CN103808318B - A kind of aircraft taxi position real-time positioning system and control method - Google Patents

Abstract

A real-time positioning system and control method for the taxiing position of an aircraft. The system includes multiple buried sensors, multiple data collection terminals and an analysis control terminal. Each buried sensor is connected to a data collection terminal, and the data collection terminal is connected to the analysis control terminal installed in the control center through wireless means. Connection; the buried sensor includes a cylindrical shell, a single-chip microcomputer controller, at least one vibration sensor, multiple limiters, lithium batteries, a lower fixed base and an upper removable cover; the limiter includes a fixed sleeve, a retractable limit rod , high-strength spring, at least one fixed limit pin, at least one retractable limit pin and a limit sleeve; the aircraft taxiing position real-time positioning system and control method provided by the present invention can dynamically monitor the aircraft taxiing position on the airport runway in real time, ensuring safety It is reliable, has the advantages of simple construction, long service life, etc., and is easy to implement.

Description

A real-time positioning system and control method for aircraft taxiing position

technical field

The invention belongs to the technical field of airport engineering, and in particular relates to a real-time positioning system and control method for an aircraft taxiing position.

Background technique

According to statistical data, the high-incidence periods of civil aviation airliner accidents are mainly concentrated in the stages of takeoff, start of climb and approach and landing. In severe weather such as heavy fog, heavy rain, and heavy snow, the visibility is reduced, and the management personnel cannot directly observe the taxiing position of the aircraft from the tower, and the pilots cannot observe the positions of other aircraft, which can easily lead to safety accidents of passenger aircraft. Because civil aviation accidents will directly affect the safe operation of the airport and the safety of passengers, they have always been concerned by the airport management department.

Although the taxiing position of the aircraft can be determined in real time through GPS positioning, the problem of inaccurate positioning is very easy to occur in bad weather, so there are still potential safety hazards. For this reason, the applicant submitted two patents named "Airport Flight Area Panorama Management System" and "A Residual Life Evaluation System and Control Evaluation Method for Airport Road Panels" to the Patent Office of the State Intellectual Property Office in 2012 and 2013. Patent application, the technical solution collects images of aircraft taxiing and analyzes the aircraft taxiing position by installing cameras in the flight area. Although it solves the problem caused by inaccurate GPS positioning to a certain extent, it still does not solve the problem of low visibility in bad weather. This causes the problem of poor image recognition. Therefore, how to locate the aircraft taxiing position in real time has become a problem that needs further research in the field of airport engineering.

Based on the above analysis, a real-time positioning system and control method for aircraft taxiing position are developed. By recording the vibration of the road surface under severe weather conditions, the aircraft taxiing position can be judged intuitively, reliably and accurately, so as to reduce the risk of airport pavement operation management. , which has important theoretical and practical significance.

Contents of the invention

In order to solve the above problems, the object of the present invention is to provide a real-time positioning system and control method for the aircraft taxiing position that is safe, reliable, easy to construct, and has a long service life.

In order to achieve the above object, the aircraft taxi position real-time positioning system provided by the present invention includes a plurality of buried sensors, a plurality of data acquisition terminals and an analysis control terminal, each buried sensor is connected with a data acquisition terminal, and the data acquisition terminal Then it is connected wirelessly with the analysis control terminal installed in the control center; the buried sensor includes a cylindrical shell, a single-chip controller, at least one vibration sensor, multiple limiters, lithium batteries, a lower fixed base and an upper removable cover ; Wherein the single-chip controller is set in the upper part of the cylindrical shell, and is electrically connected with the vibration sensor and the lithium battery, and is also electrically connected with the data acquisition terminal and the power supply arranged in the grass area outside the airport pavement; the lithium battery is set in the lower part of the cylindrical shell The vibration sensor and the limiter are detachably arranged on the outer circumferential surface of the cylindrical shell at intervals; the bottom surface of the cylindrical shell is fixed on the surface of the lower fixed base; the upper detachable cover plate is detachably arranged on the cylindrical shell On the top surface; the limiter includes a fixed sleeve, a telescopic limit rod, a high-strength spring, at least one fixed limit pin, at least one retractable limit pin and a limit sleeve; wherein the fixed sleeve One end is closed, and the closed end is externally fixed on the cylindrical shell; one end of the telescopic limit rod is inserted into the inside of the fixed sleeve; the two ends of the high-strength spring are respectively fixed on the inner surface of the closed end of the fixed sleeve and the retractable limit rod On the inner end face; the fixed limit pin is set in the middle of the outer surface of the fixed sleeve; the telescopic limit pin is set outside the middle part of the telescopic limit rod, and can be retracted into the inside of the retractable limit rod; the limit sleeve An opening is formed on one side, which is detachably sleeved on the outside of the fixed sleeve and the telescopic limit rod between the fixed limit pin and the telescopic limit pin.

The data acquisition terminal is a single-chip microcomputer connected with the buried sensor through a data line, and the analysis control terminal is provided with a computer in which an aircraft taxiing position control analysis program is installed.

The number of the stoppers is 4, and the distance between adjacent stoppers is 90°.

The single-chip microcomputer controller also leaves a plurality of spare interfaces for setting the vibration sensor.

The control method of the aircraft taxiing position real-time positioning system provided by the invention comprises the following steps carried out in order:

1) The S1 stage of the system power-on self-inspection; in this stage, the system first performs the power-on self-inspection of the hardware, and starts the aircraft taxi position control analysis program on the computer in the analysis control terminal to determine the connection of each data acquisition terminal. Whether the buried sensor is working normally, if there is any abnormality, re-check after manual inspection, if it is normal, enter the S2 stage;

2) S2 phase of idle mode; in this phase, wait for the next operation;

3) The S3 stage of judging whether to click the real-time positioning button of the aircraft taxiing position; in this stage, the system will judge whether the user clicks the "real-time positioning of the aircraft taxiing position" button on the computer display screen in the analysis control terminal, if the judgment result is "Yes ", then enter the S4 stage; otherwise return to the entrance of the S2 stage;

4) The S4 stage of pavement vibration signal collection; in this stage, the computer in the analysis control terminal 3 will dynamically collect the vibration collected by the vibration sensor in the buried sensor embedded in the airport runway, taxiway and apron area Signal and filter the vibration signal caused by the motor vehicle, and then graphically display on the display screen the position where the vibration sensor is excited by the aircraft taxiing, so as to locate the position and movement direction of the aircraft in the airport runway, taxiway and apron area, Then enter the S5 stage;

5) The S5 stage of judging whether the vibration signal collection is over; in this stage, the system will judge whether the user clicks the "collection end" button on the computer display screen in the analysis control terminal, and if the judgment result is "yes", the collection process will end , otherwise return to the entrance of the S4 stage.

The real-time positioning system and control method of the aircraft taxiing position provided by the present invention have the following advantages: 1) Simple construction: only need to drill holes and carve grooves on the road surface, the whole process takes a short time and can be carried out by stopping the aircraft. 2) Safe and reliable: After the pavement repair construction is completed, there will be no damage or leftovers on the pavement, which will not bring hidden dangers to aircraft take-off and landing. 3) Reliable data collection results: Setting the sensor on the wheel track of the aircraft can directly obtain the data during the contact process between the aircraft and the runway, which is more reliable than the traditional test method. 4) Easy to replace: If the sensor fails, you only need to take out the original sensor and reinstall it. 5) Long service life: Setting the power supply in the grass area on both sides of the runway can effectively improve the service life of the sensor and prevent the sensor from failing due to the decline in the built-in battery's power storage capacity.

Description of drawings

Fig. 1 is a schematic composition diagram of the real-time positioning system for aircraft taxiing position provided by the present invention.

Fig. 2 is a top view of the buried sensor structure in the real-time positioning system for aircraft taxiing position provided by the present invention.

Fig. 3 is an elevational view of the structure of the buried sensor in the real-time positioning system for the aircraft taxiing position provided by the present invention.

Fig. 4 is a schematic diagram of the initial state of the upper limiter of the buried sensor in the real-time positioning system for the aircraft taxiing position provided by the present invention.

Fig. 5 is a schematic diagram of the working state of the upper limiter of the buried sensor in the real-time positioning system for the aircraft taxiing position provided by the present invention.

Fig. 6 is a flow chart of the control method of the real-time positioning system for the aircraft taxiing position provided by the present invention.

detailed description

The aircraft taxi position real-time positioning system and control method provided by the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Fig. 1-Fig. 5, the aircraft taxi position real-time positioning system provided by the present invention comprises a plurality of buried sensors 1, a plurality of data acquisition terminals 2 and an analysis control terminal 3, each buried sensor 1 is connected with a data acquisition terminal The terminal 2 is connected, and the data acquisition terminal 2 is connected with the analysis control terminal 3 installed in the control center by wireless; the buried sensor 1 includes a columnar shell 4, a single-chip controller 5, at least one vibration sensor 6, a plurality of limit positioner 7, lithium battery 8, lower fixed base 9 and upper detachable cover plate 10; wherein the single-chip microcomputer controller 5 is arranged on the inner upper part of the columnar shell 4, and is electrically connected with the vibration sensor 6 and the lithium battery 8, and is set at the airport at the same time The data acquisition terminal 2 in the grass area outside the pavement is electrically connected to the power supply; the lithium battery 8 is arranged in the lower part of the columnar casing 4; the vibration sensor 6 and the stopper 7 are detachably arranged at intervals on the outer circumferential surface of the cylindrical casing 4 On; the bottom surface of the cylindrical shell 4 is fixed on the surface of the lower fixed base 9; the upper detachable cover plate 10 is detachably arranged on the top surface of the cylindrical shell 4; the stopper 7 includes a fixed sleeve 11, Telescopic limit rod 12, high-strength spring 13, at least one fixed limit pin 14, at least one retractable limit pin 15 and a limit sleeve 16; wherein one end of the fixed sleeve 11 is closed, and the closed end is externally fixed on On the columnar shell 4; one end of the retractable stop rod 12 is inserted into the inside of the fixed sleeve 11; the two ends of the high-strength spring 13 are respectively fixed on the inner surface of the closed end of the fixed sleeve 11 and the inner end surface of the retractable stop rod 12 ; The fixed limit pin 14 is arranged on the middle part of the outer surface of the fixed sleeve 11; the telescopic limit pin 15 is arranged on the outside of the middle part of the telescopic limit rod 12, and can be retracted into the inside of the retractable limit rod 12; the limit sleeve An opening is formed on one side of the cylinder 16 , which is detachably sleeved on the outside of the fixed sleeve 11 and the telescopic limiting rod 12 between the fixed limiting pin 14 and the telescopic limiting pin 15 .

Described data collection terminal 2 is the single-chip microcomputer that is connected with buried sensor 1 by data line, is provided with the computer that aircraft taxiing position control analysis program is installed in it in the analysis control terminal 3.

The number of the stoppers 7 is four, and the distance between adjacent stoppers 7 is 90°, so that the entire buried sensor 1 can be firmly fixed in the foundation below the airport pavement.

The single-chip microcomputer controller 5 also leaves a plurality of spare interfaces for setting the vibration sensor 6 .

The implementation method of the above-mentioned aircraft taxiing position real-time positioning system is described as follows:

1) Install the vibration sensor 6 and the limiter 7 on the cylindrical shell 4, and test whether it works normally;

2) Drill down through the airport pavement to the base layer at the designated positions of the aircraft wheel tracks on both sides of the airport runway, taxiway, and apron centerline, forming a bridge with the same maximum diameter as the buried sensor 4 and a depth greater than the height of the buried sensor 4. Drill a 5cm columnar pavement hole, and then cut a 2cm wide and 5cm deep slit laterally along the runway from the pavement borehole until it reaches the grass surface area outside the airport pavement, so that the pavement surface will be drilled Connected with the grass area;

3) On the inner wall of the drilled hole on the above-mentioned road surface, according to the set height of the stopper 7, drill a plurality of round holes radially outwards that correspond to the positions of the stoppers 7 and match the depth and diameter;

4) Remove the upper detachable cover plate 10, press the retractable limit pin 15 into the retractable limit rod 12, and then insert the inner end of the retractable limit rod 12 into the fixed sleeve 11, thereby Compress the high-strength spring 13, the state at this time is as shown in Figure 4, and then the lower fixed base 9 is arranged on the surface of the base layer in the road surface borehole;

5) Align the outer end of each retractable limit rod 12 with a round hole on the inner wall of a drilled road surface, and then pull the retractable limit rod 12 outward until the retractable limit pin 15 moves out of the fixed sleeve 11 Afterwards, it will pop out to the outside of the retractable limit rod 12, and the outer end of the retractable limit rod 12 will stretch into the above-mentioned circular hole, and then the limit sleeve 16 will be placed on the fixed limit from the opening. The fixed sleeve 11 between the stop pin 14 and the telescopic stop pin 15 and the outside of the telescopic stop rod 12, thus the relative position between the fixed sleeve 11 and the telescopic stop rod 12 is fixed to prevent the The position of telescopic stop pin 15 changes, and the state at this moment is as shown in Figure 5;

6) Connect the data cable and power cable connected to the microcontroller controller 5 to the upper detachable cover plate 10;

7) Use the same material as the airport pavement to fill the outside of the columnar casing 4 in the above-mentioned pavement drilling until it reaches the top of the columnar casing 4, and then install the upper detachable cover plate 10 on the columnar casing 4, And set the data line and power line in the slit, and then completely seal the upper part of the pavement drilled hole;

8) Lead the data line and power line to the grass surface area outside the airport pavement along the slit, and connect with the data collection terminal 2 and the power supply;

9) Close the slit formed in step 2);

10) In actual operation, the data acquisition terminal 2 will collect and transmit the signal collected and transmitted by the vibration sensor 6 on the buried sensor 1 in real time, and then wirelessly transmit it to the analysis control terminal 3 to monitor the vibration caused by the aircraft landing on the airport road surface , so as to obtain real-time aircraft taxi position information.

In addition, if the above-mentioned vibration sensor 6 is damaged due to the construction process, or the signal is abnormal during use and needs to be repaired, the hole can be re-drilled at the original drilling position, the buried sensor 1 is taken out, and step 1 is repeated after replacing the damaged part. ) to step 9).

As shown in Figure 6, the control method of the aircraft taxi position real-time positioning system provided by the present invention comprises the following steps carried out in order:

1) The S1 stage of the system power-on self-inspection; in this stage, the system first performs the power-on self-inspection of the hardware, and starts the aircraft taxiing position control analysis program on the computer in the analysis control terminal 3 to judge the data acquisition terminal 2 Check whether the connected buried sensor 1 is working normally. If there is any abnormality, re-test after manual inspection. If it is normal, enter the S2 stage;

2) S2 phase of idle mode; in this phase, wait for the next operation;

3) The S3 stage of judging whether to click the real-time positioning button of the aircraft taxiing position; in this stage, the system will judge whether the user clicks the "real-time positioning of the aircraft taxiing position" button on the computer display screen in the analysis control terminal 3, if the judgment result is " Yes", then enter the S4 stage; otherwise return to the entrance of the S2 stage;

4) The S4 stage of pavement vibration signal collection; in this stage, the computer in the analysis control terminal 3 will dynamically collect the vibration sensor 6 in the buried sensor 1 embedded in the airport runway, taxiway and apron area. vibration signal and filter the vibration signal caused by the motor vehicle, and then graphically display on the display screen the position where the vibration sensor 6 is excited by the aircraft taxiing to generate vibration, thereby locating the position and location of the aircraft in the airport runway, taxiway and apron area Move the direction, and then enter the S5 stage;

5) The S5 stage of judging whether the vibration signal collection is over; in this stage, the system will judge whether the user clicks the "collection end" button on the computer display screen in the analysis control terminal 3, and if the judgment result is "yes", the collection is ended process, otherwise return to the entrance of the S4 stage.

Claims (5)

1. a real-time positioning system for aircraft taxiing position, is characterized in that: it comprises a plurality of buried sensors (1), a plurality of data acquisition terminals (2) and an analysis control terminal (3), each buried sensor (1 ) is connected with a data acquisition terminal (2), and the data acquisition terminal (2) is connected with the analysis control terminal (3) installed in the control center by wireless; the buried sensor (1) includes a cylindrical shell (4) , single-chip microcomputer controller (5), at least one vibration sensor (6), multiple stoppers (7), lithium battery (8), lower fixed base (9) and upper removable cover plate (10); wherein the single-chip microcomputer controls The device (5) is arranged on the inner upper part of the cylindrical shell (4), and is electrically connected with the vibration sensor (6) and the lithium battery (8), and is connected with the data acquisition terminal (2) and the power supply arranged on the grass surface area outside the airport pavement. electrical connection; the lithium battery (8) is arranged on the inner lower part of the cylindrical casing (4); the vibration sensor (6) and the limiter (7) are arranged on the outer circumferential surface of the cylindrical casing (4) at intervals in a detachable manner; The bottom surface of the shell (4) is fixed on the surface of the lower fixed base (9); the upper detachable cover plate (10) is detachably arranged on the top surface of the cylindrical shell (4); the stopper (7) ) includes a fixed sleeve (11), a telescopic limit rod (12), a high-strength spring (13), at least one fixed limit pin (14), at least one retractable limit pin (15) and a limit sleeve (16); wherein one end of the fixed sleeve (11) is closed, and the closed end is externally fixed on the cylindrical shell (4); one end of the telescopic limit rod (12) is inserted into the inside of the fixed sleeve (11); high-strength The two ends of the spring (13) are respectively fixed on the inner surface of the closed end of the fixed sleeve (11) and the inner end surface of the retractable limit rod (12); the fixed limit pin (14) is arranged on the fixed sleeve (11) The middle part of the outer surface; the telescopic stopper pin (15) is arranged on the outside of the middle part of the telescopic stopper rod (12), and can be retracted into the inside of the telescopic stopper rod (12); one side of the stopper sleeve (16) An opening is formed on the top, which is detachably sleeved on the outside of the fixed sleeve (11) and the telescopic limit rod (12) between the fixed limit pin (14) and the telescopic limit pin (15). 2. aircraft taxiing position real-time positioning system according to claim 1, is characterized in that: described data acquisition terminal (2) is to be connected with single-chip microcomputer controller (5) in buried sensor (1) by data line The single-chip microcomputer is provided with a computer in which the aircraft taxiing position control analysis program is installed in the analysis control terminal (3). 3. aircraft taxiing position real-time positioning system according to claim 1, is characterized in that: the quantity of each described buried sensor (1) upper limiter (7) is 4, adjacent limiter (7) ) are 90° apart. 4. The aircraft taxiing position real-time positioning system according to claim 1, characterized in that: also leave a plurality of spare interfaces for setting vibration sensors (6) on the described single-chip microcomputer controller (5). 5. a control method of the aircraft taxi position real-time positioning system as claimed in claim 1, characterized in that: the control method comprises the following steps carried out in order: 1) The S1 stage of the system power-on self-inspection; in this stage, the system first performs the power-on self-inspection of the hardware, and starts the aircraft taxiing position control analysis program on the computer in the analysis control terminal (3), to judge the data collection Whether the buried sensor (1) connected to the terminal (2) is working normally, if there is any abnormality, re-check after manual inspection, and enter the S2 stage if it is normal; 2) The S2 phase of the idle mode; in this phase, wait for the next operation; 3) The S3 stage of judging whether to click the real-time positioning button of the aircraft taxiing position; in this stage, the system will judge whether the user clicks the "real-time positioning of the aircraft taxiing position" button on the computer display screen in the analysis control terminal (3), if the judgment result If it is "Yes", enter the S4 stage; otherwise, return to the entrance of the S2 stage; 4) The S4 stage of pavement vibration signal acquisition; in this stage, the computer in the analysis control terminal (3) will dynamically collect the vibration sensor in the buried sensor (1) embedded in the airport runway, taxiway and apron area. (6) Collected vibration signals and filter the vibration signals caused by motor vehicles, and then graphically display the position where the vibration sensor (6) generates vibrations generated by aircraft taxiing on the display screen, thereby locating the airport runway and taxiway and the position and movement direction of the aircraft in the apron area, and then enter the S5 stage; 5) The S5 stage of judging whether the vibration signal collection is over; in this stage, the system will judge whether the user clicks the "collection end" button on the computer display screen in the analysis control terminal (3), if the judgment result is "yes", then End the acquisition process, otherwise return to the entrance of the S4 stage.