Airspace early warning method and early warning system for laser rangefinder

Abstract

The present invention discloses an airspace warning method and system for a laser rangefinder. The method comprises the following steps: obtaining real-time information about aircraft in the airspace; performing extrapolated position calculation based on the real-time information about aircraft in the airspace to obtain the extrapolated position of the aircraft at a specified time; obtaining real-time information about the laser beam pointing direction of the laser rangefinder and using Lagrange interpolation to obtain the extrapolated pointing position of the laser beam at the specified time; calculating the laser beam pointing direction safety zone for the laser rangefinder at the current time and the specified time; and determining whether the real-time information about the aircraft and the real-time extrapolated position of the aircraft at the specified time exceed the laser beam pointing direction safety zone. If either the real-time information about the aircraft or the extrapolated position of the aircraft at the specified time exceeds the laser beam pointing direction safety zone, the warning aircraft position is displayed on a celestial map and / or the laser rangefinder is immediately shut down. The technical solution of the present invention can reduce aircraft safety risks during the operation of the laser rangefinder.

Description

Technical Field

[0001] The present invention relates to the technical field of laser rangefinder early warning, and in particular to an airspace early warning method and early warning system for a laser rangefinder. Background Art

[0002] Laser rangefinders use laser ranging technology to measure distances in space. They aim to track and locate designated targets, such as satellites equipped with corner reflectors or space debris, and achieve precise distance measurements. Laser ranging technology uses laser pulses to precisely measure the distance from a ground station to a space target. It aims to leverage space technology to study geodynamics, geodesy, geophysics, and astronomy. The development of laser ranging technology is primarily reflected in the continuous improvement of ranging accuracy and the expansion of its application areas. With the advancement of related scientific and technological advances, the observation accuracy of laser ranging has increased from the meter level of the first generation to the centimeter and even millimeter level today. Its application range has expanded from traditional precision orbit determination and Earth gravity field determination to precision orbit calibration for navigation satellites, space debris measurement, lunar ranging, time transfer, laser communications, and interstellar exploration. After more than 50 years of development, laser ranging technology has achieved remarkable success and is now widely used in high-precision distance measurement for satellites, space debris, and the moon, as well as deep space exploration. Deep space exploration is a high-risk undertaking, and every exploration presents a significant challenge. High-precision distance measurement for deep space probes is a fundamental guarantee for deep space exploration missions and a crucial technical means for conducting scientific research related to the solar system. my country's deep space exploration program for the lunar exploration project has made a series of research advances. The China National Space Administration is developing a long-term deep space exploration program, with Mars exploration at its core. The program also includes exploration missions to the sun, other planets, and asteroids.

[0003] As the scope and distance of human exploration of space targets continue to increase, the range of laser rangefinders is also increasing, leading to a corresponding increase in the power of their key components: lasers. Since no-fly zones are not established above most ground-based stations, operating lasers produce high-intensity, highly directional, and monochromatic beams. While this performance significantly improves the ability to detect space targets, it also poses a certain risk to space security, as the beam poses a safety hazard to aircraft within its radiation range. Existing space security early warning technology only uses flight and transit information to warn aircraft throughout the sky above the observatory. It cannot accurately warn of aircraft passing within the laser rangefinder's narrow range, resulting in a high probability of false alarms.

[0004] In summary, how to develop a new warning method to better prevent laser rangefinders from affecting normal aircraft flight is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The main purpose of the embodiments of the present invention is to provide an airspace warning method and warning system for a laser rangefinder, aiming to reduce the aircraft safety risks brought about during the operation of the laser rangefinder.

[0006] The technical solution of the present invention to solve the above technical problems is to provide an airspace early warning method for a laser rangefinder, the steps of which include:

[0007] Get real-time information about aircraft in the airspace;

[0008] The extrapolated position calculation is performed based on the real-time information of the aircraft in the airspace to obtain the extrapolated position of the aircraft at the specified time;

[0009] Obtain the real-time information of the laser beam pointing direction of the laser rangefinder, and use the Lagrange interpolation method to obtain the azimuth and elevation angles of the laser rangefinder at a specified time, which is the extrapolated pointing position of the laser beam at the specified time;

[0010] Calculate the laser beam pointing to the safe area at the current moment and the specified moment of the laser rangefinder;

[0011] Determine whether the real-time information of the aircraft and the real-time extrapolated position of the aircraft at a specified time break through the laser beam and point to the safe area;

[0012] If any of the breakthrough laser beams of the aircraft's real-time information and the aircraft's extrapolated position at a specified moment points to a safe area, the aircraft's position will be displayed on the celestial map as a warning and / or the laser rangefinder will be shut down immediately.

[0013] In one embodiment of the present invention, the step of obtaining real-time information of aircraft in the airspace includes:

[0014] Obtain real-time information of airspace aircraft broadcasts through ADS-B virtual radar receiver;

[0015] Read aircraft information received by virtual radar through the network;

[0016] Obtain the aircraft's ICAO call sign and timestamp, and extract the complete ADS-B information frame;

[0017] Convert the aircraft's orientation, altitude, and distance to the station coordinate system, save all the aircraft information into an array, form the aircraft trajectory information, and obtain complete real-time information of the aircraft.

[0018] In one embodiment of the present invention, in the step of reading aircraft information received by the virtual radar through the network, the aircraft information includes: a 7-digit code (call sign), a data broadcast date, a data broadcast time (accumulated seconds on the day), the aircraft's current latitude, the aircraft's current longitude, the aircraft's altitude (meters), the aircraft's relative ground speed (nautical miles per hour), the aircraft's vertical speed (meters per second), and the aircraft's heading.

[0019] In one embodiment of the present invention, the step of calculating the extrapolated position based on the real-time information of the aircraft in the airspace to obtain the extrapolated position of the aircraft at a specified time includes:

[0020] Based on the real-time information of aircraft in the airspace, obtain the current three-dimensional position of the aircraft and the three-dimensional position of the previous moment;

[0021] The aircraft's three-dimensional velocity is obtained by taking the difference between the aircraft's current three-dimensional position and the aircraft's previous three-dimensional position and dividing it by the time interval between the current and previous moments.

[0022] The three-dimensional position of the aircraft at the specified time is obtained by adding the product of the three-dimensional velocity and the interval time between the specified time and the three-dimensional position to the current time; that is, the position of the aircraft at the specified time is obtained.

[0023] In one embodiment of the present invention, the step of obtaining real-time information on the laser beam pointing direction of the laser rangefinder and using the Lagrange interpolation method to obtain the azimuth and elevation angles of the laser rangefinder at a specified moment, i.e., the extrapolated pointing position of the laser beam at the specified moment, includes:

[0024] Query the local orbit data through the identification number of the current laser rangefinder tracking target,

[0025] Read the equally spaced orbit point information in the local orbit data into the specified array, which is the real-time position of the laser beam;

[0026] The Lagrange interpolation method is used to obtain the azimuth and elevation angles of the laser rangefinder at a specified moment, which is the extrapolated pointing position of the laser beam at the specified moment.

[0027] The information included in the designated array includes the laser beam wavelength, laser beam pulse width, laser beam pointing angle, current date, current time, current pointing azimuth angle, and current pointing pitch angle of the laser rangefinder.

[0028] In one embodiment of the present invention, the step of calculating the laser beam pointing to the safe area at the current moment and the specified moment of the laser rangefinder includes:

[0029] Based on the real-time information of aircraft in the airspace, the extrapolated position of aircraft at a specified time, the real-time information of the laser beam pointing, and the extrapolated pointing position of the laser beam, the laser rangefinder's warning area and safety area are divided through a specific algorithm.

[0030] In one embodiment of the present invention, in the step of dividing the warning area and the safe area of ​​the laser rangefinder by a specific algorithm based on the real-time information of the aircraft in the airspace, the extrapolated position of the aircraft at a specified time, the real-time information of the laser beam pointing, and the extrapolated pointing position of the laser beam, the specific algorithm includes: defining a warning area with the real-time information of the laser beam pointing of the laser rangefinder as the center and a first distance as the radius; defining an unsafe area with the extrapolated information of the laser beam pointing as the center and a second distance as the radius; and the first distance is greater than the second distance.

[0031] In one embodiment of the present invention, the step of respectively determining whether the real-time information of the aircraft and the real-time extrapolated position of the aircraft at a specified time exceed the safety zone pointed by the laser beam includes:

[0032] Based on the real-time information of the aircraft, determine whether the aircraft has broken through the laser beam and is heading towards the safe area at that moment;

[0033] Based on the extrapolated position of the aircraft at the specified time, it is determined whether the aircraft at the specified time breaks through the laser beam and points to the safe area.

[0034] In one embodiment of the present invention, the step of displaying the warning aircraft position on a celestial map or immediately shutting down the laser rangefinder if either the real-time information of the aircraft or the extrapolated position of the aircraft at a specified time breaks through the laser beam pointing to a safe area includes:

[0035] When any of the aircraft's real-time information and the aircraft's extrapolated position at a specified moment is about to break through the laser beam's safety zone, an alarm message is issued;

[0036] When any of the real-time information of the aircraft and the extrapolated position of the aircraft at a specified moment breaks through the laser beam and points to the safe area, the warning aircraft position is displayed on the celestial map and / or the laser rangefinder is immediately turned off.

[0037] In one embodiment of the present invention, the step of displaying the warning aircraft position on a celestial map or immediately shutting down the laser rangefinder when either the real-time information of the aircraft or the extrapolated position of the aircraft at a specified time breaks through the laser beam pointing to the safe area includes:

[0038] Alarm levels are divided based on the aircraft's real-time information or the aircraft's extrapolated position at a specified moment within the safe area pointed by the laser beam;

[0039] When the alert level is low, the extrapolated position of the aircraft at the specified time of the alert is displayed on the celestial map;

[0040] When the alarm level is high, turn off the laser rangefinder immediately.

[0041] To solve the above technical problems, the present invention also proposes an early warning system, which is applied to an airspace early warning method for a laser rangefinder; the early warning system includes: an airspace aircraft information real-time acquisition system, an airspace aircraft extrapolated position calculation server, a laser rangefinder laser beam pointing real-time position acquisition system, a laser rangefinder laser pointing position extrapolation calculation server, a laser rangefinder laser beam pointing safety early warning area calculation server, and an aircraft safety early warning signal output device; the airspace aircraft information real-time acquisition system is electrically connected to the airspace aircraft extrapolated position calculation server, the airspace aircraft extrapolated position calculation server is electrically connected to the laser rangefinder laser beam pointing safety early warning area calculation server, the laser rangefinder laser beam pointing real-time position acquisition system is electrically connected to the laser rangefinder laser pointing position extrapolation calculation server, the laser rangefinder laser pointing position extrapolation calculation server is electrically connected to the laser rangefinder laser beam pointing safety early warning area calculation server, and the laser rangefinder laser beam pointing safety early warning area calculation server is electrically connected to the aircraft safety early warning signal output device.

[0042] The technical solution of the present invention obtains real-time information about the aircraft and simultaneously extracts the laser rangefinder's operating trajectory information (i.e., information on the position of the outgoing laser beam) from the observed target orbit data. An aircraft position extrapolation method is used to calculate the aircraft's expected arrival position and the laser rangefinder's expected position at the same moment, thereby performing a pre-judgment of aircraft safety. When a safety hazard occurs, an alarm is issued and the laser rangefinder is shut down through a graded early warning method, thereby reducing the aircraft safety risk brought about by the operation of the laser rangefinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0044] Figure 1 This is a schematic flow chart of the steps of an airspace early warning method for a laser rangefinder according to the present invention;

[0045] Figure 2 This is a flow chart of one step of an airspace early warning method for a laser rangefinder according to the present invention;

[0046] Figure 3 This is a flow chart of one step of an airspace early warning method for a laser rangefinder according to the present invention;

[0047] Figure 4 This is a flow chart of one step of an airspace early warning method for a laser rangefinder according to the present invention;

[0048] Figure 5 This is a flow chart of one step of an airspace early warning method for a laser rangefinder according to the present invention;

[0049] Figure 6 This is a flow chart of one step of an airspace early warning method for a laser rangefinder according to the present invention;

[0050] Figure 7 This is a flow chart of one step of an airspace early warning method for a laser rangefinder according to the present invention;

[0051] Figure 8 This is a structural diagram of an early warning system according to the present invention.

[0052] Description of Figure Numbers:

[0053]

[0054] DETAILED DESCRIPTION

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0056] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0057] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this disclosure, "several" or "a plurality" means at least two, such as two or three, unless otherwise specifically defined.

[0058] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0059] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0060] The present invention proposes an airspace early warning method for a laser rangefinder, aiming to reduce the aircraft safety risks brought about during the operation of the laser rangefinder.

[0061] The specific structure of the airspace early warning method for a laser rangefinder proposed by the present invention will be described below in a specific embodiment:

[0062] In the technical solution of this embodiment, Figure 1 As shown, an airspace early warning method for a laser rangefinder comprises the following steps:

[0063] S10: Obtain real-time information of aircraft in the airspace;

[0064] S20: performing extrapolated position calculation based on the real-time information of the aircraft in the airspace to obtain the extrapolated position of the aircraft at a specified time;

[0065] S30: Acquire the real-time information of the laser beam pointing direction of the laser rangefinder, and use the Lagrange interpolation method to obtain the azimuth and elevation angles of the laser rangefinder at a specified time, which is the extrapolated pointing position of the laser beam at the specified time;

[0066] S40: Calculate the laser beam pointing to the safe area at the current moment and the specified moment of the laser rangefinder;

[0067] S50: determining whether the real-time information of the aircraft and the real-time extrapolated position of the aircraft at a specified time break through the laser beam and point to the safe area;

[0068] S60: If any of the breakthrough laser beams of the aircraft's real-time information and the aircraft's extrapolated position at the specified moment points to a safe area, the warning aircraft position is displayed on the celestial map and / or the laser rangefinder is immediately turned off.

[0069] It can be understood that by storing, calculating, analyzing, comparing, inferring and evaluating the real-time information of the aircraft and the real-time position of the laser rangefinder laser beam, real-time warning of airspace aircraft safety can be achieved during the operation of the laser rangefinder, which can reduce the workload of manual evaluation and improve resource utilization and the safety of equipment use.

[0070] The airspace early warning method for a laser rangefinder proposed in the present invention obtains real-time information about the aircraft and simultaneously extracts the laser rangefinder's operating trajectory information (i.e., information on the position of the outgoing laser beam) from the observed target orbit data. The aircraft's expected arrival position and the laser rangefinder's expected position at the same moment are calculated using an aircraft position extrapolation method to perform a preliminary assessment of aircraft safety. When a safety hazard arises, a graded early warning method is used to issue an alarm and shut down the laser rangefinder, thereby reducing aircraft safety risks brought about by the operation of the laser rangefinder.

[0071] In the technical solution of this embodiment, Figure 2 As shown, the step of S10: obtaining real-time information of aircraft in the airspace includes:

[0072] S11: Obtain real-time information of airspace aircraft broadcasts through the virtual radar receiver ADS-B;

[0073] S12: Reading aircraft information received by the virtual radar through the network;

[0074] Aircraft information includes: 7-digit code (call sign), data broadcast date, data broadcast time (accumulated seconds for the day), aircraft current latitude, aircraft current longitude, aircraft altitude (meters), aircraft relative ground speed (knots / hour), aircraft vertical speed (meters / second) and aircraft heading, etc.

[0075] S13: Obtain the ICAO call sign and timestamp of the aircraft and extract the complete ADS-B information frame;

[0076] S14: Convert the aircraft's orientation, altitude, and distance to the measuring station coordinate system, save all aircraft data into an array, form aircraft trajectory information, and obtain complete real-time information of the aircraft.

[0077] Specifically, the real-time information of the aircraft can be obtained through the airspace aircraft information real-time acquisition system, the latitude and longitude of the aircraft can be converted into azimuth and pitch angle data in the survey station coordinate system, and the broadcast data can be identified by the call sign. The aircraft information is saved in a specified array in an orderly manner with the aircraft call sign as the index, forming the aircraft trajectory information in the survey station coordinate system, and completing the real-time acquisition of aircraft information.

[0078] As you can understand, ADS-B is a new air traffic control surveillance technology based on the GNSS global satellite positioning system and utilizing air-to-ground and air-to-air data links to monitor aircraft and transmit information. The basic principle is to receive GNSS signals through onboard equipment, perform real-time positioning, and periodically broadcast information containing the aircraft's position (longitude, latitude, altitude, and time). Common aircraft status parameters in ADS-B include position, altitude, and speed. Position is determined by the Global Navigation Satellite System and the Air Data System, while speed is derived from GNSS position and the inertial measurement system. ADS-B also allows for the broadcast of other information, such as the aircraft's call sign and operational status.

[0079] In the technical solution of this embodiment, Figure 3 As shown, the step S20: performing extrapolated position calculation based on the real-time information of the aircraft in the airspace to obtain the extrapolated position of the aircraft at a specified time includes:

[0080] S21: Based on the real-time information of the aircraft in the airspace, obtain the three-dimensional position of the aircraft at the current moment and the three-dimensional position at the previous moment;

[0081] S22: Calculate the difference between the current 3D position of the aircraft and the 3D position of the previous moment, and divide the difference by the time interval between the current moment and the previous moment to obtain the 3D velocity of the aircraft;

[0082] S23: The 3D position of the aircraft at the specified time is obtained by adding the product of the 3D velocity and the interval between the specified time and the 3D position based on the current 3D position of the aircraft; that is, the position of the aircraft at the specified time is obtained.

[0083] Specifically, based on real-time information about aircraft in the airspace, the airspace aircraft extrapolated position calculation server calculates the aircraft's extrapolated position at a specified time. The calculation method of the airspace aircraft extrapolated position calculation server is as follows: the extrapolation time is set to the current time + 2 seconds. First, the aircraft's 3D velocity is calculated. The difference between the aircraft's current 3D position and the previous 3D position is divided by the time interval between the two times to obtain the aircraft's 3D velocity. The aircraft's current 3D position is then multiplied by the 3D velocity and 2 seconds to obtain the aircraft's 3D position 2 seconds later.

[0084] In the technical solution of this embodiment, Figure 4 As shown, the step of S30: obtaining real-time information on the laser beam pointing direction of the laser rangefinder and using Lagrange interpolation to obtain the azimuth and elevation angles of the laser rangefinder at a specified moment, i.e., the extrapolated pointing position of the laser beam at the specified moment, includes:

[0085] S31: query the aircraft's orbit data using the identification number of the current laser rangefinder tracking target;

[0086] S32: Read the equally spaced orbit point information in the local orbit data into a specified array, which is the real-time position of the laser beam;

[0087] It can be understood that the specified array includes information such as the laser beam wavelength, laser beam pulse width, laser beam pointing emission angle, current date, current time, current pointing azimuth angle, and current pointing pitch angle of the laser rangefinder.

[0088] S33: Using the Lagrange interpolation method, the azimuth angle and the elevation angle of the laser rangefinder at the specified time are obtained, that is, the extrapolated pointing position of the laser beam at the specified time.

[0089] Specifically, a laser rangefinder laser beam pointing real-time position acquisition system can be used to query the local orbit data (i.e., the real-time position of the laser beam pointing) through the identification number of the current laser rangefinder tracking target, and read the orbit point information of the equally spaced orbit data into a specified array, including: laser beam wavelength, laser beam pulse width, laser beam pointing emission angle, current date, current time, current pointing azimuth, current pointing pitch angle, to complete the real-time position acquisition of the laser beam pointing.

[0090] The laser rangefinder laser pointing position extrapolation calculation server can be used to call the laser rangefinder laser beam pointing real-time position acquisition system's laser beam pointing real-time position information to obtain the aircraft extrapolation time value, and the Lagrange interpolation method is used to obtain the laser rangefinder extrapolated azimuth and pitch angle of the aircraft extrapolation moment value. The laser rangefinder laser beam pointing position at a specified moment (the extrapolated pointing position of the laser beam at a specified moment) is saved, including: laser beam wavelength, laser beam pulse width, laser beam pointing emission angle, extrapolation date, extrapolation time, laser beam pointing center azimuth, and laser beam pointing center pitch angle.

[0091] In the technical solution of this embodiment, the step of S40: calculating the laser beam pointing to the safe area at the current moment and the specified moment of the laser rangefinder includes:

[0092] S41: Based on the real-time information of aircraft in the airspace, the extrapolated position of aircraft at a specified time, the real-time information of the laser beam pointing, and the extrapolated pointing position of the laser beam, the laser rangefinder is divided into warning areas and safety areas through a specific algorithm.

[0093] It can be understood that the specific algorithm includes: taking the real-time information of the laser beam pointing of the laser rangefinder as the center and the first distance as the radius, defining it as a warning area; taking the extrapolated information of the laser beam pointing as the center and the second distance as the radius, defining it as an unsafe area; the first distance is greater than the second distance.

[0094] The laser rangefinder's laser beam can be used to calculate the safety warning area. Based on real-time information about aircraft in the airspace, the extrapolated position of aircraft at a given moment, real-time laser beam pointing information, and the extrapolated position of the laser beam, a specific algorithm can be used to divide the warning area into a warning area and a safety area. One form of the specific algorithm is to use the real-time laser pointing information as the center and a larger angular distance (such as 20°) as the radius to define the warning area; the extrapolated laser pointing information as the center and a smaller angular distance (such as 1°) as the radius to define the safety area.

[0095] In the technical solution of this embodiment, Figure 5 As shown, the step of S50: respectively determining whether the real-time information of the aircraft and the real-time extrapolated position of the aircraft at a specified time have broken through the safety area pointed by the laser beam includes:

[0096] S51: Determine based on the real-time information of the aircraft whether the aircraft has broken through the laser beam and is heading towards the safe area at that moment;

[0097] S52: judging, based on the extrapolated position of the aircraft at the specified time, whether the aircraft at the specified time breaks through the laser beam and points to the safe area.

[0098] In the technical solution of this embodiment, Figure 6 As shown, the step of S60: if any of the real-time information of the aircraft and the extrapolated position of the aircraft at a specified time breaks through the laser beam and points to the safe area, then displaying the warning aircraft position on the celestial map or immediately shutting down the laser rangefinder includes:

[0099] S61: When any of the aircraft's real-time information and the aircraft's extrapolated position at a specified moment is about to break through the laser beam's safety zone, an alarm message is issued;

[0100] S62: When any of the real-time information of the aircraft and the extrapolated position of the aircraft at a specified time breaks through the laser beam and points to the safe area, the warning aircraft position is displayed on the celestial map and / or the laser rangefinder is immediately turned off.

[0101] Airspace aircraft safety warning signal output equipment can determine whether an aircraft is in the warning area based on real-time information. For aircraft in the warning area, the system can determine whether the aircraft is about to violate the safety zone based on extrapolated information from the aircraft and laser pointing. If the aircraft is about to violate the safety zone, an alarm message will be issued and a stop command for the laser rangefinder will be sent according to the alarm level.

[0102] In the technical solution of this embodiment, Figure 7 As shown, the step S62 of displaying the warning aircraft position on the celestial map and / or immediately shutting down the laser rangefinder when any of the real-time information of the aircraft and the extrapolated position of the aircraft at a specified time breaks through the laser beam and points to the safe area includes:

[0103] S621: Classify the alarm level based on the real-time information of the aircraft or the extrapolated position of the aircraft at a specified time within the safe area pointed by the laser beam;

[0104] Regardless of whether the real-time information of the aircraft is within the safety zone pointed by the laser beam or the extrapolated position of the aircraft at a specified moment is within the safety zone pointed by the laser beam, a corresponding alarm will be issued according to the alarm level.

[0105] S622: When the alert level is low, the extrapolated position of the aircraft at the designated time of the alert is displayed on the celestial chart;

[0106] S623: When the alarm level is high, turn off the laser rangefinder immediately.

[0107] The present invention also proposes an early warning system, such as Figure 8 As shown, the early warning system is applied to the airspace early warning method for laser rangefinders; the early warning system includes: an airspace aircraft information real-time acquisition system 10, an airspace aircraft extrapolated position calculation server 20, a laser rangefinder laser beam pointing real-time position acquisition system 30, a laser rangefinder laser pointing position extrapolation calculation server 40, a laser rangefinder laser beam pointing safety early warning area calculation server 50 and an aircraft safety early warning signal output device 60; the airspace aircraft information real-time acquisition system 10 is electrically connected to the airspace aircraft extrapolated position calculation server 20, the airspace The aircraft extrapolated position calculation server 20 is electrically connected to the laser rangefinder laser beam pointing safety warning area calculation server 50, the laser rangefinder laser beam pointing real-time position acquisition system 30 is electrically connected to the laser rangefinder laser pointing position extrapolation calculation server 40, the laser rangefinder laser pointing position extrapolation calculation server 40 is electrically connected to the laser rangefinder laser beam pointing safety warning area calculation server 50, and the laser rangefinder laser beam pointing safety warning area calculation server 50 is electrically connected to the aircraft safety warning signal output device 60.

[0108] The real-time acquisition system 10 for airspace aircraft information is used to obtain real-time information about aircraft. Specifically, the latitude and longitude of the aircraft are converted into azimuth and pitch angle data in the survey station coordinate system, and the broadcast data is identified by the call sign. The aircraft information is stored in a specified array in an orderly manner with the aircraft call sign as the index, forming the aircraft trajectory information in the survey station coordinate system, thereby completing the real-time acquisition of aircraft information.

[0109] The airspace aircraft extrapolated position calculation server 20 is used to calculate the extrapolated position of an aircraft at a specified time. Specifically, based on real-time information about aircraft in the airspace, the extrapolated position of an aircraft at a specified time can be calculated by the airspace aircraft extrapolated position calculation server. The calculation method of the airspace aircraft extrapolated position calculation server is as follows: the extrapolation time is set to the current time + 2 seconds. First, the aircraft's 3D velocity is calculated by subtracting the current 3D position from the previous 3D position and dividing it by the time interval between the two times to obtain the aircraft's 3D velocity. The aircraft's 3D position at the current time is then multiplied by the 3D velocity and 2 seconds to obtain the aircraft's 3D position 2 seconds later.

[0110] The laser rangefinder laser beam pointing real-time position acquisition system 30 is used to obtain the real-time position of the laser rangefinder. Specifically, the local orbit data (i.e., the real-time position of the laser beam pointing) is queried through the identification number of the current laser rangefinder tracking target, and the orbit point information of the equally spaced orbit data in the orbit data is read into a specified array, including: laser beam wavelength, laser beam pulse width, laser beam pointing emission angle, current date, current time, current pointing azimuth angle, current pointing pitch angle, to complete the acquisition of the laser beam pointing real-time position.

[0111] The laser rangefinder laser pointing position extrapolation calculation server 40 is used to calculate the extrapolated pointing position of the laser beam at a specified time. Specifically, the server obtains the real-time position information of the laser beam pointing of the laser rangefinder by calling the real-time position acquisition system of the laser beam pointing, obtains the extrapolated time value of the aircraft, uses the Lagrange interpolation method to obtain the extrapolated azimuth and pitch angle of the laser rangefinder at the same time value of the aircraft extrapolation, and saves the laser beam pointing position of the laser rangefinder at the specified time (the extrapolated pointing position of the laser beam at the specified time), including: laser beam wavelength, laser beam pulse width, laser beam pointing emission angle, extrapolation date, extrapolation time, laser beam pointing center azimuth, and laser beam pointing center pitch angle.

[0112] The laser rangefinder laser beam pointing safety warning area calculation server 50 is used to calculate the laser beam pointing safety area. Based on the real-time information of aircraft in the airspace, the extrapolated position of the aircraft at a specified time, the real-time laser beam pointing information, and the extrapolated laser beam pointing position, a specific algorithm is used to divide the warning area into a safety area. One form of the specific algorithm is to define the warning area with the real-time laser pointing information as the center and a larger angular distance (e.g., 20°) as the radius, and to define the safety area with the extrapolated laser pointing information as the center and a smaller angular distance (e.g., 1°) as the radius.

[0113] The aircraft safety warning signal output device 60 is used to provide real-time warnings. Based on the aircraft's real-time information, the device determines whether the aircraft is within the warning zone. For aircraft already within the warning zone, the device determines whether the aircraft is about to breach the safety zone based on extrapolated information from the aircraft and laser pointing directions. If the aircraft is about to breach the safety zone, an alarm message is issued and a command to stop the laser rangefinder is sent based on the alarm level.

[0114] Example 1

[0115] An airspace early warning method for laser rangefinder,

[0116] (1) Obtain the real-time information data of the aircraft, as shown below: 7-digit code (call sign) 78059C, data broadcast date May 29, 2022, data broadcast time (accumulated seconds on that day) 12347.743 seconds, aircraft current latitude 43.879070 degrees, aircraft current longitude 125.512543 degrees, aircraft altitude 674.620117 meters, aircraft relative ground speed 259 knots / hour, aircraft vertical speed 16.906240 meters / second, aircraft heading 190 degrees.

[0117] (2) When the ADS-B receiver at the station receives the aircraft passing data, it extracts the aircraft’s azimuth and pitch distance (A z , E lv , R p Taking aircraft information data list number 1 as an example, after coordinate conversion, the position of the aircraft in the station coordinate system is 48.455069 degrees in azimuth, 19.633475 in pitch, and 7133.539829 meters from the station, which is recorded as (A z , E lv , R p )=(48.455069,19.633475,7133.539829). Using formula (1)

[0118]

[0119] Calculate the position information of the aircraft at the center of the station: (X p , Y p , Z p )=(5028.594750, 4455.959743, 2396.882997).

[0120] (3) Based on the aircraft's horizontal velocity V = 133.2411 m / s and vertical velocity Vz = 16.906240 m / s, the velocities on each axis are:

[0121]

[0122] According to the formula

[0123]

[0124] The coordinates of the aircraft's position at the center of the measuring station 2 seconds later (i.e. 12349.743 seconds) can be calculated by extrapolation:

[0125] (4982.320602, 4193.526007, 2430.695477, 6951.076136)

[0126] After the coordinates (X, Y, Z, R) are converted, the station coordinates of the aircraft at 12349.743 seconds can be derived (A zp , E lvp , R)=(49.913308, 20.468124, 6951.076136).

[0127] (4) The laser beam of the laser rangefinder points to the real-time position acquisition system. The data acquisition machine queries the track data through the identification number of the current laser rangefinder tracking target. It can be known that the azimuth and pitch of the laser rangefinder at this moment are (A zt , E lvt )=(3.4794,13.5651). Using formula (1), we can calculate the coordinates of the laser beam pointing to the laser rangefinder at the distance R as (X T , Y T , Z T , R)=(410.090362, 6744.713660, 1630.375107, 6951.076136).

[0128] The distance between the aircraft and the laser beam is calculated as:

[0129]

[0130] That is, ΔR is 5296.636712m.

[0131] (5) According to the laser safety judgment standard: the angle between the aircraft, the measuring station and the laser beam must be greater than θ, then the aircraft can be considered to be at a safe distance. Where θ is:

[0132]

[0133] In the formula is the maximum angular velocity of the aircraft's apparent position, where 222m is the maximum flight distance of a civil aircraft in 1s. Substituting R = 6951.076136, we can get

[0134] ω1=1.83° / s; ω2=1.5° / s is the maximum angular velocity of the telescope tracking; Δt=2s is the response time of the ranging system. Then θ=6.66465°; the corresponding safe distance

[0135] R HD =R·tan(θ)=812.216276m.

[0136] (6)R HD <ΔR, it can be considered that the aircraft is in a laser-safe position after 2 seconds and no avoidance is required.

[0137] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. An airspace early warning method for a laser rangefinder, characterized in that: The steps include: Get real-time information about aircraft in the airspace; The extrapolated position calculation is performed based on the real-time information of the aircraft in the airspace to obtain the extrapolated position of the aircraft at the specified time; Obtain the real-time information of the laser beam pointing direction of the laser rangefinder, and use the Lagrange interpolation method to obtain the azimuth and elevation angles of the laser rangefinder at a specified time, which is the extrapolated pointing position of the laser beam at the specified time; Calculate the laser beam pointing to the safe area at the current moment and the specified moment of the laser rangefinder; Determine whether the real-time information of the aircraft and the real-time extrapolated position of the aircraft at a specified time break through the laser beam and point to the safe area; If any of the breakthrough laser beams of the aircraft's real-time information and the aircraft's extrapolated position at a given moment points to a safe area, the aircraft's position will be displayed on the celestial chart and / or the laser rangefinder will be shut down immediately; The step of obtaining real-time information on the laser beam pointing direction of the laser rangefinder and using the Lagrange interpolation method to obtain the azimuth and elevation angles of the laser rangefinder at a specified moment, i.e., the extrapolated pointing position of the laser beam at the specified moment, comprises: Query the aircraft's orbital data using the identification number of the current laser rangefinder tracking target; Read the equally spaced orbit point information in the local orbit data into the specified array, which is the real-time position of the laser beam; The azimuth and elevation angles of the laser rangefinder at a specified moment are obtained by Lagrange interpolation, which is the extrapolated pointing position of the laser beam at the specified moment. The information included in the designated array includes the laser beam wavelength, laser beam pulse width, laser beam pointing angle, current date, current time, current pointing azimuth angle, and current pointing pitch angle of the laser rangefinder.

2. The airspace early warning method for a laser rangefinder according to claim 1, characterized in that: The step of obtaining real-time information of airspace aircraft includes: Obtain real-time information of airspace aircraft broadcasts through ADS-B virtual radar receiver; Read aircraft information received by virtual radar through the network; Obtain the aircraft's ICAO call sign and timestamp, and extract the complete ADS-B information frame; Convert the aircraft's orientation, altitude, and distance to the station coordinate system, save all the aircraft information into an array, form the aircraft trajectory information, and obtain complete real-time information of the aircraft.

3. The airspace early warning method for a laser rangefinder according to claim 2, characterized in that: In the step of reading the aircraft information received by the virtual radar through the network, the aircraft information includes: a 7-digit code, a data broadcast date, a data broadcast time, a current latitude of the aircraft, a current longitude of the aircraft, an altitude of the aircraft, a relative ground speed of the aircraft, a vertical speed of the aircraft, and a heading of the aircraft.

4. The airspace early warning method for a laser rangefinder according to claim 1, characterized in that: The step of calculating the extrapolated position of the aircraft at a specified time based on the real-time information of the aircraft in the airspace includes: Based on the real-time information of aircraft in the airspace, obtain the current three-dimensional position of the aircraft and the three-dimensional position of the previous moment; The aircraft's three-dimensional velocity is obtained by taking the difference between the aircraft's current three-dimensional position and the aircraft's previous three-dimensional position and dividing it by the time interval between the current and previous moments. The three-dimensional position of the aircraft at the specified time is obtained by adding the product of the three-dimensional velocity and the interval time between the specified time and the three-dimensional position to the current time; that is, the position of the aircraft at the specified time is obtained.

5. The airspace early warning method for a laser rangefinder according to claim 1, characterized in that: The steps of respectively calculating the laser beam pointing to the safe area at the current moment and the specified moment of the laser rangefinder include: Based on the real-time information of aircraft in the airspace, the extrapolated position of aircraft at a specified time, the real-time information of the laser beam pointing, and the extrapolated pointing position of the laser beam, the laser rangefinder's warning area and safety area are divided through a specific algorithm.

6. The airspace early warning method for a laser rangefinder according to claim 5, characterized in that: In the step of dividing the laser rangefinder's warning area and safety area by a specific algorithm based on the real-time information of the aircraft in the airspace, the extrapolated position of the aircraft at a specified time, the real-time information of the laser beam pointing, and the extrapolated position of the laser beam, the specific algorithm includes: defining a warning area with the real-time position of the laser beam pointing to the laser rangefinder as the center and a first distance as the radius; defining an unsafe area with the extrapolated position of the laser beam pointing to the laser rangefinder as the center and a second distance as the radius; The first distance is greater than the second distance.

7. The airspace early warning method for a laser rangefinder according to claim 1, characterized in that: The steps of respectively judging whether the real-time information of the aircraft and the real-time extrapolated position of the aircraft at a specified time have broken through the laser beam pointing to the safety area include: Based on the real-time information of the aircraft, determine whether the aircraft has broken through the laser beam and is heading towards the safe area at that moment; Based on the extrapolated position of the aircraft at the specified time, it is determined whether the aircraft at the specified time breaks through the laser beam and points to the safe area.

8. The airspace early warning method for a laser rangefinder according to claim 1, characterized in that: The step of displaying the warning aircraft position on the celestial map and / or immediately shutting down the laser rangefinder if any of the real-time information of the aircraft and the extrapolated position of the aircraft at a specified time points to a safe area comprises: When any of the aircraft's real-time information and the aircraft's extrapolated position at a specified moment is about to break through the laser beam's safety zone, an alarm message is issued; When any of the real-time information of the aircraft and the extrapolated position of the aircraft at a specified moment breaks through the laser beam and points to the safe area, the warning aircraft position is displayed on the celestial map and / or the laser rangefinder is immediately turned off.

9. An early warning system, characterized in that: The early warning system is applied to the airspace early warning method for a laser rangefinder according to any one of claims 1 to 8; The warning system includes: a real-time acquisition system for airspace aircraft information, an airspace aircraft extrapolation position calculation server, a real-time position acquisition system for laser rangefinder laser beam pointing, a laser rangefinder laser pointing position extrapolation calculation server, a laser rangefinder laser beam pointing safety warning area calculation server and an aircraft safety warning signal output device; The airspace aircraft information real-time acquisition system is electrically connected to the airspace aircraft extrapolated position calculation server, the airspace aircraft extrapolated position calculation server is electrically connected to the laser rangefinder laser beam pointing safety warning area calculation server, the laser rangefinder laser beam pointing real-time position acquisition system is electrically connected to the laser rangefinder laser pointing position extrapolation calculation server, the laser rangefinder laser pointing position extrapolation calculation server is electrically connected to the laser rangefinder laser beam pointing safety warning area calculation server, and the laser rangefinder laser beam pointing safety warning area calculation server is electrically connected to the aircraft safety warning signal output device.

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