A radar-based early warning and control system and method for airport bird flocks

Abstract

This invention relates to the field of early warning and control technology for airport bird flocks, specifically disclosing a radar-based system and method for timely early warning and control of airport bird flocks. The system includes the following steps: obtaining the minimum spatial distance value among individual bird flocks and comparing it with the radius of the warning airspace to obtain an early warning signal; obtaining the spatial location of individual bird flocks at each detection time node; calculating the predicted limit value of the bird flock's flight path at detection time node m and comparing it with the radius of the warning airspace to obtain an early warning signal or a predicted signal; reducing the impact of laser and sound waves on the visual and auditory perception of the bird flock, avoiding unpredictable effects caused by stressful flight patterns after the flock is stimulated, reducing the use of laser and sound waves, avoiding interference with other organisms in the airport's surrounding environment or other aircraft during flight, and reducing safety hazards.

Description

Technical Field

[0001] This invention relates to the field of early warning and control technology for airport bird flocks, specifically to a timely early warning and control system and method for airport bird flocks based on radar monitoring. Background Technology

[0002] Bird strikes are flight accidents caused by birds colliding with aircraft in the air. They are frequent and sudden. Traditional bird deterrence methods include gas cannons, recording bird deterrence, bird deterrence vehicles, ultrasonic bird deterrence devices, and hunting. However, bird deterrence is time-consuming and ineffective.

[0003] Existing airport bird control methods typically use radar detection combined with sound waves and lasers to interfere with and guide flocks of birds. This method can help various organizations and individuals, such as airlines, airports, military bases, and aircraft manufacturers, 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 radar detection of flocks of birds involves directly using sound waves and lasers to interfere with and drive them away after the flocks have entered the warning area. This method cannot identify the flight status of the flocks, and direct interference can easily cause stress reactions in the flocks. At the same time, long-term, high-frequency interference can also interfere with the surrounding environment of the airport or other aircraft, increasing safety hazards. Summary of the Invention

[0005] The purpose of this invention is to provide a radar-based early warning and control system and method for airport bird flocks, in order to solve the problems mentioned above.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] A method for timely early warning and control of bird flocks at airports based on radar monitoring includes the following steps:

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

[0009] Bird flock spatial distance data includes the individual spatial distance value FD between an i-th bird in the flock and the radar center area. i Where i is 1, 2, 3...;

[0010] Obtain the minimum spatial distance value among the individual spatial distance values ​​in the flock of birds and denote it as FDmin; compare the minimum spatial distance value FDmin with the warning airspace radius value YJR of the warning airspace to obtain the warning signal;

[0011] Based on warning signals, continuous radar detection is conducted on the flock of birds. The radar detection cycle is t, and the coordinate data of the flock of birds at each detection time node is obtained. The coordinate data of the flock of birds includes the spatial location of each individual bird in the flock.

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

[0013] The predicted limit value of the bird flock flight path at time node m is JJD m Compare the warning airspace radius value YJA to obtain the warning signal or prediction signal;

[0014] Based on the early warning signal, the bird flock is disturbed and guided by prevention and control measures. At the same time, radar detection of the bird flock is maintained at a unit time interval t.

[0015] Based on the predicted signal, the time limit value (TJD) of bird flight disturbance at detection time node m is calculated and obtained. m And receive tracking signals or early warning signals.

[0016] As a further aspect of the present invention: in step one, an airspace early warning spatial coordinate model is constructed with the radar detection and launch point as the safe 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 upward direction as the z-axis.

[0017] As a further aspect of the present invention: the minimum single-unit spatial distance value FDmin is compared with the warning airspace radius value YJR.

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

[0019] 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.

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

[0021] Iterate through the flock and calculate the predicted flight risk distance (FFD) of individual bird i at time point m. (i，m) ;

[0022] Based on the individual flight prediction risk distance values ​​of i birds in the flock at detection time node m, a set of flight prediction risk distance values ​​for detection time node m is obtained. Then, the minimum value in the set of flight prediction risk distance values ​​is obtained, which is the limit value JJD for predicting the flock's flight path.m .

[0023] As a further aspect of the present invention: the single-unit flight prediction risk distance value FFD (i，m) The calculation method for ; is as follows:

[0024] Obtain the spatial coordinates of a single bird at time point m-1 during detection, denoted as ZBD. (i，m-1) That is (X) (i，m-1) Y (i，m-1) Z (i，m-1) Simultaneously, the spatial coordinates of a single bird at time node m during detection are obtained, denoted as ZBD. (i，m) That is (X) (i，m) Y (i，m) Z (i，m) );

[0025] pass The flight changes of a single bird from the detection time node m-1 to time m were calculated, that is, the single bird's flight vector at time m. Calculating the individual flight vector yields the flight direction at time node m during detection;

[0026] Based on the individual spatial coordinates of a single bird at detection time node m-1 and the initial vector of the safe coordinate center.

[0027] pass Calculate the predicted flight risk distance (FFD) of a single bird in the flock at time m during detection. (i，m) .

[0028] As a further aspect of the present invention: the predicted limit value JJD of the bird flock flight path at the detection time node m. m Compare with the warning airspace radius value YJA:

[0029] If the predicted limit of bird flock flight path is JJD m If the value is less than the warning airspace radius YJA, a warning signal is generated.

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

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

[0032] Iterate through and calculate the individual flight disturbance time prediction (FTD) of the i birds in the flock at time node m. (i，m) ;

[0033] Based on the predicted flight disturbance time of individual birds (i birds) in the flock at detection time node m, a set of predicted flight disturbance time values ​​for detection time node m is obtained. Then, the maximum value in the set of predicted flight disturbance time values ​​is obtained, which is the flight disturbance time limit value TJD. m .

[0034] As a further aspect of the present invention: the predicted time to delay (FTD) of individual flight interference. (i，m) The calculation method is as follows:

[0035] Obtain the individual flight vector of a single bird from time point m-1 to time m during the detection process.

[0036] pass The flight speed V of a single bird at time m during detection was calculated. (i，m) ;

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

[0038] Obtain the individual flight vector of a single bird at time m. Single-unit flight vector denoted as (D) x D y D z );in,

[0039] The trajectory equation for predicting the flight path of a single bird over 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 The calculated FTD (Flight Disturbance Time) value represents the predicted flight interference time for a single bird at time m, based on its spatial coordinates at that point, as it flies out of the warning airspace. (i，m) .

[0042] As a further aspect of the present invention: taking the detection time node m as the reference, if the flight interference time limit TJD is reached... m No aircraft took off or landed inside, generating a tracking signal;

[0043] If the flight interference time limit is TJD m The presence of aircraft taking off and landing generates an early warning signal.

[0044] As a further aspect of the present invention: a radar-based airport bird flock timely early warning and control system, comprising:

[0045] Data Acquisition Module: Used to construct an airspace early warning spatial coordinate model. Based on radar detection, it acquires real-time bird flock flight information within the monitored airspace, including bird flock spatial distance data and bird flock coordinate data. The bird flock spatial distance data includes the individual spatial distance value FD between the i-th bird in the flock and the radar center area. i Where i is 1, 2, 3...;

[0046] Signal determination module: used to obtain the minimum spatial distance value of individual birds in the flock, and record it as FDmin; compare the minimum spatial distance value FDmin with the warning airspace radius value YJR to obtain the warning signal;

[0047] Signal processing module: Based on the warning signal, it continuously detects the flock of birds with radar. The radar detection cycle is t, and the coordinate data of the flock of birds is obtained at each detection time node. The coordinate data of the flock of birds includes the spatial position of each bird in the flock.

[0048] Based on the individual spatial locations within the bird flock, the predicted limit value JJD of the bird flock flight path at time node m is calculated. m The predicted limit value of the bird flock flight path at time node m is JJD. m The warning signal or prediction signal is obtained by comparing it with the warning airspace radius value YJA;

[0049] Prevention and control module: Based on the early warning signal, the module uses prevention and control measures to interfere with and guide the flock of birds. At the same time, it maintains radar detection of the flock of birds at a unit time interval t.

[0050] Based on the predicted signal, the time limit value (TJD) of bird flight disturbance at detection time node m is calculated and obtained. m And receive tracking signals or early warning signals.

[0051] The beneficial effects of this invention are:

[0052] By real-time detection of the flight direction and speed of flocks of birds after they enter the warning airspace, it is predicted whether the flock will enter the warning area during flight. This allows for interference and guidance, enabling the flock to change flight direction and avoid entering the warning airspace. Simultaneously, continuous monitoring of the flock is maintained. If the flock's flight direction does not pass through the warning airspace, the time it would take for the flock to reach the warning airspace under its current flight state is estimated. Furthermore, the presence of aircraft takeoffs and landings during this time period is assessed to determine whether to interfere and guide the flock to quickly leave the warning area. Through the detection and estimation of the flock's flight status, as well as the takeoff and landing status of aircraft, selective interference with the flock's flight is achieved. This approach minimizes the impact of laser and sound waves on the flock's vision and hearing, preventing unpredictable consequences from stressful flight patterns. It also reduces the use of lasers and sound waves, avoiding interference with other organisms in the surrounding environment or other aircraft during flight, thus minimizing safety hazards. Attached Figure Description

[0053] The invention will now be further described with reference to the accompanying drawings.

[0054] Figure 1 This is a schematic diagram of the method flow of the present invention;

[0055] Figure 2 This is a system block diagram of the present invention. Detailed Implementation

[0056] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] Example 1

[0058] Please see Figure 1 As shown, this invention is a method for timely early warning and control of bird flocks at airports based on radar monitoring, comprising the following steps:

[0059] Step 1: Construct an airspace early warning spatial coordinate model with the radar detection and transmission point as the safe 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 upward direction as the z-axis; Based on radar detection, acquire real-time bird flock flight information in the monitored airspace, including bird flock flight information: bird flock spatial distance data and bird flock coordinate data;

[0060] Among them, the spatial distance data of bird flocks includes the individual spatial distance value FD between i birds in the flock and the radar center area. i Where i is 1, 2, 3...;

[0061] Obtain the minimum individual spatial distance value among the individual spatial distance values ​​in the flock, and denot it as FDmin; the minimum individual spatial distance value refers to the minimum distance of all birds in the flock from the center of the safe coordinate system. Compare the minimum individual spatial distance value FDmin with the warning airspace radius value YJR:

[0062] If the minimum single-unit spatial 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, determine whether the risk of the flock of birds is controllable, and decide whether to take certain control measures for the flock of birds.

[0064] Step 2: Based on the warning signal, conduct continuous radar detection of the bird flock. The radar detection cycle is t, and the coordinate data of the bird flock at each detection time node is obtained. The coordinate data of the bird flock includes the spatial location of each bird in the flock.

[0065] Based on the individual spatial locations within the bird flock, the predicted limit value JJD of the bird flock flight path at time node m is calculated. m By obtaining the distance between the birds and the safe coordinate center when the flock continues to move in the current direction, and based on the minimum distance between all birds and the safe coordinate center, it is possible to predict whether the flock will enter the warning airspace under this flight state.

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

[0067] 021: Calculate the predicted flight risk distance (FFD) of individual bird i in the flock at time m during detection. (i，m) ;

[0068] Specifically, this involves obtaining the spatial coordinates of a single bird at time point m-1 during the detection process, denoted as ZBD. (i，m-1) That is (X) (i，m-1) Y (i，m-1) Z (i，m-1) Simultaneously, the spatial coordinates of a single bird at time node m during detection are obtained, denoted as ZBD. (i，m) That is (X) (i，m) Y (i，m) Z (i，m) );

[0069] pass The flight changes of a single bird from the detection time node m-1 to time m were calculated, that is, the single bird's flight vector at time m. Calculating the individual flight vector yields the flight direction at time node m during detection;

[0070] Based on the individual spatial coordinates of a single bird at detection time node m-1 and the initial vector of the safe coordinate center.

[0071] pass Calculate the predicted flight risk distance (FFD) of a single bird in the flock at time m during detection. (i，m) ;

[0072] 022: Based on the individual flight prediction risk distance value of i birds in the flock at detection time node m, the set of flight prediction risk distance values ​​at detection time node m is obtained. Then, the minimum value in the set of flight prediction risk distance values ​​is obtained, which is the limit value JJD for predicting the flock's flight path. m ;

[0073] By determining the flight direction of the flock after entering the warning airspace, it can be predicted whether the flock will pass through the warning airspace during its flight. If the predicted flight path of the flock passes through the warning airspace after entering the warning airspace, control measures can be taken to adjust the flock in advance.

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

[0075] If the predicted limit of bird flock flight path is JJD m If the value is less than the warning airspace radius YJA, generate a warning signal; proceed to step four.

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

[0077] Step 4: Based on the early warning signal, use control measures to interfere with and guide the bird flock, while maintaining radar detection of the bird flock at a unit time interval t.

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

[0079] Step 5: Based on the predicted signal, calculate and obtain the bird flock flight disturbance time limit value TJD at the detection time node m. m If a flock of birds does not fly into the warning airspace after entering the warning airspace, then the decision to interfere with or guide the flock can be made based on the flock's flight status and the take-off and landing status of aircraft at the airport.

[0080] Regarding the time limit for bird flight disturbance (TJD) m The calculation method includes the following steps:

[0081] 041: Calculate the Time Difference (FTD) of individual flight disturbance for each bird in the flock at time node m during detection. (i，m) ;

[0082] Specifically,

[0083] 0411: Obtain the individual flight vector of a single bird from time m-1 to time m during the detection process.

[0084] pass The flight speed V of a single bird at time m during detection was calculated. (i，m) ;

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

[0086] Obtain the individual flight vector of a single bird at time m. Single-unit flight vector denoted as (D) x D y D z );in,

[0087] The trajectory equation for predicting the flight path of a single bird over 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 The calculated FTD (Flight Disturbance Time) value represents the predicted flight interference time for a single bird at time m, based on its spatial coordinates at that point, as it flies out of the warning airspace. (i，m) ;

[0090] 042: Based on the predicted flight disturbance time of individual birds i in the flock at detection time node m, a set of predicted flight disturbance time values ​​for detection time node m is obtained. Then, the maximum value in the set of predicted flight disturbance time values ​​is obtained, which is the flight disturbance time limit value TJD. m Then proceed to step six;

[0091] Step Six: Taking the detection time node m as an example, if the flight interference time limit TJD is reached... m If no aircraft take off or land, a tracking signal is generated; the bird flock is not interfered with or guided, and step two is executed, maintaining radar detection of the bird flock with a unit time interval t as the radar detection cycle;

[0092] If the flight interference time limit is TJD m If an aircraft takes off or lands, a warning signal is generated, and step four is executed; the flock of birds is guided by laser or sound waves to adjust its flight direction or speed so that it can quickly leave the warning airspace.

[0093] By real-time detection of the flight direction and speed of flocks of birds after they enter the warning airspace, it is predicted whether the flock will enter the warning area during flight. This allows for interference and guidance, enabling the flock to change flight direction and avoid entering the warning airspace. Simultaneously, continuous monitoring of the flock is maintained. If the flock's flight direction does not pass through the warning airspace, the time it takes for the flock to fly out of the warning airspace under its current flight state is estimated. Furthermore, it is determined whether there are aircraft takeoffs or landings during this time period to decide whether to interfere and guide the flock to quickly leave the warning area. Through the detection and estimation of the flock's flight status, as well as the takeoff and landing status of aircraft, selective interference with the flock's flight is achieved. On the one hand, this reduces the impact of laser and sound waves on the flock's vision and hearing, avoiding unpredictable consequences caused by stress-induced flight behavior. On the other hand, it minimizes the use of lasers and sound waves, avoiding interference with other organisms in the surrounding environment or other aircraft during flight, thus reducing safety hazards.

[0094] Example 2

[0095] Reference Figure 2 As shown, this embodiment provides a radar-based airport bird flock timely early warning and control system, including:

[0096] Data Acquisition Module: Used to construct an airspace early warning spatial coordinate model. Based on radar detection, it acquires real-time bird flock flight information within the monitored airspace, including bird flock spatial distance data and bird flock coordinate data. The bird flock spatial distance data includes the individual spatial distance value FD between the i-th bird in the flock and the radar center area. i Where i is 1, 2, 3...;

[0097] Signal determination module: used to obtain the minimum spatial distance value of individual birds in the flock, and record it as FDmin; compare the minimum spatial distance value FDmin with the warning airspace radius value YJR to obtain the warning signal;

[0098] Signal processing module: Based on the warning signal, it continuously detects the flock of birds with radar. The radar detection cycle is t, and the coordinate data of the flock of birds is obtained at each detection time node. The coordinate data of the flock of birds includes the spatial position of each bird in the flock.

[0099] Based on the individual spatial locations within the bird flock, the predicted limit value JJD of the bird flock flight path at time node m is calculated. m The predicted limit value of the bird flock flight path at time node m is JJD. m The warning signal or prediction signal is obtained by comparing it with the warning airspace radius value YJA;

[0100] Prevention and control module: Based on the early warning signal, the module uses prevention and control measures to interfere with and guide the flock of birds. At the same time, it maintains radar detection of the flock of birds at a unit time interval t.

[0101] Based on the predicted signal, the time limit value (TJD) of bird flight disturbance at detection time node m is calculated and obtained. m And receive tracking signals or early warning signals.

[0102] On the one hand, reducing the use of lasers and sound waves can minimize the impact on the vision and hearing of birds, preventing them from experiencing stressful flight conditions that could have unpredictable consequences. On the other hand, reducing the use of lasers and sound waves can prevent interference with other organisms in the airport's surrounding environment or with other aircraft in flight, thus reducing safety hazards.

[0103] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A method for timely early warning and control of bird flocks at airports based on radar monitoring, characterized in that, Includes the following steps: Step 1: Construct an airspace early warning spatial coordinate model. Based on radar detection, acquire real-time bird flock flight information within the monitored airspace, including bird flock spatial distance data and bird flock coordinate data. Bird flock spatial distance data includes the individual spatial distance value FD between an i-th bird in the flock and the radar center area. i Where i is 1, 2, 3...; Obtain the minimum spatial distance value among the individual spatial distance values ​​in the flock of birds and denote it as FDmin; compare the minimum spatial distance value FDmin with the warning airspace radius value YJR of the warning airspace to obtain the warning signal; Step 2: Based on the warning signal, conduct continuous radar detection of the bird flock. The radar detection cycle is t, and the coordinate data of the bird flock at each detection time node is obtained. The coordinate data of the bird flock includes the spatial location of each bird in the flock. Based on the individual spatial locations within the bird flock, the predicted limit value JJD of the bird flock flight path at time node m is calculated. m ; The predicted limit value of the flock flight path JJD m The calculation steps include: Iterate through the flock and calculate the predicted flight risk distance (FFD) of individual bird i at time point m. (i，m) ; Based on the individual flight prediction risk distance values ​​of i birds in the flock at detection time node m, a set of flight prediction risk distance values ​​for detection time node m is obtained. Then, the minimum value in the set of flight prediction risk distance values ​​is obtained, which is the limit value JJD for predicting the flock's flight path. m ; Step 3: Calculate the predicted limit value JJD of the bird flock flight path at time node m. m Compare the warning airspace radius value YJA to obtain the warning signal or prediction signal; Step 4: Based on the early warning signal, use control measures to interfere with and guide the bird flock, while maintaining radar detection of the bird flock at a unit time interval t. Step 5: Based on the predicted signal, calculate and obtain the bird flock flight disturbance time limit value TJD at the detection time node m. m And receive tracking signals or early warning signals; The time limit for bird flight disturbance is TJD m The calculation method includes the following steps: Iterate through and calculate the individual flight disturbance time prediction (FTD) of the i birds in the flock at time node m. (i，m) ; The predicted time of flight interference for a single individual is FTD. (i，m) The calculation method is as follows: Obtain the individual flight vector of a single bird from time point m-1 to time m during the detection process. pass The flight speed V of a single bird at time m during detection was calculated. (i，m) ; Based on the spatial coordinates (ZBD) of a single bird at time m during detection. (i，m) =(X (i，m) Y (i，m) Z (i，m) ); Obtain the individual flight vector of a single bird at time m. Single-unit flight vector denoted as (D) x D y D z );in, The trajectory equation for predicting the flight path of a single bird over 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 The calculated FTD (Flight Disturbance Time) value represents the predicted flight interference time for a single bird at time m, based on its spatial coordinates at that point, as it flies out of the warning airspace. (i，m) ; Based on the predicted flight disturbance time of individual birds (i birds) in the flock at detection time node m, a set of predicted flight disturbance time values ​​for detection time node m is obtained. Then, the maximum value in the set of predicted flight disturbance time values ​​is obtained, which is the flight disturbance time limit value TJD. m ; Step Six: Taking the detection time node m as an example, if the flight interference time limit TJD is reached... m No aircraft took off or landed inside; a tracking signal was generated, and step two was executed. If the flight interference time limit is TJD m When an aircraft takes off or lands, an early warning signal is generated, and step four is executed.

2. The method for timely early warning and control of airport bird flocks based on radar monitoring according to claim 1, characterized in that, In step one, an airspace early warning spatial coordinate model is constructed with the radar detection and transmission point as the safe 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 upward direction as the z-axis.

3. The method for timely early warning and control of bird flocks at airports based on radar monitoring according to claim 1, characterized in that, The minimum single-unit spatial distance value FDmin is compared with the warning airspace radius value YJR: If the minimum single-unit spatial distance value FDmin is greater than the warning airspace radius value JJR, a monitoring signal is generated; 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.

4. The method for timely early warning and control of bird flocks at airports based on radar monitoring according to claim 1, characterized in that, The predicted risk distance value (FFD) for single-unit flight (i，m) The calculation method is as follows: Obtain the spatial coordinates of a single bird at time point m-1 during detection, denoted as ZBD. (i，m-1) That is (X) (i，m-1) Y (i，m-1) Z (i，m-1) Simultaneously, the spatial coordinates of a single bird at time node m during detection are obtained, denoted as ZBD. (i，m) That is (X) (i，m) Y (i，m) Z (i，m) ); pass The flight changes of a single bird from the detection time node m-1 to time m were calculated, that is, the single bird's flight vector at time m. Calculating the individual flight vector yields the flight direction at time node m during detection; Based on the individual spatial coordinates of a single bird at detection time node m-1 and the initial vector of the safe coordinate center. pass Calculate the predicted flight risk distance (FFD) of a single bird in the flock at time m during detection. (i，m) .

5. A method for timely early warning and control of bird flocks at airports based on radar monitoring, as described in claim 1, is characterized in that, The predicted limit value of the bird flock flight path at time node m is JJD m Compare with the warning airspace radius value YJA: If the predicted limit of bird flock flight path is JJD m If the value is less than the warning airspace radius YJA, a warning signal is generated. If the predicted limit of bird flock flight path is JJD m If the value is greater than or equal to the warning airspace radius YJA, a prediction signal is generated.

6. A timely early warning and control system for airport bird flocks based on radar monitoring, characterized in that, This system is used to implement the airport bird flock timely early warning and control method according to any one of claims 1-5, comprising: Data Acquisition Module: Used to construct an airspace early warning spatial coordinate model. Based on radar detection, it acquires real-time bird flock flight information within the monitored airspace, including bird flock spatial distance data and bird flock coordinate data. The bird flock spatial distance data includes the individual spatial distance value FD between the i-th bird in the flock and the radar center area. i Where i is 1, 2, 3...; Signal determination module: used to obtain the minimum spatial distance value of individual birds in the flock, and record it as FDmin; compare the minimum spatial distance value FDmin with the warning airspace radius value YJR to obtain the warning signal; Signal processing module: Based on the warning signal, it continuously detects the flock of birds with radar. The radar detection cycle is t, and the coordinate data of the flock of birds is obtained at each detection time node. The coordinate data of the flock of birds includes the spatial position of each bird in the flock. Based on the individual spatial locations within the bird flock, the predicted limit value JJD of the bird flock flight path at time node m is calculated. m The predicted limit value of the bird flock flight path at time node m is JJD. m The warning signal or prediction signal is obtained by comparing it with the warning airspace radius value YJA; Prevention and control module: Based on the early warning signal, the module uses prevention and control measures to interfere with and guide the flock of birds. At the same time, it maintains radar detection of the flock of birds at a unit time interval t. Based on the predicted signal, the time limit value (TJD) of bird flight disturbance at detection time node m is calculated and obtained. m And receive tracking signals or early warning signals.

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