Method, system, device and storage medium for predicting the lighting time of runway entry lights

Abstract

The present invention discloses a prediction method, system, device and storage medium for the lighting time of a runway entry light, which relates to the field of aviation control technology. The runway status light system monitors the position data and position standard deviation of an aircraft, determines the relationship between the position standard deviation, the speed standard deviation and the interval time, and calculates the time required for the aircraft to start takeoff and turn on the runway entry light ahead. The present invention provides an accurate numerical calculation method for calculating the time required to turn on the runway entry light during the aircraft takeoff process. In the design stage of the runway status light system, the construction plan of the runway entry light can be further analyzed according to the actual level of the airport monitoring system, combined with the runway taxiway layout, aircraft movement characteristics, etc., to evaluate its effectiveness in runway intrusion prevention, or to make quantitative requirements for the positioning accuracy and update time of the monitoring data.

Description

Technical Field

[0001] The present invention relates to the field of aviation control technology, and in particular to a method, system, device and storage medium for predicting the lighting time of a runway entry light. Background Art

[0002] The runway status light system is a fully automated system. It receives monitoring data of active targets (including aircraft and vehicles) on the runway and surrounding areas from the airport surface surveillance system, detects and determines the movement status of the targets, and automatically calculates, determines, and controls the lighting and extinguishing of status lights in accordance with the runway operation rules. It indicates to pilots and vehicle drivers whether it is safe to enter or cross the runway in the form of lights.

[0003] Accurate judgment and prediction of the target's motion state directly affects the accuracy and timeliness of the control of the status lights, thereby affecting the system's early warning and protection effect. The judgment and prediction of the target state are greatly affected by factors such as the positioning accuracy and update cycle of the target monitoring and positioning data. For example, for the runway entry light, during the aircraft takeoff process, when the aircraft speed reaches a certain value (according to foreign experience and domestic technical specifications, the value is recommended to be 30 knots, about 15.43m / s), the runway entry light in front of the aircraft should be lit to indicate that other targets outside the runway cannot enter the runway. In order for the system to light up the corresponding runway entry light, it is necessary for (1) the system to detect that the aircraft speed has reached the set value, (2) the system to calculate and determine the runway entry light that needs to be lit, and (3) the system to light up the corresponding lamp. In the first step, the speed of the aircraft is estimated based on the target position data detected by the scene monitoring system. The system needs to solve the state misjudgment caused by speed jitter. Generally speaking, a certain time or speed redundancy needs to be given, but there is no clear basis for the specific value of this redundancy, which makes it impossible to quantify the effectiveness of the protection of the runway status light system. For example, the protection effect provided by the system lighting up the runway entry light in front 8 seconds after the aircraft starts to taxi is much greater than the situation where the system needs to light up the runway entry light in the 13th second. The aircraft speed estimation error is affected by factors such as the position prediction method used, the position prediction error, and the monitoring data update cycle. If the positioning error is large and the update cycle is long, then the system will take longer to obtain stable detection results. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a method, system, device and storage medium for predicting the lighting time of a runway entry light, which can accurately estimate the time required to light up the runway entry lights during an aircraft takeoff while fully considering the aircraft positioning error and speed estimation error.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] A first aspect: A method for predicting the lighting time of a runway entry light, comprising:

[0007] Obtain the position data and position standard deviation of the aircraft in the monitoring data of the runway status light system and detection interval ;

[0008] Determine the relationship between the position standard deviation, speed standard deviation and interval time, and then obtain the speed standard deviation of the system based on the actual data sampling points ;

[0009] If the aircraft speed exceeds Determine that the aircraft is in take-off state, V thre The preset speed threshold is used to calculate the time required for the aircraft to move from the start to the take-off state. ;

[0010] Calculate the time from the start of the aircraft's takeoff roll to the lighting of the runway entry lights ahead ,in Send control instructions to the system to control the time when the runway entry lights are fully illuminated.

[0011] Further, the determination of the relationship between the position standard deviation, the speed standard deviation and the interval time comprises the following steps:

[0012] Based on at least three aircraft position data received from external surface surveillance systems, the least squares method is used to fit the aircraft's movement distance with respect to time. t The polynomial of is: ,in b 0 , b 1 and b 3 is the fitting coefficient;

[0013] Assume that during takeoff, the aircraft accelerates a 0 Perform uniform acceleration motion. According to the uniform acceleration theorem, the moving distance of the aircraft can be expressed as follows according to the polynomial: ,in v 0 and s 0 are the initial speed and distance of the aircraft respectively;

[0014] The chi-square test formula for calculating the distance traveled by an aircraft is: ,in, w i is the weight,x i is the aircraft at time t i The distance observation data, N is the number of distance observation data;

[0015] The chi-square test formula is a 0 、v 0 and s 0 Partial derivatives: , simplified to get the matrix expression, ,in ;

[0016] Assuming the acceleration of the aircraft is constant, the position at any time in the future is obtained s ( t ),speed v ( t ), acceleration a ( t ) is: ;

[0017] Assuming that the measurement uncertainty of each measurement point is equal and independent, according to the calculation properties of the covariance matrix: if Y=AX, then , the covariance matrix of X is , I is the unit matrix, and the predicted variance of position, velocity, and acceleration is: , where diag() represents a diagonal matrix;

[0018] because , substituting into the predicted variance formula of position, velocity and acceleration, we get

[0019]

[0020] in ;

[0021] When weight w i =1, we have T=U, and it is easy to know , the prediction error of the speed is:

[0022] .

[0023] Furthermore, the time required for the aircraft to move from the start to the take-off state is calculated by the following formula:

[0024]

[0025] in, is the aircraft acceleration.

[0026] Furthermore, the prediction error calculation formula of the aircraft position is:

[0027]

[0028] The prediction error of aircraft acceleration is calculated as:

[0029] .

[0030] Furthermore, the system sends a control instruction to control the time when the runway entry lights are fully lit. , obtained by obtaining the average value of the system's historical control time.

[0031] A second aspect: A system for predicting the lighting time of a runway entry light, comprising:

[0032] Data acquisition module, used to obtain the position data and position standard deviation of the aircraft in the monitoring data of the runway status light system and detection interval ;

[0033] The relationship determination module determines the relationship between the position standard deviation, speed standard deviation and interval time, and then obtains the speed standard deviation of the system based on the actual data sampling points. ;

[0034] Take-off time calculation module is used to monitor the aircraft speed exceeding Determine that the aircraft is in take-off state, V thre The preset speed threshold is used to calculate the time required for the aircraft to move from the start to the take-off state. ;

[0035] The runway light lighting calculation module is used to calculate the time required from the start of the aircraft takeoff run to the lighting of the runway entry lights ahead. ,in Send control instructions to the system to control the time when the runway entry lights are fully illuminated.

[0036] A third aspect: An electronic device, characterized in that it includes a processor and a memory, wherein the memory stores at least one program, and the at least one program is loaded and executed by the processor to implement the method for predicting the lighting time of a runway entry light as described in any one of the first aspects.

[0037] A fourth aspect: A storage medium, characterized in that at least one program is stored in the storage medium, and the at least one program is loaded and executed by a processor to implement the method for predicting the lighting time of a runway entry light as described in any one of the first aspects.

[0038] The beneficial effects of the present invention are:

[0039] The present invention provides an accurate numerical calculation method for calculating the time required to light up the runway entry lights during aircraft takeoff. In the design stage of the runway status light system, the construction plan of the runway entry lights can be further analyzed according to the actual level of the airport monitoring system, combined with the runway taxiway layout, aircraft movement characteristics, etc., to evaluate its effectiveness in runway intrusion prevention, or to put forward quantitative requirements for the positioning accuracy and update time of the monitoring data. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The figure is a flow chart of a method for predicting the lighting time of a runway entry light according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0041] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0042] When the runway status light system detects whether the aircraft speed reaches the set value, there is an inevitable error. There is actually a potential mathematical relationship between the speed standard deviation used to characterize the speed error and the aircraft position standard deviation obtained by the system detection and the sampling interval. The purpose of the present invention is to explore this relationship and then use multiple sampling data points to calculate the system's speed standard deviation based on this relationship, so as to more accurately predict the runway entry light lighting time.

[0043] See also Figure 1 , the present invention provides a technical solution:

[0044] Embodiment 1: A method for predicting the lighting time of a runway entry light, the flow chart is as follows Figure 1 As shown, including:

[0045] S1: Obtain the aircraft position data and position standard deviation from the surveillance data of the runway status light system and detection interval ;

[0046] S2: Determine the relationship between the position standard deviation, speed standard deviation and interval time, and then obtain the speed standard deviation of the system based on the actual data sampling points In this embodiment, the relationship between the position standard deviation, the speed standard deviation and the interval time is determined by the following steps:

[0047] S21: Based on at least three aircraft positioning data received from the external surface monitoring system, a least square method is used to fit a polynomial of the aircraft's movement distance with respect to time t, which is: ,in b 0 , b 1 and b 3 is the fitting coefficient;

[0048] S22: Assume that during takeoff, the aircraft accelerates a 0 Perform uniform acceleration motion. According to the uniform acceleration theorem, the moving distance of the aircraft can be expressed as follows according to the polynomial: ,in v 0 and s 0 are the initial speed and distance of the aircraft respectively;

[0049] S23: Calculate the chi-square test formula for the distance traveled by the aircraft: ,in, w i is the weight, x i is the aircraft at time t i The distance observation data, N is the number of distance observation data;

[0050] S24: Find the chi-square test formula a 0 、v 0 and s 0 Partial derivatives: , simplified to get the matrix expression, ,in ;

[0051] S25: Assuming the acceleration of the aircraft is constant, get the position at any time in the future s ( t ),speed v ( t ), acceleration a ( t ) is: ;

[0052] S26: Assuming that the measurement uncertainty of each measurement point is equal and independent, according to the calculation properties of the covariance matrix: if Y=AX, then , the covariance matrix of X is , I is the unit matrix, and the predicted variance of position, velocity, and acceleration is: , where diag() represents a diagonal matrix;

[0053] Among them, in order to estimate the monitoring system positioning noise to the position prediction s ( t ) accuracy, we simplify by assuming that the measurement uncertainty of each measurement point is equal and independent, so i and j The covariance between the measurement points is i=j Time ,when i≠j , it is 0.

[0054] S27: Due to , substituting into the predicted variance formula of position, velocity and acceleration, we get

[0055]

[0056] in ;

[0057] S28: When weight w i =1, we have T=U, and it is easy to know , the prediction error of the speed is:

[0058] .

[0059] Among them, since the system detects the target at equal intervals, the matrix T is only related to the interval time τ and the number of data points N used in the calculation. According to the speed prediction error formula, it can be known that the speed error is only related to the data positioning error and the interval time τ, which is expressed as When using different numbers of data points N (N ≥ 3), the speed error value of the current system can be calculated according to the above formula.

[0060] Furthermore, the prediction error calculation formula of the aircraft position is:

[0061]

[0062] The prediction error of aircraft acceleration is calculated as:

[0063] .

[0064] S3: If the aircraft speed exceeds Determine that the aircraft is in take-off state, V thre The preset speed threshold is used to calculate the time required for the aircraft to move from the start to the take-off state. In this embodiment, the time required for the aircraft to move from the start to the take-off state is calculated by the following formula:

[0065]

[0066] in, is the aircraft acceleration.

[0067] Due to the uncertainty of the upper and lower errors, this scheme sets the target aircraft to detect when the speed is greater than V thre +2 б v Only then can the aircraft status be determined as "take-off".

[0068] S4: Calculate the time from the start of the aircraft's takeoff roll to the lighting of the runway entry lights ahead ,in Send control instructions to the system to control the time when the runway entry lights are fully illuminated.

[0069] Furthermore, the system sends a control instruction to control the time when the runway entry lights are fully lit. , obtained by obtaining the average value of the system's historical control time.

[0070] After the system detects that the aircraft status is "take-off", it sends control instructions to the lighting control system to control the corresponding lamps to light up. The time required from detecting "take-off" to the corresponding lamps being fully lit is less than 2 seconds according to the relevant standards, and some manufacturers can achieve 1 second.

[0071] Embodiment 2: A system for predicting the lighting time of a runway entry light, comprising:

[0072] Data acquisition module, used to obtain the position data and position standard deviation of the aircraft in the monitoring data of the runway status light system and detection interval ;

[0073] The relationship determination module determines the relationship between the position standard deviation, speed standard deviation and interval time, and then obtains the speed standard deviation of the system based on the actual data sampling points. ;

[0074] Take-off time calculation module is used to monitor the aircraft speed exceeding Determine that the aircraft is in take-off state, V thre The preset speed threshold is used to calculate the time required for the aircraft to move from the start to the take-off state. ;

[0075] The runway light lighting calculation module is used to calculate the time required from the start of the aircraft takeoff run to the lighting of the runway entry lights ahead. ,in Send control instructions to the system to control the time when the runway entry lights are fully illuminated.

[0076] Embodiment 3: An electronic device, characterized in that it comprises a processor and a memory, wherein the memory stores at least one program, and the at least one program is loaded and executed by the processor to implement the method for predicting the lighting time of a runway entry light as described in any one of Embodiments 1.

[0077] Embodiment 4: A storage medium, characterized in that at least one program is stored in the storage medium, and the at least one program is loaded and executed by a processor to implement the method for predicting the lighting time of a runway entry light as described in any one of Embodiments 1.

[0078] The present invention provides an accurate numerical calculation method for calculating the time required to light up the runway entry lights during aircraft takeoff. In the design stage of the runway status light system, the construction plan of the runway entry lights can be further analyzed according to the actual level of the airport monitoring system, combined with the runway taxiway layout, aircraft movement characteristics, etc., to evaluate its effectiveness in runway intrusion prevention, or to put forward quantitative requirements for the positioning accuracy and update time of the monitoring data.

[0079] The above is only a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art shall not deviate from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

Claims

1. A method for predicting the lighting time of a runway entry light, characterized in that: include: Obtain the position data and position standard deviation of the aircraft in the monitoring data of the runway status light system and detection interval ; Determine the relationship between the position standard deviation, speed standard deviation and interval time, and then obtain the speed standard deviation of the system based on the actual data sampling points ; If the aircraft speed exceeds Determine that the aircraft is in take-off state, V thre The preset speed threshold is used to calculate the time required for the aircraft to move from the start to the take-off state. ; Calculate the time from the start of the aircraft's takeoff roll to the lighting of the runway entry lights ahead ,in Send control commands to the system to control the time when the runway entry lights are fully illuminated; Determining the relationship between the position standard deviation, the speed standard deviation and the interval time comprises the following steps: Based on at least three aircraft position data received from external surface surveillance systems, the least squares method is used to fit the aircraft's movement distance with respect to time. t The polynomial of is: ,in b 0 , b 1 and b 3 is the fitting coefficient; Assume that during takeoff, the aircraft accelerates a 0 Perform uniform acceleration motion. According to the uniform acceleration theorem, the moving distance of the aircraft can be expressed as follows according to the polynomial: ,in v 0 and s 0 are the initial speed and distance of the aircraft respectively; The chi-square test formula for calculating the distance traveled by an aircraft is: ,in, w i is the weight, x i is the aircraft at time t i The distance observation data, N is the number of distance observation data; The chi-square test formula is a 0 、v 0 and s 0 Partial derivatives: , simplified to get the matrix expression, ,in ; Assuming the acceleration of the aircraft is constant, the position at any time in the future is obtained s ( t ),speed v ( t ), acceleration a ( t ) is: ; Assuming that the measurement uncertainty of each measurement point is equal and independent, according to the calculation properties of the covariance matrix: if Y=AX, then , the covariance matrix of X is , I is the unit matrix, and the predicted variance of position, velocity, and acceleration is: , where diag() represents a diagonal matrix; because , substituting into the predicted variance formula of position, velocity and acceleration, we get in ; When weight w i =1, we have T=U, and it is easy to know , the prediction error of the speed is: 。 2. A method for predicting the lighting time of a runway entry light according to claim 1, characterized in that: The time required for the aircraft to move from the start to the take-off state is calculated by the following formula: in, is the aircraft acceleration.

3. A method for predicting the lighting time of a runway entry light according to claim 1, characterized in that: The prediction error of the aircraft position is calculated as: The prediction error of aircraft acceleration is calculated as: 。 4. A method for predicting the lighting time of a runway entry light according to claim 1, characterized in that: The system sends control instructions to control the time when the runway entry lights are fully illuminated , obtained by obtaining the average value of the system's historical control time.

5. A system for predicting the lighting time of a runway entry light, characterized in that: include: Data acquisition module, used to obtain the position data and position standard deviation of the aircraft in the monitoring data of the runway status light system and detection interval ; The relationship determination module determines the relationship between the position standard deviation, speed standard deviation and interval time, and then obtains the speed standard deviation of the system based on the actual data sampling points. ; Take-off time calculation module is used to monitor the aircraft speed exceeding Determine that the aircraft is in take-off state, V thre The preset speed threshold is used to calculate the time required for the aircraft to move from the start to the take-off state. ; The runway light lighting calculation module is used to calculate the time required from the start of the aircraft takeoff run to the lighting of the runway entry lights ahead. ,in Send control instructions to the system to control the time when the runway entry lights are fully illuminated; Determining the relationship between the position standard deviation, the speed standard deviation and the interval time comprises the following steps: Based on at least three aircraft position data received from external surface surveillance systems, the least squares method is used to fit the aircraft's movement distance with respect to time. t The polynomial of is: ,in b 0 , b 1 and b 3 is the fitting coefficient; Assume that during takeoff, the aircraft accelerates a 0 Perform uniform acceleration motion. According to the uniform acceleration theorem, the moving distance of the aircraft can be expressed as follows according to the polynomial: ,in v 0 and s 0 are the initial speed and distance of the aircraft respectively; The chi-square test formula for calculating the distance traveled by an aircraft is: ,in, w i is the weight, x i is the aircraft at time t i The distance observation data, N is the number of distance observation data; Find the chi-square test formula a 0 、v 0 and s 0 Partial derivatives: , simplified to get the matrix expression, ,in ; Assuming the acceleration of the aircraft is constant, the position at any time in the future is obtained s ( t ),speed v ( t ), acceleration a ( t ) is: ; Assuming that the measurement uncertainty of each measurement point is equal and independent, according to the calculation properties of the covariance matrix: if Y=AX, then , the covariance matrix of X is , I is the unit matrix, and the predicted variance of position, velocity, and acceleration is: , where diag() represents a diagonal matrix; because , substituting into the predicted variance formula of position, velocity and acceleration, we get in ; When weight w i =1, we have T=U, and it is easy to know , the prediction error of the speed is: 。 6. An electronic device, characterized in that: The method comprises a processor and a memory, wherein at least one program is stored in the memory, and the at least one program is loaded and executed by the processor to implement the method for predicting the lighting time of a runway entry light according to any one of claims 1 to 4.

7. A storage medium, characterized in that: The storage medium stores at least one program, and the at least one program is loaded and executed by the processor to implement the method for predicting the lighting time of the runway entry light according to any one of claims 1 to 4.

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