A Civil Airport Flight Area Apron Sensing Enhancement RSU Device

Abstract

This invention provides a Rear Unit (RSU) device for enhancing apron perception in the flight area of ​​a civil airport. The RSU device, along with an application server, airport backbone network, vehicle monitoring network base station, On-Board Unit (OBU), vehicle-to-everything (V2X) wireless link, and the V2X wireless link, constitute a perception enhancement network. This invention establishes a small-scale V2X network by installing RSU devices with apron perception enhancement capabilities near the apron, enabling short-range access for special vehicles and managing multiple targets on the apron. Based on the network architecture of this invention, an RSU-based apron perception enhancement method and an RSU-based apron operation management method are proposed. This invention enhances the mutual perception capability between special vehicles and other moving targets within the apron area, improves the safety of apron operations, and provides an apron operation management platform, contributing to improved apron operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of vehicle network RSU equipment, and particularly to a perception enhancement RSU equipment for the flight area of ​​a civil airport. Background Technology

[0002] With the development of my country's civil aviation industry, the volume of aircraft support operations in airport flight areas is increasing, and the density of special vehicles, equipment, and personnel on the apron is also rising. This situation has brought new challenges to civil aviation safety.

[0003] Safe apron operations are a crucial aspect of civil aviation safety. Statistics show that accidents or incidents occurring during apron aircraft support operations, such as collisions between aircraft and ground special vehicles, collisions between special vehicles and non-powered equipment, or collisions with personnel, account for over 90% of civil aviation accidents and incidents.

[0004] To avoid accidents such as scrapes and collisions during ground operations, traditional methods rely on ground personnel observing and directing operations. However, with the development of information technology in my country's civil aviation, airport operations are becoming increasingly automated and information-based. Many airports are building vehicle management systems and apron operation management systems to improve safety.

[0005] However, the currently used systems have the following problems: First, the perception between special vehicles is weak, and there are no cooperative or avoidance measures. Second, the communication link between the vehicle management system and the server is too long, resulting in increased latency. Third, there are a large number of unpowered devices in the flight area, whose positioning accuracy is low, management is not precise enough, and there is a lack of effective perception between them and mobile nodes such as special vehicles.

[0006] For the reasons mentioned above, most current airport special vehicle management systems and equipment cannot adequately support apron operation management and improve ground operational safety, exhibiting functional deficiencies. Therefore, it is necessary to enhance the mutual perception between special vehicles and other nodes within the apron area through a vehicle-to-everything (V2X) device to increase safety and improve operational efficiency. Summary of the Invention

[0007] Objective of the Invention: The technical problem to be solved by this invention is to address the shortcomings of existing technologies by providing a Rear Unit (RSU) device for enhancing apron perception in the flight area of ​​civil airports. This device is installed near the approach lanes of the apron and forms a small-scale vehicle-to-everything (V2X) network within the apron operation area, improving perception between special vehicles and different nodes, thereby enhancing apron operation safety and efficiency.

[0008] The RSU (Road Side Unit) equipment, application server, airport backbone network, vehicle monitoring network base station, OBU (On Board Unit), vehicle-to-everything (V2X) wireless link, and vehicle monitoring network wireless link constitute a perception enhancement network.

[0009] The external interfaces of the RSU device include an upper-layer network interface, a non-powered positioning interface, a video monitoring module, a vehicle network communication module, and a display module.

[0010] The upper-layer network interface is an airport industrial Ethernet data interface, which connects to the airport operations database (AODB) server and apron operation management server via airport Ethernet or other industrial buses to obtain flight information of the apron where the RSU equipment is located.

[0011] The non-powered positioning interface is used to collect the location of non-powered equipment near the apron where the RSU equipment is located.

[0012] The video monitoring module includes a surveillance camera and a vision processing module. The surveillance camera monitors the visual information of the apron where the RSU equipment is located, and the vision processing module identifies the outlines of aircraft, special vehicles, equipment, and personnel nodes on the apron.

[0013] The vehicle-to-everything (V2X) communication module includes a communication module, which transmits data with the vehicle-to-everything (V2X) communication module of the OBU unit. The communication module meets V2X communication protocols such as DSRC, LTE-V2X, and 5G-V2X (NR).

[0014] The display module is typically an LED or LCD screen used to display flight number, aircraft type, aircraft number, and flight support progress sheet.

[0015] The OBU unit is installed on the special vehicle and includes a vehicle network communication module, a monitoring system communication module, an operation perception module, a positioning module, a display module, and an audio module;

[0016] The special vehicles mentioned are special vehicles for airport aircraft support and operation, including passenger boarding stairs, lifting platform vehicles, refueling vehicles, clean water vehicles, sewage vehicles, aircraft towing vehicles, baggage trolleys, baggage tractors, power supply vehicles, gas supply vehicles, air conditioning vehicles, catering vehicles, guidance vehicles, patrol vehicles, etc.

[0017] The network communication module is used to transmit data with the vehicle network communication module of the RSU device;

[0018] The monitoring system communication module supports 4G, 5G, 1.8G LTE, AeroMACS, and 5G AeroMACS protocols. Through the monitoring system communication module, the OBU unit communicates with the vehicle monitoring network base station and interacts with the application server via the vehicle monitoring network wireless link to realize vehicle management and vehicle status uploading.

[0019] The operation perception module collects the operating and operational status of the special vehicle through sensors installed on the engine, wheels, working mechanism, and working surface of the special vehicle.

[0020] The positioning module is used to obtain the current location of the special vehicle through positioning equipment; the positioning equipment includes GPS receivers, Beidou satellite positioning receivers, field surveillance radar receivers, multi-point positioning receivers, and other positioning devices;

[0021] The display module is a vehicle-mounted LED or LCD screen, used to display vehicle status, operation status, vehicle location, work order information, and apron information;

[0022] The audio module includes a speaker for generating and broadcasting prompt voice information regarding vehicle status, apron status, and work order status.

[0023] The perception enhancement network achieves apron perception enhancement through the following method:

[0024] Step a1: The special vehicle sends its own ID and location information to the RSU device through the OBU unit;

[0025] Step a2: The RSU device aggregates the location information of surrounding special vehicles to form dynamic real-time data on the location of special vehicles.

[0026] Step a3: The RSU device receives the location information of the unpowered equipment within its coverage area of ​​the apron through the unpowered positioning interface, forming dynamic real-time data on the location of the unpowered equipment.

[0027] Step a4: The RSU device integrates the dynamic real-time data of the location of non-powered equipment and the dynamic real-time data of the location of special vehicles to form dynamic real-time data of the location of multiple objects.

[0028] Step a5: The RSU device broadcasts real-time dynamic location data of multiple objects to the OBU unit through the vehicle network communication module;

[0029] Step a6: When special vehicles are operating, the video monitoring module collects apron operation video information through monitoring cameras, and obtains the outline information of special equipment, personnel, unpowered equipment, and aircraft through visual image processing. When the outlines of special equipment, personnel, unpowered equipment, and aircraft approach and exceed the limit, the RSU device sends collision warning information through the display module, upper-level network interface, and vehicle network communication module. The limit value needs to consider multiple factors such as outline recognition accuracy, positioning accuracy, and safe distance requirements between different nodes. In actual use, the limit value can be adjusted according to the actual false alarm rate or false alarm rate.

[0030] The RSU equipment constructs the apron safety space area through the following steps:

[0031] Step b1: Obtain basic space data for the purchase apron, including apron coordinates, outer edge coordinates, stop line coordinates, fixed pen coordinates, etc.

[0032] Step b2: Identify the outlines of apron aircraft, special vehicles, equipment, and personnel nodes through the vision processing module;

[0033] Step b3: Mark the spatial information of apron aircraft, special vehicles, equipment, and personnel nodes in the apron space basic data;

[0034] Step b4: Calculate the space outside the spatial information security threshold of the node as the apron safety space area.

[0035] In step b2, the aircraft outline is obtained using flight and aircraft data matching, specifically including:

[0036] Step b2a-1, define the aircraft outline information as S A The RSU device connects to the airport operations database server through the upper-layer network interface to obtain the current flight number, arrival time, departure time and aircraft type information of the apron.

[0037] Step b2a-2: Based on the aircraft type information, obtain the three-dimensional outer envelope diagram of the aircraft type. The three-dimensional outer envelope diagram of the aircraft type includes the fuselage, wings, vertical tail and horizontal tail.

[0038] Since the aircraft's stopping position relative to the apron is a fixed value, and the distance between the aircraft's stop line and the front of the apron is a fixed value, the aircraft's outline is only related to the aircraft type information.

[0039] Step b2a-3: Calculate the aircraft's outline information. The spatial outline of the aircraft is denoted as S. A ={S A1 ,S A2 ,……,S AM}, where S AMLet M be the set of contour coordinates of the Mth aircraft.

[0040] In step b2, for nodes with GPS location information (such as some non-powered equipment and most special vehicles), the location and equipment contour matching method is used to obtain the contour, specifically including:

[0041] Step 2b-1: Define the outline information of the node with GPS location information as SG. The RSU device obtains the GPS information of the node with GPS location information through the upper-layer network interface and the non-powered positioning interface.

[0042] Step 2b-2: The RSU device obtains the outline dimensions, relative GPS installation position, and GPS error offset of the node with GPS location information through the upper-layer network interface and the non-powered positioning interface.

[0043] Step 2b-3: Calculate the contour information of the nodes with GPS location information, denoted as S. B ={S B1 ,S B2 ,……,S BN}, where S BN Let N be the set of contour coordinates of the Nth node with GPS location information.

[0044] In step b2, for nodes without GPS location information (such as some nodes without powered equipment and personnel), image recognition methods are used to obtain their contours, specifically including:

[0045] Step b2c-1: The RSU device uses the video monitoring module to acquire an image of the apron with no aircraft and no other nodes as the background image for identification.

[0046] Step b2c-2, Acquire Video: The RSU equipment acquires apron video through the video monitoring module;

[0047] Step b2c-3, Feature Extraction: The RSU device extracts the features of the video target object, including the texture, color, and shape features of people, mobile devices, and non-powered devices, and calibrates the video target object;

[0048] Step b2c-4, Target Representation: The RSU device transforms the target from the original image space to a new feature space;

[0049] Step b2c-5, Similarity Measurement: The RSU device finds the region in the image or video sequence that is most similar to the tracked target, denoted as spatial S. C-V Similarity measurement can be implemented based on different distance measurement methods. Commonly used methods include Euclidean distance, Manhattan distance, and cosine distance. Neural networks and other methods can also be used for similarity measurement.

[0050] Step b2c-6, Spatial Position Determination: Compare the video spatial position with the identified background image, and convert the video spatial position into apron coordinates S. C ={S C1 ,S C2 ,……,S CJ}, where S CJ Represents the set of contour coordinates of the Jth node without GPS location information;

[0051] In step b4, the spatial information security threshold of the node is set to S. SAFE S SAFE The value is related to positioning accuracy, safety requirements, and node type. For example, for vehicle nodes with centimeter-level positioning accuracy, the limit between vehicle nodes can be set to 0.1 meters, and the limit between a vehicle node and an aircraft can be set to 0.5 meters. In actual use, the limit can be adjusted according to the actual false alarm rate or false alarm rate. The node safety range is calculated as follows:

[0052] S A1 +S SAFE ,S A2 +S SAFE ,……,S AM +S SAFE ,

[0053] S B1 +S SAFE ,S B2 +S SAFE ,……,S BN +S SAFE ,

[0054] S C1 +S SAFE ,S C2 +S SAFE ,……,S CJ +S SAFE ,

[0055] They are respectively denoted as S' A1 ,S' A2 ,……,S' AM ,S' B1 ,S' B2 ,……,S' BN ,S' C1 ,S' C2 ,……,S' CJ ;where S' AM S' represents the set of contour coordinates of the Mth aircraft after including the safety threshold range. BN S' represents the set of contour coordinates of the Nth node with GPS location information, after including the safety threshold range. CJThis represents the set of contour coordinates of the J-th node without GPS location information, after including the safety threshold range; when That is, a collision warning is triggered when any two node spaces intersect, where S'x and S'y represent S' A1 ,S' A2 ,……,S' AM ,S' B1 ,S' B2 ,……,S' BN ,S' C1 ,S' C2 ,……,S' CJ The space of any two nodes in the array.

[0056] The perception enhancement network implements apron operation management through the following methods:

[0057] In step c1, the RSU device downloads flight information from its apron via the upper-layer network interface and downloads ground operation task orders for its apron flights via the operation management system. The operation management system refers to the airport's existing information management system with functions such as operation issuance, operation process monitoring, and operation order management, such as the aircraft support ground operation management system and the airport collaborative decision-making system.

[0058] Step c2: The RSU equipment displays the ground operation task order of the apron where it is located through the display module;

[0059] Step c3: After the special vehicle enters the apron, the special vehicle continuously sends its ID information and location information to the RSU device through the vehicle network communication module of the OBU unit.

[0060] In step c4, the RSU device uses the ID information and location information, combined with the special vehicle's posture monitored by the video monitoring module, to determine the operating status.

[0061] In step c4, determining the job status specifically includes:

[0062] Step c4-1: If the special vehicle has entered the apron but has not started docking with the aircraft, or the special vehicle has entered the apron waiting position, or the aircraft has not entered the position under the above circumstances, or the special vehicle sends the status information of preparing for operation to the RSU equipment through the vehicle network communication module, then the special vehicle operation status is ready for operation.

[0063] Step c4-2: If the special vehicle has entered the apron, the aircraft has been positioned, and the special vehicle has docked with the aircraft, or the special vehicle sends the status information of being in operation to the RSU equipment through the vehicle network communication module, then the special vehicle's operation status is "in operation".

[0064] Step c4-3: If the special vehicle leaves the apron after performing steps c4-1 to c4-2, or if the special vehicle sends the status information of completed operation to the RSU equipment through the vehicle network communication module, then the special vehicle's operation status is "completed operation".

[0065] In step c4-4, the RSU device summarizes the special vehicle operation status information, displays the special vehicle operation status information through the display module, sends it to the surrounding special vehicle OBU units through the vehicle network communication module, and uploads it to the application server through the upper-layer network interface.

[0066] In this invention, the application server includes servers such as an airport operations database server, an airport special vehicle management server, and an apron operations management server. Vehicle monitoring network base stations and RSU devices are connected to the application server via the airport backbone network, forming the airport local area network. The airport backbone network is typically an industrial Ethernet network.

[0067] The apron operation management server is an external data push server for the airport operation management system. The operation management system refers to the airport's existing information management system with functions such as operation issuance, operation process monitoring, and operation order management, such as the aircraft support ground operation management system and the airport collaborative decision-making system.

[0068] Vehicle monitoring network base stations are installed within the airport flight area as needed to achieve network coverage over a large area. RSU equipment is installed near the apron to achieve network coverage over a smaller area. Vehicle-mounted units are installed on special vehicles.

[0069] The OBU unit communicates with the vehicle monitoring network base station via a vehicle monitoring network wireless link. The on-board unit communicates with the RSU equipment via a vehicle-to-everything (V2X) wireless link.

[0070] The beneficial effects of this invention are: enhancing the mutual perception capabilities between special vehicles, non-powered equipment, and other moving targets within the apron area, improving the safety of apron operations, and providing an apron operations management platform, which helps to improve apron operation efficiency. Attached Figure Description

[0071] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the present invention in the above and / or other aspects will become clearer.

[0072] Figure 1 This is the network architecture diagram proposed in this invention.

[0073] Figure 2 This invention presents a communication connection architecture between the RSU device and the OBU unit. Detailed Implementation

[0074] like Figure 1 As shown, this invention provides a perception enhancement RSU device for the apron of a civil airport flight area. The RSU device (Road Side Unit), along with an application server, airport backbone network, vehicle monitoring network base station, OBU unit (On board Unit), vehicle-to-everything (V2X) wireless link, and vehicle monitoring network wireless link, constitute a perception enhancement network;

[0075] The external interfaces of the RSU device include an upper-layer network interface, a non-powered positioning interface, a video monitoring module, a vehicle network communication module, and a display module.

[0076] The upper-layer network interface is an airport industrial Ethernet data interface, which connects to the airport operations database (AODB) server and apron operation management server via airport Ethernet or other industrial buses to obtain flight information of the apron where the RSU equipment is located.

[0077] The non-powered positioning interface is used to collect the location of non-powered equipment near the apron where the RSU equipment is located.

[0078] The video monitoring module includes a surveillance camera and a vision processing module. The surveillance camera monitors the visual information of the apron where the RSU equipment is located, and the vision processing module identifies the outlines of aircraft, special vehicles, equipment, and personnel nodes on the apron.

[0079] The vehicle-to-everything (V2X) communication module includes a communication module, which transmits data with the vehicle-to-everything (V2X) communication module of the OBU unit. The communication module meets V2X communication protocols such as DSRC, LTE-V2X, and 5G-V2X (NR).

[0080] The display module is typically an LED or LCD screen used to display flight number, aircraft type, aircraft number, and flight support progress sheet.

[0081] The OBU unit is installed on the special vehicle and includes a vehicle network communication module, a monitoring system communication module, an operation perception module, a positioning module, a display module, and an audio module;

[0082] The special vehicles mentioned are special vehicles for airport aircraft support and operation, including passenger boarding stairs, lifting platform vehicles, refueling vehicles, clean water vehicles, sewage vehicles, aircraft towing vehicles, baggage trolleys, baggage tractors, power supply vehicles, gas supply vehicles, air conditioning vehicles, catering vehicles, guidance vehicles, patrol vehicles, etc.

[0083] The network communication module is used to transmit data with the vehicle network communication module of the RSU device;

[0084] The monitoring system communication module supports 4G, 5G, 1.8G LTE, AeroMACS, and 5G AeroMACS protocols. Through the monitoring system communication module, the OBU unit communicates with the vehicle monitoring network base station and interacts with the application server via the vehicle monitoring network wireless link to realize vehicle management and vehicle status uploading.

[0085] The operation perception module collects the operating and operational status of the special vehicle through sensors installed on the engine, wheels, working mechanism, and working surface of the special vehicle.

[0086] The positioning module is used to obtain the current location of the special vehicle through positioning equipment; the positioning equipment includes GPS receivers, Beidou satellite positioning receivers, field surveillance radar receivers, multi-point positioning receivers, and other positioning devices;

[0087] The display module is a vehicle-mounted LED or LCD screen, used to display vehicle status, operation status, vehicle location, work order information, and apron information;

[0088] The audio module includes a speaker for generating and broadcasting prompt voice information regarding vehicle status, apron status, and work order status.

[0089] The perception enhancement network achieves apron perception enhancement through the following method:

[0090] Step a1: The special vehicle sends its own ID and location information to the RSU device through the OBU unit;

[0091] Step a2: The RSU device aggregates the location information of surrounding special vehicles to form dynamic real-time data on the location of special vehicles.

[0092] Step a3: The RSU device receives the location information of the unpowered equipment within its coverage area of ​​the apron through the unpowered positioning interface, forming dynamic real-time data on the location of the unpowered equipment.

[0093] Step a4: The RSU device integrates the dynamic real-time data of the location of non-powered equipment and the dynamic real-time data of the location of special vehicles to form dynamic real-time data of the location of multiple objects.

[0094] Step a5: The RSU device broadcasts real-time dynamic location data of multiple objects to the OBU unit through the vehicle network communication module;

[0095] Step a6: When special vehicles are operating, the video monitoring module collects apron operation video information through monitoring cameras, and obtains the outline information of special equipment, personnel, unpowered equipment, and aircraft through visual image processing. When the outlines of special equipment, personnel, unpowered equipment, and aircraft approach and exceed the limit, the RSU device sends collision warning information through the display module, upper-level network interface, and vehicle network communication module. The limit value needs to consider multiple factors such as outline recognition accuracy, positioning accuracy, and safe distance requirements between different nodes. In actual use, the limit value can be adjusted according to the actual false alarm rate or false alarm rate.

[0096] The RSU equipment constructs the apron safety space area through the following steps:

[0097] Step b1: Obtain basic space data for the purchase apron, including apron coordinates, outer edge coordinates, stop line coordinates, fixed pen coordinates, etc.

[0098] Step b2: Identify the outlines of apron aircraft, special vehicles, equipment, and personnel nodes through the vision processing module;

[0099] Step b3: Mark the spatial information of apron aircraft, special vehicles, equipment, and personnel nodes in the apron space basic data;

[0100] Step b4: Calculate the space outside the spatial information security threshold of the node as the apron safety space area.

[0101] In step b2, the aircraft outline is obtained using flight and aircraft data matching, specifically including:

[0102] Step b2a-1, define the aircraft outline information as S A The RSU device connects to the airport operations database server through the upper-layer network interface to obtain the current flight number, arrival time, departure time and aircraft type information of the apron.

[0103] Step b2a-2: Based on the aircraft type information, obtain the three-dimensional outer envelope diagram of the aircraft type. The three-dimensional outer envelope diagram of the aircraft type includes the fuselage, wings, vertical tail and horizontal tail.

[0104] Since the aircraft's stopping position relative to the apron is a fixed value, and the distance between the aircraft's stop line and the front of the apron is a fixed value, the aircraft's outline is only related to the aircraft type information.

[0105] Step b2a-3: Calculate the aircraft's outline information. The spatial outline of the aircraft is denoted as S. A ={S A1 ,S A2 ,……,S AM}, where S AMLet M be the set of contour coordinates of the Mth aircraft.

[0106] In step b2, for nodes with GPS location information (such as some non-powered equipment and most special vehicles), the location and equipment contour matching method is used to obtain the contour, specifically including:

[0107] Step 2b-1: Define the outline information of the node with GPS location information as SG. The RSU device obtains the GPS information of the node with GPS location information through the upper-layer network interface and the non-powered positioning interface.

[0108] Step 2b-2: The RSU device obtains the outline dimensions, relative GPS installation position, and GPS error offset of the node with GPS location information through the upper-layer network interface and the non-powered positioning interface.

[0109] Step 2b-3: Calculate the contour information of the nodes with GPS location information, denoted as S. B ={S B1 ,S B2 ,……,S BN}, where S BN Let N be the set of contour coordinates of the Nth node with GPS location information.

[0110] In step b2, for nodes without GPS location information (such as some nodes without powered equipment and personnel), image recognition methods are used to obtain their contours, specifically including:

[0111] Step b2c-1: The RSU device uses the video monitoring module to acquire an image of the apron with no aircraft and no other nodes as the background image for identification.

[0112] Step b2c-2, Acquire Video: The RSU equipment acquires apron video through the video monitoring module;

[0113] Step b2c-3, Feature Extraction: The RSU device extracts the features of the video target object, including the texture, color, and shape features of people, mobile devices, and non-powered devices, and calibrates the video target object;

[0114] Step b2c-4, Target Representation: The RSU device transforms the target from the original image space to a new feature space;

[0115] Step b2c-5, Similarity Measurement: The RSU device finds the region in the image or video sequence that is most similar to the tracked target, denoted as spatial S. C-V Similarity measurement can be implemented based on different distance measurement methods. Commonly used methods include Euclidean distance, Manhattan distance, and cosine distance. Neural networks and other methods can also be used for similarity measurement.

[0116] Step b2c-6, Spatial Position Determination: Compare the video spatial position with the identified background image, and convert the video spatial position into apron coordinates S. C ={S C1 ,S C2 ,……,S CJ}, where S CJ Represents the set of contour coordinates of the Jth node without GPS location information;

[0117] In step b4, the spatial information security threshold of the node is set to S. SAFE S SAFE The value is related to positioning accuracy, safety requirements, and node type. For example, for vehicle nodes with centimeter-level positioning accuracy, the limit between vehicle nodes can be set to 0.1 meters, and the limit between a vehicle node and an aircraft can be set to 0.5 meters. In actual use, the limit can be adjusted according to the actual false alarm rate or false alarm rate. The node safety range is calculated as follows:

[0118] S A1 +S SAFE ,S A2 +S SAFE ,……,S AM +S SAFE ,

[0119] S B1 +S SAFE ,S B2 +S SAFE ,……,S BN +S SAFE ,

[0120] S C1 +S SAFE ,S C2 +S SAFE ,……,S CJ +S SAFE ,

[0121] They are respectively denoted as S' A1 ,S' A2 ,……,S' AM ,S' B1 ,S' B2 ,……,S' BN ,S' C1 ,S' C2 ,……,S' CJ ;where S' AM S' represents the set of contour coordinates of the Mth aircraft after including the safety threshold range. BN S' represents the set of contour coordinates of the Nth node with GPS location information, after including the safety threshold range. CJThis represents the set of contour coordinates of the J-th node without GPS location information, after including the safety threshold range; when That is, a collision warning is triggered when any two node spaces intersect, where S'x and S'y represent S' A1 ,S' A2 ,……,S' AM ,S' B1 ,S' B2 ,……,S' BN ,S' C1 ,S' C2 ,……,S' CJ The space of any two nodes in the array.

[0122] The perception enhancement network implements apron operation management through the following methods:

[0123] In step c1, the RSU device downloads flight information from its apron via the upper-layer network interface and downloads ground operation task orders for its apron flights via the operation management system. The operation management system refers to the airport's existing information management system with functions such as operation issuance, operation process monitoring, and operation order management, such as the aircraft support ground operation management system and the airport collaborative decision-making system.

[0124] Step c2: The RSU equipment displays the ground operation task order of the apron where it is located through the display module;

[0125] Step c3: After the special vehicle enters the apron, the special vehicle continuously sends its ID information and location information to the RSU device through the vehicle network communication module of the OBU unit.

[0126] In step c4, the RSU device uses the ID information and location information, combined with the special vehicle's posture monitored by the video monitoring module, to determine the operating status.

[0127] In step c4, determining the job status specifically includes:

[0128] Step c4-1: If the special vehicle has entered the apron but has not started docking with the aircraft, or the special vehicle has entered the apron waiting position, or the aircraft has not entered the position under the above circumstances, or the special vehicle sends the status information of preparing for operation to the RSU equipment through the vehicle network communication module, then the special vehicle operation status is ready for operation.

[0129] Step c4-2: If the special vehicle has entered the apron, the aircraft has been positioned, and the special vehicle has docked with the aircraft, or the special vehicle sends the status information of being in operation to the RSU equipment through the vehicle network communication module, then the special vehicle's operation status is "in operation".

[0130] Step c4-3: If the special vehicle leaves the apron after performing steps c4-1 to c4-2, or if the special vehicle sends the status information of completed operation to the RSU equipment through the vehicle network communication module, then the special vehicle's operation status is "completed operation".

[0131] In step c4-4, the RSU device summarizes the special vehicle operation status information, displays the special vehicle operation status information through the display module, sends it to the surrounding special vehicle OBU units through the vehicle network communication module, and uploads it to the application server through the upper-layer network interface.

[0132] Example

[0133] This invention provides a perception enhancement RSU device for the apron of a civil airport flight area. The RSU device 4 (RoadSide Unit), application server 1, airport backbone network 2, vehicle monitoring network base station 3, OBU unit 5 (Onboard Unit), vehicle network wireless link 6, and vehicle monitoring network wireless link 7 form a perception enhancement network.

[0134] The OBU unit 5 includes an on-board V2X module.

[0135] in:

[0136] Application Server 1 includes servers such as the airport operations database server, the airport special vehicle management server, and the apron operations management server, serving as the operating platform for various airport management systems. Vehicle monitoring network base station 3 and RSU equipment 4 are connected to Application Server 1 via the airport backbone network 2, forming the airport local area network. The airport backbone network 2 is typically an industrial Ethernet network.

[0137] The operation management server is the external data push server for the airport operation management system. The operation management system refers to the airport's existing information management system with functions such as operation issuance, operation process monitoring, and operation order management, such as the aircraft support ground operation management system and the airport collaborative decision-making system.

[0138] Vehicle monitoring network base station 3 is installed within the airport flight area as needed to achieve network coverage over a relatively large area. RSU equipment 4 is installed near the apron to achieve network coverage over a smaller area. Vehicle-mounted unit 5 is installed on special vehicles.

[0139] OBU unit 5 communicates with vehicle monitoring network base station 3 through vehicle monitoring network wireless link 7. The wireless communication protocols used by vehicle monitoring network wireless link 7 include, but are not limited to, 4G protocol, 5G protocol, 1.8G LTE protocol, AeroMACS protocol, 5G AeroMACS protocol, etc.

[0140] The vehicle unit 5 communicates with the RSU device 4 through the vehicle-to-everything (V2X) wireless link 6. The wireless communication protocols used by the V2X wireless link 6 include, but are not limited to, DSRC protocol, LTE-V2X protocol, 5G-V2X (NR) protocol, etc.

[0141] Figure 2 The communication connection architecture between RSU device 4 and OBU unit 5 in this embodiment is given. In this embodiment of the invention, the RSU is considered to be installed on the apron near the driveway.

[0142] The external interfaces of the RSU device 4 include an upper-layer network interface 41, a non-powered positioning interface 42, a video monitoring module 43, a vehicle network communication module 44, and a display module 45.

[0143] The RSU device 4 meets the general RSU design, and its hardware consists of embedded systems, industrial control computers, edge computing terminals and other devices. Functionally, it includes communication interface functions, data processing functions and storage functions.

[0144] The upper-layer network interface 41 is an airport industrial Ethernet data interface, which connects to the Airport Operations Database (AODB) server and apron operations management server via airport Ethernet or other industrial buses to obtain flight information of the apron where RSU device 4 is located. The flight information of the apron includes: flight number, aircraft type, aircraft number, associated flights, flight support work orders, etc.

[0145] The non-powered positioning interface 42 is used to collect the location of non-powered equipment near the apron where the RSU is located. Considering that non-powered equipment usually uses low-power modules for RFID identification and positioning, the implementation method of non-powered positioning terminal usually includes, but is not limited to, the following: (1) accessing a multi-point positioning data terminal to obtain the location of nearby non-powered equipment; (2) accessing a non-powered equipment management system to download the location information of nearby non-powered equipment from the server; (3) using video acquisition and visual image processing to obtain the equipment outline information.

[0146] The video monitoring module 43 includes a surveillance camera and a vision processing module. The surveillance camera monitors the visual information of the apron where the RSU is located, and the vision processing module uses the apron dynamic recognition method to obtain the positions of aircraft, personnel, and vehicles on the apron.

[0147] The vehicle-to-everything (V2X) communication module 44 uses a communication module that meets V2X communication protocols such as DSRC, LTE-V2X, and 5G-V2X (NR). Through this module, data can be transmitted with the V2X communication module of the OBU unit 5.

[0148] The display module 45 is typically an LED or LCD screen used to display flight number, aircraft type, aircraft number, flight support progress sheet, etc.

[0149] The OBU unit 5 is installed in a special vehicle and typically includes at least a vehicle network communication module 51, a monitoring system communication module 52, an operation perception module 53, a positioning module 54, a display module 55, and an audio module 56.

[0150] In this invention, the OBU unit 5 meets the general design requirements of a V2X module. In terms of hardware, it consists of devices such as an embedded system, an industrial control computer, and an edge computing unit. In terms of function, it includes communication interface function, data processing function, and storage function.

[0151] The vehicle-to-everything (V2X) communication module 51 is a communication module that meets, but is not limited to, short-range communication protocols such as DSRC, LTE-V2X, and 5G-V2X (NR). Through this module, data can be transmitted with the V2X communication module 44 of the RSU device 4.

[0152] The monitoring system communication module 52 generally uses, but is not limited to, 4G, 5G, 1.8G LTE, AeroMACS, and 5G AeroMACS protocols. Through this communication module, the OBU unit 5 can communicate with the vehicle monitoring network base station 3, and finally interact with the application server 1 via the vehicle monitoring network wireless link 7 to realize functions such as vehicle management and vehicle status uploading.

[0153] The operation sensing module 53 collects the operating and operational status of the special vehicle through sensors installed on the engine, wheels, working mechanism, and working surface of the special vehicle. The collected status includes: driving status, engine status, and operational support status (support, non-support, support preparation status, etc.).

[0154] The positioning module 54 uses positioning devices such as GPS receivers, Beidou satellite positioning receivers, field surveillance radar receivers, and multi-point positioning receivers to obtain the current location of the special vehicle.

[0155] The display module 55 is a vehicle-mounted LED or LCD screen used to display information such as vehicle status, operation status, vehicle location, work order information, and apron information.

[0156] The audio module 56 is a speaker used to generate and broadcast prompt voice information for vehicle status, apron status, and work order status.

[0157] Based on the above architecture, this invention presents a method for apron perception enhancement based on RSU. The method flow is as follows:

[0158] (1) Special vehicles send their own ID and location information to RSU device 4 through OBU unit 5;

[0159] (2) RSU device 4 collects the location information of surrounding special vehicles and forms dynamic real-time data of special vehicle location;

[0160] (3) The RSU device 4 receives the location information of the unpowered equipment within its coverage area of ​​the apron through the unpowered positioning interface 42, and forms dynamic real-time data of the location of the unpowered equipment.

[0161] (4) The RSU device 4 integrates the dynamic real-time data of the location of non-powered equipment and the dynamic real-time data of the location of special vehicles to form dynamic real-time data of the location of multiple objects.

[0162] (5) The RSU device 4 broadcasts real-time location data of multiple mobile objects to the OBU unit 5 through the vehicle network communication module 44;

[0163] (6) When special vehicles are operating, the video monitoring module 43 collects apron operation video information at the front end and obtains the outline information of special equipment, personnel, non-powered equipment and aircraft through visual image processing at the back end. When the outline of the above objects approaches and exceeds the limit, the RSU device 4 sends collision warning information through the display module 45, the upper network interface 41 and the vehicle network communication module 44.

[0164] This invention requires RSU equipment 4 to construct the apron safety space area. The basic process is as follows: (1) Purchase basic apron space data; (2) Identify the outlines of nodes such as apron aircraft, special vehicles, equipment, and personnel; (3) Mark the spatial information of the aforementioned nodes in the basic apron space data; (4) Calculate the space outside the safety threshold of the aforementioned node spatial information as the apron safety space area. The method for constructing the outlines of nodes such as apron aircraft, special vehicles, equipment, and personnel is as follows:

[0165] 1. Aircraft profile analysis uses flight-aircraft data matching:

[0166] (1) Define the aircraft outline information as S A RSU device 4 connects to the Airport Operations Database (AODB) server through upper-layer network interface 41 and obtains the flight number, arrival time, departure time and aircraft type information of the current apron from the AODB database;

[0167] (2) Based on the aircraft model information data, obtain the three-dimensional outer envelope of the aircraft model, mainly considering the four parts: fuselage, wings, vertical tail and horizontal tail.

[0168] (3) Since the aircraft's stopping position is a fixed value relative to the apron and the distance between the aircraft's stop line and the front of the apron is a fixed value, the aircraft's outline is only related to the aircraft type information.

[0169] (4) Calculate the aircraft's outline information, whose spatial outline is denoted as S. A ={S A1 ,S A2 ,……,S AM}

[0170] 2. For nodes with GPS or other location information (such as some non-powered equipment and most special vehicles), use the location-equipment contour matching method:

[0171] (1) Define the above node contour information as SG. RSU device 4 obtains the GPS information of such nodes through upper-layer network interface 41 and non-powered positioning interface 42, and defines it as...

[0172] (2) The RSU device 4 obtains the outline size, GPS installation position relative amount, and GPS error offset of such nodes through the upper network interface 41 and the non-powered positioning interface 42.

[0173] (3) Calculate the apron outline information for this type of node. Its spatial outline is denoted as S. B ={S B1 ,S B2 ,……,S BN}

[0174] 3. For nodes without GPS or other location information (such as some nodes without power equipment and personnel), use image recognition method: (1) RSU device 4 obtains a background image of no aircraft and no other nodes on the apron through video monitoring module 43.

[0175] (2) Video acquisition: RSU device 4 acquires apron video through video monitoring module 43.

[0176] (3) Feature extraction: RSU device 4 extracts the features of video target objects, including the texture, color, shape and other features of people, mobile devices and non-powered devices, and calibrates the objects.

[0177] (4) Target representation: RSU device 4 transforms the target from the original image space to a new feature space.

[0178] (5) Similarity Measurement: The RSU device 4 searches for the region in the image or video sequence that is most similar to the tracked target. This is denoted as spatial S. C-V Similarity measurement can be implemented based on different distance measurement methods. Commonly used methods include Euclidean distance, Manhattan distance, and cosine distance. Neural networks and other methods can also be used for similarity measurement.

[0179] (6) Determine the spatial position: Compare the spatial position of the video with the background image of the apron from step one, and convert the spatial position of the video into the coordinate position of the apron, denoted as S. C ={S C1 ,S C2 ,……,S CJ}

[0180] 4. Set the node's security threshold to S. SAFE S SAFE The value depends on the positioning accuracy, safety requirements, and node type. For example, with centimeter-level positioning accuracy for vehicle nodes, the limit between vehicle nodes can be set to 0.1 meters, and the limit between a vehicle node and an aircraft can be set to 0.5 meters. In actual use, the limit can be adjusted according to the actual false alarm rate or missed alarm rate.

[0181] The node's security range can be calculated as follows:

[0182] S A1 +S SAFE ,S A2 +S SAFE ,……,S AM +S SAFE

[0183] S B1 +S SAFE ,S B2 +S SAFE ,……,S BN +S SAFE

[0184] S C1 +S SAFE ,S C2 +S SAFE ,……,S CJ +S SAFE

[0185] They are respectively denoted as S' A1 ,S' A2 ,……,S' AM ,S' B1 ,S' B2 ,……,S' BN ,S' C1 ,S' C2 ,……,S' CJ .when A collision warning is triggered when any two nodes intersect in their spatial locations.

[0186] Through the above-mentioned RSU-based apron perception enhancement method, special vehicles within the apron area covered by the RSU can obtain the location information of other special equipment, personnel, non-powered equipment, and aircraft, and obtain collision warning information.

[0187] Based on the above architecture, this invention presents a method for apron operation management based on RSU. The method flow is as follows:

[0188] (1) RSU device 4 downloads flight information of its apron through upper network interface 41 and downloads ground operation task order of its apron flight through operation management system;

[0189] (2) The RSU device 4 displays the ground operation task order of the apron where it is located through its display module 45;

[0190] (3) When the special vehicle enters the apron, the special vehicle continuously sends its ID information and location information to the RSU device 4 through the vehicle network communication module 51 of its OBU unit 5.

[0191] (4) The RSU device 4 determines the operating status of the special vehicle by using the special vehicle ID information and location information, and combining the special vehicle's attitude monitored by its video monitoring module. The determination logic is as follows:

[0192] (5) If the special vehicle has entered the apron but has not started docking with the aircraft, or the special vehicle has entered the apron waiting position, or the aircraft has not entered the position under the above circumstances, or the special vehicle sends the "ready to work" status information to the RSU device 4 through the vehicle network communication module 51, then the special vehicle operation status is "ready to work".

[0193] (6) If the special vehicle has entered the apron, the aircraft has been positioned and the special vehicle has docked with the aircraft, or the special vehicle sends the "working" status information to the RSU device 4 through the vehicle network communication module 51, then the special vehicle's working status is "working".

[0194] (7) If the special vehicle leaves the apron after steps 5 and 6, or if the special vehicle sends the "completion of work" status information to the RSU device 4 through the vehicle network communication module 51, then the special vehicle's work status is "completion of work".

[0195] (8) The RSU device 4 summarizes the above special vehicle operation information, displays the above information through the display module 45, sends it to the surrounding special vehicle OBU units 5 through the vehicle network communication module 44, and uploads it to the corresponding application server 1 through the upper-layer network interface 41.

[0196] The above-mentioned RSU-based apron operation management method enables real-time and dynamic summarization, display, and uploading of flight support and special vehicle operation status on the apron, improving the convenience and efficiency of apron operation management.

[0197] This invention provides a Recognition and Enhancement Unit (RSU) device for the apron of a civil airport flight area. Many methods and approaches exist for implementing this technical solution; the above description is merely a preferred embodiment of the invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention. All components not explicitly stated in this embodiment can be implemented using existing technologies.

Claims

1. A perception-enhancing RSU device for the flight area of ​​a civil airport, characterized in that, The RSU equipment, application server, airport backbone network, vehicle monitoring network base station, OBU unit, vehicle network wireless link, and vehicle monitoring network wireless link constitute a perception enhancement network. The external interfaces of the RSU device include an upper-layer network interface, a non-powered positioning interface, a video monitoring module, a vehicle network communication module, and a display module. The upper-layer network interface is an airport industrial Ethernet data interface, which is connected to the airport operation database server and the apron operation management server to obtain flight information of the apron where the RSU equipment is located. The non-powered positioning interface is used to collect the location of non-powered equipment near the apron where the RSU equipment is located. The video monitoring module includes a surveillance camera and a vision processing module. The surveillance camera monitors the visual information of the apron where the RSU equipment is located, and the vision processing module identifies the outlines of aircraft, special vehicles, equipment, and personnel nodes on the apron. The vehicle-to-everything (V2X) communication module includes a communication module, which transmits data with the V2X communication module of the OBU unit; the communication module conforms to the V2X communication protocol. The display module is used to display flight number, aircraft type, aircraft number, and flight support progress sheet; The perception enhancement network achieves apron perception enhancement through the following method: Step a1: The special vehicle sends its own ID and location information to the RSU device through the OBU unit; Step a2: The RSU device aggregates the location information of surrounding special vehicles to form dynamic real-time data on the location of special vehicles. Step a3: The RSU device receives the location information of the unpowered equipment within its coverage area of ​​the apron through the unpowered positioning interface, forming dynamic real-time data on the location of the unpowered equipment. Step a4: The RSU device integrates the dynamic real-time data of the location of non-powered equipment and the dynamic real-time data of the location of special vehicles to form dynamic real-time data of the location of multiple objects. Step a5: The RSU device broadcasts real-time dynamic location data of multiple objects to the OBU unit through the vehicle network communication module; Step a6: When special vehicles are operating, the video monitoring module collects apron operation video information through the monitoring camera, and obtains the outline information of special equipment, personnel, non-powered equipment and aircraft through visual image processing. When the position outlines of special equipment, personnel, non-powered equipment and aircraft approach and exceed the limit, the RSU device sends collision warning information through the display module, upper-level network interface and vehicle network communication module. The RSU equipment constructs the apron safety space area through the following steps: Step b1: Obtain basic apron space data, including apron coordinates, outer edge coordinates, stop line coordinates, and fixed coordinates; Step b2: Identify the outlines of apron aircraft, special vehicles, equipment, and personnel nodes through the vision processing module; Step b3: Mark the spatial information of apron aircraft, special vehicles, equipment, and personnel nodes in the apron space basic data; Step b4: Calculate the space outside the spatial information security threshold of the node as the apron safety space area.

2. The apron sensing enhancement RSU device for civil airport flight area according to claim 1, characterized in that, The OBU unit is installed on the special vehicle and includes a vehicle network communication module, a monitoring system communication module, an operation perception module, a positioning module, a display module, and an audio module; The special vehicles mentioned are special vehicles for airport aircraft support and operation; The network communication module is used to transmit data with the vehicle network communication module of the RSU device; The monitoring system communication module supports 4G, 5G, 1.8G LTE, AeroMACS, and 5G AeroMACS protocols. Through the monitoring system communication module, the OBU unit communicates with the vehicle monitoring network base station and interacts with the application server via the vehicle monitoring network wireless link to realize vehicle management and vehicle status uploading. The operation perception module collects the operating and operational status of the special vehicle through sensors installed on the engine, wheels, working mechanism, and working surface of the special vehicle. The positioning module is used to obtain the current location of the special vehicle through a positioning device; The display module is a vehicle-mounted LED or LCD screen, used to display vehicle status, operation status, vehicle location, work order information, and apron information; The audio module includes a speaker for generating and broadcasting prompt voice information regarding vehicle status, apron status, and work order status.

3. The RSU (Range Unit) device for enhancing perception on the apron of a civil airport flight area according to claim 1, characterized in that, In step b2, the aircraft outline is obtained using flight and aircraft data matching, specifically including: Step b2a-1, define the aircraft outline information as follows S A The RSU device connects to the airport operations database server through the upper-layer network interface to obtain the current flight number, arrival time, departure time and aircraft type information of the apron. Step b2a-2: Based on the aircraft type information, obtain the three-dimensional outer envelope diagram of the aircraft type. The three-dimensional outer envelope diagram of the aircraft type includes the fuselage, wings, vertical tail and horizontal tail. Step b2a-3: Calculate the aircraft's outline information. The aircraft's spatial outline is denoted as... S A ={ S A1 , S A2 ,……, S AM },in S AM For the first M A set of outline coordinates of an aircraft.

4. The apron sensing enhancement RSU device for civil airport flight area according to claim 3, characterized in that, In step b2, for nodes with GPS location information, the contour is obtained using a location and device contour matching method, specifically including: Step 2b-1, define the node contour information with GPS location information as S B The RSU device obtains GPS information from nodes with GPS location information through the upper-layer network interface and the non-powered positioning interface; Step 2b-2: The RSU device obtains the outline dimensions, relative GPS installation position, and GPS error offset of the node with GPS location information through the upper-layer network interface and the non-powered positioning interface. Step 2b-3: Calculate the contour information of the nodes with GPS location information, denoted as... S B ={ S B1 , S B2 ,……, S BN },in S BN For the first N A set of contour coordinates of nodes with GPS location information.

5. A civil airport apron perception enhancement RSU device according to claim 4, characterized in that, In step b2, for nodes without GPS location information, image recognition is used to obtain their contours, specifically including: Step b2c-1: The RSU device uses the video monitoring module to acquire an image of the apron with no aircraft and no other nodes as the background image for identification. Step b2c-2, Acquire Video: The RSU equipment acquires apron video through the video monitoring module; Step b2c-3, Feature Extraction: The RSU device extracts the features of the video target object, including the texture, color, and shape features of people, mobile devices, and non-powered devices, and calibrates the video target object; Step b2c-4, Target Representation: The RSU device transforms the target from the original image space to a new feature space; Step b2c-5, Similarity Measurement: The RSU device finds the region in the image or video sequence that is most similar to the tracked target, denoted as spatial similarity. S C-V ; Step b2c-6, Spatial Position Determination: Compare the video spatial position with the identified background image to convert the video spatial position into apron coordinates. S C ={ S C1 , S C2 ,……, S CJ },in S CJ Indicates the first J A set of contour coordinates of nodes without GPS location information.

6. A civil airport apron perception enhancement RSU device according to claim 5, characterized in that, In step b4, the spatial information security threshold of the node is set to... S SAFE The node's safe range is calculated as follows: The first one includes the safety threshold range. M A set of outline coordinates of an aircraft S’ BN Indicates the first [number] after including the safety threshold range N A set of outline coordinates of nodes with GPS location information. S’ CJ Indicates the first [number] after including the safety threshold range J A set of contour coordinates of nodes without GPS location information; when any two nodes intersect in space, a collision warning is triggered, where and represent S’ A1 , S’ A2 ,……, S’ AM , S’ B1 , S’ B2 ,……, S’ BN , S’ C1 , S’ C2 ,……, S’ CJ The space of any two nodes in the array.

7. A civil airport apron perception enhancement RSU device according to claim 6, characterized in that, The perception enhancement network implements apron operation management through the following methods: Step c1: The RSU device downloads the flight information of the apron where it is located through the upper-layer network interface, and downloads the ground operation task order of the apron flight through the operation management system; Step c2: The RSU equipment displays the ground operation task order of the apron where it is located through the display module; Step c3: After the special vehicle enters the apron, the special vehicle continuously sends its ID information and location information to the RSU device through the vehicle network communication module of the OBU unit. In step c4, the RSU device uses the ID information and location information, combined with the special vehicle's posture monitored by the video monitoring module, to determine the operating status.

8. A civil airport apron perception enhancement RSU device according to claim 7, characterized in that, In step c4, determining the job status specifically includes: Step c4-1: If the special vehicle has entered the apron but has not started docking with the aircraft, or the special vehicle has entered the apron waiting position, or the aircraft has not entered the position under the above circumstances, or the special vehicle sends the status information of preparing for operation to the RSU equipment through the vehicle network communication module, then the special vehicle operation status is ready for operation. Step c4-2: If the special vehicle has entered the apron, the aircraft has been positioned, and the special vehicle has docked with the aircraft, or the special vehicle sends the status information of being in operation to the RSU equipment through the vehicle network communication module, then the special vehicle's operation status is "in operation". Step c4-3: If the special vehicle leaves the apron after performing steps c4-1 to c4-2, or if the special vehicle sends the status information of completed operation to the RSU device through the vehicle network communication module, then the special vehicle's operation status is "completed operation". In step c4-4, the RSU device summarizes the special vehicle operation status information, displays the special vehicle operation status information through the display module, sends it to the surrounding special vehicle OBU units through the vehicle network communication module, and uploads it to the application server through the upper-layer network interface.

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