Airport bird flock timely early warning prevention and control system and method based on radar monitoring

Abstract

The invention relates to the technical field of early warning, prevention and control of airport bird flocks, and particularly discloses an airport bird flock timely early warning, prevention and control system and method based on radar monitoring, and the method comprises the following steps: obtaining a minimum single spatial distance value in single spatial distance values in a bird flock, and comparing the minimum single spatial distance value with a warning airspace radius value of a warning airspace to obtain a warning signal; obtaining a single space point location of the bird flock at each detection time node; calculating to obtain a bird flock flight path prediction limit value at a detection time node m moment; comparing the pre-warning airspace radius value with the pre-warning airspace radius value to obtain a pre-warning signal or a prediction signal; the influence of laser and sound waves on the vision and hearing of the bird flock is reduced, the unpredictable influence caused by the stress flight condition after the bird flock is stimulated is avoided, the use of the laser and the sound waves is reduced, the interference on other organisms in the surrounding environment of an airport or other airplanes in the flight process is avoided, and the potential safety hazard is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of early warning and prevention of bird flocks at airports, and in particular to a system and method for timely early warning and prevention of bird flocks at airports based on radar monitoring. Background Art

[0002] Bird strikes refer to flight accidents caused by collisions between birds and aircraft in mid-air. They are frequent and sudden. Traditional bird-repelling methods include gas cannons, recording bird-repelling, bird-repelling vehicles, ultrasonic bird-repelling devices, hunting, etc., which take a long time and have poor effects.

[0003] Existing airport bird-repelling methods usually use radar detection combined with sound waves and lasers to interfere with and guide bird flocks. This method can help airlines, airports, military bases, aircraft manufacturers and other organizations and individuals to monitor and analyze bird behavior, identify potential bird attack risks, and take corresponding measures to reduce the losses and risks caused by bird attacks.

[0004] However, existing radars for detecting bird flocks directly use sound waves and lasers to interfere and drive away the birds after they enter the warning area. This method cannot identify the flight status of the bird flock, and direct interference can easily cause stress reactions in the bird flock. At the same time, long-term and high-frequency interference can easily interfere with the environment around the airport or other aircraft, increasing safety risks. Summary of the invention

[0005] The purpose of the present invention is to provide an airport bird flock timely early warning and control system and method based on radar monitoring to solve the above-mentioned background problems.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A method for timely warning and prevention of bird flocks at airports based on radar monitoring, comprising the following steps:

[0008] Construct an airspace early warning spatial coordinate model to obtain real-time information on bird flock flight within the monitored airspace based on radar detection, including spatial distance data and coordinate data of bird flocks;

[0009] The spatial distance data of the bird flock includes the single spatial distance value FD between the i-th bird in the bird flock and the radar center area i , where i is 1, 2, 3, ...;

[0010] The minimum single-unit spatial distance value among the single-unit spatial distance values ​​in the bird flock is obtained and recorded as FDmin; the minimum single-unit spatial distance value FDmin is compared with the warning airspace radius value YJR of the warning airspace to obtain a warning signal;

[0011] Based on the warning signal, the bird flock is continuously detected by radar, with the unit time interval t as the radar detection cycle, and the bird flock coordinate data at each detection time node is obtained. The bird flock coordinate data includes the individual spatial point position of each bird in the bird flock;

[0012] Based on the individual spatial points in the bird flock, the predicted limit value JJD of the bird flock flight path at the detection time node m is calculated. m ;

[0013] The predicted limit value of the flock flight path at the detection time node m is JJD m Compare with the warning airspace radius value YJA: get the warning signal or prediction signal;

[0014] Based on the early warning signal, the bird flock is interfered and guided by adopting prevention and control measures. At the same time, the radar detection of the bird flock is maintained with the unit time interval t as the radar detection cycle;

[0015] Based on the predicted signal, calculate and obtain the limit value TJD of the bird flight interference time at the detection time node m m ; and obtain tracking signals or early warning signals.

[0016] As a further solution of the present invention: in the step one, the radar detection emission point is used as the safety coordinate center, the ground is used as the coordinate horizontal plane, the north direction is used as the y-axis, the east direction is used as the x-axis, and the z-axis perpendicular to the ground is used to construct an airspace warning space coordinate model.

[0017] As a further solution of the present invention: the minimum monomer space distance value FDmin is compared with the warning airspace radius value YJR of the warning airspace:

[0018] If the minimum single space distance value FDmin is greater than the warning airspace radius value JJR, a monitoring signal is generated;

[0019] If the minimum single space distance value FDmin is less than or equal to the warning airspace radius value JJR, a warning signal is generated.

[0020] As a further solution of the present invention: the flock flight path prediction limit value JJD m The calculation steps include:

[0021] Traverse and calculate the single flight prediction risk distance value FFD of the i-th bird in the bird flock at the detection time node m (i，m) ;

[0022] Based on the individual flight prediction risk distance value of the i-th bird in the bird flock at the detection time node m, the flight prediction risk distance value set of the detection time node m is obtained, and then the minimum value in the flight prediction risk distance value set is obtained, that is, the bird flock flight path prediction limit value JJDm .

[0023] As a further solution of the present invention: the single flight predicted risk distance value FFD (i，m) ; is calculated as:

[0024] Get the spatial coordinates of a single bird at the detection time node m-1, recorded as ZBD (i，m-1) , that is (X (i，m-1) , Y (i，m-1) ,Z (i，m-1) ), and at the same time obtain the single spatial point coordinates of a single bird at the detection time node m, denoted as ZBD (i，m) , that is (X (i，m) , Y (i，m) ,Z (i，m) );

[0025] pass The flight change of a single bird from the detection time node m-1 to time m is calculated, that is, the single flight vector of a single bird at time m The flight direction at the detection time node m can be obtained by calculating the single-body flight vector;

[0026] The initial vector of the single bird based on the single spatial point coordinates and the safety coordinate center at the detection time node m-1

[0027] pass Calculate the single-unit flight prediction risk distance value FFD of a single bird in the flock at the detection time node m (i，m) .

[0028] As a further solution of the present invention: the predicted limit value of the flight path of the flock of birds at the detection time node m is set to JJD m Compare with the warning airspace radius value YJA:

[0029] If the limit value of the bird flock flight path prediction is JJD m If it is smaller than the warning airspace radius value YJA, a warning signal is generated;

[0030] If the limit value of the bird flock flight path prediction is JJD m Greater than or equal to the warning airspace radius value YJA, a prediction signal is generated.

[0031] As a further solution of the present invention: the bird flock flight interference time limit value TJD m The calculation method includes the following steps:

[0032] Traverse and calculate the single flight interference time prediction value FTD of the i-th bird in the bird flock at the detection time node m (i，m) ;

[0033] Based on the single-unit flight interference time prediction value of the i-th bird in the bird flock at the detection time node m, the flight interference time prediction value set of the detection time node m is obtained, and then the maximum value in the flight interference time prediction value set is obtained, that is, the flight interference time limit value TJD m .

[0034] As a further solution of the present invention: the single-unit flight interference time prediction value FTD (i，m) The calculation method is:

[0035] Get the flight vector of a single bird from detection time node m-1 to time m

[0036] pass Calculate the flight speed value V of a single bird at the detection time node m (i，m) ;

[0037] 0412: Based on the single spatial point coordinates ZBD of a single bird at the detection time node m (i，m) =(X (i，m) , Y (i，m) ,Z (i，m) );

[0038] Get the flight vector of a single bird at time m The single flight vector Denoted as (D x , D y , D z );in,

[0039] The predicted route equation of a single bird's flight path with the flight time T is obtained;

[0040] That is: ZBD (i，m) (T) = (X (i，m) +V (i，m) ×D x ×T,Y (i，m) +V (i，m) ×D y ×T,Z (i，m) +V (i，m) ×D z ×T);

[0041] Based on the warning airspace radius value JJR, through (X (i，m) +V (i，m) ×D x ×FTD (i，m) ) 2 +(Y (i，m) +V (i，m) ×D y ×FTD(i，m) ) 2 +(Z (i，m) +V (i，m) ×D z ×FTD (i，m) ) 2 =JJR 2 Calculate the predicted value of the single flight interference time FTD of a single bird flying out of the warning airspace from the single spatial point coordinate at time m (i，m) .

[0042] As a further solution of the present invention: based on the detection time node m, if the flight interference time limit value TJD m There are no aircraft taking off or landing inside, so a tracking signal is generated;

[0043] If the flight interference time limit TJD m There are aircraft taking off and landing inside, generating an early warning signal.

[0044] As a further solution of the present invention: a timely early warning and prevention system for bird flocks at airports based on radar monitoring, comprising:

[0045] Data acquisition module: used to build an airspace warning spatial coordinate model, based on radar detection, to obtain the flight information of bird flocks in the monitored airspace in real time, including the spatial distance data and coordinate data of bird flocks; the spatial distance data of bird flocks includes the single spatial distance value FD between the i-th flying bird in the bird flock and the radar center area. i , where i is 1, 2, 3, ...;

[0046] Signal judgment module: used to obtain the minimum single-unit space distance value among the single-unit space distance values ​​in the bird flock, and record it as FDmin; compare the minimum single-unit space distance value FDmin with the warning airspace radius value YJR of the warning airspace to obtain a warning signal;

[0047] Signal processing module: Based on the warning signal, the bird flock is continuously detected by radar, with the unit time interval t as the radar detection cycle, and the bird flock coordinate data at each detection time node is obtained. The bird flock coordinate data includes the individual spatial point position of each bird in the bird flock;

[0048] Based on the individual spatial points in the bird flock, the predicted limit value JJD of the bird flock flight path at the detection time node m is calculated. m ; The predicted limit value of the bird flock flight path at the detection time node m is JJD m Compare with the warning airspace radius value YJA to obtain a warning signal or a prediction signal;

[0049] Prevention and control module: Based on the early warning signal, the bird flock is interfered and guided by adopting prevention and control measures. At the same time, the radar detection of the bird flock is maintained with the unit time interval t as the radar detection cycle;

[0050] Based on the predicted signal, calculate and obtain the limit value TJD of the bird flight interference time at the detection time node m m , and get tracking signals or early warning signals.

[0051] Beneficial effects of the present invention:

[0052] Through real-time detection of the flight direction and speed of the flock of birds after they enter the warning airspace, it is predicted whether the flock of birds will enter the warning area during the flight, so as to interfere with and guide the flock of birds so that the flock of birds can change their flight direction to avoid entering the warning airspace; at the same time, continuous detection of the flock of birds is maintained. If the flight direction of the flock of birds will not pass through the warning airspace, the time taken by the flock of birds to fly to the warning airspace in the current flight state is estimated and calculated, and at the same time, it is determined whether there are any aircraft taking off and landing during this time period to decide whether to interfere with and guide the flock of birds so that the flock of birds can quickly fly away from the warning area; through detection and estimated calculation of the flight state of the flock of birds, as well as the take-off and landing state of the aircraft, the flight of the flock of birds is selectively interfered with. On the one hand, the use of lasers and sound waves to reduce the impact on the vision and hearing of the flock of birds is reduced, and the unforeseen impact of the flight state caused by the stress of the flock of birds after being stimulated is avoided. On the other hand, the use of lasers and sound waves is reduced to avoid interference with other organisms in the surrounding environment of the airport or other aircraft in the flight process, thereby reducing safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The present invention will be further described below in conjunction with the accompanying drawings.

[0054] Figure 1 It is a schematic flow chart of the method of the present invention;

[0055] Figure 2 It is a system block diagram of the present invention. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] Embodiment 1

[0058] See also Figure 1 As shown, the present invention is a method for timely warning and prevention of bird flocks at airports based on radar monitoring, comprising the following steps:

[0059] Step 1: Take the radar detection launch point as the safety coordinate center, the ground as the coordinate horizontal plane, the north direction as the y-axis, the east direction as the x-axis, and the vertical direction upward from the ground as the z-axis to construct an airspace early warning spatial coordinate model; based on radar detection, obtain the flight information of bird flocks in the monitored airspace in real time, where the flight information of bird flocks includes: bird flock spatial distance data and bird flock coordinate data;

[0060] The spatial distance data of the bird flock includes the single spatial distance value FD between the i-th bird in the bird flock and the radar center area. i , where i is 1, 2, 3, ...;

[0061] Get the minimum single spatial distance value among the single spatial distance values ​​in the bird flock and record it as FDmin; the minimum single spatial distance value refers to the minimum distance between all birds in the bird flock and the safety coordinate center. Compare the minimum single spatial distance value FDmin with the warning airspace radius value YJR of the warning airspace:

[0062] If the minimum single space distance value FDmin is greater than the warning airspace radius value JJR, a monitoring signal is generated; the radar continues to detect;

[0063] If the minimum single-unit spatial distance value FDmin is less than or equal to the warning airspace radius value JJR, a warning signal is generated; this indicates that the flock of birds has entered the warning position and there is a certain risk. At this time, it is necessary to analyze the flock of birds to determine whether the risk of the flock of birds is controllable and decide whether to take certain prevention and control measures for the flock of birds;

[0064] Step 2: Based on the warning signal, the bird flock is continuously detected by radar, with the unit time interval t as the radar detection cycle, and the bird flock coordinate data at each detection time node is obtained. The bird flock coordinate data includes the individual spatial point position of each bird in the bird flock;

[0065] Based on the individual spatial points in the bird flock, the predicted limit value JJD of the bird flock flight path at the detection time node m is calculated. m ; By obtaining the distance between the birds in the flock and the safety coordinate center when the flock continues to move in the current direction, and then based on the minimum value of the distance between all the birds in the flock and the safety coordinate center, it can be predicted whether the movement of the flock in this flight state will enter the warning airspace;

[0066] About the prediction limit value of bird flock flight path JJD m The calculation steps include:

[0067] 021: Traverse and calculate the single flight prediction risk distance value FFD of the i-th bird in the bird flock at the detection time node m (i，m) ;

[0068] Specifically: Get the spatial coordinates of a single bird at the detection time node m-1, recorded as ZBD (i，m-1) , that is (X (i，m-1) , Y (i，m-1) ,Z (i，m-1) ), and at the same time obtain the single spatial point coordinates of a single bird at the detection time node m, denoted as ZBD (i，m) , that is (X (i，m) , Y (i，m) ,Z (i，m) );

[0069] pass The flight change of a single bird from the detection time node m-1 to time m is calculated, that is, the single flight vector of a single bird at time m The flight direction at the detection time node m can be obtained by calculating the single-body flight vector;

[0070] The initial vector of the single bird based on the single spatial point coordinates and the safety coordinate center at the detection time node m-1

[0071] pass Calculate the single-unit flight prediction risk distance value FFD of a single bird in the flock at the detection time node m (i，m) ;

[0072] 022: Based on the individual flight prediction risk distance value of bird i in the bird flock at detection time node m, obtain the flight prediction risk distance value set at detection time node m, and then obtain the minimum value in the flight prediction risk distance value set, that is, the bird flock flight path prediction limit value JJD m ;

[0073] By judging the flight direction of the flock of birds after entering the warning airspace, it is predicted whether the flock of birds will pass through the warning airspace during the flight. If the predicted flight route of the flock of birds after entering the warning airspace passes through the warning airspace, the prevention and control measures for the flock of birds can be adjusted in advance;

[0074] Step 3: Set the predicted limit value of the bird flock flight path at the detection time node m as JJD m Compare with the warning airspace radius value YJA:

[0075] If the predicted limit value of the bird flock flight path is JJD m If it is smaller than the warning airspace radius value YJA, a warning signal is generated; and step 4 is executed;

[0076] If the predicted limit value of the bird flock flight path is JJD m If it is greater than or equal to the warning airspace radius value YJA, a prediction signal is generated; and step five is executed;

[0077] Step 4: Based on the early warning signal, the bird flock is interfered and guided by adopting prevention and control measures. At the same time, the radar detection of the bird flock is maintained with a unit time interval t as the radar detection cycle;

[0078] It should be noted that the use of prevention and control measures to interfere with the flight of bird flocks includes but is not limited to the use of sound waves, lasers, etc. to interfere with the flight of bird flocks and guide them to change their flight direction;

[0079] Step 5: Based on the predicted signal, calculate and obtain the limit value TJD of the bird flock flight interference time at the detection time node m m ; When a flock of birds enters the alert airspace, if its flight direction does not enter the warning airspace, it can be selected whether to interfere with and guide the flock of birds based on the flight status of the flock and the take-off and landing status of aircraft at the airport;

[0080] About the limit value of bird flight interference time TJD m The calculation method includes the following steps:

[0081] 041: Traverse and calculate the single flight interference time prediction value FTD of the i-th bird in the bird flock at the detection time node m (i，m) ;

[0082] Specifically,

[0083] 0411: Get the flight vector of a single bird from detection time node m-1 to time m

[0084] pass Calculate the flight speed value V of a single bird at the detection time node m (i，m) ;

[0085] 0412: Based on the single spatial point coordinates ZBD of a single bird at the detection time node m (i，m) =(X (i，m) , Y (i，m) ,Z (i，m) );

[0086] Get the flight vector of a single bird at time m The single flight vector Denoted as (D x , D y , D z );in,

[0087] The predicted route equation of a single bird's flight path with the flight time T is obtained;

[0088] That is: ZBD (i，m) (T) = (X (i，m) +V(i，m) ×D x ×T,Y (i，m) +V (i，m) ×D y ×T,Z (i，m) +V (i，m) ×D z ×T);

[0089] Based on the warning airspace radius value JJR, through (X (i，m) +V (i，m) ×D x ×FTD (i，m) ) 2 +(Y (i，m) +V (i，m) ×D y ×FTD (i，m) ) 2 +(Z (i，m) +V (i，m) ×D z ×FTD (i，m) ) 2 =JJR 2 Calculate the predicted value of the single flight interference time FTD of a single bird flying out of the warning airspace from the single spatial point coordinate at time m (i，m) ;

[0090] 042: Based on the predicted flight interference time of the individual bird i in the bird flock at the detection time node m, the flight interference time prediction value set of the detection time node m is obtained, and then the maximum value in the flight interference time prediction value set is obtained, that is, the flight interference time limit value TJD m ; Then proceed to step six;

[0091] Step 6: Based on the detection time node m, if the flight interference time limit value TJD m If there is no aircraft taking off or landing, a tracking signal is generated; no interference guidance is performed on the bird flock, and step 2 is performed, and radar detection of the bird flock is maintained with a unit time interval t as the radar detection cycle;

[0092] If the flight interference time limit TJD m If there are aircraft taking off or landing in the area, an early warning signal is generated and step 4 is executed; laser or sound waves are used to interfere with the flight of the flock of birds, so that they adjust their flight direction or speed to quickly leave the warning airspace;

[0093] Through real-time detection of the flight direction and speed of the flock of birds after they enter the warning airspace, it is predicted whether the flock of birds will enter the warning area during flight, so as to interfere with and guide the flock of birds so that they can change their flight direction to avoid entering the warning airspace; at the same time, continuous detection of the flock of birds is maintained. If the flight direction of the flock of birds will not pass through the warning airspace, the time taken by the flock of birds to fly out of the warning airspace in the current flight state is estimated and calculated, and at the same time, it is determined whether there are any aircraft taking off and landing during this time period to decide whether to interfere with and guide the flock of birds so that the flock of birds can quickly fly away from the warning area; through detection and estimated calculation of the flight state of the flock of birds, as well as the take-off and landing state of the aircraft, the flight of the flock of birds is selectively interfered with. On the one hand, the use of lasers and sound waves to reduce the impact on the vision and hearing of the flock of birds is reduced, and the unforeseen impact of the flight state caused by the stress of the flock of birds after being stimulated is avoided. On the other hand, the use of lasers and sound waves is reduced to avoid interference with other organisms in the surrounding environment of the airport or other aircraft in flight, thereby reducing safety hazards.

[0094] Embodiment 2

[0095] Reference Figure 2 As shown, this embodiment provides an airport bird flock timely warning and prevention system based on radar monitoring, including:

[0096] Data acquisition module: used to build an airspace warning spatial coordinate model, based on radar detection, to obtain the flight information of bird flocks in the monitored airspace in real time, including the spatial distance data and coordinate data of bird flocks; the spatial distance data of bird flocks includes the single spatial distance value FD between the i-th flying bird in the bird flock and the radar center area. i , where i is 1, 2, 3, ...;

[0097] Signal judgment module: used to obtain the minimum single-unit space distance value among the single-unit space distance values ​​in the bird flock, and record it as FDmin; compare the minimum single-unit space distance value FDmin with the warning airspace radius value YJR of the warning airspace to obtain a warning signal;

[0098] Signal processing module: Based on the warning signal, the bird flock is continuously detected by radar, with the unit time interval t as the radar detection cycle, and the bird flock coordinate data at each detection time node is obtained. The bird flock coordinate data includes the individual spatial point position of each bird in the bird flock;

[0099] Based on the individual spatial points in the bird flock, the predicted limit value JJD of the bird flock flight path at the detection time node m is calculated. m ; The predicted limit value of the bird flock flight path at the detection time node m is JJD m Compare with the warning airspace radius value YJA to obtain a warning signal or a prediction signal;

[0100] Prevention and control module: Based on the early warning signal, the bird flock is interfered and guided by adopting prevention and control measures. At the same time, the radar detection of the bird flock is maintained with the unit time interval t as the radar detection cycle;

[0101] Based on the predicted signal, calculate and obtain the limit value TJD of the bird flight interference time at the detection time node m m , and get tracking signals or early warning signals.

[0102] On the one hand, reducing the use of lasers and sound waves can reduce the impact on the birds' vision and hearing, thereby avoiding unforeseen impacts on the birds' flight due to stress. On the other hand, reducing the use of lasers and sound waves can avoid interference with other organisms in the airport's surrounding environment or other aircraft in flight, thereby reducing safety hazards.

[0103] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A method for timely early warning and prevention of bird flocks at airports based on radar monitoring, characterized in that: The following steps are involved: Construct an airspace early warning spatial coordinate model to obtain real-time information on bird flock flight within the monitored airspace based on radar detection, including spatial distance data and coordinate data of bird flocks; The spatial distance data of the bird flock includes the single spatial distance value FD between the i-th bird in the bird flock and the radar center area i , where i is 1, 2, 3, ...; The minimum single-unit spatial distance value among the single-unit spatial distance values ​​in the bird flock is obtained and recorded as FDmin; the minimum single-unit spatial distance value FDmin is compared with the warning airspace radius value YJR of the warning airspace to obtain a warning signal; Based on the warning signal, the bird flock is continuously detected by radar, with the unit time interval t as the radar detection cycle, and the bird flock coordinate data at each detection time node is obtained. The bird flock coordinate data includes the individual spatial point position of each bird in the bird flock; Based on the individual spatial points in the bird flock, the predicted limit value JJD of the bird flock flight path at the detection time node m is calculated. m ; The predicted limit value of the flock flight path at the detection time node m is JJD m Compare with the warning airspace radius value YJA: get the warning signal or prediction signal; Based on the early warning signal, the bird flock is interfered and guided by adopting prevention and control measures. At the same time, the radar detection of the bird flock is maintained with the unit time interval t as the radar detection cycle; Based on the predicted signal, calculate and obtain the limit value TJD of the bird flight interference time at the detection time node m m ; and obtain tracking signals or early warning signals.

2. The method for timely warning and prevention of bird flocks at airports based on radar monitoring according to claim 1 is characterized in that: In the step 1, an airspace warning space coordinate model is constructed with the radar detection launch point as the safety coordinate center, the ground as the coordinate horizontal plane, the north direction as the y-axis, the east direction as the x-axis, and the z-axis perpendicular to the ground upward.

3. The method for timely warning and prevention of bird flocks at airports based on radar monitoring according to claim 1 is characterized in that: Compare the minimum single space distance value FDmin with the warning airspace radius value YJR of the warning airspace: If the minimum single space distance value FDmin is greater than the warning airspace radius value JJR, a monitoring signal is generated; If the minimum single space distance value FDmin is less than or equal to the warning airspace radius value JJR, a warning signal is generated.

4. The method for timely warning and prevention of bird flocks at airports based on radar monitoring according to claim 1 is characterized in that: The flock flight path prediction limit value JJD m The calculation steps include: Traverse and calculate the single flight prediction risk distance value FFD of the i-th bird in the bird flock at the detection time node m (i，m) ; Based on the individual flight prediction risk distance value of the i-th bird in the bird flock at the detection time node m, the flight prediction risk distance value set of the detection time node m is obtained, and then the minimum value in the flight prediction risk distance value set is obtained, that is, the bird flock flight path prediction limit value JJD m .

5. The method for timely warning and prevention of bird flocks at airports based on radar monitoring according to claim 4 is characterized in that: The single flight predicted risk distance value FFD (i，m) ; is calculated as: Get the spatial coordinates of a single bird at the detection time node m-1, recorded as ZBD (i，m-1) , that is (X (i，m-1) , Y (i，m-1) ,Z (i，m-1) ), and at the same time obtain the single spatial point coordinates of a single bird at the detection time node m, denoted as ZBD (i，m) , that is (X (i，m) , Y (i，m) ,Z (i，m) ); pass The flight change of a single bird from the detection time node m-1 to time m is calculated, that is, the single flight vector of a single bird at time m The flight direction at the detection time node m can be obtained by calculating the single-body flight vector; The initial vector of the single bird based on the single spatial point coordinates and the safety coordinate center at the detection time node m-1 pass Calculate the single-unit flight prediction risk distance value FFD of a single bird in the flock at the detection time node m (i，m) .

6. The method for timely warning and prevention of bird flocks at airports based on radar monitoring according to claim 1 is characterized in that: The predicted limit value of the flock flight path at the detection time node m is JJD m Compare with the warning airspace radius value YJA: If the predicted limit value of the bird flock flight path is JJD m If it is smaller than the warning airspace radius value YJA, a warning signal is generated; If the predicted limit value of the bird flock flight path is JJD m Greater than or equal to the warning airspace radius value YJA, a prediction signal is generated.

7. The method for timely warning and prevention of bird flocks at airports based on radar monitoring according to claim 1 is characterized in that: The bird flock flight interference time limit TJD m The calculation method includes the following steps: Traverse and calculate the single flight interference time prediction value FTD of the i-th bird in the bird flock at the detection time node m (i，m) ; Based on the single-unit flight interference time prediction value of the i-th bird in the bird flock at the detection time node m, the flight interference time prediction value set of the detection time node m is obtained, and then the maximum value in the flight interference time prediction value set is obtained, that is, the flight interference time limit value TJD m .

8. The method for timely warning and prevention of bird flocks at airports based on radar monitoring according to claim 7 is characterized in that: The single flight interference time prediction value FTD (i，m) The calculation method is: Get the flight vector of a single bird from detection time node m-1 to time m pass Calculate the flight speed value V of a single bird at the detection time node m (i，m) ; 0412: Based on the single spatial point coordinates ZBD of a single bird at the detection time node m (i，m) =(X (i，m) , Y (i，m) ,Z (i，m) ); Get the flight vector of a single bird at time m The single flight vector Denoted as (D x , D y , D z );in, The predicted route equation of a single bird's flight path with the flight time T is obtained; That is: ZBD (i，m) (T) = (X (i，m) + V (i，m) × D x × T, Y (i，m) + V (i，m) × D y × T, Z (i，m) + V (i，m) × D z × T); Based on the warning airspace radius value JJR, through (X (i，m) +V (i，m) ×D x ×FTD (i，m) ) 2 +(Y (i，m) +V (i，m) ×D y ×FTD (i，m) ) 2 +(Z (i，m) +V (i，m) ×D z ×FTD (i，m) ) 2 =JJR 2 Calculate the predicted value of the single flight interference time FTD of a single bird flying out of the warning airspace from the single spatial point coordinate at time m (i，m) .

9. The method for timely warning and prevention of bird flocks at airports based on radar monitoring according to claim 1, characterized in that: Taking the detection time node m as the time, if the flight interference time limit value TJD m There are no aircraft taking off or landing inside, so a tracking signal is generated; If the flight interference time limit TJD m There are aircraft taking off and landing inside, generating an early warning signal.

10. A timely early warning and control system for bird flocks at airports based on radar monitoring, characterized in that: The system is used to implement the airport bird flock timely warning and prevention system described in any one of claims 1 to 9 above, comprising: Data acquisition module: used to build an airspace warning spatial coordinate model, based on radar detection, to obtain the flight information of bird flocks in the monitored airspace in real time, including the spatial distance data and coordinate data of bird flocks; the spatial distance data of bird flocks includes the single spatial distance value FD between the i-th flying bird in the bird flock and the radar center area. i , where i is 1, 2, 3, ...; Signal judgment module: used to obtain the minimum single-unit space distance value among the single-unit space distance values ​​in the bird flock, and record it as FDmin; compare the minimum single-unit space distance value FDmin with the warning airspace radius value YJR of the warning airspace to obtain a warning signal; Signal processing module: Based on the warning signal, the bird flock is continuously detected by radar, with the unit time interval t as the radar detection cycle, and the bird flock coordinate data at each detection time node is obtained. The bird flock coordinate data includes the individual spatial point position of each bird in the bird flock; Based on the individual spatial points in the bird flock, the predicted limit value JJD of the bird flock flight path at the detection time node m is calculated. m ; The predicted limit value of the bird flock flight path at the detection time node m is JJD m Compare with the warning airspace radius value YJA to obtain a warning signal or a prediction signal; Prevention and control module: Based on the early warning signal, the bird flock is interfered and guided by adopting prevention and control measures. At the same time, the radar detection of the bird flock is maintained with the unit time interval t as the radar detection cycle; Based on the predicted signal, calculate and obtain the limit value TJD of the bird flight interference time at the detection time node m m , and get tracking signals or early warning signals.

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