Method for determining take-off and landing of single aircraft and double aircrafts and transverse positions of front and rear wheels of aircrafts

Abstract

The invention relates to a method for determining take-off and landing of single and double aircrafts and transverse positions of front and rear wheels of aircrafts. The method comprises the following steps: S1, acquiring time sequence data of all laser range finders; s2, based on time sequence data of the first laser range finder or the second laser range finder, whether single-machine take-off and landing are carried out or not is judged, if yes, the step S3 is executed, and if not, the step S4 is executed; s3, based on the time sequence data of all the laser range finders, the takeoff and landing sliding direction of the single machine is judged, and the transverse position of each takeoff and landing wheel is determined; s4, based on the time sequence data of the first laser range finder or the second laser range finder, the double-aircraft take-off and landing sequence is judged; and S5, based on the time sequence data of all the laser range finders, judging the takeoff and landing sliding direction of the two aircrafts and determining the transverse position of each takeoff and landing wheel of the two aircrafts. Compared with the prior art, the method has the advantages of simplicity and convenience in deployment, non-contact, high precision, high real-time performance and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of aviation safety monitoring, and in particular to a method for determining the take-off and landing of single or double aircraft and the lateral positions of front and rear wheels of aircraft. Background Art

[0002] The current increase in flight operations, the emergence of intensive drone takeoffs and landings, and the increasing demands for airport operational support have placed higher demands on accurate identification of aircraft taxiing status and load distribution analysis. Existing monitoring methods, which primarily rely on manual observation or video image recognition, are subject to issues such as recognition delays and interference from lighting and weather conditions. Furthermore, they struggle to accurately quantify aircraft takeoff and landing status and wheel load positions, failing to meet the demands for dynamic response analysis of pavement structures and refined maintenance management.

[0003] In recent years, laser range finders (LRFs) have been increasingly used in flight zone target displacement monitoring due to their non-contact, high-frequency, and high-precision advantages. However, there is a lack of systematic and feasible data processing methods for core issues such as identifying single and dual aircraft states, determining glide direction, and extracting the lateral position of front and rear wheels during taxiing of aircraft and fixed-wing UAVs.

[0004] Furthermore, Chinese patent CN103983978A discloses a method for measuring wheel tracks at an airport, comprising the following steps: installing two or more laser wheel track ranging sensors on one side of the runway; installing a laser aircraft type ranging sensor on the other side of the runway; measuring the distance between the outer sides of the aircraft's front and rear wheels and the ranging sensors using the laser aircraft type ranging sensors and the laser wheel track ranging sensors as the aircraft passes over the runway; and determining the aircraft's model and wheel track based on the data from the ranging sensors. The present invention uses a laser ranging device to measure the distance between the outer rubber sides of the aircraft wheels and the laser ranging instrument when the aircraft takes off or lands through the cross section where the laser ranging instrument is located. However, the method only describes the sensor layout or physical design, but does not clearly provide a formula or specific method for calculating wheel track and plate number. Furthermore, the patent does not address the determination of aircraft takeoff and landing order or the identification of single or double aircraft status, resulting in the acquisition of wheel track data being insufficiently and effectively utilized. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for determining the take-off and landing of single and double aircraft and the lateral position of the front and rear wheels of an aircraft in order to solve the defects of the above-mentioned prior art.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A method for determining single and double aircraft takeoff and landing and the lateral position of front and rear wheels of an aircraft, comprising:

[0008] Step S1: Acquire time series data from all laser rangefinders, wherein there are three laser rangefinders in total, wherein the first laser rangefinder and the second laser rangefinder are arranged on opposite sides of the runway, and the first laser rangefinder and the third laser rangefinder are arranged on the first side of the runway and arranged along the runway direction, and the output light of all laser rangefinders is slightly higher than the runway surface;

[0009] Step S2: Determine whether it is a single aircraft takeoff or landing based on the time series data of the first laser rangefinder or the second laser rangefinder. If yes, execute step S3; otherwise, execute step S4.

[0010] Step S3: Determine the taxiing direction of the single aircraft and the lateral position of each take-off and landing wheel based on the time series data of all laser rangefinders;

[0011] Step S4: determining the take-off and landing order of the two aircraft based on the time series data of the first laser rangefinder or the second laser rangefinder;

[0012] Step S5: Determine the taxiing direction of the two aircraft for takeoff and landing based on the time series data of all laser rangefinders and determine the lateral position of each takeoff and landing wheel of the two aircraft.

[0013] The step S2 comprises:

[0014] Step S2-1: Determine the starting time;

[0015] Step S2-2: Based on the time series data of the first laser rangefinder at the starting time, find the first distance measurement data l 11 ;

[0016] Step S2-3: Determine the distance measurement data found 11 Is it in the following range:

[0017]

[0018] Where: l is the runway width, x min The minimum wingspan of an aircraft that can take off and land on this runway.

[0019] If yes, it is determined to be a single aircraft takeoff and landing, and step S3 is executed; otherwise, step S4 is executed.

[0020] The sliding direction detection process in step S3 specifically includes:

[0021] Step S3-1: Determine distance measurement data l 11 The corresponding ranging time t 11 ;

[0022] Step S3-2: Self-ranging time t 11 Traverse backwards, when the first one smaller than the distance data l appears 11 The ranging data l12 and the corresponding ranging time t 12 ;

[0023] Step S3-3: At the ranging time t 11 The first set time length is recursively calculated before and after to obtain the search interval, and based on the obtained search interval, the time series data of the third laser rangefinder is searched for the distance data l 11 Distance measurement data with close values ​​l 31 and the corresponding ranging time t 31 ;

[0024] Step S3-4: Determine the ranging time t 31 Is it less than the ranging time t 11 If yes, then the aircraft is judged to be sliding in the direction from the third laser rangefinder to the first laser rangefinder; otherwise, the aircraft is judged to be sliding in the direction from the first laser rangefinder to the third laser rangefinder.

[0025] The process of detecting the lateral position of the landing wheel in step S3 specifically includes:

[0026] Step S3-5: Based on the distance measurement data l 11 , combined with the pre-configured road slab width, the distance between the front wheel and the first edge of the slab is obtained:

[0027]

[0028] d 11 =l 11 -(n 11 -1)a

[0029] Where: n 11 is the serial number of the plate where the front wheel is located along the first direction, a is the width of the road plate, d 11 is the distance from the plate n 11 The first plate edge distance, the first direction is the direction from the first laser rangefinder to the second laser rangefinder;

[0030] Step S3-6: Based on the distance measurement data l 12 , combined with the pre-configured road slab width, the distance between the first side rear wheel and the first slab edge of the slab is obtained:

[0031]

[0032] d 12 =l 12 -(n 12 -1)a

[0033] Where: n 12 is the serial number of the plate where the rear wheel on the first side is located along the first direction, d12 is the distance from the plate n 12 The distance from the first plate edge;

[0034] Step S3-7: Based on the time series data of the second laser rangefinder at the starting time, the first distance measurement data l is found. 21 and the corresponding ranging time t 21 , and from the ranging time t 21 Traverse backwards, when the first one smaller than the distance data l appears 21 The ranging data l 22 and the corresponding ranging time t 22 , based on the ranging data l 22 , combined with the pre-configured road slab width, the distance between the second side rear wheel and the first plate edge of the plate is obtained:

[0035] l′=ll 22

[0036]

[0037] d 13 =l′-(n 13 -1)a

[0038] Where: n 13 is the serial number of the plate where the rear wheel on the second side is located along the first direction, d 13 is the distance from the plate n 13 is the distance from the first plate edge, and l′ is the distance from the first laser rangefinder.

[0039] The step S4 comprises:

[0040] Step S4-1: Calculate the difference between the runway width and the minimum wingspan of the aircraft, and divide it by 2 to obtain the first discrimination parameter, and determine whether the first discrimination parameter is greater than x min If yes, then execute step S4-2, otherwise, execute step S4-5;

[0041] Step S4-2: Determine distance measurement data l 11 The corresponding ranging time t 11 ;

[0042] Step S4-3: Self-ranging time t 11 Traverse backwards, when the first one smaller than the distance data l appears 11 The ranging data l 12 and the corresponding ranging time t 12 ;

[0043] Step S4-4: Search the time series data of the second laser rangefinder based on the starting time for the first distance measurement data l that is less than l / 2 21 and the corresponding ranging time t21 , and the self-ranging time t 21 Traverse backwards, when the first one smaller than the distance data l appears 21 The ranging data l 22 and the corresponding ranging time t 22 , determine the ranging time t 21 Is it less than the ranging time t 12 If yes, then the two aircraft are in parallel but the first aircraft is ahead. Otherwise, it is determined that the first aircraft is ahead.

[0044] Step S4-5: Search the first distance measurement data l less than 1 / 2 in the time series data of the first laser rangefinder based on the starting time. 11 ' and the corresponding ranging time t 11 ', determine the ranging time t 11 'Is it less than the ranging time t 22 If yes, the two aircraft are running in parallel but the first side is ahead. Otherwise, it is determined that the aircraft on the second side is ahead, where the second side is the side where the second laser rangefinder is arranged.

[0045] When two aircraft are traveling in parallel but the first aircraft is ahead, or the first aircraft is ahead, the process of determining the taxiing direction in step S5 includes:

[0046] At the ranging time t 11 The first set time length is recursively calculated before and after to obtain the search interval, and based on the obtained search interval, the time series data of the third laser rangefinder is searched for the distance data l 11 Distance measurement data with close values ​​l 31 and the corresponding ranging time t 31 ;

[0047] Determine the ranging time t 31 Is it less than the ranging time t 11 If yes, then the aircraft is judged to be sliding in the direction from the third laser rangefinder to the first laser rangefinder; otherwise, the aircraft is judged to be sliding in the direction from the first laser rangefinder to the third laser rangefinder.

[0048] When two aircraft are traveling in parallel but the second aircraft is ahead, or the second aircraft is ahead, the process of determining the taxiing direction in step S5 includes:

[0049] At the ranging time t 11 ', the first set time length is recursively calculated before and after to obtain the search interval, and based on the obtained search interval, the time series data of the third laser rangefinder is searched for the distance data l 11 'The distance measurement data with close values ​​l 31 ' and the corresponding ranging time t 31 ';

[0050] Determine the ranging time t31 'Is it less than the ranging time t 11 ', if yes, then it is determined that the aircraft is sliding in the direction from the third laser rangefinder to the first laser rangefinder; otherwise, it is determined that the aircraft is sliding in the direction from the first laser rangefinder to the third laser rangefinder.

[0051] When two aircraft are traveling in parallel but the first aircraft is in the lead, or the first aircraft is traveling first, the process of determining the lateral position of each take-off and landing wheel in step S5 includes:

[0052] Based on ranging data 11 , combined with the pre-configured road panel block width, obtain the plate where the front wheel of the aircraft on the first side is located and the first plate edge distance from the plate where the front wheel is located;

[0053] Based on ranging data 12 , combining the pre-configured road panel block width, obtaining the block where the first side rear wheel of the first side aircraft is located and the first plate edge distance from the block where the rear wheel is located;

[0054] Based on ranging data 11 and ranging data l 12 , combined with the pre-configured road panel width, the panel where the second-side rear wheel of the first-side aircraft is located and the distance from the first panel edge of the panel where the rear wheel is located are obtained:

[0055]

[0056] d 23 =2l 11 -l 12 -(n 23 -1)a

[0057] Where: n 23 is the serial number of the plate where the rear wheel on the second side of the first side aircraft is located along the first direction, d 23 is the distance from the plate n 23 The distance from the first plate edge;

[0058] Based on ranging data 21 , combined with the pre-configured road panel width, the second side of the aircraft front wheel is located on the plate and the distance from the second plate edge to the plate where the front wheel is located is obtained:

[0059]

[0060] d 31 =l 21 -(n 31 -1)a

[0061] Where: n 31 is the serial number of the plate where the front wheel of the second side aircraft is located along the second direction, d 31is the distance between the plate where the front wheel of the aircraft on the second side is located and the second plate edge of the plate where the front wheel is located, the second direction is from the second laser rangefinder to the first laser rangefinder, and the second plate edge distance is the distance to the edge of the second side;

[0062] Based on ranging data 21 and ranging data l 22 , combined with the pre-configured road panel width, the distance between the second side aircraft's first side rear wheel and the second panel edge of the panel is obtained:

[0063]

[0064] d 32 =2l 21 -l 22 -(n 32 -1)a

[0065] Where: n 32 is the serial number of the plate where the rear wheel on the first side of the second side aircraft is located along the second direction, d 32 The distance between the plate where the rear wheel on the first side of the second side aircraft is located and the second plate edge of the plate where the rear wheel is located;

[0066] Based on ranging data 22 , combined with the pre-configured road panel width, the second side of the aircraft's second side rear wheel is located on the plate and the distance from the second plate edge to the plate where it is located is obtained:

[0067]

[0068] d 33 =l 22 -(n 33 -1)a

[0069] Where: n 33 is the serial number of the plate where the second side rear wheel of the second side aircraft is located along the second direction, d 33 It is the distance between the plate where the second side rear wheel of the second side aircraft is located and the second plate edge of the plate where the rear wheel is located.

[0070] A device for determining the takeoff and landing of single or double aircraft and the lateral position of the front and rear wheels of an aircraft includes a memory, a processor, and a program stored in the memory. When the processor executes the program, the method described above is implemented.

[0071] A storage medium stores a program, which implements the above method when executed.

[0072] Compared with the prior art, the present invention has the following beneficial effects:

[0073] 1. Dynamic scene adaptation, realizing automatic recognition of single and double aircraft take-off and landing status without manual intervention;

[0074] 2. Ability to determine the precise position of the aircraft’s front and rear wheels in the lateral direction of the runway;

[0075] 3. Non-destructive and efficient, with the characteristics of non-contact, high precision and strong real-time performance;

[0076] 4. It can provide core data support for airport pavement response simulation and maintenance decision-making. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 Schematic diagram of the main steps of the method of the present invention;

[0078] Figure 2 Schematic diagram of the arrangement of the laser rangefinder of the present invention. DETAILED DESCRIPTION

[0079] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0080] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a method for identifying single and double aircraft takeoffs and landings and determining the lateral position of the front and rear landing gear wheels based on a laser range finder (Laser Range Finder, LRF). This method collects the landing gear wheelbase data of the aircraft during taxiing in real time by deploying three laser range finders on both sides of the runway, and through analysis and data screening, identifies the single and double aircraft takeoff and landing status, taxiing direction and the lateral position of the front and rear landing gear wheels, and ultimately achieves accurate judgment of the aircraft taxiing path and pavement load position. Compared with traditional methods, this technology has the advantages of non-contact, high precision, fast response, and strong adaptability, and can provide basic data support for airport pavement structure design, usage status assessment and maintenance management.

[0081] Laser rangefinders offer high-frequency, non-contact, and long-range measurement capabilities. When deployed strategically on both sides of the runway and combined with time series and wingspan conditional analysis, they can identify the number of aircraft taking off and landing, as well as their taxiing directions. Using the measured wheelbase and runway panel parameters, they can calculate their position and lateral offset, enabling precise positioning of taxiing loads.

[0082] A method for determining single and double aircraft takeoff and landing and the lateral position of the front and rear wheels of the aircraft, such as Figure 1 Shown, including:

[0083] Step S1: Obtain the time series data of all laser rangefinders, where Figure 2As shown, there are three laser rangefinders in total. The first laser rangefinder and the second laser rangefinder are arranged on both sides of the runway opposite to each other. The first laser rangefinder and the third laser rangefinder are arranged on the first side of the runway and arranged along the runway direction. The output light of all laser rangefinders is slightly higher than the runway surface.

[0084] Specific as Figure 2 As shown in the figure, LRF1 is the first laser rangefinder, LRF2 is the second laser rangefinder, and LRF3 is the third laser rangefinder. Assuming that the runway takes off from south to north as the main direction, the laser rangefinders LRF1 and LRF2 are set on the left and right sides of the section 1500m away from the south end of the runway, and LRF3 is set on the left side of the section 1440m away.

[0085] Furthermore, in S1, all three sensors are 60m from the runway centerline, and LRF3 is 60m horizontally from LRF1. Objects above ground level are prohibited within 75m on either side of the runway centerline. Therefore, this device is installed next to the runway side sign to meet deployment requirements without compromising operational safety.

[0086] Step S2: Determine whether it is a single aircraft takeoff or landing based on the time series data of the first laser rangefinder or the second laser rangefinder. If yes, execute step S3; otherwise, execute step S4, including:

[0087] Step S2-1: Determine the starting time;

[0088] Step S2-2: Based on the time series data of the first laser rangefinder at the starting time, find the first distance measurement data l 11 ;

[0089] Step S2-3: Determine the distance measurement data found 11 Is it in the following range:

[0090]

[0091] Where: l is the runway width, x min The minimum wingspan of an aircraft that can take off and land on this runway.

[0092] If yes, it is determined to be a single aircraft takeoff and landing, and step S3 is executed; otherwise, step S4 is executed.

[0093] Step S3: Determine the taxiing direction of the single aircraft and the lateral position of each take-off and landing wheel based on the time series data of all laser rangefinders;

[0094] The sliding direction detection process specifically includes:

[0095] Step S3-1: Determine distance measurement data l 11 The corresponding ranging time t 11;

[0096] Step S3-2: Self-ranging time t 11 Traverse backwards, when the first one smaller than the distance data l appears 11 The ranging data l 12 and the corresponding ranging time t 12 ;

[0097] Step S3-3: At the ranging time t 11 The first set time length is recursively calculated before and after to obtain the search interval, and based on the obtained search interval, the time series data of the third laser rangefinder is searched for the distance data l 11 Distance measurement data with close values ​​l 31 and the corresponding ranging time t 31 ;

[0098] Step S3-4: Determine the ranging time t 31 Is it less than the ranging time t 11 If yes, then the aircraft is judged to be sliding in the direction from the third laser rangefinder to the first laser rangefinder; otherwise, the aircraft is judged to be sliding in the direction from the first laser rangefinder to the third laser rangefinder.

[0099] The relevant results can be filled in Table 1

[0100] Table 1 Single aircraft takeoff and landing record

[0101] Monitoring area number Take-off and landing method Single aircraft takeoff and landing Sliding direction From South to North / From North to South <![CDATA[Front wheel distance l 11 (m)]]> <![CDATA[Time t 11 > <![CDATA[Front wheel distance l 21 (m)]]> <![CDATA[Time t 21 > <![CDATA[Front wheel distance l 31 (m)]]> <![CDATA[Time t 31 > <![CDATA[Rear wheel distance l 12 (m)]]> <![CDATA[Time t 12 > <![CDATA[Rear wheel distance l 22 (m)]]> <![CDATA[Time t 22 > <![CDATA[Rear wheel distance l 32 (m)]]> <![CDATA[Time t 32 >

[0102] In addition, the detection process of the lateral position of the landing wheel specifically includes:

[0103] Step S3-5: Based on the distance measurement data l 11 , combined with the pre-configured road slab width, the distance between the front wheel and the first edge of the slab is obtained:

[0104]

[0105] d 11 =l 11 -(n 11 -1)a

[0106] Where: n 11 is the serial number of the plate where the front wheel is located along the first direction, a is the width of the road plate, d 11 is the distance from the plate n 11 The first plate edge distance, the first direction is the direction from the first laser rangefinder to the second laser rangefinder;

[0107] Step S3-6: Based on the distance measurement data l 12, combined with the pre-configured road slab width, the distance between the first side rear wheel and the first slab edge of the slab is obtained:

[0108]

[0109] d 12 =l 12 -(n 12 -1)a

[0110] Where: n 12 is the serial number of the plate where the rear wheel on the first side is located along the first direction, d 12 is the distance from the plate n 12 The distance from the first plate edge;

[0111] Step S3-7: Based on the time series data of the second laser rangefinder at the starting time, the first distance measurement data l is found. 21 and the corresponding ranging time t 21 , and from the ranging time t 21 Traverse backwards, when the first one smaller than the distance data l appears 21 The ranging data l 22 and the corresponding ranging time t 22 , based on the ranging data l 22 , combined with the pre-configured road slab width, the distance between the second side rear wheel and the first plate edge of the plate is obtained:

[0112] l′=ll 22

[0113]

[0114] d 13 =l′-(n 13 -1)a

[0115] Where: n 13 is the serial number of the plate where the rear wheel on the second side is located along the first direction, d 13 is the distance from the plate n 13 is the distance from the first plate edge, and l′ is the distance from the first laser rangefinder.

[0116] Step S4: determining the take-off and landing order of the two aircraft based on the time series data of the first laser rangefinder or the second laser rangefinder, including:

[0117] Step S4-1: Calculate the difference between the runway width and the minimum wingspan of the aircraft, and divide it by 2 to obtain the first discrimination parameter, and determine whether the first discrimination parameter is greater than x min If yes, then execute step S4-2, otherwise, execute step S4-5;

[0118] Step S4-2: Determine distance measurement data l11 The corresponding ranging time t 11 ;

[0119] Step S4-3: Self-ranging time t 11 Traverse backwards, when the first one smaller than the distance data l appears 11 The ranging data l 12 and the corresponding ranging time t 12 ;

[0120] Step S4-4: Search the time series data of the second laser rangefinder based on the starting time for the first distance measurement data l that is less than l / 2 21 and the corresponding ranging time t 21 , and the self-ranging time t 21 Traverse backwards, when the first one smaller than the distance data l appears 21 The ranging data l 22 and the corresponding ranging time t 22 , determine the ranging time t 21 Is it less than the ranging time t 12 If yes, then the two aircraft are in parallel but the first aircraft is ahead. Otherwise, it is determined that the first aircraft is ahead.

[0121] Step S4-5: Search the first distance measurement data l less than 1 / 2 in the time series data of the first laser rangefinder based on the starting time. 11 ' and the corresponding ranging time t 11 ', determine the ranging time t 11 'Is it less than the ranging time t 22 If yes, the two aircraft are running in parallel but the first side is ahead. Otherwise, it is determined that the aircraft on the second side is ahead, where the second side is the side where the second laser rangefinder is arranged.

[0122] The relevant results are filled in Table 2

[0123] Table 2 Dual aircraft takeoff and landing records

[0124]

[0125]

[0126] Step S5: Determine the taxiing direction of the two aircraft for takeoff and landing based on the time series data of all laser rangefinders and determine the lateral position of each takeoff and landing wheel of the two aircraft.

[0127] When two aircraft are traveling in parallel but the first aircraft is ahead, or the first aircraft is ahead, the process of determining the taxiing direction in step S5 includes:

[0128] At the ranging time t 11The first set time length is recursively calculated before and after to obtain the search interval, and based on the obtained search interval, the time series data of the third laser rangefinder is searched for the distance data l 11 Distance measurement data with close values ​​l 31 and the corresponding ranging time t 31 ;

[0129] Determine the ranging time t 31 Is it less than the ranging time t 11 If yes, then the aircraft is judged to be sliding in the direction from the third laser rangefinder to the first laser rangefinder; otherwise, the aircraft is judged to be sliding in the direction from the first laser rangefinder to the third laser rangefinder.

[0130] When two aircraft are traveling in parallel but the second aircraft is ahead, or the second aircraft is ahead, the process of determining the taxiing direction in step S5 includes:

[0131] At the ranging time t 11 ', the first set time length is recursively calculated before and after to obtain the search interval, and based on the obtained search interval, the time series data of the third laser rangefinder is searched for the distance data l 11 'The distance measurement data with close values ​​l 31 ' and the corresponding ranging time t 31 ';

[0132] Determine the ranging time t 31 'Is it less than the ranging time t 11 ', if yes, then it is determined that the aircraft is sliding in the direction from the third laser rangefinder to the first laser rangefinder; otherwise, it is determined that the aircraft is sliding in the direction from the first laser rangefinder to the third laser rangefinder.

[0133] When two aircraft are traveling in parallel but the first aircraft is in the lead, or the first aircraft is traveling first, the process of determining the lateral position of each take-off and landing wheel in step S5 includes:

[0134] Based on ranging data 11 , combined with the pre-configured road panel block width, obtain the plate where the front wheel of the aircraft on the first side is located and the first plate edge distance from the plate where the front wheel is located;

[0135] Based on ranging data 12 , combining the pre-configured road panel block width, obtaining the block where the first side rear wheel of the first side aircraft is located and the first plate edge distance from the block where the rear wheel is located;

[0136] Based on ranging data 11 and ranging data l 12 , combined with the pre-configured road panel width, the panel where the second-side rear wheel of the first-side aircraft is located and the distance from the first panel edge of the panel where the rear wheel is located are obtained:

[0137]

[0138] d 23 =2l 11 -l 12 -(n 23 -1)a

[0139] Where: n 23 is the serial number of the plate where the rear wheel on the second side of the first side aircraft is located along the first direction, d 23 is the distance from the plate n 23 The distance from the first plate edge;

[0140] Based on ranging data 21 , combined with the pre-configured road panel width, the second side of the aircraft front wheel is located on the plate and the distance from the second plate edge to the plate where the front wheel is located is obtained:

[0141]

[0142] d 31 =l 21 -(n 31 -1)a

[0143] Where: n 31 is the serial number of the plate where the front wheel of the second side aircraft is located along the second direction, d 31 is the distance between the plate where the front wheel of the aircraft on the second side is located and the second plate edge of the plate where the front wheel is located, the second direction is from the second laser rangefinder to the first laser rangefinder, and the second plate edge distance is the distance to the edge of the second side;

[0144] Based on ranging data 21 and ranging data l 22 , combined with the pre-configured road panel width, the distance between the second side aircraft's first side rear wheel and the second panel edge of the panel is obtained:

[0145]

[0146] d 32 =2l 21 -l 22 -(n 32 -1)a

[0147] Where: n 32 is the serial number of the plate where the rear wheel on the first side of the second side aircraft is located along the second direction, d 32 The distance between the plate where the rear wheel on the first side of the second side aircraft is located and the second plate edge of the plate where the rear wheel is located;

[0148] Based on ranging data 22 , combined with the pre-configured road panel width, the second side of the aircraft's second side rear wheel is located on the plate and the distance from the second plate edge to the plate where it is located is obtained:

[0149]

[0150] d 33 =l 22 -(n 33 -1)a

[0151] Where: n 33 is the serial number of the plate where the second side rear wheel of the second side aircraft is located along the second direction, d 33 It is the distance between the plate where the second side rear wheel of the second side aircraft is located and the second plate edge of the plate where the rear wheel is located.

[0152] Finally, the results are recorded in Table 3

[0153] Table 3 Load position record table

[0154] Monitoring area number Sliding direction From South to North / From North to South Two-aircraft takeoff and landing whether Prior situation Aircraft 1 left rear wheel d (m) Aircraft 1 left rear wheel n Aircraft 1 left rear wheel time Aircraft 1 right rear wheel d (m) Aircraft 1 right rear wheel n Aircraft 1 right rear wheel time Aircraft 2 left rear wheel d (m) Aircraft 2 left rear wheel n Aircraft 2 left rear wheel time Aircraft 2 right rear wheel d (m) Aircraft 2 right rear wheel n Aircraft 2 right rear wheel time

[0155] In this example, the runway width l = 120m. Based on airport flight area layout research, the installation section for sensor LRF3 was selected at 1440m on the south end of the runway, and at 1500m for sensor LRF1 and LRF2. LRF1 and LRF2 are located on the left and right sides of the runway, each 60m from the runway centerline. LRF3 is installed on the left side of the runway, 60m horizontally from LRF1.

[0156] Preferably, at a trunk airport, the positions of 1500m and 1440m can cover two-way taxiing. If it is a branch airport, the installation positions of LRF1 and LRF2 are 1100m, and the position of LRF3 is 1040m.

[0157] Preferably, according to airport management requirements, no fixed devices above the ground shall be installed within 75m on both sides of the runway centerline. Therefore, all distance meters are deployed at a low position relying on the signboards on one side of the runway to ensure measurement effectiveness and equipment safety.

[0158] Set the minimum wingspan x min = 20m. Timing begins when the sensor first detects wheelbase data, with LRF1 and LRF2 synchronously collecting lateral distance values. Furthermore, in certain embodiments, a retrospective analysis mode is employed, where raw data from all sensors is collected at high frequency, and historical data in the database is retrospectively calculated every t minutes. Preferably, at hub airports with a takeoff and landing frequency of 1-2 minutes, t can be set to 30 minutes. At feeder airports with a takeoff and landing frequency of 3-5 minutes, t can be set to 60 minutes.

[0159] (1) Single aircraft takeoff and landing taxiing direction judgment and data recording

[0160] When l 11=62.5m, meeting the single-machine condition, the system performs the following record:

[0161] a) LRF1 first valid data l 11 =62.5m, corresponding to time t 11 =13.502s;

[0162] b) The first subsequent one is less than l 11 The value of 12 =59.5m,t 12 =13.610s;

[0163] c) The first data of LRF2 is l 21 =56.5m,t 21 =13.502s, followed by l 22 =53.5m,

[0164] t 22 =13.610s;

[0165] d) LRF3 at t 11 Record within 5 seconds before and after 11 Similar data 31 =62.0m,t 31 =13.470s, followed by l 32 =59.0m,t 32 =13.585s.

[0166] e) Determine the sliding direction: If t 31 <t 11 , then it is from south to north; otherwise it is from north to south. In this example, t 31 <t 11 , the sliding direction is from south to north.

[0167] (2) Determining the take-off and landing sequence of two aircraft and recording data

[0168] If l 11 =31.2m, which does not meet the single-plane condition and is judged to be a two-plane takeoff and landing. 11 <50, indicating that LRF1 is ahead or parallel.

[0169] a) LRF1 record: l 11 =31.2m, t 11 = 20.102s, then l 12 =28.2m,t 12 =20.215s;

[0170] b) Find the first value l in LRF2 that is less than l / 2 = 60m 21 =29.8m,t 21= 20.118s, followed by

[0171] l 22 =26.8m,t 22 =20.250s;

[0172] c) If t 21 <t 12 , it is a dual-machine parallel operation, otherwise LRF1 takes the lead. In this example, t 21 <t 12 , with two machines running in parallel but the first side is leading.

[0173] d) At t 11 Within 5 seconds, LRF3 records 11 Similar data 31 =31.1m, t 31 = 20.060s, followed by l 32 =28.1m,t 32 =20.210s;

[0174] e) If t 31 <t 11 , the sliding direction is from south to north, otherwise it is from north to south. In this case, t 31 <t 11 ,

[0175] The sliding direction is from south to north.

[0176] If l1 = 87.7m and l1 > 70, it means that LRF2 is running first or in parallel.

[0177] a) LRF2 record: l 21 =31.3m, t 21 = 30.108s, then l 22 =28.3m,t 22 =30.220s;

[0178] b) Find the first value l in LRF1 that is less than l / 2 = 60m 11 =29.7m,t 11 =30.115s, followed by l 12 =26.7m,t 12 =30.230s;

[0179] c) If t 11 <t 22 , it is a dual-machine parallel operation, otherwise LRF2 takes the lead. In this example, t 11 <t 22 , two machines are running in parallel but the second side is leading;

[0180] d) At t11 Within 5 seconds, LRF3 records 11 Similar data 31 =29.6m,t 31 =30.080s,

[0181] The first one in the LRF next data that is less than l 31 The value of 32 =26.6m,t 32 =30.190s;

[0182] e) If t 31 <t 11 , the sliding direction is from south to north, otherwise it is from north to south. In this case, t 31 <t 11 , the sliding direction is from south to north.

[0183] (3) Calculation of transverse wheel position plate number and offset distance

[0184] Assuming the width of the road panel a = 5m, the plate number and offset corresponding to the wheelbase l are:

[0185] Single machine left rear wheel:

[0186]

[0187] d 12 =l 12 -(n 12 -1)a=59.5-11×5=4.5m

[0188] Single machine right rear wheel:

[0189] l′=ll 22 =120-53.5=66.5m

[0190]

[0191] d 13 =l′-(n 13 -1)a=66.5-13×5=1.5m

[0192] Left rear wheel on the LRF1 side of the twin engines:

[0193]

[0194] d 22 =l 12 -(n 22 -1)a=28.2-5×5=3.2m

[0195] Right rear wheel on the LRF1 side of the dual engine:

[0196]

[0197] d 23 =2l 11 -l 12 -(n 23 -1)a=2×31.2-28.2-6×5=4.2m

[0198] Left rear wheel on the LRF2 side of the twin engines:

[0199]

[0200] d 32 =2l 21 -l 22 -(n 32 -1)a=2×29.8-26.8-6×5=2.8m

[0201] Right rear wheel on the LRF2 side of the dual engine:

[0202]

[0203] d 33 =l 22 -(n 33 -1)a=26.8-5×5=1.8m

[0204] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

Claims

1. A method for determining single and double aircraft takeoff and landing and the lateral position of the front and rear wheels of an aircraft, characterized in that: include: Step S1: Acquire time series data from all laser rangefinders, wherein there are three laser rangefinders in total, wherein the first laser rangefinder and the second laser rangefinder are arranged on opposite sides of the runway, and the first laser rangefinder and the third laser rangefinder are arranged on the first side of the runway and arranged along the runway direction, and the output light of all laser rangefinders is slightly higher than the runway surface; Step S2: Determine whether it is a single aircraft takeoff or landing based on the time series data of the first laser rangefinder or the second laser rangefinder. If yes, execute step S3; otherwise, execute step S4. Step S3: Determine the taxiing direction of the single aircraft and the lateral position of each take-off and landing wheel based on the time series data of all laser rangefinders; Step S4: determining the take-off and landing order of the two aircraft based on the time series data of the first laser rangefinder or the second laser rangefinder; Step S5: Determine the taxiing direction of the two aircraft for takeoff and landing based on the time series data of all laser rangefinders and determine the lateral position of each takeoff and landing wheel of the two aircraft.

2. The method for determining single and double aircraft takeoff and landing and the lateral position of the front and rear wheels of an aircraft according to claim 1, characterized in that: The step S2 comprises: Step S2-1: Determine the starting time; Step S2-2: Based on the time series data of the first laser rangefinder at the starting time, find the first distance measurement data l 11 ; Step S2-3: Determine the distance measurement data found 11 Is it in the following range: Where: l is the runway width, x min The minimum wingspan of an aircraft that can take off and land on this runway. If yes, it is determined to be a single aircraft takeoff and landing, and step S3 is executed; otherwise, step S4 is executed.

3. The method for determining single and double aircraft takeoff and landing and the lateral position of the front and rear wheels of an aircraft according to claim 2, characterized in that: The sliding direction detection process in step S3 specifically includes: Step S3-1: Determine distance measurement data l 11 The corresponding ranging time t 11 ; Step S3-2: Self-ranging time t 11 Traverse backwards, when the first one smaller than the distance data l appears 11 The ranging data l 12 and the corresponding ranging time t 12 ; Step S3-3: At the ranging time t 11 The first set time length is recursively calculated before and after to obtain the search interval, and based on the obtained search interval, the time series data of the third laser rangefinder is searched for the distance data l 11 Distance measurement data with close values ​​l 31 and the corresponding ranging time t 31 ; Step S3-4: Determine the ranging time t 31 Is it less than the ranging time t 11 If yes, then the aircraft is judged to be sliding in the direction from the third laser rangefinder to the first laser rangefinder; otherwise, the aircraft is judged to be sliding in the direction from the first laser rangefinder to the third laser rangefinder.

4. The method for determining single and double aircraft takeoff and landing and the lateral position of the front and rear wheels of an aircraft according to claim 2, characterized in that: The process of detecting the lateral position of the landing wheel in step S3 specifically includes: Step S3-5: Based on the distance measurement data l 11 , combined with the pre-configured road slab width, the distance between the front wheel and the first edge of the slab is obtained: d 11 =l 11 -(n 11 -1)a Where: n 11 is the serial number of the plate where the front wheel is located along the first direction, a is the width of the road plate, d 11 is the distance from the plate n 11 The first plate edge distance, the first direction is the direction from the first laser rangefinder to the second laser rangefinder; Step S3-6: Based on the distance measurement data l 12 , combined with the pre-configured road slab width, the distance between the first side rear wheel and the first slab edge of the slab is obtained: d 12 =l 12 -(n 12 -1)a Where: n 12 is the serial number of the plate where the rear wheel on the first side is located along the first direction, d 12 is the distance from the plate n 12 The distance from the first plate edge; Step S3-7: Based on the time series data of the second laser rangefinder at the starting time, find the first distance measurement data l 21 and the corresponding ranging time t 21 , and from the ranging time t 21 Traverse backwards, when the first one smaller than the distance data l appears 21 The ranging data l 22 and the corresponding ranging time t 22 , based on the ranging data l 22 , combined with the pre-configured road slab width, the distance between the second side rear wheel and the first slab edge of the slab is obtained: l′＝l-l 22 d 13 =l′-(n 13 -1)a Where: n 13 is the serial number of the plate where the rear wheel on the second side is located along the first direction, d 13 is the distance from the plate n 13 is the distance from the first plate edge, and l′ is the distance from the first laser rangefinder.

5. The method for determining single and double aircraft takeoff and landing and the lateral position of the front and rear wheels of an aircraft according to claim 2, characterized in that: The step S4 comprises: Step S4-1: Calculate the difference between the runway width and the minimum wingspan of the aircraft, and divide it by 2 to obtain the first discrimination parameter, and determine whether the first discrimination parameter is greater than x min If yes, then execute step S4-2, otherwise, execute step S4-5; Step S4-2: Determine distance measurement data l 11 The corresponding ranging time t 11 ; Step S4-3: Self-ranging time t 11 Traverse backwards, when the first one smaller than the distance data l appears 11 The ranging data l 12 and the corresponding ranging time t 12 ; Step S4-4: Search the time series data of the second laser rangefinder based on the starting time for the first distance measurement data l that is less than l / 2 21 and the corresponding ranging time t 21 , and the self-ranging time t 21 Traverse backwards, when the first one smaller than the distance data l appears 21 The ranging data l 22 and the corresponding ranging time t 22 , determine the ranging time t 21 Is it less than the ranging time t 12 If yes, then the two aircraft are in parallel but the first aircraft is ahead. Otherwise, it is determined that the first aircraft is ahead. Step S4-5: Search the first distance measurement data l less than 1 / 2 in the time series data of the first laser rangefinder based on the starting time. 11 ' and the corresponding ranging time t 11 ', determine the ranging time t 11 'Is it less than the ranging time t 22 If yes, the two aircraft are running in parallel but the first side is ahead. Otherwise, it is determined that the aircraft on the second side is ahead, where the second side is the side where the second laser rangefinder is arranged.

6. The method for determining single and double aircraft takeoff and landing and the lateral position of the front and rear wheels of an aircraft according to claim 5, characterized in that: When two aircraft are traveling in parallel but the first aircraft is ahead, or the first aircraft is ahead, the process of determining the taxiing direction in step S5 includes: At the ranging time t 11 The first set time length is recursively calculated before and after to obtain the search interval, and based on the obtained search interval, the time series data of the third laser rangefinder is searched for the distance data l 11 Distance measurement data with close values ​​l 31 and the corresponding ranging time t 31 ; Determine the ranging time t 31 Is it less than the ranging time t 11 If yes, then the aircraft is judged to be sliding in the direction from the third laser rangefinder to the first laser rangefinder; otherwise, the aircraft is judged to be sliding in the direction from the first laser rangefinder to the third laser rangefinder.

7. The method for determining single and double aircraft takeoff and landing and the lateral position of the front and rear wheels of an aircraft according to claim 5, characterized in that: When two aircraft are traveling in parallel but the second aircraft is ahead, or the second aircraft is ahead, the process of determining the taxiing direction in step S5 includes: At the ranging time t 11 ', the first set time length is recursively calculated before and after to obtain the search interval, and based on the obtained search interval, the time series data of the third laser rangefinder is searched for the distance data l 11 'The distance measurement data with close values ​​l 31 ' and the corresponding ranging time t 31 '; Determine the ranging time t 31 'Is it less than the ranging time t 11 ', if yes, then it is determined that the aircraft is sliding in the direction from the third laser rangefinder to the first laser rangefinder; otherwise, it is determined that the aircraft is sliding in the direction from the first laser rangefinder to the third laser rangefinder.

8. The method for determining single and double aircraft takeoff and landing and the lateral position of the front and rear wheels of an aircraft according to claim 5, characterized in that: When two aircraft are traveling in parallel but the first aircraft is in the lead, or the first aircraft is traveling first, the process of determining the lateral position of each take-off and landing wheel in step S5 includes: Based on ranging data 11 , combined with the pre-configured road panel block width, obtain the plate where the front wheel of the aircraft on the first side is located and the first plate edge distance from the plate where the front wheel is located; Based on ranging data 12 , combining the pre-configured road panel block width, obtaining the block where the first side rear wheel of the first side aircraft is located and the first plate edge distance from the block where the rear wheel is located; Based on ranging data 11 and ranging data l 12 , combined with the pre-configured road panel width, the panel where the second-side rear wheel of the first-side aircraft is located and the distance from the first panel edge of the panel where the rear wheel is located are obtained: d 23 =2l 11 -L 12 -(n 23 -1)a Where: n 23 is the serial number of the plate where the rear wheel on the second side of the first side aircraft is located along the first direction, d 23 is the distance from the plate n 23 The distance from the first plate edge; Based on ranging data 21 , combined with the pre-configured road panel width, the second side of the aircraft front wheel is located on the plate and the distance from the second plate edge to the plate where the front wheel is located is obtained: d 31 =l 21 -(n 31 -1)a Where: n 31 is the serial number of the plate where the front wheel of the second side aircraft is located along the second direction, d 31 is the distance between the plate where the front wheel of the aircraft on the second side is located and the second plate edge of the plate where the front wheel is located, the second direction is from the second laser rangefinder to the first laser rangefinder, and the second plate edge distance is the distance to the edge of the second side; Based on ranging data 21 and ranging data l 22 , combined with the pre-configured road panel width, the distance between the second side aircraft's first side rear wheel and the second panel edge of the panel is obtained: d 32 =2l 21 -L 22 -(n 32 -1)a Where: n 32 is the serial number of the plate where the rear wheel on the first side of the second side aircraft is located along the second direction, d 32 The distance between the plate where the rear wheel on the first side of the second side aircraft is located and the second plate edge of the plate where the rear wheel is located; Based on ranging data 22 , combined with the pre-configured road panel width, the second side of the aircraft's second side rear wheel is located on the plate and the distance from the second plate edge to the plate where it is located is obtained: d 33 =l 22 -(n 33 -1)a Where: n 33 is the serial number of the plate where the second side rear wheel of the second side aircraft is located along the second direction, d 33 It is the distance between the plate where the second side rear wheel of the second side aircraft is located and the second plate edge of the plate where the rear wheel is located.

9. A device for determining single and double aircraft takeoff and landing and the lateral position of front and rear wheels of an aircraft, comprising a memory, a processor, and a program stored in the memory, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

10. A storage medium having a program stored thereon, characterized in that: When the program is executed, the method according to any one of claims 1 to 8 is implemented.

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