Vehicle and aircraft anti-collision method and system based on 5G AeroMACS communication

Abstract

The invention relates to the technical field of civil aviation, in particular to a vehicle and aircraft anti-collision method and system based on 5G AeroMACS communication, and the method mainly comprises the steps: building an aircraft position data analysis and processing model on a cloud intelligent analysis and processing server; performing real-time analysis and calculation on position data predicted in a plurality of time ranges at present and in the future in the running process of the aircraft and the vehicle through an aircraft position data analysis and processing model in combination with the first basic data and the second basic data; according to the system, the conditions of impending or potential collision risks and the like are analyzed to obtain a result whether the collision risks exist or not, and a disposal or route adjustment scheme is generated, so that the system can guarantee the airport operation safety to the maximum extent, and the safety management requirements of vehicles are guaranteed; in particular, collisions between ground vehicles and obstacles, in particular aircraft, are prevented.

Description

Technical Field

[0001] The present invention relates to the field of civil aviation technology, and in particular to a vehicle and aircraft collision avoidance method and system based on 5G AeroMACS communication. Background Art

[0002] In the current development context of civil aviation, safety and efficiency have become the core demands of airport operation management. In the existing technology, the airport's increasingly complex and busy ground operation environment, especially the collision risk between special vehicles responsible for ground operation support and aircraft, exists.

[0003] The traditional intelligent terminal cannot stably maintain centimeter-level positioning accuracy. When used in airport environments, large positioning errors often occur. Anti-collision detection based on positioning data with large errors will result in a large number of false alarms or missed alarms. Traditional solutions generally use 4G public networks or airport-built LTE private networks for data transmission. When using 4G public networks, there is a risk of data leakage in the process of related data transmission. The cost of traditional LTE private networks is high and the available bandwidth is relatively limited. When used in scenarios such as risk warnings with high data analysis and processing delay requirements, there will be problems with delayed alarm information generation, which seriously affects the timely discovery of collision risks during operation. In traditional solutions, the edge side lacks computing power support and there is no corresponding artificial intelligence algorithm to assist in the deployment of cloud-based solutions. Therefore, it can only generate alarms for vehicle and aircraft collisions in simple scenarios. Faced with the increasingly complex airport airside operating environment, it is often unable to issue timely alarms for operational safety risks due to the lack of computing power and algorithm support. Summary of the invention The purpose of the present invention is to provide a vehicle and aircraft collision avoidance method and system based on 5G AeroMACS communication to solve the above-mentioned problems in the prior art.

[0004] The present invention is achieved through the following technical solutions: In a first aspect, the present invention provides a vehicle and aircraft collision avoidance method based on 5G AeroMACS communication, comprising: Acquire the first basic data of the current vehicle and the second basic data of the aircraft, and transmit the first basic data and the second basic data back to the cloud-based intelligent analysis and processing server through the 5G AeroMACS wireless network; Establishing an aircraft position data analysis and processing model on a cloud-based intelligent analysis and processing server, and combining the first basic data and the second basic data with the aircraft position data analysis and processing model to perform real-time analysis and calculation on the predicted position data of the aircraft and the vehicle during the current and future time periods during the operation process; Analyze the risk of impending or potential collisions, obtain the result of whether there is a collision risk, and generate a disposal or route adjustment plan; If the current cloud-based intelligent analysis and processing server determines that there is a collision risk, an alarm signal is sent to the vehicle's on-board terminal and airside operation management terminal via the 5G AeroMACS network.

[0005] Preferably, the obtaining of the first basic data of the current vehicle includes: Calculate the vehicle's own earth coordinate data and predict the next moment's position through the Kalman prediction algorithm;

[0006] in, and Respectively represent the horizontal and vertical coordinates of the current calculation vehicle on the earth, represents the average radius of the Earth, Indicates the current latitude of the vehicle. Indicates the current longitude of the vehicle; The calculated earth coordinate data of the current vehicle itself is stored locally and transmitted to the server via the 5G AeroMACS wireless network.

[0007] Preferably, it also includes: If the vehicle-mounted terminal of the current vehicle also receives the latest position information of other adjacent vehicles or aircraft transmitted through 5G AeroMACS, it determines whether the adjacent vehicle or aircraft appears for the first time relative to the current vehicle; If it appears for the first time, create a new data storage item to store the data, otherwise update the data to the existing data item; If the vehicle-mounted terminal of the current vehicle does not receive the position information of the adjacent vehicle or aircraft again within a certain period of time, it means that the adjacent vehicle or aircraft has left the communication range of the current vehicle, and the stored related data is deleted.

[0008] Preferably, the step of establishing an aircraft position data analysis and processing model comprises: Establish a safety distance model to obtain the horizontal acceleration or vertical acceleration of two current targets, where the targets include vehicles or aircraft; Performing a definite integral on the horizontal acceleration or the vertical acceleration to obtain a first functional relationship of the horizontal velocity or the vertical velocity with respect to time, and performing a definite integral on the first functional relationship to obtain a second functional relationship of the relative horizontal distance or the vertical distance of the two targets with respect to time; Substituting the first functional relationship and the second functional relationship into the safety distance model, a horizontal safety distance or a vertical safety distance varying with time is obtained; A first model of the relative displacement difference of the two targets in the horizontal direction minus the horizontal safety distance and a second model of the relative displacement difference of the two targets in the vertical direction minus the vertical safety distance are established; The first model and the second model are solved to output the result of whether an alarm signal is issued.

[0009] Preferably, performing definite integration on the horizontal acceleration to obtain a first functional relationship of the horizontal velocity with respect to time comprises:

[0010]

[0011]

[0012]

[0013]

[0014]

[0015] In the formula, is the first function of horizontal velocity with respect to time, is the first function of vertical velocity with respect to time, Target and target The relative horizontal velocity, Target and target The relative vertical velocity, To predict the time, is the horizontal acceleration, is the vertical acceleration, is the first calculation factor of relative horizontal velocity, is the second calculation factor of relative horizontal velocity, is the third calculation factor of relative vertical velocity ， is the fourth calculation factor of relative vertical velocity, For passing Time, target The predicted horizontal acceleration, For passing Time, target The predicted vertical acceleration, For passing Time, target The predicted horizontal acceleration, For passing Time, target The predicted vertical acceleration, Target The current horizontal acceleration, Target The current vertical acceleration, Target The current horizontal acceleration, Target The current vertical acceleration, The data collection cycle.

[0016] Preferably, obtaining the second functional relationship of the relative horizontal distance between the two targets with respect to time includes:

[0017]

[0018] In the formula, Target and target The relative displacement difference in the horizontal direction, Target and target The relative displacement difference in the vertical direction, Target and target The relative horizontal distance, Target and target The relative vertical distance.

[0019] Preferably, the horizontal safety distance or vertical safety distance that varies with time includes:

[0020]

[0021] In the formula, is the horizontal safety distance that varies with time, is the vertical safety distance that changes with time, is the fifth calculation factor, is the sixth calculation factor, is the seventh calculation factor, is the eighth calculation factor, is the ninth calculation factor, is the tenth calculation factor, is the eleventh calculation factor, is the twelfth calculation factor, is the thirteenth calculation factor, is the fourteenth factor, is the maximum deceleration, is the growth time of braking deceleration, The driver's reaction time, Brake coordination time.

[0022] Preferably, the first model and the second model include:

[0023]

[0024]

[0025]

[0026] In the formula, For the first model, For the second model.

[0027] Preferably, the analysis of the risk of an impending or potential collision includes: Solution and If there is no positive real root, no alarm operation will be performed; If there are positive real roots, select several positive real roots and substitute them into and Solve to obtain the function value, and determine whether the function value is less than zero, and obtain the horizontal and vertical solutions to form a horizontal interval and the vertical interval ; judge and Whether there is an intersection or not, if there is no intersection, there is no positive real number solution, and the alarm operation is not executed. If there is an intersection, the collision prediction time of the target object is calculated to determine whether the collision prediction time is less than the alarm threshold time. If so, the alarm is executed, if not, the alarm operation is not executed.

[0028] In a second aspect, the present invention further provides a vehicle and aircraft collision avoidance system based on 5G AeroMACS communication, comprising: An information acquisition module is configured to acquire first basic data of the current vehicle and second basic data of the aircraft, and transmit the first basic data and the second basic data back to a cloud-based intelligent analysis and processing server via a 5G AeroMACS wireless network; The server module is configured to establish an aircraft position data analysis and processing model on a cloud-based intelligent analysis and processing server, and to perform real-time analysis and calculation on the predicted position data of the aircraft and the vehicle during the operation of the aircraft and the vehicle within the current and future time periods by combining the first basic data and the second basic data with the aircraft position data analysis and processing model; The analysis module is configured to analyze the risk of an impending or potential collision, obtain the result of whether there is a collision risk, and generate a disposal or route adjustment plan. If the current cloud-based intelligent analysis and processing server determines that there is a collision risk, an alarm signal is sent to the vehicle's onboard terminal and the airside operation management terminal through the 5G AeroMACS network; A main control device, the main control device is connected to the information acquisition module, the server module and the analysis module, and is used to execute the above-mentioned vehicle and aircraft collision avoidance method based on 5G AeroMACS communication.

[0029] The technical solution of the present invention has at least the following advantages and beneficial effects: The 5G AeroMACS wireless network is used for data transmission instead of the traditional 4G public network and LTE private network. It provides a secure and reliable data transmission link and high-bandwidth and low-latency transmission quality, which can effectively reduce the risk of data leakage generated at the communication link level and reduce the delay generated during data transmission. When risks are discovered, early warnings and alerts can be given to relevant parties in a timely manner, which can greatly reduce the safety risks of airport airside operations. The multi-source fusion centimeter-level high-precision vehicle terminal is used to stably maintain the vehicle's positioning accuracy at the centimeter level. In the complex scenario of airport airside operation, it can effectively reduce the drift of position data and obtain the real-time and accurate position data and travel data of the vehicle, which can make the risk analysis and judgment more accurate and effectively reduce the risk of underreporting or misreporting. Through the cloud-edge collaborative artificial intelligence analysis solution, artificial intelligence computing algorithms can be reasonably distributed and deployed according to the operating needs of different scenarios. Algorithms that need to respond in a timely manner and have low computing power requirements can be deployed on the end side to facilitate faster response information and facilitate rapid processing by the driver. For scenarios that require higher computing power to comprehensively analyze and judge multiple data, analysis and judgment can be performed through cloud-based intelligent analysis services, which can make analysis and prediction more accurate, further improving the timeliness and accuracy of safe production operation risk alerts. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] The terms "first, second" and the like in the specification and claims of this application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. The naming or numbering of steps in this application does not mean that the steps in the method flow must be executed in the time / logical sequence indicated by the naming or numbering. The named or numbered process steps can be changed in the execution order according to the technical purpose to be achieved, as long as the same or similar technical effects can be achieved.

[0034] The modules or submodules described independently may be physically separated or not: they may be implemented by software or hardware, and some modules or submodules may be implemented by software, and the processor may call the software to implement the functions of these modules or submodules, and other modules or submodules may be implemented by hardware, such as by hardware circuits. In addition, some or all of the modules may be selected according to actual needs to achieve the purpose of the present application.

[0035] Please refer to Figure 1 The present invention provides a vehicle and aircraft collision avoidance method based on 5G AeroMACS communication, which is used in the airside operation management of airports. It is a collision avoidance safety system between special vehicles and various static and moving targets such as special vehicles, buildings, and aircraft during airside operation. The system can maximize the safety management requirements of airport operation safety and vehicle safety, especially preventing collisions between ground vehicles and obstacles, especially aircraft.

[0036] It mainly transmits the results from the aircraft ground positioning device to the cloud intelligent analysis and processing server, and then from the cloud intelligent analysis and processing server to the 5G AeroMACS communication terminal, and the 5G AeroMACS communication terminal transmits the results to the vehicle-mounted intelligent positioning terminal. The control methods involved are as follows: S101: Acquire first basic data of the current vehicle and second basic data of the aircraft, and transmit the first basic data and the second basic data back to a cloud-based intelligent analysis and processing server via a 5G AeroMACS wireless network; Multi-source fusion centimeter-level high-precision vehicle terminals and 5G AeroMACS communication terminals are installed on different types of special vehicles used for operation service support at the airport airside, so that the location, video and other data collected by the vehicle terminals and the data results after edge-side analysis and calculation can be transmitted back to the cloud-based intelligent analysis and processing server through the 5G AeroMACS wireless network; Through the dedicated network between the airport and air traffic control, the real-time position data and aircraft-related data of the aircraft during ground taxiing are also transmitted to the cloud-based intelligent analysis and processing server. The source-fused centimeter-level high-precision vehicle-mounted terminal has the following capabilities: the ability to provide continuous and stable centimeter-level positioning accuracy; the ability to provide edge computing power that can perform intelligent analysis and processing at the edge of the vehicle terminal; and the ability to integrate data from multiple positioning sensors, mainly GNSS positioning and navigation.

[0037] The above-mentioned 5G AeroMACS communication system consists of the following two parts: 5G AeroMACS base station: provides 5G AeroMACS wireless signals and corresponding wireless access management capabilities for wireless communication equipment in the airport; 5G AeroMACS communication terminal: provides smart vehicle-mounted terminals with the ability to access the 5G AeroMACS wireless communication network.

[0038] The above-mentioned cloud-based intelligent analysis and processing server consists of the following parts: Server hardware equipment with artificial intelligence computing power is deployed in the airport IDC airport environment; a data base service platform that can carry real-time massive data is deployed; a series of intelligent analysis and reasoning algorithms such as dynamic data analysis, real-time location prediction, path planning, intelligent collision prediction, comprehensive risk assessment, and intelligent decision analysis are deployed.

[0039] The real-time position data of the above-mentioned aircraft during ground taxiing is usually located by the scene surveillance radar or multi-point positioning equipment built by the air traffic control, and the real-time position data is transmitted to the cloud-based intelligent analysis and processing server through the dedicated network between the air traffic control and the airport to participate in artificial intelligence analysis.

[0040] It should be noted that this solution is not only aimed at collision warnings between vehicles and aircraft, but also at warnings between vehicles and between aircraft.

[0041] S102: Establishing an aircraft position data analysis and processing model on a cloud-based intelligent analysis and processing server, and combining the first basic data and the second basic data with the aircraft position data analysis and processing model to perform real-time analysis and calculation on the position data predicted within the current and future time periods during the operation of aircraft and vehicles; Through the aircraft position data parsing and processing program running on the cloud-based intelligent analysis and processing server, combined with the data sent back by the on-board terminal, and through the relevant intelligent analysis algorithms deployed on it, the position data of the aircraft and vehicle in the current and future short time ranges during operation are analyzed and calculated in real time, the risks of impending or potential collisions are analyzed, and feasible disposal or route adjustment plans are generated.

[0042] S103: Analyze the risk of a collision that is about to occur or that may occur, obtain a result of whether there is a collision risk, and generate a disposal or route adjustment plan; S104: If the current cloud-based intelligent analysis and processing server determines that there is a collision risk, an alarm signal is sent to the vehicle's onboard terminal and the airside operation management terminal via the 5G AeroMACS network.

[0043] When the cloud-based intelligent analysis and processing server determines that there is a potential collision risk, it will push the warning information and disposal plan to the corresponding vehicle terminal device through the 5G AeroMACS network, and at the same time send a warning notification to the airside operation management personnel; When the vehicle terminal device receives the warning information and treatment plan pushed by the cloud intelligent analysis and processing server, the terminal-configured display device or the supporting APP software will display the warning reminder and treatment plan to the driver, reminding the driver of the potential collision risk and the adjusted driving plan, so that the driver can deal with it in time to avoid the collision risk; After receiving the warning notification of potential collision risk, the airside operation management personnel will promptly inform the aircraft pilot of the potential risk information through UHF / VHF intercom and remind the aircraft to pay attention to risk avoidance.

[0044] In an exemplary embodiment of the present invention, obtaining the first basic data of the current vehicle includes: Calculate the vehicle's own earth coordinate data and predict the next moment's position through the Kalman prediction algorithm; The positioning module of the vehicle-mounted positioning terminal device collects and outputs the longitude and latitude every 1 second, using the following classic calculation formula for earth coordinates:

[0045] in, and Respectively represent the horizontal and vertical coordinates of the current calculation vehicle on the earth, represents the average radius of the Earth, Indicates the current latitude of the vehicle. Indicates the current longitude of the vehicle; The calculated earth coordinate data of the current vehicle itself is stored locally and transmitted to the server via the 5G AeroMACS wireless network; In this embodiment, if the vehicle-mounted terminal of the current vehicle also receives the latest position information of other adjacent vehicles or aircraft transmitted via 5G AeroMACS, it is determined whether it is the first appearance relative to the current vehicle; If it appears for the first time, create a new data storage item to store the data, otherwise update the data to the existing data item; If the vehicle-mounted terminal of the current vehicle does not receive the location information of the adjacent vehicle or aircraft again within a certain period of time, it means that the adjacent vehicle or aircraft has left the communication range of the current vehicle, and the stored related data is deleted.

[0046] Secondly, the Kalman prediction algorithm is used to predict the position at the next moment, including: after the latest position information of the own vehicle and its surrounding vehicles or aircraft is known, the Kalman prediction algorithm is used to predict the horizontal and vertical state information of the own vehicle and the surrounding vehicles or aircraft at the next moment. As The vehicle driving status at the time, Respectively represent the horizontal or vertical position, velocity and acceleration of the vehicle at time t, For vehicles in The matrix of position, velocity and acceleration in the horizontal or vertical direction at any moment will be executed cyclically with the continuous input of measurement values ​​during operation, and the prediction value of the next moment in the horizontal and vertical directions can be continuously output.

[0047] In an exemplary embodiment of the present invention, establishing an aircraft position data analysis and processing model includes: Establish a safety distance model to obtain the horizontal acceleration or vertical acceleration of two current targets, where the targets include vehicles or aircraft; Performing a definite integral on the horizontal acceleration or the vertical acceleration to obtain a first functional relationship of the horizontal velocity or the vertical velocity with respect to time, and performing a definite integral on the first functional relationship to obtain a second functional relationship of the relative horizontal distance or the vertical distance of the two targets with respect to time; Substituting the first functional relationship and the second functional relationship into the safety distance model, a horizontal safety distance or a vertical safety distance varying with time is obtained; A first model of the relative displacement difference of the two targets in the horizontal direction minus the horizontal safety distance and a second model of the relative displacement difference of the two targets in the vertical direction minus the vertical safety distance are established; The first model and the second model are solved to output the result of whether an alarm signal is issued.

[0048] In this embodiment, since the working environment of the civil aviation terminal is relatively closed, the prediction and judgment of the collision state can be simplified accordingly. From the perspective of the algorithm, it is mainly considered that no matter how the vehicle drives, the result of the collision will be that the positions of the two vehicles or the vehicle and the aircraft will overlap. Considering the high requirements of the airport for operational safety, a safe distance value will be superimposed on the positions of the vehicle and the aircraft to predict and judge the collision state, so as to avoid untimely judgment. According to the simplified scenario, the collision behavior of the vehicle can be decomposed and judged from the horizontal direction and the vertical direction respectively.

[0049] Based on the value at the current moment and the predicted value at the next moment, five situations are analyzed: no change in the horizontal or vertical state, overlap of predicted trajectories for driving in the same direction, overlap of predicted trajectories for driving in opposite directions, no collision in the opposite direction, and non-overlap of predicted driving trajectories. It is determined whether a collision will definitely occur or not, and an alarm is made or not.

[0050] Case 1: When the data of two vehicles or aircraft have no velocity and acceleration in the horizontal direction, that is, When ,in, represents the safety distance value, the predicted trajectories of the two vehicles or aircraft in the horizontal direction will overlap, and further judgment of the vertical direction is required, otherwise no collision will occur. Target The next moment's position, Target The current position, Target The next moment's position, Target The current position.

[0051] Case 2: When two vehicles or aircraft are traveling in the same direction, if the next moment predicted position of the vehicle traveling behind is ahead of the next moment predicted position of the other vehicle or aircraft, then , the horizontal predicted trajectories of the two vehicles or aircraft will overlap.

[0052] Case 3: When two vehicles or aircraft are traveling in opposite directions and the straight line from the current position of the current vehicle to the predicted position at the next moment overlaps with the straight line from the current position of the other vehicle or aircraft to the predicted position at the next moment, the condition is satisfied. , the horizontal predicted trajectories of the two vehicles or aircraft will overlap.

[0053] Case 4: When two vehicles or aircraft are traveling in different directions, and the straight line from the current position of the current vehicle to the predicted position at the next moment does not overlap with the straight line from the current position of the other vehicle or aircraft to the predicted position at the next moment, the condition is satisfied. , no collision will occur.

[0054] Case 5: When at the next moment, the target and target If the predicted trajectories in the horizontal direction do not overlap, subsequent processing needs to be continued and judgment needs to be made continuously.

[0055] The acceleration of the vehicle during braking will change over time. Indicates the driver's reaction time (usually 0.7 to 1.5 seconds), Indicates the coordination time of the brake (usually 0.5s), Indicates the growth time of braking deceleration, Indicates the maximum deceleration (direction is opposite to the current vehicle speed). Usually when the vehicle is in emergency braking, Generally 7.5 to 8 , when the vehicle is braking normally, it is usually 3 to 5 The safe distance between vehicles or aircraft mainly includes three parts. The following is an example of the safe distance in the horizontal direction: (1) Time, the first horizontal displacement It can be expressed as:

[0056] in, Indicates the horizontal speed of the current vehicle at the current moment. Indicates the horizontal acceleration of the current vehicle at the current moment.

[0057] (2) During the time period, its horizontal acceleration is:

[0058] The horizontal velocity can be expressed as:

[0059] in, is the horizontal acceleration, is the horizontal speed, is the current acceleration.

[0060] in, is related to the friction coefficient of the road. Then the second horizontal displacement It is expressed as:

[0061] (3) During the time period, the horizontal acceleration is constant , until the velocity drops to zero, then the third horizontal displacement for:

[0062] (4) The sum of the horizontal displacements in all the above stages, i.e. the horizontal safety distance for:

[0063] Similarly, the vertical safety distance can be obtained ,in, is the vertical speed, is the vertical acceleration.

[0064] In the actual operation of the airport, when a vehicle or aircraft is driving on the ground, the acceleration is not fixed. Assuming that the acceleration changes linearly and there will be no collision within the next 1 second, the target objects involved in the collision state prediction are and target The horizontal acceleration is:

[0065]

[0066] in, represents the prediction time, and Respectively represent the known current target and target The horizontal acceleration, and Respectively represent the target after k time and target Horizontal acceleration.

[0067] Taking target B as the reference object, the relative horizontal acceleration of target A is:

[0068] in, , .

[0069] The relative horizontal speed at the current moment is , then the definite integral of the horizontal variable acceleration can be used to obtain the change of horizontal velocity with respect to time:

[0070]

[0071]

[0072]

[0073]

[0074]

[0075] In the formula, is the first function of horizontal velocity with respect to time, is the first function of vertical velocity with respect to time, Target and target The relative horizontal velocity, Target and target The relative vertical velocity, To predict the time, is the horizontal acceleration, is the vertical acceleration, is the first calculation factor of relative horizontal velocity, is the second calculation factor of relative horizontal velocity, is the third calculation factor of relative vertical velocity ， is the fourth calculation factor of relative vertical velocity, For passing Time, target The predicted horizontal acceleration, For passing Time, target The predicted vertical acceleration, For passing Time, target The predicted horizontal acceleration, For passing Time, target The predicted vertical acceleration, Target The current horizontal acceleration, Target The current vertical acceleration, Target The current horizontal acceleration, Target The current vertical acceleration, The data collection cycle.

[0076] Specifically, the relative horizontal distance at the current moment is , the second functional relationship of the relative horizontal distance between the two targets with respect to time is obtained, comprising:

[0077]

[0078] In the formula, Target and target The relative displacement difference in the horizontal direction, Target and target The relative displacement difference in the vertical direction, Target and target The relative horizontal distance, Target and target The relative vertical distance.

[0079] Specifically, and Substitute into the safety distance model ,Will and Substitute into the safety distance model , the horizontal safety distance that varies with time includes or the vertical safety distance:

[0080]

[0081] In the formula, is the horizontal safety distance that varies with time, is the vertical safety distance that changes with time, is the fifth calculation factor, is the sixth calculation factor, is the seventh calculation factor, is the eighth calculation factor, is the ninth calculation factor, is the tenth calculation factor, is the eleventh calculation factor, is the twelfth calculation factor, is the thirteenth calculation factor, is the fourteenth factor, is the maximum deceleration, is the growth time of braking deceleration, The driver's reaction time, Brake coordination time.

[0082] In one embodiment of the present invention, the first model and the second model include:

[0083]

[0084]

[0085]

[0086] In the formula, For the first model, For the second model.

[0087] Specifically, the analysis of the risk of an impending or potential collision includes: Solution and If there is no positive real root, no alarm operation will be performed; If there are positive real roots, select several positive real roots and substitute them into and Solve to obtain the function value, and determine whether the function value is less than zero, and obtain the horizontal and vertical solutions to form a horizontal interval and the vertical interval ; judge and Whether there is an intersection or not, if there is no intersection, there is no positive real number solution, and the alarm operation is not executed. If there is an intersection, the collision prediction time of the target object is calculated to determine whether the collision prediction time is less than the alarm threshold time. If so, the alarm is executed, if not, the alarm operation is not executed.

[0088] In the actual operation process: Step 1: Use the root-finding formula of the quartic equation to solve the function If there is no positive real root, it means that when k ≥ 0, the function There is no intersection with the x-axis. Substitute 0 to determine the function value in the interval k≥0. If the function value is greater than 0, there is no positive real number solution, jump to step 4, otherwise the solution is the interval k≥0. positive real number solutions, then sort these positive real number roots and 0 from small to large, and we can get , select -2, and common Substitute the value into the function, calculate the function value and determine whether the function value is less than zero, obtain a positive real number solution less than zero, and thus obtain the horizontal solution, that is, the interval , for positive real number solutions, is the selected positive real solution.

[0089] Step 2: Use the method in step 1 to calculate the inequality If there is no positive physical solution, jump to step 4, otherwise obtain the vertical solution, that is, the interval .

[0090] Step 3: If the interval and If there is no intersection, there is no positive physical solution, jump to step 4, otherwise calculate the infimum , which is the collision prediction time of the target object.

[0091] Step 4: If there is no positive real number solution, it means that collision is impossible and no alarm operation is performed. Otherwise, the judgment and alarm threshold time When When the alarm is triggered, the terminal outputs an alarm signal through the voice warning module.

[0092] The present invention also provides a vehicle and aircraft collision avoidance system based on 5G AeroMACS communication, comprising: An information acquisition module is configured to acquire first basic data of the current vehicle and second basic data of the aircraft, and transmit the first basic data and the second basic data back to a cloud-based intelligent analysis and processing server via a 5G AeroMACS wireless network; The server module is configured to establish an aircraft position data analysis and processing model on a cloud-based intelligent analysis and processing server, and to perform real-time analysis and calculation on the predicted position data of the aircraft and the vehicle during the operation of the aircraft and the vehicle within the current and future time periods by combining the first basic data and the second basic data with the aircraft position data analysis and processing model; The analysis module is configured to analyze the risk of an impending or potential collision, obtain the result of whether there is a collision risk, and generate a disposal or route adjustment plan. If the current cloud-based intelligent analysis and processing server determines that there is a collision risk, an alarm signal is sent to the vehicle's onboard terminal and the airside operation management terminal through the 5G AeroMACS network; A main control device, the main control device is connected to the information acquisition module, the server module and the analysis module, and is used to execute the above-mentioned vehicle and aircraft collision avoidance method based on 5G AeroMACS communication.

[0093] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0094] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. The computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0095] The system and method provided by the present invention include the following effective effects: Integration of centimeter-level high-precision positioning and tracking technology: The system fully utilizes the low latency characteristics and high-precision time synchronization capabilities of the 5G AreoMACS network, combined with the powerful positioning capabilities of the multi-source positioning and navigation data fusion system with the Beidou satellite navigation system as the main data element, to achieve real-time, continuous, and high-precision ground vehicle position tracking. This technology not only provides stable centimeter-level positioning accuracy, but also has excellent environmental adaptability and anti-interference capabilities, laying a solid foundation for subsequent data analysis and decision-making.

[0096] Dynamic data analysis and intelligent collision prediction module: Based on the intelligent computing capabilities of cloud-edge collaboration, the system has built a high-performance data processing center, using big data analysis, pattern recognition and deep learning algorithms to deeply mine and analyze the massive real-time data collected (including but not limited to vehicle speed, heading, location, surrounding environment perception information and aircraft location data). Through the real-time processing of these data, the system can accurately identify potential collision paths, use advanced prediction models to give early warnings, and leave valuable time for operators to take risk avoidance measures.

[0097] Highly integrated 5G AeroMACS communication architecture: In order to ensure high-speed and stable transmission of information, this system has designed a 5G AeroMACS communication network that is compatible with multiple standards, supports high bandwidth and low latency. This network can not only carry real-time video monitoring and high-definition voice calls, but also realize instantaneous interaction of control commands, thereby establishing a seamless and efficient communication bridge between ground vehicles, aircraft and airside safety management personnel, greatly enhancing the flexibility and reliability of air-ground collaborative work.

[0098] Intelligent risk assessment and proactive response strategies: The system is embedded with a highly intelligent risk assessment algorithm that can dynamically assess the severity of each potential collision event based on real-time monitoring data and historical data analysis results, and quickly trigger the corresponding prevention mechanism. This includes but is not limited to automatic vehicle braking, path planning optimization, emergency avoidance instructions, etc., aiming to minimize or even eliminate the occurrence of collision accidents while maintaining the smooth operation of airport airside operation service support.

[0099] In summary, the present invention has built a comprehensive, highly intelligent and responsive airport operation support vehicle and aircraft ground taxiing collision avoidance system by deeply integrating 5G AeroMACS technology, high-precision satellite positioning and navigation technology and modern information technology. It not only meets the high standards for high-quality and safe development of civil aviation, but also provides a practical case for reference for the communication system technology upgrade and ground safety assurance of domestic civil aviation smart airports.

[0100] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vehicle and aircraft collision avoidance method based on 5G AeroMACS communication, characterized in that: include: Acquire the first basic data of the current vehicle and the second basic data of the aircraft, and transmit the first basic data and the second basic data back to the cloud-based intelligent analysis and processing server through the 5G AeroMACS wireless network; Establishing an aircraft position data analysis and processing model on a cloud-based intelligent analysis and processing server, and combining the first basic data and the second basic data with the aircraft position data analysis and processing model to perform real-time analysis and calculation on the predicted position data within the current and future time ranges during the operation of aircraft and vehicles; Analyze the risk of impending or potential collision, obtain the result of whether there is a collision risk, and generate a disposal or route adjustment plan; If the current cloud-based intelligent analysis and processing server determines that there is a collision risk, an alarm signal will be sent to the on-board terminal and the airside operation management terminal via the 5G AeroMACS network.

2. A vehicle and aircraft collision avoidance method based on 5G AeroMACS communication according to claim 1, characterized in that: The obtaining of the first basic data of the current vehicle comprises: Calculate the vehicle's own earth coordinate data and predict the next moment's position through the Kalman prediction algorithm; in, and Respectively represent the horizontal and vertical coordinates of the current calculation vehicle on the earth, represents the average radius of the Earth, Indicates the current latitude of the vehicle. Indicates the longitude of the current vehicle; The calculated earth coordinate data of the current vehicle itself is stored locally and transmitted to the server via the 5G AeroMACS wireless network.

3. A vehicle and aircraft collision avoidance method based on 5G AeroMACS communication according to claim 2, characterized in that: Also includes: If the vehicle-mounted terminal of the current vehicle also receives the latest position information of other adjacent vehicles or aircraft transmitted through 5G AeroMACS, it determines whether the adjacent vehicle or aircraft appears for the first time relative to the current vehicle; If it appears for the first time, create a new data storage item to store the data, otherwise update the data to the existing data item; If the vehicle-mounted terminal of the current vehicle does not receive the position information of the adjacent vehicle or aircraft again within a certain period of time, it means that the adjacent vehicle or aircraft has left the communication range of the current vehicle, and the stored related data is deleted.

4. The vehicle and aircraft collision avoidance method based on 5G AeroMACS communication according to claim 3, characterized in that: The establishment of the aircraft position data analysis and processing model comprises: Establish a safety distance model to obtain the horizontal acceleration or vertical acceleration of two current targets, where the targets include vehicles or aircraft; Performing a definite integral on the horizontal acceleration or the vertical acceleration to obtain a first functional relationship of the horizontal velocity or the vertical velocity with respect to time, and performing a definite integral on the first functional relationship to obtain a second functional relationship of the relative horizontal distance or the vertical distance of the two targets with respect to time; Substituting the first functional relationship and the second functional relationship into the safety distance model, a horizontal safety distance or a vertical safety distance varying with time is obtained; A first model of the relative displacement difference of the two targets in the horizontal direction minus the horizontal safety distance and a second model of the relative displacement difference of the two targets in the vertical direction minus the vertical safety distance are established; The first model and the second model are solved to output the result of whether an alarm signal is issued.

5. The vehicle and aircraft collision avoidance method based on 5G AeroMACS communication according to claim 4, characterized in that: The first functional relationship of the horizontal velocity with respect to time obtained by performing a definite integral on the horizontal acceleration includes: In the formula, is the first function of horizontal velocity with respect to time, is the first function of vertical velocity with respect to time, Target and target The relative horizontal velocity, Target and target The relative vertical velocity, To predict the time, is the horizontal acceleration, is the vertical acceleration, is the first calculation factor of relative horizontal velocity, is the second calculation factor of relative horizontal velocity, is the third calculation factor of relative vertical velocity ， is the fourth calculation factor of relative vertical velocity, For passing Time, target The predicted horizontal acceleration, For passing Time, target The predicted vertical acceleration, For passing Time, target The predicted horizontal acceleration, For passing Time, target The predicted vertical acceleration, Target The current horizontal acceleration, Target The current vertical acceleration, Target The current horizontal acceleration, Target The current vertical acceleration, The data collection cycle.

6. A vehicle and aircraft collision avoidance method based on 5G AeroMACS communication according to claim 5, characterized in that: The second functional relationship of the relative horizontal distance between the two targets with respect to time is obtained by: In the formula, Target and target The relative displacement difference in the horizontal direction is Target and target The relative displacement difference in the vertical direction, Target and target The relative horizontal distance, Target and target The relative vertical distance.

7. A vehicle and aircraft collision avoidance method based on 5G AeroMACS communication according to claim 6, characterized in that: The horizontal safety distance or vertical safety distance that varies with time includes: In the formula, is the horizontal safety distance that varies with time, is the vertical safety distance that changes with time, is the fifth calculation factor, is the sixth calculation factor, is the seventh calculation factor, is the eighth calculation factor, is the ninth calculation factor, is the tenth calculation factor, is the eleventh calculation factor, is the twelfth calculation factor, is the thirteenth calculation factor, is the fourteenth factor, is the maximum deceleration, is the growth time of braking deceleration, The driver's reaction time, Brake coordination time.

8. The vehicle and aircraft collision avoidance method based on 5G AeroMACS communication according to claim 7, characterized in that: The first model and the second model include: In the formula, For the first model, For the second model.

9. A vehicle and aircraft collision avoidance method based on 5G AeroMACS communication according to claim 8, characterized in that: The analysis of the risk of an impending or potential collision includes: Solution and If there is no positive real root, no alarm operation will be performed; If there are positive real roots, select several positive real roots and substitute them into and Solve to obtain the function value, and determine whether the function value is less than zero, and obtain the horizontal and vertical solutions to form a horizontal interval and the vertical interval ; judge and Whether there is an intersection or not, if there is no intersection, there is no positive real number solution, and the alarm operation is not executed. If there is an intersection, the collision prediction time of the target object is calculated to determine whether the collision prediction time is less than the alarm threshold time. If so, the alarm is executed, if not, the alarm operation is not executed.

10. A vehicle and aircraft collision avoidance system based on 5G AeroMACS communication, characterized in that: include: An information acquisition module is configured to acquire first basic data of the current vehicle and second basic data of the aircraft, and transmit the first basic data and the second basic data back to a cloud-based intelligent analysis and processing server via a 5G AeroMACS wireless network; The server module is configured to establish an aircraft position data analysis and processing model on a cloud-based intelligent analysis and processing server, and to perform real-time analysis and calculation on the predicted position data of the aircraft and the vehicle during the operation of the aircraft and the vehicle within the current and future time periods by combining the first basic data and the second basic data with the aircraft position data analysis and processing model; The analysis module is configured to analyze the risk of an impending or potential collision, obtain the result of whether there is a collision risk, and generate a disposal or route adjustment plan. If the current cloud-based intelligent analysis and processing server determines that there is a collision risk, an alarm signal is sent to the vehicle's onboard terminal and the airside operation management terminal through the 5G AeroMACS network; A main control device, the main control device is connected to the information acquisition module, the server module and the analysis module, and is used to execute a vehicle and aircraft collision avoidance method based on 5G AeroMACS communication as described in any one of claims 1 to 9.

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