A system and method for automatically guiding aircraft in an airfield

Abstract

The present invention discloses a system and method for automatically guiding aircraft in an airfield, and relates to the field of flight data processing technology, including defining the size of the adjacent airspace area of ​​the airport in combination with the traffic flow conditions in the airspace near the airport and the number of aircraft to be guided, so as to facilitate the automatic guidance of the subsequent aircraft approach trajectory, landing, and taxiing path. The standard flight trajectory of the aircraft to be guided in the second airspace area is determined by the results output by the flight trajectory model, thereby improving the reliability and accuracy of the aircraft approach. The pre-landing flight trajectory is analyzed to determine the target landing parameters, and the taxiing path is screened according to the positional relationship between the flow path of the traffic flow and the taxiing path, thereby improving the guidance reliability of the aircraft landing and the subsequent taxiing path, avoiding accidents caused by aircraft landing errors, and reducing the possibility of traffic collisions on the taxiing path, thereby improving the efficiency and accuracy of the automatic guidance of aircraft in the airfield, and ensuring the safety of aircraft guidance.

Description

Technical Field

[0001] The present invention relates to the technical field of flight data processing, and in particular to a system and method for automatically guiding an aircraft in an airfield. Background Art

[0002] Aircraft guidance in the flight zone is mainly based on the pilot's own experience and the staff standing in front of the aircraft using signs to show the pilot various behavioral languages ​​to indicate the aircraft's position (such as the distance from the stop line, the direction and degree of deviation from the center line) and other basic information to complete the steps of approaching the flight zone, landing, and taxiing path after landing. This method is basic and primitive, but its limitations are becoming increasingly prominent in today's highly developed modern aviation industry.

[0003] In the prior art, manual guidance or aircraft guidance based solely on flight experience is bound to result in some guidance errors, which results in low efficiency and poor accuracy in guiding aircraft in the flight zone.

[0004] Therefore, how to improve the efficiency and accuracy of guiding aircraft in the flight zone is a technical problem that needs to be solved at present. Summary of the invention

[0005] The purpose of the present invention is to solve the problem of low efficiency and accuracy of guiding aircraft in flight zones in the prior art, and to propose an automatic guidance method for aircraft in flight zones, the method comprising:

[0006] Obtain the location information of the airport and the list of aircraft to be guided, determine the traffic flow in the airspace near the airport based on the location information of the airport, determine the number of aircraft to be guided in the airspace near the airport based on the list of aircraft to be guided, and define the size of the adjacent airspace area of ​​the airport based on the traffic flow in the airspace near the airport and the number of aircraft to be guided;

[0007] Splitting the adjacent airspace area into a first airspace area and a second airspace area, setting a plurality of waypoints in the first airspace area, collecting the path information of the aircraft to be guided passing through the waypoints, inputting the basic information and path information of the aircraft to be guided into a flight trajectory model, determining the standard flight trajectory of the aircraft to be guided in the second airspace area through the result output by the flight trajectory model, and the aircraft to be guided performs an approach guidance flight in the second airspace area according to the standard flight trajectory;

[0008] intercepting a portion of the standard flight trajectory of the aircraft to be guided as a pre-landing flight trajectory, analyzing the pre-landing flight trajectory to determine target landing parameters, and at the same time, obtaining the layout information of the airport flight area and the traffic information of the flight area, planning multiple taxiing paths according to the layout information of the airport flight area, constructing the flow path of the traffic flow according to the traffic information of the flight area, screening the taxiing path according to the positional relationship between the flow path of the traffic flow and the taxiing path, and obtaining the target taxiing path;

[0009] The aircraft to be guided lands at the airport flight zone according to the target landing parameters. After landing, the aircraft to be guided arrives at the designated parking position according to the target taxi path.

[0010] In some embodiments of the present application, the size of the adjacent airspace area of ​​the airport is defined in combination with the traffic flow in the airspace near the airport and the number of aircraft to be guided, including:

[0011] The traffic flow in the airspace near the airport includes the air traffic density, the distribution of flight routes and the flight frequency at different time periods in the airspace near the airport. The traffic flow in the airspace near the airport is defined by comprehensively considering the air traffic density, the distribution of flight routes and the flight frequency at different time periods in the airspace near the airport.

[0012] The mapping value is determined according to the traffic flow in the airspace near the airport and the number of aircraft to be guided in the airspace near the airport, and the size of the adjacent airspace area of ​​the airport is obtained through the mapping value.

[0013] In some embodiments of the present application, the adjacent airspace region is split into a first airspace region and a second airspace region, including:

[0014] Visually map the adjacent airspace area on the airspace coordinates, determine the edge and center point of the adjacent airspace area, split the side airspace area according to the center point and the edge point of the adjacent airspace area, record the side airspace area far from the airport as the initial first airspace area, and record the side airspace area close to the airport as the initial second airspace area;

[0015] Determine a boundary line between an initial first airspace region and an initial second airspace region, wherein the boundary line includes a center point, count the maximum flight speed of each aircraft to be guided in the list of aircraft to be guided, thereby determining an average value of the maximum flight speeds of the list of aircraft to be guided, and adjust the position of the boundary line by the average value of the maximum flight speeds of the list of aircraft to be guided, thereby adjusting the initial first airspace region and the initial second airspace region to obtain the first airspace region and the second airspace region.

[0016] In some embodiments of the present application, multiple waypoints are set in the first airspace area, including:

[0017] The surrounding area of ​​the flight path in the first airspace area is determined based on the flight path of each aircraft to be guided in the list of aircraft to be guided, and the potential risk area and the non-potential risk area are identified by the key features of the surrounding area. A first type of waypoint is set for the potential risk area, and a second type of waypoint is set for the non-potential risk area, so as to complete the setting of multiple waypoints in the first airspace area.

[0018] In some embodiments of the present application, determining the standard flight trajectory of the aircraft to be guided in the second airspace area by using the result output by the flight trajectory model includes:

[0019] Determine multiple predicted flight trajectories of the aircraft to be guided in the second airspace area through the flight trajectory model, allocate the weight of the evaluation index and the landing difficulty according to the mission requirements of the aircraft to be guided, so as to determine the comprehensive evaluation index of each predicted flight trajectory;

[0020] ;

[0021] in, is the comprehensive evaluation index of the flight trajectory. is the number of evaluation indicators, , are the weights of the evaluation index and landing difficulty, For the The weight of the evaluation index, For the The size of the evaluation index, is the number of landing difficulty parameters, For the The weight of the landing difficulty parameter, For the The size of the landing difficulty parameter, Indicates the difficulty of landing;

[0022] A predicted flight trajectory is screened out according to the comprehensive evaluation index of the predicted flight trajectory, and the predicted flight trajectory is used as the standard flight trajectory.

[0023] In some embodiments of the present application, intercepting a portion of the standard flight trajectory of the aircraft to be guided as the pre-landing flight trajectory includes:

[0024] Construct a flight altitude change curve of the standard flight trajectory of the aircraft to be guided, the flight altitude change curve being a curve whose horizontal coordinate is the distance between the aircraft and the airport and whose vertical coordinate is the flight altitude, determine the highest point and the right endpoint of the flight altitude change curve, determine the flight altitude change point between the highest point and the right endpoint in the flight altitude change curve, and use the flight trajectory between the flight altitude change point and the right endpoint as the pre-landing flight trajectory.

[0025] In some embodiments of the present application, analyzing the pre-landing flight trajectory to determine the target landing parameters includes:

[0026] The change trend of the aircraft's flight information is determined through the pre-landing flight trajectory, and the target landing parameters of the aircraft are determined based on the change trend of the aircraft's flight information.

[0027] In some embodiments of the present application, a flow path of traffic flow is constructed by using traffic information of an airfield, and a glide path is screened according to a positional relationship between the flow path of the traffic flow and a glide path to obtain a target glide path, including:

[0028] The flow path of traffic flow is predicted through the traffic information of the flight zone, the flow path of traffic flow is aligned with the taxi path on the time scale, and the taxi path with the intersection relationship between the flow path and the taxi path is eliminated;

[0029] For the remaining glide paths, a composite value for each remaining glide path is calculated based on the length of the glide path, the length of the flow path, and the distance between the flow path and the glide path;

[0030] ;

[0031] in, For the The combined value of the remaining glide paths, For the The length of the remaining glide path, For the The remaining glide path is The distance between the flow paths, For the The remaining glide path is The minimum distance between the flow paths, is a preset constant;

[0032] A glide path is screened out according to the comprehensive values ​​of the remaining glide paths, and the glide path is used as the target glide path.

[0033] Correspondingly, the present application also provides an automatic guidance system for aircraft in an airfield, comprising:

[0034] The first module is used to obtain the location information of the airport and the list of aircraft to be guided, determine the traffic flow in the airspace near the airport according to the location information of the airport, determine the number of aircraft to be guided in the airspace near the airport according to the list of aircraft to be guided, and define the size of the adjacent airspace area of ​​the airport in combination with the traffic flow in the airspace near the airport and the number of aircraft to be guided;

[0035] The second module is used to split the adjacent airspace area into a first airspace area and a second airspace area, set a plurality of waypoints in the first airspace area, collect the path information of the aircraft to be guided passing through the waypoints, input the basic information and path information of the aircraft to be guided into the flight trajectory model, determine the standard flight trajectory of the aircraft to be guided in the second airspace area through the result output by the flight trajectory model, and the aircraft to be guided performs an approach guidance flight in the second airspace area according to the standard flight trajectory;

[0036] The third module is used to intercept a part of the standard flight trajectory of the aircraft to be guided as a pre-landing flight trajectory, analyze the pre-landing flight trajectory to determine the target landing parameters, and at the same time, obtain the layout information of the airport flight area and the traffic information of the flight area, plan multiple taxiing paths according to the layout information of the airport flight area, construct the flow path of the traffic flow according to the traffic information of the flight area, and select the taxiing path according to the positional relationship between the flow path of the traffic flow and the taxiing path to obtain the target taxiing path;

[0037] The fourth module is used for the guided aircraft to land in the airport flight zone according to the target landing parameters. After landing, the guided aircraft arrives at the designated parking position according to the target taxiing path.

[0038] By applying the above technical solutions, the size of the adjacent airspace area of ​​the airport is defined in combination with the traffic flow in the airspace near the airport and the number of aircraft to be guided, so as to facilitate the subsequent automatic guidance of the aircraft approach trajectory, landing, and taxiing path. The standard flight trajectory of the aircraft to be guided in the second airspace area is determined by the results output by the flight trajectory model, so as to help the aircraft guide the trajectory and improve the reliability and accuracy of the aircraft approach. The pre-landing flight trajectory is analyzed to determine the target landing parameters, and the taxiing path is screened according to the positional relationship between the flow path of the traffic flow and the taxiing path, so as to improve the guidance reliability of the aircraft landing and subsequent taxiing paths, avoid accidents caused by aircraft landing errors, and reduce the possibility of traffic collisions on the taxiing path, improve the efficiency and accuracy of the automatic guidance of aircraft in the airfield, and ensure the safety of aircraft guidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic diagram of a flow chart of an automatic guidance method for an aircraft in an airfield proposed by the present invention;

[0040] Figure 2 The present invention is a schematic structural diagram of an automatic aircraft guidance system for an airfield. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0042] Reference Figure 1 , a method for automatically guiding an aircraft in an airfield, comprising the following steps:

[0043] Step S101, obtaining the location information of the airport and the list of aircraft to be guided, determining the traffic flow in the airspace near the airport based on the location information of the airport, and determining the number of aircraft to be guided in the airspace near the airport based on the list of aircraft to be guided, and defining the size of the adjacent airspace area of ​​the airport in combination with the traffic flow in the airspace near the airport and the number of aircraft to be guided.

[0044] In this embodiment, the airspace near the airport is the airspace at a preset distance around the airport, and the adjacent airspace area of ​​the airport is the airspace at a specific distance around the airport. This airspace is used to set waypoints and guide aircraft to fly according to the approach trajectory.

[0045] It should be noted that the automatic guidance system captures and tracks aircraft approaching the airport through radar and other monitoring equipment, and measures its position, speed, altitude and other parameters in real time. According to the preset approach procedure and runway conditions, the system calculates the ideal flight trajectory of the aircraft, and transmits the guidance instructions to the pilot through ground-to-air communication equipment to help the aircraft approach along the correct trajectory. The pilot controls the aircraft to land safely along the glide path and localizer according to the landing guidance information provided by the system. After landing, the pilot or ground controller guides the aircraft to taxi along the planned path to the designated parking position according to the received taxi guidance instructions.

[0046] In some embodiments of the present application, the size of the adjacent airspace area of ​​the airport is defined in combination with the traffic flow in the airspace near the airport and the number of aircraft to be guided, including:

[0047] The traffic flow in the airspace near the airport includes the air traffic density, the distribution of flight routes and the flight frequency at different time periods in the airspace near the airport. The traffic flow in the airspace near the airport is defined by comprehensively considering the air traffic density, the distribution of flight routes and the flight frequency at different time periods in the airspace near the airport.

[0048] The mapping value is determined according to the traffic flow in the airspace near the airport and the number of aircraft to be guided in the airspace near the airport, and the size of the adjacent airspace area of ​​the airport is obtained through the mapping value.

[0049] In this embodiment, the air traffic density in the airspace near the airport, the distribution of flight routes and the flight frequency in different time periods are comprehensively considered to define the traffic flow in the airspace near the airport. The mapping value is determined according to the traffic flow in the airspace near the airport and the number of aircraft to be guided in the airspace near the airport. The mapping value can be obtained by weighted summation or weighted averaging. Mapping values ​​of different sizes correspond to different sizes of adjacent airspace areas.

[0050] Step S102, splitting the adjacent airspace area into a first airspace area and a second airspace area, setting a plurality of waypoints in the first airspace area, collecting the path information of the aircraft to be guided passing through the waypoints, inputting the basic information and path information of the aircraft to be guided into a flight trajectory model, determining the standard flight trajectory of the aircraft to be guided in the second airspace area through the result output by the flight trajectory model, and the aircraft to be guided performs an approach guidance flight in the second airspace area according to the standard flight trajectory.

[0051] In this embodiment, in order to ensure the accuracy of the aircraft approach flight trajectory, the adjacent airspace area is divided into a first airspace area and a second airspace area. The first airspace area is an area on the side far away from the airport, which is used to set waypoints to help pilots for reference and collect the passing information of the aircraft flying on the waypoints. The second airspace area is an area on the side close to the airport. In this area, the aircraft performs the approach steps according to the standard flight trajectory to ensure that the aircraft can land safely and smoothly.

[0052] In some embodiments of the present application, the adjacent airspace region is split into a first airspace region and a second airspace region, including:

[0053] Visually map the adjacent airspace area on the airspace coordinates, determine the edge and center point of the adjacent airspace area, split the side airspace area according to the center point and the edge point of the adjacent airspace area, record the side airspace area far from the airport as the initial first airspace area, and record the side airspace area close to the airport as the initial second airspace area;

[0054] Determine a boundary line between an initial first airspace region and an initial second airspace region, wherein the boundary line includes a center point, count the maximum flight speed of each aircraft to be guided in the list of aircraft to be guided, thereby determining an average value of the maximum flight speeds of the list of aircraft to be guided, and adjust the position of the boundary line by the average value of the maximum flight speeds of the list of aircraft to be guided, thereby adjusting the initial first airspace region and the initial second airspace region to obtain the first airspace region and the second airspace region.

[0055] In this embodiment, two side airspace areas of similar size are split according to the center point and the edge points of the adjacent airspace area, and the average value of the maximum flight speed of the list of aircraft to be guided. The size of the flight speed will affect the size of the first airspace area. When the flight speed is fast, the first airspace area needs to be set relatively large to more accurately capture the aircraft passing information of each waypoint. Different average values ​​of different maximum flight speeds correspond to different adjustment factors. The position of the boundary line is adjusted by the adjustment factor (in product form) to obtain the first airspace area and the second airspace area.

[0056] In some embodiments of the present application, multiple waypoints are set in the first airspace area, including:

[0057] The surrounding area of ​​the flight path in the first airspace area is determined based on the flight path of each aircraft to be guided in the list of aircraft to be guided, and the potential risk area and the non-potential risk area are identified by the key features of the surrounding area. A first type of waypoint is set for the potential risk area, and a second type of waypoint is set for the non-potential risk area, so as to complete the setting of multiple waypoints in the first airspace area.

[0058] In this embodiment, key features include meteorological conditions, terrain features, important navigation point features, etc., and potential risk areas such as busy airspace, restricted areas, and danger zones on the flight path are analyzed, and additional waypoints are set to avoid risks (Class I waypoints). Class II waypoints are set for pilot guidance and reference direction positions.

[0059] In this embodiment, based on the basic information of the aircraft to be guided (aircraft type, performance parameters, etc.) and the passage information (the time, position, speed, altitude, etc. of the aircraft passing through the surrounding area of ​​each waypoint. The flight state changes of the aircraft between waypoints, such as acceleration, deceleration, climb, descent, etc.), are input into a preset flight trajectory model (such as a time series analysis model (ARIMA, LSTM, etc.) or a regression model), the output result is a plurality of feasible flight trajectories.

[0060] In some embodiments of the present application, determining the standard flight trajectory of the aircraft to be guided in the second airspace area by using the result output by the flight trajectory model includes:

[0061] Determine multiple predicted flight trajectories of the aircraft to be guided in the second airspace area through the flight trajectory model, allocate the weight of the evaluation index and the landing difficulty according to the mission requirements of the aircraft to be guided, so as to determine the comprehensive evaluation index of each predicted flight trajectory;

[0062] ;

[0063] in, is the comprehensive evaluation index of the flight trajectory. is the number of evaluation indicators, , are the weights of the evaluation index and landing difficulty, For the The weight of the evaluation index, For the The size of the evaluation index, is the number of landing difficulty parameters, For the The weight of the landing difficulty parameter, For the The size of the landing difficulty parameter, Indicates the difficulty of landing;

[0064] A predicted flight trajectory is screened out according to the comprehensive evaluation index of the predicted flight trajectory, and the predicted flight trajectory is used as the standard flight trajectory.

[0065] In this embodiment, the landing difficulty parameters include runway length parameters, aircraft touchdown speed, deceleration performance, etc. These parameters are combined to determine a landing difficulty. The evaluation indicators include flight time, fuel consumption, safety, etc., and the average value of the landing difficulty and the evaluation indicators is taken as the comprehensive evaluation indicator of the flight trajectory.

[0066] Step S103, intercepting a portion of the standard flight trajectory of the aircraft to be guided as a pre-landing flight trajectory, analyzing the pre-landing flight trajectory to determine target landing parameters, and at the same time, obtaining the layout information of the airport flight area and the traffic information of the flight area, planning multiple taxiing paths according to the layout information of the airport flight area, constructing a flow path of the traffic flow according to the traffic information of the flight area, screening the taxiing path according to the positional relationship between the flow path of the traffic flow and the taxiing path, and obtaining the target taxiing path.

[0067] In this embodiment, the latter part of the standard flight trajectory is intercepted as the pre-landing flight trajectory. The pre-landing flight trajectory is the flight trajectory before the aircraft lands. The flight trajectory is analyzed to determine the target landing parameters, which include key parameters such as landing speed, landing angle, and landing point. Multiple taxi paths are planned according to the layout information of the airport flight area, and multiple possible taxi paths are given according to the layout of the runway, taxiway, and parking space. The traffic information of the flight area is analyzed, and the flow path of each traffic flow is constructed according to the starting point and end point of the traffic flow using a path planning algorithm (such as Dijkstra, A*, etc.). The taxi path is screened according to the positional relationship between the flow path of the traffic flow and the taxi path to obtain the target taxi path.

[0068] In some embodiments of the present application, intercepting a portion of the standard flight trajectory of the aircraft to be guided as the pre-landing flight trajectory includes:

[0069] Construct a flight altitude change curve of the standard flight trajectory of the aircraft to be guided, the flight altitude change curve being a curve whose horizontal coordinate is the distance between the aircraft and the airport and whose vertical coordinate is the flight altitude, determine the highest point and the right endpoint of the flight altitude change curve, determine the flight altitude change point between the highest point and the right endpoint in the flight altitude change curve, and use the flight trajectory between the flight altitude change point and the right endpoint as the pre-landing flight trajectory.

[0070] In this embodiment, the flight altitude change point between the highest point and the right endpoint in the flight altitude change curve is determined. The flight altitude change point is the point at which the flight altitude is initially descending. This part of the flight trajectory is used as the pre-landing flight trajectory. This part of the flight trajectory is always in a descending state and is relatively stable.

[0071] In some embodiments of the present application, analyzing the pre-landing flight trajectory to determine the target landing parameters includes:

[0072] The change trend of the aircraft's flight information is determined through the pre-landing flight trajectory, and the target landing parameters of the aircraft are determined based on the change trend of the aircraft's flight information.

[0073] In this embodiment, target landing parameters are predicted based on the changing trend of the aircraft flight information to help the aircraft land safely.

[0074] In some embodiments of the present application, a flow path of traffic flow is constructed by using traffic information of an airfield, and a glide path is screened according to a positional relationship between the flow path of the traffic flow and a glide path to obtain a target glide path, including:

[0075] The flow path of traffic flow is predicted through the traffic information of the flight zone, the flow path of traffic flow is aligned with the taxi path on the time scale, and the taxi path with the intersection relationship between the flow path and the taxi path is eliminated;

[0076] For the remaining glide paths, a composite value for each remaining glide path is calculated based on the length of the glide path, the length of the flow path, and the distance between the flow path and the glide path;

[0077] ;

[0078] in, For the The combined value of the remaining glide paths, For the The length of the remaining glide path, For the The remaining glide path is The distance between the flow paths, For the The remaining glide path is The minimum distance between the flow paths, is a preset constant;

[0079] A glide path is screened out according to the comprehensive values ​​of the remaining glide paths, and the glide path is used as the target glide path.

[0080] In this embodiment, The calculation process is to unify the time of the sliding path and the flow path, and calculate the distance (prediction) between the current points of the path (the current point of the sliding path and the current point of the flow path) at the same time, and integrate the distances between the current points of the path at multiple times to obtain multiple , select the one with the smallest distance. Correct the glide path length to select the target glide path.

[0081] Step S104, the aircraft to be guided lands at the airport flight zone according to the target landing parameters. After landing, the aircraft to be guided arrives at the designated parking position according to the target taxiing path.

[0082] In this embodiment, the aircraft or the pilot receives the target landing parameters and the target taxiing path to guide the airport flight zone landing and guide the aircraft to taxi in the airport flight zone, and finally return to the designated parking position.

[0083] By applying the above technical solutions, the size of the adjacent airspace area of ​​the airport is defined in combination with the traffic flow in the airspace near the airport and the number of aircraft to be guided, so as to facilitate the subsequent automatic guidance of the aircraft approach trajectory, landing, and taxiing path. The standard flight trajectory of the aircraft to be guided in the second airspace area is determined by the results output by the flight trajectory model, so as to help the aircraft guide the trajectory and improve the reliability and accuracy of the aircraft approach. The pre-landing flight trajectory is analyzed to determine the target landing parameters, and the taxiing path is screened according to the positional relationship between the flow path of the traffic flow and the taxiing path, so as to improve the guidance reliability of the aircraft landing and subsequent taxiing paths, avoid accidents caused by aircraft landing errors, and reduce the possibility of traffic collisions on the taxiing path, improve the efficiency and accuracy of the automatic guidance of aircraft in the airfield, and ensure the safety of aircraft guidance.

[0084] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present invention can be implemented by hardware, or by software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each implementation scenario of the present invention.

[0085] Correspondingly, the present application also provides an automatic guidance system for aircraft in an airfield, such as Figure 2 As shown, including:

[0086] The first module is used to obtain the location information of the airport and the list of aircraft to be guided, determine the traffic flow in the airspace near the airport according to the location information of the airport, determine the number of aircraft to be guided in the airspace near the airport according to the list of aircraft to be guided, and define the size of the adjacent airspace area of ​​the airport in combination with the traffic flow in the airspace near the airport and the number of aircraft to be guided;

[0087] The second module is used to split the adjacent airspace area into a first airspace area and a second airspace area, set a plurality of waypoints in the first airspace area, collect the path information of the aircraft to be guided passing through the waypoints, input the basic information and path information of the aircraft to be guided into the flight trajectory model, determine the standard flight trajectory of the aircraft to be guided in the second airspace area through the result output by the flight trajectory model, and the aircraft to be guided performs an approach guidance flight in the second airspace area according to the standard flight trajectory;

[0088] The third module is used to intercept a part of the standard flight trajectory of the aircraft to be guided as a pre-landing flight trajectory, analyze the pre-landing flight trajectory to determine the target landing parameters, and at the same time, obtain the layout information of the airport flight area and the traffic information of the flight area, plan multiple taxiing paths according to the layout information of the airport flight area, construct the flow path of the traffic flow according to the traffic information of the flight area, and select the taxiing path according to the positional relationship between the flow path of the traffic flow and the taxiing path to obtain the target taxiing path;

[0089] The fourth module is used for the guided aircraft to land in the airport flight zone according to the target landing parameters. After landing, the guided aircraft arrives at the designated parking position according to the target taxiing path.

[0090] Those skilled in the art will appreciate that the accompanying drawings are merely schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required for implementing the present invention.

[0091] Those skilled in the art will appreciate that the modules in the system in the implementation scenario can be distributed in the system of the implementation scenario according to the implementation scenario description, or can be changed accordingly and located in one or more systems different from the implementation scenario. The modules in the above implementation scenario can be combined into one module, or can be further split into multiple sub-modules.

[0092] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for automatically guiding an aircraft in an airfield, characterized in that: include: Obtain the location information of the airport and the list of aircraft to be guided, determine the traffic flow in the airspace near the airport based on the location information of the airport, determine the number of aircraft to be guided in the airspace near the airport based on the list of aircraft to be guided, and define the size of the adjacent airspace area of ​​the airport based on the traffic flow in the airspace near the airport and the number of aircraft to be guided; Splitting the adjacent airspace area into a first airspace area and a second airspace area, setting a plurality of waypoints in the first airspace area, collecting the path information of the aircraft to be guided passing through the waypoints, inputting the basic information and path information of the aircraft to be guided into a flight trajectory model, determining the standard flight trajectory of the aircraft to be guided in the second airspace area through the result output by the flight trajectory model, and the aircraft to be guided performs an approach guidance flight in the second airspace area according to the standard flight trajectory; intercepting a portion of the standard flight trajectory of the aircraft to be guided as a pre-landing flight trajectory, analyzing the pre-landing flight trajectory to determine target landing parameters, and at the same time, obtaining the layout information of the airport flight area and the traffic information of the flight area, planning multiple taxiing paths according to the layout information of the airport flight area, constructing the flow path of the traffic flow according to the traffic information of the flight area, screening the taxiing path according to the positional relationship between the flow path of the traffic flow and the taxiing path, and obtaining the target taxiing path; The aircraft to be guided lands at the airport flight zone according to the target landing parameters. After landing, the aircraft to be guided follows the target taxi path to the designated parking position. in, Splitting the adjacent airspace area into a first airspace area and a second airspace area includes: Visually map the adjacent airspace area on the airspace coordinates, determine the edge and center point of the adjacent airspace area, split the side airspace area according to the center point and the edge point of the adjacent airspace area, record the side airspace area far from the airport as the initial first airspace area, and record the side airspace area close to the airport as the initial second airspace area; Determine a boundary line between an initial first airspace region and an initial second airspace region, wherein the boundary line includes a center point, count the maximum flight speed of each aircraft to be guided in the list of aircraft to be guided, thereby determining an average value of the maximum flight speeds of the list of aircraft to be guided, and adjust the position of the boundary line by the average value of the maximum flight speeds of the list of aircraft to be guided, thereby adjusting the initial first airspace region and the initial second airspace region to obtain the first airspace region and the second airspace region.

2. The method for automatically guiding an aircraft in an airfield according to claim 1, characterized in that: The size of the adjacent airspace area of ​​the airport is defined by combining the traffic volume in the airspace near the airport and the number of aircraft to be guided, including: The traffic flow in the airspace near the airport includes the air traffic density, the distribution of flight routes and the flight frequency at different time periods in the airspace near the airport. The traffic flow in the airspace near the airport is defined by comprehensively considering the air traffic density, the distribution of flight routes and the flight frequency at different time periods in the airspace near the airport. The mapping value is determined according to the traffic flow in the airspace near the airport and the number of aircraft to be guided in the airspace near the airport, and the size of the adjacent airspace area of ​​the airport is obtained through the mapping value.

3. The method for automatically guiding an aircraft in an airfield according to claim 1, characterized in that: Set up multiple waypoints in the first airspace area, including: The surrounding area of ​​the flight path in the first airspace area is determined based on the flight path of each aircraft to be guided in the list of aircraft to be guided, and the potential risk area and the non-potential risk area are identified by the key features of the surrounding area. A first type of waypoint is set for the potential risk area, and a second type of waypoint is set for the non-potential risk area, so as to complete the setting of multiple waypoints in the first airspace area.

4. The method for automatically guiding an aircraft in an airfield according to claim 1, characterized in that: The standard flight trajectory of the aircraft to be guided in the second airspace area is determined by the results output by the flight trajectory model, including: Determine multiple predicted flight trajectories of the aircraft to be guided in the second airspace area through the flight trajectory model, allocate the weight of the evaluation index and the landing difficulty according to the mission requirements of the aircraft to be guided, so as to determine the comprehensive evaluation index of each predicted flight trajectory; ； in, is the comprehensive evaluation index of the flight trajectory. is the number of evaluation indicators, , are the weights of the evaluation index and landing difficulty, For the The weight of the evaluation index, For the The size of the evaluation index, is the number of landing difficulty parameters, For the The weight of the landing difficulty parameter, For the The size of the landing difficulty parameter, Indicates the difficulty of landing; A predicted flight trajectory is screened out according to the comprehensive evaluation index of the predicted flight trajectory, and the predicted flight trajectory is used as the standard flight trajectory.

5. The method for automatically guiding an aircraft in an airfield according to claim 4, characterized in that: A portion of the standard flight trajectory of the aircraft to be guided is intercepted as the pre-landing flight trajectory, including: Construct a flight altitude change curve of the standard flight trajectory of the aircraft to be guided, the flight altitude change curve being a curve whose horizontal coordinate is the distance between the aircraft and the airport and whose vertical coordinate is the flight altitude, determine the highest point and the right endpoint of the flight altitude change curve, determine the flight altitude change point between the highest point and the right endpoint in the flight altitude change curve, and use the flight trajectory between the flight altitude change point and the right endpoint as the pre-landing flight trajectory.

6. The method for automatically guiding an aircraft in an airfield according to claim 5, characterized in that: Analyze the pre-landing flight trajectory to determine target landing parameters, including: The change trend of the aircraft's flight information is determined through the pre-landing flight trajectory, and the target landing parameters of the aircraft are determined based on the change trend of the aircraft's flight information.

7. The method for automatically guiding an aircraft in an airfield according to claim 1, characterized in that: The flow path of traffic flow is constructed through the traffic information of the flight zone. The glide path is screened according to the positional relationship between the flow path of traffic flow and the glide path to obtain the target glide path, including: The flow path of traffic flow is predicted through the traffic information of the flight zone, the flow path of traffic flow is aligned with the taxi path on the time scale, and the taxi path with the intersection relationship between the flow path and the taxi path is eliminated; For the remaining glide paths, a composite value for each remaining glide path is calculated based on the length of the glide path, the length of the flow path, and the distance between the flow path and the glide path; ； in, For the The combined value of the remaining glide paths, For the The length of the remaining glide path, For the The remaining glide path is The distance between the flow paths, For the The remaining glide path is The minimum distance between the flow paths, is a preset constant; A glide path is screened out according to the comprehensive values ​​of the remaining glide paths, and the glide path is used as the target glide path.

8. An automatic guidance system for aircraft in an airfield, characterized in that: The system is used to implement the method for automatically guiding an aircraft in an airfield according to any one of claims 1 to 7, and comprises: The first module is used to obtain the location information of the airport and the list of aircraft to be guided, determine the traffic flow in the airspace near the airport according to the location information of the airport, determine the number of aircraft to be guided in the airspace near the airport according to the list of aircraft to be guided, and define the size of the adjacent airspace area of ​​the airport in combination with the traffic flow in the airspace near the airport and the number of aircraft to be guided; The second module is used to split the adjacent airspace area into a first airspace area and a second airspace area, set a plurality of waypoints in the first airspace area, collect the path information of the aircraft to be guided passing through the waypoints, input the basic information and path information of the aircraft to be guided into the flight trajectory model, determine the standard flight trajectory of the aircraft to be guided in the second airspace area through the result output by the flight trajectory model, and the aircraft to be guided performs an approach guidance flight in the second airspace area according to the standard flight trajectory; The third module is used to intercept a part of the standard flight trajectory of the aircraft to be guided as a pre-landing flight trajectory, analyze the pre-landing flight trajectory to determine the target landing parameters, and at the same time, obtain the layout information of the airport flight area and the traffic information of the flight area, plan multiple taxiing paths according to the layout information of the airport flight area, construct the flow path of the traffic flow according to the traffic information of the flight area, and select the taxiing path according to the positional relationship between the flow path of the traffic flow and the taxiing path to obtain the target taxiing path; The fourth module is used for the guided aircraft to land in the airport flight zone according to the target landing parameters. After landing, the guided aircraft arrives at the designated parking position according to the target taxiing path.

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