Aircraft traction anti-collision early warning method based on radar detection

Abstract

The invention discloses an aircraft traction anti-collision early warning method based on radar detection, and relates to the technical field of aircraft traction sliding anti-collision. The method comprises the steps that a radar detection sensing device installed on the aircraft detects surrounding obstacles in the traction process of the aircraft; an early warning terminal installed on the tractor obtains the original radar data detected by the radar detection sensing device and carries out preprocessing and data analysis on the original radar data to obtain the azimuth angle and the distance of the target obstacle; the polar coordinate azimuth angles and the distances of the target obstacle detected by the plurality of radar sensors are converted to the same plane rectangular coordinate system, and coordinate points of the target obstacle to be pre-warned are obtained; processing the aircraft image to obtain a third-level appearance template of the aircraft; when the coordinate point of the target obstacle to be pre-warned falls into the appearance templates of different levels, giving alarms of different levels; the device is convenient to use and can be installed immediately after being used.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft towing and sliding anti-collision technology, and in particular to an aircraft towing and sliding anti-collision warning method based on radar detection. Background Art

[0002] With the rapid development of the aviation manufacturing industry, the frequency of aircraft towing operations within the confined spaces of aprons and hangars has increased dramatically. In such environments, dangerous close encounters and even collisions between aircraft and fixed structures are common, causing structural damage and posing a significant safety hazard. In recent years, the domestic civil aviation industry has also flourished, with major airlines expanding their fleets and an increasing number of aircraft on airport aprons and taxiways. Consequently, numerous collisions involving aircraft being towed have occurred at civil airports. Analysis has shown that the majority of these civil aviation accidents are caused by human error. With the continued increase in the number of aircraft at airports, and the congestion of aircraft of varying types and sizes parked together, the need for appropriate auxiliary measures to prevent collisions arises, particularly due to structural obstruction of vision.

[0003] At present, the aircraft air collision avoidance system has developed relatively maturely. However, the theoretical research and application of aircraft ground traction collision avoidance technology are still in the preliminary stage, and the industry has not yet adopted technical means to assist aircraft ground traction work.

[0004] Unlike common automotive collision avoidance systems, due to the large size of aircraft, detection points were required at potential impact points, such as the wing tips and tail, to achieve multi-point measurement of the external environment. Furthermore, since the towing equipment is located far from each detection point, using wired signal measurement and transmission would inevitably cause inconveniences such as wire entanglement during towing operations. Furthermore, the detection device needed to feature non-destructive installation, easy assembly and disassembly, and strong compatibility to meet project requirements.

[0005] The existing aircraft collision avoidance warning devices have the following technical defects: The use of multiple sensors leads to complex algorithms (sensor fusion and alignment; the visual sensor itself has a large amount of data and complex processing); the system is complex and bulky (a crawling robot needs to be installed on the top of the aircraft to acquire video); it is inconvenient to install and use (a crawling robot needs to be installed on the top of the aircraft to acquire video); there are blind spots (installing the equipment on the tractor will cause occlusion); the power consumption is high (the power consumption problem inevitably caused by the complexity of the system, and the power consumption directly determines the continuous operation time of the system, which is especially important because there is no place to draw power during the towing process); and the human-computer interaction is complex (human monitoring of the video and judgment of danger are required, which puts a lot of work pressure on the staff). Summary of the Invention

[0006] In response to the technical problems raised in the above background technology, the present invention only uses a millimeter-wave radar sensor. At the same time, it creatively introduces preprocessing processes such as data interception, analysis and selection in the radar data processing process to solve problems such as radar raw data interception, deviation value correction, and missing point supplementation. Then, a series of processing such as multi-target analysis, coordinate conversion, radar sector splicing, and installation position compensation are performed to form a full envelope of 360° detection of the aircraft's periphery. Finally, by taking the intersection with the aircraft's three-level appearance template, different levels of automatic alarms are performed.

[0007] Specifically, the present invention provides an aircraft towing collision avoidance warning method based on radar detection, comprising: A radar detection and sensing device installed on the aircraft detects obstacles around the aircraft during towing. The radar detection and sensing device is equipped with a plurality of radar sensors, so that the radar sensors can complete a 360-degree scanning detection around the aircraft. The early warning terminal installed on the tractor obtains the raw radar data detected by the radar detection and sensing device, and pre-processes and analyzes the raw radar data to obtain the azimuth and distance of the target obstacle; By using spatial coordinate conversion, the polar coordinate azimuth and distance of target obstacles detected by multiple radar sensors are converted to the same plane rectangular coordinate system; The different coordinate points of the same target obstacle in the common coverage area of ​​multiple radar sectors are screened, and finally the coordinate points of the target obstacle to be warned are obtained; Process the aircraft image to obtain a three-level appearance template of the aircraft; When the coordinate points of the target obstacle to be warned fall into different levels of appearance templates, different levels of alarms are issued.

[0008] Furthermore, a radar detection and sensing device is installed on both sides of the aircraft, and several radar sensors are installed on the radar detection and sensing device on each side. The radar sensors on both sides can complete 360° full envelope detection of the aircraft.

[0009] Furthermore, the preprocessing and data analysis of the raw radar data to obtain the azimuth and distance of the target obstacle specifically includes: When the radar sensor detects a target obstacle, it outputs raw radar data; The early warning terminal reads all the raw radar data and performs a data main loop, so that a complete radar scan data can be parsed in each cycle; Sequentially parsing out data starting points representing system status information, target output status information, and target output information, thereby obtaining system status information, target obstacle output status information, and target obstacle output information of the radar sensor; The azimuth and distance of the target obstacle are calculated according to the output information of the target obstacle.

[0010] Furthermore, the sequentially parsing out the data starting point of the target data representing the system status information, the target output status information, and the target output information, thereby obtaining the system status information, the target obstacle output status information, and the target obstacle output information of the radar sensor, specifically includes: Read all raw radar data in a single loop, use the Search and Split String function to clean up redundant data, retain all data starting with the data starting point of the target data representing system status information, and use the Intercept String function to obtain the number of targets in the eighth position from the data starting point of the target data representing target output status information. A For loop is established based on the number of targets obtained as the number of loops. In each For loop, a target data starting with the data starting point of the target data representing the target output information is parsed; According to the target data, the system status information of the radar sensor, the target obstacle output status information and the target obstacle output information are sequentially parsed.

[0011] Furthermore, the method further includes: using array insertion and feedback nodes to obtain a buffer of several radar sensor historical data, thereby supplementing the missing data of the radar sensor, and removing abnormal values ​​output by the radar sensor through a box plot filter.

[0012] Furthermore, the polar coordinate azimuths and distances of target obstacles detected by multiple radars are converted into a plane rectangular coordinate system by means of spatial coordinate conversion, specifically including: The azimuth and distance of the target obstacle detected by multiple radars are converted from polar coordinates to a plane rectangular coordinate system, and the plane rectangular coordinates of the target obstacle are obtained using a polar coordinate to real and imaginary part conversion function; The plane rectangular coordinates are subjected to rotation transformation, thereby unifying radar sensors installed at different angles into a plane rectangular coordinate system.

[0013] Furthermore, the method of screening different coordinate points of the same target obstacle in the common coverage area of ​​multiple radar sectors to finally obtain the coordinate points of the target obstacle to be warned specifically includes: When adjacent radars scan the same target obstacle within the common coverage area of ​​the radar sector, the angle threshold limiting method is used to roughly assign the same target obstacle detected by the adjacent radars to the nearest radar sector. At the intersection of radar sectors, a first-in-first-out data stack is used to retain the latest coordinate points.

[0014] Furthermore, the aircraft image is processed to obtain a three-level appearance template of the aircraft, specifically: Acquire aircraft images; The aircraft image is processed using a computer graphics algorithm to sequentially generate a three-level aircraft appearance template. The three-level aircraft appearance template is a three-level aircraft shape envelope whose range is sequentially reduced from the outside to the inside along the aircraft's top-down projection.

[0015] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages: When the present invention is in use, it is only necessary to install a radar detection and sensing device on the aircraft side and an early warning terminal on the tractor side. It is easy to use and can be installed immediately after use.

[0016] The present invention uses only millimeter-wave radar sensors for detection, which greatly simplifies the system configuration. At the same time, the early warning terminal can perform a series of operations such as reasonable interception of radar raw data and deviation correction; supplementation of missing points of the radar sensor, multi-target analysis and coordinate alignment; splicing of multiple radar sectors, and compensation of radar installation positions, thereby realizing a single radar sensor to accurately detect the entire 360° envelope of the aircraft.

[0017] The present invention sets a three-level appearance template for the aircraft and takes the intersection with the 360° circular envelope detected by the radar sensor to obtain warning coordinate points that match the aircraft's appearance, solving the problem of inaccurate warnings caused by traditional radar detection using only circular detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the embodiments of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 Schematic diagram of the radar sensor installation and detection angle in the present invention.

[0019] Figure 2 This is the target ID information specifically parsed by the present invention.

[0020] Figure 3 This is an example diagram of the appearance template of the three-level aircraft in the present invention. DETAILED DESCRIPTION

[0021] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0022] This invention installs a radar detection and perception device on an aircraft to detect obstacles while it is being towed. This radar detection and perception device is equipped with several radar sensors. This sensor combination enables non-contact detection using multiple millimeter-wave radar sensors. Leveraging millimeter-wave radar technology's ability to detect obstacles in remote and complex electromagnetic environments, this technology enables the practical application of obstacle detection and early warning technology in field environments. This includes: a) splicing scanning sectors from multiple general-purpose millimeter-wave radars; b) using fused data to segment the outer edge of the aircraft's envelope; c) target acquisition and tracking; and d) achieving full-envelope detection of the aircraft's overhead scene.

[0023] Correspondingly, the present invention also incorporates an early warning terminal installed on the tractor. This terminal receives data from the aircraft's radar detection and sensing device and incorporates an obstacle detection and warning algorithm designed for complex environments. This algorithm uses echo signals to identify obstacles and simultaneously calculates target information such as the presence, speed, direction, distance, and angle of the moving target. This allows for the detection and confirmation of obstacles outside the safe envelope of the aircraft's direction of travel, enabling collision avoidance warnings for aircraft towing.

[0024] Specifically, the present invention provides an aircraft towing collision avoidance warning method based on radar detection, comprising the following steps: Step 1: The radar detection and sensing device installed on the aircraft detects surrounding obstacles during the aircraft towing process. The radar detection and sensing device is equipped with several radar sensors so that the radar sensors can complete a 360° scanning detection around the aircraft.

[0025] Specifically, a radar detection and sensing device is installed on both sides of the aircraft. A number of radar sensors are installed on each side of the radar detection and sensing device. The radar sensors on both sides can complete 360° full envelope detection of the aircraft, such as Figure 1 As shown, for example, three radar sensors can be installed on each side of the aircraft to achieve 360° full envelope detection around the aircraft.

[0026] Step 2: The early warning terminal installed on the tractor obtains the raw radar data detected by the radar detection and perception device, and preprocesses and analyzes the raw radar data to obtain the azimuth and distance of the target obstacle.

[0027] It should be noted that radar sensors generally have serial ports for data transmission. The early warning terminal in this invention needs to obtain data from the serial port of a specified millimeter-wave radar model, analyze, intercept, parse, select, and filter the raw data according to the protocol, and pre-process it for subsequent use. This solves a series of problems such as radar raw data interception, deviation correction, missing point supplementation, multi-target analysis, coordinate conversion, radar sector splicing, and installation position compensation.

[0028] Before performing data analysis, you need to configure the serial port parameters: including baud rate, data bits, parity bit, stop bit, flow control, etc.

[0029] Then obtain radar data through the serial port, taking the SP70C radar sensor as an example, its radar data protocol as follows: The SP70C radar sensor uses a UART-TTL interface with a default transmission rate of 115200 baud, 8 data bits, 1 stop bit, no parity, and no flow control. Each data message begins with a start sequence and ends with a stop sequence. During each data cycle (20ms) of the SP70C, the sensor outputs system status and target output status messages. If a target is detected, the number of targets detected field of the target output status message is 1. The target output status message is followed by a target information message containing the target's altitude parameters.

[0030] The host computer or peripheral device configures SP70C in the same message format, and the corresponding message MessageID is 0x200.

[0031] A complete UART-TTL communication data message consists of 14 bytes. Each byte is in unsigned 8-bit format with a data range of 0 to 255 (0 to 0xFF). The format is shown in Table 1. Each data message contains a message ID to distinguish different types of messages.

[0032] Table 1 Data message format

[0033] The Start Sequence is a fixed value of 0xAAAA, the Message ID is defined as shown in Table 2 below, the Data Payload is defined according to the Message ID, and the End Sequence is a fixed value of 0x5555.

[0034] Table 2 Message ID definition

[0035] The Message ID is represented by two bytes: Byte 2 is the low byte, and Byte 3 is the high byte. For example, the SP70C message output is: 0xAA 0xAA | 0x0A 0x06 | Data Payload | 0x55 0x55, which means the Message ID is 0x60A (SP70C system status) and the Data Payload contains the SP70C system status content.

[0036] The SP70C configuration message is shown in Table 3 below. The start sequence (0xAAAA) and end sequence (0x5555) are omitted in the table.

[0037] Table 3 SP70C configuration message format

[0038] Currently, SP70C only supports reading version information; other functions are not yet available. If R / W is 0, it reads parameters, and the Parameter content is meaningless. If R / W is 1, it writes parameters, and the Parameter is defined according to the DataType.

[0039] After a host computer or other MCU sends configuration signals to the SP70C, the SP70C returns the execution result in the format shown in Table 4 below. The start sequence (0xAAAA) and end sequence (0x5555) are omitted. Currently, the SP70C only returns version information; other functions are not yet available. DataType indicates the configuration item, Result indicates the configuration result, and Parameter is the value of DataType after configuration.

[0040] Table 4 SP70C return message format

[0041] After the host computer or other MCU sends the sensor version information to SP70C, SP70C will return the execution result. When the version information is returned, the corresponding Parameter field format is shown in Table 5 below: Table 5 SP70C sensor version return message format

[0042] The SP70C system status message format is shown in Table 6 below. The start sequence (0xAAAA) and end sequence (0x5555) are omitted. The RollCount value is fixed at 0.

[0043] Table 6 SP70C system status message format

[0044] The SP70C system target output status data message format is shown in Table 7 below. The start sequence (0xAAAA) and end sequence (0x5555) are omitted in the table. The RollCount value cycles continuously between 0-1-2-3-0-1-2-3...

[0045] Table 7 SP70C target output status message format

[0046] The SP70C target output information message format is shown in Table 8 below. The start sequence (0xAAAA) and end sequence (0x5555) are omitted. When the radar sensor is operating normally and detects a target, it first outputs the SP70C system status message, followed by the target output status message, and finally the target output information message.

[0047] Table 8 SP70C target output information message format

[0048] The above step 2 specifically includes the following process: Step 201: When the radar sensor detects a target obstacle, it outputs the original radar data; the early warning terminal reads all the original radar data and performs a data main loop so that a complete radar scan data can be parsed in each cycle.

[0049] Step 202: Read all the raw radar data in a single loop, use the search and split string function to clean up the redundant data, retain all the data with the data starting point of the target data representing the system status information as the head, and use the intercept string function to obtain the target number of the eighth digit of the data starting point of the target data representing the target output status information.

[0050] Step 203: A For loop is established based on the number of targets obtained as the number of loops, and a target data starting with the data starting point of the target data representing the target output information is parsed in each For loop.

[0051] Step 205: According to the target data, the system status information of the radar sensor, the target obstacle output status information and the target obstacle output information are sequentially parsed.

[0052] The radar data parsing process (steps 201 to 205) of the SP70C sensor is described below as an example: According to the above radar data protocol for the SP70C sensor, ideally, the radar data you want to get is as follows: AAAA 0A06 01C8 07D0 4603 EE96 5555 AAAA 0B07 01C8 07D0 4603 EE96 5555 AAAA 0C07 01C8 07D0 4603 EE96 5555 … AAAA 0C07 01C8 07D0 4603 EE96 5555 in, AAAA 0A06 ... 5555 is system status information, one entry per scan cycle; AAAA 0B07 ... 5555 is the target output status information, one per scan cycle; … AAAA 0C07 ... 5555 is the target information, n pieces per scan cycle, n is the number of targets; In fact, the received data can be from any data as the starting point, and the ideal data given in the above 3 needs to be cut out from the messy data.

[0053] Therefore, first, a main loop is established with a cycle period of more than twice the radar signal scanning cycle to ensure that a complete radar scanning data can be parsed in each cycle.

[0054] Read all cached data in a single loop, use the "Search Split String Function" to clean up redundant data, and retain all data with AAAA 0A06 as the header. At the same time, use the "Truncate String Function" to obtain the target number of the eighth digit of AAAA 0B07.

[0055] Then, based on the number of targets obtained in the previous section as the number of loops, a For loop is established. In each For loop, a target data starting with AAAA 0C07 is parsed, and the target ID, reflection cross-sectional area, target distance, azimuth, speed, and signal-to-noise ratio are parsed in turn. The specific parsed target ID is as follows: Figure 2 shown.

[0056] The data obtained after the above data analysis is often discontinuous because radar sensors cannot output data stably within a short scanning cycle. Therefore, array insertion and feedback nodes are used to buffer several sensor historical data points to compensate for missing data. This invention uses a "selection function" to provide two methods for compensating for missing data: 1. For large data sets, a regression model is used to predict missing data; 2. For small data sets, the sample mean of the variable is used to replace missing values. Outliers in the sensor feedback are removed using a "boxplot filter."

[0057] Step 206: Calculate the azimuth and distance of the target obstacle based on the output information of the target obstacle.

[0058] The following uses the SP70C sensor's radar data parsing process as an example to illustrate how the target obstacle output information is calculated: The values ​​of the fields in the above table are not the actual values ​​of the target information. The actual values ​​of the target information must be calculated using the following relationship: - Index = IndexValue / / Target ID, obtained based on Track information - Rcs = RcsValue 0.5 – 50 / / Factory test reserved value, no output - Range = (RangeHValue 256 + RangeLValue) 0.01 / / The original data output by the radar is in cm, and the unit of the target distance after conversion is meter - Azimuth = Val 2-90 / / Target azimuth - Vrel = (VrelH 256 + VrelL) 0.05-35 / / Target speed, in m / s - RollCount = RollCountValue / / Count bit - SNR = Value-127 / / Factory test reserved value, not output Through these calculations, we can obtain the target reflection cross-sectional area Rcs, target range Range, target azimuth Azimuth, target velocity Vrel, and signal-to-noise ratio SNR, so as to accurately detect the target.

[0059] Step 3: Convert the polar coordinate azimuth and distance of target obstacles detected by multiple radar sensors into the same plane rectangular coordinate system through spatial coordinate conversion.

[0060] Specifically, the azimuths and distances of target obstacles detected by multiple radars are converted from polar coordinates to a plane rectangular coordinate system, and the plane rectangular coordinates of the target obstacles are obtained using a polar coordinate to real and imaginary part conversion function. By rotating the plane rectangular coordinates, radar sensors installed at different angles are unified in a plane rectangular coordinate system, enabling radar to scan and detect the entire area in 360 degrees.

[0061] Step 4: Filter the different coordinate points of the same target obstacle in the common coverage area of ​​multiple radar sectors to finally obtain the coordinate points of the target obstacle to be warned.

[0062] Specifically, when adjacent radars detect the same target obstacle within the shared coverage area of ​​their sectors, an angle thresholding method is used to roughly assign the detected target obstacle to the closest radar sector. For example, if each radar scanning sector has a horizontal angle of 110 degrees, then adjacent radars will detect the same target with two similar values ​​within the shared coverage area. In this case, the angle thresholding method is first used to roughly assign the target to the closest sector. Then, at the intersection of radar sectors, a first-in-first-out data stack is used to retain the most recent coordinate point.

[0063] It should also be noted that since the radar sensor is not installed at the center point of the aircraft (zero position), it is necessary to combine the radar's installation position on the aircraft with the offset of the zero position and use a "translation function" for effective compensation to achieve zero-point calibration.

[0064] Through the above coordinate conversion process, the obtained plane rectangular coordinate system is used as the aircraft's top view coordinate system. The obstacle coordinates x, y in the plane rectangular coordinate system after conversion are the final warning target coordinates surrounding the aircraft.

[0065] Step 5: Process the aircraft image to obtain a three-level appearance template of the aircraft.

[0066] Specifically, first obtain an image of the aircraft, then use computer graphics algorithms to process the aircraft image to generate a three-level aircraft appearance template. The three-level aircraft appearance template is a three-level aircraft shape envelope that is gradually reduced from the outside to the inside along the aircraft's top view projection, such as Figure 3 As shown, this is an example of the generated three-level aircraft appearance template, where the minimum envelope can be set to 1.25 meters, the middle envelope can be set to 5 meters, and the maximum envelope can be set to 10 meters.

[0067] Step 6: When the coordinate points of the target obstacle to be warned fall within the appearance templates of different levels, different levels of alarms are issued.

[0068] Specifically, when the coordinates of the target obstacle fall within the maximum envelope, a level one warning is issued; when they fall within the intermediate envelope, a level two warning is issued; and when they fall within the minimum envelope, a level three warning is issued. More specifically, external warning lights can be used to indicate three levels of warning, from near to far, using red, yellow, and green monochromatic lights. This three-level automatic warning, outputted through audio and visual graphics, significantly reduces the workload of on-site personnel.

[0069] In summary, the present invention has the following advantages: When the present invention is in use, it is only necessary to install a radar detection and sensing device on the aircraft side and an early warning terminal on the tractor side. It is easy to use and can be installed immediately after use.

[0070] The present invention uses only millimeter-wave radar sensors for detection, which greatly simplifies the system configuration. At the same time, the early warning terminal can perform a series of operations such as reasonable interception of radar raw data and deviation correction; supplementation of missing points of the radar sensor, multi-target analysis and coordinate alignment; splicing of multiple radar sectors, and compensation of radar installation positions, thereby realizing a single radar sensor to accurately detect the entire 360° envelope of the aircraft.

[0071] The present invention sets a three-level appearance template for the aircraft and takes the intersection with the 360° circular envelope detected by the radar sensor to obtain warning coordinate points that match the aircraft's appearance, solving the problem of inaccurate warnings caused by traditional radar detection using only circular detection.

[0072] The present invention greatly reduces the work pressure of on-site staff through the three-level automatic warning human-computer interaction of sound and light graphic output.

[0073] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0074] The present invention is described with reference to flowcharts and / or block diagrams of systems, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0075] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0076] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0077] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0078] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. An aircraft towing collision avoidance warning method based on radar detection, characterized in that: include: A radar detection and sensing device installed on the aircraft detects obstacles around the aircraft during towing. The radar detection and sensing device is equipped with a plurality of radar sensors, so that the radar sensors can complete a 360-degree scanning detection around the aircraft. The early warning terminal installed on the tractor obtains the raw radar data detected by the radar detection and sensing device, and pre-processes and analyzes the raw radar data to obtain the azimuth and distance of the target obstacle; By using spatial coordinate conversion, the polar coordinate azimuth and distance of target obstacles detected by multiple radar sensors are converted to the same plane rectangular coordinate system; The different coordinate points of the same target obstacle in the common coverage area of ​​multiple radar sectors are screened, and finally the coordinate points of the target obstacle to be warned are obtained; Process the aircraft image to obtain a three-level appearance template of the aircraft; When the coordinate points of the target obstacle to be warned fall into different levels of appearance templates, different levels of alarms are issued.

2. The radar-based aircraft towing collision avoidance warning method according to claim 1, characterized in that: A radar detection and sensing device is installed on both sides of the aircraft. Several radar sensors are installed on the radar detection and sensing device on each side. The radar sensors on both sides can complete 360° full envelope detection of the aircraft.

3. The radar-based aircraft towing collision avoidance warning method according to claim 1, characterized in that: The preprocessing and data analysis of the raw radar data to obtain the azimuth and distance of the target obstacle specifically includes: When the radar sensor detects a target obstacle, it outputs raw radar data; The early warning terminal reads all the raw radar data and performs a data main loop, so that a complete radar scan data can be parsed in each cycle; Sequentially parsing out data starting points representing system status information, target output status information, and target output information, thereby obtaining system status information, target obstacle output status information, and target obstacle output information of the radar sensor; The azimuth and distance of the target obstacle are calculated according to the output information of the target obstacle.

4. The radar-based aircraft towing collision avoidance warning method according to claim 3, characterized in that: The sequentially parsing out the data starting point of the target data representing the system status information, the target output status information, and the target output information, thereby obtaining the system status information, the target obstacle output status information, and the target obstacle output information of the radar sensor, specifically includes: Read all raw radar data in a single loop, use the Search and Split String function to clean up redundant data, retain all data starting with the data starting point of the target data representing system status information, and use the Intercept String function to obtain the number of targets in the eighth position from the data starting point of the target data representing target output status information. A For loop is established based on the number of targets obtained as the number of loops. In each For loop, a target data starting with the data starting point of the target data representing the target output information is parsed; According to the target data, the system status information of the radar sensor, the target obstacle output status information and the target obstacle output information are sequentially parsed.

5. The aircraft towing collision avoidance warning method based on radar detection as claimed in claim 4, characterized in that: The method further includes: using array insertion and feedback nodes to obtain a buffer of several radar sensor historical data to supplement the missing data of the radar sensor, and removing abnormal values ​​output by the radar sensor through a box plot filter.

6. The aircraft towing collision avoidance warning method based on radar detection as claimed in claim 1, characterized in that: The method of converting the polar coordinate azimuths and distances of target obstacles detected by multiple radars into a plane rectangular coordinate system by spatial coordinate conversion specifically includes: The azimuth and distance of the target obstacle detected by multiple radars are converted from polar coordinates to a plane rectangular coordinate system, and the plane rectangular coordinates of the target obstacle are obtained using a polar coordinate to real and imaginary part conversion function; The plane rectangular coordinates are subjected to rotation transformation, thereby unifying radar sensors installed at different angles into a plane rectangular coordinate system.

7. The aircraft towing collision avoidance warning method based on radar detection according to claim 1, characterized in that: The method of screening different coordinate points of the same target obstacle in the common coverage area of ​​multiple radar sectors to finally obtain the coordinate points of the target obstacle to be warned specifically includes: When adjacent radars scan the same target obstacle within the common coverage area of ​​the radar sector, the angle threshold limiting method is used to roughly assign the same target obstacle detected by the adjacent radars to the nearest radar sector. At the intersection of radar sectors, a first-in-first-out data stack is used to retain the latest coordinate points.

8. The aircraft towing collision avoidance warning method based on radar detection as claimed in claim 1, characterized in that: The aircraft image is processed to obtain a three-level appearance template of the aircraft, specifically: Acquire aircraft images; The aircraft image is processed using a computer graphics algorithm to sequentially generate a three-level aircraft appearance template. The three-level aircraft appearance template is a three-level aircraft shape envelope whose range is sequentially reduced from the outside to the inside along the aircraft's top-down projection.

Images