CN106896364A - A kind of survey aircraft berths the two-dimensional laser radar system of distance - Google Patents
A kind of survey aircraft berths the two-dimensional laser radar system of distance Download PDFInfo
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- CN106896364A CN106896364A CN201510970677.2A CN201510970677A CN106896364A CN 106896364 A CN106896364 A CN 106896364A CN 201510970677 A CN201510970677 A CN 201510970677A CN 106896364 A CN106896364 A CN 106896364A
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- 230000006870 function Effects 0.000 claims abstract description 28
- 230000003287 optical effect Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000013500 data storage Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 14
- 238000003032 molecular docking Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention belongs to aircraft berth technical field, specifically related to a kind of survey aircraft berths the two-dimensional laser radar system of distance, including two-dimensional laser radar and Data Computation Unit, the two-dimensional laser radar includes generating laser, optical receiver and message handler, the Data Computation Unit includes curve fitting module, data processing module and data memory module, the two-dimensional laser radar is connected with Data Computation Unit, the data that the message handler of the two-dimensional laser radar will be measured are sent to the curve fitting module of Data Computation Unit, the curve fitting module is used to for data to be converted into curvilinear function, curvilinear function is sent to data processing module by the curve fitting module, the data processing module is used for calculated curve function, the data memory module is used to store the corresponding curvilinear function of all model aircrafts.The present invention has measurement accurate, safe and reliable, the advantage having a wide range of application.
Description
Technical field
The invention belongs to aircraft berth technical field, especially a kind of survey aircraft berth distance two dimension swash
Optical detection and ranging system.
Background technology
Aircraft docking guidance device is used for berthing for automatic vector aircraft, to realize the guiding of longitudinal separation just
Needs are completed by range unit.Current docking guidance device is used mostly scanning for the range finding of aircraft
Formula laser radar is completed.Scanning type laser radar operation principle is that the light beam of single-point type laser range finder is used
The reflecting optics of rotation are reflected, and are reflected with reference to mirror pivoting angle data and laser ranging data
The coordinate of thing.Two-dimensional laser radar is to have rotated to obtain the flat of plane of scanning motion internal reflection thing using mirror
Face polar coordinates, three-dimensional laser radar is to go reflection around the rotation of orthogonal two axles using two-face mirror
Single-point range laser, the angle-data in conjunction with laser ranging data and two mirrors is drawn in scanning area
Reverberation ball seat mark.Due to use be all reflect single-point laser light beam, it will have angle high
Resolution ratio and surface sweeping frequency, the measurement of laser will frequency it is very high, particularly 3-D scanning will have high point
Resolution and scan frequency, current single-point laser are extremely difficult to.
Aircraft docking guidance device is aircraft nose landing gear to the line that berths to the distance value that pilot provides
Distance, during two-dimensional laser radar surveying plane distance, what is measured is device to a certain position of airframe
Distance, it is impossible to directly survey nose-gear, so final calculating will be combined with airframe structure size.
Two-dimensional laser radar minimum scanning angle resolution ratio in the market is 0.1667 degree, is flown in measurement
Machine apart from when, when the measurement point that is reflected with tens meters of opportunitys of radius only has very few number, and aircraft
Pip can change during advance, so if with the chi of certain or certain several fixing points on fuselage
Very little data will produce larger error when calculating.It is along before taxi way center line during aircraft berth
Enter, in order to meet the range measurement of the aircraft of different height, its scanning direction must be two-dimensional laser radar
The plane of symmetry of the aircraft vertical direction of taxi way center line is crossed, and aircraft horizontal direction section sideline is individual right
Claim curve, if profile edge curvature of curve where measurement point is excessive, cannot lead to after aircraft disalignment
Cross two-dimensional laser data to know, so also result in measurement error.
The content of the invention
The problem to be solved in the present invention is to provide a kind of measurement accurately, safe and reliable, the survey having a wide range of application
Amount aircraft berths the two-dimensional laser radar system of distance.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of survey aircraft berth away from
From two-dimensional laser radar system, including two-dimensional laser radar and Data Computation Unit, the two-dimensional laser
Radar includes generating laser, optical receiver and message handler, and the generating laser is used for winged
Machine measuring point emission detection signal；The optical receiver is used to receive the signal for reflecting；It is described
Message handler is used to for transmission signal and reflected signal to be compared treatment, obtains aircraft Measurement portion digit
According to；
The Data Computation Unit includes curve fitting module, data processing module and data memory module,
The data processing module is connected with curve fitting module and data memory module respectively；
The two-dimensional laser radar is connected with Data Computation Unit, the message handler of the two-dimensional laser radar
The data that will be measured are sent to the curve fitting module of Data Computation Unit, and the curve fitting module is used for
Data are converted into curvilinear function, curvilinear function is sent to data processing module by the curve fitting module,
The data processing module is used for calculated curve function, and the data memory module is used to store all models
The corresponding curvilinear function of aircraft.
The measuring point is aircraft machine nose with up to front windshield lower edge position.
Due to using above-mentioned technical proposal, due to the limitation of two-dimensional laser radar angular resolution, distance compared with
Pip negligible amounts with remote opportunity, position is also moved and is changed with aircraft, therefore the present invention is to use
Position is measured on two-dimensional laser radar short range scanning fuselage, the data for obtaining carry out curve fitting,
A continuous curvilinear function is obtained, airframe dimension information can be calculated using this curvilinear function,
No matter how aircraft front and back position changes, surface sweeping light is at this in the finding range of two-dimensional laser radar
Certainly there is pip on curve, therefore can just utilize the ranging data and curvilinear function of pip to calculate reality
Border range finding distance, and Data Computation Unit stores the corresponding curvilinear function of all model aircrafts, is connect at it
These functions can be searched after receiving the aircraft type information to be measured, and is calculated using these type functions,
The distance of berthing of the aircraft of each type can accurately be measured.
In order to avoid the measurement error caused due to aircraft disalignment, the Measurement portion of the body of selection
Position is machine nose with up to front windshield lower edge this part, this part of airframe covering horizontal profile curve
Curvature very little, the range error caused when aircraft left and right deviation center line also very little.
The beneficial effects of the invention are as follows：Accurate, safe and reliable, the advantage having a wide range of application with measurement.
Brief description of the drawings
The present invention, advantages of the present invention and realization are specifically described below with reference to accompanying drawing and with reference to example
Mode will be more obvious, and wherein content is only used for explanation of the present invention shown in accompanying drawing, without structure
The paired limitation gone up in all senses of the invention, in the accompanying drawings：
Fig. 1 is structured flowchart of the invention
In figure：
1st, two-dimensional laser radar 2, Data Computation Unit 11, generating laser
12nd, optical receiver 13, message handler 21, curve fitting module
22nd, data processing module 23, data memory module
Specific embodiment
The two-dimensional laser radar system of distance as shown in figure 1, a kind of survey aircraft of the invention berths, including
Two-dimensional laser radar 1 and Data Computation Unit 2, the two-dimensional laser radar 1 include generating laser 11,
Optical receiver 12 and message handler 13, the generating laser 11 are used to be sent out to aircraft measuring point
Penetrate detectable signal；The optical receiver 12 is used to receive the signal for reflecting；Described information treatment
Device 13 is used to for transmission signal and reflected signal to be compared treatment, obtains aircraft measuring point data；
The Data Computation Unit 2 includes curve fitting module 21, data processing module 22 and data storage mould
Block 23, the data processing module 22 respectively with curve fitting module 21 and the phase of data memory module 23
Even；The two-dimensional laser radar 1 is connected with Data Computation Unit 2, the information of the two-dimensional laser radar 1
The data that processor 13 will be measured are sent to the curve fitting module 21 of Data Computation Unit 2, the song
Line fitting module 21 is used to for data to be converted into curvilinear function, and the curve fitting module 21 is by curvilinear function
Data processing module 22 is sent to, the data processing module 22 is used for calculated curve function, the number
It is used to store the corresponding curvilinear function of all model aircrafts according to memory module 23.
The measuring point is aircraft machine nose with up to front windshield lower edge position.
Due to the limitation of the angular resolution of two-dimensional laser radar 1, the reflection points with distant opportunity
Amount is less, and position is also moved and changed with aircraft, therefore the present invention is to use two-dimensional laser radar 1 closely
Position is measured with scanning machine, the data for obtaining carry out curve fitting, be obtained a continuous curve
Function, airframe dimension information can be calculated using this curvilinear function, no matter aircraft front and back position is such as
What changes, and surface sweeping light has reflection certainly on this curve in the finding range of two-dimensional laser radar 1
Point, therefore can just utilize the ranging data and curvilinear function of pip to calculate actual range finding distance, and number
Store the corresponding curvilinear function of all model aircrafts according to arithmetic element 2, its receive to be measured fly
These functions can be searched after machine type information, and is calculated using these type functions, can accurately measure each
Plant the distance of berthing of the aircraft of type.
In order to avoid the measurement error caused due to aircraft disalignment, the Measurement portion of the body of selection
Position is machine nose with up to front windshield lower edge this part, this part of airframe covering horizontal profile curve
Curvature very little, the range error caused when aircraft left and right deviation center line also very little.
Embodiments of the invention have been described in detail above, but the content is only of the invention preferable
Embodiment, it is impossible to be considered as limiting practical range of the invention.It is all according to the scope of the invention made it is equal
Deng change and improvement etc., all should still belong within this patent covering scope.
Claims (2)
1. a kind of survey aircraft berths the two-dimensional laser radar system of distance, it is characterised in that：Including two dimension
Laser radar and Data Computation Unit, the two-dimensional laser radar include generating laser, optical receiver
And message handler, the generating laser is for aircraft measuring point emission detection signal；The light
Learning receiver is used to receive the signal for reflecting；Described information processor is used for transmission signal and reflection
Signal is compared treatment, obtains aircraft measuring point data；The Data Computation Unit is intended including curve
Matched moulds block, data processing module and data memory module, the data processing module respectively with curve matching
Module is connected with data memory module；The two-dimensional laser radar is connected with Data Computation Unit, the two dimension
The data that the message handler of laser radar will be measured are sent to the curve fitting module of Data Computation Unit,
The curve fitting module is used to for data to be converted into curvilinear function, and the curve fitting module is by curvilinear function
Data processing module is sent to, the data processing module is used for calculated curve function, the data storage
Module is used to store the corresponding curvilinear function of all model aircrafts.
2. survey aircraft according to claim 1 berths the two-dimensional laser radar system of distance, and it is special
Levy and be：The measuring point is aircraft machine nose with up to front windshield lower edge position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510970677.2A CN106896364A (en) | 2015-12-18 | 2015-12-18 | A kind of survey aircraft berths the two-dimensional laser radar system of distance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510970677.2A CN106896364A (en) | 2015-12-18 | 2015-12-18 | A kind of survey aircraft berths the two-dimensional laser radar system of distance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106896364A true CN106896364A (en) | 2017-06-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510970677.2A Pending CN106896364A (en) | 2015-12-18 | 2015-12-18 | A kind of survey aircraft berths the two-dimensional laser radar system of distance |
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| CN (1) | CN106896364A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1399767A (en) * | 1999-10-29 | 2003-02-26 | 安全门国际股份公司 | Aircraft identification and docking guidance systems |
| CN102252619A (en) * | 2011-04-21 | 2011-11-23 | 中国民航大学 | Displacement distance measuring and displaying system in airplane berthing process |
| CN102508258A (en) * | 2011-11-29 | 2012-06-20 | 中国电子科技集团公司第二十七研究所 | Three-dimensional imaging laser radar for obtaining surveying and mapping information |
| CN103786893A (en) * | 2014-01-24 | 2014-05-14 | 中国民用航空总局第二研究所 | Aircraft berthing automatic guide method and device based on laser ranging technology |
-
2015
- 2015-12-18 CN CN201510970677.2A patent/CN106896364A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1399767A (en) * | 1999-10-29 | 2003-02-26 | 安全门国际股份公司 | Aircraft identification and docking guidance systems |
| CN102252619A (en) * | 2011-04-21 | 2011-11-23 | 中国民航大学 | Displacement distance measuring and displaying system in airplane berthing process |
| CN102508258A (en) * | 2011-11-29 | 2012-06-20 | 中国电子科技集团公司第二十七研究所 | Three-dimensional imaging laser radar for obtaining surveying and mapping information |
| CN103786893A (en) * | 2014-01-24 | 2014-05-14 | 中国民用航空总局第二研究所 | Aircraft berthing automatic guide method and device based on laser ranging technology |
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Application publication date: 20170627 |