CN109597066A - A kind of foreign matter detecting method and system of airfield runway - Google Patents
A kind of foreign matter detecting method and system of airfield runway Download PDFInfo
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- CN109597066A CN109597066A CN201811537019.4A CN201811537019A CN109597066A CN 109597066 A CN109597066 A CN 109597066A CN 201811537019 A CN201811537019 A CN 201811537019A CN 109597066 A CN109597066 A CN 109597066A
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
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Abstract
The present embodiments relate to a kind of foreign matter detecting method of airfield runway and systems, wherein, the described method includes: scanning the airfield runway by default radar system, and generate the reference signal map of the airfield runway according to scanning result in the case where foreign matter is not present in airfield runway；When needing to carry out foreign bodies detection to the airfield runway, the airfield runway is scanned by the default radar system again, and detection signal map is generated according to scanning result；The reference signal map of detection the signal map and the airfield runway is compared, to judge in the airfield runway with the presence or absence of foreign matter.Technical solution provided by the present application can be improved the reliability of detection radar system.
Description
Technical field
This application involves foreign material detecting technique field, in particular to the foreign matter detecting method and system of a kind of airfield runway.
Background technique
In order to guarantee the safe take-off of aircraft, it usually needs whether there is foreign matter in detection airfield runway.At present to machine
When field runway carries out FOD (Foreign Object Debris, external analyte detection), radar system can be direct to signal is received
It is handled, to generate corresponding relationship of the distance with signal amplitude.Then, by analyzing the corresponding relationship, judge
Whether signal amplitude excessively high signal is occurred, if there is then can be determined that there are foreign matters in airfield runway.
However, since airfield runway is not ideal plane, even if locating in the manner described above in the case where foreign matter is not present
False foreign matter target may also occur in the result of reason can seriously reduce foreign bodies detection radar to cause false alarm in this way
The reliability of system.
Summary of the invention
A kind of foreign matter detecting method and system for being designed to provide airfield runway of the application, can be improved foreign bodies detection
Precision, thus improve detection radar system reliability.
To achieve the above object, the application provides a kind of foreign matter detecting method of airfield runway, which comprises
In the case where foreign matter is not present in airfield runway, by the default radar system scanning airfield runway, and according to
Scanning result generates the reference signal map of the airfield runway；
When needing to carry out foreign bodies detection to the airfield runway, the machine is scanned by the default radar system again
Field runway, and detection signal map is generated according to scanning result；
The reference signal map of detection the signal map and the airfield runway is compared, to judge in the airfield runway
With the presence or absence of foreign matter.
It further, include the detection radar of preset quantity, the detection of the preset quantity in the default radar system
Radar is distributed in the two sides of the airfield runway；Wherein, the detection radar is persistently scanned with invisible scanning angular range.
Further, include: according to the reference signal map that scanning result generates the airfield runway
For the scanning result of invisible scanning angle, different sweep is identified from the scanning result of the invisible scanning angle
It retouches and receives amplitude apart from corresponding signal, and amplitude is received according to the scanning distance and signal identified and generates described specify
The reference signal map of scanning angle；
The reference signal map of all angles in the invisible scanning angular range is integrated into the base of the airfield runway
Calibration signal map.
Further, the default radar system takes multiple scan for the airfield runway；Correspondingly, according to scanning
As a result the reference signal map for generating the airfield runway includes:
Averaged after each scanning result is superimposed, and the airport is generated according to the average value sought and is run
The reference signal map in road.
Further, judge include: with the presence or absence of foreign matter in the airfield runway
Equal angular, same distance will be in the reference signal map of the detection signal map and the airfield runway
Signal amplitude subtract each other, and the absolute value of the signal amplitude after subtracting each other is sought, to generate the corresponding difference letter of the airfield runway
Number map；
Judge the signal for being more than or equal to designated magnitude threshold value in the difference signal map with the presence or absence of range value, if
In the presence of determining that there are foreign matters in the airfield runway；If it does not exist, determine that there is no foreign matters in the airfield runway.
Further, in determining the airfield runway there are after foreign matter, the method also includes:
It is more than or equal to the corresponding angle and distance of signal of designated magnitude threshold value according to the range value, in the machine
The position of foreign matter is determined in the runway of field.
To achieve the above object, the application also provides a kind of foreign matter detection system of airfield runway, the system comprises:
Reference signal map generation unit, for passing through default radar system in the case where foreign matter is not present in airfield runway
System scans the airfield runway, and the reference signal map of the airfield runway is generated according to scanning result；
Signal map generation unit is detected, is used for when needing to carry out foreign bodies detection to the airfield runway, by described
Default radar system scans the airfield runway again, and generates detection signal map according to scanning result；
Foreign matter judging unit, for comparing the reference signal map of detection the signal map and the airfield runway, with
Judge in the airfield runway with the presence or absence of foreign matter.
Further, the default radar system takes multiple scan for the airfield runway；Correspondingly, the benchmark
Signal map generation unit includes:
Averaging module, for averaged after being superimposed each scanning result, and according to the average value sought
Generate the reference signal map of the airfield runway.
Further, the foreign matter judging unit includes:
Difference signal map computing module, for by it is described detection signal map and the airfield runway reference signal figure
Signal amplitude in equal angular, same distance in spectrum subtracts each other, and seeks the absolute value of the signal amplitude after subtracting each other, to generate
The corresponding difference signal map of the airfield runway；
Judgment module is more than or equal to designated magnitude with the presence or absence of range value in the difference signal map for judging
The signal of threshold value, and if it exists, determine that there are foreign matters in the airfield runway；If it does not exist, determine not deposit in the airfield runway
In foreign matter.
Further, the foreign matter judging unit further include:
Foreign matter position determination module, the signal for being more than or equal to designated magnitude threshold value according to the range value are corresponding
Angle and distance, in the airfield runway determine foreign matter position.
Therefore technical solution provided by the present application can be by pre- in the case where ensuring airfield runway foreign
If radar system takes multiple scan airfield runway, so that the reference signal map of airfield runway is generated according to scanning result,
The reference signal map can reflect actual airport pavement, can embody out-of-flatness in airport pavement, may generate
The case where false foreign matter target.It is subsequent, when needing to detect in airfield runway with the presence or absence of foreign matter, airport race can be scanned again
Road, to generate detection signal map.Since the raw information of airfield runway can't change, reference signal map
The case where may generating false foreign matter target can be all embodied in detection signal map.In this case, pass through comparison two
A map finds out the region to change, so as to judge to detect in signal map with the presence or absence of true foreign matter.This Shen
Please by the way that actual map to be compared with benchmark map, so as to eliminate the false foreign matter target in testing result, because
This can be improved the precision of foreign bodies detection, to improve the reliability of detection radar system.
Detailed description of the invention
Fig. 1 is the foreign matter detecting method flow chart of airfield runway in the embodiment of the present application；
Fig. 2 is the distribution schematic diagram that radar system is preset in the embodiment of the present application；
Fig. 3 is the schematic diagram that the reference signal map of scanning angle is specified in the embodiment of the present application；
Fig. 4 is the schematic diagram that the detection signal map of scanning angle is specified in the embodiment of the present application.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality
The attached drawing in mode is applied, the technical solution in the application embodiment is clearly and completely described, it is clear that described
Embodiment is only a part of embodiment of the application, rather than whole embodiments.Based on the embodiment party in the application
Formula, all other embodiment obtained by those of ordinary skill in the art without making creative efforts, is all answered
When the range for belonging to the application protection.
The application provides a kind of foreign matter detecting method of airfield runway, referring to Fig. 1, the described method includes:
S1: in the case where foreign matter is not present in airfield runway, the airfield runway, and root are scanned by default radar system
The reference signal map of the airfield runway is generated according to scanning result；
S2: when needing to carry out foreign bodies detection to the airfield runway, institute is scanned by the default radar system again
Airfield runway is stated, and detection signal map is generated according to scanning result；
S3: the reference signal map of the comparison detection signal map and the airfield runway, to judge that the airport is run
It whether there is foreign matter in road.
It wherein, include the detection radar of preset quantity in the default radar system, the detection radar can be in Fig. 2
FOD detection device, the detection radar of the preset quantity is distributed in the two sides of the airfield runway；Wherein, the detection thunder
It is persistently scanned up to invisible scanning angular range.In practical applications, the invisible scanning angular range can be 0 ° to 180 °.
In one embodiment, include: according to the reference signal map that scanning result generates the airfield runway
For the scanning result of invisible scanning angle, different sweep is identified from the scanning result of the invisible scanning angle
It retouches and receives amplitude apart from corresponding signal, and amplitude is received according to the scanning distance and signal identified and generates described specify
The reference signal map of scanning angle；
The reference signal map of all angles in the invisible scanning angular range is integrated into the base of the airfield runway
Calibration signal map.
In one embodiment, the default radar system takes multiple scan for the airfield runway；Correspondingly,
Include: according to the reference signal map that scanning result generates the airfield runway
Averaged after each scanning result is superimposed, and the airport is generated according to the average value sought and is run
The reference signal map in road.
In one embodiment, judge include: with the presence or absence of foreign matter in the airfield runway
Equal angular, same distance will be in the reference signal map of the detection signal map and the airfield runway
Signal amplitude subtract each other, and the absolute value of the signal amplitude after subtracting each other is sought, to generate the corresponding difference letter of the airfield runway
Number map；
Judge the signal for being more than or equal to designated magnitude threshold value in the difference signal map with the presence or absence of range value, if
In the presence of determining that there are foreign matters in the airfield runway；If it does not exist, determine that there is no foreign matters in the airfield runway.
In one embodiment, in determining the airfield runway there are after foreign matter, the method also includes:
It is more than or equal to the corresponding angle and distance of signal of designated magnitude threshold value according to the range value, in the machine
The position of foreign matter is determined in the runway of field.
Specifically, in an application example, by taking radar system angle scanning as an example.The case where airfield runway foreign
Under, it is practical to receive signal distance-amplitude wave-shape such as Fig. 3.If may be identified at point A according to instantly universal processing mode
For there are targets, and cause false alarm.In airfield runway there are in the case where foreign matter, radar return signal waveform such as Fig. 4 institute
Show.The application can be with comparison diagram 3 and Fig. 4, to obtain the position of B point there are true foreign matter, and the corresponding position of A point in Fig. 3
It is not identified as foreign matter, the phenomenon that so as to eliminate false alarm.Wherein, the unit of amplitude can be according to reality in Fig. 3 and Fig. 4
Border situation is changed, for example, the unit of amplitude can be dBm.
In practical applications, radar carries out continuing scanning with 0 ° to 180 °, obtains three-dimensional reception signal graph.Ensuring machine
In the case where the runway foreign of field, radar is taken multiple scan, and Multiple-Scan result is handled, the airfield runway is obtained
Reference signal map.
To airfield runway carry out the application of FOD foreign bodies detection in, radar using obtained reference signal map as background signal,
Calculation process is carried out to detection signal map, to obtain the actual target information of scanning area, eliminating " false target " influences.
The application also provides a kind of foreign matter detection system of airfield runway, the system comprises:
Reference signal map generation unit, for passing through default radar system in the case where foreign matter is not present in airfield runway
System scans the airfield runway, and the reference signal map of the airfield runway is generated according to scanning result；
Signal map generation unit is detected, is used for when needing to carry out foreign bodies detection to the airfield runway, by described
Default radar system scans the airfield runway again, and generates detection signal map according to scanning result；
Foreign matter judging unit, for comparing the reference signal map of detection the signal map and the airfield runway, with
Judge in the airfield runway with the presence or absence of foreign matter.
In one embodiment, the default radar system takes multiple scan for the airfield runway；Correspondingly,
The reference signal map generation unit includes:
Averaging module, for averaged after being superimposed each scanning result, and according to the average value sought
Generate the reference signal map of the airfield runway.
In one embodiment, the foreign matter judging unit includes:
Difference signal map computing module, for by it is described detection signal map and the airfield runway reference signal figure
Signal amplitude in equal angular, same distance in spectrum subtracts each other, and seeks the absolute value of the signal amplitude after subtracting each other, to generate
The corresponding difference signal map of the airfield runway；
Judgment module is more than or equal to designated magnitude with the presence or absence of range value in the difference signal map for judging
The signal of threshold value, and if it exists, determine that there are foreign matters in the airfield runway；If it does not exist, determine not deposit in the airfield runway
In foreign matter.
In one embodiment, the foreign matter judging unit further include:
Foreign matter position determination module, the signal for being more than or equal to designated magnitude threshold value according to the range value are corresponding
Angle and distance, in the airfield runway determine foreign matter position.
Therefore technical solution provided by the present application can be by pre- in the case where ensuring airfield runway foreign
If radar system takes multiple scan airfield runway, so that the reference signal map of airfield runway is generated according to scanning result,
The reference signal map can reflect actual airport pavement, can embody out-of-flatness in airport pavement, may generate
The case where false foreign matter target.It is subsequent, when needing to detect in airfield runway with the presence or absence of foreign matter, airport race can be scanned again
Road, to generate detection signal map.Since the raw information of airfield runway can't change, reference signal map
The case where may generating false foreign matter target can be all embodied in detection signal map.In this case, pass through comparison two
A map finds out the region to change, so as to judge to detect in signal map with the presence or absence of true foreign matter.This Shen
Please by the way that actual map to be compared with benchmark map, so as to eliminate the false foreign matter target in testing result, because
This can be improved the precision of foreign bodies detection, to improve the reliability of detection radar system.
Those skilled in the art are supplied to the purpose described to the description of the various embodiments of the application above.It is not
It is intended to exhaustion or be not intended to and limit the invention to single disclosed embodiment.As described above, the application's is various
Substitution and variation will be apparent for above-mentioned technology one of ordinary skill in the art.Therefore, although specifically begging for
Some alternative embodiments are discussed, but other embodiment will be apparent or those skilled in the art are opposite
It is easy to obtain.The application is intended to include all substitutions of the invention discussed herein, modification and variation, and falls in
Other embodiment in the spirit and scope of above-mentioned application.
Claims (10)
1. a kind of foreign matter detecting method of airfield runway, which is characterized in that the described method includes:
In the case where foreign matter is not present in airfield runway, the airfield runway is scanned by default radar system, and according to scanning
As a result the reference signal map of the airfield runway is generated；
When needing to carry out foreign bodies detection to the airfield runway, the airport is scanned by the default radar system again and is run
Road, and detection signal map is generated according to scanning result；
Compare the reference signal map of detection the signal map and the airfield runway, with judge in the airfield runway whether
There are foreign matters.
2. the method according to claim 1, wherein including the detection of preset quantity in the default radar system
Radar, the detection radar of the preset quantity are distributed in the two sides of the airfield runway；Wherein, the detection radar is swept with specified
Angular range is retouched persistently to scan.
3. according to the method described in claim 2, it is characterized in that, being believed according to the benchmark that scanning result generates the airfield runway
Number map includes:
For the scanning result of invisible scanning angle, identified from the scanning result of the invisible scanning angle different scanning away from
Amplitude is received from corresponding signal, and amplitude is received according to the scanning distance and signal identified and generates the invisible scanning
The reference signal map of angle；
The reference signal map of all angles in the invisible scanning angular range is integrated into the benchmark letter of the airfield runway
Number map.
4. the method according to claim 1, wherein the default radar system is carried out for the airfield runway
Multiple-Scan；Correspondingly, include: according to the reference signal map that scanning result generates the airfield runway
Averaged after each scanning result is superimposed, and the airfield runway is generated according to the average value sought
Reference signal map.
5. the method according to claim 1, wherein judge include: with the presence or absence of foreign matter in the airfield runway
By the letter in the reference signal map of the detection signal map and the airfield runway in equal angular, same distance
Number amplitude is subtracted each other, and seeks the absolute value of the signal amplitude after subtracting each other, to generate the corresponding difference signal figure of the airfield runway
Spectrum；
The signal for being more than or equal to designated magnitude threshold value in the difference signal map with the presence or absence of range value is judged, if depositing
Determining that there are foreign matters in the airfield runway；If it does not exist, determine that there is no foreign matters in the airfield runway.
6. described according to the method described in claim 5, it is characterized in that, there are after foreign matter in determining the airfield runway
Method further include:
It is more than or equal to the corresponding angle and distance of signal of designated magnitude threshold value according to the range value, is run on the airport
The position of foreign matter is determined in road.
7. a kind of foreign matter detection system of airfield runway, which is characterized in that the system comprises:
Reference signal map generation unit, for being swept by default radar system in the case where foreign matter is not present in airfield runway
The airfield runway is retouched, and generates the reference signal map of the airfield runway according to scanning result；
Signal map generation unit is detected, for being preset by described when needing to carry out foreign bodies detection to the airfield runway
Radar system scans the airfield runway again, and generates detection signal map according to scanning result；
Foreign matter judging unit, for comparing the reference signal map of detection the signal map and the airfield runway, with judgement
It whether there is foreign matter in the airfield runway.
8. system according to claim 7, which is characterized in that the default radar system is carried out for the airfield runway
Multiple-Scan；Correspondingly, the reference signal map generation unit includes:
Averaging module is generated for averaged after being superimposed each scanning result, and according to the average value sought
The reference signal map of the airfield runway.
9. system according to claim 7, which is characterized in that the foreign matter judging unit includes:
Difference signal map computing module, for will it is described detection signal map and the airfield runway reference signal map in
Signal amplitude in equal angular, same distance subtracts each other, and seeks the absolute value of the signal amplitude after subtracting each other, described in generating
The corresponding difference signal map of airfield runway；
Judgment module is more than or equal to designated magnitude threshold value with the presence or absence of range value in the difference signal map for judging
Signal, and if it exists, determine that there are foreign matters in the airfield runway；If it does not exist, determine that there is no different in the airfield runway
Object.
10. system according to claim 9, which is characterized in that the foreign matter judging unit further include:
Foreign matter position determination module, for being more than or equal to the corresponding angle of signal of designated magnitude threshold value according to the range value
Degree and distance determine the position of foreign matter in the airfield runway.
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| CN111562576A (en) * | 2020-05-20 | 2020-08-21 | 北京望远四象科技有限公司 | Airport runway foreign matter detection system and method |
| CN111880175A (en) * | 2020-07-10 | 2020-11-03 | 广州民航职业技术学院 | Vehicle-mounted airport runway foreign matter detection system and method |
| CN113189590A (en) * | 2021-03-10 | 2021-07-30 | 成都辰天信息科技有限公司 | FOD-based target identification method and device and storage medium |
| CN115861958A (en) * | 2023-02-23 | 2023-03-28 | 中科大路(青岛)科技有限公司 | Vehicle-mounted FOD identification method, electronic equipment and storage medium |
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