CN108492628B - Aircraft overwater operation monitoring system and control method thereof - Google Patents
Aircraft overwater operation monitoring system and control method thereof Download PDFInfo
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- CN108492628B CN108492628B CN201810175498.3A CN201810175498A CN108492628B CN 108492628 B CN108492628 B CN 108492628B CN 201810175498 A CN201810175498 A CN 201810175498A CN 108492628 B CN108492628 B CN 108492628B
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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
- G08G3/00—Traffic control systems for marine craft
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—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]
- G08G5/0073—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]
- G08G5/0095—Aspects of air-traffic control not provided for in the other subgroups of this main group
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Ocean & Marine Engineering (AREA)
- Traffic Control Systems (AREA)
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Abstract
The invention discloses an aircraft water operation monitoring system and a control method thereof, wherein the system comprises an aircraft position report and monitoring on-board station, a ship position report and monitoring on-board station and a data fusion computer, wherein the data fusion computer receives position information of all aircrafts and ships, processes the position information and sends the position information to a comprehensive information display terminal and a comprehensive position broadcasting ground station; the comprehensive position broadcasting ground station sends the ship position information to an aircraft position report and a monitoring on-board station, and sends the aircraft position information to the ship position report and the monitoring on-board station. The invention realizes the sharing of the position information of the aircraft and the ship in the area by means of the existing monitoring systems of the aircraft and the ship, and the water aircraft, the ship and related managers can more comprehensively know the traffic condition in the area by the system in the process that the water aircraft runs in the water and takes off by using the water runway, thereby effectively improving the traffic efficiency of the area and avoiding traffic accidents of the area.
Description
Technical Field
The invention relates to an aircraft monitoring system and a control method thereof, in particular to an aircraft water operation monitoring system under a complex traffic environment that a ship and an aircraft operate in the same water area at the same time.
Background
An AIS system: the Automatic Identification System (AIS) of the vessel is composed of shore-based (base station) facilities and shipborne equipment, and is a novel digital navigation aid System and equipment integrating network technology, modern communication technology, computer technology and electronic information display technology.
ADS-B: ADS-B is called automatically Dependent Surveillance-Broadcast, Chinese is Broadcast type Automatic relevant monitoring, as the name suggests, that is, without manual operation or inquiry, parameters can be automatically obtained from relevant airborne equipment to Broadcast information such as position, altitude, speed, course, identification number and the like of the airplane to other airplanes or ground stations, so that controllers can monitor the state of the airplane.
ACARS: an Aircraft Communication Addressing and Reporting System (ACARS) is a digital data link system that transmits short messages between an Aircraft and a ground station via radio or satellite. This protocol was proposed in the last 70 th century, the format of which was then called Telex. In the near future, this protocol will be replaced by the so-called Aeronautical Telecommunications Network (ATN) protocol.
ADS-C: ADS-C monitoring is typically initiated by a ground station. An Air Traffic Service (ATS) transmits surveillance messages to aircraft via an ATN communication network, typically satellite communication (SATCOM) or VHF. After the airborne equipment receives the message, the position information of the aircraft is sent to the ATS through the ATN data chain according to the ATS and the communication protocol appointed by the aircraft. And the ATS receives the information replied by the aircraft and displays the information on the monitoring equipment, so that the aim of monitoring the air traffic is fulfilled.
Secondary radar: the radar antenna is mainly used for aviation control, and the working mode of the radar antenna is that a ground radar transmits radar waves to a target aircraft, and the target aircraft responds in a corresponding mode.
Beidou, the Chinese Beidou Satellite Navigation System (BDS) is a self-developed global Satellite Navigation System in China. The third mature satellite navigation system following the united states Global Positioning System (GPS), russian GLONASS satellite navigation system (GLONASS). The Beidou satellite navigation System (BDS) and the United states GPS, Russian GLONASS, European Union GALILEO are recognized suppliers of the United nations satellite navigation Committee. The Beidou satellite navigation system consists of a space section, a ground section and a user section, can provide high-precision, high-reliability positioning, navigation and time service for various users all day long in the global range, has short message communication capacity, and initially has the capacity of regional navigation, positioning and time service, wherein the positioning precision is 10 meters, the speed measurement precision is 0.2 meters per second, and the time service precision is 10 nanoseconds.
With the development of technology, electronic technologies of aircrafts and ships, especially monitoring technologies, become mature, and position information of ships and aircrafts can be well mastered at present. However, since the management of the ship and the aircraft belongs to the maritime organization and the civil aviation organization, the position information sharing and interconnection between the ship and the aircraft still lack corresponding standards and technical means.
As a special aircraft, a seaplane needs to interact with other aircraft and a ship when operating. However, the development and management of the seaplane are still carried out according to the standards of the seaplane at present, when the seaplane is involved in the water activities (such as water navigation, taking off and landing by using a water runway), the information of the peripheral ships cannot be obtained in time, and the peripheral ships cannot obtain the relevant information of the seaplane, so that the traffic efficiency of the area is reduced, and even serious traffic accidents are caused by the barrier of the information.
Disclosure of Invention
The invention aims to solve the technical problem of providing an aircraft water operation monitoring system and a control method thereof, so that the position information of a water plane and the position information of a peripheral ship are fused and distributed to an aircraft driver, a ship driver, a region manager and a coordinator when an aircraft operates on water (sailing on water, taking off and landing on water, approaching water and the like), thereby improving the cooperative efficiency and the operation safety of the aircraft and the ship and providing important technical guarantee for the water operation of the aircraft.
The technical solution adopted to solve the above technical problems is to provide an aircraft marine operation monitoring system, wherein the system comprises an aircraft position reporting and monitoring airborne station: for reporting its location information to an airspace monitoring ground station; ship position reporting and monitoring on-board stations: for reporting its location information to a water area monitoring ground station; a data fusion computer: receiving the position information of all aircrafts in the airspace from the airspace monitoring ground station and the position information of all ships in the water area from the water area monitoring ground station, processing and sending the position information to the comprehensive information display terminal and the comprehensive position broadcasting ground station; the integrated position broadcasting ground station sends the ship position information from the data fusion computer to an aircraft position report and a monitoring on-board station, and sends the aircraft position information from the data fusion computer to the ship position report and the monitoring on-board station; and the comprehensive information display terminal is used for intensively displaying the position information of the aircraft and the ship from the data fusion computer.
In the above-mentioned aircraft marine operation monitoring system, the aircraft position reporting and monitoring on-board station reports its position information to the airspace monitoring ground station by the following communication methods: ADS-B, ADS-C, ACARS, Beidou, secondary radar, an engine state monitoring system, a satellite entertainment system, a mobile phone wireless communication network and/or an urban broadband wireless network.
In the above-mentioned aircraft marine operation monitoring system, the aircraft position reporting and monitoring onboard station further obtains the position information of the peripheral aircraft through the following communication modes: ADS-B, ADS-C, ACARS, Beidou, secondary radar, an engine state monitoring system, a satellite entertainment system, a mobile phone wireless communication network and/or an urban broadband wireless network.
In the above-described aircraft marine operation monitoring system, the ship position reporting and monitoring on-board station reports the position information thereof to the water area monitoring ground station by the following communication means: AIS, coastal CDMA network monitoring, and/or satellite monitoring.
In the above-mentioned aircraft marine operation monitoring system, the ship position reporting and monitoring station further obtains the position information of the peripheral ship by the following communication methods: AIS, coastal CDMA network monitoring, and/or satellite monitoring.
In the above-mentioned aircraft water operation monitoring system, the integrated information display terminal classifies and labels static targets and areas on the geographic information system by adopting different colors, patterns, shapes or sizes.
The invention also provides a control method of the aircraft water operation monitoring system for solving the technical problem, which comprises the following steps: step S1: receiving the position information of all aircrafts in an airspace from an airspace monitoring ground station by adopting a data fusion computer; step S2, for the position information of each aircraft, the data fusion computer determines the affected ship activity area according to the speed and the information of whether to turn; step S3, the data fusion computer selects the corresponding position information message of the aircraft according to the updating frequency of the ship position information, and the message is transmitted to the ship in the affected ship activity area after conversion processing; step S4, receiving the position information of all ships in the water area from the water area monitoring ground station by using a data fusion computer; and step S5, for the position information of each ship, the data fusion computer calculates the position information of the ship in the next updating period according to the speed and the steering information, converts the calculated position information of the ship and sends the converted position information to the aircraft in the activity area of the ship.
In the above method for controlling an aircraft marine operation monitoring system, the update frequency of the aircraft position information and the update frequency of the ship position information in step S3 are in a multiple relationship, and the data fusion computer in step S3 forwards the processed position information at the update frequency of the ship position information and discards the rest of the position information.
In the control method of the above-mentioned aircraft water operation monitoring system, when a certain aircraft takes off or lands, the data fusion computer plans a water virtual runway and a taxiway through the ship automatic identification system; and if the speed of the aircraft is increased before the aircraft enters the virtual runway, judging that the aircraft has a takeoff tendency and deviates from the virtual runway, and sending out a safety early warning in advance.
In the control method of the aircraft overwater operation monitoring system, the data fusion computer also plans a water area navigation forbidden zone in advance according to the flight plan of the aircraft and broadcasts the water area navigation forbidden zone through the ship automatic identification system; in the take-off and landing processes, the data fusion computer carries out early warning on the intrusion of the ship according to the historical position information of the ship and the aircraft, and sets early warning modes of different levels according to the intrusion distance and speed of the ship.
In the above control method of the aircraft water operation monitoring system, when a certain aircraft operates on water, the data fusion computer acquires the control information of the current water area through the automatic ship identification system, checks the operation compliance of the aircraft in the water area through comparison with the aircraft, and triggers an alarm if the operation compliance exceeds the water area specified by the aircraft.
Compared with the prior art, the invention has the following beneficial effects: according to the aircraft overwater operation monitoring system and the control method thereof provided by the invention, the existing aircraft monitoring means and ship monitoring means are used for fusing and forwarding the aircraft position information and the ship position information in the region, so that a traffic supervision technical approach is provided under the complex condition that the ship and the aircraft operate on the water simultaneously, the regional traffic efficiency is effectively improved, and the regional traffic accident is avoided.
Drawings
Fig. 1 is a schematic structural diagram of an aircraft marine operation monitoring system of the present invention.
Detailed Description
The invention is further described below with reference to the figures and examples.
Fig. 1 is a schematic structural diagram of an aircraft marine operation monitoring system of the present invention.
Referring to fig. 1, the system for monitoring the overwater operation of an aircraft according to the present invention includes an airspace monitoring ground station, an aircraft position reporting and monitoring airborne station, a water area monitoring ground station, a ship position reporting and monitoring airborne station, a comprehensive information display terminal, a data fusion computer, and a comprehensive position broadcasting ground station.
The aircraft position reporting and monitoring on-board station is connected with an airspace monitoring ground station through an aircraft monitoring link, and sends the position information of the aircraft position reporting and monitoring on-board station to the airspace monitoring ground station through the link; the ship position reporting and monitoring shipborne station is connected with the water area monitoring ground station through a ship monitoring link, and sends the position information of the ship position reporting and monitoring shipborne station to the water area monitoring ground station through the link. The airspace monitoring ground station and the water area monitoring ground station are connected with the data fusion computer through Ethernet, and the received position information of the aircraft and the ship is sent to the data fusion computer.
The data fusion computer of the invention is connected with the integrated position broadcasting ground station and the integrated information display terminal through the Ethernet, obtains the position information of aircrafts and ships from the airspace monitoring ground station and the water area monitoring ground station through the protocol analysis data fusion computer, performs fusion and screening according to the preset rule, and distributes the processed data to the integrated position broadcasting ground station and the integrated information display terminal.
The integrated position broadcasting ground station is respectively connected with an aircraft position report of an aircraft needing to acquire information, a monitoring aircraft-mounted station and a ship position report of a ship and a monitoring ship-mounted station through an aircraft monitoring link and a ship monitoring link, sends ship position information processed by a data fusion computer to the aircraft through the aircraft monitoring link, and sends the aircraft position information processed by a data fusion computer to the ship through the ship monitoring link. Thus, the aircraft receives the operation condition of the ship in the region through the system, and meanwhile, the ship also receives the operation condition of the aircraft in the region through the system.
Due to the obvious difference between the sailing speed of the ship and the flying speed of the aircraft, the message reporting frequency required by the aircraft monitoring technology is generally higher than that required by the ship monitoring technology, so corresponding processing is required in the mutual forwarding process. The AIS message report frequency is divided into different report frequencies according to different ship navigation speeds, the highest frequency is 2-12 seconds/time (3 minutes/time for anchoring ship), and the report frequency of the ADS-B message is generally 1-2 seconds/time. Therefore, when the AIS message is converted into the ADS-B message through the data fusion computer, the motion trend needs to be calculated according to the navigation speed and the course of the ship on the AIS, the motion position of the ship in each aircraft report period is predicted, and the motion position is pushed to the aircraft. If the navigation speed of the ship is 10 knots and the ship turns, the AIS reporting frequency is 4 seconds/time, and the data fusion computer can calculate the position data 2 seconds later according to the current position report data and the historical data of the ship and report the position data to the aircraft. When the ADS-B message is converted into the AIS message, the information such as whether the aircraft is in turning or not can be compared with the AIS report frequency according to the speed of the aircraft, for example, the speed of the aircraft is 10 knots, the heading is changed, the AIS report frequency is referred to be 4 seconds/time, the ADS-B message of the aircraft is supposed to broadcast the position information in a period of 1 second/time, the ADS-B message of every 4 seconds can be lifted by the data fusion computer and converted into the AIS message to be broadcast to the ship, and other ADS-B data are discarded to reduce the data processing burden of the ship.
Since not all ships affect the aircraft, the data fusion computer screens the ships according to the affected area (the active area of the aircraft plus a safety margin) when forwarding the ship position information, and ships outside the affected area are not relayed to the aircraft to reduce the burden of the aircraft/pilot.
Similarly, not all aircraft affect the ship, so the data fusion computer screens the aircraft according to the affected area (the safe flying height of the aircraft) when transmitting the aircraft position information, and the aircraft outside the affected area is not transmitted to the ship, so that the burden of the ship/captain is reduced.
The aircraft water operation monitoring system integrates the position information of the aircraft and the position information of the ship, and the system provides six conflict processing functions.
The first item: and (4) sensing and alarming conflict situation, wherein the data fusion computer can calculate the movement trend of the aircraft and the ship according to the position information of the aircraft and the ship, and alarms in advance the possible conflict and informs the two parties of taking reasonable evasion measures.
The second term is: the deviation of the water area is alarmed, the aircraft cannot acquire the control information of the water area when running on the water, but the data fusion computer can acquire the control information of the water area through a ship monitoring technology (such as AIS) and check the operation compliance of the aircraft in the water area through comparison with the aircraft, and if the operation of the aircraft exceeds the specified operation of the aircraft, the water area triggers an alarm and informs a pilot and a controller to process the alarm in time.
The third item: a restricted area is temporarily arranged, an open environment is needed in the take-off and landing processes of the aircraft, a water area sailing restricted area can be arranged in advance by the data fusion computer according to the flight plan of the aircraft, and the data fusion computer broadcasts the water area sailing restricted area by a ship monitoring technology (such as AIS) to inform the restricted area that ships are evacuated; the flight efficiency and the water area use efficiency are improved.
The fourth item: prevention of vessel intrusion during aircraft takeoff and landing, establishment of restricted zones during aircraft takeoff and landing by vessel surveillance techniques (such as AIS), the data fusion computer can calculate the optimal and reasonable ship intrusion emergency treatment means according to the historical position information of the ship and the aircraft during the take-off and landing processes, if the ship just enters the forbidden zone and the speed is slow, the ship can be warned to drive away by the ship monitoring technology such as alarm broadcasting, shouting broadcasting, maritime VHF radio shouting and the like, when the hazard is further raised (such as a medium-invasion forbidden zone and a fast-invasion forbidden zone), the patrol boat can be informed to drive away from the invaded ship, and when the hazard is higher (such as a deep-invasion forbidden zone and a high-speed invasion forbidden zone), the aircraft, the ship controller and the flight controller need to be informed to take necessary evasive measures (such as the aircraft abandoning and flying again).
The fifth item: a water virtual runway and a taxiway are planned, and the water virtual runway and the taxiway are planned through a ship monitoring technology (such as AIS) so as to guide an aircraft to rapidly enter the runway before taking off or rapidly exit the water area after landing in a strange water area. When the aircraft is not traveling at the prescribed route/speed, the data fusion computer will notify the aircraft and flight control personnel to take the necessary remedial action. For example, if the aircraft suddenly speeds up before entering the runway, the data fusion computer judges that the aircraft has a takeoff tendency, and immediately alarms the aircraft and flight control personnel to avoid further harm caused by the fact that the aircraft does not take off on the runway.
The aircraft overwater operation monitoring system provided by the invention can fuse and transmit the aircraft position information and the ship position information in the area through the existing aircraft monitoring means and ship monitoring means, and provides a technical approach for traffic supervision under the complex situation that the ship and the aircraft operate on the water simultaneously.
Although the present invention has been described with respect to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (11)
1. An aircraft water operations monitoring system, comprising:
aircraft position reporting and monitoring on-board stations: for reporting its location information to an airspace monitoring ground station;
ship position reporting and monitoring on-board stations: for reporting its location information to a water area monitoring ground station;
a data fusion computer: receiving the position information of all aircrafts in the airspace from the airspace monitoring ground station and the position information of all ships in the water area from the water area monitoring ground station, processing and sending the position information to the comprehensive information display terminal and the comprehensive position broadcasting ground station;
the integrated position broadcasting ground station sends the ship position information from the data fusion computer to an aircraft position report and a monitoring on-board station, and sends the aircraft position information from the data fusion computer to the ship position report and the monitoring on-board station; and the comprehensive information display terminal is used for intensively displaying the position information of the aircraft and the ship from the data fusion computer.
2. The aircraft marine operations monitoring system of claim 1 wherein the aircraft position reporting and monitoring on-board station reports its position information to the airspace monitoring ground station by communicating: ADS-B, ADS-C, ACARS, Beidou, secondary radar, a satellite entertainment system, a mobile phone wireless communication network and/or an urban broadband wireless network.
3. The aircraft marine operations monitoring system of claim 2 wherein the aircraft position reporting and monitoring on-board station further obtains position information for the surrounding aircraft by communicating: ADS-B, ADS-C, ACARS, Beidou, secondary radar, a satellite entertainment system, a mobile phone wireless communication network and/or an urban broadband wireless network.
4. The aircraft marine operations monitoring system of claim 3 wherein said ship position reporting and monitoring on-board station reports its position information to the water area monitoring ground station by communicating: AIS, coastal CDMA network monitoring, and/or satellite monitoring.
5. The aircraft marine operations monitoring system of claim 1 wherein the vessel position reporting and monitoring on-board station further obtains position information for the surrounding vessel by communicating: AIS, coastal CDMA network monitoring, and/or satellite monitoring.
6. The aircraft water operation monitoring system of claim 1 wherein the integrated information display terminal is classified and labeled on the geographic information system for static objects, areas in different colors, patterns, shapes or sizes.
7. A control method of an aircraft water operation monitoring system, characterized in that the aircraft water operation monitoring system according to any one of claims 1-6 is adopted, and the control method comprises the following steps:
step S1: receiving the position information of all aircrafts in an airspace from an airspace monitoring ground station by adopting a data fusion computer;
step S2, for the position information of each aircraft, the data fusion computer determines the affected ship activity area according to the speed and the information of whether to turn;
step S3, the data fusion computer selects the corresponding position information message of the aircraft according to the updating frequency of the ship position information, and the message is transmitted to the ship in the affected ship activity area after conversion processing;
step S4, receiving the position information of all ships in the water area from the water area monitoring ground station by using a data fusion computer;
and step S5, for the position information of each ship, the data fusion computer calculates the position information of the ship in the next updating period according to the speed and the steering information, converts the calculated position information of the ship and sends the converted position information to the aircraft in the activity area of the ship.
8. The method for controlling the marine operational monitoring system of an aircraft according to claim 7, wherein the updating frequency of the position information of the aircraft and the updating frequency of the position information of the ship in the step S3 are in a multiple relationship, and the data fusion computer in the step S3 processes the position information of the aircraft according to the updating frequency of the position information of the ship and discards the rest of the position information.
9. The method of claim 7, wherein the data fusion computer is configured to plan an aquatic virtual runway and taxiway via an automatic identification system of a ship when an aircraft is taking off or landing; and if the speed of the aircraft is increased before the aircraft enters the virtual runway, judging that the aircraft has a takeoff tendency and deviates from the virtual runway, and sending out a safety early warning in advance.
10. The method of claim 9, wherein the data fusion computer further defines a water navigation exclusion zone in advance according to a flight plan of the aircraft and broadcasts the water navigation exclusion zone by an automatic ship identification system; in the take-off and landing processes, the data fusion computer carries out early warning on the intrusion of the ship according to the historical position information of the ship and the aircraft, and sets early warning modes of different levels according to the intrusion distance and speed of the ship.
11. The method of claim 7, wherein when an aircraft is operating on water, the data fusion computer obtains the control information of the current water area through the automatic ship identification system, checks the compliance of the aircraft in the water area through comparison with the aircraft, and triggers an alarm if the compliance exceeds the water area specified by the aircraft.
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| CN110288856A (en) * | 2019-06-21 | 2019-09-27 | 中国民用航空总局第二研究所 | The Scheduled Flight monitoring system and method for fine forecast based on wind |
| CN110208834B (en) * | 2019-06-28 | 2023-09-26 | 中国舰船研究设计中心 | Double-channel shipborne airspace monitoring equipment compatible with Beidou and GPS |
| CN111507394A (en) * | 2020-04-15 | 2020-08-07 | 中国科学院福建物质结构研究所 | Multi-domain spatial data fusion method and fusion device |
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| GB9824220D0 (en) * | 1998-11-05 | 1999-11-10 | British Aerospace | Aircraft carriers and methods of operation thereof |
| NZ522440A (en) * | 2000-05-18 | 2003-08-29 | Wingship Ltd | Wing in ground effect vehicle with endplates |
| CN101193797A (en) * | 2005-06-08 | 2008-06-04 | 築城俊雄 | Navigation system |
| FR2937169B1 (en) * | 2008-10-13 | 2011-09-30 | Dcns | SYSTEM FOR GUIDING A DRONE IN THE APPROACH PHASE OF A PLATFORM, IN PARTICULAR NAVAL, FOR ITS APPROVAL |
| JP5561183B2 (en) * | 2011-01-21 | 2014-07-30 | アイコム株式会社 | Target identification device and target movement prediction program |
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| CN104184990B (en) * | 2014-06-03 | 2017-11-17 | 南通航运职业技术学院 | A kind of intelligent video monitoring system of pathfinder or AIS tracking parameter guiding |
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| CN105336218A (en) * | 2014-08-13 | 2016-02-17 | 南宁市锋威科技有限公司 | Xijiang river waterway shipping monitoring system based on Beidou satellite |
| CN204142956U (en) * | 2014-09-10 | 2015-02-04 | 四川九洲电器集团有限责任公司 | Based on the greater coasting area surveillance of MDS technology |
| CN105575185B (en) * | 2016-01-04 | 2017-12-29 | 上海海事大学 | Waterborne and marine intelligent cruise system |
| CN105610489A (en) * | 2016-01-05 | 2016-05-25 | 中国航空无线电电子研究所 | Low-altitude airspace monitoring system based on urban wireless communication network |
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| CN105716587B (en) * | 2016-03-22 | 2019-05-21 | 中电科海洋信息技术研究院有限公司 | Waters information monitoring system |
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