CN113325879B - Aircraft airspace judgment method and device, electronic equipment and medium - Google Patents
Aircraft airspace judgment method and device, electronic equipment and medium Download PDFInfo
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Abstract
The application discloses an aircraft airspace judgment method, an aircraft airspace judgment device, electronic equipment and a medium. The method can comprise the following steps: determining a space domain boundary and a no-fly zone boundary; taking the position of the current aircraft as an origin point to make a ray in any direction, and respectively determining intersection points of the ray, an airspace boundary and a no-fly zone boundary; and performing parity judgment according to the number of the intersection points, and determining the airspace where the current aircraft is located. The method improves the accuracy of judging whether the aircraft flies in the regulated airspace and the timeliness of early warning, and has high accuracy and wide application range.
Description
Technical Field
The invention relates to the field of flight control of aircrafts, in particular to a method and a device for judging airspace of an aircraft, electronic equipment and a medium.
Background
Along with the rapid increase of the variety and the quantity of various aircrafts such as low-altitude small aircrafts, medium-high altitude large unmanned aerial vehicles, near space airships and the like, the unmanned aerial vehicle operation, civil aviation transportation and military flight are mixed to operate, the flight conflict is continuously aggravated, and the airspace environment is increasingly complicated, so that the coordination task of airspace control is aggravated, the effective utilization rate of space resources is reduced, and the air traffic accidents are avoided by improving the consciousness of the aircrafts flying in the specified airspace.
The airspace is a space in a certain range defined according to the requirements of flight training and battle, and the airspace boundaries and the no-fly zones specified by different types of aircrafts are different. The specified airspace safety boundary of a general aircraft may include a national boundary line, a civil aviation route, a population dense area, a mountain and mountain, a military restricted area, an electromagnetic sensitive area, a severe meteorological area and the like, an available airspace and a restricted airspace are different from place to place, any aircraft needs to plan a flight route in advance by combining the local airspace condition, and simultaneously needs to judge the airspace position where the aircraft is located in real time, if the aircraft flies out of the specified airspace or flies into the restricted airspace, the relatively severe influence may be generated, and even international disputes or the life and property safety of people is seriously damaged may be caused. Currently, most aircrafts are judged whether to be in a specified area or not by people in a loop, and the self-consciousness of the aircrafts flying in a specified airspace is completely determined by an aircraft operator; the automatic judgment method is realized by comparing the current position with the boundary coordinate, is only suitable for simple single-connected areas, and when the aircraft flies in complicated multi-connected areas, the existing automatic judgment method cannot accurately judge whether the aircraft flies into a no-fly area, so that great potential risks exist in the randomness of a human in a loop.
Therefore, there is a need to develop a method, an apparatus, an electronic device and a medium for determining airspace of an aircraft.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention provides a method, a device, electronic equipment and a medium for judging an airspace of an aircraft, which can improve the accuracy of judging whether the aircraft flies in a specified airspace or not and the timeliness of early warning, and have the advantages of high accuracy and wide application range.
In a first aspect, an embodiment of the present disclosure provides an aircraft airspace determination method, including:
determining a space domain boundary and a no-fly zone boundary;
taking the position of the current aircraft as an origin to make a ray in any direction, and respectively determining intersection points of the ray, an airspace boundary and a no-fly zone boundary;
and performing parity judgment according to the number of the intersection points, and determining the airspace where the current aircraft is located.
Preferably, the method further comprises the following steps:
performing polygon approximation on the airspace boundary and the no-fly zone boundary according to a limit theory;
and calculating a linear equation approximating each edge of the polygon according to coordinates of the two points.
Preferably, the determining the intersection points of the ray with the airspace boundary and the no-fly zone boundary respectively comprises:
and calculating a linear equation of the ray, and solving the linear equation of each side of the approximate polygon of the airspace boundary and the no-fly zone boundary in a simultaneous mode to obtain intersection point coordinates.
Preferably, the parity judgment is performed according to the number of the intersection points, and the determining of the airspace where the current aircraft is located includes:
if the number of the intersection points is an even number, the current aircraft is outside the airspace or in a no-fly zone;
if the number of the intersection points is an odd number, the aircraft normally flies in a specified airspace.
Preferably, the method further comprises the following steps:
if the current aircraft normally flies in a specified airspace, calculating the real-time distance between the continuous flight of the aircraft along the current forward direction and the boundary of the airspace or the boundary of a no-fly zone in real time;
and carrying out early warning according to the distance.
Preferably, the real-time calculation of the real-time distance between the aircraft continuing to fly along the current forward direction and the boundary of the airspace or the no-fly zone comprises:
calculating a linear equation of a ray where the aircraft is located along the current advancing direction, and solving the linear equation in a simultaneous manner with linear equations of each side of an approximate polygon of an airspace boundary and a no-fly zone boundary to obtain intersection point coordinates;
and calculating the distance between the aircraft and each intersection point, and taking the minimum distance as the real-time distance of the aircraft.
Preferably, the early warning is carried out according to the real-time distance:
and comparing the real-time distance with a set safe distance, and if the real-time distance is less than or equal to the set safe distance, sending an early warning prompt that the aircraft is about to reach the airspace boundary, and enabling the aircraft to immediately deflect or turn around to fly.
As a specific implementation of the embodiments of the present disclosure,
in a second aspect, an embodiment of the present disclosure further provides an aircraft airspace determination apparatus, including:
the boundary determining module is used for determining the airspace boundary and the no-fly zone boundary;
the calculation module is used for making a ray in any direction by taking the position of the current aircraft as an origin, and respectively determining the intersection points of the ray, the airspace boundary and the no-fly zone boundary;
and the judging module is used for performing parity judgment according to the number of the intersection points and determining the airspace where the current aircraft is located.
Preferably, the method further comprises the following steps:
performing polygon approximation on the airspace boundary and the no-fly zone boundary according to a limit theory;
and calculating a linear equation approximating each edge of the polygon according to coordinates of the two points.
Preferably, the determining the intersection points of the ray with the airspace boundary and the no-fly zone boundary respectively comprises:
and calculating a linear equation of the ray, and solving the linear equation of each side of the approximate polygon of the airspace boundary and the no-fly zone boundary in a simultaneous mode to obtain intersection point coordinates.
Preferably, the parity judgment is performed according to the number of the intersection points, and the determining of the airspace where the current aircraft is located includes:
if the number of the intersection points is an even number, the current aircraft is outside the airspace or in a no-fly zone;
if the number of the intersection points is an odd number, the aircraft normally flies in a specified airspace.
Preferably, the method further comprises the following steps:
if the current aircraft normally flies in a specified airspace, calculating the real-time distance between the continuous flight of the aircraft along the current forward direction and the boundary of the airspace or the boundary of a no-fly zone in real time;
and carrying out early warning according to the distance.
Preferably, the real-time calculation of the real-time distance between the aircraft continuing to fly along the current forward direction and the boundary of the airspace or the no-fly zone comprises:
calculating a linear equation of a ray where the aircraft is located along the current advancing direction, and solving the linear equation in a simultaneous manner with linear equations of each side of an approximate polygon of an airspace boundary and a no-fly zone boundary to obtain intersection point coordinates;
and calculating the distance between the aircraft and each intersection point, and taking the minimum distance as the real-time distance of the aircraft.
Preferably, the early warning is carried out according to the real-time distance:
and comparing the real-time distance with a set safe distance, and if the real-time distance is less than or equal to the set safe distance, sending an early warning prompt that the aircraft is about to reach the airspace boundary, and enabling the aircraft to immediately deflect or turn around to fly.
In a third aspect, an embodiment of the present disclosure further provides an electronic device, where the electronic device includes:
a memory storing executable instructions;
and the processor runs the executable instructions in the memory to realize the aircraft airspace judgment method.
In a fourth aspect, the disclosed embodiment further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the aircraft airspace determination method is implemented.
The beneficial effects are that:
1) the method for judging the parity of the ray intersection number does not depend on the rotation direction of a closed airspace curve, does not need to consider the airspace boundary rotation direction and the forbidden flight area boundary rotation direction, is suitable for a left-handed rotation and right-handed rotation closed area, is not limited by the concave-convex property of the area, and is suitable for flying in both a convex area and a concave area.
2) The polygon approximation method of the airspace boundary curve is adopted to approximate the chord line segment to one side of the polygon, so that the operation amount is reduced, and the timeliness of judgment and early warning of the airspace boundary of the aircraft is facilitated.
3) The invention adopts the simultaneous solving of the ray of the advancing direction of the aircraft and the equation of the boundary line segment to obtain the intersection point of the aircraft with the boundary of the airspace and the boundary of the no-fly zone, then calculates the distance between the aircraft and the intersection point, and can early warn in time according to the minimum distance, thereby reducing the traffic risk of the airspace to the maximum extent.
The method and apparatus of the present invention have other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts.
FIG. 1 illustrates a flow chart of the steps of an aircraft airspace determination method according to one embodiment of the invention.
FIG. 2 illustrates a spatial domain polygon approximation and ray intersection parity diagram according to one embodiment of the invention.
FIG. 3 illustrates a block diagram of an aircraft airspace determination apparatus according to an embodiment of the invention.
Description of reference numerals:
201. a boundary determination module; 202. a calculation module; 203. and a judging module.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein.
The invention provides an aircraft airspace judgment method, which comprises the following steps:
determining a space domain boundary and a no-fly zone boundary;
taking the position of the current aircraft as an origin point to make a ray in any direction, and respectively determining intersection points of the ray, an airspace boundary and a no-fly zone boundary;
and performing parity judgment according to the number of the intersection points, and determining the airspace where the current aircraft is located.
In one example, further comprising:
performing polygon approximation on the boundary of the airspace and the boundary of the no-fly zone according to a limit theory;
and calculating a linear equation approximating each edge of the polygon according to coordinates of the two points.
In one example, determining the intersection of the ray with the airspace boundary and the no-fly zone boundary, respectively, comprises:
and calculating a linear equation of the ray, and solving the linear equation of each side of the approximate polygon of the airspace boundary and the no-fly zone boundary in a simultaneous mode to obtain intersection point coordinates.
In one example, the parity judgment is performed according to the number of the intersection points, and the determining that the current aircraft is located in the airspace comprises:
if the number of the intersection points is an even number, the current aircraft is outside the airspace or in a no-fly zone;
if the number of the intersection points is an odd number, the aircraft normally flies in a specified airspace.
In one example, further comprising:
if the current aircraft normally flies in a specified airspace, calculating the real-time distance between the continuous flight of the aircraft along the current forward direction and the boundary of the airspace or the boundary of a no-fly zone in real time;
and carrying out early warning according to the distance.
In one example, calculating in real-time the real-time distance of the aircraft to continue flying in the current heading direction from the airspace boundary or no-fly zone boundary includes:
calculating a linear equation of a ray where the aircraft is located along the current advancing direction, and solving the linear equation in a simultaneous manner with linear equations of each side of an approximate polygon of an airspace boundary and a no-fly zone boundary to obtain intersection point coordinates;
and calculating the distance between the aircraft and each intersection point, and taking the minimum distance as the real-time distance of the aircraft.
In one example, the pre-warning is performed according to real-time distance:
and comparing the real-time distance with the set safe distance, and if the real-time distance is less than or equal to the set safe distance, sending an early warning prompt that the aircraft is about to reach the airspace boundary, and enabling the aircraft to immediately deflect or turn around to fly.
Specifically, the outer boundary and the inner boundary of a specified airspace are defined, the specified flight airspace of the aircraft is generally a bounded airspace, and the airspace boundary consists of a plurality of straight line segments and curve segments to formClosed curve, denoted as gamma0. Exist in space domainpA no-fly zone, which is also a closed zone, and a second orderiThe closed curve of each no-fly zone is gammaiAnd the real available flight airspace is a complex communication area formed by a plurality of closed curves.
According to the limit theory, any curve segment can be equivalently approximated to a broken line segment formed by straight line segments after being infinitely divided, and the multi-straight line segment approximation is carried out on any curve segment, but if the division is too fine, the calculation amount is too large, and the timeliness of judgment and early warning of the airspace boundary of the aircraft is not facilitated. Therefore, the length error of the approximate straight-line segment and the curve segment is not more than 2%, and the central angle corresponding to the curve segment is phi, the relation formula is satisfied
Wherein R is the corresponding arc radius, the central angle phi is less than or equal to pi/4, and the tangent angle of the circle is equal to one half of the central angle, aiming at the gamma0And gammaiEnd point of upper curve segmentAMaking a chord line of tangent line and passing through end point, making chord tangent angle not greater than phi/2, making the chord line segment be an edge of approximate polygon, successively producing closed curve gamma0And gammaiApproximately polygonal, the vertices of the polygon being noted
The coordinates of any vertex are recorded as
。
Calculating an approximate polygon from coordinates of two points
The linear equation for each edge is
Each point on the line segment needs to satisfy the coordinate constraint relation
Let us order
Then the equation for each edge can be simplified to
。
At the current aircraft position (x)0,y0) Selecting a ray in any direction as an origin with a slope ofkThen the equation for the ray is y-y0=k(x-x0) If the ray is along the positive direction, x is more than or equal to x0If the ray is in the negative direction, x is satisfied<x0It can be proved that no matter which direction the ray is directed to is equivalent, a simpler ray, namely a ray parallel to a coordinate axis, is selected in practical engineering, so that the calculation amount can be reduced, and the calculation speed can be improved. Using aircraft position as origin, edgexThe axial forward ray equation is: y = y0（x≥x0）。
Calculating the intersection point of the ray and the polygon of the airspace boundary or the no-fly zone boundary, wherein the intersection point number is m, and for any boundary line segment, the corresponding linear equation is
And the ray equation y = y0Simultaneous solution to obtain
If x satisfies the condition x ≧ x0And
then there is an intersection of the ray with the boundary.
Judging whether the aircraft is in a specified airspace or not according to the parity of the number of the intersection points obtained by calculation, if the number m of the intersection points is an even number, namely the number of the intersection points meets mod (m,2) =0, the aircraft is outside the airspace or in a no-fly zone; if the number m of the intersection points is odd, namely the number of the intersection points meets mod (m,2) =1, the aircraft normally flies in the specified airspace. The method is not only suitable for bounded airspace, but also suitable for unbounded airspace, and when the intersection point of the ray and the boundary line segment is zero, the aircraft is in the unbounded airspace.
Solving for the minimum distance from the boundary, if the aircraft is in the specified airspace, along the current heading direction of the aircraft, i.e. the speed heading psivRotate clockwise, north is 0, corresponding to a ray slope of kv=cot(ψv) Then the equation of the advancing ray of the aircraft at this time is y-y0=kv(x-x0) If phi is not more than 0 DEGvNot more than 180 degrees, then x is not less than x0At an angle of 180 °<ψv<360 DEG, then x<x0(ii) a Solving simultaneously with the boundary line segment equation to obtain the intersection point c with the airspace boundary and the no-fly zone boundaryiThe coordinate is (x)i,yi) Calculating the distance between the aircraft and the intersection point
The minimum distance from the intersection is selected.
And setting the minimum safety distance between the aircraft and the boundary, wherein the minimum safety boundary can support the aircraft to turn or turn around for flying, and when the real-time distance is less than or equal to the minimum safety distance, sending an early warning prompt that the aircraft is about to reach the airspace boundary, and enabling the aircraft to deflect course or turn around for flying immediately.
The invention also provides an aircraft airspace judgment device, which comprises:
the boundary determining module is used for determining the airspace boundary and the no-fly zone boundary;
the calculation module is used for making a ray in any direction by taking the position of the current aircraft as an origin, and respectively determining intersection points of the ray, an airspace boundary and a no-fly zone boundary;
and the judging module is used for performing parity judgment according to the number of the intersection points and determining the airspace where the current aircraft is located.
In one example, further comprising:
performing polygon approximation on the boundary of the airspace and the boundary of the no-fly zone according to a limit theory;
and calculating a linear equation approximating each edge of the polygon according to coordinates of the two points.
In one example, determining the intersection of the ray with the airspace boundary and the no-fly zone boundary, respectively, comprises:
and calculating a linear equation of the ray, and solving the linear equation of each side of the approximate polygon of the airspace boundary and the no-fly zone boundary in a simultaneous mode to obtain intersection point coordinates.
In one example, the parity judgment is performed according to the number of the intersection points, and the determining that the current aircraft is located in the airspace comprises:
if the number of the intersection points is an even number, the current aircraft is outside the airspace or in a no-fly zone;
if the number of the intersection points is an odd number, the aircraft normally flies in a specified airspace.
In one example, further comprising:
if the current aircraft normally flies in a specified airspace, calculating the real-time distance between the continuous flight of the aircraft along the current forward direction and the boundary of the airspace or the boundary of a no-fly zone in real time;
and carrying out early warning according to the distance.
In one example, calculating in real-time the real-time distance of the aircraft to continue flying in the current heading direction from the airspace boundary or no-fly zone boundary includes:
calculating a linear equation of a ray where the aircraft is located along the current advancing direction, and solving the linear equation in a simultaneous manner with linear equations of each side of an approximate polygon of an airspace boundary and a no-fly zone boundary to obtain intersection point coordinates;
and calculating the distance between the aircraft and each intersection point, and taking the minimum distance as the real-time distance of the aircraft.
In one example, the pre-warning is performed according to real-time distance:
and comparing the real-time distance with the set safe distance, and if the real-time distance is less than or equal to the set safe distance, sending an early warning prompt that the aircraft is about to reach the airspace boundary, and enabling the aircraft to immediately deflect or turn around to fly.
Specifically, the outer boundary and the inner boundary of a specified airspace are defined, the specified flight airspace of the aircraft is generally a bounded airspace, the airspace boundary consists of a plurality of straight line segments and curve segments, a closed curve is formed, and the closed curve is marked as gamma0. Exist in space domainpA no-fly zone, which is also a closed zone, and a second orderiThe closed curve of each no-fly zone is gammaiAnd the real available flight airspace is a complex communication area formed by a plurality of closed curves.
According to the limit theory, any curve segment can be equivalently approximated to a broken line segment formed by straight line segments after being infinitely divided, and the multi-straight line segment approximation is carried out on any curve segment, but if the division is too fine, the calculation amount is too large, and the timeliness of judgment and early warning of the airspace boundary of the aircraft is not facilitated. Therefore, the length error of the approximate straight-line segment and the curve segment is not more than 2%, and the central angle corresponding to the curve segment is phi, the relation formula is satisfied
Wherein R is the corresponding arc radius, the central angle phi is less than or equal to pi/4, and the tangent angle of the circle is equal to one half of the central angle, aiming at the gamma0And gammaiEnd point of upper curve segmentAMaking a chord line of tangent line and passing through end point, making chord tangent angle not greater than phi/2, making the chord line segment be an edge of approximate polygon, successively producing closed curve gamma0And gammaiApproximately polygonal, the vertices of the polygon being noted
The coordinates of any vertex are recorded as
。
Calculating an approximate polygon from coordinates of two points
The linear equation for each edge is
Each point on the line segment needs to satisfy the coordinate constraint relation
Let us order
Then the equation for each edge can be simplified to
。
At the current aircraft position (x)0,y0) Selecting a ray in any direction as an origin with a slope ofkThen the equation for the ray is y-y0=k(x-x0) If the ray is along the positive direction, x is more than or equal to x0If the ray is in the negative direction, x is satisfied<x0It can be proved that no matter which direction the ray is directed to is equivalent, a simpler ray, namely a ray parallel to a coordinate axis, is selected in practical engineering, so that the calculation amount can be reduced, and the calculation speed can be improved. Using aircraft position as origin, edgexThe axial forward ray equation is: y = y0（x≥x0）。
Calculating the intersection point of the ray and the polygon of the airspace boundary or the no-fly zone boundary, wherein the intersection point number is m, and for any boundary line segment, the corresponding linear equation is
And the ray equation y = y0Simultaneous solution to obtain
If x satisfies the condition x ≧ x0And
then there is an intersection of the ray with the boundary.
Judging whether the aircraft is in a specified airspace or not according to the parity of the number of the intersection points obtained by calculation, if the number m of the intersection points is an even number, namely the number of the intersection points meets mod (m,2) =0, the aircraft is outside the airspace or in a no-fly zone; if the number m of the intersection points is odd, namely the number of the intersection points meets mod (m,2) =1, the aircraft normally flies in the specified airspace. The method is not only suitable for bounded airspace, but also suitable for unbounded airspace, and when the intersection point of the ray and the boundary line segment is zero, the aircraft is in the unbounded airspace.
Solving for the minimum distance from the boundary, if the aircraft is in the specified airspace, along the current heading direction of the aircraft, i.e. the speed heading psivRotate clockwise, north is 0, corresponding to a ray slope of kv=cot(ψv) Then the equation of the advancing ray of the aircraft at this time is y-y0=kv(x-x0) If phi is not more than 0 DEGvNot more than 180 degrees, then x is not less than x0At an angle of 180 °<ψv<360 DEG, then x<x0(ii) a Solving simultaneously with the boundary line segment equation to obtain the intersection point c with the airspace boundary and the no-fly zone boundaryiThe coordinate is (x)i,yi) Calculating the distance between the aircraft and the intersection point
The minimum distance from the intersection is selected.
And setting the minimum safety distance between the aircraft and the boundary, wherein the minimum safety boundary can support the aircraft to turn or turn around for flying, and when the real-time distance is less than or equal to the minimum safety distance, sending an early warning prompt that the aircraft is about to reach the airspace boundary, and enabling the aircraft to deflect course or turn around for flying immediately.
The present invention also provides an electronic device, comprising: a memory storing executable instructions; and the processor runs the executable instructions in the memory to realize the aircraft airspace judgment method.
The invention also provides a computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the aircraft airspace determination method.
To facilitate understanding of the scheme of the embodiments of the present invention and the effects thereof, four specific application examples are given below. It will be understood by those skilled in the art that this example is merely for the purpose of facilitating an understanding of the present invention and that any specific details thereof are not intended to limit the invention in any way.
Example 1
FIG. 1 illustrates a flow chart of the steps of an aircraft airspace determination method according to one embodiment of the invention.
As shown in fig. 1, the aircraft airspace determination method includes: step 101, determining a space domain boundary and a no-fly zone boundary; 102, taking the position of the current aircraft as an origin to make a ray in any direction, and respectively determining intersection points of the ray, an airspace boundary and a no-fly zone boundary; and 103, performing parity judgment according to the number of the intersection points, and determining the airspace where the current aircraft is located.
FIG. 2 illustrates a spatial domain polygon approximation and ray intersection parity diagram according to one embodiment of the invention.
Outer boundary closed curve gamma for clearly defining airspace0And a forbidden flight zone boundary gamma1Boundary of airspace r0The device consists of 6 straight line segments and 1 curve segment, and a closed curve is formed; the airspace is provided with 1 no-fly zone, the no-fly zone is also a closed zone, and the specified flight airspace is a complex communication zone.
Airspace boundary Γ0Curve segment of
Approximately dividing the arc into 2 straight line segments according to the chord tangent angle not more than pi/8
And
the boundary of the outer space domain is similar to an octagon, and the corresponding vertexes are respectively
Any vertex coordinate is
(ii) a The no-fly zone is an elliptical closed zone, and an inner closed curve gamma is formed1The polygon is formed by dividing into 8 straight line segments to meet the requirement of length error, and the corresponding vertexes are respectively
Any vertex coordinate is
As shown in fig. 2.
And calculating a linear equation of each edge of the polygon according to the determined coordinates of each vertex and the coordinates of two adjacent points of the polygon, wherein each point on the line segment needs to satisfy a coordinate constraint relation.
At the current aircraft position (x)0,y0) As the origin, selectxThe axial forward ray equation is: y = y0（x≥x0）。
And (3) solving a linear equation of the ray, linear equations of each side of the approximate polygon of the airspace boundary and the no-fly zone boundary in a simultaneous mode to obtain the number of intersection points of the ray and each boundary line segment, wherein the number of the intersection points of the aircraft 1 and each boundary line segment is 5, and the number of the intersection points of the aircraft 2 and each boundary line segment is 2.
And performing parity judgment according to the number of the intersection points obtained by calculation, wherein the aircraft 1 is in a specified airspace, and the aircraft 2 is in a no-fly zone outside the specified airspace.
Along the current heading psi of the aircraftvThe equation of the advancing ray of (1) is y-y0=kv(x-x0) If phi is not more than 0 DEGvNot more than 180 degrees, then x is not less than x0At an angle of 180 °<ψv<360 DEG, then x<x0(ii) a The aircraft 1 and the boundary line segment equation are simultaneously solved to obtain an intersection point c with the airspace boundary and the no-fly zone boundary1、c2、…、c5The coordinates are sequentially (x)i,yi) (i =1,2, …,5), calculating the distance of the aircraft from the intersection point, and comparing to obtain the minimum distance from the intersection point.
And comparing the minimum distance with the minimum safe distance between the aircraft and the boundary, and if the real-time distance is less than or equal to the minimum safe distance, sending an early warning prompt that the aircraft is about to reach the airspace boundary, and enabling the aircraft to deflect course or turn around for flying.
Example 2
FIG. 3 illustrates a block diagram of an aircraft airspace determination apparatus according to an embodiment of the invention.
As shown in fig. 3, the aircraft airspace determination device includes:
a boundary determining module 201, configured to determine a boundary of an airspace and a boundary of a no-fly zone;
the calculation module 202 is used for making a ray in any direction by taking the position of the current aircraft as an origin, and respectively determining intersection points of the ray, an airspace boundary and a no-fly zone boundary;
and the judging module 203 is used for performing parity judgment according to the number of the intersection points and determining the airspace where the current aircraft is located.
As an alternative, the method further comprises the following steps:
performing polygon approximation on the boundary of the airspace and the boundary of the no-fly zone according to a limit theory;
and calculating a linear equation approximating each edge of the polygon according to coordinates of the two points.
Alternatively, determining the intersection points of the ray with the airspace boundary and the no-fly zone boundary respectively comprises:
and calculating a linear equation of the ray, and solving the linear equation of each side of the approximate polygon of the airspace boundary and the no-fly zone boundary in a simultaneous mode to obtain intersection point coordinates.
As an alternative, performing parity judgment according to the number of the intersection points, and determining the airspace where the current aircraft is located includes:
if the number of the intersection points is an even number, the current aircraft is outside the airspace or in a no-fly zone;
if the number of the intersection points is an odd number, the aircraft normally flies in a specified airspace.
As an alternative, the method further comprises the following steps:
if the current aircraft normally flies in a specified airspace, calculating the real-time distance between the continuous flight of the aircraft along the current forward direction and the boundary of the airspace or the boundary of a no-fly zone in real time;
and carrying out early warning according to the distance.
Alternatively, the real-time calculation of the real-time distance between the aircraft continuing to fly along the current forward direction and the boundary of the airspace or the no-fly zone comprises:
calculating a linear equation of a ray where the aircraft is located along the current advancing direction, and solving the linear equation in a simultaneous manner with linear equations of each side of an approximate polygon of an airspace boundary and a no-fly zone boundary to obtain intersection point coordinates;
and calculating the distance between the aircraft and each intersection point, and taking the minimum distance as the real-time distance of the aircraft.
As an alternative, the warning is performed according to the real-time distance:
and comparing the real-time distance with the set safe distance, and if the real-time distance is less than or equal to the set safe distance, sending an early warning prompt that the aircraft is about to reach the airspace boundary, and enabling the aircraft to immediately deflect or turn around to fly.
Example 3
The present disclosure provides an electronic device including: a memory storing executable instructions; and the processor runs the executable instructions in the memory to realize the aircraft airspace judgment method.
An electronic device according to an embodiment of the present disclosure includes a memory and a processor.
The memory is to store non-transitory computer readable instructions. In particular, the memory may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc.
The processor may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. In one embodiment of the disclosure, the processor is configured to execute the computer readable instructions stored in the memory.
Those skilled in the art should understand that, in order to solve the technical problem of how to obtain a good user experience, the present embodiment may also include well-known structures such as a communication bus, an interface, and the like, and these well-known structures should also be included in the protection scope of the present disclosure.
For the detailed description of the present embodiment, reference may be made to the corresponding descriptions in the foregoing embodiments, which are not repeated herein.
Example 4
The embodiment of the disclosure provides a computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the aircraft airspace judging method.
A computer-readable storage medium according to an embodiment of the present disclosure has non-transitory computer-readable instructions stored thereon. The non-transitory computer readable instructions, when executed by a processor, perform all or a portion of the steps of the methods of the embodiments of the disclosure previously described.
The computer-readable storage media include, but are not limited to: optical storage media (e.g., CD-ROMs and DVDs), magneto-optical storage media (e.g., MOs), magnetic storage media (e.g., magnetic tapes or removable disks), media with built-in rewritable non-volatile memory (e.g., memory cards), and media with built-in ROMs (e.g., ROM cartridges).
It will be appreciated by persons skilled in the art that the above description of embodiments of the invention is intended only to illustrate the benefits of embodiments of the invention and is not intended to limit embodiments of the invention to any examples given.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (6)
1. An aircraft airspace judgment method, comprising:
determining a space domain boundary and a no-fly zone boundary;
taking the position of the current aircraft as an origin to make a ray in any direction, and respectively determining intersection points of the ray, an airspace boundary and a no-fly zone boundary;
judging the parity according to the number of the intersection points, and determining the airspace where the current aircraft is located;
wherein, still include:
performing polygon approximation on the airspace boundary and the no-fly zone boundary according to a limit theory;
calculating a linear equation of each edge of the approximate polygon according to coordinates of the two points;
wherein, still include:
if the current aircraft normally flies in a specified airspace, calculating the real-time distance between the continuous flight of the aircraft along the current forward direction and the boundary of the airspace or the boundary of a no-fly zone in real time;
carrying out early warning according to the distance;
the real-time calculation of the real-time distance between the continuous flight of the aircraft along the current advancing direction and the boundary of the airspace or the no-fly zone comprises the following steps:
calculating a linear equation of a ray where the aircraft is located along the current advancing direction, and solving the linear equation in a simultaneous manner with linear equations of each side of an approximate polygon of an airspace boundary and a no-fly zone boundary to obtain intersection point coordinates;
calculating the distance between the aircraft and each intersection point, and taking the minimum distance as the real-time distance of the aircraft;
and early warning is carried out according to the real-time distance:
and comparing the real-time distance with a set safe distance, and if the real-time distance is less than or equal to the set safe distance, sending an early warning prompt that the aircraft is about to reach the airspace boundary, and enabling the aircraft to immediately deflect or turn around to fly.
2. The aircraft airspace determination method of claim 1, wherein determining the intersection of the ray with an airspace boundary and a no-fly zone boundary, respectively, comprises:
and calculating a linear equation of the ray, and solving the linear equation of each side of the approximate polygon of the airspace boundary and the no-fly zone boundary in a simultaneous mode to obtain intersection point coordinates.
3. The aircraft airspace judgment method according to claim 2, wherein the parity judgment is performed according to the number of the intersection points, and determining the current airspace in which the aircraft is located includes:
if the number of the intersection points is an even number, the current aircraft is outside the airspace or in a no-fly zone;
if the number of the intersection points is an odd number, the aircraft normally flies in a specified airspace.
4. An aircraft airspace determination device, comprising:
the boundary determining module is used for determining the airspace boundary and the no-fly zone boundary;
the calculation module is used for making a ray in any direction by taking the position of the current aircraft as an origin, and respectively determining the intersection points of the ray, the airspace boundary and the no-fly zone boundary;
the judgment module is used for performing parity judgment according to the number of the intersection points and determining the airspace where the current aircraft is located;
wherein, still include:
performing polygon approximation on the airspace boundary and the no-fly zone boundary according to a limit theory;
calculating a linear equation of each edge of the approximate polygon according to coordinates of the two points;
wherein, still include:
if the current aircraft normally flies in a specified airspace, calculating the real-time distance between the continuous flight of the aircraft along the current forward direction and the boundary of the airspace or the boundary of a no-fly zone in real time;
carrying out early warning according to the distance;
the real-time calculation of the real-time distance between the continuous flight of the aircraft along the current advancing direction and the boundary of the airspace or the no-fly zone comprises the following steps:
calculating a linear equation of a ray where the aircraft is located along the current advancing direction, and solving the linear equation in a simultaneous manner with linear equations of each side of an approximate polygon of an airspace boundary and a no-fly zone boundary to obtain intersection point coordinates;
calculating the distance between the aircraft and each intersection point, and taking the minimum distance as the real-time distance of the aircraft;
and early warning is carried out according to the real-time distance:
and comparing the real-time distance with a set safe distance, and if the real-time distance is less than or equal to the set safe distance, sending an early warning prompt that the aircraft is about to reach the airspace boundary, and enabling the aircraft to immediately deflect or turn around to fly.
5. An electronic device, characterized in that the electronic device comprises:
a memory storing executable instructions;
a processor executing the executable instructions in the memory to implement the aircraft airspace determination method of any of claims 1-3.
6. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the aircraft airspace determination method of any one of claims 1-3.
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