specific record information includes serial number, operation target type, model, task type number, label number, navigation Trace points, coordinate positions, passing point time, passing point speed, heading angle and acceleration, etc., are used as the basic data of the navigation motion intention recognition method.
- Step 2) According to the apron scene site environment, construct the scene operation intention model of the site. Based on the establishment of the navigation track sample database of the moving target apron scene, associate the sample library with the scene operation intention model and mark the moving target The operation intention model category of the navigation track sample database of the apron scene is established, and the operation intention recognition model of the moving target of the airport apron scene is established; the specific steps are as follows:
- the movement intent of the aircraft or vehicle is basically in the intersection area.
- the position marked by the black dot in the figure is the "movement intention recognition zone";
- the “movement intention recognition zone” is basically divided into three types: four forks, three forks and two forks.
- Figure 2 shows the movement change intention of the moving target from the intersection R11 through the four-fork road R1.
- I the road junction (or movement intention recognition area) number
- I the operation intention type number
- Table 3 is an example of the movement change intention model classification example of the moving target from the intersection R11 through the four-way road R1, as follows:
- the scene operation intention model library which mainly contains three attributes, namely the operation intention model number, road junction, and operation intention model description.
- the Reduce phase of the protocol model obtains the intermediate data of the Map, uses k-means (hard clustering algorithm), and calculates the heading angle and acceleration recognition range as the result information according to the type, model, task, movement intention, and position of the target.
- k-means hard clustering algorithm
- the recognition model mainly includes the operation target type, model, task, movement intention, position, and the recognition range of heading angle and acceleration, etc. .
- the four situation identification diagrams are based on the acceleration a k model and the heading angle Model combination recognition.
- the method of the present invention has been proved to be very effective through practice.
- the method constructs a scene motion intention recognition model for aircraft and vehicles.
- the model involves main key factors including target type, model, task attribute, motion intention, position, heading angle and acceleration recognition range, etc. , And use the motion intention recognition model of the present invention to correct the trajectory prediction in real time in real scenes, and achieve very good results, which lays the foundation for the research of new and comprehensive scene aircraft and vehicle trajectory prediction. It ensures the rapid and accurate intent recognition and trajectory operation prediction of the aircraft or vehicles that are active on the surface and about to move. While increasing the surface operating flow and reducing the workload of the controller, it effectively improves the level of airport traffic safety and efficiency. .
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- 一种基于雷达轨迹构建机坪场面运动目标运行意图识别的方法,其特征在于,包括步骤如下:步骤1):基于Hadoop的航空器或车辆运行目标特征集;步骤2):根据机坪场面场地环境,构建该场地的场面运行意图模型,在运动目标机坪场面航行航迹样本库建立的基础上,把航行航迹样本库与场面运行意图模型进行关联,标注出航行航迹样本库所属运行意图模型类别,建立该机场机坪场面的运动目标运行意图识别模型。
- 根据权利要求1所述的基于雷达轨迹构建机坪场面运动目标运行意图识别的方法,其特征在于,所述步骤1)具体包括:11)对机坪场面航空器或车辆的航迹点记录的航迹数据做融合处理,处理后的数据与相应的运行路由计划信息匹配,建立场面运行目标航程记录信息;12)利用任务类型号和标示号作为唯一性标识,按序列号排序相隔一个航迹点的两个航迹点航程记录信息构建数据文件的映射模型;13)建立运动目标机坪场面航迹点之间的航向角算法模型;14)保存Reduce阶段结果数据作为运动目标机坪场面航行航迹样本库,建立运动目标机坪场面运行航迹样本库。
- 根据权利要求2所述的基于雷达轨迹构建机坪场面运动目标运行意图识别的方法,其特征在于,所述步骤11)中运行目标航程记录信息包括:运行目标类型、型号、任务类型号、标示号、航迹点、坐标位置、过点时间、过点速度。
- 根据权利要求2所述的基于雷达轨迹构建机坪场面运动目标运行意图识别的方法,其特征在于,所述步骤13)具体包括:雷达航迹三维位置观测数据采用WGS-84坐标系,B K为WGS-84坐标系K航迹点的经度,L K为WGS-84坐标系K航迹点的纬度,H K为WGS-84坐标系K航迹点的高度;航迹表示为:Traj K={B K,L K,H K},K=1,...,N首先将WGS-84坐标系转换到地心地固直角坐标系ECEF,转换公式如下:X K=(N e+H K)COS(L k)COS(B K)Y K=(N e+H K)COS(L K)SIN(B K)Z K=(N e(1-e 2)+H K)SIN(L K)式中,X K是ECEF坐标系x轴值;Y K是ECEF坐标系y轴值;Z K是ECEF坐标系z轴值; N e是主垂直面的曲率半径, e是地球椭球偏心率, a是地球椭球的长半轴,即地球赤道半径,b是地球椭球的短半轴,即地球极半径;在ECEF坐标系下,原心为地球质心,航迹表示为:Traj K={X K,Y K,Z K},K=1,...,N加速度a k用来描述航行航迹在机坪场面上加减速运动特征,公式如下:式中,V K和T K分别为场面运行目标航程记录信息中过点速度及过点时间。
- 根据权利要求1所述的基于雷达轨迹构建机坪场面运动目标运行意图识别的方法,其特征在于,所述步骤2)具体包括:21)以交叉点为中心,设定附近区域为运动意图识别区;22)分析各类运动意图识别区的特点,对运动意图识别区的运行意图类型进行分类;23)把航行航迹样本库、运动意图识别区与场面运行意图模型进行关联,标注出航行航迹样本库所属运行意图模型类别;24)保存Reduce阶段结果数据作为经验数据模型,利用运行目标特征集、模拟或实时采录现场航迹运行数据去修正,同时结合航空器或车辆的运动学模型,通过运行意图信息的离线训练与在线测试开展自我学习,保证识别模型的完整性和唯一性,最终建立该机场机坪场面运动目标运行意图识别模型。
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