A method and system for preventing birds in continuous circling flight from colliding with aircraft.

Abstract

This invention provides a method and system for preventing continuous circling birds from colliding with aircraft. The method includes the following steps: acquiring bird activity within a predetermined area of ​​an airport; acquiring aircraft trajectory information; extracting continuous circling flight activity from the bird activity; comprehensively assessing the bird strike risk based on the aircraft trajectory information and the data from the continuous circling flight activity; and implementing bird deterrence based on the bird strike risk and a predetermined bird deterrence strategy. This method can intelligently prevent continuous circling bird activity, significantly reducing the probability of these birds colliding with aircraft taking off and landing at the airport. By only deterring continuously circling birds, it improves the targeted nature of risk prevention and avoids the problem of birds developing adaptation due to overuse of bird deterrence methods. Furthermore, by precisely implementing bird deterrence methods based on bird activity patterns, it solves the problems of ineffective bird deterrence methods or birds flying erratically after being startled, thus significantly reducing the probability of bird strikes.

Description

Technical Field

[0001] This invention belongs to the field of airport bird strike prevention technology, specifically relating to a method and system for preventing birds that are continuously circling and flying from colliding with aircraft. Background Technology

[0002] Bird strikes occur when birds approach high-speed aircraft. These incidents primarily happen during takeoff and landing, making this a key phase of bird strike prevention. Birds present near flight paths must be promptly driven away. Therefore, timely and effective bird control is a pressing need for airports.

[0003] Bird activity that poses a high risk of bird strikes is prolonged circling flight. This is commonly seen in birds of the eagle, falcon, and dove families. Larger birds of prey typically fly solo, while smaller birds often fly in flocks.

[0004] Real-time prevention and control of bird strike risks is mainly achieved through bird deterrence methods. Traditional bird deterrence methods are divided into manual and equipment-based methods. The main problem with manual methods is that it is difficult for people to arrive at the scene in time and to deal with risky activities promptly. The main problem with equipment-based methods is that they lack specificity, generally operating intermittently at set time intervals, causing birds to develop adaptations.

[0005] In recent years, some explorations have been conducted on intelligent bird control guided by bird perception technology. The main approach is to immediately activate nearby bird control equipment after bird activity is detected. However, the results are still unsatisfactory; birds either adapt or fly away in fright, making them difficult to steer in a specific direction. This method of bird control strategy is incomplete and lacks a deep integration with the patterns of bird activity. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a method and system for preventing birds in continuous circling flight from colliding with aircraft. This method achieves intelligent prevention in accordance with the activity patterns of birds and significantly reduces the probability of birds in continuous circling flight colliding with aircraft.

[0007] A method for preventing birds in continuous circling flight from colliding with an aircraft includes the following steps:

[0008] Acquire bird activity within a predefined area of ​​the airport;

[0009] Obtain the aircraft's trajectory information;

[0010] The continuous circling flight activity is extracted from the bird activity, and the bird strike risk is comprehensively assessed based on the aircraft trajectory information and the data of the continuous circling flight activity.

[0011] Bird deterrence is carried out based on the stated bird strike risk and the preset bird deterrence strategy.

[0012] Preferably, extracting the sustained hovering flight activity from the bird activity specifically includes:

[0013] Extract the flight trajectory of each type of bird activity from the described bird activities;

[0014] Using the minimum mean square error as a constraint, a straight line model is fitted to several points in the bird's flight trajectory to obtain a straight line model;

[0015] Calculate the prediction error between the bird's flight trajectory and the straight-line model;

[0016] When the prediction error meets the preset conditions for continuous circling activity, the bird activity is determined to be continuous circling flight activity.

[0017] Preferably, the step of comprehensively assessing the bird strike risk based on the aircraft trajectory information and the data from the continuous circling flight activity specifically includes:

[0018] Obtain all flocks of birds involved in the continuous circling flight activity, as well as the flight trajectories of all birds within those flocks;

[0019] Take the last k2 points from the flight paths of all the birds in each flock as set J1, and take the last (k2+1) to 2k2 points from the flight paths of all the birds in each flock as set J2;

[0020] Calculate the center point C1 and distribution radius R1 of set J1, and calculate the center point C2 and distribution radius R2 of set J2;

[0021] Based on the sets J1 and J2, predict the spatiotemporal probability distribution model of the bird flock at the k2th point in the future. The spatiotemporal probability distribution model of the birds is a normal distribution model with the center point C3 and the distribution radius R3.

[0022] Predict the spatiotemporal probability distribution model of the aircraft based on the aircraft trajectory information;

[0023] The bird strike probability is defined as the maximum overlap between the spatiotemporal probability distribution model of the bird and the spatiotemporal probability distribution model of the aircraft.

[0024] When the probability of a bird strike exceeds a preset risk threshold for the risk level, the bird strike risk is determined to be the risk level; the risk level includes low risk, medium risk, and high risk.

[0025] Preferably, the step of comprehensively assessing the bird strike risk based on the aircraft trajectory information and the data from the continuous circling flight activity specifically includes:

[0026] Acquire all bird flocks from the data of the continuous circling flight activity; set the distance D between the bird flocks and the runway and its extension within the preset area of ​​the airport.

[0027] When D1 < D < D2 and there are no aircraft take-off and landing plans in the short term, the bird strike risk is low.

[0028] When D < D1 and there are no aircraft take-off and landing plans in the short term, the bird strike risk is medium risk.

[0029] When D1 < D < D2, and there is a pre-set short-term aircraft take-off and landing plan or an aircraft is taking off and landing, the bird strike risk is medium risk.

[0030] When D < D1, and there is a pre-set short-term aircraft take-off and landing plan or an aircraft is taking off and landing, the bird strike risk is high risk.

[0031] D1 and D2 are preset values.

[0032] Preferably, the bird deterrence strategy includes a low-risk bird deterrence strategy; the low-risk bird deterrence strategy includes:

[0033] Play auditory or visual warning signals to issue a warning.

[0034] Preferably, the bird deterrence strategy includes a medium-risk bird deterrence strategy; the medium-risk bird deterrence strategy includes:

[0035] Audible or visual warning signals are played to drive the birds away, and bird deterrents are fired on the runway and between the flock of birds in the pre-defined area of ​​the airport.

[0036] Preferably, the firing frequency of the bird deterrent projectile is inversely proportional to the distance between the flock of birds and the runway within the preset area of ​​the airport.

[0037] Preferably, the bird deterrence strategy includes a high-risk bird deterrence strategy; the high-risk bird deterrence strategy includes:

[0038] If an aircraft is taking off or landing, predict the aircraft's position during the deterrence period and fire bird deterrents between that position and the flock of birds.

[0039] If no aircraft is taking off or landing, bird deterrents are fired between the runway in the pre-defined area of ​​the airport and the flock of birds, and the audio of aircraft takeoff and landing is played.

[0040] Preferably, after deterring birds based on the bird strike risk and a preset bird deterrence strategy, the method further includes:

[0041] Bird deterrence will not be carried out if any of the following conditions are detected:

[0042] When the distance between the bird and the explosion point of the bird deterrent exceeds the preset maximum distance;

[0043] When the distance between the bird and the explosion point of the bird deterrent is less than the preset minimum distance;

[0044] When the distance between the aircraft and the take-off and landing route is within the preset non-detonation range of the take-off and landing route;

[0045] When the distance between the aircraft and the ground is within the preset non-detonation range.

[0046] Secondly, a system for preventing continuous circling birds from colliding with an aircraft includes:

[0047] Bird activity detection module: used to acquire information about bird activity within a pre-defined area of ​​the airport;

[0048] Operations Control Center: Connected to the bird activity detection module; the operations control center is used to acquire the aircraft trajectory information of the aircraft; extract continuous circling flight activities from the bird activities, comprehensively assess the bird strike risk based on the aircraft trajectory information and the data of the continuous circling flight activities; and activate bird deterrence equipment to deter birds based on the bird strike risk and the preset bird deterrence strategy.

[0049] Bird deterrence equipment: connected to the operation and control center.

[0050] As can be seen from the above technical solution, the method and system for preventing continuous circling birds from colliding with aircraft provided by the present invention can intelligently prevent the activity of continuously circling birds, significantly reducing the probability of these birds colliding with airport take-off and landing aircraft. This method and system only targets birds that are continuously circling, improving the targeted nature of risk prevention and avoiding the problem of birds developing adaptation due to excessive use of bird-repelling methods. Furthermore, this method precisely implements bird-repelling measures based on bird activity patterns, solving the problems of ineffective bird-repelling methods or birds flying erratically after being startled, and can significantly reduce the probability of bird strikes. Attached Figure Description

[0051] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0052] Figure 1 This is a flowchart of a method for preventing continuous circling birds from colliding with an aircraft, provided in a specific embodiment.

[0053] Figure 2 This is a flowchart of a method for determining continuous hovering flight activity provided in a specific embodiment.

[0054] Figure 3 This is a flowchart of a bird strike risk confirmation method provided in a specific embodiment.

[0055] Figure 4 This is a block diagram of a system for preventing collisions with continuously circling birds, provided in a specific embodiment. Detailed Implementation

[0056] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore merely examples and should not be used to limit the scope of protection of the present invention. It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art to which this invention pertains.

[0057] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0058] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0059] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrases "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0060] Example:

[0061] A method for preventing birds in continuous circling flight from colliding with aircraft, see [link to relevant documentation]. Figure 1 This includes the following steps:

[0062] S1: Obtain bird activity within a preset area of ​​the airport;

[0063] S2: Obtain the aircraft trajectory information;

[0064] S3: Extract continuous circling flight activity from bird activity and comprehensively assess bird strike risk based on aircraft trajectory information and continuous circling flight activity data;

[0065] S4: Deter birds based on the risk of bird strikes and the preset bird deterrence strategy.

[0066] In this embodiment, the preset area for the airport can be the airport's area of ​​responsibility and an area within a radius of at least 1 km. The method for monitoring bird activity includes monitoring bird flight paths, numbers, sizes, and capturing images. The method can also record data on monitored bird activity and aircraft trajectory information broadcast by the aircraft, and display this data on a preset user interface. In addition to using preset bird control strategies, the method can also issue risk alerts on the preset user interface. After long-term operation, the method can statistically analyze the recorded data to determine the distribution and patterns of bird activity, assisting in ecological management, resource allocation for pest control, and other related work.

[0067] In this embodiment, the method can calculate the bird strike risk of continuous circling flight activities, and carry out bird deterrence based on different bird strike risks and bird deterrence strategies to conduct precise prevention and control operations.

[0068] This method provides a bird strike prevention approach that integrates sensing, analysis, and precise bird deterrence. It intelligently prevents the movement of birds in continuous circling flight, significantly reducing the probability of these birds colliding with aircraft taking off and landing at airports. This method only targets birds in continuous circling flight, improving the targeted nature of risk prevention and avoiding the problem of birds developing adaptations due to overuse of bird deterrence methods. Furthermore, this method precisely implements bird deterrence measures based on bird activity patterns, solving the problems of ineffective bird deterrence or birds flying erratically after being startled, thus significantly reducing the probability of bird strikes.

[0069] Furthermore, in some embodiments, see Figure 2 The sustained hovering flight activity extracted from bird activity specifically includes:

[0070] S11: Extract the flight paths of each type of bird from bird activity;

[0071] S12: Using the minimum mean square error as a constraint, fit a straight line model to several points in the bird's flight trajectory to obtain a straight line model;

[0072] S13: Calculate the prediction error between the bird flight trajectory and the straight line model;

[0073] S14: When the prediction error meets the preset conditions for continuous circling activity, the bird activity is judged to be continuous circling flight activity.

[0074] In this embodiment, the method determines whether bird activity is continuous circling flight through the following steps. First, the method performs a straight-line model fitting on several points in each bird flight path to obtain a straight-line model. For example, the last k1 points in the bird flight path are selected. The value of k1 is generally 3-10, and then the linear model is fitted with the minimum mean square error as a constraint.

[0075] Then, the prediction error between the bird's flight trajectory and the straight-line model is calculated. If the prediction error meets the condition for continuous circling activity, it indicates that the bird's activity is continuous circling flight. For example, the condition for continuous circling activity can be set to the prediction error being greater than an error threshold (generally 5-20 meters) and the duration of the bird's flight trajectory being greater than a preset time threshold, which can be set to 5-10 seconds.

[0076] Furthermore, in some embodiments, see Figure 3 The bird strike risk is comprehensively assessed based on aircraft trajectory information and data from continuous circling flight activities, specifically including:

[0077] S21: Obtain all flocks of birds with continuous circling flight activity and the flight paths of all birds in the flocks;

[0078] S22: Take the last k2 points in the flight paths of all birds in each flock as set J1, and take the last (k2+1) to 2k2 points in the flight paths of all birds in each flock as set J2;

[0079] S23: Calculate the center point C1 and distribution radius R1 of set J1, and calculate the center point C2 and distribution radius R2 of set J2;

[0080] S24: Based on set J1 and set J2, predict the spatiotemporal probability distribution model of birds at the k2-th point in the future. The spatiotemporal probability distribution model of birds is a normal distribution model with center point C3 and distribution radius R3.

[0081] S25: Predicting the spatiotemporal probability distribution model of an aircraft based on its trajectory information;

[0082] S26: Define the bird strike probability as the maximum overlap between the spatiotemporal probability distribution model of birds and the spatiotemporal probability distribution model of aircraft;

[0083] S27: When the probability of bird strike exceeds the preset risk threshold of risk level, the bird strike risk is determined as a risk level; the risk level includes low risk, medium risk and high risk.

[0084] In this embodiment, birds that are relatively close in distance from each other in the current bird flight path can be grouped into a flock, and the bird strike risk of each flock can be assessed. A flock can consist of only one bird or multiple birds. The method takes the last k2 points from the flight path of each bird in the flock and denotes them as set J1, and takes the last k2 points before set J1 and denotes them as set J2. Then, the center point and distribution radius of each set are calculated. The center point is the average of all points in the set, and the distribution radius is the standard sample difference of a normal distribution. Finally, a spatiotemporal probability distribution model of the flock is predicted at the k2-th time in the future. When k2 is small (e.g., 2-5), a short-term flock prediction is performed; when k2 is in the middle (e.g., 5-10), a medium-term flock prediction is performed; and when k2 is large (e.g., 10-30), a long-term flock prediction is performed.

[0085] In this embodiment, after obtaining the spatiotemporal probability distribution model of birds, the bird strike probability is calculated. The bird strike probability is the maximum overlap between the spatiotemporal probability distribution model of birds and the spatiotemporal probability distribution model of aircraft. For example, the bird strike probability can include short-term bird strike probabilities, medium-term bird strike probabilities, and long-term bird strike probabilities obtained by performing short-term, medium-term, and long-term predictions respectively. If, in any case, the bird strike probability exceeds a risk threshold, the bird strike risk is determined as a risk level. For example, risk levels include low risk, medium risk, and high risk. When the bird strike probability exceeds the low-risk risk threshold, the bird strike risk is low risk; when the bird strike probability exceeds the medium-risk risk threshold, the bird strike risk is medium risk; and when the bird strike probability exceeds the high-risk risk threshold, the bird strike risk is high risk.

[0086] Furthermore, in some embodiments, the comprehensive assessment of bird strike risk based on aircraft trajectory information and data from continuous circling flight activities specifically includes:

[0087] Acquire all bird flocks in the data of continuous circling flight activities; set the distance between the bird flocks and the runway and its extension within the preset area of ​​the airport as D;

[0088] When D1 < D < D2, and there are no aircraft take-off and landing plans in the short term, the risk of bird strike is low.

[0089] When D < D1, and there are no aircraft take-off and landing plans in the short term, the bird strike risk is medium risk.

[0090] When D1 < D < D2, and there is a pre-set short-term aircraft take-off and landing plan or an aircraft is taking off and landing, the bird strike risk is medium risk.

[0091] When D < D1, and there is a pre-set short-term aircraft take-off and landing plan or an aircraft is taking off or landing, the risk of bird strike is high.

[0092] In this embodiment, to reduce computational load, the method can also provide a rapid bird strike risk assessment method based on empirical data, obtaining assessment results similar to those of the method described above. The specific judgment method is as follows:

[0093] Bird strike risk is defined as low risk when the distance D between the flock of birds and the runway and its extension within the pre-defined area of ​​the airport is less than D2 but greater than D1, the birds are engaged in continuous circling flight, and there are no aircraft take-off or landing plans in the short term (generally 10-30 seconds). Generally, D1 is taken as 50-100 meters, and D2 is taken as 100-300 meters.

[0094] When the distance D between the flock of birds and the runway and its extension within the pre-defined area of ​​the airport is less than D1, the birds are engaged in continuous circling flight, and there are no aircraft take-off or landing plans in the short term, the bird strike risk is defined as medium risk.

[0095] Bird strike risk is defined as medium risk when the distance D between the flock of birds and the runway and its extension within the pre-defined area of ​​the airport is less than D2 but greater than D1, the birds are engaged in continuous circling flight, and there are aircraft take-off and landing plans in the short term.

[0096] Bird strike risk is defined as high risk when the distance D between the flock of birds and the runway and its extension within the pre-defined area of ​​the airport is less than D1, the birds are continuously circling, and there are aircraft take-off and landing plans or aircraft taking off and landing in the short term.

[0097] In the above judgment method, if the flock of birds is large or there are large birds in the flock, the bird strike risk is automatically increased by one level as the final bird strike risk. For example, if the obtained bird strike risk is low risk, it needs to be increased to medium risk, and if the obtained bird strike risk is medium risk, it needs to be increased to high risk.

[0098] Furthermore, in some embodiments, the bird deterrence strategy includes a low-risk bird deterrence strategy; the low-risk bird deterrence strategy includes:

[0099] Play auditory or visual warning signals to issue a warning.

[0100] In this embodiment, the low-risk bird deterrence strategy includes issuing warnings by activating bird deterrence equipment near the runway and playing stimulating auditory or visual warning signals.

[0101] Furthermore, in some embodiments, the bird deterrence strategy includes a medium-risk bird deterrence strategy; the medium-risk bird deterrence strategy includes:

[0102] Audible or visual warning signals are played to scare away the birds, and bird deterrents are fired on the runway and between the flocks of birds in a pre-designated area of ​​the airport. The firing frequency of the bird deterrents is inversely proportional to the distance between the flock of birds and the runway in the pre-designated area of ​​the airport.

[0103] In this embodiment, the medium-risk bird deterrence strategy includes activating bird deterrence equipment near the runway and playing stimulating auditory or visual warning signals, while simultaneously firing bird deterrence projectiles between the runway and the bird flock. The farther the bird flock is from the runway, the lower the frequency of the bird deterrence projectiles.

[0104] Furthermore, in some embodiments, the bird deterrence strategy includes a high-risk bird deterrence strategy; the high-risk bird deterrence strategy includes:

[0105] If an aircraft is taking off or landing, predict its position within the time frame for deterring birds, and fire bird deterrents between the aircraft's position and the flock of birds.

[0106] If no aircraft are taking off or landing, fire bird deterrents between the runway and the flock of birds in the pre-defined area of ​​the airport, and play the aircraft take-off and landing audio.

[0107] In this embodiment, the high-risk bird deterrence strategy includes: if an aircraft is taking off or landing, predicting the aircraft's position within the deterrence time (e.g., 1-2 seconds in the future), and firing bird deterrence projectiles between that position and the flock of birds; if no aircraft is taking off or landing, firing bird deterrence projectiles between the runway and the flock of birds, while simultaneously playing aircraft take-off and landing audio to encourage birds to form an avoidance reflex to the aircraft take-off and landing sound, wherein the bird deterrence projectiles are continuously fired at a preset minimum firing interval.

[0108] Furthermore, in some embodiments, after implementing a bird deterrence strategy preset according to the bird strike risk, the method further includes:

[0109] Bird deterrence will not be carried out if any of the following conditions are detected:

[0110] When the distance between the bird and the explosion point of the bird deterrent exceeds the preset maximum distance;

[0111] When the distance between the bird and the explosion point of the bird deterrent is less than the preset minimum distance;

[0112] When the distance between the aircraft and the take-off and landing route is within the preset non-detonation range of the take-off and landing route;

[0113] When the distance between the aircraft and the ground is within the preset non-detonation range.

[0114] In this embodiment, to ensure operational safety, the method follows the following four basic principles of not using bird deterrent bullets:

[0115] (1) Since light may attract new birds, the bird deterrent bullet will not detonate if birds are more than the maximum distance from the detonation point. The maximum distance can be set according to the actual situation, for example, 500 meters.

[0116] (2) Because a close-range explosion may frighten birds and impair their flight ability, thus failing to achieve the desired deterrent effect, the bird deterrent bullet will not be detonated if the birds are less than the minimum distance from the explosion point. The minimum distance can be set according to the actual situation, for example, 30 meters.

[0117] (3) To ensure the safety of the aircraft, bird deterrent rounds will not be detonated when the distance between the aircraft and the take-off and landing route is within the non-detonation range of the take-off and landing route. The non-detonation range of the take-off and landing route can be determined according to the actual situation, for example, it can be defined as the distance between the aircraft and the take-off and landing route within 100 meters.

[0118] (4) To ensure personnel safety, bird deterrent rounds will not be detonated when the distance between the aircraft and the ground is within the non-detonation range. The non-detonation range can be determined based on the actual situation, for example, it can be defined as the distance between the aircraft and the ground within 30 meters.

[0119] A system for preventing birds in continuous circling flight from colliding with aircraft, see [link to relevant documentation]. Figure 4 ,include:

[0120] Bird activity detection module 1: Used to acquire bird activity data within a pre-defined area of ​​the airport;

[0121] Operation Control Center 2: Connected to Bird Activity Detection Module 1; Operation Control Center 2 is used to acquire the aircraft trajectory information of the aircraft; extract continuous circling flight activities from bird activities, comprehensively assess the bird strike risk based on the aircraft trajectory information and continuous circling flight activity data; and activate bird deterrence equipment to deter birds based on the bird strike risk and the preset bird deterrence strategy.

[0122] Bird deterrence device 3: Connected to the operation and control center 2.

[0123] In this embodiment, the bird activity detection module 1 can consist of radar equipment and video equipment, or it can consist of only radar equipment or video equipment. The operation and control center 2 mainly includes a computer (including network communication components and a display terminal) and system software. The bird deterrence equipment 3 includes bird deterrence equipment mainly using bird deterrent bullets, as well as warning devices that provide auditory, visual, and olfactory stimulation.

[0124] The system provided in this embodiment of the invention is described in a brief manner. For any parts not mentioned in the embodiment section, please refer to the corresponding content in the foregoing embodiment.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A method for preventing birds in continuous circling flight from colliding with an aircraft, characterized in that, Includes the following steps: Acquire bird activity within a predefined area of ​​the airport; Obtain the aircraft's trajectory information; The continuous circling flight activity is extracted from the bird activity, and the bird strike risk is comprehensively assessed based on the aircraft trajectory information and the data of the continuous circling flight activity. Birds are driven away based on the stated bird strike risk and the preset bird driving strategy; Specifically, the comprehensive assessment of bird strike risk based on the aircraft trajectory information and the data from the continuous circling flight activity includes: Obtain all flocks of birds involved in the continuous circling flight activity, as well as the flight trajectories of all birds within those flocks; Take the last k2 points from the flight paths of all the birds in each flock as set J1, and take the last (k2+1) to 2k2 points from the flight paths of all the birds in each flock as set J2; Calculate the center point C1 and distribution radius R1 of set J1, and calculate the center point C2 and distribution radius R2 of set J2; Based on the sets J1 and J2, predict the spatiotemporal probability distribution model of the bird flock at the k2th point in the future. The spatiotemporal probability distribution model of the birds is a normal distribution model with the center point C3 and the distribution radius R3. Predict the spatiotemporal probability distribution model of the aircraft based on the aircraft trajectory information; The bird strike probability is defined as the maximum overlap between the spatiotemporal probability distribution model of the bird and the spatiotemporal probability distribution model of the aircraft. When the probability of a bird strike exceeds a preset risk threshold for the risk level, the bird strike risk is determined to be the risk level; the risk level includes low risk, medium risk, and high risk.

2. The method for preventing birds in continuous circling flight from colliding with an aircraft according to claim 1, characterized in that, The extraction of sustained hovering flight activity from the bird activity specifically includes: Extract the flight trajectory of each type of bird activity from the described bird activities; Using the minimum mean square error as a constraint, a straight line model is fitted to several points in the bird's flight trajectory to obtain a straight line model; Calculate the prediction error between the bird's flight trajectory and the straight-line model; When the prediction error meets the preset conditions for continuous circling activity, the bird activity is determined to be continuous circling flight activity.

3. The method for preventing birds in continuous circling flight from colliding with an aircraft according to claim 2, characterized in that, The comprehensive assessment of bird strike risk based on the aircraft trajectory information and the data from the continuous circling flight activity specifically includes: Acquire all bird flocks from the data of the continuous circling flight activity; set the distance D between the bird flocks and the runway and its extension within the preset area of ​​the airport. When D1 < D < D2 and there are no aircraft take-off and landing plans in the short term, the bird strike risk is low. When D < D1 and there are no aircraft take-off and landing plans in the short term, the bird strike risk is medium risk. When D1 < D < D2, and there is a pre-set short-term aircraft take-off and landing plan or an aircraft is taking off and landing, the bird strike risk is medium risk. When D < D1, and there is a pre-set short-term aircraft take-off and landing plan or an aircraft is taking off and landing, the bird strike risk is high risk. D1 and D2 are preset values.

4. The method for preventing birds in continuous circling flight from colliding with an aircraft according to claim 3, characterized in that, The bird deterrence strategies include low-risk bird deterrence strategies; The low-risk bird deterrence strategies include: Play auditory or visual warning signals to issue a warning.

5. The method for preventing birds in continuous circling flight from colliding with an aircraft according to claim 3, characterized in that, The bird deterrence strategy includes a medium-risk bird deterrence strategy; the medium-risk bird deterrence strategy includes: Audible or visual warning signals are played to drive the birds away, and bird deterrents are fired on the runway and between the flock of birds in the pre-defined area of ​​the airport.

6. The method for preventing birds in continuous circling flight from colliding with an aircraft according to claim 5, characterized in that, The firing frequency of the bird deterrent projectiles is inversely proportional to the distance between the flock of birds and the runway within the predetermined area of ​​the airport.

7. The method for preventing birds in continuous circling flight from colliding with an aircraft according to claim 3, characterized in that, The bird deterrence strategies include high-risk bird deterrence strategies; The high-risk bird deterrence strategies include: If an aircraft is taking off or landing, predict the aircraft's position during the deterrence period and fire bird deterrents between that position and the flock of birds. If no aircraft is taking off or landing, bird deterrents are fired between the runway in the pre-defined area of ​​the airport and the flock of birds, and the audio of aircraft takeoff and landing is played.

8. The method for preventing birds in continuous circling flight from colliding with an aircraft according to claim 7, characterized in that, After implementing bird deterrence based on the stated bird strike risk and a preset bird deterrence strategy, the process also includes: Bird deterrence will not be carried out if any of the following conditions are detected: When the distance between the bird and the explosion point of the bird deterrent exceeds the preset maximum distance; When the distance between the bird and the explosion point of the bird deterrent is less than the preset minimum distance; When the distance between the aircraft and the take-off and landing route is within the preset non-detonation range of the take-off and landing route; When the distance between the aircraft and the ground is within the preset non-detonation range.

9. A system for preventing birds in continuous circling flight from colliding with an aircraft, characterized in that, include: Bird activity detection module: used to acquire information about bird activity within a pre-defined area of ​​the airport; Operations Control Center: Connected to the bird activity detection module; the operations control center is used to acquire the aircraft trajectory information of the aircraft; extract continuous circling flight activities from the bird activities, comprehensively assess the bird strike risk based on the aircraft trajectory information and the data of the continuous circling flight activities; and activate bird deterrence equipment to deter birds based on the bird strike risk and the preset bird deterrence strategy. Bird deterrent equipment: connected to the operation and control center; Specifically, the comprehensive assessment of bird strike risk based on the aircraft trajectory information and the data from the continuous circling flight activity includes: Obtain all flocks of birds involved in the continuous circling flight activity, as well as the flight trajectories of all birds within those flocks; Take the last k2 points from the flight paths of all the birds in each flock as set J1, and take the last (k2+1) to 2k2 points from the flight paths of all the birds in each flock as set J2; Calculate the center point C1 and distribution radius R1 of set J1, and calculate the center point C2 and distribution radius R2 of set J2; Based on the sets J1 and J2, predict the spatiotemporal probability distribution model of the bird flock at the k2th point in the future. The spatiotemporal probability distribution model of the birds is a normal distribution model with the center point C3 and the distribution radius R3. Predict the spatiotemporal probability distribution model of the aircraft based on the aircraft trajectory information; The bird strike probability is defined as the maximum overlap between the spatiotemporal probability distribution model of the bird and the spatiotemporal probability distribution model of the aircraft. When the probability of a bird strike exceeds a preset risk threshold for the risk level, the bird strike risk is determined to be the risk level; the risk level includes low risk, medium risk, and high risk.

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