Bird flock tracking method and system based on bird detection radar

Abstract

The invention relates to the technical field of bird flock tracking, in particular to a bird flock tracking method and system based on a bird detection radar. The method comprises the following steps: comparing a bird flock flight trajectory predicted in real time with a take-off trajectory, calculating the probability that the two trajectories have a coincidence point, and responding to expelling settings at different positions according to the probability of the coincidence point to carry out positioning expelling. The opposite sides of the bird flock habitats and the airport serve as measurement starting points, the distance between each bird flock habitat and the airport is measured, the corresponding interval areas are positioned, the bird detection radar monitoring points and the bird flock expelling points are configured according to the interval areas, the monitoring route and the expelling route are precisely planned, and the bird flock expelling accuracy is improved. And meanwhile, by comparing the real-time predicted flight trajectory of the bird flock with the take-off trajectory, the probability that the two trajectories have a coincident point is calculated, and according to the probability of the coincident point, positioning and expelling are performed in response to expelling settings at different positions, so that the influence on the activity of the bird flock is reduced to the greatest extent.

Description

Technical Field

[0001] The present invention relates to the technical field of bird flock tracking, and in particular to a bird flock tracking method and system based on a bird detection radar. Background Art

[0002] Nowadays, with the continuous development of the economic level, the rapid improvement of the tourism and logistics industries, more and more tourists and goods need to be transported quickly by air, and the corresponding number of airports has also increased. Since the construction of airports needs to ensure sufficient flight areas, the corresponding area will increase. At the same time, a lot of noise will be generated during the flight. Therefore, most airports will be built far away from the urban area, which will lead to proximity to bird habitats in the suburbs. The daily activities and foraging of birds will interfere with the flight of aircraft, which will not only affect the normal flight of the aircraft, causing flight delays, but even serious collisions with taking-off aircraft.

[0003] Nowadays, in order to deal with bird interference, bird-detecting radars are generally deployed around airports to monitor the flight status of birds in real time. When it is detected that the current flight of birds may interfere with the route, the bird repellent equipment will be activated to repel them. However, the existing repelling method has a limited repelling range. If it is set near the bird habitat, it will be repelled in advance, which will seriously affect the daily activities of birds. It will also cause misjudgment, that is, the flight trajectory of the birds is not intertwined with the take-off trajectory of the aircraft. If it is set near the airport, the repelling will be delayed. Since a certain reaction time is required to start the equipment, the flying bird flocks are prone to change their trajectories during the period from prediction to execution, which greatly reduces the repelling effect. Manual repelling is still required, which will still affect the normal take-off of flights.

[0004] In order to address the above problems, a bird flock tracking method and system based on bird detection radar is urgently needed. Summary of the invention

[0005] The object of the present invention is to provide a bird flock tracking method and system based on bird detection radar to solve the problems raised in the above background technology.

[0006] To achieve the above object, one of the objects of the present invention is to provide a bird flock tracking method based on a bird detection radar, comprising the following steps: S1. Collect bird foraging habits and locate bird habitats and foraging spots near the airport; S2. Use the opposite side of the bird habitat and the airport as the measurement starting point , measure the distance between each bird colony and the airport , and locate the corresponding interval area ; S3. According to Configure bird-detecting radar monitoring points and bird-expelling points; S4. Obtain the airport location of each bird flock foraging point according to the geographic image around the airport; S5. Use bird-detecting radars at different monitoring points to capture the flight status of bird flocks and predict the target foraging points of the bird flocks. And the corresponding flight trajectory ; S6. Obtain the take-off time of the aircraft waiting to fly at the airport And takeoff trajectory , and combined with the predicted flight trajectory of the flock at the most recent time point , calculate the probability of the two trajectories having overlapping points ; S7. Define probability threshold , determine whether to start the bird flock expelling device; when < , does not respond to the activation of the bird flock expelling device; when ≥ , obtain the latest bird-detecting radar monitoring point that detects the location of the bird flock, and respond to start the bird flock expelling equipment in the area between the current bird-detecting radar monitoring point and the airport.

[0007] As a further improvement of the technical solution, the method for locating bird habitats and bird feeding points near the airport in S1 includes the following steps: S1.1. Set a target monitoring range with the airport as the center, and obtain bird habitats and foraging points within the target monitoring range; S1.2. Obtain bird flock monitoring standards and establish minimum bird habitat standards; Monitoring areas that fall below the minimum bird habitat standards will be removed from use as bird habitats; Marking monitoring sites that exceed minimum standards for bird habitat as range habitat; S1.3. Count the foraging probabilities of the flocks at the foraging points and establish minimum standards for the foraging probabilities of the flocks; Monitoring points that are below the minimum standard for bird foraging probability will be eliminated and will not be used as bird foraging points; Monitoring sites that exceed the minimum standard for foraging probability for birds are marked as range foraging sites.

[0008] As a further improvement of the technical solution, in S3, according to the interval area The method for configuring the bird detection radar monitoring point and the bird flock expulsion point includes the following steps: S3.1. Obtaining the monitoring range of a single bird-detecting radar And the scope of expulsion of expulsion equipment ; S3.2. Reserve the response start time for the expelled device ; S3.3, according to the interval area Bird-detecting radar monitoring points and bird-expelling points are arranged at intervals of different sizes.

[0009] As a further improvement of the technical solution, the flight status of the flock of birds captured in S5 includes the flight height, flight speed, flight direction and flight coverage of the flock of birds; The flying height of the flock of birds is the height at which they are captured by the bird detection radar; The flock flight speed is the average speed of the flock during flight; The flock flight direction is the direction in which the flock flies; The flock flight coverage is the flock in the interval area The flight arrangement within.

[0010] As a further improvement of the technical solution, the S5 predicts the target foraging point of the bird flock. And the corresponding flight trajectory The method comprises the following steps: S5.1. Obtain the flight altitude and flight direction of the flock of birds captured by the current bird detection radar, and combine the airport location of each flock of birds' foraging points in S4 to predict the current flock of birds' possible foraging points; S5.2. Combine the flight altitude and flight direction of the bird flock detected by the current bird detection radar and the previous bird detection radar to obtain the overall bird flight coverage area and predict the flight trajectory of the current bird flock. ; S5.3. With the airport as the end point, obtain the flight status of the bird flocks from each bird detection radar from far to near, and update the predicted possible foraging points and flight trajectories of the bird flocks in real time .

[0011] As a further improvement of the technical solution, the probability of the two trajectories having overlapping points is calculated in S6 The method comprises the following steps: S6.1. Calculate the current flight diffusion of the bird flock based on the coverage of the bird flock monitored by the bird detection radar ; S6.2. Combine the currently monitored flight altitude and flight speed of the flock of birds and the distance between the bird detection radar monitoring point and the airport to predict the flight trajectory corresponding to the current flight speed of the flock of birds. , combined with the takeoff trajectory , and establish a trajectory simulation diagram; S6.3. Obtain the flight speed of the flock of birds monitored by the historical bird-detecting radar, combine it with the currently monitored flight altitude of the flock of birds and the distance from the bird-detecting radar monitoring point to the airport, predict each historical flight trajectory, and combine it with the takeoff trajectory , establish the corresponding trajectory simulation diagram; When a trajectory overlap point appears in the trajectory simulation diagram corresponding to the current bird-detecting radar, the bird-detecting radar monitoring point that has most recently detected the location of the flock of birds is directly obtained, and the bird-repelling device in the area between the current bird-detecting radar monitoring point and the airport is activated in response; When the trajectory simulation graph corresponding to the historical bird-detecting radar has a trajectory overlap point, the proportion of historical bird-detecting radars with trajectory overlap points in the statistical data is calculated, and this proportion is used as the probability of the two trajectories having overlap points. .

[0012] As a further improvement of this technical solution, the calculation of the current flight diffusion of the bird flock in S6.1 The method comprises the following steps: S6.1.1. Interval area Establish a spatial rectangular coordinate system for the center; S6.1.2. Capture the coordinates of individual birds at each of the top, bottom, left, and right edge points, and connect them to form a closed area; S6.1.3. The area of ​​the closed area is used as the flight diffusion of the bird flock at the current bird detection radar monitoring point. .

[0013] The second object of the present invention is to provide a system for implementing a bird flock tracking method based on a bird detection radar, including a bird information storage database, an interval area division module, a bird detection radar monitoring configuration module, a bird flock expulsion point configuration module, a foraging point orientation positioning module, a flight trajectory prediction module, a trajectory overlap point probability calculation module, and an expulsion device response module; The bird information storage database is used to collect and store bird habitats and bird feeding spots near the airport; The interval area division module uses the opposite side of the bird flock habitat and the airport as the measurement starting point, measures the distance between each bird flock habitat and the airport, and locates the corresponding interval area; The bird-detecting radar monitoring configuration module configures corresponding bird-detecting radar monitoring points in combination with the geographical location of the interval area; The bird flock expulsion point configuration module configures corresponding bird flock expulsion points in combination with the geographical location of the interval area and the configured bird detection radar monitoring points; The foraging point location positioning module obtains the airport location of each bird flock foraging point according to the geographical image around the airport; The flight trajectory prediction module captures the flight status of the flock of birds through bird-detecting radars at different monitoring points, and predicts the target foraging points of the flock of birds and the corresponding flight trajectory; The trajectory overlap probability calculation module obtains the take-off time and take-off trajectory of the aircraft waiting to fly at the airport, and combines the flight trajectory of the flock of birds predicted at the latest time point to calculate the probability of the overlap between the two trajectories; The expulsion device response module determines whether to activate the bird flock expulsion device by defining a probability threshold; When the probability of the coincidence point is less than the probability threshold, the bird flock expelling device will not be activated in response; When the probability of the overlapping points is not less than the probability threshold, the bird-detecting radar monitoring point that has most recently detected the location of the flock of birds is obtained, and the bird-repelling device in the area between the current bird-detecting radar monitoring point and the airport is activated in response.

[0014] Compared with the prior art, the present invention has the following beneficial effects: In the bird-flock tracking method and system based on bird-detecting radar, the distance between each bird-flock habitat and the airport is measured by taking the opposite side of the bird-flock habitat and the airport as the measurement starting point, and the corresponding interval area is located. Bird-detecting radar monitoring points and bird-flock expulsion points are configured according to the interval area, and the monitoring route and the expulsion route are accurately planned. At the same time, the real-time predicted flight trajectory of the bird flock is compared with the take-off trajectory, the probability of overlapping points in the two trajectories is calculated, and the expulsion settings at different positions are responded to according to the probability of the overlapping points to perform positioning and expulsion, thereby minimizing the impact on the bird flock activities. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a flow chart of the overall steps of the present invention; Figure 2 A step diagram of the method for locating bird habitats and bird feeding points near an airport according to the present invention; Figure 3 A method step diagram of configuring bird detection radar monitoring points and bird flock expelling points according to interval areas according to the present invention; Figure 4 A step diagram of a method for predicting a flock's target foraging point and a corresponding flight trajectory according to the present invention; Figure 5 A diagram showing the steps of a method for calculating the probability of coincidence of two trajectories according to the present invention; Figure 6 A diagram showing the steps of a method for calculating the current flight diffusion of a flock of birds according to the present invention; Figure 7 It is a schematic diagram of the overall system structure of the present invention.

[0016] The meaning of each number in the figure is: 10. Bird information storage database; 20. Interval area division module; 30. Bird detection radar monitoring configuration module; 40. Bird flock expulsion point configuration module; 50. Foraging point location positioning module; 60. Flight trajectory prediction module; 70. Trajectory coincidence probability calculation module; 80. Eviction device response module. DETAILED DESCRIPTION

[0017] The following will be combined with the accompanying drawings in 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.

[0018] See also Figure 1 As shown, one of the purposes of the present invention is to provide a bird flock tracking method based on a bird detection radar, comprising the following steps: S1. Collect bird foraging habits and locate bird habitats and foraging spots near the airport; S2. Use the opposite side of the bird habitat and the airport as the measurement starting point , measure the distance between each bird colony and the airport , and locate the corresponding interval area ; S3. According to Configure bird-detecting radar monitoring points and bird-expelling points; S4. Obtain the airport location of each bird flock foraging point according to the geographic image around the airport; S5. Use bird-detecting radars at different monitoring points to capture the flight status of bird flocks and predict the target foraging points of the bird flocks. And the corresponding flight trajectory ; S6. Obtain the take-off time of the aircraft waiting to fly at the airport And takeoff trajectory , and combined with the predicted flight trajectory of the flock at the most recent time point , calculate the probability of the two trajectories having overlapping points ; S7. Define probability threshold , determine whether to activate the bird flock expelling device; when < , does not respond to the activation of the bird flock expelling device; when ≥ , obtain the latest bird-detecting radar monitoring point that detects the location of the bird flock, and respond to start the bird flock expelling equipment in the area between the current bird-detecting radar monitoring point and the airport.

[0019] When used specifically, during the process of tracking and expelling bird flocks, firstly, collect the bird's foraging habits, locate the bird's habitats and foraging points near the airport, and determine the distribution of each bird's habitat and foraging point, which will serve as a reference for predicting its flight trajectory later; Since the present invention needs to take into account the impact of the expelling equipment on the bird flock, when the flight trajectory of the bird flock is far away from the airport, the corresponding monitoring work does not need to be carried out. Therefore, in order to improve the monitoring efficiency and reduce the impact on the bird flock, it is necessary to use the opposite side of the bird flock habitat and the airport as the measurement starting point. , measure the distance between each bird colony and the airport , and locate the corresponding interval area , and follow the interval area Configure bird-detecting radar monitoring points and bird-expelling points, deploy bird-detecting radars at corresponding monitoring points, and deploy expelling equipment at corresponding expelling points; After completing the location control work, the airport location of each bird flock foraging point is obtained through the geographical image around the airport, which serves as the basis for the later prediction of flight trajectory. The bird detection radar at different monitoring points can capture the flight status of the bird flock and predict the target foraging point of the bird flock. And the corresponding flight trajectory That is, according to the current flight direction and the behavior habits of the flock, such as flight speed and take-off time, the target foraging point of the flock can be predicted. In this process, it is necessary to obtain the take-off time of the aircraft waiting to fly at the airport in real time. And takeoff trajectory , and combined with the predicted flight trajectory of the flock at the most recent time point , calculate the probability of the two trajectories having overlapping points , when the probability of the coincident point When a certain value is reached, it is necessary to use the response expulsion device to promptly expel the victim. At this time, the probability threshold is defined. , determine whether to activate the bird flock expelling device; when < , does not respond to the activation of the bird flock expelling device; when ≥ , obtain the latest bird-detecting radar monitoring point that detects the location of the bird flock, and respond to start the bird flock expelling equipment in the area between the current bird-detecting radar monitoring point and the airport.

[0020] In addition, if Figure 2As shown, the method for locating bird habitats and bird feeding points near the airport in S1 includes the following steps: S1.1. Set a target monitoring range with the airport as the center, and obtain bird habitats and foraging points within the target monitoring range; S1.2. Obtain bird flock monitoring standards and establish minimum bird habitat standards; Monitoring areas that fall below the minimum bird habitat standards will be removed from use as bird habitats; Marking monitoring sites that exceed minimum standards for bird habitat as range habitat; S1.3. Count the foraging probabilities of the flocks at the foraging points and establish minimum standards for the foraging probabilities of the flocks; Monitoring points that are below the minimum standard for bird foraging probability will be eliminated and will not be used as bird foraging points; Monitoring sites that exceed the minimum standard for foraging probability for birds are marked as range foraging sites.

[0021] Further, such as Figure 3 As shown, S3 is divided into interval areas The method for configuring the bird detection radar monitoring point and the bird flock expulsion point includes the following steps: S3.1. Obtaining the monitoring range of a single bird-detecting radar And the scope of expulsion of expulsion equipment ; S3.2. Reserve the response start time for the expelled device ; S3.3, according to the interval area Bird-detecting radar monitoring points and bird-expelling points are arranged at intervals of different sizes.

[0022] When using it, in the process of locating the bird detection radar monitoring point and the bird flock expulsion point, it is first necessary to obtain the monitoring range of a single bird detection radar. And the scope of expulsion of expulsion equipment , that is, the corresponding effective range. When the flock of birds reaches its effective range, it can be monitored or expelled. Since it takes a certain amount of time for the expelling device to receive the command and complete the expulsion work, in order to ensure that it can respond to the monitoring signal of the adjacent bird detection radar in time, it is necessary to reserve sufficient response start time for the expelling device. , and finally according to the interval area Bird-detecting radar monitoring points and bird-expelling points are deployed in intervals of different sizes. It is worth noting that since the bird-detecting radar is a monitoring device and the corresponding expelling device is a response device, each bird-detecting radar is associated with an expelling device, and the location point of the associated bird-detecting radar is close to the bird habitat, and the corresponding expelling device is close to the airport.

[0023] Furthermore, the flight status of the flock of birds captured in S5 includes the flock of birds’ flight altitude, the flock of birds’ flight speed, the flock of birds’ flight direction, and the flock of birds’ flight coverage; The flying height of the flock of birds is the height at which they are captured by the bird-detecting radar; The flying speed of a flock is the average speed of the flock during its flight; The flight direction of the flock is the direction in which the flock flies, that is, in the interval area Fly upward, downward or parallel, etc.; The coverage of the flock flight is the interval area of ​​the flock The flight arrangement within.

[0024] like Figure 4 As shown, S5 predicts the target foraging point of the bird flock And the corresponding flight trajectory The method comprises the following steps: S5.1. Obtain the flight altitude and flight direction of the flock of birds captured by the current bird detection radar, and combine the airport locations of the foraging points of each flock of birds in S4 to predict the possible foraging points of the current flock of birds; S5.2. Combine the flight altitude and flight direction of the bird flock detected by the current bird detection radar and the previous bird detection radar to obtain the overall bird flight coverage area and predict the flight trajectory of the current bird flock. ; S5.3. With the airport as the end point, obtain the flight status of the bird flocks from each bird detection radar from far to near, and update the predicted possible foraging points and flight trajectories of the bird flocks in real time .

[0025] When using it, mark the foraging spot. In the prediction process, since the flying altitude of birds will be different when they are flying and approaching the feeding point, the altitude of birds will decrease when they are approaching the feeding point, that is, they will fly downward, and the corresponding flight direction will also be different. Therefore, by obtaining the flight altitude and flight direction of the bird flock captured by the current bird detection radar, combined with the airport location of each bird flock feeding point in S4, the possible feeding point of the current bird flock is predicted. When the current flight altitude decreases when approaching the target feeding point, it indicates that the monitored bird flock will stop at the current feeding point for feeding. At this time, real-time feedback is required through the adjacent bird detection radar, and the prediction result is verified in combination with the feedback monitoring information; While conducting the flight trajectory When predicting the flight path, since there are multiple foraging points for birds, it is easy for multiple flight paths to appear during the prediction process. , and the flight distribution of individuals in the flock is different during flight, so a flight network of a certain range will be formed. The area covered by the flight network is determined by the flight diffusion range and the number of birds in the flock. Therefore, in predicting its flight trajectory When using the bird flock detection radar, the bird flock cannot be regarded as a whole. It is necessary to obtain the corresponding bird flight coverage area at all times, and combine the flight altitude and flight direction of the bird flock detected by the current bird detection radar and the previous bird detection radar, that is, to make a prediction through the data monitored by two adjacent bird detection radars. Because the bird flock has multiple foraging points, the flight status during the flight will change frequently. Therefore, it is necessary to use the airport as the end point, obtain the flight status of the bird flock from far to near of each bird detection radar, and update the predicted possible foraging points and flight trajectory of the bird flock in real time. , as the later response to calculate the probability of coincidence points The basis.

[0026] Specifically, Figure 5 As shown, the probability of the two trajectories having overlapping points is calculated in S6 The method comprises the following steps: S6.1. Calculate the current flight diffusion of the bird flock based on the coverage of the bird flock monitored by the bird detection radar ; like Figure 6 As shown, the current flight diffusion of the flock is calculated in S6.1 The method comprises the following steps: S6.1.1. Interval area Establish a spatial rectangular coordinate system for the center; S6.1.2. Capture the coordinates of individual birds at each of the top, bottom, left, and right edge points, and connect them to form a closed area; S6.1.3. The area of ​​the closed area is used as the flight diffusion of the bird flock at the current bird detection radar monitoring point. ; S6.2. Combine the currently monitored flight altitude and flight speed of the flock of birds and the distance between the bird detection radar monitoring point and the airport to predict the flight trajectory corresponding to the current flight speed of the flock of birds. , combined with the takeoff trajectory , and establish a trajectory simulation diagram; S6.3. Obtain the flight speed of the flock of birds monitored by the historical bird-detecting radar, combine it with the currently monitored flight altitude of the flock of birds and the distance from the bird-detecting radar monitoring point to the airport, predict each historical flight trajectory, and combine it with the takeoff trajectory , establish the corresponding trajectory simulation diagram; When a trajectory overlap point appears in the trajectory simulation diagram corresponding to the current bird-detecting radar, the bird-detecting radar monitoring point that has most recently detected the location of the flock of birds is directly obtained, and the bird-repelling device in the area between the current bird-detecting radar monitoring point and the airport is activated in response; When the trajectory simulation graph corresponding to the historical bird-detecting radar has a trajectory overlap point, the proportion of historical bird-detecting radars with trajectory overlap points in the statistical data is calculated, and this proportion is used as the probability of the two trajectories having overlap points. .

[0027] When monitoring the flight trajectory of a flock of birds, the final flight range will change due to the change in the position of each individual bird during flight. For example, the flight range of the flock of birds will be different when the flock of birds is in a V-shaped flight posture or a straight-shaped flight posture. Therefore, it is necessary to first calculate the current flight diffusion of the flock of birds based on the flight coverage of the flock of birds monitored by the bird detection radar. , i.e. the interval region Establish a spatial rectangular coordinate system with centered on the individual bird coordinates of each edge point and connect them to form a closed area. At this time, the closed area is similar to the flight coverage of the flock of birds. When calculating the probability of overlapping points The enclosed area of ​​the enclosed area needs to be considered; Since the flight speed of birds is irregular and unpredictable during flight, in the actual calculation process, we first need to combine the currently monitored flight altitude and flight speed of the flock and the distance between the bird detection radar monitoring point and the airport to predict the flight trajectory corresponding to the current flight speed of the flock. , combined with the takeoff trajectory , and establish a trajectory simulation diagram to simulate whether there are overlapping points in the trajectories of the two. When the trajectory simulation diagram corresponding to the current bird detection radar shows a trajectory overlap point, the bird detection radar monitoring point that has recently detected the location of the flock of birds is directly obtained, and the bird flock expelling device in the area between the current bird detection radar monitoring point and the airport is activated in response.

[0028] It is worth mentioning that when an overlap occurs in the trajectory simulation diagram established by one of the bird-detecting radar monitoring points, the associated expulsion equipment will respond immediately. Only when the monitoring is continued to the bird-detecting radar monitoring point closest to the airport, the established trajectory simulation diagram still does not have an overlap. Since subsequent detection is impossible, subsequent predictions are required. At this time, it is necessary to obtain the flight speed of the bird flock monitored by the historical bird-detecting radar, combine the currently monitored flight altitude of the bird flock and the distance from the bird-detecting radar monitoring point to the airport, predict each historical flight trajectory, and combine the takeoff trajectory. , establish the corresponding trajectory simulation diagram, obtain the trajectory simulation diagram where the overlap point appears, when the trajectory simulation diagram corresponding to the historical bird-detecting radar appears a trajectory overlap point, calculate the proportion of historical bird-detecting radars that appear in the statistical data with trajectory overlap points, and use this proportion as the probability of the two trajectories having overlap points , and perform threshold comparison; when < , does not respond to the activation of the bird flock expelling device; when ≥ , obtain the latest bird-detecting radar monitoring point that detects the location of the bird flock, and respond to start the bird flock expelling equipment in the area between the current bird-detecting radar monitoring point and the airport.

[0029] The second object of the present invention is to Figure 7 As shown, a system for a bird flock tracking method based on a bird detection radar is provided, comprising a bird information storage database 10, an interval area division module 20, a bird detection radar monitoring configuration module 30, a bird flock expulsion point configuration module 40, a foraging point orientation positioning module 50, a flight trajectory prediction module 60, a trajectory coincidence point probability calculation module 70 and an expulsion device response module 80; The bird information storage database 10 is used to collect and store bird habitats and bird feeding spots near the airport; The interval area division module 20 uses the opposite side of the bird flock habitat and the airport as the measurement starting point, measures the distance between each bird flock habitat and the airport, and locates the corresponding interval area; The bird detection radar monitoring configuration module 30 configures corresponding bird detection radar monitoring points in combination with the geographical location of the interval area; The bird flock expulsion point configuration module 40 configures corresponding bird flock expulsion points in combination with the geographical location of the interval area and the configured bird detection radar monitoring points; The foraging point location positioning module 50 obtains the airport location of each bird flock foraging point according to the geographic image around the airport; The flight trajectory prediction module 60 captures the flight status of the flock of birds through bird-detecting radars at different monitoring points, and predicts the target foraging points of the flock of birds and the corresponding flight trajectory; The trajectory overlap probability calculation module 70 obtains the take-off time point and take-off trajectory of the aircraft waiting to fly at the airport, and combines the flight trajectory of the flock of birds predicted at the latest time point to calculate the probability of the overlap between the two trajectories; The expulsion device response module 80 determines whether to activate the bird flock expulsion device by defining a probability threshold; When the probability of the coincidence point is less than the probability threshold, the bird flock expelling device will not be activated in response; When the probability of the overlapping points is not less than the probability threshold, the bird-detecting radar monitoring point that has most recently detected the location of the flock of birds is obtained, and the bird-repelling device in the area between the current bird-detecting radar monitoring point and the airport is activated in response.

[0030] In specific use, during the process of tracking and expelling the flock of birds, the bird habitats and feeding points near the airport are collected and stored through the bird information storage database 10. In the present invention, the feeding habits of the birds are captured by obtaining the surrounding monitoring images and the bird detection radar monitoring information; After completing the positioning of bird habitats and bird foraging points, it is necessary to deploy monitoring points and expulsion points. At this time, the interval area division module 20 uses the opposite side of the bird habitat and the airport as the measurement starting point to measure the distance between each bird habitat and the airport. The laser ranging equipment can be used to obtain the distance between the two and locate the corresponding interval area. Subsequently, the bird detecting radar monitoring configuration module 30 configures the corresponding bird detecting radar monitoring point based on the geographical location of the interval area. The bird expulsion point configuration module 40 configures the corresponding bird expulsion point based on the geographical location of the interval area and the configured bird detecting radar monitoring point. That is, the bird detecting radar monitoring point and the bird expulsion point need to be set at intervals, and one bird detecting radar monitoring point is associated with one bird expulsion point.

[0031] In order to further improve the prediction accuracy, it is necessary to obtain the airport orientation of each bird flock foraging point according to the geographical image around the airport through the feeding point orientation positioning module 50, that is, the direction of the bird flock foraging point relative to the airport, as a reference for the later prediction trajectory; During actual prediction, the flight trajectory prediction module 60 captures the flight status of the flock of birds through the bird-detecting radars at different monitoring points, predicts the target foraging points of the flock of birds and the corresponding flight trajectory, such as the flight altitude and flight speed of the flock of birds. In order to prevent the flight trajectory of the aircraft from overlapping with the flight trajectory, it is necessary to obtain the take-off time point and take-off trajectory of the aircraft waiting to fly at the airport through the trajectory overlap probability calculation module 70, and combine the flight trajectory of the flock of birds predicted at the latest time point to calculate the probability of the overlap between the two trajectories. Finally, the expulsion device response module 80 determines whether to start the flock of birds expulsion device by defining a probability threshold. When the probability of the coincidence point is less than the probability threshold, the bird flock expelling device will not be activated in response; When the probability of the overlapping points is not less than the probability threshold, the bird-detecting radar monitoring point that has most recently detected the location of the flock of birds is obtained, and the bird-repelling device in the area between the current bird-detecting radar monitoring point and the airport is activated in response.

[0032] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A bird flock tracking method based on bird detection radar, characterized in that: The steps include: S1. Collect bird foraging habits and locate bird habitats and foraging spots near the airport; S2. Use the opposite side of the bird habitat and the airport as the measurement starting point , measure the distance between each bird colony and the airport , and locate the corresponding interval area ; S3, according to the interval area Configure bird-detecting radar monitoring points and bird-expelling points; S4. Obtain the airport location of each bird flock foraging point according to the geographic image around the airport; S5. Use bird-detecting radars at different monitoring points to capture the flight status of bird flocks and predict the target foraging points of the bird flocks. And the corresponding flight trajectory ; S6. Obtain the take-off time of the aircraft waiting to fly at the airport And takeoff trajectory , and combined with the predicted flight trajectory of the flock at the most recent time point , calculate the probability of the two trajectories having overlapping points ; S7. Define probability threshold , determine whether to start the bird flock expelling device; when < , does not respond to the activation of the bird flock expelling device; when ≥ , obtain the latest bird-detecting radar monitoring point that detects the location of the bird flock, and respond to start the bird flock expelling equipment in the area between the current bird-detecting radar monitoring point and the airport.

2. The bird flock tracking method based on bird detection radar according to claim 1 is characterized in that: The method for locating bird habitats and bird feeding points near the airport in S1 comprises the following steps: S1.

1. Set a target monitoring range with the airport as the center, and obtain bird habitats and foraging points within the target monitoring range; S1.

2. Obtain bird flock monitoring standards and establish minimum bird habitat standards; Monitoring areas that fall below the minimum bird habitat standards will be removed from use as bird habitats; Marking monitoring sites that exceed minimum standards for bird habitat as range habitat; S1.

3. Count the foraging probabilities of the flocks at the foraging points and establish minimum standards for the foraging probabilities of the flocks; Monitoring points that are below the minimum standard for bird foraging probability will be eliminated and will not be used as bird foraging points; Monitoring sites that exceed the minimum standard for foraging probability for birds are marked as range foraging sites.

3. The bird flock tracking method based on bird detection radar according to claim 1 is characterized in that: S3 according to the interval area The method for configuring the bird detection radar monitoring point and the bird flock expulsion point includes the following steps: S3.

1. Obtaining the monitoring range of a single bird-detecting radar And the scope of expulsion of expulsion equipment ; S3.

2. Reserve the response start time for the expelled device ; S3.3, according to the interval area Bird-detecting radar monitoring points and bird-expelling points are arranged at intervals of different sizes.

4. The bird flock tracking method based on bird detection radar according to claim 1 is characterized in that: The flight status of the flock of birds captured in S5 includes the flight height, flight speed, flight direction and flight coverage of the flock of birds; The flying height of the flock of birds is the height at which they are captured by the bird detection radar; The flock flight speed is the average speed of the flock during flight; The flock flight direction is the direction in which the flock flies; The flock flight coverage is the flock in the interval area The flight arrangement within.

5. The bird flock tracking method based on bird detection radar according to claim 4 is characterized in that: The target foraging point of the flock is predicted in S5 And the corresponding flight trajectory The method comprises the following steps: S5.

1. Obtain the flight altitude and flight direction of the flock of birds captured by the current bird detection radar, and predict the possible feeding points of the current flock of birds in combination with the airport location of each feeding point of the flock of birds in S4; S5.

2. Combine the flight altitude and flight direction of the bird flock detected by the current bird detection radar and the previous bird detection radar to obtain the overall bird flight coverage area and predict the flight trajectory of the current bird flock. ; S5.

3. With the airport as the end point, obtain the flight status of the bird flocks from each bird detection radar from far to near, and update the predicted possible foraging points and flight trajectories of the bird flocks in real time .

6. The bird flock tracking method based on bird detection radar according to claim 1, characterized in that: In S6, the probability of the two trajectories having overlapping points is calculated. The method comprises the following steps: S6.

1. Calculate the current flight diffusion of the bird flock based on the coverage of the bird flock detected by the bird detection radar ; S6.

2. Combine the currently monitored flight altitude and flight speed of the flock of birds and the distance between the bird detection radar monitoring point and the airport to predict the flight trajectory corresponding to the current flight speed of the flock of birds. , combined with the takeoff trajectory , and establish a trajectory simulation diagram; S6.

3. Obtain the flight speed of the flock of birds monitored by the historical bird-detecting radar, combine it with the currently monitored flight altitude of the flock of birds and the distance from the bird-detecting radar monitoring point to the airport, predict each historical flight trajectory, and combine it with the takeoff trajectory , establish the corresponding trajectory simulation diagram; When a trajectory overlap point appears in the trajectory simulation diagram corresponding to the current bird-detecting radar, the bird-detecting radar monitoring point that has most recently detected the location of the flock of birds is directly obtained, and the bird-repelling device in the area between the current bird-detecting radar monitoring point and the airport is activated in response; When the trajectory simulation graph corresponding to the historical bird-detecting radar has a trajectory overlap point, the proportion of historical bird-detecting radars with trajectory overlap points in the statistical data is calculated, and this proportion is used as the probability of the two trajectories having overlap points. .

7. The bird flock tracking method based on bird detection radar according to claim 6, characterized in that: The current flight diffusion of the flock is calculated in S6.1 The method comprises the following steps: S6.1.

1. Interval area Establish a spatial rectangular coordinate system for the center; S6.1.

2. Capture the coordinates of individual birds at each of the top, bottom, left, and right edge points, and connect them to form a closed area; S6.1.

3. The area of ​​the closed area is used as the flight diffusion of the bird flock at the current bird detection radar monitoring point. .

8. A system for implementing the bird flock tracking method based on bird detection radar as claimed in claim 1, characterized in that: It comprises a bird information storage database (10), an interval area division module (20), a bird detection radar monitoring configuration module (30), a bird flock expulsion point configuration module (40), a foraging point orientation positioning module (50), a flight trajectory prediction module (60), a trajectory overlap point probability calculation module (70) and an expulsion device response module (80); The bird information storage database (10) is used to collect and store bird habitats and bird feeding spots near the airport; The interval area division module (20) uses the opposite side of the bird colony and the airport as a measurement starting point, measures the distance between each bird colony and the airport, and locates the corresponding interval area; The bird-detecting radar monitoring configuration module (30) configures corresponding bird-detecting radar monitoring points in combination with the geographical location of the interval area; The bird flock expelling point configuration module (40) configures corresponding bird flock expelling points in combination with the geographical location of the interval area and the configured bird detection radar monitoring points; The foraging point location positioning module (50) obtains the airport location of each bird flock foraging point according to the geographical image around the airport; The flight trajectory prediction module (60) captures the flight status of the bird flock through bird detection radars at different monitoring points, and predicts the target foraging point of the bird flock and the corresponding flight trajectory; The trajectory overlap point probability calculation module (70) obtains the take-off time point and take-off trajectory of the aircraft waiting to take off at the airport, and combines the flight trajectory of the flock of birds predicted at the latest time point to calculate the probability of the occurrence of overlap points in the two trajectories; The expulsion device response module (80) determines whether to activate the bird flock expulsion device by defining a probability threshold; When the probability of the coincidence point is less than the probability threshold, the bird flock expelling device will not be activated in response; When the probability of the overlapping points is not less than the probability threshold, the bird-detecting radar monitoring point that has most recently detected the location of the flock of birds is obtained, and the bird-repelling device in the area between the current bird-detecting radar monitoring point and the airport is activated in response.

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