Bird strike early warning method, device and system based on accessibility analysis

Abstract

The invention relates to a bird strike early warning method, device and system based on accessibility analysis. The method mainly comprises the following steps: inputting types of surrounding birds and motion data of different birds in advance; when early warning is needed, the types of the birds are recognized through detection equipment, and motion data of the corresponding birds are read; according to the motion data of the corresponding birds, reachable set modeling of the flight states of the birds is carried out; the reachable set model is linearized and then solved, and a reachable set of the bird flight state within the time r is obtained; and establishing an airplane Reich model, and obtaining an intersection of the reachable set of the bird flight state within a certain time and the airplane Reich model to obtain a bird strike early warning result. According to the method, bird strike risk analysis is carried out by analyzing the accessibility of different types of birds and the airplane Reich model, the bird collision risk of the airplane can be effectively calculated, and early warning can be carried out in advance.

Description

Technical Field

[0001] The present invention relates to the technical field of airport bird-repelling technology, and in particular to a bird strike early warning method, device and system based on accessibility analysis. Background Art

[0002] In the past 20 years, my country's aviation industry has developed rapidly, and flight capacity has continued to increase. At the same time, the bird strike rate, scratch rate and disaster rate have continued to rise, which has brought huge losses to my country. Therefore, bird detection is a top priority for airports. Traditional bird detection mainly relies on manual labor, which requires a lot of manpower and is greatly affected by weather visibility. In recent years, airports have built radars, optoelectronic equipment and other devices for bird detection, and analyzed bird data to mark key areas where birds appear, greatly reducing the burden of human observation.

[0003] However, since the flight patterns of different types of birds are different in different seasons, it is also necessary to provide early warning for the risk of bird strikes caused by bird flight. For this purpose, no good solution has been proposed in the prior art.

[0004] For example, the prior art "An Integrated Platform for Early Warning and Prevention of Bird Pests at Military Airports" (patent number CN201810816794.7) provides an integrated platform for early warning and prevention of bird pests at military airports, including radar settings, collection device settings, analysis and identification devices, communication devices, bird repellent devices, terminals and power supplies, and uses drone platforms to carry equipment to improve the detection rate and timeliness of bird warnings. This patent mainly uses an aerial hardware platform to improve the efficiency of bird warnings, but does not conduct an effective analysis of the collision risks of different species of birds with aircraft.

[0005] For another example, "A Bird Detection Radar Bird Comprehensive Warning Assessment Method" (patent number CN202310067711.X) obtains real-time aircraft tracks and bird tracks through radar, establishes a real-time warning space Ω based on the aircraft track, and then judges in real time whether the bird track falls into the real-time warning space Ω. For the case of falling into the real-time warning space Ω, a bird strike warning is issued, and for the case of not falling into the real-time warning space Ω, it further determines whether its threat coefficient exceeds the preset threshold value, thereby achieving a two-level warning. This patent also does not perform motion analysis on the flight characteristics of birds, and has high requirements for the detection accuracy and real-time performance of the radar.

[0006] In view of this, how to overcome the defects of existing technologies, how to conduct motion analysis based on the flight characteristics of different species of birds, and how to issue early warnings for the bird strike risks caused by the flight of different species of birds have become important technical issues that need to be urgently resolved in the industry. Summary of the invention

[0007] In view of the defects or improvement needs in the prior art: How to perform motion analysis based on the flight characteristics of different species of birds and issue early warnings for the bird strike risks caused by the flight of different species of birds. The present invention provides a bird strike early warning method, device and system based on accessibility analysis, which analyzes the accessibility of birds entering the airport clear area by constructing a reachable set model of bird flight status, thereby issuing early warnings. The present invention analyzes the bird strike risk by analyzing the accessibility of different species of birds and the aircraft Reich model, which can effectively calculate the risk of bird collisions at airports and issue early warnings. By analyzing different birds, early warnings can be effectively issued based on the flight characteristics of different birds, which is safer.

[0008] The present invention adopts the following technical solution:

[0009] In a first aspect, the present invention provides a bird strike warning method based on reachability analysis, comprising:

[0010] Record the bird species in the surrounding area and the movement data of different birds in advance; when an early warning is needed, identify the bird species through detection equipment and read the movement data of the corresponding bird;

[0011] According to the corresponding bird's motion data, the reachable set of the bird's flight state is modeled;

[0012] The reachable set model is linearized and solved to obtain the reachable set of the bird's flight state within time r;

[0013] The Reich model of the aircraft is established, and the reachable set of the bird's flight status within a certain period of time is intersected with the Reich model of the aircraft to obtain the bird strike warning result.

[0014] In some embodiments, establishing the aircraft Reich model specifically includes:

[0015] With the aircraft as the center, a cuboid area with dimensions of λx, λy, λz is virtualized through the length, wingspan, and height of the aircraft as the aircraft collision layer;

[0016] With the plane as the center, make a cuboid with a length, width, and height of Sx, Sy, and Sz respectively, as the plane adjacent layer;

[0017] Assume that the position of the aircraft at time r is (x, y, z), the collision layer of the aircraft is λ(x, y, z), and the adjacent layer of the aircraft is S(x, y, z).

[0018] In some embodiments, the step of obtaining the bird strike warning result by intersecting the reachable set of the bird flight status within a certain period of time with the Reich model of the aircraft specifically includes:

[0019] Assuming that the aircraft can avoid the bird risk by driving away or avoiding it within time r, the reachable set R[0,r] of birds at time r is the bird collision layer, and the reachable set R[0,2r] at time 2r is the bird proximity layer;

[0020] Calculate R[0,r]∩λ(x,y,z) to get whether the bird collision layer is within the aircraft collision layer; calculate R[0,r]∩S(x,y,z) to get whether the bird collision layer is within the aircraft proximity layer; calculate R[0,2r]∩λ(x,y,z) to get whether the bird proximity layer is within the aircraft collision layer; calculate R[0,2r]∩S(x,y,z) to get whether the bird proximity layer is within the aircraft proximity layer;

[0021] If the bird proximity layer is outside the aircraft proximity layer, it is judged to be safe; if the bird proximity layer is inside the aircraft proximity layer and the bird collision layer is outside the aircraft proximity layer, it is judged to be a level one risk; if the bird proximity layer is inside the aircraft proximity layer and the bird collision layer is inside the aircraft proximity layer, it is judged to be a level two risk; if the bird proximity layer is inside the aircraft collision layer and the bird collision layer is inside the aircraft proximity layer, it is judged to be a level three risk; if the bird collision layer is inside the aircraft collision layer, it is judged to be a dangerous approach.

[0022] In some embodiments, the modeling of the reachable set of the bird's flight state based on the corresponding bird's motion data specifically includes:

[0023] The bird flight system is a nonlinear system, which can be expressed as: Among them, t is time, x is the state variable of the bird, u is the flight input of the bird, and v is the external interference to the bird;

[0024] Let x(t)∈X, u(t)∈U(t),v(t)∈V, X, U(t), V are all convex and compact sets, u(t)+v(t)∈U(t);

[0025] The reachable set of the bird's flight state is defined as: R[υ] = R(υ, t0, X0); this formula represents the set of states that can be reached at time v in a system with X0 as the initial state and t0 as the initial moment;

[0026] Assume that the support function of the reachable set is: ρ(l|R[υ])=max{<l,x> |x∈R[υ],l∈R[υ]}, l,x are both vectors.

[0027] In some embodiments, the linearizing the reachable set model specifically includes:

[0028] The bird flight system is linearized, and the linearized system is:

[0029] x(t)∈X, u(t)∈U(t),v(t)∈V;

[0030] in,

[0031] Combination The support function ρ(l|R[υ]) of the reachable set can be expressed as:

[0032]

[0033] Where l∈R[υ], s∈[0,υ]; R[υ] is the set of states that can be reached from the initial time 0 at time t=υ; Φ(t,s) is the system The transfer matrix satisfies And Φ(s,s)=I;

[0034] Assume that the reachable set is an ellipsoid, let c X ,M X is the center and boundary of the set, then x∈X=E(c X ,M X );

[0035]

[0036] The support function can be expressed as<l,x> ≤ <l,c X >+ <l,M X l> 1 / 2 ;

[0037] The support function of the reachable set R[υ] can be further expressed as the initial set, control set, and interference set using the center and shape matrices:

[0038]

[0039] Among them, c x0 is the center of the initial set, M x0 is the boundary of the initial set; U is the flight input set of birds, and V is the interference set of the outside world on birds.

[0040] In some embodiments, the linearizing and solving the reachable set model to obtain the reachable set of the bird's flight state within time r specifically includes:

[0041] The reachable set of birds in time r is represented by the sum of homogeneous solutions and special solutions:

[0042]

[0043] in is a homogeneous solution of a reachable set, is a particular solution of a reachable set.

[0044] In some embodiments, the motion data includes one or more of a maximum flight speed, a turning radius, and a maximum flight altitude; and the detection equipment includes one or more of a radar device and an optoelectronic device.

[0045] In a second aspect, the present invention further provides a bird strike warning device based on reachability analysis, the device comprising:

[0046] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the processor to execute the bird strike warning method based on reachability analysis described in the first aspect.

[0047] In a third aspect, the present invention further provides a bird strike warning system based on reachability analysis, which applies the bird strike warning method based on reachability analysis as described in the first aspect, and the system includes a data entry and reading module, a reachable set modeling module, a linearization solution module, and a bird strike warning module, wherein:

[0048] The data entry and reading module is used to enter the bird species around the airport and the movement data of different birds in advance; when an early warning is needed, the bird species are identified through the detection equipment and the movement data of the corresponding birds are read;

[0049] The reachable set modeling module is used to perform reachable set modeling of the bird's flight state according to the corresponding bird's motion data;

[0050] The linearization solution module is used to linearize and solve the reachable set model to obtain the reachable set of the bird's flight state within time r;

[0051] The bird strike warning module is used to establish the Reich model of the aircraft, and to obtain the intersection of the reachable set of the bird flight state within a certain period of time and the Reich model of the aircraft to obtain the bird strike warning result.

[0052] In a fourth aspect, the present invention further provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, which are executed by one or more processors to complete the bird strike warning method based on reachability analysis described in the first aspect.

[0053] Compared with the prior art, the present invention provides a bird strike warning method, device and system based on reachability analysis, which has the beneficial effects of analyzing the collision risk between birds and aircraft by constructing a reachable set, taking into account the movement characteristics of birds, and improving the accuracy of judging the bird strike risk. Specifically, the present invention analyzes the reachability of different types of birds and combines it with the aircraft Reich model to perform bird strike risk analysis, which can effectively calculate the airport bird collision risk and provide early warning; by analyzing different birds, early warning can be effectively provided for the flight characteristics of different birds, with higher accuracy and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required to be used in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0055] Figure 1 A flow chart of a bird strike warning method based on reachability analysis provided in Example 1 of the present invention;

[0056] Figure 2 A schematic diagram of the Reich model of an aircraft provided in Example 1 of the present invention;

[0057] Figure 3 A flowchart of early warning judgment provided in Example 1 of the present invention;

[0058] Figure 4 A safety schematic diagram provided for Example 1 of the present invention;

[0059] Figure 5 A schematic diagram of the first-level risks provided in Example 1 of the present invention;

[0060] Figure 6 A secondary risk diagram provided in Example 1 of the present invention;

[0061] Figure 7 A schematic diagram of the three-level risks provided in Example 1 of the present invention;

[0062] Figure 8 A schematic diagram of a dangerous approach provided in Example 1 of the present invention;

[0063] Fig. 9 A schematic diagram of a module of a bird strike warning system based on reachability analysis provided in Example 1 of the present invention;

[0064] Fig.10 A schematic structural diagram of a bird strike warning device based on reachability analysis provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0065] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, without departing from the concept of the present invention, several variations and improvements can also be made. These all belong to the protection scope of the present invention. It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, all within the protection scope of this application. In addition, although the functional module division may be performed in the device schematic diagram, and the logical order may be shown in the flow chart, in some cases, it may be different from the module division in the device, or the steps shown or described in the order in the flow chart may be performed.

[0066] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification and in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. In addition, the technical features involved in each embodiment of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0067] Unless the context requires otherwise, throughout the specification and claims, the term "including" is to be interpreted as open inclusion, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" and the like are intended to indicate that specific features, structures, materials or characteristics associated with the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representation of the above terms does not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials or characteristics may be included in any one or more embodiments or examples in any appropriate manner, that is, although they may be carried in the embodiments or examples of the above terms due to reasons such as the order and position of appearance, it is not limited to that they can be carried in combination by one embodiment or example.

[0068] It should be noted that the current technologies for bird strike warning at home and abroad are mainly discussed from the following aspects: (1) Identification of birds by bird detection radar, optoelectronic infrared and other equipment; (2) Establishment of a bird strike risk system based on expert experience and statistical data; (3) Ecologically based bird strike risk prevention. Existing patents mostly involve the integration of overall bird repellent solutions, and the warning methods used are mostly based on straight-line distance judgment. Existing papers mostly involve algorithms for bird detection and bird strike risk prevention at the system level. Although these aspects can achieve early warning of bird strikes to a certain extent, there are also some problems and they are not fully considered. Based on this, the accuracy of bird strike risk judgment needs to be improved.

[0069] The present invention establishes a reachable set, combines the motion parameters of birds, performs reachability analysis on bird motion, and applies the Reich model to calculate the bird strike risk. Furthermore, a bird strike warning method based on reachability analysis is proposed, which can effectively improve the accuracy of airport bird strike warning.

[0070] In order to make the purpose, technical scheme and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0071] Embodiment 1:

[0072] like Figure 1 As shown, an embodiment of the present invention provides a bird strike warning method based on reachability analysis, and the method includes the following steps.

[0073] Step 101: Record the bird species in the surrounding area and the motion data of different birds in advance. The motion data includes one or more of the maximum flight speed, turning radius, and maximum flight altitude. This step records the bird data in advance. For example, the birds appearing around the airport are recorded in the bird strike warning system database, and the motion data such as the maximum flight speed, turning radius, and maximum flight altitude of the birds are recorded.

[0074] Step 102: When an early warning is required, the bird species are identified through detection equipment, and the motion data of the corresponding bird is read. The detection equipment includes one or more of radar equipment and optoelectronic equipment. This step performs bird species analysis, for example, bird species identification is performed by collecting bird data through radar and optoelectronic equipment, and motion data of the identified bird is read.

[0075] Step 103: Model the reachable set of the bird's flight state based on the corresponding bird's motion data. This step models the probability reachable set of the bird's flight state, models the probability reachable set of the bird's flight, constrains the reachable set model through the bird's motion data, and transforms the probability of bird flight into a convex optimization problem.

[0076] Step 104: linearize the reachable set model and solve it to obtain the reachable set of the bird's flight state within time r. This step performs a probability reachability analysis of bird flight. In view of the uncertainty of bird flight and its susceptibility to external disturbances, the bird's reachable set model is linearized and a bird state parameter equation is established. By solving it, the reachable set of the bird's flight probability within time r can be obtained.

[0077] Step 105: Establish an aircraft Reich model, find the intersection of the reachable set of the bird's flight status within a certain period of time and the aircraft's Reich model, and obtain the bird strike warning result. This step solves the bird strike conflict, solves the conflict between the reachable set model and the aircraft Reich model, and obtains the risk of a bird strike event.

[0078] refer to Figure 2 As shown, in one embodiment, the establishment of the Reich model of the aircraft specifically includes: taking the aircraft as the center, a cuboid area with dimensions of λx, λy, and λz is virtualized through the length, wingspan, and height of the aircraft as the aircraft collision layer. The size of the aircraft collision layer is larger than the size of the aircraft, for example, twice the size of the aircraft. Taking the aircraft as the center, a cuboid with length, width, and height of Sx, Sy, and Sz is made as the aircraft adjacent layer; Sx, Sy, and Sz can be determined according to longitudinal, lateral, and vertical spacing standards. Assume that the position of the aircraft at time r is (x, y, z), at this time the aircraft collision layer is λ(x, y, z), and the aircraft adjacent layer is S(x, y, z).

[0079] In some embodiments, the method of obtaining the bird strike warning result by finding the intersection of the reachable set of the bird flight status within a certain period of time and the Reich model of the aircraft specifically includes: assuming that the aircraft can avoid the bird risk by driving away or avoiding within time r, taking the reachable set R[0,r] of the bird at time r as the bird collision layer, and the reachable set R[0,2r] at time 2r as the bird proximity layer; calculating R[0,r]∩λ(x,y,z) to obtain whether the bird collision layer is within the aircraft collision layer; calculating R[0,r]∩S(x,y,z) to obtain whether the bird collision layer is within the aircraft proximity layer; calculating R[0,2r]∩λ(x,y,z) to obtain whether the bird proximity layer is within the aircraft collision layer; calculating R[0,2r]∩S(x,y,z) to obtain whether the bird proximity layer is within the aircraft collision layer; calculating R[0,2r]∩S(x,y,z) to obtain whether the bird proximity layer is within the aircraft proximity layer; the bird strike warning result can be obtained according to the calculation results.

[0080] refer to Figure 3 As shown in the figure, the early warning judgment process can be understood as the following steps:

[0081] Step 201: If the bird proximity layer is outside the aircraft proximity layer, it is determined to be safe. Figure 4 As shown, the risk criteria at this time are: R[0,2r] is outside the aircraft adjacent layer; the risk level is safe; the warning color is: none; the impact on the aircraft is: no impact.

[0082] Step 202: If the bird proximity layer is within the aircraft proximity layer and the bird collision layer is outside the aircraft proximity layer, it is determined to be a level 1 risk. Figure 5 As shown, the risk criteria at this time are: R[0,2r] is within the aircraft proximity layer, and R[0,r] is outside the aircraft proximity layer; the risk level is level one risk; the warning color is light yellow; the impact on the aircraft is: there may be a risk of bird strike, and a warning is required.

[0083] Step 203: If the bird proximity layer is within the aircraft proximity layer, and the bird collision layer is within the aircraft proximity layer, it is determined to be a level 2 risk. Figure 6 As shown, the risk criteria at this time are: R[0,2r] is in the aircraft proximity layer, and R[0,r] is in the aircraft proximity layer; the risk level is level 2 risk; the warning color is yellow; the impact on the aircraft is: the risk of bird strikes increases and needs to be driven away in time.

[0084] Step 204: If the bird proximity layer is within the aircraft collision layer, and the bird collision layer is within the aircraft proximity layer, it is determined to be a level 3 risk. Figure 7 As shown, the risk criteria at this time are: R[0,2r] is in the aircraft collision layer, and R[0,r] is in the aircraft adjacent layer; the risk level is level three risk; the warning color is: orange; the impact on the aircraft is: there is a high risk of bird strike, and emergency avoidance is required.

[0085] Step 205: If the bird collision layer is within the aircraft collision layer, it is determined to be dangerously close. Figure 8 As shown, the risk criteria at this time are: R[0,r] is within the aircraft collision layer; the risk level is dangerously close; the warning color is: red; the impact on the aircraft is: a bird strike is about to occur or has occurred.

[0086] Based on the above method, this embodiment also provides a bird strike warning system based on reachability analysis. Fig. 9As shown, the system includes a data entry and reading module, a reachable set modeling module, a linearization solution module and a bird strike warning module, wherein: the data entry and reading module is used to enter the bird species around the airport and the motion data of different birds in advance; when an early warning is required, the bird species is identified by the detection equipment, and the motion data of the corresponding bird is read; the reachable set modeling module is used to model the reachable set of the bird flight state according to the motion data of the corresponding bird; the linearization solution module is used to linearize the reachable set model and solve it to obtain the reachable set of the bird flight state within time r; the bird strike warning module is used to establish the Reich model of the aircraft, and the reachable set of the bird flight state within a certain period of time is intersected with the Reich model of the aircraft to obtain the bird strike warning result. The specific implementation process of each module can refer to the above method steps, which will not be repeated here.

[0087] In summary, the embodiments of the present invention provide a bird strike warning method and system based on accessibility analysis, which analyzes the collision risk between birds and aircraft by constructing a reachable set, takes into account the movement characteristics of birds, and improves the accuracy of judging the bird strike risk. Specifically, the embodiments of the present invention analyze the accessibility of different types of birds and combine it with the aircraft Reich model to perform bird strike risk analysis, which can effectively calculate the airport bird collision risk and provide early warning; by analyzing different birds, early warning can be effectively provided based on the flight characteristics of different birds, with higher accuracy and safety.

[0088] Embodiment 2:

[0089] Based on the bird strike warning method based on reachability analysis provided in the above-mentioned embodiment 1, embodiment 2 of the present invention provides a more detailed example to describe the solution.

[0090] First, preliminary bird data entry was performed: in the airport clear area and the observation area with a radius of 2km centered on the airport clear area, bird observation was carried out every day using radar, photoelectric, manual and other detection methods to obtain daily bird information in the area and store at least 90 days of bird information. The bird information of the last 90 days was counted to obtain the bird species in the airport clear area within 90 days and the corresponding maximum flight speed, turning radius, maximum flight altitude and other movement data.

[0091] When an early warning is required, bird species analysis is performed: bird species are identified through radar and photoelectric data, and the identified birds are compared with the stored data to extract the corresponding movement data.

[0092] Next, we model the probability reachable set of bird flight. Bird flight is easily affected by external environmental disturbances and the uncertainty of the bird's flight purpose, so its flight state shows a highly nonlinear characteristic. Therefore, birds are a nonlinear system.

[0093] Since the bird flight system is a nonlinear system, it can be expressed as follows: Among them, t is time, x is the state variable of the bird, u is the flight input of the bird, and v is the interference of the outside world on the bird. The flight input u of the bird is determined by the motion data of common local birds, such as: maximum flight speed, turning radius, climb rate, maximum flight acceleration and maximum flight altitude, etc.; the interference of the outside world is mainly generated by the protected aircraft. The aircraft will produce noise to scare the birds, and the birds will deviate from the current position of the aircraft due to being scared. At this time, the interference of the bird's movement is determined by the degree of its own fright, and the value of v is also determined by the bird's motion data, such as: maximum flight speed, turning radius, climb rate and maximum flight altitude, etc. The motion data of the bird is also the nonlinear motion characteristics of the bird.

[0094] Let x(t)∈X, u(t)∈U(t),v(t)∈V, X, U(t), V are all convex and compact sets. The sum of the bird's flight input u and the external interference v will not exceed the bird's inherent motion data, so u(t)+v(t)∈U(t);

[0095] The reachable set of the bird's flight state is defined as: R[υ] = R(υ, t0, X0); this formula represents the set of states that can be reached at time v for a system with X0 as the initial state and t0 as the initial moment. We can use the reachable set to reflect the locations that birds can reach at different times, and thus derive the range of interference caused by birds in flight conflicts.

[0096] Assume that the support function of the reachable set is: ρ(l|R[υ])=max{<l,x> |x∈R[υ],l∈R[υ]}, l,x are both vectors.

[0097] Next, the bird flight probability accessibility analysis was conducted.

[0098] Because the flying state of birds is easily affected by external interference and the flying method of birds is flexible, birds may fly in any direction. Birds may exhibit various flight modes such as straight line uniform speed flight, straight line accelerated flight, decelerated flight, circular flight, U-turn flight, landing, climbing, etc., and the horizontal acceleration is greater than the vertical acceleration.

[0099] According to the flight pattern of birds, this embodiment constructs an ellipsoid reachable set to represent the reachable range of birds. The calculation complexity of the ellipsoid is small, the accuracy is high, and the conservatism is small.

[0100] If the ellipsoid model is used to analyze the nonlinear system, the system needs to be linearized; that is, the bird flight system is linearized, and the linearized system is:

[0101] x(t)∈X, u(t)∈U(t),v(t)∈V;

[0102] in,

[0103] Combination The support function ρ(l|R[υ]) of the reachable set can be expressed as:

[0104]

[0105] Where l∈R[υ], s∈[0,υ]; R[υ] is the set of states that can be reached from the initial time 0 at time t=υ; Φ(t,s) is the system The transfer matrix satisfies And Φ(s,s)=I;

[0106] Assume that the reachable set is an ellipsoid, let c x ,M x is the center and boundary of the set, then x∈X=E(c x ,M x );

[0107]

[0108] The support function can be expressed as<l,x> ≤ <l,c X >+ <l,M X l> 1 / 2 ;

[0109] The support function of the reachable set R[υ] can be further expressed as the initial set, control set, and interference set using center and shape matrices:

[0110]

[0111] Where l∈R[υ], s∈[0,υ]; R[υ] is the set of states that can be reached from the initial time 0 at time t=υ; Φ(t,s) is the system The transfer matrix satisfies And Φ(s,s)=I;c x0 is the center of the initial set, M x0 is the boundary of the initial set; U is the flight input set of birds, and V is the interference set of the outside world on birds.

[0112] Finally, the reachable set of birds in time r is represented by the sum of homogeneous solutions and special solutions:

[0113]

[0114] in is a homogeneous solution of a reachable set, is a special solution of the reachable set. The specific solution process is the existing technology and will not be repeated here.

[0115] The conflict between the reachable set model and the aircraft Reich model is solved to determine whether birds may pose a threat to the aircraft within time r. The Reich model is an internationally used aircraft collision model.

[0116] The basic principle of the Reich model: Let the length, wingspan and height of the aircraft in the route be λx, λy and λz respectively, take aircraft A as the center, and virtualize a cuboid area with 2λx, 2λy and 2λz in the longitudinal, transverse and vertical directions respectively as the aircraft collision layer; let Sx, Sy and Sz be the longitudinal, lateral and vertical interval standards respectively, and make a cuboid with a length, width and height of 2Sx, 2Sy and 2Sz respectively with aircraft A as the center, which is the aircraft adjacent layer. Take aircraft B as a particle. When aircraft B enters the adjacent layer, there is a collision risk. When aircraft B enters the collision layer, the two will collide.

[0117] When the dangerous target is a bird, the interval standard and collision distance between aircraft cannot be applied. The bird strike risk can be calculated by constructing collision layers and adjacent layers for aircraft and birds respectively. The aircraft collision layer is a cuboid area centered on aircraft A, using the length, wingspan, and height of the aircraft as the aircraft collision layer. A cuboid with a length, width, and height of Sx, Sy, and Sz, respectively, is constructed with aircraft A as the center, which is the aircraft adjacent layer.

[0118] In order to analyze the collision risk between birds and aircraft, the collision layer and proximity layer of birds are constructed. Assuming that the aircraft can avoid the risk of birds by driving away or avoiding them within time r, the reachable set R[0,r] of bird B at time r is taken as the bird collision layer. When the bird collision layer is inside the aircraft collision layer, it means that a dangerous approach has occurred and there is a risk of bird strike. The reachable set R[0,2r] at time 2r is taken as the bird proximity layer. When the bird proximity layer is outside the aircraft proximity layer, there is no collision risk between aircraft A and bird B; when the bird proximity layer is close to the aircraft proximity layer, the risk of bird strike will increase.

[0119] Assume that the position of the aircraft at time r is (x, y, z), the collision layer of the aircraft is λ(x, y, z), and the adjacent layer of the aircraft is S(x, y, z). Specifically, calculate R[0,r]∩λ(x,y,z) to obtain whether the bird collision layer is within the aircraft collision layer; calculate R[0,r]∩S(x,y,z) to obtain whether the bird collision layer is within the aircraft adjacent layer; calculate R[0,2r]∩λ(x,y,z) to obtain whether the bird adjacent layer is within the aircraft collision layer; calculate R[0,2r]∩S(x,y,z) to obtain whether the bird adjacent layer is within the aircraft adjacent layer; if the bird adjacent layer is outside the aircraft adjacent layer, it is judged to be safe; if the bird adjacent layer is within the aircraft adjacent layer and the bird collision layer is outside the aircraft adjacent layer, it is judged to be a first-level risk; if the bird adjacent layer is within the aircraft adjacent layer and the bird collision layer is within the aircraft adjacent layer, it is judged to be a second-level risk; if the bird adjacent layer is within the aircraft collision layer and the bird collision layer is within the aircraft adjacent layer, it is judged to be a third-level risk; if the bird collision layer is within the aircraft collision layer, it is judged to be dangerous approach.

[0120] In summary, the embodiment of the present invention analyzes the collision risk between birds and aircraft by constructing a reachable set, taking into account the movement characteristics of birds, and improving the accuracy of judging the risk of bird strikes. Specifically, the embodiment of the present invention analyzes the reachability of different types of birds and combines it with the aircraft Reich model to perform bird strike risk analysis, which can effectively calculate the risk of bird collision at the airport and provide early warning; by analyzing different birds, early warning can be effectively provided based on the flight characteristics of different birds, with higher accuracy and safety.

[0121] In addition, for the special scenario of bird strikes, this embodiment uses the ellipsoidal reachable set model to analyze the probability reachability of bird flight, and also fine-tunes the Reich model, using the reachable set R[0,r] as the bird collision layer and R[0,2r] as the bird proximity layer. The risk calculation is performed using a geometric calculation intersection method, and the calculation interaction between the Reich model and the reachable set is optimized and innovated for the special scenario of bird strikes.

[0122] Embodiment 3:

[0123] Based on the bird strike warning method based on reachability analysis provided in the above embodiment 1, the present invention also provides a bird strike warning device based on reachability analysis that can be used to implement the above method and system, such as Fig.10 , which is a schematic diagram of the device architecture of an embodiment of the present invention. The bird strike warning device based on reachability analysis of this embodiment includes one or more processors 21 and a memory 22. Fig.10 A processor 21 is taken as an example.

[0124] The processor 21 and the memory 22 may be connected via a bus or other means. Fig.10The example of connecting through bus is taken in the following.

[0125] The memory 22, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as the bird strike warning method based on reachability analysis in Example 1. The processor 21 executes various functional applications and data processing of the bird strike warning device based on reachability analysis by running the non-volatile software programs, instructions and modules stored in the memory 22, that is, implements the bird strike warning method based on reachability analysis in Example 1.

[0126] The memory 22 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 22 may optionally include a memory remotely arranged relative to the processor 21, and these remote memories may be connected to the processor 21 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0127] The program instructions / modules are stored in the memory 22. When executed by one or more processors 21, the bird strike warning method based on reachability analysis in the above embodiment 1 is executed, for example, the above described Figure 1 The steps shown.

[0128] The above-mentioned product can execute the method provided in the embodiment of the present application, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not fully described in this embodiment, please refer to the method provided in the embodiment of the present application.

[0129] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0130] Through the description of the above implementation methods, ordinary technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bird strike warning method based on reachability analysis, characterized in that: include: Record the surrounding bird species and movement data of different birds in advance; When an early warning is needed, the detection equipment is used to identify the bird species and read the corresponding bird's movement data; According to the corresponding bird's motion data, the reachable set of the bird's flight state is modeled; The reachable set model is linearized and solved to obtain the reachable set of the bird's flight state within time r; The Reich model of the aircraft is established, and the reachable set of the bird's flight status within a certain period of time is intersected with the Reich model of the aircraft to obtain the bird strike warning result.

2. The bird strike warning method based on reachability analysis according to claim 1 is characterized in that: The establishment of the aircraft Reich model specifically includes: With the aircraft as the center, a cuboid area with dimensions of λx, λy, λz is virtualized through the length, wingspan, and height of the aircraft as the aircraft collision layer; With the plane as the center, make a cuboid with a length, width, and height of Sx, Sy, and Sz respectively, as the plane adjacent layer; Assume that the position of the aircraft at time r is (x, y, z), the collision layer of the aircraft is λ(x, y, z), and the adjacent layer of the aircraft is S(x, y, z).

3. The bird strike warning method based on reachability analysis according to claim 2 is characterized in that: The method of obtaining the bird strike warning result by finding the intersection of the reachable set of the bird flight state within a certain period of time and the Reich model of the aircraft specifically includes: Assuming that the aircraft can avoid the bird risk by driving away or avoiding it within time r, the reachable set R[0,r] of birds at time r is the bird collision layer, and the reachable set R[0,2r] at time 2r is the bird proximity layer; Calculate R[0,r]∩λ(x,y,z) to get whether the bird collision layer is within the aircraft collision layer; calculate R[0,r]∩S(x,y,z) to get whether the bird collision layer is within the aircraft proximity layer; calculate R[0,2r]∩λ(x,y,z) to get whether the bird proximity layer is within the aircraft collision layer; calculate R[0,2r]∩S(x,y,z) to get whether the bird proximity layer is within the aircraft proximity layer; If the bird proximity layer is outside the aircraft proximity layer, it is judged to be safe; if the bird proximity layer is inside the aircraft proximity layer and the bird collision layer is outside the aircraft proximity layer, it is judged to be a level one risk; if the bird proximity layer is inside the aircraft proximity layer and the bird collision layer is inside the aircraft proximity layer, it is judged to be a level two risk; if the bird proximity layer is inside the aircraft collision layer and the bird collision layer is inside the aircraft proximity layer, it is judged to be a level three risk; if the bird collision layer is inside the aircraft collision layer, it is judged to be a dangerous approach.

4. The bird strike warning method based on reachability analysis according to claim 1 is characterized in that: The method of modeling the reachable set of the flight state of the bird according to the motion data of the corresponding bird specifically includes: The bird flight system is a nonlinear system, which can be expressed as: Among them, t is time, x is the state variable of the bird, u is the flight input of the bird, and v is the external interference to the bird; set up X, U(t), and V are all convex and compact sets, u(t)+v(t)∈U(t); The reachable set of the bird's flight state is defined as: R[υ] = R(υ, t0, X0); this formula represents the set of states that can be reached at time v in a system with X0 as the initial state and t0 as the initial moment; Assume that the support function of the reachable set is: ρ(l|R[υ])=max{<l,x> |x∈R[υ],l∈R[υ]}, l,x are both vectors.

5. The bird strike warning method based on reachability analysis according to claim 4 is characterized in that: The linearization of the reachable set model specifically includes: The bird flight system is linearized, and the linearized system is: in, Combination The support function ρ(l|R[υ]) of the reachable set can be expressed as: Among them, l∈R[υ], s∈[t0,υ]; R[υ] is the set of states that can be reached from the initial time 0 at time t=υ; Φ(t,s) is the system The transfer matrix satisfies And Φ(s,s)=I; Assume that the reachable set is an ellipsoid, let c X ,M X is the center and boundary of the set, then x∈X=E(c X ,M X ); The support function can be expressed as<l,x> ≤ <l,c X >+ <l,M X l> 1 / 2 ; The support function of the reachable set R[υ] can be further expressed as the initial set, control set, and interference set using the center and shape matrices: Among them, c x0 is the center of the initial set, M x0 is the boundary of the initial set; U is the flight input set of birds, and V is the interference set of the outside world on birds.

6. The bird strike warning method based on reachability analysis according to claim 5 is characterized in that: The reachable set model is linearized and then solved to obtain the reachable set of the bird's flight state within time r, which specifically includes: The reachable set of birds in time r is represented by the sum of homogeneous solutions and special solutions: in is a homogeneous solution of a reachable set, is a particular solution of a reachable set.

7. The bird strike warning method based on reachability analysis according to any one of claims 1 to 6, characterized in that: The motion data includes one or more of a maximum flight speed, a turning radius, and a maximum flight altitude; and the detection equipment includes one or more of a radar device and an optoelectronic device.

8. A bird strike warning device based on reachability analysis, characterized in that: The device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the processor to execute the bird strike warning method based on accessibility analysis as described in any one of claims 1-7.

9. A bird strike warning system based on reachability analysis, using the bird strike warning method based on reachability analysis as described in any one of claims 1 to 7, characterized in that: The system includes a data entry and reading module, a reachable set modeling module, a linearization solution module and a bird strike warning module, wherein: The data entry and reading module is used to enter the bird species around the airport and the movement data of different birds in advance; when an early warning is needed, the bird species are identified through the detection equipment and the movement data of the corresponding birds are read; The reachable set modeling module is used to perform reachable set modeling of the bird's flight state according to the corresponding bird's motion data; The linearization solution module is used to linearize and solve the reachable set model to obtain the reachable set of the bird's flight state within time r; The bird strike warning module is used to establish the Reich model of the aircraft, and to obtain the intersection of the reachable set of the bird flight state within a certain period of time and the Reich model of the aircraft to obtain the bird strike warning result.

10. A non-volatile computer storage medium, characterized in that: The computer storage medium stores computer executable instructions, which are executed by one or more processors to complete the bird strike warning method based on reachability analysis as described in any one of claims 1-7.

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