CN101244765B - Vision guidance and monitoring system and method for aircraft takeoff and landing under low visibility - Google Patents
Vision guidance and monitoring system and method for aircraft takeoff and landing under low visibility Download PDFInfo
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Abstract
本发明涉及一种低能见度下飞机起飞着陆的视觉导引和监控系统及方法，其系统包括在着陆点区域、跑道边界、跑道尽头、机场上停放的和滑行的飞机上、停放的和移动的车辆上、机场附近高大建筑物和障碍物上、跑道交叉路口处设置的红外合作标志；机场塔台上、飞机和车辆上设置的红外探测成像系统和控制计算机；控制计算机控制所有的红外合作标志发射特定的红外光，红外探测成像系统探测光谱范围与红外合作标志发射的红外光的波长相匹配。本发明利用计算机视觉和模式识别技术，自动提取相关信息导引机场车辆通行、飞机滑行、起飞与着陆，实现对整个机场的智能监控；本发明同样适用于低能见度下的公路、水路交通、防撞击、救援、危险区域警告等领域。
The present invention relates to a visual guidance and monitoring system and method for aircraft takeoff and landing under low visibility. Infrared cooperation signs set up on vehicles, tall buildings and obstacles near the airport, and at runway intersections; infrared detection imaging systems and control computers set up on airport towers, aircraft and vehicles; control computers control all infrared cooperation sign launches For specific infrared light, the infrared detection imaging system detects a spectral range that matches the wavelength of the infrared light emitted by the infrared cooperation sign. The invention utilizes computer vision and pattern recognition technology to automatically extract relevant information to guide airport vehicle passage, aircraft taxiing, takeoff and landing, and realizes intelligent monitoring of the entire airport; Collision, rescue, danger area warning and other fields.
Description
Technical field
The present invention relates to a kind of visual guidance and monitored control system and method for taking off landing, specifically relate under a kind of low visibility based on the visual guidance of taking off landing and the monitored control system and the method for infrared cooperation sign, specifically be used for low visibility get off the plane slide, taking-off and landing.Belong to the aeronautical technology field.
Background technology
During low visibility weather such as dense fog, aircraft can't safe take-off and landing, causes airliner delay, all causes damage for individual, airline company and national economy, when running into urgent affairs especially, as visit, participate in great emergency meeting, great rescue etc.
Because development of global economy is increasing to the weather environment influence, it is reported, Nanjing haze and foggy weather are by being increased to present annual more than 100 days in average 2～4 days before 50 years, by last Dec 15, East Airways Jiangsu company only, the flight of making preparation for dropping that causes owing to the weather reason is 91 classes, account for 93.8% of the flight number of all making preparation for dropping, 88 classes of cancellations of flights account for 48% of cancel all flight number, incur loss through delay especially up to 1119 classes, fortnight of last Dec only, the airliner delay that causes because of low visibility just reaches 182 classes, make preparation for dropping 10 classes, cancel 24 classes, account for whole flight mal ratiometric 73%, this has a strong impact on the reputation of airline company.
Existing instrument landing ILS), the microwave guiding land MLS) and global navigation satellite landing (GLS) technology under, the airport blind landing is divided into and is Three Estate: I class operating needs runway visibility is not less than 800 meters, the visbility that takes off is not less than 400 meters; II generic request runway visibility is not less than 350 meters, the visbility that takes off is not less than 150 meters; IIIa generic request runway visibility is not less than 210 meters (construction cost reaches 1,000,000,000 dollars during calendar year 2001), and IIIb generic request runway visibility is not less than 110 meters.But the whole world also only has several families airport that the III kind equipment is installed, and domestic only have the ZSPD that III class instrument landing navigationsystem has been installed, and this III class blind landing cost is high, and because safety problem also has only special situation just can enable.
Both at home and abroad the related scientific research personnel are devoted to the get off the plane research of taking-off and landing of low visibility always, and Boeing Co. has just begun research as far back as the eighties.In recent years, scholars propose to utilize millimeter wave radar, infrared detection image and numerical map complex art, discover, it is visual still can't to satisfy the real low visibility runway of getting off the plane.
Discover recently, the ultraviolet detection imaging system can detect the uviol lamp outside at least 3 times of range of visibilitys under the greasy weather, therefore propose low visibility aircraft landing and invader (aircraft of parking on the airport He slide, vehicle, airport employe that park and that move) alarm up-to-date technology based on ultraviolet detection.But this detection range also is not enough to reach the landing requirement of getting off the plane of real low visibility.In addition, when invader is outside middle blind area of adjacent detector and light beam, just can't alarm, and the whole airport of the also very difficult covering of this warning technology, more be not easy to the approach tower intelligent monitoring.
Summary of the invention
For addressing the above problem, the purpose of this invention is to provide a kind of advanced more utilization and launch the infrared cooperation sign of specific infrared light and cooperate the infrared detection image system, with realize real low visibility get off the plane slide, visual guidance and monitored control system and method that the low visibility of taking-off and landing visual guidance and control tower intelligent monitoring is got off the plane and taken off and land.
For addressing the above problem, the present invention takes following technical scheme to realize:
Visual guidance and monitored control system that a kind of low visibility is got off the plane and taken off and land is characterized in that comprising the infrared cooperation sign on the landing point zone, infrared cooperation sign on the runway boundary, the infrared cooperation sign that runway end plummet is provided with, infrared cooperation sign on the aircraft of parking on the airport He slide, infrared cooperation sign on that park and the mobile vehicle, the infrared cooperation sign that the airport employe wears, near the airport on high-lager building and the obstacle infrared cooperation sign, the infrared cooperation sign that the runway crossing intersection part is provided with, the big visual field of the revolution that is provided with on approach tower infrared detection image system, aircraft, the control computer that all infrared cooperation signs of infrared detection image system that is provided with on the vehicle and control are launched specific infrared light; Described control computer is controlled all specific infrared lights of infrared cooperation sign emission, and the infrared light wavelength of infrared detection image system detecting light spectrum scope that is provided with on the revolution that is provided with on the described approach tower big visual field infrared detection image system and aircraft, the vehicle and the emission of infrared cooperation sign is complementary.
Visual guidance and monitored control system that aforesaid low visibility is got off the plane and taken off and land, it is characterized in that described infrared cooperation sign all emission wavelength be 8～12 microns infrared light.
Visual guidance and monitored control system that aforesaid low visibility is got off the plane and taken off and land, it is characterized in that infrared cooperation character shape on the described landing point zone is special and be easy to Computer Vision Recognition, be shaped as T-shape, the initial point that "-" representative can be landed, " | " represents landing direction; Infrared cooperation character shape on the described runway boundary is a linear pattern, arranges at interval; The infrared cooperation of described runway end plummet setting is masked as the certain oblong of size, is convenient to utilize the monocular image-forming principle, utilizes the computer vision self-measuring to calculate the range information that plane distance is gone to the end; Infrared cooperation on the described airport on that park and the aircraft that slide is masked as the certain omnidirectional's appreciiable almost spherical of size; Infrared cooperation on described that park and the vehicle that moves is masked as the certain omnidirectional's appreciiable almost spherical of size; The infrared cooperation that described airport employe wears is masked as the vest shape and structure, is easy to wear; Near the described airport on high-lager building and the obstacle infrared cooperation sign has the stroboscopic function, is arranged in the boundary that embodies its profile information; The infrared cooperation character shape that described runway crossing intersection part is provided with is special understandable, is shaped as " ↑ " that represents P Passable and represents " x " of block off traffic.
Visual guidance and monitored control system that aforesaid low visibility is got off the plane and taken off and land, it is characterized in that the infrared detection image system on the described aircraft, utilize the infrared cooperation sign on computer vision technique and the mode identification method identification landing point zone, according to infrared cooperation sign, utilize computer vision technique to extract auxiliary landing of landing information such as yaw angle, pitch angle and roll angle of aircraft, the aviator is by the infrared cooperation sign on the infrared detection image system detection airport, thereby landing runway is visual under the realization low visibility.
A kind of method of utilizing aforesaid low visibility to get off the plane to take off the visual guidance that lands and monitored control system to carry out aircraft landing is characterized in that having following steps:
(1) navigationsystem such as GPS aircraft vectoring near destination;
(2) the infrared detection image system on the aircraft detects in real time and shows terrain object, in a single day the aviator observes airfield landing runway situation by the infrared detection image system on the aircraft, and the aviator just relies on this system to observe decision-making and lands;
(3) the infrared detection image system utilizes computer vision technique and mode identification method handle landing information that obtains automatically and the image information display that detects on read-out, point out the aviator simultaneously, the aviator obtains relevant landing information by read-out and realizes the landing that low visibility is got off the plane.
The aforesaid method of utilizing low visibility to get off the plane to take off the visual guidance that lands and monitored control system to carry out aircraft landing, it is characterized in that utilizing the infrared detection image system to land automatically: switch to automatic landing system, the infrared detection image system realizes landing automatically by computer vision technique and infrared cooperation sign guiding aircraft.
A kind ofly utilize aforesaid low visibility to get off the plane to take off the visual guidance that lands and monitored control system to carry out the method that aircraft taxi and vehicle move, it is characterized in that having following steps:
(1) on the aircraft and the infrared detection image system on the vehicle detection image that obtains is shown in real time;
(2) the infrared detection image system utilizes computer vision technique and mode identification method driving information (there are obstacle and bend information etc. in P Passable, block off traffic, the place ahead) the prompting aviator and the chaufeur that obtain automatically;
(3) aviator and chaufeur travel by the road conditions that read-out obtains under the low visibility.
A kind of method of utilizing aforesaid low visibility to get off the plane to take off the visual guidance that lands and monitored control system to carry out the control tower monitoring is characterized in that having following steps:
(1) infrared detection image system revolving scanning in the big visual field of the revolution on the control tower is surveyed whole airport, detects the infrared cooperation sign on the airport and is presented on the giant-screen;
(2) alarm when the big visual field of revolution infrared detection image system utilizes computer vision technique and mode identification method to find possible dangerous information (illegal current, have on the landing runway unusual etc.);
(3) commanding is by read-out Real Time Observation commander.
The beneficial effect of patent of the present invention is: under thick fog, detection range of the present invention is that present state-of-the-art ultraviolet detection system surveys more than 2 times of uviol lamp distance under the greasy weather, and cost is low, easily realizes intelligent monitoring.Compare with the long and short ripple infrared acquisition integration technology in the existing document, the present invention only need utilize a kind of 8～12 micron LONG WAVE INFRAREDs detection imaging systems relatively more responsive to landform, just can improve detection range greatly.
The present invention has a extensive future, and also is applicable to applications such as low visibility is got down the highway, water transportation, anticollision, rescue, hazardous location warning.
Description of drawings
Fig. 1 is the landing runway scheme drawing that has the cooperation sign under the low visibility.
The number in the figure title:
1, land the infrared cooperation sign of T type on the some zone, 2, the infrared cooperation sign of linear pattern on the runway boundary, 3, the infrared cooperation sign of oblong that is provided with of runway end plummet.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is done concrete introduction:
Fig. 1 is the landing runway scheme drawing that has the cooperation sign under the low visibility.As shown in Figure 1, the infrared cooperation character shape on the some zone of landing is the T type, the initial point that "-" representative can be landed, and " | " represents landing direction; Infrared cooperation character shape on the runway boundary is that a series of linear portions are arranged at interval; The infrared cooperation of runway end plummet setting is masked as the certain oblong of size, and the infrared cooperation on the aircraft of parking on the airport He slide is masked as the certain omnidirectional's appreciiable almost spherical of size; Infrared cooperation on that park and the mobile vehicle is masked as the certain omnidirectional's appreciiable almost spherical of size; The infrared cooperation that the airport employe wears is masked as and is similar to the reflective vest structure that the road cleaner wears; Near the airport on high-lager building and the obstacle infrared cooperation sign has the stroboscopic function, and is arranged in boundary, embodies its profile information; The infrared cooperation character shape of runway crossing intersection part setting is " ↑ " of representative P Passable and " x " that represents block off traffic; The wavelength of the detecting light spectrum scope of the big visual field of the revolution that is provided with on approach tower infrared detection image system and the emission of infrared cooperation sign is that 8～12 microns infrared light is complementary; The wavelength of the detecting light spectrum scope of the infrared detection image system that is provided with on aircraft, the vehicle and the emission of infrared cooperation sign is that 8～12 microns infrared light is complementary.
Under the low visibility, navigationsystem such as GPS the landing aircraft vectoring near destination, infrared detection image system on the aircraft detects and the demonstration terrain object in real time, the aviator is in case observe airfield landing runway situation by the infrared detection image system on the aircraft, the aviator just relies on this system to observe decision-making and lands, if the automatic landing system of switching to, then the infrared detection image system realizes landing automatically by computer vision technique and infrared cooperation sign guiding aircraft.
Under the low visibility, the infrared detection image system that slides on aircraft and the moving vehicle is presented at the detection image that obtains on the read-out in real time, simultaneously, the infrared detection image system utilizes computer vision technique and mode identification method that the driving information (there are obstacle and bend information etc. in P Passable, block off traffic, the place ahead) that obtains automatically is prompted to aviator and chaufeur, and aviator and chaufeur travel by the road conditions that read-out obtains under the low visibility.
Under the low visibility, infrared detection image system revolving scanning in the big visual field of revolution on the control tower is surveyed whole airport, detect the infrared cooperation sign on the airport and be presented on the giant-screen, when utilizing computer vision technique and mode identification method, the big visual field of revolution infrared detection image system finds that possible dangerous information is (illegal current, have unusual etc. on the landing runway) time alarm, simultaneously, the commanding is by read-out Real Time Observation commander.
By above system and method can reach low visibility get off the plane safety slide, take-off and landing.
The foregoing description does not limit the present invention in any form, and all employings are equal to the technical scheme that form obtained of replacement or equivalent transformation, all drop within protection scope of the present invention.
Claims (6)
1. the low visibility visual guidance and the monitored control system of getting off the plane and taking off and landing is characterized in that comprising the infrared cooperation sign that lands on the some zone, infrared cooperation sign on the runway boundary, the infrared cooperation sign that runway end plummet is provided with, infrared cooperation sign on the aircraft of parking on the airport He slide, infrared cooperation sign on that park and the mobile vehicle, the infrared cooperation sign that the airport employe wears, near the airport on high-lager building and the obstacle infrared cooperation sign, the infrared cooperation sign that the runway crossing intersection part is provided with, the big visual field of the revolution that is provided with on approach tower infrared detection image system, aircraft, the control computer that all infrared cooperation signs of infrared detection image system that is provided with on the vehicle and control are launched specific infrared light; Described control computer is controlled all specific infrared lights of infrared cooperation sign emission, the infrared light wavelength of infrared detection image system detecting light spectrum scope that is provided with on the revolution that is provided with on the described approach tower big visual field infrared detection image system and aircraft, the vehicle and the emission of infrared cooperation sign is complementary, infrared cooperation character shape on the described landing point zone is a T-shape, the initial point that "-" representative can be landed, " | " represents landing direction; Infrared cooperation character shape on the described runway boundary is a linear pattern, arranges at interval; The infrared cooperation of described runway end plummet setting is masked as the certain oblong of size; Infrared cooperation on the described airport on that park and the aircraft that slide is masked as the certain omnidirectional's appreciiable almost spherical of size; Infrared cooperation on described that park and the vehicle that moves is masked as the certain omnidirectional's appreciiable almost spherical of size; The infrared cooperation that described airport employe wears is masked as the vest shape and structure; Near the described airport on high-lager building and the obstacle infrared cooperation sign has the stroboscopic function, is arranged in the boundary that embodies its profile information; The infrared cooperation character shape of described runway crossing intersection part setting is " ↑ " of representative P Passable and " x " that represents block off traffic.
2. visual guidance and monitored control system that low visibility according to claim 1 is got off the plane and taken off and land, it is characterized in that described infrared cooperation sign all emission wavelength be 8～12 microns infrared light.
3. visual guidance and monitored control system that low visibility according to claim 1 is got off the plane and taken off and land, it is characterized in that the infrared detection image system that is provided with on the described aircraft, utilize the infrared cooperation sign on computer vision technique and the mode identification method identification landing point zone, according to infrared cooperation sign, utilize computer vision technique to extract auxiliary landing of landing information of aircraft.
4. the method for utilizing any described low visibility in the claim 1 to 3 to get off the plane to take off the visual guidance that lands and monitored control system to carry out aircraft landing is characterized in that having following steps:
(1) navigationsystem aircraft vectoring near destination;
(2) the infrared detection image system on the aircraft detects in real time and shows terrain object, and the aviator observes airfield landing runway situation by the infrared detection image system on the aircraft, and the aviator relies on this system to observe decision-making and lands;
(3) the infrared detection image system utilizes computer vision technique and mode identification method handle landing information that obtains automatically and the image information display that detects on read-out, point out the aviator simultaneously, the aviator obtains relevant landing information by read-out and realizes the landing that low visibility is got off the plane.
5. utilize any described low visibility in the claim 1 to 3 to get off the plane to take off the visual guidance that lands and monitored control system to carry out the method that aircraft taxi and vehicle move, it is characterized in that having following steps:
(1) on the aircraft and the infrared detection image system on the vehicle detection image that obtains is shown in real time;
(2) the infrared detection image system utilizes computer vision technique and mode identification method the driving information prompting aviator and the chaufeur that obtain automatically;
(3) aviator and chaufeur travel by the road conditions that read-out obtains under the low visibility.
6. the method for utilizing any described low visibility in the claim 1 to 3 to get off the plane to take off the visual guidance that lands and monitored control system to carry out the control tower monitoring is characterized in that having following steps:
(1) infrared detection image system revolving scanning in the big visual field of the revolution on the control tower is surveyed whole airport, detects the infrared cooperation sign on the airport and is presented on the giant-screen;
(2) when utilizing computer vision technique and mode identification method to find possible dangerous information, the big visual field of revolution infrared detection image system alarms;
(3) commanding is by read-out Real Time Observation commander.
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| CN107153422A (en) * | 2016-03-02 | 2017-09-12 | 波音公司 | aircraft landing system and method |
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| CN104176267B (en) * | 2014-08-20 | 2017-05-10 | 电子科技大学 | Three-dimensional high-directivity infrared laser aircraft landing guide system |
| TWI579811B (en) * | 2014-09-23 | 2017-04-21 | 東海大學 | Aircraft landing-guiding system and method |
| CN112859899B (en) * | 2014-10-31 | 2024-11-01 | 深圳市大疆创新科技有限公司 | System and method for monitoring with visual indicia |
| US9434480B2 (en) * | 2015-01-13 | 2016-09-06 | Honeywell International Inc. | Display systems and methods for generating a display providing runway illusion alleviation |
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| CN105717941A (en) * | 2016-01-27 | 2016-06-29 | 杨珊珊 | Light beam generation device and method for generating visible boundary and electronic boundary system |
| CN108363034B (en) * | 2018-03-20 | 2023-09-22 | 陈昌志 | Thermo-magnetic beacon fog-penetrating navigation landing system |
| CN108444480B (en) * | 2018-03-20 | 2021-06-04 | 陈昌志 | Aircraft landing method |
| GB2575029B (en) * | 2018-06-22 | 2022-12-28 | Ge Aviat Systems Ltd | Landing on emergency or unprepared landing strip in low visibility condition |
| CN109407708A (en) * | 2018-12-11 | 2019-03-01 | 湖南华诺星空电子技术有限公司 | A kind of accurate landing control system and Landing Control method based on multi-information fusion |
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