A bird strike early warning method, device and system based on reachability analysis

Abstract

The present application relates to a kind of bird strike early warning method, device and system based on reachability analysis.The method part mainly includes: prior to entering the bird species of surrounding and the motion data of different birds;When needing early warning, bird species is identified by detection equipment, and the motion data of corresponding bird is read;According to the motion data of corresponding bird, the reachable set modeling of bird flight state is carried out;After linearization to reachable set model, the reachable set of bird flight state in time r is obtained by solving;Reich model is established, the intersection of the reachable set of bird flight state in a certain time and the Reich model of aircraft is obtained, and bird strike early warning result is obtained.The present application can effectively calculate airport bird collision risk and early warning by analyzing the reachability of different kinds of birds and the Reich model of aircraft to carry out bird strike risk analysis.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of airport bird repelling technology, in particular to a bird strike early warning method, device and system based on reachability analysis. BACKGROUND

[0002] In the past 20 years, China's aviation industry has developed rapidly, and flight capacity has been increasing. Traditional bird detection mainly relies on manual observation, which requires a large amount of manpower and is greatly affected by weather visibility. In recent years, airports have built radar, photoelectric equipment and other devices to detect birds, and analyze bird data to mark key areas where birds appear, greatly reducing the burden of manual observation.

[0003] However, due to the different flight patterns of different types of birds in different seasons, it is necessary to warn the bird strike risk caused by bird flight. For this, the prior art has not yet proposed a good solution.

[0004] For example, the prior art "Military Airport Bird Damage Early Warning and Prevention Integrated Platform" (Patent No. CN201810816794.7) provides a military airport bird damage early warning and prevention integrated platform, which includes radar settings, collection device settings, analysis and identification devices, communication devices, bird repelling devices, terminals and power supplies. The unmanned aerial vehicle platform carries the equipment to improve the discovery rate and timeliness of bird early warning. This patent mainly uses an aerial hardware platform to improve the efficiency of bird early warning, but does not effectively analyze the collision risk of different types of birds with aircraft.

[0005] For another example, "Bird Radar Comprehensive Early Warning and Evaluation Method" (Patent No. CN202310067711.X) obtains real-time aircraft tracks and bird tracks through radar, establishes a real-time early warning space Ω according to the aircraft tracks, and then judges whether the bird tracks fall into the real-time early warning space Ω. For the case where the bird tracks fall into the real-time early warning space Ω, bird strike warning is performed, and for the case where the bird tracks do not fall into the real-time early warning space Ω, it is further judged whether the threat coefficient exceeds the preset threshold value, thereby realizing two-level warning. This patent also does not analyze the motion of the flight characteristics of birds, and has high requirements for the detection accuracy and real-time performance of the radar.

[0006] Therefore, how to overcome the defects of the prior art, how to analyze the motion of the flight characteristics of different types of birds, and how to warn the bird strike risk caused by the flight of different types of birds have become important technical problems to be solved in the industry. SUMMARY

[0007] In view of defects in the prior art or improvement needs: how to analyze the motion of different bird species according to the flight characteristics, and how to give early warning of the bird strike risk caused by the flight of different bird species. The present application provides a bird strike early warning method, device and system based on reachability analysis, which constructs a bird flight state reachable set model, analyzes the reachability of birds entering the airport clearance area, and thus gives early warning. The present application analyzes the reachability of different bird species and the Reich model of the aircraft to analyze the bird strike risk, which can effectively calculate the bird collision risk of the airport and give early warning. By analyzing different birds, the flight characteristics of different birds can be effectively warned in advance, and the safety is higher.

[0008] The present application adopts the following technical solutions:

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

[0010] The bird species and the motion data of different birds in the surrounding area are recorded in advance; when early warning is needed, the bird species is identified by a detection device, and the motion data of the corresponding bird is read;

[0011] According to the motion data of the corresponding bird, a reachable set model of the bird flight state is established;

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

[0013] The Reich model of the aircraft is established, and the intersection of the reachable set of the bird flight state within a certain time and the Reich model of the aircraft is obtained to obtain the bird strike early warning result.

[0014] In some embodiments, the establishment of the Reich model of the aircraft specifically comprises:

[0015] Taking the aircraft as the center, a cuboid region with dimensions λx, λy and λz is virtually constructed by the length, wingspan and height of the aircraft, as the aircraft collision layer;

[0016] Taking the aircraft as the center, a cuboid with length Sx, width Sy and height Sz is constructed, as the aircraft proximity layer;

[0017] Let the position of the aircraft at time r be (x, y, z), the aircraft collision layer at this time be λ(x, y, z), and the aircraft proximity layer be S(x, y, z).

[0018] In some embodiments, the intersection of the reachable set of the bird flight state within a certain time and the Reich model of the aircraft to obtain the bird strike early warning result specifically comprises:

[0019] Assume that the aircraft can avoid the bird risk in a time r in a way of driving away or avoiding, the reachable set of the bird at time r is the bird collision layer, the reachable set at time 2r is the bird proximity layer

[0020] Calculate whether the bird collision layer is in the aircraft collision layer; calculate whether the bird collision layer is in the aircraft proximity layer; calculate whether the bird proximity layer is in the aircraft collision layer; calculate whether the bird proximity layer is in 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 in the aircraft proximity layer, the bird collision layer is outside the aircraft proximity layer, it is judged to be a first-level risk; if the bird proximity layer is in the aircraft proximity layer, the bird collision layer is in the aircraft proximity layer, it is judged to be a second-level risk; if the bird proximity layer is in the aircraft collision layer, the bird collision layer is in the aircraft proximity layer, it is judged to be a third-level risk; if the bird collision layer is in the aircraft collision layer, it is judged to be a dangerous approach.

[0022] In some embodiments, the reachable set modeling of the bird flight state according to the motion data of the corresponding bird specifically includes:

[0023] The bird flight system is a nonlinear system, which is represented as: ; wherein t is time, x is the state variable of the bird, u is the flight input of the bird, and v is the disturbance of the bird by the outside world

[0024] Let , , , be convex sets, compact sets ;

[0025] The reachable set of the bird flight state is defined as: ; this formula indicates that the set of states that can be reached at time v by the system with X0 as the initial state and t0 as the initial time

[0026] Let the support function of the reachable set be: , be vectors

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

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

[0029] ; ;

[0030] in, ; ;

[0031] Combination Support functions for reachable sets Represented as:

[0032] ;

[0033] in, , ; In time At time 0, the set of states that can be reached. It is a system The transition matrix that satisfies ,and ;

[0034] Assume the reachable set is an ellipsoid, let Let be the center and boundary of the set, then ;

[0035] ;

[0036] The support function can then be expressed as ;

[0037] Accessible Set The support function can be further represented by the center and shape matrices of the initial set, control set, and disturbance set:

[0038] ;

[0039] in, The center of the initial set, The boundary of the initial set; For the set of inputs related to bird flight, This is a collection of external disturbances to birds.

[0040] In some embodiments, solving the linearized reachability set model to obtain the reachability set of the bird's flight state in time r specifically includes:

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

[0042] ;

[0043] in It is a homogeneous solution to the reachable set. It is a special solution of the 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 height; and the detection device includes one or more of a radar device and a photoelectric device.

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

[0046] at least one processor; and a memory connected with the at least one processor in communication; 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 early warning method based on reachability analysis of the first aspect.

[0047] In a third aspect, the present application further provides a bird strike early warning system based on reachability analysis, which applies the bird strike early warning method based on reachability analysis of the first aspect, and the system comprises a data entry and reading module, a reachable set modeling module, a linearization solving module, and a bird strike early warning module, wherein:

[0048] 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 early warning is needed, the bird species is identified by a detection device, and the motion data of the corresponding bird is read;

[0049] 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;

[0050] The linearization solving module is used to solve the reachable set model after linearization to obtain the reachable set of the bird flight state within time r;

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

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

[0053] Compared with the prior art, the application provides a bird strike early warning method, device and system based on reachability analysis, which has the beneficial effect that the collision risk of birds and airplanes is analyzed by constructing a reachable set, the movement characteristics of birds are considered, and the judgment accuracy of the bird strike risk is improved. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed to be used in the embodiments of the application will be briefly introduced. Obviously, the drawings described below are only some of the embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0055] Figure 1 A flowchart of a bird strike early warning method based on reachability analysis provided for the embodiment 1 of the application;

[0056] Figure 2 A schematic diagram of an airplane Reich model provided for the embodiment 1 of the application;

[0057] Figure 3 A warning judgment flowchart provided for the embodiment 1 of the application;

[0058] Figure 4 A safety schematic diagram provided for the embodiment 1 of the application;

[0059] Figure 5 A first-level risk schematic diagram provided for the embodiment 1 of the application;

[0060] Figure 6 A second-level risk schematic diagram provided for the embodiment 1 of the application;

[0061] Figure 7 A third-level risk schematic diagram provided for the embodiment 1 of the application;

[0062] Figure 8 A dangerous approach schematic diagram provided for the embodiment 1 of the application;

[0063] Figure 9 A module schematic diagram of a bird strike early warning system based on reachability analysis provided for the embodiment 1 of the application;

[0064] Figure 10 A bird strike early warning device structure schematic diagram based on reachability analysis provided for the embodiment 3 of the application. Detailed Implementation

[0065] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention. It should be noted that, unless otherwise specified, the various features in the embodiments of the present invention can be combined with each other, all within the protection scope of this application. Furthermore, although functional modules may be divided in the device schematic diagram, and a logical order may be shown in the flowchart, in some cases, the steps shown or described may be executed differently from the module division in the device or the order in the flowchart.

[0066] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

[0067] Unless the context otherwise requires, throughout the specification and claims, the term "comprising" is interpreted as openly inclusive, meaning "including, but not limited to." In the description of the specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this disclosure. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics mentioned may be included in any suitable manner in any one or more embodiments or examples; that is, although they may be incorporated into embodiments or examples using the above terms for reasons such as order and position, it does not limit them to be incorporated in combination by a single embodiment or example.

[0068] It should be noted that the current domestic and foreign bird strike early warning technology mainly discusses the following aspects: (1) bird identification by bird radar, photoelectric infrared and other equipment; (2) bird strike risk system establishment according to expert experience and statistical data; (3) bird strike risk prevention based on ecology. The existing patents mainly involve the integration of the overall bird repelling scheme, and the early warning method is mainly through linear distance judgment. The existing papers mainly involve bird detection algorithms and bird strike risk prevention at the system level. These aspects can achieve bird strike warning to some extent, but there are some problems, and the consideration is not comprehensive, and the accuracy of bird strike risk judgment needs to be improved.

[0069] The present application can effectively improve the accuracy of airport bird strike early warning by establishing a reachable set, combining the motion parameters of birds, analyzing the reachability of bird motion, and applying the Reich model to calculate the bird strike risk, and further putting forward a bird strike early warning method based on reachability analysis.

[0070] In order to make the purpose, technical scheme and advantages of the present application more clear and understandable, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and not to limit the present application. The present application will be described in detail below in combination with the drawings and examples.

[0071] Example 1:

[0072] As shown in Figure 1 The present application provides a bird strike early warning method based on reachability analysis, which comprises the following steps.

[0073] Step 101: The bird species around and the motion data of different birds are recorded in advance. The motion data includes one or more of the maximum flight speed, turning radius and maximum flight height. This step performs the early bird data recording, for example, the birds appearing around the airport are recorded in the bird strike early warning system database, and the motion data such as maximum flight speed, turning radius, maximum flight height of the birds are recorded.

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

[0075] Step 103: Reachable set modeling of bird flight state is performed according to the motion data of the corresponding bird. This step performs the probability reachable set modeling of the bird flight, models the reachable set by the bird motion data, and converts the bird flight probability solving into a convex optimization problem.

[0076] Step 104: The reachable set model is linearized and solved to obtain the reachable set of the bird flight state within time r. This step performs the bird flight probability reachability analysis, linearizes the bird reachable set model according to the uncertainty and external disturbance characteristics of the bird flight, establishes the bird state parameter equation, and obtains the flight probability reachable set of the bird within time r by solving.

[0077] Step 105: The bird flight state reachable set within a certain time is intersected with the Reich model of the aircraft to obtain the bird strike warning result. This step performs bird strike conflict solving, and obtains the risk of bird strike event by solving the conflict between the reachable set model and the Reich model of the aircraft.

[0078] Reference Figure 2 As shown in the figure, in one embodiment, the establishing of the Reich model of the aircraft specifically includes: taking the aircraft as the center, virtually making a cuboid region with dimensions λx, λy, and λz through the length, wingspan, and height of the aircraft as the aircraft collision layer, and 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 proximity layer; Sx, Sy, and Sz can be determined according to the longitudinal, lateral, and vertical interval standards. Assuming that the position of the aircraft at time r is (x, y, z), the aircraft collision layer at this time is λ (x, y, z), and the aircraft proximity layer is S (x, y, z).

[0079] In some embodiments, the intersection of the reachable set of the bird flight state within a certain time and the Reich model of the aircraft to obtain the bird strike warning result specifically includes: assuming that the aircraft can avoid the bird risk in the form of driving away or avoiding within time r, calculating is the reachable set of the bird collision layer at time 2r, and calculating is whether the bird collision layer is in the aircraft collision layer; calculating is whether the bird collision layer is in the aircraft proximity layer; calculating is whether the bird collision layer is in the aircraft proximity layer; calculating is whether the bird proximity layer is in the aircraft collision layer; and calculating is whether the bird proximity layer is in the aircraft proximity layer; according to the calculation results, the bird strike warning result can be obtained.

[0080] ReferenceFigure 3 As shown, 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 judged to be safe. Referring to Figure 4 As shown, the risk criterion at this time is: Outside the aircraft proximity layer; the risk level is safe; the early warning color is: none; the impact on the aircraft is: no impact.

[0082] Step 202: 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 first-level risk. Referring to Figure 5 As shown, the risk criterion at this time is: Inside the aircraft proximity layer, Outside the aircraft proximity layer; the risk level is a first-level risk; the early warning color is: light yellow; the impact on the aircraft is: there may be a bird strike risk, which needs to be warned.

[0083] Step 203: 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 second-level risk. Referring to Figure 6 As shown, the risk criterion at this time is: Inside the aircraft proximity layer, Inside the aircraft proximity layer; the risk level is a second-level risk; the early warning color is: yellow; the impact on the aircraft is: the bird strike risk increases, which needs to be driven away in time.

[0084] Step 204: 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 third-level risk. Referring to Figure 7 As shown, the risk criterion at this time is: Inside the aircraft collision layer, Inside the aircraft proximity layer; the risk level is a third-level risk; the early warning color is: orange; the impact on the aircraft is: it is extremely likely to occur a bird strike risk, which needs to be avoided urgently.

[0085] Step 205: If the bird collision layer is inside the aircraft collision layer, it is judged to be a dangerous approach. Referring to Figure 8 As shown, the risk criterion at this time is: Inside the aircraft collision layer; the risk level is a dangerous approach; the early warning color is: red; the impact on the aircraft is: a bird strike is about to occur or has occurred.

[0086] On the basis of the above method, the embodiment also provides a bird strike early warning system based on reachability analysis, referring to Figure 9As shown, the system comprises a data entry and reading module, a reachable set modeling module, a linearization solving module and a bird strike early warning module, wherein: the data entry and reading module is used for pre-entering the bird species around the airport and the movement data of different birds; when early warning is needed, the bird species is identified by a detection device, and the movement data of the corresponding bird is read; the reachable set modeling module is used for modeling the reachable set of the bird flight state according to the movement data of the corresponding bird; the linearization solving module is used for solving the reachable set model after linearization to obtain the reachable set of the bird flight state within time r; the bird strike early warning module is used for establishing a Reich model of the airplane, and the intersection of the reachable set of the bird flight state within a certain time and the Reich model of the airplane is obtained to obtain the bird strike early warning result. The specific implementation process of each module can refer to the above method steps, and will not be described here.

[0087] In summary, the embodiment of the present application provides a bird strike early warning method and system based on reachability analysis, which analyzes the collision risk of birds and airplanes by constructing a reachable set, considers the movement characteristics of birds, and improves the accuracy of bird strike risk judgment. Specifically, the embodiment of the present application analyzes the reachability of different bird species and combines with the Reich model of the airplane to analyze the bird strike risk, which can effectively calculate the bird collision risk of the airport and give early warning; by analyzing different birds, early warning can be given according to the flight characteristics of different birds, and the accuracy and safety are higher.

[0088] Embodiment 2:

[0089] On the basis of the bird strike early warning method based on reachability analysis provided in the above embodiment 1, the embodiment 2 of the present application provides more detailed examples to describe the scheme.

[0090] First, pre-bird data entry is performed: in the airport clearance area and the observation area with the airport clearance area as the center and a radius of 2km, daily bird information is obtained by using radar, photoelectric, manual and other detection means to carry out bird observation, and at least 90 days of bird information is stored. The bird information of the last 90 days is counted to obtain the bird species in the airport clearance area and the corresponding movement data such as maximum flight speed, turning radius and maximum flight height in 90 days.

[0091] When early warning is needed, bird species analysis is performed: the bird species is identified by using radar, photoelectric data, and the identified bird species is compared with the stored data to extract the corresponding movement data.

[0092] Next, the reachable set of bird flight probability is modeled. The flight of birds is easily affected by external environmental disturbances, and is affected by the uncertain flight purpose of birds, so the flight state of birds presents a high degree of nonlinear characteristics. Therefore, the bird is a nonlinear system.

[0093] Based on the fact that the bird flight system is a nonlinear system, it can be represented by the following formula: ; wherein t is time, x is the state variable of the bird, u is the flight input of the bird, and v is the disturbance of the bird by the outside world. The flight input u of the bird is determined by the motion data of the local common bird, such as: maximum flight speed, turning radius, climb rate, maximum flight acceleration and maximum flight height, etc.; the disturbance of the outside world is mainly generated by the protected object aircraft. The aircraft generates noise, which makes the bird frightened, and the bird will deviate from the current position of the aircraft due to fright, at which time the disturbance of the bird motion is determined by the degree of fright of the bird, and the value of v is also determined by the motion data of the bird, such as: maximum flight speed, turning radius, climb rate and maximum flight height. The motion data of the bird is also the nonlinear motion characteristics of the bird.

[0094] Let , , , be convex sets, compact sets, and the sum of the flight input u of the bird and the disturbance v of the outside world will not exceed the inherent motion data of the bird, so ;

[0095] The reachable set of the bird flight state is defined as: ; this formula indicates that the set of states that can be reached at time v of the system with X0 as the initial state and t0 as the initial time. We can reflect the position that the bird can reach at each time through the reachable set, so as to obtain the disturbance range generated by the bird in the flight conflict.

[0096] Let the support function of the reachable set be: , be vectors.

[0097] Next, the probability reachable set of bird flight is analyzed.

[0098] Because the flight state of birds is easily affected by external disturbances, and the flight mode of birds is flexible, birds can fly in any direction, and birds can present multiple flight modes such as straight-line constant-speed flight, straight-line acceleration flight, deceleration flight, circular arc flight, U-turn flight, landing, and climbing, and the horizontal direction acceleration is greater than the vertical direction acceleration.

[0099] According to the flight mode of the bird, this embodiment constructs an ellipsoid reachable set to represent the flight reachable range of the bird. The ellipsoid has small computational complexity, high accuracy, and small conservativeness.

[0100] If the nonlinear system is analyzed by using the ellipsoidal model, the system needs to be linearized; that is, the bird flight system is linearized, and the linearized system is

[0101] ; ;

[0102] where, , ;

[0103] Combining , the support function of the reachable set can be expressed as:

[0104] ;

[0105] where, , ; is the set of states that can be reached from the initial time 0 at time ; is the transition matrix of the system , which satisfies and ;

[0106] Assuming that the reachable set is an ellipsoid, let be the center and the boundary of the set, then ;

[0107] ;

[0108] The support function can be expressed as ;

[0109] The support function of the reachable set can be further expressed by the center and the shape matrix to represent the initial set, the control and disturbance set:

[0110] ;

[0111] where, , ; is the set of states that can be reached from the initial time 0 at time ; is the transition matrix of the system , which satisfies and ; is the center of the initial set, is the boundary of the initial set; is the flight input set of the bird, The set of all possible states of the bird at time r is denoted by

[0112] Finally, the reachable set of the bird at time r is expressed as the sum of the homogeneous solution and the particular solution:

[0113] ;

[0114] wherein is the homogeneous solution of the reachable set, is the particular solution of the reachable set. The specific solution process is prior art, and will not be described here.

[0115] The reachable set model is used to solve the conflict with the Reich model of the aircraft, to determine whether the bird can pose a threat to the aircraft at time r. The Reich model is an internationally recognized aircraft collision model.

[0116] The basic principle of the Reich model is as follows: Let the length, wingspan, and height of the aircraft in the flight path be λx, λy, and λz, respectively. A rectangular cuboid region is virtually constructed around the aircraft A in the longitudinal, lateral, and vertical directions with a length of 2λx, a width of 2λy, and a height of 2λz, which is the aircraft collision layer. Let Sx, Sy, and Sz be the interval standards in the longitudinal, lateral, and vertical directions, respectively. A rectangular cuboid with a length of 2Sx, a width of 2Sy, and a height of 2Sz is constructed around the aircraft A, which is the aircraft proximity layer. When the aircraft B enters the proximity layer, there is a risk of collision, and when the aircraft B enters the collision layer, the two will collide.

[0117] When the dangerous target is a bird target, the interval standard and collision distance between aircrafts cannot be used. Instead, the aircraft and the bird can be used to construct the collision layer and the proximity layer, respectively, for bird strike risk calculation. The aircraft collision layer is a rectangular cuboid region virtually constructed around the aircraft A with a length, width, and height of λx, λy, and λz, respectively. The aircraft proximity layer is a rectangular cuboid with a length, width, and height of Sx, Sy, and Sz, respectively.

[0118] To analyze the collision risk between the bird and the aircraft, the collision layer and the proximity layer of the bird are constructed. It is assumed that the aircraft can avoid the bird risk by driving away or avoiding within time r, and the reachable set of the bird B at time r is denoted by The bird collision layer is located inside the aircraft collision layer, indicating that there is a dangerous approach and a bird strike risk. The reachable set of the bird B at time 2r is denoted by When the bird proximity layer is outside the aircraft proximity layer, the aircraft A and the bird B are considered to have no collision risk. When the bird proximity layer approaches the aircraft proximity layer, the bird strike risk increases.

[0119] Let the position of the aircraft at time r be (x, y, z), the aircraft collision layer be λ(x, y, z), and the aircraft proximity layer be S(x, y, z). Specifically, the reachable set of the bird B at time r is calculated as obtaining whether the bird collision layer is in the aircraft collision layer; calculating obtaining whether the bird collision layer is in the aircraft proximity layer; calculating obtaining whether the bird proximity layer is in the aircraft collision layer; calculating obtaining whether the bird proximity layer is in the aircraft proximity layer; if the bird proximity layer is outside the aircraft proximity layer, judging as safe; if the bird proximity layer is in the aircraft proximity layer, the bird collision layer is outside the aircraft proximity layer, judging as a first-level risk; if the bird proximity layer is in the aircraft proximity layer, the bird collision layer is in the aircraft proximity layer, judging as a second-level risk; if the bird proximity layer is in the aircraft collision layer, the bird collision layer is in the aircraft proximity layer, judging as a third-level risk; if the bird collision layer is in the aircraft collision layer, judging as a dangerous approach.

[0120] In summary, the embodiment of the present application analyzes the bird collision risk with the aircraft by constructing the reachable set, considers the motion characteristics of the birds, and improves the judgment accuracy of the bird strike risk. Specifically, the embodiment of the present application analyzes the reachability of different types of birds, and combines with the Reich model of the aircraft to analyze the bird strike risk, can effectively calculate the airport bird collision risk, and give early warning; by analyzing different birds, early warning can be given according to the flight characteristics of different birds, and the accuracy and safety are higher.

[0121] In addition, for the special scene of bird strike, the embodiment analyzes the flight probability reachability of the birds by using the ellipsoid reachable set model, and fine-tunes the Reich model, so as to calculate the risk by using the reachable set as the bird collision layer, as the bird proximity layer, and the interaction of the Reich model and the reachable set calculation is optimized and innovated for the special scene of bird strike.

[0122] Embodiment 3:

[0123] On the basis of the bird strike early warning method based on reachability analysis provided in the above embodiment 1, the present application further provides a bird strike early warning device based on reachability analysis which can be used to realize the above method and system, as shown in Figure 10 Fig. 1 is a device architecture schematic diagram of the bird strike early warning device based on reachability analysis according to the present application. The bird strike early warning device based on reachability analysis according to the present application comprises one or more processors 21 and memories 22. Among them, Figure 10 take one processor 21 as an example.

[0124] The processor 21 and the memory 22 can be connected through a bus or other means, Figure 10 take the connection through the bus as an example.

[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 early warning method based on reachability analysis in Embodiment 1. The processor 21 performs various functional applications and data processing of the bird strike early 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 early warning method based on reachability analysis in Embodiment 1.

[0126] The memory 22 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 22 can optionally include a memory disposed remotely with respect to the processor 21, and these remote memories can be connected to the processor 21 through 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, and when executed by one or more processors 21, perform the bird strike early warning method based on reachability analysis in Embodiment 1 described above, for example, perform the above-described Figure 1 each step shown.

[0128] The above products can perform the method provided in the embodiments of the present application, and have the corresponding functional modules and beneficial effects of performing the method. Technical details not described in detail in the embodiments can refer to the method provided in the embodiments of the present application.

[0129] It should be noted that the device embodiments described above are only schematic, and the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or distributed on multiple network units. According to actual needs, part or all of the modules can be selected to achieve the purpose of the embodiments of the present application.

[0130] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiment methods. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM) or a random access memory (RAM), etc.

[0131] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; under the idea of the present application, the technical features of the above examples or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above. In order to be brief, they are not provided in detail; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A bird strike warning method based on reachability analysis, characterized in that, The application relates to a bird strike early warning method based on reachability analysis. The bird species and the movement data of different birds in the periphery are recorded in advance; When early warning is needed, the bird species is identified by a detection device, and the movement data of the corresponding bird is read; The reachable set of the bird flight state is modeled according to the movement data of the corresponding bird; The reachable set model is linearized and solved to obtain the reachable set of the bird flight state within time r; The reachable set of the bird flight state within a certain time is intersected with the Reich model of the airplane to obtain the bird strike early warning result; The reachable set of the bird flight state is modeled according to the movement data of the corresponding bird; The bird flight system is a nonlinear system, which is expressed as: where t is time, x is the state variable of the bird, u is the flight input of the bird, and v is the disturbance to the bird from the outside world. Let , , , be convex sets, compact sets, ; The reachable set of the bird flight state is defined as: The formula indicates that the set of states that can be reached at time v of the system with X0 as the initial state and t0 as the initial time. Let the support function of the reachable set be , are vectors; The reachable set model is linearized and solved to obtain the reachable set of the bird flight state within time r; The bird flight system is linearized, and the linearized system is as follows: ； ； wherein ; ; Combining The support function of the reachable set can be expressed as: ； wherein, , ; is the set of states reachable from the initial state 0 at time ; is the transition matrix of the system satisfying , and ; Assume that the reachable set is an ellipsoid, let be the center and boundary of the set, then ; ； The support function can then be represented as ; reachable set The support function of can further be expressed in terms of a center and shape matrix for the initial set, control and disturbance sets: ； wherein, is a center of the initial set, is a boundary of the initial set; is a set of flight inputs for the bird, is a set of disturbances from the environment to the bird.

2. The bird strike warning method based on reachability analysis according to claim 1, wherein, The Reich model of the airplane is established; A cuboid region with the size of lambda x, lambda y and lambda z is virtually formed around the airplane as a collision layer of the airplane; A cuboid with the length, width and height of Sx, Sy and Sz is formed around the airplane as a near layer of the airplane; The position of the airplane at time r is (x, y, z), the collision layer of the airplane is lambda (x, y, z), and the near layer of the airplane is S (x, y, z). 3.The bird strike warning method based on reachability analysis according to claim 2, wherein, The reachable set of the bird flight state within a certain time is intersected with the Reich model of the airplane to obtain the bird strike early warning result; Assuming that the aircraft can avoid the bird risk in time r in a way that is either evasive or by driving off, the reachable set of the bird at time r is the bird collision layer, the reachable set at time 2r is the bird proximity layer; calculating whether the bird impact layer is within the aircraft impact layer; calculating whether the bird impact layer is within the aircraft proximity layer; calculating whether the bird proximity layer is within the aircraft impact layer; calculating whether the bird proximity layer is within the aircraft proximity layer; If the near layer of the bird is outside the near layer of the airplane, it is judged to be safe; if the near layer of the bird is inside the near layer of the airplane, and the collision layer of the bird is outside the near layer of the airplane, it is judged to be a first-level risk; if the near layer of the bird is inside the near layer of the airplane, and the collision layer of the bird is inside the near layer of the airplane, it is judged to be a second-level risk; if the near layer of the bird is inside the collision layer of the airplane, and the collision layer of the bird is inside the near layer of the airplane, it is judged to be a third-level risk; and if the collision layer of the bird is inside the collision layer of the airplane, it is judged to be a dangerous approach. 4.The bird strike warning method based on reachability analysis according to claim 1, wherein, The reachable set of the bird flight state within time r is obtained by linearizing and solving the reachable set model. The reachable set of the bird within time r is expressed by the sum of a homogeneous solution and a particular solution. ； wherein is a homogeneous solution of the reachable set, is a particular solution of the reachable set.

5. The bird strike warning method based on reachability analysis according to any one of claims 1-4, characterized in that, The movement data include one or more of the maximum flight speed, the turning radius and the maximum flight height; and the detection device includes one or more of a radar device and an optoelectronic device.

6. A bird strike warning device based on reachability analysis, characterized in that, The device comprises at least one processor and a memory connected with the at least one processor; the memory stores instructions executable by the at least one processor; and the instructions are executed by the processor to execute the bird strike early warning method based on reachability analysis.

7. A bird strike warning system based on reachability analysis, applying the bird strike warning method based on reachability analysis according to any one of claims 1 to 5, characterized in that, The system comprises a data input and reading module, a reachable set modeling module, a linearization and solving module and a bird strike early warning module. The data input and reading module is used for recording the bird species and the movement data of different birds in the periphery in advance; and the bird species is identified by a detection device, and the movement data of the corresponding bird is read when early warning is needed; The reachable set modeling module is used for modeling the reachable set of the bird flight state according to the movement data of the corresponding bird; The linearization and solving module is configured to solve the linearized reachable set model to obtain a reachable set of the bird flight state within a time r; The bird strike early warning module is configured to establish a Reich model of the aircraft, and obtain an intersection of the reachable set of the bird flight state within a certain time and the Reich model of the aircraft to obtain a bird strike early warning result.

8. A non-transitory computer storage medium, comprising, The computer storage medium stores computer executable instructions, which are executed by one or more processors to complete the bird strike early warning method based on the reachability analysis according to any one of claims 1-5.

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