Landing runway lateral deviation calculation method and system

Abstract

The present invention proposes a method and system for calculating the lateral deviation of a landing runway, and relates to the field of civil aviation safety technology. The method includes: obtaining the corresponding relationship between the runway distance and the offset angle and the localizer deviation according to the landing runway design specification; the runway distance is the distance from the runway entrance to the localizer beacon; obtaining the runway entrance marking line, and reversely looping the flight motion trajectory according to the flight QAR data and the flight landing point; obtaining the runway entrance height based on the intersection of the flight motion trajectory and the runway entrance marking line; obtaining the localizer deviation parameter corresponding to the runway entrance height, and calculating the lateral offset distance based on the runway distance and the corresponding relationship. By identifying the position where the aircraft reaches the runway entrance based on the reverse loop of the landing point, the accurate lateral deviation is solved according to the localizer deviation and runway distance at the entrance position, thereby improving the accuracy of the calculation result; at the same time, the parameters involved are only based on the landing runway design specification, and there is no need to associate the aircraft model information, so the versatility is stronger.

Description

Technical Field

[0001] The present invention relates to the field of civil aviation safety technology, and in particular to a method and system for calculating a lateral deviation of a landing runway. Background Art

[0002] During landing, a flight should theoretically enter the runway along the centerline of the runway. However, in actual operation, due to external environmental influences or pilot operations, the aircraft may not always keep moving along the centerline.

[0003] In order to determine the lateral deviation of the aircraft from the runway centerline when the initial point of contact with the runway is reached, the prior art, such as the Chinese invention application with application number 2021114127953 and titled "Method for calculating the distance of an aircraft from the runway centerline based on QAR data", requires obtaining the "conversion coefficient between the position deviation LOC and the actual deviation angle of the aircraft" when calculating the lateral deviation distance. However, the conversion coefficient needs to be obtained by querying relevant aircraft model information, and the conversion values ​​are different for different aircraft models. If the aircraft manufacturer does not provide this parameter or the parameter is missing, the calculation scheme cannot be used, resulting in poor versatility of the calculation scheme.

[0004] At the same time, when calculating the offset distance, the traditional solution usually takes the aircraft landing at a height of 50 feet as the signal of reaching the runway entrance, and then calculates the offset distance based on the runway length through trigonometric functions. This solution is easy to use, but due to the differences in aircraft models and pilot operations, the actual height of the aircraft entering the runway is different, and the accuracy of the corresponding calculation results is difficult to guarantee; and due to the different terrains of different airports, it is impossible to accurately measure the height of 50 feet, and the measurement is difficult.

[0005] Therefore, how to provide a lateral deviation measurement method that is highly versatile and can accurately identify whether an aircraft has reached the runway threshold is an urgent problem to be solved. Summary of the invention

[0006] In order to solve the above problems, the present invention proposes a method and system for calculating the lateral deviation of a landing runway, which identifies the position of the aircraft reaching the runway entrance based on a reverse cycle of the landing point, thereby solving the accurate lateral deviation according to the localizer deviation and runway distance at the entrance position, thereby improving the accuracy of the calculation results; at the same time, the parameters involved are only based on the landing runway design specifications, and there is no need to associate the aircraft model information, so the versatility is stronger.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a method for calculating a lateral deviation of a landing runway, comprising:

[0009] According to the landing runway design specifications, the corresponding relationship between the runway distance and the offset angle and the localizer deviation is obtained; the runway distance is the distance from the runway entrance to the localizer;

[0010] Get the runway threshold marking line, and reversely loop the flight trajectory based on the flight QAR data and the flight landing point; get the runway threshold height based on the intersection of the flight trajectory and the runway threshold marking line;

[0011] A localizer deviation parameter corresponding to the runway threshold height is obtained, and a lateral offset distance is calculated based on the runway distance and the corresponding relationship.

[0012] Preferably, the corresponding relationship between the offset angle and the localizer deviation is obtained according to the landing runway design specification, specifically:

[0013] According to the landing runway design specifications, the maximum allowable offset distance and runway distance are obtained, and the maximum allowable offset angle is obtained through trigonometric functions;

[0014] At the maximum allowable deviation angle, the localizer deviation parameter collected by the aircraft QAR is the maximum allowable localizer deviation;

[0015] The ratio of the maximum allowable offset angle to the maximum allowable localizer deviation is the corresponding relationship between the offset angle and the localizer deviation.

[0016] Preferably, the runway distance includes the distance from the runway entrance to the runway exit, and the distance from the runway exit to the localizer.

[0017] Preferably, the method of obtaining the runway threshold marking line and reversely circulating the flight motion trajectory according to the flight QAR data and the flight landing point; obtaining the runway threshold height based on the intersection of the flight motion trajectory and the runway threshold marking line; the specific steps are:

[0018] Get the latitude and longitude coordinates of the endpoint of the landing runway threshold marking line;

[0019] According to the flight QAR data and flight landing point, a set of reverse cyclic QAR data with two seconds of data is used as the flight movement sub-trajectory;

[0020] The flight movement sub-track represented by longitude and latitude and the runway entrance marking line are obtained. If the flight movement sub-track and the runway entrance marking line have an intersection, the intersection position is used as the runway entrance position, and the height of the intersection is used as the runway entrance height.

[0021] Preferably, the obtaining of the localizer deviation parameter corresponding to the runway threshold height and the calculation of the lateral offset distance based on the runway distance and the corresponding relationship are specifically as follows:

[0022]

[0023] in, is the lateral offset distance between the flight and the centerline at the runway threshold, is the corresponding relationship between runway distance and offset angle and localizer deviation, , is the localizer deviation parameter when the flight enters the runway threshold, is the runway distance.

[0024] Preferably, it also includes calculating the lateral deviation between the flight and the runway centerline after entering the runway, specifically:

[0025]

[0026] in, is the lateral deviation distance between the flight and the centerline after entering the runway. is the corresponding relationship between runway distance and offset angle and localizer deviation, , is the runway distance, It is the real-time localizer deviation parameter of the flight moving on the runway. is the distance traveled after entering the runway;

[0027] Said The calculation process is as follows: decompose the real-time ground speed GS, integrate the speed component along the runway centerline, and obtain the forward distance .

[0028] Preferably, when the flight enters the runway and has not yet landed, the track angle is used for speed resolution; after landing, the heading angle is used for speed resolution.

[0029] In a second aspect, the present invention provides a landing runway lateral deviation measurement system, comprising:

[0030] A basic data acquisition module is used to obtain the corresponding relationship between the runway distance and the offset angle and the localizer deviation according to the landing runway design specification; the runway distance is the distance from the runway entrance to the localizer beacon;

[0031] The entrance determination module is used to obtain the runway entrance marking line and reversely circulate the flight movement trajectory according to the flight QAR data and the flight landing point; based on the intersection of the flight movement trajectory and the runway entrance marking line, the runway entrance height is obtained;

[0032] The offset calculation module is used to obtain the localizer deviation parameter corresponding to the runway entrance height, and calculate the lateral offset distance based on the runway distance and the corresponding relationship.

[0033] In a third aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a method for calculating a lateral deviation of a landing runway described in the first aspect.

[0034] In a fourth aspect, the present invention provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the method for calculating the lateral deviation of a landing runway described in the first aspect are implemented.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The present invention identifies the position of the aircraft reaching the runway entrance based on the reverse cycle of the landing point, thereby solving the accurate lateral deviation according to the localizer deviation and runway distance at the entrance position, thereby improving the accuracy of the calculation result; at the same time, the parameters involved are only based on the landing runway design specifications, and there is no need to associate the aircraft model information, which is more universal. The obtained lateral deviation distance can be used to measure the pilot's landing operation skill level, remind the pilot to pay attention to the landing operation, assist the pilot to improve the flight ability, and ensure flight safety.

[0037] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their description are used to explain the present invention but do not constitute a limitation of the present invention.

[0039] Figure 1 A main flow chart of a method for calculating lateral deviation of a landing runway provided by an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of the position of a flight and a runway when landing provided by an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of the intersection of the flight motion trajectory and the runway threshold marking line during the landing phase provided by an embodiment of the present invention;

[0042] Figure 4 A landing schematic diagram provided for an embodiment of the present invention;

[0043] Figure 5 A schematic diagram of flight speed decomposition provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0045] Embodiment 1

[0046] like Figure 1 As shown, this embodiment discloses a method for calculating the lateral deviation of a landing runway, comprising the following steps:

[0047] S1: According to the landing runway design specification, the corresponding relationship between the runway distance and the offset angle and the localizer deviation is obtained; the runway distance is the distance from the runway entrance to the localizer.

[0048] First, QAR data decoding is implemented, including decoding of parameters such as time, four-character airport code, heading, track, ground speed, and localizer deviation.

[0049] The airport four-letter code is a four-letter abbreviation of the airport name, which is formulated by the International Air Transport Association and uniformly coded. The purpose of obtaining the airport four-letter code is mainly to extract its landing runway, avoid screening all runway data, narrow the data range, and improve calculation efficiency.

[0050] Identify the flight approach method. If it is a non-precision approach, continue with the subsequent steps; otherwise, terminate the calculation.

[0051] Quickly determine the suitability of the approach runway based on the heading and landing point. Given the differences in runway lengths and LOC navigation station distances, it is necessary to accurately assess which runway should be used based on the heading and landing point.

[0052] During non-precision approach, the aircraft needs to rely on the LOC navigation station, which is generally located on the extended line of the runway head away from the runway entrance.

[0053] like Figure 2 As shown in Figure 2, according to the airport runway design specifications, at the runway threshold, the LOC station can display a maximum localizer deviation of , and the maximum allowed offset distance is 105 meters, and the LOC station is at the runway threshold. .

[0054] At this point you can get the formula: , that is, the maximum allowable deviation angle is .

[0055] Since the maximum allowed deviation angle corresponds to the maximum localizer deviation GLID: , so the offset angle can be obtained Corresponding value relationship with localizer deviation GLID .

[0056] S2: Get the runway threshold marking line, and reversely loop the flight motion trajectory according to the flight QAR data and the flight landing point; get the runway threshold height based on the intersection of the flight motion trajectory and the runway threshold marking line.

[0057] Specifically, the longitude and latitude coordinates of the left and right sides of the landing runway threshold marking line are obtained.

[0058] At the same time, according to the flight QAR data and flight landing point, the data is circulated in reverse, and every two seconds of data is a group as the flight movement sub-trajectory. As shown in Table 1, the QAR data recorded by the aircraft is a period of data from the aircraft takeoff to landing and parking arranged in chronological order, including the latitude and longitude information recorded second by second, and the flight altitude information (pressure altitude). Therefore, the complete flight movement trajectory can be obtained by circulating in reverse from the data end point to the data starting point.

[0059] Table 1 - Example of QAR data

[0060]

[0061] Since the data of the flight landing time is close to the end of the QAR data segment, and there may not be an accurate data recording point that exactly represents the moment when the aircraft enters the runway, that is, the aircraft is outside the runway one second ago and inside the runway one second later. Therefore, data groups are collected from the tail of the QAR data segment to the head direction, with every two seconds of data as a group, as the flight movement sub-trajectory, and data screening is performed: the flight movement sub-trajectory and the runway entrance marking line are represented by longitude and latitude. If the flight movement sub-trajectory and the runway entrance marking line have an intersection, that is, the two-second trajectory longitude and latitude data connection line (line segment CD) and the runway entrance marking line (line segment AB) have an intersection (point O), such as Figure 3 After obtaining the intersection of the line segments, the data is converted according to the line segment ratio, the height of the entrance (point O) can be calculated, and the real aircraft entrance data can be obtained.

[0062] Specifically, Figure 4 As shown, the blue line is the runway entrance marking line. If the aircraft crosses the blue line, it is considered to have entered the runway; the orange line is the direction of the aircraft's advance. Since the QAR data is recorded second by second, the line segment here represents the position connection line of the data two seconds before and after entering the runway. The altitude data of points C and D (CC' and DD') can be obtained through QAR data. According to the lengths of CO, DO, CC' and DD', the length of OO', that is, the altitude of point O, can be obtained by using the proportional relationship of the line segments of similar triangles. The same method can be used to calculate the localizer deviation, airspeed and other parameters of point O, that is, to obtain a series of data when the aircraft enters the runway entrance, and this point will be used as the starting point for the aircraft to advance on the runway in the future.

[0063] This embodiment creatively proposes a method for determining the time when an aircraft enters the runway based on the flight QAR data and the runway entrance marking line. By reversely looping the flight motion trajectory and using the longitude and latitude information to determine the intersection of the flight motion sub-trajectory and the runway entrance marking line, the accurate identification of the time when the aircraft enters the runway is achieved, and the landing point can be found quickly, avoiding the judgment of a large amount of invalid data and improving efficiency. Not only does it improve the accuracy of data processing, but it also effectively solves the problem that the QAR data may lack accurate recording points at the moment the aircraft enters the runway. In addition, the parameters involved fully comply with the design specifications of the landing runway and the QAR equipment that will be deployed on the aircraft. There is no need to consider the information of specific aircraft models, so it has stronger versatility and wide applicability. By calculating the line segment ratio and performing data conversion, the real aircraft entrance data can be obtained, which provides useful technical support for flight safety assessment and runway utilization efficiency improvement.

[0064] S3: Obtaining a localizer deviation parameter corresponding to the runway threshold height, and calculating a lateral offset distance based on the runway distance and the corresponding relationship;

[0065] The aircraft's QAR data records the localizer deviation parameter GLID. The corresponding localizer deviation parameter is found in the QAR data according to the runway threshold height. The deviation angle corresponding to the aircraft at the runway threshold can be calculated based on the localizer deviation parameter. , and then based on the distance from the runway entrance to the LOC station, using trigonometric functions, the distance from the center line can be calculated, specifically:

[0066]

[0067] in, is the lateral offset distance between the flight and the centerline at the runway entrance; the corresponding deviation angle of the aircraft at the runway entrance for , is the corresponding relationship between the offset angle and the localizer deviation, It is the localizer deviation parameter when the flight enters the runway threshold, obtained according to the QAR data; is the runway distance.

[0068] After entering the runway, the aircraft's forward direction may not be in a straight line with the runway direction. Especially when there is a crosswind, there is a certain angle between the aircraft's taxiing direction and the runway direction. At this time, when calculating the aircraft's forward distance, the speed needs to be decomposed to ensure that its speed component moves along the centerline of the runway.

[0069] like Figure 5As shown in the figure, the ground speed GS is decomposed, and only the speed component along the runway centerline is integrated and accumulated, thereby obtaining the forward distance S. L+L'-S is the distance between the aircraft and the LOC station. Combined with the localizer deviation, the deviation angle is obtained, and the offset distance can be calculated using the trigonometric function formula, which is:

[0070]

[0071] in, is the lateral deviation distance between the flight and the centerline after entering the runway. It is the real-time localizer deviation parameter of the flight moving on the runway. It is the distance traveled after entering the runway.

[0072] As a specific implementation method, when the aircraft enters the runway but has not yet landed, the track angle should be used to perform velocity resolution, and after landing, the heading angle should be used to perform velocity resolution.

[0073] The landing runway lateral deviation measurement method provided in this embodiment achieves accurate measurement of the flight entry runway time and lateral deviation distance by accurately obtaining the key parameters in the runway design specifications, combining the flight QAR data and the reverse cycle flight motion trajectory. This method not only takes into account the corresponding relationship between the runway distance and the deviation angle, but also calculates the maximum allowable deviation angle and the course deviation through trigonometric functions, thereby improving the accuracy of the measurement. In addition, the method also covers the real-time lateral deviation calculation of the flight when it moves on the runway. By decomposing and integrating the ground speed, the flight forward distance is obtained, thereby further improving the real-time and accuracy of the lateral deviation measurement. In addition, this embodiment does not need to be associated with specific aircraft model information, but is calculated based on the design specifications of the landing runway, and has strong versatility. The application of this method is conducive to improving the safety of flight landing and reducing the potential risks caused by the lateral deviation of the runway, which is of great significance to the safe operation of air transportation.

[0074] Embodiment 2

[0075] This embodiment provides a landing runway lateral deviation measurement system, including:

[0076] A basic data acquisition module is used to obtain the corresponding relationship between the runway distance and the offset angle and the localizer deviation according to the landing runway design specification; the runway distance is the distance from the runway entrance to the localizer beacon;

[0077] The entrance determination module is used to obtain the runway entrance marking line and reversely circulate the flight movement trajectory according to the flight QAR data and the flight landing point; based on the intersection point generated by the flight movement trajectory and the runway entrance marking line, the runway entrance height is obtained;

[0078] The offset calculation module is used to obtain the localizer deviation parameter corresponding to the runway entrance height, and calculate the lateral offset distance based on the runway distance and the corresponding relationship.

[0079] Embodiment 3

[0080] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the method for calculating the lateral deviation of a landing runway as described in the first embodiment above are implemented.

[0081] Embodiment 4

[0082] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the method for calculating the lateral deviation of a landing runway as described in the first embodiment are implemented.

[0083] The steps or modules involved in the above embodiments 2 to 4 correspond to those in embodiment 1. For the specific implementation, please refer to the relevant description of embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood to include any medium that can store, encode or carry an instruction set for execution by a processor and enable the processor to execute any method in the present invention.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for calculating lateral deviation of a landing runway, characterized in that: include: According to the landing runway design specifications, the corresponding relationship between the runway distance, the offset angle and the localizer deviation is obtained; the runway distance is the distance from the runway entrance to the localizer beacon; the corresponding relationship between the offset angle and the localizer deviation is obtained according to the landing runway design specifications, specifically: according to the landing runway design specifications, the maximum allowable offset distance and the runway distance are obtained, and the maximum allowable offset angle is obtained by trigonometric function; at the maximum allowable offset angle, the localizer deviation parameter collected by the aircraft QAR is the maximum allowable localizer deviation; the ratio of the maximum allowable offset angle to the maximum allowable localizer deviation is the corresponding relationship between the offset angle and the localizer deviation; Get the runway threshold marking line, and reversely loop the flight trajectory based on the flight QAR data and the flight landing point; get the runway threshold height based on the intersection of the flight trajectory and the runway threshold marking line; A localizer deviation parameter corresponding to the runway threshold height is obtained, and a lateral offset distance is calculated based on the runway distance, the corresponding relationship, and the localizer deviation parameter.

2. A method for calculating the lateral deviation of a landing runway according to claim 1, characterized in that: The runway distance includes the distance from the runway entrance to the runway exit, and the distance from the runway exit to the localizer.

3. A method for calculating the lateral deviation of a landing runway according to claim 1, characterized in that: The runway threshold marking line is obtained, and the flight motion trajectory is reversely circulated according to the flight QAR data and the flight landing point; the runway threshold height is obtained based on the intersection of the flight motion trajectory and the runway threshold marking line; the specific steps are: Get the latitude and longitude coordinates of the endpoint of the landing runway threshold marking line; According to the flight QAR data and flight landing point, a set of reverse cyclic QAR data with two seconds of data is used as the flight movement sub-trajectory; The flight movement sub-track represented by longitude and latitude and the runway entrance marking line are obtained. If the flight movement sub-track and the runway entrance marking line have an intersection, the intersection position is used as the runway entrance position, and the height of the intersection is used as the runway entrance height.

4. A method for calculating the lateral deviation of a landing runway according to claim 1, characterized in that: The obtaining of the localizer deviation parameter corresponding to the runway threshold height and the calculation of the lateral offset distance based on the runway distance, the corresponding relationship and the localizer deviation parameter are specifically as follows: in, is the lateral offset distance between the flight and the centerline at the runway threshold, is the corresponding relationship between the offset angle and the localizer deviation, , is the localizer deviation parameter when the flight enters the runway threshold, is the runway distance.

5. The method for calculating the lateral deviation of a landing runway according to claim 1, characterized in that: It also includes calculating the lateral deviation between the flight and the runway centerline after entering the runway, specifically: in, is the lateral deviation distance between the flight and the centerline after entering the runway. is the corresponding relationship between the offset angle and the localizer deviation, , is the runway distance, It is the real-time localizer deviation parameter of the flight moving on the runway. is the distance traveled after entering the runway; Said The calculation process is as follows: decompose the real-time ground speed GS, integrate the speed component along the runway centerline, and obtain the forward distance .

6. A method for calculating the lateral deviation of a landing runway according to claim 5, characterized in that: When the flight enters the runway but has not yet landed, the track angle is used for speed resolution; after landing, the heading angle is used for speed resolution.

7. A landing runway lateral deviation measurement system, characterized in that: include: The basic data acquisition module is used to obtain the corresponding relationship between the runway distance, the offset angle and the localizer deviation according to the landing runway design specification; the runway distance is the distance from the runway entrance to the localizer; the corresponding relationship between the offset angle and the localizer deviation is obtained according to the landing runway design specification, specifically: according to the landing runway design specification, the maximum allowable offset distance and the runway distance are obtained, and the maximum allowable offset angle is obtained by trigonometric function; at the maximum allowable offset angle, the localizer deviation parameter collected by the aircraft QAR is the maximum allowable localizer deviation; the ratio of the maximum allowable offset angle to the maximum allowable localizer deviation is the corresponding relationship between the offset angle and the localizer deviation; The entrance determination module is used to obtain the runway entrance marking line and reversely circulate the flight movement trajectory according to the flight QAR data and the flight landing point; based on the intersection point generated by the flight movement trajectory and the runway entrance marking line, the runway entrance height is obtained; The offset calculation module is used to obtain a localizer deviation parameter corresponding to the runway entrance height, and calculate a lateral offset distance based on the runway distance, the corresponding relationship and the localizer deviation parameter.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by the processor, the steps in the method for calculating the lateral deviation of a landing runway as described in any one of claims 1 to 6 are implemented.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the method for calculating the lateral deviation of a landing runway as described in any one of claims 1-6 are implemented.

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