CN114783216B - A digital guidance system and method for an airport scene - Google Patents

Abstract

The invention discloses an airport scene digital guidance system and method, comprising: a guidance processing control center system and an airborne digital guidance terminal; the guidance processing control center system and the airborne digital guidance terminal perform data transmission through a wireless network; The present invention realizes digital taxiing guidance and control information guidance for aircraft and vehicles operating on the airport surface, as well as scene situation and information sharing, flexible display of navigation digital maps, and comprehensive guidance information display and broadcast; compared with existing lights Guidance, guided vehicle guidance and other methods have the characteristics of comprehensive information sharing, flexible display of navigation digital maps, low cost, short cycle, easy deployment, and easy maintenance, etc., to improve the safety and efficiency of airport scene guidance operations.

Description

A digital guidance system and method for an airport scene

technical field

The invention belongs to the technical field of airport surface operation management, and in particular relates to an airport surface digital guidance system and method.

Background technique

With the increase in the number of aircraft taking off and landing at airports and more and more multi-runway airports, the complexity of aircraft and vehicle traffic operations on the airport scene has increased significantly. In order to avoid operational conflicts such as dangerous approach and collision, airports currently mainly use followme vehicles to guide aircraft. From the ATC and ramp handover point to the parking stand. With the development of technology, since the 1990s, some countries have proposed the use of Advanced Surface Movement Guidance and Control System (A-SMGCS) to control the lighting and extinguishing of the taxiway center and stop lights installed on the airport pavement to realize aircraft Taxi guidance (referred to as "light guidance"). At present, this guidance method has been implemented in a few airports such as Beijing Daxing International Airport, which has improved the safety and efficiency of taxiing on the scene to a certain extent.

At present, the airport scene operation guidance adopts the guidance of vehicle guidance and light guidance, which has many shortcomings. The guide vehicle guidance method has problems such as high workload of manual dispatching and manual driving, easy "mistakes and omissions", low efficiency of command and dispatch, and low safety of conflict risk warning only by visual inspection. There are also many problems in the lighting guidance method. The lighting guidance requires the airport to build a large number of airport navigation lighting equipment and monitoring systems in advance, which is high cost, long cycle, and difficult to maintain; and the delay of the light switch will reduce the operation efficiency; only the scene operation is displayed on the controller side Situation cannot achieve common situation awareness and risk warning for pilots, vehicle drivers, and controllers, and cannot provide rich guidance and prompt information to pilots and vehicle drivers. There are problems such as non-sharing of information, reducing operational safety, efficiency, and experience.

Contents of the invention

Aiming at the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide an airport scene digital guidance system and method, so as to solve many problems caused by the way of light guidance and guide car guidance in the airport scene operation guidance in the prior art .

In order to achieve the above object, the technical scheme adopted in the present invention is as follows:

An airport scene digital guidance system of the present invention includes: a guidance processing control center system and an airborne digital guidance terminal; the guidance processing control center system and the airborne digital guidance terminal perform data transmission through a wireless network;

The guidance processing control center system includes: an input interface module, a machine/vehicle cooperative path planning module, an alarm processing module, a conflict resolution control module, a real-time navigation information generation module and a communication module;

The input interface module is used to receive the data sent by the advanced surface movement guidance and control system for the integrated track of the active target, the flight plan, the planned flight path of the aircraft, and the restricted area of the surface, and analyze and process the data to form the required format data;

The machine/vehicle collaborative path planning module is used to plan the driving path of the vehicle and generate the target path planning data of the whole event, that is, the planned path;

The alarm processing module is used to perform alarm processing on unsafe events and generate corresponding alarm information according to the position, speed, and direction of motion of the active target in the integrated track of the active target, the flight plan and the planned path of aircraft taxiing;

The conflict resolution control module is used to perform conflict resolution processing on aircraft and vehicles that have operational conflicts, and generate conflict resolution control instruction information;

The real-time navigation information generation module, according to the comprehensive track of the active target, the planned route, the warning information, the conflict resolution control command information, combined with the 3D vector GIS airport map, generates and displays the position and trend of the active target on the map in real time. Travel planning path, warning information, navigation graphic indicator mark, conflict resolution stop/forward graphical mark;

A communication module, used for wireless communication with the airborne digital guidance terminal;

The airborne digital guidance terminal includes: a user subscription module, a real-time navigation map generation display module and a navigation voice broadcast module;

The user subscription module is used to perform security authentication on the user identities of pilots and vehicle drivers, and subscribe to the guidance processing control center system for the flight number or vehicle number selected by the user to obtain the flight or vehicle information and related flights or vehicle information;

The real-time navigation map generation and display module is used to combine the obtained flight or vehicle information and related flight or vehicle information with the 3-dimensional vector GIS airport map to generate a real-time navigation map display;

The navigation voice broadcast module is used to realize the conversion of navigation information into audio data during the process of aircraft/vehicle guidance, conflict resolution and avoidance, and is used for broadcasting navigation information by pilots and vehicle drivers.

Further, the machine/vehicle coordinated path planning module is based on the principle of giving priority to the aircraft taxi planning path sent by the advanced surface movement guidance and control system, and is constrained by vehicle service lanes, taxiways, restricted areas, service mission plans, and surface operation rules Factors, plan the vehicle driving path, and generate the aircraft and vehicle path planning data for the whole field.

Further, the unsafe event includes: operation conflict, aircraft taxiing off-path, runway intrusion, restricted area intrusion, parking stand conflict, and overspeed.

Further, the conflict resolution process generates control instruction information that one target in the conflict pair stops and the other target moves forward according to the principles of aircraft priority, VIP flight priority, and first-come-first-served flights of the same type.

Further, the flight or vehicle information includes: flight number or vehicle number, active target position/speed/course, flight plan, planned route, warning information, conflict release control command information; the relevant flight or vehicle is the previous sequence flights, flights or vehicles whose distance from this flight or vehicle is less than the parameter value range; the relevant flight or vehicle information includes: flight number or vehicle number, activity target position/speed/course, flight plan.

Further, the real-time navigation map display content includes: background map, current flight or vehicle position and trend, traveled path/untraveled planned path, warning, navigation graphical indicator mark, conflict resolution stop/advance graphical mark, relevant flight or vehicle identification, location, preceding flight identification.

Further, the broadcasting content of the navigation information includes: broadcasting of the traveling route, guidance at intersections, waiting, stopping, moving on, and warning.

A digital guidance method for an airport scene of the present invention is based on the above-mentioned system, and the steps are as follows:

1) Receive the comprehensive flight track, flight plan, aircraft taxi planning path, and surface restricted area data sent by the advanced surface movement guidance and control system, and analyze and process them to form the required format;

2) Align the map coordinates of the advanced surface movement guidance and control system with the map coordinates of the airborne digital guidance terminal;

3) Generate path planning data for all active targets (aircraft, vehicles), that is, the planned path;

4) Carry out alarm processing for unsafe events and generate corresponding alarm information;

5) Run conflict events for the active target, perform conflict resolution processing, and generate conflict resolution control instruction information;

6) Generate global real-time navigation information;

7) Send global real-time navigation information to the airborne digital guidance terminal;

8) Navigation information subscription, display and voice broadcast of the airborne digital guidance terminal.

Further, the step 2) specifically includes:

21) The advanced surface movement guidance and control system uses CAD plane maps, and the airborne digital guidance terminal uses 3-dimensional vector GIS airport maps (in order to solve the problem of inconsistent display coordinates between the two sets of maps used by the A-SMGCS system and the airborne digital guidance terminal, manual Accurate longitude and latitude data of at least 4 points such as the head of the runway and the center point of the runway are used to manually calibrate and align the A-SMGCS system with a map);

22) Analyze the map file of the advanced surface movement guidance and control system, transfer it to GeoJSON data, and display it in the form of a 3D vector GIS airport map on the airborne digital guidance terminal.

Further, the step 3) specifically includes:

31) Abstract the scene map of the airborne digital guidance terminal into a two-dimensional network graph G=(V, E) consisting of points and directed line segment arcs, where V is a set of points, and E is a set of directed line segment arcs;

32) Analyzing the aircraft taxi planning path of the advanced surface movement guidance and control system, forming point and directed line segment arc sets, and matching with the two-dimensional network diagram;

33) Based on the principle of giving priority to the aircraft taxi planning path sent by the advanced surface movement guidance and control system, based on the improved Dijkstra algorithm, the vehicle service lane, taxiway, restricted area, service mission plan, surface operation rules, and airports are used to set the default vehicle driving The path is the constraint factor, and the shortest path while taking the least conflict into account is the planning goal, and the vehicle driving path is planned.

Further, the improved Dijkstra algorithm path planning in the step 33) specifically includes:

The design uses the bounding rectangle screening method to screen the routing key points, including:

In the two-dimensional grid graph G=(V, E) of the airport scene, assuming that the length of each edge E[i] is w[i], the shortest path from the vertex V0 to the remaining points is obtained;

Let G=(V,E) be a weighted directed graph, divide the vertex set V in the graph into two groups, the first group is the vertex set whose shortest path has been obtained (indicated by S, initially there is only one source in S point, each time a shortest path is found in the future, it will be added to the set S until all vertices are added to S, and the algorithm is over), the second group is the remaining vertex set U whose shortest path has not been determined, according to the shortest path Add the vertices of the second group to S in order of increasing length; in the process of adding, keep the shortest path length from the source point V to each vertex in S not greater than the shortest path length from the source point V to any vertex in U ;Each vertex corresponds to a distance, the distance of the vertex in S is the shortest path length from V to this vertex, and the distance of the vertex in U is the current shortest distance from V to this vertex including only the vertex in S as the intermediate vertex path length;

Create a virtual area, which is a quadrilateral, with two points as diagonal vertices, and expand outwards with a certain margin (can be set through empirical parameters); use geographic relationship operations to obtain the key points contained in this area and arc segments; when performing geographic relational operations, select the key points in this area with geographic coordinates to form a new key point set, and the arc segments associated with the key points form a new arc segment set, and then the key points Points and arcs use Dijkstra algorithm for path optimization, simplifying the number of key points and arcs.

Further, said step 4) specifically includes:

Based on the advanced surface movement guidance and control system, the position, speed, and direction of movement of the active target in the integrated track, as well as the flight plan and planned path, respectively include operational conflicts (conflicts between the aircraft and the aircraft and vehicles), and aircraft taxiing deviations from the path. , runway intrusion, restricted area intrusion, parking position conflict, overspeed unsafe events for alarm processing, and generate corresponding alarm information.

Further, in the step 4), the operation conflict warning process specifically includes:

Operational conflict handling can be based on the position, speed, direction of motion in the integrated track of the aircraft/vehicle, and the planning parameter data of the aircraft taxiing path, and establish the EVENT conflict collision model between the aircraft and the aircraft, and between the aircraft and the vehicle for conflict calculation. When the conflict threshold is reached, a conflict alarm is generated.

Further, the step 5) specifically includes:

Aiming at the operational conflicts between aircraft and aircraft, aircraft and vehicles, according to the principles of aircraft priority, VIP flight priority, and first-come-first-served flights of the same type, conflict relief control command information for one target to stop and another target to move forward , the control command is sent to the graphical display of the man-machine interface to remind the pilot and vehicle driver to stop and move forward to achieve conflict avoidance.

Further, the step 6) specifically includes:

According to the operating position/speed/course of the active target, planned path, warning information, and conflict resolution control instructions, combined with the 3D vector GIS airport map, the real-time generation and display of the position and trend of all active targets on the map, the route traveled/the planned route not traveled , warning information, navigation graphic indication mark, conflict resolution stop/forward graphical mark.

Further, the step 8) specifically includes:

81) Select the flight number or vehicle number corresponding to the pilot and vehicle driver, and subscribe to the guidance processing control center system to obtain information about this flight or vehicle, and related flights or vehicles;

82) Combining the subscribed flight or vehicle information, related flight or vehicle information with the 3-dimensional vector GIS airport map to generate a real-time navigation map display;

83) Convert the navigation information of the aircraft/vehicle during the process of guidance, conflict resolution and avoidance into audio data, which is used for broadcasting navigation information to pilots and vehicle drivers.

Further, the step 81) specifically includes:

The flight or vehicle information includes: flight number or vehicle number, activity target position/speed/course, flight plan, planned route, warning information, conflict resolution control command information; the relevant flight or vehicle is the previous flight, Flights or vehicles whose distance from the current flight or vehicle is less than the parameter value range; the relevant flight or vehicle information includes: flight number or vehicle number, activity target position/speed/course, and flight plan.

Further, the step 82) specifically includes:

The real-time navigation map display content includes: background map, current flight or vehicle position and trend, traveled path/untraveled planned path, warning information, navigation graphical indicator mark, conflict resolution stop/advance graphical mark, related flight Or vehicle identification, location, preceding flight identification.

Further, the step 83) specifically includes:

The broadcast content of the navigation information includes: broadcast of the travel path (taxiway number, lane number), intersection guidance (distance to the intersection, turning direction), waiting, stopping, moving forward, warning (conflict, runway intrusion, restricted area intrusion) , departure from taxiing path, overspeed, etc.).

Beneficial effects of the present invention:

The present invention realizes digital taxi guidance and control information guidance for aircraft and vehicles operating on the airport surface, as well as scene situation and information sharing, flexible display of navigation digital maps, and comprehensive guidance information display and broadcast; compared with the existing lights Guidance, guided vehicle guidance and other methods have the characteristics of comprehensive information sharing, flexible display of navigation digital maps, low cost, short cycle, easy deployment, and easy maintenance, etc., to improve the safety and efficiency of airport scene guidance operations.

The system of the present invention has the ability of machine/vehicle coordinated path planning, realizes the comprehensive travel path planning of aircraft and vehicles on the airport scene, and provides a solid foundation for subsequent guidance; provides A-SMGCS system map and airborne digital guidance terminal map identification The coordinate alignment method solves the poor alignment effect of different types of maps between different systems in the industry, which causes the misalignment of flight tracks and driving paths between systems; it has the ability to detect and relieve conflicts between aircraft and vehicles, and realizes the guidance process Medium and fast conflict avoidance; it is capable of generating navigation map information in real time based on 3D vector GIS airport map combined with active target operating position/speed/course, planned path, alarm, and conflict resolution control command information, and transmits to the airborne digital guidance terminal through 5GAeroMACS communication Send, realize real-time scene situation and information sharing, flexible display of navigation digital map, comprehensive guidance information display and broadcast, and provide digital taxi guidance and control information guidance for aircraft and vehicles.

Description of drawings

Fig. 1 is a functional block diagram of the system of the present invention.

Fig. 2 is a schematic diagram of the method of the present invention.

Figure 3 is a schematic diagram of a two-dimensional grid of an airport scene.

Detailed ways

In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.

Referring to Fig. 1, a digital guidance system for an airport scene of the present invention includes: a guidance processing control center system, an airborne digital guidance terminal; the guidance processing control center system and the airborne digital guidance terminal communicate through a wireless network ( 5G AeroMACS (Aeronautical Mobile Airport Communications System) for data transmission;

The guidance processing control center system includes: an input interface module, a machine/vehicle cooperative path planning module, an alarm processing module, a conflict resolution control module, a real-time navigation information generation module and a communication module;

The input interface module is used to receive the data sent by the advanced surface movement guidance and control system (aircraft, vehicle) integrated track, flight plan, aircraft taxi planning path, and surface restricted area, and analyze and process the data to form the required format data;

The machine/vehicle collaborative path planning module is used to plan the driving path of the vehicle and generate the path planning data of the target (aircraft, vehicle) in the whole field, that is, the planned path;

Wherein, the machine/vehicle collaborative path planning module takes the priority of the aircraft taxi planning path sent by the advanced surface movement guidance and control system as the principle, and takes the vehicle service lane, taxiway, restricted area, service mission plan, and surface operation rules as the constraint factors , plan the vehicle driving path, and generate the aircraft and vehicle path planning data for the whole scene;

The alarm processing module is used to perform alarm processing on unsafe events and generate corresponding alarm information according to the position, speed, and direction of motion of the active target in the integrated track of the active target, the flight plan and the planned path of aircraft taxiing;

Wherein, the unsafe event includes: operation conflict (aircraft and aircraft, vehicle operation conflict), aircraft taxiing off-path, runway intrusion, restricted area intrusion, parking stand conflict, overspeed;

The conflict resolution control module is used to perform conflict resolution processing on aircraft and vehicles that have operational conflicts, and generate conflict resolution control instruction information;

Wherein, the conflict resolution process generates control instruction information that one target in the conflict pair stops and the other target moves forward according to the principles of aircraft priority, VIP flight priority, and first-come-first-served flights of the same type.

The real-time navigation information generation module, according to the comprehensive track of the active target, the planned route, the warning information, the conflict resolution control command information, combined with the 3D vector GIS airport map, generates and displays the position and trend of the active target on the map in real time. Travel planning path, warning information, navigation graphic indicator mark, conflict resolution stop/forward graphical mark;

A communication module, used for wireless communication with the airborne digital guidance terminal;

The airborne digital guidance terminal includes: a user subscription module, a real-time navigation map generation display module and a navigation voice broadcast module;

Wherein, the real-time navigation map display content includes: background map, current flight or vehicle position and trend, traveled path/untraveled planned path, warning, navigation graphical indicator mark, conflict resolution stop/advance graphical mark, related Flight or vehicle identification, location, preceding flight identification;

The user subscription module is used to perform security authentication on the user identities of pilots and vehicle drivers, and subscribe to the guidance processing control center system for the flight number or vehicle number selected by the user to obtain the flight or vehicle information and related flights or vehicle information;

Wherein, the flight or vehicle information includes: flight number or vehicle number, activity target position/speed/course, flight plan, planned route, warning information, conflict release control command information; the relevant flight or vehicle is the preamble Flights, flights or vehicles whose distance from this flight or vehicle is less than the parameter value range; the relevant flight or vehicle information includes: flight number or vehicle number, activity target position/speed/course, flight plan;

The real-time navigation map generation and display module is used to combine the obtained flight or vehicle information and related flight or vehicle information with the 3-dimensional vector GIS airport map to generate a real-time navigation map display;

The navigation voice broadcast module is used to realize the conversion of navigation information into audio data during the process of aircraft/vehicle guidance, conflict resolution and avoidance, and is used for broadcasting navigation information by pilots and vehicle drivers.

Wherein, the broadcast content of the navigation information includes: broadcast of the travel path (taxiway number, lane number), intersection guidance (distance to the intersection, turning direction), waiting, stopping, moving forward, warning (conflict, runway intrusion, restriction, etc.) Zone intrusion, deviation from taxiing path, overspeed, etc.).

With reference to shown in Fig. 2, a kind of airport scene digitization guidance method of the present invention, based on above-mentioned system, steps are as follows:

1) Receive the comprehensive flight track, flight plan, aircraft taxi planning path, and surface restricted area data sent by the advanced surface movement guidance and control system, and analyze and process them to form the required format;

2) Align the map coordinates of the advanced surface movement guidance and control system with the map coordinates of the airborne digital guidance terminal;

21) The advanced surface movement guidance and control system uses CAD plane maps, and the airborne digital guidance terminal uses 3-dimensional vector GIS airport maps (in order to solve the problem of inconsistent display coordinates between the two sets of maps used by the A-SMGCS system and the airborne digital guidance terminal, manual Accurate longitude and latitude data of at least 4 points such as the head of the runway and the center point of the runway are used to manually calibrate and align the A-SMGCS system with a map);

22) Analyze the map file of the advanced surface movement guidance and control system, transfer it to GeoJSON data, and display it in the form of a 3D vector GIS airport map on the airborne digital guidance terminal.

3) Generate path planning data for all active targets (aircraft, vehicles), that is, the planned path;

31) Abstract the scene map of the airborne digital guidance terminal into a two-dimensional network graph G=(V, E) consisting of points and directed line segment arcs, where V is a set of points, and E is a set of directed line segment arcs;

32) Analyzing the aircraft taxi planning path of the advanced surface movement guidance and control system, forming point and directed line segment arc sets, and matching with the two-dimensional network diagram;

33) Based on the principle of giving priority to the aircraft taxi planning path sent by the advanced surface movement guidance and control system, based on the improved Dijkstra algorithm, the vehicle service lane, taxiway, restricted area, service mission plan, surface operation rules, and airports are used to set the default vehicle driving The path is the constraint factor, and the shortest path while taking the least conflict into account is the planning goal, and the vehicle driving path is planned.

Specifically, the improved Dijkstra algorithm path planning in the step 33) specifically includes:

The design uses the bounding rectangle screening method to screen the routing key points, including:

In the two-dimensional grid graph G=(V, E) of the airport scene, assuming that the length of each edge E[i] is w[i], the shortest path from the vertex V0 to the remaining points is obtained;

Let G=(V,E) be a weighted directed graph, divide the vertex set V in the graph into two groups, the first group is the vertex set whose shortest path has been obtained (indicated by S, initially there is only one source in S point, each time a shortest path is found in the future, it will be added to the set S until all vertices are added to S, and the algorithm is over), the second group is the remaining vertex set U whose shortest path has not been determined, according to the shortest path Add the vertices of the second group to S in order of increasing length; in the process of adding, keep the shortest path length from the source point V to each vertex in S not greater than the shortest path length from the source point V to any vertex in U ;Each vertex corresponds to a distance, the distance of the vertex in S is the shortest path length from V to this vertex, and the distance of the vertex in U is the current shortest distance from V to this vertex including only the vertex in S as the intermediate vertex path length;

Create a virtual area, which is a quadrilateral, with two points as diagonal vertices, and expand outwards with a certain margin (can be set through empirical parameters); use geographic relationship operations to obtain the key points contained in this area and arc segments; when performing geographic relational operations, select the key points in this area with geographic coordinates to form a new key point set, and the arc segments associated with the key points form a new arc segment set, and then the key points Points and arcs use Dijkstra algorithm for path optimization, simplifying the number of key points and arcs;

Referring to Figure 3, the optimized algorithm process is shown in Table 1 below:

Table 1

The optimized algorithm has obvious effects:

a. Algorithm traversal times, time-consuming reduction;

b. During the algorithm process, the number of times to update the shortest path is reduced, which improves the stability of the algorithm;

c. The algorithm plans the first successful route earlier, so that the boundary rectangle method can be used to screen the key points of the route earlier, which is also a factor that saves time for the algorithm.

4) Perform alarm processing on unsafe events and generate corresponding alarm information; specifically include:

Based on the advanced surface movement guidance and control system, the position, speed, and direction of movement of the active target in the integrated track, as well as the flight plan and planned path, respectively include operational conflicts (conflicts between the aircraft and the aircraft and vehicles), and aircraft taxiing deviations from the path. , runway intrusion, restricted area intrusion, parking position conflict, overspeed unsafe events for alarm processing, and generate corresponding alarm information.

The operation conflict warning processing specifically includes:

Operational conflict handling can be based on the position, speed, direction of motion in the integrated track of the aircraft/vehicle, and the planning parameter data of the aircraft taxiing path, and establish the EVENT conflict collision model between the aircraft and the aircraft, and between the aircraft and the vehicle for conflict calculation. When the conflict threshold is reached, a conflict alarm is generated.

5) Run conflict events for the active target, perform conflict resolution processing, and generate conflict resolution control instruction information;

Aiming at the operational conflicts between aircraft and aircraft, aircraft and vehicles, according to the principles of aircraft priority, VIP flight priority, and first-come-first-served flights of the same type, conflict relief control command information for one target to stop and another target to move forward , the control command is sent to the graphical display of the man-machine interface to remind the pilot and vehicle driver to stop and move forward to achieve conflict avoidance.

6) Generate global real-time navigation information;

According to the operating position/speed/course of the active target, planned path, warning information, and conflict resolution control instructions, combined with the 3D vector GIS airport map, the real-time generation and display of the position and trend of all active targets on the map, the route traveled/the planned route not traveled , warning information, navigation graphic indication mark, conflict resolution stop/forward graphical mark.

7) Send global real-time navigation information to the airborne digital guidance terminal;

8) Airborne digital guidance terminal navigation information subscription, display, voice broadcast;

81) Select the flight number or vehicle number corresponding to the pilot and vehicle driver, and subscribe to the guidance processing control center system to obtain information about this flight or vehicle, and related flights or vehicles;

82) Combining the subscribed flight or vehicle information, related flight or vehicle information with the 3-dimensional vector GIS airport map to generate a real-time navigation map display;

83) Convert the navigation information of the aircraft/vehicle during the process of guidance, conflict resolution and avoidance into audio data, which is used for broadcasting navigation information to pilots and vehicle drivers.

Wherein, the step 81) specifically includes:

The flight or vehicle information includes: flight number or vehicle number, activity target position/speed/course, flight plan, planned route, warning information, conflict resolution control command information; the relevant flight or vehicle is the previous flight, Flights or vehicles whose distance from the current flight or vehicle is less than the parameter value range; the relevant flight or vehicle information includes: flight number or vehicle number, activity target position/speed/course, and flight plan.

The step 82) specifically includes:

The real-time navigation map display content includes: background map, current flight or vehicle position and trend, traveled path/untraveled planned path, warning information, navigation graphical indicator mark, conflict resolution stop/advance graphical mark, related flight Or vehicle identification, location, preceding flight identification.

The step 83) specifically includes:

The broadcast content of the navigation information includes: broadcast of the travel path (taxiway number, lane number), intersection guidance (distance to the intersection, turning direction), waiting, stopping, moving forward, warning (conflict, runway intrusion, restricted area intrusion) , departure from taxiing path, overspeed, etc.).

There are many specific application approaches of the present invention, and the above description is only a preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, some improvements can also be made without departing from the principles of the present invention. Improvements should also be regarded as the protection scope of the present invention.

Claims (10)

1. An airport scene digitized guiding system, comprising: a guiding processing control center system and an airborne digital guiding terminal; the guiding processing control center system and the airborne digital guiding terminal perform data transmission through a wireless network;

the boot process control center system includes: the system comprises an input interface module, a machine/vehicle cooperative path planning module, an alarm processing module, a conflict resolution control module, a real-time navigation information generating module and a communication module;

the input interface module is used for receiving the data of the comprehensive flight path, the flight plan, the plane taxiing planning path and the scene limiting area of the moving target sent by the advanced scene activity guiding and controlling system, analyzing and processing the data to form the requirement format data;

the locomotive/car cooperative path planning module is used for planning a vehicle driving path and generating full-field movable target path planning data, namely a planned path;

the alarm processing module is used for carrying out alarm processing on unsafe events according to the position, the speed and the movement direction of the movable target in the comprehensive track of the movable target, the flight plan and the plane taxiing planning path to generate corresponding alarm information;

the conflict resolution control module is used for carrying out conflict resolution processing on the airplane and the vehicle with running conflict and generating conflict resolution control instruction information;

the real-time navigation information generation module is used for generating and displaying the position and trend of the moving target, the planned path/non-advanced path, the warning information, the navigation graphical indication mark and the conflict resolution stop/advance graphical mark on the map in real time according to the comprehensive track, the planned path, the warning information and the conflict resolution control command information of the moving target in combination with the 3-dimensional vector GIS airport map;

the communication module is used for carrying out wireless communication with the airborne digital guiding terminal;

the airborne digital guidance terminal comprises: the system comprises a user subscription module, a real-time navigation map generation display module and a navigation voice broadcasting module;

the user subscription module is used for carrying out safety authentication on the identities of the pilot and the vehicle driver, selecting the bound flight number or vehicle number aiming at the user, and subscribing the user subscription module to the guiding processing control center system to obtain the information of the flight or the vehicle and the related flight or vehicle information;

the real-time navigation map generation display module is used for combining the acquired flight or vehicle information and related flight or vehicle information with the 3-dimensional vector GIS airport map to generate a real-time navigation map for display;

the navigation voice broadcasting module is used for converting navigation information of an airplane/vehicle into audio data in the process of traveling guidance and conflict resolution avoidance, and is used for broadcasting navigation information of pilots and vehicle drivers.

2. The airport scene digitized guiding system of claim 1 wherein said cooperative path planning module plans a vehicle travel path based on the priority of the plane taxi planning path sent by the advanced scene activity guiding and control system, and based on the restraint factors of the vehicle service lanes, taxiways, restricted areas, service mission plans, scene operation rules, and generates full-field active plane, vehicle path planning data.

3. The airport surface digitized guiding system of claim 1 wherein said conflict resolution process generates control instruction information for a stop of one target and a forward of another target in a conflict pair based on airplane priority, VIP flight priority, same type of flight first come first serve principle.

4. The airport scene digitized guiding system of claim 1, wherein said own flight or vehicle information comprises: flight number or vehicle number, active target position/speed/heading, flight plan, planned path, warning information, conflict resolution control command information; the related flights or vehicles are leading flights, flights or vehicles which are smaller than the parameter value range from the own flights or vehicles; the relevant flight or vehicle information includes: flight number or vehicle number, activity target location/speed/heading, flight plan.

5. An airport scene digitized guiding method based on the system of any one of claims 1-4, characterized by the steps of:

1) Receiving comprehensive flight path, flight plan, plane sliding planning path and scene limiting area data sent by an advanced scene activity guiding and controlling system, analyzing and processing the comprehensive flight path, flight plan, plane sliding planning path and scene limiting area data to form a demand format;

2) Aligning the map of the advanced scene activity guiding and controlling system with the calibration coordinates of the map of the airborne digital guiding terminal;

3) Generating full-field activity target path planning data, namely planning paths;

4) Carrying out alarm processing on unsafe events to generate corresponding alarm information;

5) Aiming at the operation conflict event of the movable target, conflict resolution processing is carried out, and conflict resolution control instruction information is generated;

6) Generating global real-time navigation information;

7) Transmitting global real-time navigation information to an airborne digital guiding terminal;

8) And subscribing, displaying and voice broadcasting navigation information of the airborne digital guiding terminal.

6. The method for digitally guiding the airport surface of claim 5, wherein said step 2) comprises:

21 The advanced scene activity guiding and controlling system adopts a CAD plane map, and the airborne digital guiding terminal adopts a 3-dimensional vector GIS airport map;

22 Map files of the advanced scene activity guiding and controlling system are analyzed and stored into GeoJSON data in a unified mode, and the GeoJSON data are displayed in a 3-dimensional vector GIS airport map mode at an airborne digital guiding terminal.

7. The method for digitally guiding the airport surface of claim 5, wherein said step 3) comprises:

31 Abstracting the airborne digital guidance terminal scene map into a two-dimensional network map G= (V, E) composed of points and directed line segment arcs, wherein V is a point set and E is a directed line segment arc set;

32 Analyzing an aircraft taxiing planning path of the advanced scene activity guiding and controlling system to form a point and directed line segment arc set, and matching with the two-dimensional network map;

33 Based on the improved Dijkstra algorithm, the default vehicle driving paths are set by the vehicle service lanes, taxiways, restricted areas, service mission plans, scene operation rules and airports as constraint factors, the shortest paths are taken into consideration as planning targets at the same time, and the vehicle driving paths are planned.

8. The method according to claim 7, wherein the modified Dijkstra algorithm path planning in step 33) specifically comprises:

the design uses the boundary rectangle screening method to screen the route key points, which comprises the following steps:

in the two-dimensional grid graph G= (V, E) of the airport scene, the length of each edge E [ i ] is assumed to be w [ i ], so as to obtain the shortest path from the vertex V0 to other points;

setting G= (V, E) as a weighted directed graph, dividing a vertex set V in the graph into two groups, wherein the first group is a vertex set with the shortest path already calculated, the second group is a vertex set U with the rest undetermined shortest paths, and adding the vertexes of the second group into the S in turn according to the increasing sequence of the length of the shortest paths; during the joining process, keeping the shortest path length from the source point V to each vertex in S not greater than the shortest path length from the source point V to any vertex in U; each vertex corresponds to a distance, the distance of the vertex in S is the shortest path length from V to the vertex, and the distance of the vertex in U is the current shortest path length from V to the vertex which only comprises the vertex in S as the middle vertex;

establishing a virtual area which is a quadrangle, taking two points as diagonal vertexes, and expanding a certain margin outwards; obtaining key points and arc segments contained in the area by using geographic relation operation; when the geographic relation operation is carried out, key points of geographic coordinates in the area are selected to form a new key point set, arcs associated with the key points form a new arc segment set, and then the path optimization is carried out on the key points and the arc segments by using a Dijkstra algorithm, so that the number of the key points and the arc segments is simplified.

9. The method for digitally guiding the airport surface of claim 5, wherein said step 5) comprises:

aiming at the running conflict among the aircrafts and the vehicles, a certain target in the conflict pair is stopped according to the principle of priority of the aircrafts, priority of VIP flights and first-come first-serve of the same type of flights, and conflict resolution control instruction information for advancing the other target is sent to a man-machine interface for graphical display, so that pilots and vehicle drivers are reminded to perform stopping and advancing operations, and conflict avoidance is realized.

10. The method for digitally guiding the airport surface of claim 5, wherein said step 8) comprises:

81 Selecting a pilot and a vehicle driver to correspondingly bind a flight number or a vehicle number, and subscribing the pilot processing control center system to obtain information of the flight or the vehicle and related flights or vehicles;

82 Combining the subscribed own flights or vehicles, the related flights or vehicles information with a 3-dimensional vector GIS airport map to generate a real-time navigation map for display;

83 The navigation information of the airplane/vehicle in the process of travel guidance and conflict resolution avoidance is converted into audio data for broadcasting to pilots and vehicle drivers.