A method and system for preventing birds flying in a long distance and in a straight line from colliding with an aircraft

Abstract

The present invention provides a method and system for preventing long-distance straight-line flying birds from colliding with aircraft, the method comprising obtaining bird activities on take-off and landing routes; obtaining aircraft trajectory information of the aircraft; extracting long-distance straight-line flight activities from the bird activities, and comprehensively evaluating the probability of bird strikes based on the aircraft trajectory information and the data of the long-distance straight-line flight activities; when the probability of bird strikes is higher than a preset risk threshold, bird repelling is performed according to a preset bird repelling strategy. This method only repels bird activities of long-distance straight-line flying birds, improves the pertinence of risk prevention, and avoids the problem of excessive use of bird repelling means causing birds to establish adaptability. In addition, this method combines the laws of bird activities to accurately implement bird repelling means, solves the problem of ineffective bird repelling means or birds flying around in panic, and can greatly reduce the probability of bird strikes.

Description

Technical Field

[0001] The invention belongs to the technical field of bird strike prevention at airports, and in particular relates to a method and a system for preventing birds flying in a long distance and in a straight line from colliding with an aircraft. Background Art

[0002] Bird strike accidents occur when birds move close to high-speed aircraft. Bird strike accidents mainly occur during the take-off and landing phases of aircraft, which is the focus of bird strike prevention. When there are birds near the take-off and landing routes, they must be driven away in time. Therefore, timely and effective bird driving is an urgent need for airports.

[0003] The highest risk of bird strike accidents is long-distance straight-line flight, typically during the migration season when large numbers of migratory birds fly at night (the primary source of bird strike risk), and also when birds such as herons fly back and forth between foraging habitats.

[0004] Real-time prevention and control of bird strike risks is mainly achieved through bird repelling. Traditional bird repelling methods are divided into two types: manual implementation and equipment implementation. The main problem with manual implementation is that it is difficult for people to arrive at the scene in time and deal with risk activities in a timely manner. The main problem with equipment implementation is that it is not targeted and generally works intermittently at set time intervals, causing birds to develop adaptability.

[0005] In recent years, some intelligent bird repellent explorations have been carried out under the guidance of bird sentiment perception technology. The main method is to immediately activate nearby bird repellent equipment after sensing bird activity. However, the implementation effect is still not good. Birds either build up adaptability or fly around in panic, making it difficult to drive them away in a targeted manner. This method of bird repellent strategy is imperfect and is not deeply integrated with the laws of bird activity. Summary of the invention

[0006] In view of the defects in the prior art, the present invention provides a method and system for preventing birds flying in a long straight distance from an aircraft from colliding with the aircraft, which realizes intelligent prevention in accordance with the laws of bird activities and greatly reduces the probability of birds flying in a long straight distance from an aircraft from colliding with the aircraft.

[0007] In a first aspect, a method for preventing long-distance straight-line flying birds from colliding with an aircraft comprises the following steps:

[0008] Get bird activity on take-off and landing routes;

[0009] Obtaining the aircraft trajectory information of the aircraft;

[0010] Extract long-distance straight-line flight activities from bird activities, and comprehensively evaluate the bird strike probability based on aircraft trajectory information and long-distance straight-line flight activity data;

[0011] When the probability of bird strike is higher than the preset risk threshold, bird repellent is carried out according to the preset bird repellent strategy.

[0012] Preferably, extracting long-distance straight-line flight activities from bird activities specifically includes:

[0013] The bird flight tracks of each type of bird activity are extracted from the bird activities;

[0014] Taking the minimum mean square error as the constraint condition, 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 flight trajectory and the straight line model;

[0016] When the prediction error meets the preset straight-line activity condition, the bird activity is judged as a long-distance straight-line flight activity.

[0017] Preferably, the comprehensive assessment of bird strike probability based on aircraft trajectory information and data of long-distance straight-line flight activities specifically includes:

[0018] According to the straight line model, the probability density function P of the data of long-distance straight-line flight activities at any position X in the future t seconds on the spatiotemporal distribution of birds is predicted. B (X,t):

[0019]

[0020] Among them, c 1 is the correction factor, L B (t) is the distribution center position at time t, ∑ B is the distribution parameter diagonal matrix;

[0021] According to the aircraft trajectory information, the probability density function P of the aircraft at any position X in the future t seconds in the aircraft space-time distribution is predicted A (X,t):

[0022]

[0023] Among them, L A (t) is the position of the aircraft at time t, ∑ A is the distribution parameter diagonal matrix, c 4 is the correction factor, c 3 is the aircraft size factor;

[0024] The probability density function of the data of long-distance straight-line flight activities on the temporal and spatial distribution of birds and the probability density function of the data of aircraft on the temporal and spatial distribution of aircraft are integrated, and the maximum value of the integral is defined as the bird strike probability.

[0025] Preferably, the comprehensive assessment of bird strike probability based on aircraft trajectory information and data of long-distance straight-line flight activities specifically includes:

[0026] Taking the aircraft as the origin, calculate the linear model L of the relative motion trajectory of the bird in the data of long-distance straight-line flight activities B-A (t):

[0027] L B-A (t) = P B -P A +(V B -V A )t;

[0028] Among them, P A is the current position of the aircraft, V A is the aircraft speed, P B is the point on the straight line at t = 0, V B is the flight speed vector of the bird;

[0029] Calculate the shortest distance d between the aircraft and the bird based on the straight line model of the relative motion trajectory;

[0030] Calculate the bird strike probability P(d) based on the shortest distance:

[0031]

[0032] Among them, c 3 is the aircraft size coefficient, r is the modulus of R(t) when the distance between the aircraft and the bird is the shortest, and R(t) is the distribution radius at time t.

[0033] Preferably, the bird-repelling strategy includes a migratory bird-repelling strategy; the migratory bird-repelling strategy includes:

[0034] Repel bird activities with a bird strike probability above the risk threshold;

[0035] When there are multiple bird activities with a probability of bird strike higher than the risk threshold, the bird activities closest to the aircraft will be driven away first;

[0036] For bird activities that require priority in driving away, select the driving device that is closest to the bird as the main device; select the driving device within a specified distance from the main device as the auxiliary device.

[0037] Preferably, the bird-repelling strategy includes a local resident bird-repelling strategy;

[0038] Bird repellent strategies for local resident birds include:

[0039] When local resident birds are detected entering the preset airport area, they will be driven away;

[0040] If the expulsion fails, expel the birds according to the strategy for repelling migratory birds.

[0041] Preferably, the driving device includes at least one bird-driving gun; the bird-driving gun is executed in a semi-free style;

[0042] The semi-free aiming point is defined as the intersection of the detonation space of the bird-repelling bomb and the flight trajectory of the bird; the semi-free bird-repelling method includes that the closer the distance between the bird and the aiming point, the higher the firing frequency of the bird-repelling bomb.

[0043] Preferably, the bird-repelling cannon is executed in a free-style manner;

[0044] The free-style bird-repelling method includes firing bird-repelling bombs more frequently the closer the distance between the bird and the take-off and landing route.

[0045] Preferably, after driving away birds according to the preset bird-driving strategy, the method further includes:

[0046] When any of the following conditions are detected, bird repelling will not be performed:

[0047] When the distance between the bird and the explosion point of the bird repellent bomb exceeds the preset maximum distance;

[0048] When the distance between the bird and the explosion point of the bird repellent bomb is less than the preset minimum distance;

[0049] When the distance between the aircraft and the take-off and landing route is within the preset take-off and landing route non-detonation range;

[0050] When the distance between the aircraft and the ground is within the preset ground non-detonation range.

[0051] In a second aspect, a system for preventing long-distance straight-flying birds from colliding with an aircraft comprises:

[0052] Bird activity detection module: used to obtain bird activities on take-off and landing routes;

[0053] Operation and control center: connected to the bird activity detection module; the operation and control center is used to obtain the aircraft trajectory information of the aircraft; extract the long-distance straight-line flight activities from the bird activities, and comprehensively evaluate the bird strike probability based on the aircraft trajectory information and the data of the long-distance straight-line flight activities; when the bird strike probability is higher than the preset risk threshold, the bird repellent device is activated to repel the birds;

[0054] Bird repellent equipment: connected to the operation control center; the bird repellent equipment is used to repel birds according to the preset bird repellent strategy.

[0055] It can be seen from the above technical solutions that the method and system for preventing long-distance straight-flying birds from colliding with aircraft provided by the present invention can intelligently prevent long-distance straight-flying bird activities, and greatly reduce the probability of long-distance straight-flying birds colliding with airport take-off and landing aircraft. The method and system only drive away long-distance straight-flying bird activities, which improves the pertinence of risk prevention and avoids the problem of excessive use of bird-repelling means causing birds to establish adaptability. In addition, the method combines the laws of bird activities to accurately implement bird-repelling means, solves the problem of ineffective bird-repelling means or birds flying in panic, and can greatly reduce the probability of bird strikes. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. 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 according to the actual scale.

[0057] Figure 1 The flowchart of the method for preventing long-distance straight-flying birds from colliding with aircraft is provided in a specific embodiment.

[0058] Figure 2 It is a flow chart of a method for determining long-distance straight-line flight activities provided in a specific embodiment.

[0059] Figure 3 The figure is a flow chart of a method for calculating bird strike probability provided in a specific embodiment.

[0060] Figure 4 The flowchart of another method for calculating bird strike probability provided in a specific embodiment is shown.

[0061] Figure 5 It is a module block diagram of a system for preventing long-distance straight-flying birds from colliding with aircraft provided in a specific embodiment. DETAILED DESCRIPTION

[0062] The embodiments of the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and the protection scope of the present invention cannot be limited thereto. It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should be the common meanings understood by those skilled in the art to which the present invention belongs.

[0063] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0064] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0065] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0066] Embodiment 1:

[0067] A method for preventing birds flying in a long straight line from colliding with an aircraft, see Figure 1 , including the following steps:

[0068] S1: Obtain bird activities on take-off and landing routes;

[0069] S2: Obtaining the aircraft trajectory information of the aircraft;

[0070] S3: extract long-distance straight-line flight activities from bird activities, and comprehensively evaluate the bird strike probability based on the aircraft trajectory information and the data of long-distance straight-line flight activities;

[0071] S4: When the bird strike probability is higher than the preset risk threshold, bird repellent is performed according to the preset bird repellent strategy.

[0072] In this embodiment, the method monitors bird activities including monitoring bird flight paths, numbers, body sizes, and tracking images. The method can also record the data of monitored bird activities and aircraft trajectory information broadcast by the aircraft, and display them on a preset user interface. When the probability of bird strikes is higher than the risk threshold, in addition to repelling birds according to a preset bird repelling strategy, the method can also issue a high-risk alarm on a preset user interface. After long-term operation, the method can derive the distribution and patterns of high-risk bird activities based on statistical analysis of the recorded data, and assist in artificial ecological management, prevention and control resource allocation, and other work.

[0073] In this embodiment, the method can monitor bird activities near the take-off and landing routes, for example, monitor bird activities within a radius of no less than 1 km near the take-off and landing routes, and calculate the bird strike probability of bird activities in long-distance straight-line flights. If there is bird activity with a bird strike probability higher than the risk threshold, bird repellent is performed according to the preset bird repellent strategy to carry out precise prevention and control operations.

[0074] This method provides a bird strike prevention method that integrates perception, analysis, and precise bird repelling functions. It can intelligently prevent long-distance straight-line bird activities and significantly reduce the probability of long-distance straight-line birds colliding with airport take-off and landing aircraft. This method only drives away long-distance straight-line bird activities, which improves the targeted nature of risk prevention and avoids the problem of excessive use of bird repellents leading to birds establishing adaptability. In addition, this method combines the laws of bird activity to accurately implement bird repellents, solving the problem of ineffective bird repellents or birds flying in panic, and can significantly reduce the probability of bird strikes.

[0075] Further, in some embodiments, see Figure 2 , the long-distance straight-line flight activities extracted from bird activities include:

[0076] S11: extract the bird flight tracks of each type of bird activity from the bird activities;

[0077] S12: using the minimum mean square error as a constraint condition, performing a straight line model fitting on a number of points in the bird's flight trajectory to obtain a straight line model;

[0078] S13: Calculate the prediction error between the bird flight trajectory and the straight line model;

[0079] S14: When the prediction error meets the preset straight-line activity condition, the bird activity is determined to be a long-distance straight-line flight activity.

[0080] In this embodiment, the method determines whether the bird activity is a long-distance straight-line flight activity by the following steps. The method first performs a straight-line model fitting on a number of points in each bird flight trajectory to obtain a straight-line model. For example, take the last k points in the bird flight trajectory. 1 Points k 1 The value is generally 3-10, and then the linear model is fitted with the minimum mean square error as the constraint condition to obtain the linear model L B (t): L B (t) = P B +V B t; where t is the time parameter, P B is the point on the straight line at t = 0, V B is the flight speed vector of the bird.

[0081] Then, the prediction error E between the bird's flight trajectory and the straight line model is calculated: in, Is P B_i Substitute the collection time into the linear model L B (t) The predicted point.

[0082] Finally, if the prediction error meets the straight line activity condition, it means that the bird activity is a long-distance straight line flight activity. For example, the straight line activity condition can be set as the modulus of the prediction error E is less than the error threshold (generally 5-20 meters), and the flight track duration is greater than the time threshold (generally 5-10 seconds). In this way, when the modulus of the prediction error E is less than the error threshold, and the flight track duration is greater than the time threshold, it is considered that the flight track of the current bird activity is a long-distance straight line activity mode.

[0083] Further, in some embodiments, see Figure 3 The bird strike probability is assessed based on the aircraft trajectory information and the data of long-distance straight-line flight activities, including:

[0084] S21: Based on the linear model, predict the probability density function P of the data of long-distance linear flight activities at any position X in the future t seconds on the spatiotemporal distribution of birds B (X,t):

[0085]

[0086] Among them, c 1 is the correction factor, L B (t) is the distribution center position at time t, ∑ B is the distribution parameter diagonal matrix;

[0087] S22: Based on the aircraft trajectory information, predict the probability density function P of the aircraft at any position X in the aircraft space-time distribution in the next t seconds A (X,t):

[0088]

[0089] Among them, L A (t) is the position of the aircraft at time t, ∑ A is the distribution parameter diagonal matrix, c 4 is the correction factor, c 3 is the aircraft size factor;

[0090] S23: Integrate the probability density function of the data of long-distance straight-line flight activities on the spatiotemporal distribution of birds and the probability density function of the data of aircraft on the spatiotemporal distribution of aircraft, and define the maximum value of the integral as the bird strike probability.

[0091] In this embodiment, the method provides a method for calculating the probability of bird strikes, that is, determining the probability of bird strikes by the maximum overlap between the spatiotemporal probability distribution of bird activity and the spatiotemporal probability distribution of aircraft operation. The method first predicts the probability density function of the spatiotemporal distribution of birds at any position X in the future t seconds as: where c 1 In order to make the probability density function P B The integral of (X, t) is 1, L B (t) is the center position of the distribution at time t, which is the straight line model obtained by straight line fitting above, ∑ B The vector composed of the diagonal elements in R(t) = c 2 Et is the distribution radius at time t, c 2 is the radius expansion coefficient, which is proportional to the uncertainty of the system.

[0092] Then the probability density function of the space-time distribution of the aircraft at any position X in the future t seconds is predicted as: Where L A (t) = P A +V A t, which means the position of the aircraft at time t is based on the current position of the aircraft P A and flight speed V A Calculate, ∑ A The diagonal elements of are the aircraft positioning errors, c 3 Proportional to the size of the aircraft, c 4 Is to make |XL A (t)|=c 3 Time A (X,t)=1.

[0093] Finally, the bird strike probability is determined based on the maximum integral value of the spatiotemporal probability distribution of bird activity and the spatiotemporal probability distribution of aircraft operation, and the bird strike probability is obtained as max t (∫ X P A (X,t)P B (X,t)).

[0094] Further, in some embodiments, see Figure 4 The bird strike probability is assessed based on the aircraft trajectory information and the data of long-distance straight-line flight activities, including:

[0095] S31: Taking the aircraft as the origin, calculate the linear model L of the relative motion trajectory of the bird in the data of long-distance straight-line flight activities B-A (t):

[0096] L B-A (t) = P B-P A +(V B -V A )t;

[0097] Among them, P A is the current position of the aircraft, V A is the aircraft speed, P B is the point on the straight line at t = 0, V B is the flight speed vector of the bird;

[0098] S32: Calculate the shortest distance d between the aircraft and the bird according to the relative motion trajectory straight line model;

[0099] S33: Calculate the bird strike probability P(d) based on the shortest distance:

[0100]

[0101] Among them, c 3 is the aircraft size coefficient, r is the modulus of R(t) when the distance between the aircraft and the bird is the shortest, and R(t) is the distribution radius at time t.

[0102] In this embodiment, since the positioning error of the aircraft is relatively small, the uncertainty of the bird activity prediction is relatively large. Therefore, if the temporal and spatial distribution of the aircraft is regarded as a fixed value, the calculation complexity can be greatly reduced, and another method for quickly calculating the probability of bird strikes can be obtained. This method takes the aircraft as the origin and obtains the linear model of the relative motion trajectory of the bird as: L B-A (t) = P B -P A +(V B -V A )t;

[0103] Then define the straight line model L from the origin to the relative motion trajectory B-A The distance d of (t) is the shortest distance between the aircraft and the bird, and the bird strike probability is:

[0104] Further, in some embodiments, the bird repelling strategy includes a migratory bird repelling strategy; the migratory bird repelling strategy includes:

[0105] Repel bird activities with a bird strike probability above the risk threshold;

[0106] When there are multiple bird activities with a probability of bird strike higher than the risk threshold, the bird activities closest to the aircraft will be driven away first;

[0107] For bird activities that require priority in driving away, select the driving device that is closest to the bird as the main device; select the driving device within a specified distance from the main device as the auxiliary device.

[0108] In this embodiment, since migratory birds cannot be domesticated and must pass through the airport area, the basic principle of the migratory bird driving strategy is to only drive away migratory birds that affect safety and allow migratory birds that do not affect safety to pass through as quickly as possible. Therefore, the migratory bird driving strategy includes:

[0109] (1) Expel bird activities with a strike probability higher than the risk threshold. When the strike probability of multiple bird activities is higher than the risk threshold at the same time, the bird activities closest to the aircraft are given priority. The risk threshold can be set according to the actual usage scenario.

[0110] (2) For bird activities that require priority in driving away, select the driving device closest to the bird as the main device; select the driving device within a specified distance from the main device as the auxiliary device. For example, if the driving device is a bird-driving gun, select the bird-driving gun closest to the main gun as the main gun, and the bird-driving gun near the main gun as the auxiliary gun.

[0111] (3) When migratory birds enter the effective repelling range, the bird repelling operation is carried out in the above manner. If there are other auxiliary bird repelling equipment, they can be started at the same time. The effective repelling range can be set according to the actual situation.

[0112] Further, in some embodiments, the bird-repelling strategy includes a local resident bird-repelling strategy;

[0113] Bird repellent strategies for local resident birds include:

[0114] When local resident birds are detected entering the preset airport area, they will be driven away;

[0115] If the expulsion fails, expel the birds according to the strategy for repelling migratory birds.

[0116] In this embodiment, since local resident birds can be domesticated, they do not have to pass through the airport area. Therefore, the basic principle of the local resident bird driving strategy is to immediately drive away the birds when they enter the airport area. If the driving away fails, the birds are driven away according to the bird driving strategy for migratory birds in transit to prevent the birds from being frightened and flying around in the airport. In this way, when the local resident birds are about to enter the airport area, the entire airport is regarded as an aircraft and the birds are driven away. If the driving away fails, the bird driving operation is performed according to the bird driving strategy for migratory birds in transit.

[0117] Further, in some embodiments, the driving device includes at least one bird-driving gun; the bird-driving gun is executed in a semi-free style;

[0118] The semi-free aiming point is defined as the intersection of the detonation space of the bird-repelling bomb and the flight trajectory of the bird; the semi-free bird-repelling method includes that the closer the distance between the bird and the aiming point, the higher the firing frequency of the bird-repelling bomb.

[0119] In the present embodiment, the space in which the semi-free bird-repelling gun can detonate the bird-repelling bomb is a three-dimensional ring. The intersection with the flight trajectory of the bird is a point, which is called the aiming point. The semi-free bird-repelling gun can adjust the aiming point in real time according to the adjustment of the flight trajectory of the bird.

[0120] When the bird enters the shooting range, the semi-free bird-repelling gun starts to fire bird-repelling bullets. The closer the distance, the shorter the firing interval. For example, the semi-free bird-repelling gun fires bird-repelling bullets when the bird is 300+D meters, 200+D meters, 150+D meters, 100+D meters, 70+D meters, and 40+D meters away from the aiming point. Where D = V B Δt, where V B is the flight speed of the bird, and Δt is the delay time from the launch of the bird-repelling bomb to its explosion. If there is an auxiliary bird-repelling gun, the auxiliary bird-repelling gun can also be fired according to the above strategy, so that when multiple bird-repelling guns are fired at the same time, the explosion points can form an explosion wall with a spacing of 50 to 100 meters, thereby improving the blocking effect.

[0121] Further, in some embodiments, the bird-repelling cannon is executed in a freestyle manner;

[0122] The free-style bird-repelling method includes firing bird-repelling bombs more frequently the closer the distance between the bird and the take-off and landing route.

[0123] In this embodiment, the free-style bird-repelling gun can detonate the bird-repelling bomb at any position in space, and the aiming point is controlled at 50 to 100 meters in front of the bird's flight direction and 10 to 30 meters below the bird's flight height. The free-style bird-repelling gun can adjust the aiming point in real time according to the adjustment of the bird's flight trajectory.

[0124] After the birds enter the shooting range, the free-style bird-repelling gun starts to fire bird-repelling shells. The closer the distance, the shorter the firing interval. For example, the free-style bird-repelling gun fires bird-repelling shells at 500+D meters, 400+D meters, 350+D meters, 300+D meters, 270+D meters, and 240+D meters from the take-off and landing routes. If there are auxiliary bird-repelling guns, the auxiliary bird-repelling guns can also be fired according to the above strategy, so that when multiple bird-repelling guns are fired at the same time, the explosion points can form an explosion wall with a spacing of 50 to 100 meters, thereby improving the blocking effect.

[0125] Furthermore, in some embodiments, after driving away birds according to a preset bird-driving strategy, the method further includes:

[0126] When any of the following conditions are detected, bird repelling will not be performed:

[0127] When the distance between the bird and the explosion point of the bird repellent bomb exceeds the preset maximum distance;

[0128] When the distance between the bird and the explosion point of the bird repellent bomb is less than the preset minimum distance;

[0129] When the distance between the aircraft and the take-off and landing route is within the preset take-off and landing route non-detonation range;

[0130] When the distance between the aircraft and the ground is within the preset ground non-detonation range.

[0131] In this embodiment, in order to ensure safe operation, the method follows the following four basic principles of not using bird-repelling cannons:

[0132] (1) Since the light may attract new birds, the bird-repelling bomb will not be detonated when the bird is beyond the maximum distance from the explosion point of the bird-repelling bomb. The maximum distance can be set according to the actual situation, for example, 500 meters.

[0133] (2) Since a close-range explosion may scare birds and damage their ability to fly, the bird-repelling bomb cannot be detonated when the distance between the bird and the explosion point is less than the minimum distance. The minimum distance can be set according to the actual situation, for example, 30 meters.

[0134] (3) To ensure the safety of the aircraft, the bird repellent bomb 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 actual conditions, for example, it can be defined as the range of 100 meters between the aircraft and the take-off and landing route.

[0135] (4) To ensure personnel safety, the bird repellent bomb will not be detonated when the distance between the aircraft and the ground is within the ground non-detonation range. The ground non-detonation range can be determined based on actual conditions, for example, it can be defined as within a height of 30 meters from the aircraft to the ground.

[0136] Embodiment 2:

[0137] A system for preventing birds flying in long straight distances from colliding with aircraft, see Figure 5 ,include:

[0138] Bird activity detection module 1: used to obtain bird activities on take-off and landing routes;

[0139] Operation and control center 2: connected to bird activity detection module 1; operation and control center 2 is used to obtain aircraft trajectory information of aircraft; extract long-distance straight-line flight activities from bird activities, and comprehensively evaluate the bird strike probability based on the aircraft trajectory information and the data of long-distance straight-line flight activities; when the bird strike probability is higher than the preset risk threshold, start the bird repellent device to repel birds;

[0140] Bird repelling device 3: connected to the operation control center 2; the bird repelling device 3 is used to repel birds according to a preset bird repelling strategy.

[0141] In the present embodiment, the bird activity detection module 1 can be composed of radar equipment and video equipment, or can only be composed of radar equipment or video equipment. The operation control center 2 mainly includes a computer (including network communication components, display terminals) and system software. The bird-repelling device 3 includes one or more bird-repelling guns, and can also be equipped with other bird-repelling devices. The bird-repelling gun includes a semi-free-style bird-repelling gun and a free-style bird-repelling gun. The free-style bird-repelling gun can adjust the launch height, direction angle and pitch angle. The semi-free-style bird-repelling gun can only adjust the launch direction angle.

[0142] The system provided in the embodiment of the present invention is briefly described. For matters not mentioned in the embodiment part, reference may be made to the corresponding contents in the aforementioned embodiment.

[0143] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A method for preventing birds from colliding with aircraft in long-distance straight-line flight, characterized in that: The following steps are involved: Get bird activity on take-off and landing routes; Obtaining the aircraft trajectory information of the aircraft; Extracting long-distance straight-line flight activities from the bird activities, and comprehensively evaluating the bird strike probability based on the aircraft trajectory information and the data of the long-distance straight-line flight activities; When the bird strike probability is higher than a preset risk threshold, bird repelling is performed according to a preset bird repelling strategy; The extracting of long-distance straight-line flight activities from the bird activities specifically includes: Extracting bird flight tracks of each type of bird activity from the bird activities; Taking the minimum mean square error as the constraint condition, a straight line model is fitted to several points in the bird's flight trajectory to obtain a straight line model; wherein, the last k1 points in the bird's flight trajectory are taken k1 takes an integer between 3 and 10, and then the linear model is fitted with the minimum mean square error as the constraint condition to obtain the linear model L B (t): L B (t) = P B +V B t; where t is the time parameter, P B is the point on the straight line at t = 0, V B is the flight speed vector of the bird; Then, the prediction error E between the bird flight trajectory and the straight line model is calculated: in, Is P B_i Substitute the collection time into the linear model L B (t) the predicted point; When the prediction error meets the preset straight-line activity condition, the bird activity is judged to be the long-distance straight-line flight activity; The comprehensive evaluation of the bird strike probability based on the aircraft trajectory information and the data of the long-distance straight-line flight activity specifically includes: Taking the aircraft as the origin, calculate the relative motion trajectory linear model L of the bird in the data of the long-distance straight flight activity B-A (t): L B-A (t)=P B -P A +(V B -V A )t; Among them, P A is the current position of the aircraft, V A is the aircraft speed, P B is the point on the straight line at t = 0, V B is the flight speed vector of the bird; Calculate the shortest distance d between the aircraft and the bird according to the relative motion trajectory straight line model; The bird strike probability P(d) is calculated according to the shortest distance: Among them, c3 is the aircraft size coefficient, r is the modulus of R(t) when the distance between the aircraft and the bird is the shortest, and R(t) is the distribution radius at time t.

2. The method for preventing long-distance straight-line flying birds from colliding with an aircraft according to claim 1, characterized in that: The comprehensive assessment of the bird strike probability based on the aircraft trajectory information and the data of the long-distance straight-line flight activity may also be: According to the linear model, the probability density function P of the data of the long-distance linear flight activity at any position X in the future t seconds on the spatiotemporal distribution of birds is predicted. B (X,t): Where c1 is the correction coefficient, L B (t) is the distribution center position at time t, ∑ B is the distribution parameter diagonal matrix; According to the aircraft trajectory information, the probability density function P of the aircraft at any position X in the future t seconds in the aircraft space-time distribution is predicted. A (X,t): Among them, L A (t) is the position of the aircraft at time t, ∑ A is the diagonal matrix of distribution parameters, c4 is the correction coefficient, and c3 is the aircraft size coefficient; The probability density function of the data of the long-distance straight-line flight activity on the spatiotemporal distribution of birds and the probability density function of the aircraft on the spatiotemporal distribution of aircraft are integrated, and the maximum value of the integration is defined as the bird strike probability.

3. The method for preventing long-distance straight-line flying birds from colliding with an aircraft according to claim 2, characterized in that: The bird-repelling strategy includes a migratory bird-repelling strategy; the migratory bird-repelling strategy includes: driving away bird activities with a bird strike probability higher than the risk threshold; When there are multiple bird activities with a bird strike probability higher than the risk threshold, the bird activity closest to the aircraft is driven away first; For the bird activities that are given priority to be driven away, the driving device closest to the bird is selected as the main device; and the driving device within a specified distance from the main device is selected as the auxiliary device.

4. The method for preventing long-distance straight-line flying birds from colliding with an aircraft according to claim 3, characterized in that: The bird-repelling strategy includes a local resident bird-repelling strategy; The local resident bird repellent strategies include: When local resident birds are detected entering the preset airport area, they will be driven away; If the repelling fails, repel the birds according to the migratory bird repelling strategy described above.

5. The method for preventing long-distance straight-line flying birds from colliding with an aircraft according to claim 4, characterized in that: The driving device includes at least one bird-driving gun; the execution mode of the bird-driving gun is semi-free style; The semi-free aiming point is defined as the intersection of the detonation space of the bird-repelling bomb and the flight trajectory of the bird; the semi-free bird-repelling method includes that the closer the distance between the bird and the aiming point, the higher the firing frequency of the bird-repelling bomb.

6. The method for preventing long-distance straight-line flying birds from colliding with an aircraft according to claim 5, characterized in that: The bird-repelling cannon is executed in a free-style manner; The free-style bird-repelling method includes that the closer the distance between the bird and the take-off and landing route is, the higher the firing frequency of the bird-repelling bomb is.

7. The method for preventing long-distance straight-line flying birds from colliding with an aircraft according to claim 1, characterized in that: After driving away birds according to the preset bird-driving strategy, the method further includes: When any of the following conditions are detected, bird repelling will not be performed: When the distance between the bird and the explosion point of the bird repellent bomb exceeds the preset maximum distance; When the distance between the bird and the explosion point of the bird repellent bomb is less than the preset minimum distance; When the distance between the aircraft and the take-off and landing route is within the preset take-off and landing route non-detonation range; When the distance between the aircraft and the ground is within the preset ground non-detonation range.

8. A system for preventing birds flying in a long straight distance from colliding with an aircraft, characterized in that: include: Bird activity detection module: used to obtain bird activities on take-off and landing routes; Operation control center: connected to the bird activity detection module; the operation control center is used to obtain the aircraft trajectory information of the aircraft; extract the long-distance straight-line flight activity from the bird activity, and comprehensively evaluate the bird strike probability based on the aircraft trajectory information and the data of the long-distance straight-line flight activity; when the bird strike probability is higher than a preset risk threshold, start the bird repelling device to repel the bird; Bird repelling equipment: connected to the operation control center; the bird repelling equipment is used to repel birds according to a preset bird repelling strategy; The extracting of long-distance straight-line flight activities from the bird activities specifically includes: Extracting bird flight tracks of each type of bird activity from the bird activities; Taking the minimum mean square error as the constraint condition, a straight line model is fitted to several points in the bird's flight trajectory to obtain a straight line model; wherein, the last k1 points in the bird's flight trajectory are taken k1 takes an integer between 3 and 10, and then the linear model is fitted with the minimum mean square error as the constraint condition to obtain the linear model L B (t): L B (t) = P B +V B t; where t is the time parameter, P B is the point on the straight line at t = 0, V B is the flight speed vector of the bird; Then, the prediction error E between the bird flight trajectory and the straight line model is calculated: in, Is P B_i Substitute the collection time into the linear model L B (t) the predicted point; When the prediction error meets the preset straight-line activity condition, the bird activity is judged to be the long-distance straight-line flight activity; The comprehensive evaluation of the bird strike probability based on the aircraft trajectory information and the data of the long-distance straight-line flight activity specifically includes: Taking the aircraft as the origin, calculate the relative motion trajectory linear model L of the bird in the data of the long-distance straight flight activity B-A (t): L B-A (t)=P B -P A +(V B -V A )t; Among them, P A is the current position of the aircraft, V A is the aircraft speed, P B is the point on the straight line at t = 0, V B is the flight speed vector of the bird; Calculate the shortest distance d between the aircraft and the bird according to the relative motion trajectory straight line model; The bird strike probability P(d) is calculated according to the shortest distance: Among them, c3 is the aircraft size coefficient, r is the modulus of R(t) when the distance between the aircraft and the bird is the shortest, and R(t) is the distribution radius at time t.

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