CN110491179A - A kind of airdrome scene monitoring system with dynamic virtual fence - Google Patents
A kind of airdrome scene monitoring system with dynamic virtual fence Download PDFInfo
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- CN110491179A CN110491179A CN201910821367.2A CN201910821367A CN110491179A CN 110491179 A CN110491179 A CN 110491179A CN 201910821367 A CN201910821367 A CN 201910821367A CN 110491179 A CN110491179 A CN 110491179A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
- G08G5/0082—Surveillance aids for monitoring traffic from a ground station
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
- G08G5/0091—Surveillance aids for monitoring atmospheric conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
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- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The present invention relates to a kind of airdrome scene monitoring systems with dynamic virtual fence, aim to solve the problem that the problem of dangerous monitoring that potentially conflicts for airport domestic at present is in blank, it include: to be arranged for virtual electronic fence, the virtual electronic rail module of risk of collision identification and data analysis, for ambient image information, aerodrome meteorological information, the identification of aircraft and vehicle position information and its routing information, the data integration module of display and processing, it is saved for aircraft and vehicle position information, fence set information saves, the data memory module that dangerous situation information preservation and presupposed information save；The present invention is made based on airdrome scene control standard in A-SMGCS, it can prevent the various conflicts of scene, and scene conflict is nipped in the bud, and be an intelligence, efficient and easy to maintain set of system.
Description
Technical field
The invention belongs to the monitoring technology fields of airport aircraft and vehicle, and in particular to one kind has dynamic virtual electronics
The airdrome scene monitoring system of fence.
Background technique
With the golden period of development of the cause of China's civil aviation in recent years, aviation passenger and freight transportation obtain it is quick, continue and
It is a large amount of to increase, cause the traffic density on airport to increase.Appoint in face of passenger throughput soaring year by year and the guarantee sharply increased
Business, International Civil Aviation Organization have promulgated advanced airdrome scene guidance and control system (Advanced Surface Movement
Guidance and Control System, A-SMGCS) technical standard, the scene monitoring technical level that airport should be reached and
Ability, which is made that, to be distinctly claimed.
China just makes great efforts on major airport to upgrade technologies and managerial ability, however wants to reach A-SMGCS corresponding at present
Class requirement, there is also many difficulties: 1. traditional methods for reaching A-SMGCS technical standard at present mainly pass through scene
It guides the control of coherent signal lamp to realize, must carry out construction reformation to existing airport thus, and this is for current China
It is that 2. improvement costs that are difficult to receive are high for transporting airport, is related to a large amount of scene construction and subsequent a large amount of communication
The 3. scene vehicle operator of maintenance of control equipment still lacks the boat of method 4. for effectively observing nearby vehicle and aircraft
Pocket lacks effectively, what the method 5. of observation nearby vehicle and aircraft, especially vehicle was guided by conventional lights band
Method is inflexible, it is difficult to modify and come into force at any time immediately.
Summary of the invention
(1) technical problems to be solved
It is an object of the invention to overcome the deficiencies in the prior art, adapt to reality and need, and provide a kind of with dynamic virtual
The airdrome scene monitoring system of fence, to solve the dangerous monitoring that potentially conflicts for airport domestic at present in blank
Problem.
(2) technical solution
For the existing state of the art in domestic airport, the present invention is provided a kind of with dynamic using Beidou text star positioning system
The airdrome scene monitoring system of state virtual electronic fence, this system can the surrounding to aircraft and vehicle carry out preliminary prison
Control, by having detected whether that it is dangerous to judge potentially to conflict that fence intersects, the technical scheme adopted by the invention is as follows:
A kind of airdrome scene monitoring system with dynamic virtual fence, comprising: be arranged for virtual electronic fence,
The virtual electronic rail module of risk of collision identification and data analysis is used for ambient image information, aerodrome meteorological information, aircraft
The data integration module of identification, display and processing with vehicle position information and its routing information, for aircraft with
Vehicle position information saves, fence set information saves, the data storage mould of dangerous situation information preservation and presupposed information preservation
Block.
More preferred: the virtual electronic rail module includes dynamic electron fence submodule, risk recognition and analysis
Submodule and alarm submodule, the dynamic electron fence submodule have human-computer interaction interface, and operator passes through manual
The parameters such as the length of the terminals such as typing aircraft or vehicle have certain model by calculating analysis and can generate in terminal surrounding
The dynamic virtual fence enclosed；The risk recognition and analysis submodule, accurately identified using algorithm whether have vehicle or
Aircraft will clash whether dangerous or vehicle enters in preset static electronic fence；The alarm submodule
It can be according to risk recognition and analysis module as a result, being sounded an alarm by equipment such as screen and buzzers.
More preferred: the virtual electronic rail module further includes static electronic fence submodule, the Static Electro
Sub- fence submodule also has human-computer interaction interface, and operator is raw by the position and area parameters for being manually entered specific region
Specific region is protected at static electronic fence.
More preferred: the data integration module includes: electronic map display sub-module, weather information processing submodule
Block, aircraft and vehicle position information submodule, the electronic map display sub-module is by airport electronic map Display Realization
Figure layer control, different figure layers is integrated, shows corresponding object information on map according to the selection of operator, described
Weather information handle submodule, by the Weather information obtained from meteorological observatory digitize, digital processing, institute are carried out when facilitating calling
The aircraft and vehicle position information submodule stated will by the Beidou satellite navigation system being mounted on aircraft and vehicle
Original signal resolves to obtain the static state such as high precision position information, course information, velocity information of aircraft and vehicle and dynamic bit
Confidence breath.
More preferred: the aircraft and vehicle position information submodule also have the path rule to vehicle forward route
Draw function.
More preferred: the data memory module includes: that aircraft is enclosed with vehicle position information sub-module stored, electronics
Column set information sub-module stored, dangerous situation information sub-module stored and presupposed information sub-module stored, the aircraft and vehicle
The location information of aircraft of analyzing that treated and vehicle is saved in database by location information sub-module stored, described
For the dangerous situation information preservation that dangerous situation information sub-module stored will identify that into database, the presupposed information sub-module stored will
It is pre- to delineate method, vehicle driving speed limit, vehicle path planning etc. to fence for A-SMGCS and airport security management requirement
If information preservation is into database.
More preferred: the risk recognition and analysis submodule passes through dynamic electron fence and dynamic electron fence area
Between have overlapping phenomenon to determine whether having vehicle or aircraft that will clash danger.
More preferred, the risk recognition and analysis submodule passes through dynamic electron fence and static electronic fence area
Between have overlapping phenomenon to judge whether vehicle or aircraft enter restricted area.
It is more preferred, there are multiple object informations that can choose on electronic map and show, which includes aircrafts, vehicle
, personnel, each airline and traveling speed-limiting messages.
(3) the utility model has the advantages that
The adjustment and improvement of dynamic electron fence can be described as a kind of complete innovation, and industry does not have similar or very at present
Rare similar idea, civil aviation field without this, high-precision Beidou location navigation is utilized, producing one kind has
The monitoring system of real-time dynamic electron fence, airfield runway will be transformed by perfectly solving the desired A-SMGCS grade that promoted
Problem, the present invention are made based on airdrome scene control standard in A-SMGCS, it can prevent the various conflicts of scene,
Scene conflict is nipped in the bud, is an intelligence, efficient and easy to maintain set of system；Do not need not only to airport into
Row reconstruction installation signal lamp, will not make airport stop operation, meet the requirement of non-suspend air construction；And reduce transformation maintenance at
Originally, operational management is got up simple and convenient, is improved work efficiency, has been saved human resources.
Detailed description of the invention
Fig. 1 is module connection diagram of the invention；
Fig. 2 is dynamic electron fence schematic diagram in the present invention；
Fig. 3 is collision recognition and route planning schematic diagram in the present invention.
Specific embodiment
The present invention is further described for 1-3 and embodiment with reference to the accompanying drawing:
For defect existing for the existing A-SMGCS technology in domestic airport, the present invention is mentioned using Beidou text star positioning system
Supplied a kind of dynamic virtual electronic enclosure system, this fence can the surrounding to aircraft and vehicle carry out preliminary prison
Control, by having detected whether that it is dangerous to judge potentially to conflict that fence intersects.
A kind of airdrome scene monitoring system with above-mentioned dynamic virtual fence, as shown in Figure 1, comprising: virtual electricity
Sub- rail module, for the setting of virtual electronic fence, risk of collision identification and data analysis；Data integration module is used for environment
Identification, display and the place of image information, aerodrome meteorological information, aircraft and vehicle position information and its routing information
Reason；Data memory module is saved for aircraft and vehicle position information, fence set information saves, dangerous situation information is protected
It deposits and is saved with presupposed information.
1. virtual electronic rail module includes: dynamic electron fence submodule, static electronic fence submodule, risk identification
With analysis submodule, alarm submodule；
The dynamic electron fence submodule have human-computer interaction interface, operator by be manually entered aircraft or
The parameters such as the length of vehicle have one by calculating analysis and can generate in terminal surrounding according to airdrome scene security regulations
Determine the dynamic virtual fence of range；
The static electronic fence submodule has human-computer interaction interface, and operator is by being manually entered specific region
Position and area parameters generate static electronic fence and protect specific region；
Whether the risk recognition and analysis submodule, being accurately identified using algorithm has vehicle or aircraft that will occur
Conflict is dangerous or whether vehicle enters in preset static electronic fence；
Wherein, when vehicle conflicts with aircraft:
A. according to the relevant parameter about aircraft and vehicle of prior typing in systems, corresponding void has been generated
Quasi- dynamic electron fence.
B. when the travel route of vehicle and aircraft route clash and can not evade, system can be by corresponding aviation
The amplification of device icon, and according to machine level ground traffic administration relevant regulations, centered on aircraft, the dynamic electron of aircraft encloses at display
Column marks the conduct route of the current aircraft.
C. there is aircraft process in front of voice broadcast simultaneously, and occur caution sign on the electronic map, it is desirable that vehicle
Parking, after waiting aircraft warp, caution sign is changed to continue the mark of traveling, before vehicle continues the path by systems organization
Row.
D. while electronic map alerts and terminates alarm to, warning information can also be sent to control tower center.
E. when the fence of vehicle has overlapping with the fence of aircraft, system, which will be considered that, has occurred and that conflict,
Voice prompting there can be risk of collision at once, vehicle and aircraft icon can be amplified and shown danger signal on the electronic map,
Send warning message to tower control center simultaneously.
When vehicle enters airport restricted area:
When the dynamic electron fence of vehicle is Chong Die with the static electronic fence of restricted area, system will will be in electronic map
Warning against danger is amplified and shown in overlapping region, carries out voice prompting and enters restricted area, while sending warning message to control tower
Control centre.The alarm submodule can be according to risk recognition and analysis module as a result, being set by screen and buzzer etc.
It is standby to sound an alarm.
Above-mentioned dynamic virtual fence, the side merged using high-precision navigation data and airport high-precision electronic map
Formula can generate for vehicle and aircraft close to early warning and alarm and working truck planning stroke route, when route deviates
Warning.Real-time anticollision early warning is provided by the method for virtual dynamic electron fence, aircraft and vehicle periphery have virtually
Dynamic electron fence carries out risk identification to aircraft and vehicle, if mutually intervening, that is, alarms.It is navigated by real-time routes
Method provides the guide service of scene vehicle, is positioned using real-time high-precision, in conjunction with airport electronic map, provides route for vehicle and work as
Row function.Are run by emphasis vehicle and is strictly managed for guide car, traction car light scene by the method for real-time routes deviation warning
Control provides elaborate position service under high-precision location technique support for vehicle, deviates from host computer vehicle running path, if
There is path offset, then alarms immediately.Wherein by the electronic map display sub-module and aircraft and vehicle in data integration module
The two module cooperations of location information submodule are realized.It is mutually tied by high-precision BEI-DOU position system with electronic map
It closes, the positioning accuracy of high-precision Beidou positioning can achieve the sub-meter grade even positioning accuracy of Centimeter Level, can accurately obtain
Position in the electronic map of vehicle.Using the central point in vehicle driving lane as the central point of lane fence, with allow to deviate
Maximum distance is boundary, forms the fence in lanes path, once anchor point exceeds the electricity to vehicle in the process of moving
Sub- fence, it is determined that path offset.The vehicle of the variety classes, non-commensurate that are run by fence to scene carries out
Different role-security management is merged in airport key area using high-precision navigation data and airport high-precision electronic map
Mode, one region, and the vehicle of specified monitoring are set using electronic map function, if these vehicles enter specified region
When generate warning, then referred to as forbidden monitoring, if when these vehicles are driven out to specified region generate warning, be known as prohibiting and supervise out
Control.Different size of aircraft electronic fence is provided for the aircraft of different model by the fence of automatic adaptation,
To provide technical support for Precision management, system has human-computer interaction interface, and operator selects a number corresponding aviation in system
The type of device and vehicle, system can automatically generate a fence of corresponding size.Wherein, by reading flight correlation report
Text obtains the corresponding aircraft type designator of flight, span W dimension information, satellite positioning antennas installation site i.e. apart from aircraft head
H, apart from aircraft tail portion T dimension information etc., to draw out on the electronic map and be with satellite positioning antennas actual location point
Reference point extends forward H, and extend back T, and two sides respectively extend the aircraft boundary fence of W/2 to the left and right；Further according to " advanced
Scene activity guidance and control system (A-SMGCS) handbook " and the management of airport associated safety it is required apart from aircraft head
Safe distance h, t, the w in portion, tail portion and two sides, from boundary, fence extends forward h respectively, and extend back t, extends w to two sides,
To obtain aircraft anticollision fence, as shown in Figure 2.By for scene vehicle driver provide it is based on elaborate position,
Without manual operation mission dispatching and report service, to provide technical support for guarantee safety, raising efficiency.Pass through scene
The different map data mining platform of electronic map, it is fast that superposition road speed limit, which requires, restricted area manages the intelligently chart database such as requirement
Speed disposes a scene management business and provides technical support.
2. data integration module includes: electronic map display sub-module, weather information processing submodule, aircraft and vehicle
Location information submodule；
The electronic map display sub-module is based on civil airport Utilization of Geography Information System directive/guide, by airport electronics
Map denotation realizes figure layer control, and different figure layers is integrated, may be selected in which object shown on map, realizes electricity
The amplification of sub- map, pulls translation, ranging at diminution, has multiple options that can choose on electronic map in actual use, wherein wrapping
The options such as aircraft, vehicle, personnel, each airline and traveling speed-limiting messages have been included, can have been come by choosing desired information
Filter out content shown by electronic map.
For example, when the work group personnel of control centre want to check the aircraft of A airline, need to only choose A airline and
At this moment airplane option can will only show the aircraft of A airline on electronic map, will not show other any unrelated information.
The aircraft position situation that can check a certain piece of region with enlarged map at this time clicks the detailed letter that certain airplane checks this aircraft
Breath.
The weather information handles submodule, and the Weather information obtained from meteorological observatory is digitized, when facilitating calling into
Line number word processing.
The aircraft and vehicle position information submodule, will use high-precision Beidou satellite navigation system (BeiDou
Navigation satellite system, BDS), it realizes sub-meter grade high accuracy positioning, BDS original signal is resolved and is navigated
The static state such as the high precision position information of pocket and vehicle, course information, velocity information and dynamic location information, have comprised in addition
The function of path planning can plan the path of vehicle forward, in conjunction with current airdrome scene situation, pick out optimal
Driving path.
3. data memory module includes: that aircraft is deposited with vehicle position information sub-module stored, fence set information
Store up submodule, dangerous situation information sub-module stored and presupposed information sub-module stored；
The aircraft and vehicle position information sub-module stored are by the position of analyze that treated aircraft and vehicle
Information preservation is into database；
The virtual electronic fence essential information that the fence set information sub-module stored will be set is saved in
In database；
The dangerous situation information preservation that the dangerous situation information sub-module stored will identify that is into database；
So-called presupposed information sub-module stored requires A-SMGCS and airport security management to fence delineating side
The presupposed informations such as method, vehicle driving speed limit, vehicle path planning are saved in database.
The module can all be connected with other all modules, and the data information transmitted in all modules can all pass through this mould
Block is stored, including all location information datas, warning message etc., and the video that can also store driving when is recorded.
3 illustrate collision recognition and route planning process with reference to the accompanying drawing.
In the situation of actual airport face, trolley (B in figure) every first has the route (figure for oneself executing task
The middle route that b), vehicle is advanced is simultaneously uncomplicated, is entirely provided by airport control system.Then system is current according to vehicle
Being carrying out for task picks out an optimal travelling route in conjunction with the traffic condition of airdrome scene from these routes,
The possible conflict of aircraft can be avoided to greatest extent, and makes time optimization, thus ensureing scene operational safety
Under the premise of, improve the working efficiency of vehicle.
When the overlapping of the dynamic electron fence of aircraft A and vehicle B, it was demonstrated that scene has the possibility clashed, aircraft
It will be instantly obtained this prompt information by human-computer interaction interface with the driver of vehicle, rapidly make a response to cope with scene
Conflict.The safe distance of dynamic fence setting will give the driver of aircraft A and vehicle B with the sufficient reaction time, simultaneously
Also the time for having given control tower controllers control to command, driver can be according to the experience of oneself in conjunction with scene supervisor's
Commander, to avoid the generation of accident.
When aircraft A process and aircraft A and the not be overlapped fence of vehicle B, the possibility of conflict is illustrated
Terminate.Monitoring system should take waiting to vehicle for according to information such as the position of aircraft A, plan target and routings at this time
Or the strategy to detour is assessed, and optimization scheme is supplied to driver, and driver is according to the route planned again
It moves on.
Such as the example in Fig. 3, aircraft A, can be according to electricity it has been found that there is the possibility clashed with front vehicles
The real-time parameters such as the travel speed of the case where sub- fence is overlapped and aircraft A and vehicle B, judge automatically, prompt aviation
Which kind of measures to keep clear device A should take at this time.Vehicle B by prompt information know with left side come aircraft A rush
Prominent possibility will take the measures to keep clear such as parking immediately according to airdrome scene traffic control pertinent regulations.Control tower in the process
Controllers can also indicate aircraft and vehicle, promote scene safety management.
The present invention is it is possible thereby to the effect reached are as follows:
A. A-SMGCS grade is being promoted by using virtual dynamic electron fence, is not needing to carry out reconstruction installation to airport
Signal lamp will not make airport stop operation, meet the requirement of non-suspend air construction；
B. transformation maintenance cost is reduced, operational management is got up simple and convenient, is improved work efficiency, has been saved manpower money
Source；
C. aircraft can recognize the case where periphery aircraft or vehicle from electronic map.
D. current A-SMGCS mainly guides aircraft to advance by light, but this method needs pair
Runway transformation just may be implemented.Our system can observe the case where airdrome scene, control tower in real time on the electronic map
Staff rapidly can also be adjusted aircraft route for some emergency cases of scene, and be communicated to driving
Member, can effectively plan aircraft advance route in real time.
The fence for meeting A-SMGCS technical standard in this programme, the usually used electronics with airport in the prior art
Fence is compared to tool following points advantage: according to information such as the types obtained in message in this programme, accurately generating different big
The fence of small size；It realizes that traveling deviates judgement by fence, is required according to airport security management, generate boat in real time
Pocket anticollision fence, real-time conflict of qualification.In addition, dynamic electron fence, it is based on airdrome scene in A-SMGCS first
Control standard makes.It can prevent the various conflicts of scene, and scene conflict is nipped in the bud, and be an intelligence
Energy, efficient and easy to maintain set of system.And the existing fence used is exactly Static Electro described in this patent in airport
Sub- fence, one piece of region can only be set to restricted area, forbid the entrance of vehicle and personnel etc., can not help the machine of progress by it
Field scene management operation.In function and practicability, dynamic electron fence will be significantly larger than Static Electro used in existing airport
Sub- fence.The adjustment and improvement of dynamic electron fence can be described as a kind of complete innovation, and industry does not have similar or very at present
Rare similar idea, there are no this ideas in minimum civil aviaton field.High-precision Beidou location navigation is utilized in it, and combines
Algorithm software produces a kind of real-time dynamic electron fence, and perfectly solving desired promotion A-SMGCS grade will transformation apparatus
The problem of field runway.
What the embodiment of the present invention was announced is preferred embodiment, and however, it is not limited to this, the ordinary skill people of this field
Member, easily according to above-described embodiment, understands spirit of the invention, and make different amplification and variation, but as long as not departing from this
The spirit of invention, all within the scope of the present invention.
Claims (9)
1. a kind of airdrome scene monitoring system with dynamic virtual fence characterized by comprising be used for virtual electronic
Fence setting, the virtual electronic rail module of risk of collision identification and data analysis are believed for ambient image information, aerodrome
The data integration module of identification, display and the processing of breath, aircraft and vehicle position information and its routing information is used for
Aircraft and vehicle position information save, fence set information saves, the number of dangerous situation information preservation and presupposed information preservation
According to memory module.
2. as described in claim 1 with the airdrome scene monitoring system of dynamic virtual fence, it is characterised in that: described
Virtual electronic rail module include dynamic electron fence submodule, risk recognition and analysis submodule and alarm submodule, it is described
Dynamic electron fence submodule have human-computer interaction interface, operator is by being manually entered the terminals such as aircraft or vehicle
The parameters such as length have a certain range of dynamic virtual fence by calculating analysis and can generate in terminal surrounding；Institute
The risk recognition and analysis submodule stated, accurately identified using algorithm whether have vehicle or aircraft will clash it is dangerous or
Whether vehicle enters in preset static electronic fence；The alarm submodule can be according to risk recognition and analysis module
As a result, being sounded an alarm by equipment such as screen and buzzers.
3. as claimed in claim 2 with the airdrome scene monitoring system of dynamic virtual fence, it is characterised in that: described
Virtual electronic rail module further includes static electronic fence submodule, and the static electronic fence submodule also has man-machine friendship
Mutual interface, operator are specific to protect by the position and area parameters generation static electronic fence for being manually entered specific region
Region.
4. as described in claim 1 with the airdrome scene monitoring system of dynamic virtual fence, it is characterised in that: described
Data integration module includes: electronic map display sub-module, weather information processing submodule, aircraft and vehicle position information
Module, the electronic map display sub-module control airport electronic map Display Realization figure layer, and different figure layers is integrated
Get up, corresponding object information is shown on map according to the selection of operator, the weather information handles submodule, will be from
The Weather information digitlization that meteorological observatory obtains, carries out digital processing, the aircraft and vehicle position information when facilitating calling
Submodule, by the Beidou satellite navigation system being mounted on aircraft and vehicle, by original signal resolve to obtain aircraft and
The high precision position information of vehicle, course information, velocity information etc. be static and dynamic location information.
5. as claimed in claim 4 with the airdrome scene monitoring system of dynamic virtual fence, it is characterised in that: described
Aircraft and vehicle position information submodule also have the function of the path planning to vehicle forward route.
6. as described in claim 1 with the airdrome scene monitoring system of dynamic virtual fence, it is characterised in that: described
Data memory module includes: aircraft and vehicle position information sub-module stored, fence set information sub-module stored, danger
Feelings information sub-module stored and presupposed information sub-module stored, the aircraft and vehicle position information sub-module stored will divide
The location information of analysis treated aircraft and vehicle is saved in database, and the dangerous situation information sub-module stored will identify
Dangerous situation information preservation out is into database, and the presupposed information sub-module stored is by A-SMGCS and airport security management
It is saved in database it is required that delineating the presupposed informations such as method, vehicle driving speed limit, vehicle path planning to fence.
7. as claimed in claim 3 with the airdrome scene monitoring system of dynamic virtual fence, it is characterised in that: described
Risk recognition and analysis submodule judges to be by having overlapping phenomenon between dynamic electron fence and dynamic electron fence area
It is no to have vehicle or aircraft that clash danger.
8. as claimed in claim 3 with the airdrome scene monitoring system of dynamic virtual fence, which is characterized in that described
Risk recognition and analysis submodule judges vehicle by having overlapping phenomenon between dynamic electron fence and static electronic fence area
Or aircraft whether enter restricted area.
9. as claimed in claim 4 with the airdrome scene monitoring system of dynamic virtual fence, which is characterized in that electronics
There are multiple object informations that can choose on map and show, which includes aircraft, vehicle, personnel, each airline and rows
Sail speed-limiting messages.
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| CN112116830A (en) * | 2020-09-02 | 2020-12-22 | 南京航空航天大学 | Unmanned aerial vehicle dynamic geo-fence planning method based on airspace meshing |
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