CN102496312A - Warning method and device for invasion of aerial target in restricted airspace - Google Patents
Warning method and device for invasion of aerial target in restricted airspace Download PDFInfo
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Abstract
The invention discloses a warning method and device for the invasion of an aerial target in a restricted airspace. The warning method comprises the following steps of: determining an extrapolated warning track point of the aerial target; judging whether the extrapolated warning track point is located in a regular body, wherein the regular body is predetermined to include the restricted airspace; confirming not to give an alarm if the extrapolated warning track point is located out of the regular body; or further judging whether the extrapolated warning track point is located in the restricted airspace; and confirming to give the alarm if the extrapolated warning track point is located in the restricted airspace. According to the invention, the step of judging whether the extrapolated warning track point is located in the regular body which includes the restricted airspace is carried out before the step of judging whether the extrapolated warning track point is located in the restricted airspace, and the step of judging whether the extrapolated warning track point is located in the regular body is characterized in very simple calculation process and small calculating amount, so that alarm judging time is shortened, and therefore time is saved for judging the next alarm cycle, and warning timeliness is improved.
Description
Technical Field
The invention relates to a general aviation communication technology, in particular to an alarm technology when an aerial target invades a limited airspace.
Background
In recent years, general aviation has been rapidly developed. Official flight, commercial flight, air tour, private driving license training are being favored by more and more people, and have large enough market demands. Statistics show that there are about 33.6 ten thousand general airplanes all over the world at present, and 70 ten thousand pilots engaged in general aviation activities. Therefore, general-purpose aircraft play a very important role in national economy.
The rapid development of general aviation also brings great aerial potential safety hazard problem. The aircraft in the general aviation is different from the aircraft in the civil aviation, the flight line and the height of the aircraft are not fixed, and the aircraft can change at any time in the flight process. The flight control department plans a specific space region within a certain time period in order to ensure that the specific region is not invaded or ensure the flight safety of the aerial target. Therefore, the flight activities of the aircraft need to be limited by the restricted air zones, the danger zones and the restricted zones. For a certain track of the aircraft, if the certain track can reach the edge of the restricted airspace within the adaptive time, the system needs to give an alarm or early warning to remind a controller to pay attention.
The method for timely identifying the air target and carrying out intrusion pre-warning/warning by the air traffic control system comprises the following steps: when the system detects an air target, the system performs the following cyclic judgment on the air target, and a flow chart is shown in fig. 1 and includes the following steps:
s101: and acquiring the three-dimensional coordinates of the current position of the aerial target track, namely determining the current track point of the aerial target.
S102: if the distance between the flight path point and a certain restricted airspace is smaller than the distance which can be predicted in the adaptive early warning time, giving early warning;
s103: if the distance between the flight path point and a certain restricted airspace is smaller than the distance which can be predicted in the adaptive alarm time, giving an alarm;
s104: and (6) ending. And (5) performing the next course point processing and judging process, and repeating the steps S101-S103.
The adaptive early warning time and the adaptive warning time are set by technicians according to experience, for example, the adaptive early warning time can be set to be 3 minutes, and the adaptive warning time can be set to be 2 minutes. In the prior art, the method for the air traffic control system to determine whether the distance between the track point and a certain restricted airspace is smaller than the distance that can be predicted within the adaptive warning/alarm time in the above steps S102 and S103 mainly includes:
drawing a straight line along the flight direction of the air target, namely calculating whether an intersection point exists between the extension line of the flight direction of the air target and each restricted airspace (the restricted airspace can be regarded as a three-dimensional arbitrary polygon), and if the intersection point exists, calculating the distance between the air target and the intersection point (as shown in figure 2); and if the distance is judged to be smaller than the distance which can be predicted by the target in the space in the adaptive early warning/warning time, warning/warning is performed. The algorithm is direct and simple, but the calculation amount of the intersection point solving method of the straight line and the space body is large, and the problem of multiple solutions exists.
Or expanding the outer edge of the restricted airspace outwards, wherein the expanded relative distance is equal to the distance which is predicted by an aerial target within the adaptive early warning/alarming time; and if the aerial target is judged to be in the expanded airspace, warning is performed. The algorithm of the judgment point in the space body is relatively mature and reliable, but the algorithm for expanding the outer edge of the space domain needs a large amount of operation time.
In summary, the method for performing intrusion warning (or early warning) on an air target by the air traffic control system in the prior art has long operation time, which results in slow response of warning (or early warning), and may cause a situation that the warning (or early warning) cannot be performed in time under the condition that the air target is suddenly accelerated.
Disclosure of Invention
The embodiment of the invention provides an alarming method and device for an aerial target to invade a restricted airspace, which are used for shortening alarming judgment time and improving the timeliness of alarming.
An alarming method for an air target to invade a restricted airspace comprises the following steps:
determining an extrapolated warning track point of the aerial target, wherein the extrapolated warning track point refers to a position point which can be predicted by the aerial target along the flight direction of the aerial target within adaptive warning time;
judging whether the extrapolated warning track point is located in a regular body, wherein the regular body is a predetermined regular body which contains the restricted airspace;
if the extrapolated warning track point is judged to be located outside the rule body, determining not to give an alarm;
if not, further judging whether the extrapolated warning track point is located in the limited airspace; and if the extrapolated warning track point is positioned in the limited airspace, determining warning.
Before the determining the location point which can be reached by the aerial target within the adaptive alarm time, the method further comprises the following steps:
determining an extrapolation early-warning track point of the aerial target, wherein the extrapolation early-warning track point refers to a position point which can be predicted by the aerial target within adaptive early-warning time;
judging whether the extrapolated early-warning track point is located in a regular body;
if the extrapolated early-warning track point is judged to be located outside the rule body, determining not to give an early warning;
if not, further judging whether the extrapolation early warning track point is located in the limited airspace; and if the extrapolated early-warning track point is positioned in the limited airspace, determining early warning.
The regular body is specifically a sphere; the sphere is the minimum sphere containing the restricted airspace; or the sphere is a sphere with a radius larger than the radius of the minimum sphere by a set value and the center of the sphere is the same as the center of the minimum sphere.
Judging whether the extrapolation early warning track point is positioned in the rule body specifically comprises the following steps:
if the three-dimensional coordinate X of the extrapolation early warning track point1、Y1、Z1If the following inequality is met, judging that the extrapolation early warning track point is positioned in the regular body; otherwise, judging that the extrapolation early warning track point is not positioned in the regular body;
Xmin≤X1≤Xmax(ii) a (formula 1)
Ymin≤Y1≤Ymax(ii) a (formula 2)
Zmin≤Z1≤Zmax(ii) a (formula 3)
X in the above formula 1maxIs the maximum value in the X coordinate values of all points on the surface of the sphere, XminThe minimum value in the X coordinate values of all the points on the surface of the sphere;
y in the above equation 2maxIs the maximum value in the Y coordinate values of all points on the surface of the sphere, YminThe value is the minimum value in the Y coordinate values of all the points on the surface of the sphere;
z in the above formula 3maxIs the maximum value in Z coordinate values of all points on the surface of the sphere, ZminIs the minimum value of Z coordinate values of all points on the surface of the sphere.
The specific steps of judging whether the extrapolated warning track point is located in the rule body are as follows:
if the three-dimensional coordinate X of the extrapolated warning track point2、Y2、Z2If the following inequality is met, judging that the extrapolated warning track point is located in the regular body; otherwise, judging that the extrapolated warning track point is not located in the regular body;
Xmin≤X2≤Xmax(ii) a (formula 7)
Ymin≤Y2≤Ymax(ii) a (formula 8)
Zmin≤Z2≤Zmax(ii) a (formula 9)
X in the above formula 7maxIs the maximum value in the X coordinate values of all points on the surface of the sphere, XminThe minimum value in the X coordinate values of all the points on the surface of the sphere;
y in the above equation 8maxIs the maximum value in the Y coordinate values of all points on the surface of the sphere, YminThe value is the minimum value in the Y coordinate values of all the points on the surface of the sphere;
z in the above equation 9maxIs the maximum value in Z coordinate values of all points on the surface of the sphere, ZminIs the minimum value of Z coordinate values of all points on the surface of the sphere.
The rule body is specifically as follows: and the minimum cube containing the sphere is arranged outside the minimum sphere containing the limited airspace.
Judging whether the extrapolation early warning track point is positioned in the rule body specifically comprises the following steps:
if the three-dimensional coordinate X of the extrapolation early warning track point1、Y1、Z1If at least one inequality in the following inequalities is met, judging that the extrapolation early warning track point is positioned in the regular body; otherwise, judging that the extrapolation early warning track point is not positioned in the regular body;
Xmin≤X1≤Xmax(ii) a (formula 4)
Ymin≤Y1≤Ymax(ii) a (formula 5)
Zmin≤Z1≤Zmax(ii) a (formula 6)
X in the above formula 4maxIs the maximum of the X coordinate values of all points of the surface of the sphere, XminThe minimum value in the X coordinate values of all the points on the surface of the sphere;
y in the above equation 5maxIs the maximum value in the Y coordinate values of all points of the surface of the sphere, YminThe value is the minimum value in the Y coordinate values of all the points on the surface of the sphere;
z in the above equation 6maxIs the maximum value of Z coordinate values of all points of the surface of the sphere, ZminIs the minimum value of Z coordinate values of all points on the surface of the sphere.
The specific steps of judging whether the extrapolated warning track point is located in the rule body are as follows:
if the three-dimensional coordinate X of the extrapolated warning track point2、Y2、Z2If at least one inequality in the following inequalities is met, judging that the extrapolated warning track point is located in the regular body; otherwise, judging that the extrapolated warning track point is not located in the regular body;
Xmin≤X2≤Xmax(ii) a (formula 10)
Ymin≤Y2≤Ymax(ii) a (formula 11)
Zmin≤Z2≤Zmax(ii) a (formula 12)
X in the above equation 10maxIs the maximum value in the X coordinate values of all points on the surface of the sphere, XminThe minimum value in the X coordinate values of all the points on the surface of the sphere;
y in the above equation 11maxIs the maximum value in the Y coordinate values of all points on the surface of the sphere, YminThe value is the minimum value in the Y coordinate values of all the points on the surface of the sphere;
z in the above equation 12maxIs the maximum value in Z coordinate values of all points on the surface of the sphere, ZminIs the minimum value of Z coordinate values of all points on the surface of the sphere.
An alarm device for an air target invading restricted airspace, comprising:
the system comprises an alarm processing module, a data processing module and a data processing module, wherein the alarm processing module is used for determining an extrapolated alarm track point of an aerial target, and the extrapolated alarm track point refers to a position point which can be predicted by the aerial target along the flight direction of the aerial target within adaptive alarm time;
the first judgment module is used for judging whether the extrapolated warning track point is positioned in the regular body according to the extrapolated warning track point determined by the warning processing module; if yes, returning no-alarm information to the alarm processing module; otherwise, sending a continuous judgment notice;
the second judgment module is used for judging whether the extrapolated warning track point is positioned in the limited airspace according to the continuous judgment notice sent by the first judgment module; if yes, returning alarm information to the alarm processing module; otherwise, returning no-alarm information to the alarm processing module;
and the alarm processing module determines whether to alarm or not according to the returned information.
The device, still include:
the early warning processing module is used for determining an extrapolation early warning track point of the aerial target; and the number of the first and second groups,
the first judgment module is also used for judging whether the extrapolated early-warning track points are positioned in the regular body according to the extrapolated early-warning track points determined by the early-warning processing module; if yes, returning no-early-warning information to the early-warning processing module; otherwise, sending a continuous judgment notice;
the second judgment module is also used for judging whether the extrapolated early-warning track point is positioned in the limited airspace according to the continuous judgment notice sent by the first judgment module; if yes, early warning information is returned to the early warning processing module; otherwise, returning no-early-warning information to the warning processing module;
and the early warning processing module determines whether to perform early warning according to the returned information.
According to the embodiment of the invention, before judging whether the extrapolated warning track point is positioned in the restricted airspace, whether the extrapolated warning track point is positioned in a rule body containing the restricted airspace is judged, and the operation process of judging whether the extrapolated warning track point is positioned in the rule body is very simple and has small operation amount.
Similarly, for the early warning judgment before the warning judgment, before judging whether the extrapolated early warning track point is positioned in the restricted airspace, whether the extrapolated early warning track point is positioned in a rule body containing the restricted airspace is judged, the operation process for judging whether the extrapolated early warning track point is positioned in the rule body is very simple, the operation amount is small, and for the condition that most of the extrapolated early warning track points are positioned outside the rule body, the decision of no early warning can be quickly made, the early warning judgment time is shortened, so that the time is saved for the next warning or early warning cycle judgment, and the timeliness of warning acquisition is improved.
Drawings
FIG. 1 is a flow chart of a prior art pre/warning method for an airborne target intruding into a restricted area;
FIG. 2 is a schematic representation of the intersection of a prior art extended flight direction line of an airborne target and a restricted space area;
FIG. 3 is a diagram illustrating a minimum sphere encompassing a restricted airspace in accordance with an embodiment of the present invention;
FIG. 4 is a diagram of a minimum cube containing the sphere outside of the minimum sphere containing the restricted space domain according to an embodiment of the present invention;
FIG. 5 is a flowchart of an airborne target intrusion restricted airspace warning method according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an airborne target intrusion restricted airspace warning device according to an embodiment of the present invention.
Detailed Description
In the method for performing intrusion pre-warning/warning on an airspace target according to the embodiment of the present invention, first, a regular body capable of containing the airspace is determined for a restricted airspace, for example, the regular body may be a sphere containing the restricted airspace, and preferably, the sphere is a minimum sphere (as shown in fig. 3) capable of containing the restricted airspace; or, the regular body may be a sphere, which has a radius larger than the radius of the minimum sphere by a set value and has the same center as the center of the minimum sphere, that is, the radius of the minimum sphere is enlarged by the set value; alternatively, the regular body may be the smallest cube that encompasses the sphere outside the smallest sphere that encompasses the restricted space domain (as shown in FIG. 4). When the alarm circulation judgment is carried out, the extrapolated alarm track point of the aerial target can be determined firstly, and whether the extrapolated alarm track point is located in the regular body or not can be determined. Here, the extrapolated alert track point refers to a position point that an aerial object can reach in its flight direction within the adaptive alert time, for example, a point a as shown in fig. 3.
If the extrapolated warning track point is in the rule body, further accurately judging whether the extrapolated warning track point is located in the limited airspace; if the extrapolated warning track point is located in the limited airspace, warning is carried out; otherwise, no alarm is given.
If the alarm is not in the rule body, the judgment is determined not to be alarmed, and the next alarm judgment can be started. In fact, the probability of more than 90% of the aerial target is that the extrapolated warning track point is located outside the rule body, and the algorithm for judging whether the aerial target is located in the rule body is very simple, only numerical comparison is needed, so that the warning judgment time is greatly saved, and the next warning judgment cycle can be carried out in time. Especially for the aerial target with suddenly accelerated flying speed, the time for judging the current alarm is shortened, and the next alarm judgment and the timely alarm can be carried out.
In practical application, the early warning judgment of whether the air target invades the restricted airspace can be added before the warning judgment, and the judgment of the early warning in the embodiment of the invention is also similar to the warning judgment:
and determining whether the extrapolation early warning track point of the aerial target is positioned in the regular body. Here, the extrapolated warning track point refers to a position point that an aerial target can reach in its flight direction within the adaptive warning time, for example, a point B as shown in fig. 3.
If the extrapolated early-warning track point is in the rule body, further accurately judging whether the extrapolated early-warning track point is located in the limited airspace; if the extrapolation early warning track point is judged to be located in the limited airspace, early warning is carried out; otherwise, no early warning is given.
If the judgment result is not in the rule body, the judgment is determined not to carry out early warning, and the next early warning judgment can be started. In fact, the probability of more than 90% of the aerial target is that the extrapolated early-warning track point is located outside the rule body, and the algorithm for judging whether the extrapolated early-warning track point is located in the rule body is very simple, so that only numerical comparison is needed, the early-warning judgment time is greatly saved, and the next cycle of early-warning judgment can be carried out in time.
The technical solution of the embodiments of the present invention is described in detail below with reference to the accompanying drawings. After the air traffic control system detects an air target, the air traffic control system performs the cyclic judgment of early warning and alarm on the air target, and the flow chart is shown in fig. 5, and the method comprises the following steps:
s501: and determining an extrapolation early warning track point of the aerial target.
S502: judging whether the extrapolated early-warning track point is in the regular body; if yes, go to step S503; otherwise, determining not to perform early warning, ending the early warning judgment, and executing an alarm judgment step S511;
if the rule body is the minimum sphere which can contain the restricted airspace, the specific method for judging whether the extrapolated early-warning track point is in the rule body is as follows:
a sphere as shown in fig. 3, in three-dimensional coordinates:
p1 and P2 points along the Z coordinate axis, wherein the Z coordinate value of the P1 point is the minimum Z coordinate value of all the points on the surface of the sphere and is marked as Zmin(ii) a The Z coordinate value of the P2 point is the maximum Z coordinate value of all the points on the spherical surface and is marked as Zmax。
P3 and P4 points along the X coordinate axis, wherein the X coordinate value of the P3 point is the minimum X coordinate value of all the points on the surface of the sphere and is marked as Xmin(ii) a The X coordinate value of the P4 point is the maximum X coordinate value of all the points on the surface of the sphere and is marked as Xmax。
P5 and P6 points along the Y coordinate axis, wherein the Y coordinate value of the P5 point is the minimum Y coordinate value of all points on the surface of the sphere and is marked as Ymin(ii) a The Y coordinate value of the P6 point is the maximum Y coordinate value among all the points on the spherical surface and is marked as Ymax。
Supposing that the three-dimensional coordinate of the extrapolated early-warning track point is (X)1，Y1，Z1) If X is judged1、Y1、Z1And if the conditions of the following formulas 1, 2 and 3 are met, determining that the extrapolation early warning track point is in the regular body, namely in the sphere:
Xmin≤X1≤Xmax(ii) a (formula 1)
Ymin≤Y1≤Ymax(ii) a (formula 2)
Zmin≤Z1≤Zmax(ii) a (formula 3)
X as described abovemin、Xmax、Ymin、Ymax、Zmin、ZmaxBefore entering the alarm cycle decision, e.g. atThe system can be determined at the time of initialization without recalculation at each alarm judgment.
If the rule body is the minimum cube which is outside the minimum sphere containing the limited airspace and contains the sphere, the specific method for judging whether the extrapolation early-warning track point is in the rule body is as follows:
for the above-mentioned X containing the smallest sphere of the restricted space domainmin、Xmax、Ymin、Ymax、Zmin、ZmaxIf only the three-dimensional coordinate X of the early warning track point is extrapolated1、Y1、Z1If at least one condition of the conditions shown in the following formulas 4, 5 and 6 can be met, judging that the extrapolated early-warning track point is in the regular body, namely in the cube; otherwise, judging that the extrapolated track point is not in the regular body, namely not in the cube.
Xmin≤X1≤Xmax(ii) a (formula 4)
Ymin≤Y1≤Ymax(ii) a (formula 5)
Zmin≤Z1≤Zmax(ii) a (formula 6)
Therefore, the algorithm for judging whether the extrapolation early warning track point is located in the regular body is very simple, and only numerical comparison is needed. And the probability of more than 90% of the aerial target is the condition that the extrapolated early-warning track point is positioned outside the regular body, so that the judgment of no early warning can be quickly made for more than 90% of the condition through the judging step, and the time is saved for the next early warning or warning judgment.
S503: and further judging whether the extrapolated early-warning track point is in the limited airspace. If yes, performing early warning, ending the early warning judgment, and executing an alarm judgment step S511; otherwise, determining not to perform the pre-warning, ending the pre-warning judgment, and executing the warning judgment step S511.
The determination of whether the extrapolated warning track point is within the restricted airspace may be made using techniques known to those skilled in the art. Such as those previously described: marking a straight line along the flight direction of the aerial target, calculating whether the straight line and the limited airspace have an intersection point, and if the intersection point exists, calculating the distance between the aerial target and the intersection point; and if the distance between the aerial target and the extrapolated early-warning track point is smaller than the distance between the aerial target and the extrapolated early-warning track point, early warning is carried out.
S511: and determining an extrapolated warning track point of the aerial target.
S512: and judging whether the extrapolated warning track point is in the regular body. If yes, go to step S513; otherwise, it is determined not to alarm, the alarm determination is finished, and the next pre/alarm loop determination may be started, i.e. step S501 is executed again.
The method for judging whether the extrapolated warning track point is in the regular body is the same as the method for judging whether the extrapolated warning track point is in the regular body in step S502. Specifically, the method comprises the following steps:
for the above-mentioned X containing the smallest sphere of the restricted space domainmin、Xmax、Ymin、Ymax、Zmin、ZmaxAssuming that the three-dimensional coordinate of the extrapolated warning track point is (X)2，Y2，Z2) If X is judged2、Y2、Z2And simultaneously, the conditions of the following formulas 7, 8 and 9 are met, and the extrapolated warning track point is determined to be in the regular body, namely in the sphere:
Xmin≤X2≤Xmax(ii) a (formula 7)
Ymin≤Y2≤Ymax(ii) a (formula 8)
Zmin≤Z2≤Zmax(ii) a (formula 9)
X as described abovemin、Xmax、Ymin、Ymax、Zmin、ZmaxThe determination may be made before entering the alarm loop decision, such as at system initialization, without having to recalculate at each alarm decision.
If the rule body is the minimum cube which is outside the minimum sphere containing the limited airspace and contains the sphere, the specific method for judging whether the extrapolation early-warning track point is in the rule body is as follows:
for the above-mentioned X containing the smallest sphere of the restricted space domainmin、Xmax、Ymin、Ymax、Zmin、ZmaxIf only the three-dimensional coordinate X of the warning track point is extrapolated2、Y2、Z2If at least one condition of the conditions shown in the following formulas 10, 11 and 12 can be met, judging that the extrapolated early-warning track point is in the regular body, namely in the cube; otherwise, judging that the extrapolated track point is not in the regular body, namely not in the cube.
Xmin≤X2≤Xmax(ii) a (formula 10)
Ymin≤Y2≤Ymax(ii) a (formula 11)
Zmin≤Z2≤Zmax(ii) a (formula 12)
Therefore, the algorithm for judging whether the extrapolated warning track point is located in the regular body is very simple, and only numerical comparison is needed. And the probability of more than 90% of the aerial target is the condition that the extrapolated warning track point is positioned outside the regular body, so that through the judging step, the judgment of no warning can be quickly made for more than 90% of the condition, and the time is saved for the next warning or warning judgment.
S513: and judging whether the extrapolated warning track point is in the limited airspace. If yes, alarming is carried out, the alarming judgment is finished, the next pre/alarming circulation judgment is started, namely, the step S501 is executed again; otherwise, determining not to alarm, ending the alarm judgment, and starting the next pre/alarm cycle judgment, i.e. restarting to execute step S501.
The determination of whether the extrapolated warning track point is within the restricted airspace may be made using techniques known to those skilled in the art. Such as those previously described: marking a straight line along the flight direction of the aerial target, calculating whether the straight line and the limited airspace have an intersection point, and if the intersection point exists, calculating the distance between the aerial target and the intersection point; and if the distance between the aerial target and the extrapolated warning track point is smaller than the distance between the aerial target and the extrapolated warning track point, warning.
The embodiment of the present invention further provides an apparatus for warning that an aerial target invades a restricted airspace, as shown in fig. 6, including: an alarm processing module 601, a first judging module 602, and a second judging module 603.
The warning processing module 601 is used for determining an extrapolated warning track point of an aerial target.
The first judging module 602 judges whether the extrapolated warning track point is located in the regular body according to the extrapolated warning track point determined by the warning processing module 601. The regular body is a predetermined regular body containing the restricted airspace, and specifically may be: a predetermined minimum sphere encompassing the restricted airspace; or, a minimum cube containing the sphere is outside the minimum sphere containing the restricted airspace. If the extrapolated warning track point is located in the rulers, the first judging module 602 returns no-warning information to the warning processing module 601; otherwise, the first judging module 602 sends a continuous judgment notification to the second judging module 603. The method for judging whether the extrapolated warning track point is located in the regular body is as described above, and is not described herein again.
The second judging module 603 judges whether the extrapolated warning track point is located in the restricted airspace according to the continuous judging notification sent by the first judging module 602; if yes, returning alarm information to the alarm processing module 601; otherwise, no-alarm information is returned to the alarm processing module 601.
The alarm processing module 601 determines whether to alarm according to the returned information.
Further, the warning device for the invasion of the aerial target into the restricted airspace further comprises: an early warning processing module 604.
The early warning processing module 604 is configured to determine an extrapolated early warning track point of the aerial target.
The first judging module 602 is further configured to judge whether the extrapolated early-warning track point is located in a ruler according to the extrapolated early-warning track point determined by the early-warning processing module 604; if yes, no-warning information is returned to the warning processing module 604; otherwise, a continuous judgment notification is sent to the second judgment module 603. The method for judging whether the extrapolated early-warning track point is located in the regular body is as described above, and is not described herein again.
The second judging module 603 is further configured to judge whether the extrapolated early-warning track point is located in the restricted airspace according to the continuous judgment notification sent by the first judging module 602; if yes, the early warning information is returned to the early warning processing module 604; otherwise, no warning information is returned to the warning processing module 604.
The warning processing module 604 determines whether to warn according to the returned information.
According to the embodiment of the invention, before judging whether the extrapolated warning track point is positioned in the restricted airspace, whether the extrapolated warning track point is positioned in a rule body containing the restricted airspace is judged, and the operation process of judging whether the extrapolated warning track point is positioned in the rule body is very simple and has small operation amount.
Similarly, for the early warning judgment before the warning judgment, before judging whether the extrapolated early warning track point is positioned in the restricted airspace, whether the extrapolated early warning track point is positioned in a rule body containing the restricted airspace is judged, the operation process for judging whether the extrapolated early warning track point is positioned in the rule body is very simple, the operation amount is small, and for the condition that most of the extrapolated early warning track points are positioned outside the rule body, the decision of no early warning can be quickly made, the early warning judgment time is shortened, so that the time is saved for the next warning or early warning cycle judgment, and the timeliness of warning acquisition is improved.
Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by relevant hardware instructed by a program, and the program may be stored in a computer readable storage medium, such as: ROM/RAM, magnetic disk, optical disk, etc.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (9)
1. An alarming method for an air target to invade a restricted airspace comprises the following steps:
determining an extrapolated warning track point of the aerial target, wherein the extrapolated warning track point refers to a position point which can be predicted by the aerial target along the flight direction of the aerial target within adaptive warning time;
judging whether the extrapolated warning track point is located in a regular body, wherein the regular body is a predetermined regular body which contains the restricted airspace;
if the extrapolated warning track point is judged to be located outside the rule body, determining not to give an alarm;
if not, further judging whether the extrapolated warning track point is located in the limited airspace; and if the extrapolated warning track point is positioned in the limited airspace, determining warning.
2. The method of claim 1, further comprising, prior to the determining a location point that an airborne target can be expected to reach within an adaptive alarm time:
determining an extrapolation early-warning track point of the aerial target, wherein the extrapolation early-warning track point refers to a position point which can be predicted by the aerial target within adaptive early-warning time;
judging whether the extrapolated early-warning track point is located in a regular body;
if the extrapolated early-warning track point is judged to be located outside the rule body, determining not to give an early warning;
if not, further judging whether the extrapolation early warning track point is located in the limited airspace; and if the extrapolated early-warning track point is positioned in the limited airspace, determining early warning.
3. The method of claim 1 or 2, the regular body being in particular a sphere; the sphere is the minimum sphere containing the restricted airspace; or the sphere is a sphere with a radius larger than the radius of the minimum sphere by a set value and the center of the sphere is the same as the center of the minimum sphere.
4. The method according to claim 3, wherein the judging whether the extrapolated early-warning track point is located in the rulers specifically includes:
if the three-dimensional coordinate X of the extrapolation early warning track point1、Y1、Z1If the following inequality is met, judging that the extrapolation early warning track point is positioned in the regular body; otherwise, judging that the extrapolation early warning track point is not positioned in the regular body;
Xmin≤X1≤Xmax(ii) a (formula 1)
Ymin≤Y1≤Ymax(ii) a (formula 2)
Zmin≤Z1≤Zmax(ii) a (formula 3)
X in the above formula 1maxIs the maximum value in the X coordinate values of all points on the surface of the sphere, XminThe minimum value in the X coordinate values of all the points on the surface of the sphere;
y in the above equation 2maxIs the maximum value in the Y coordinate values of all points on the surface of the sphere, YminThe value is the minimum value in the Y coordinate values of all the points on the surface of the sphere;
z in the above formula 3maxIs the maximum value in Z coordinate values of all points on the surface of the sphere, ZminThe Z coordinate value of all points on the surface of the sphere is the minimum value;
and judging whether the extrapolated warning track point is positioned in the rule body specifically comprises the following steps:
if the three-dimensional coordinate X of the extrapolated warning track point2、Y2、Z2If the following inequality is met, judging that the extrapolated warning track point is located in the regular body; otherwise, judging that the extrapolated warning track point is not located in the regular body;
Xmin≤X2≤Xmax(ii) a (formula 7)
Ymin≤Y2≤Ymax(ii) a (formula 8)
Zmin≤Z2≤Zmax(ii) a (formula 9)
X in the above formula 7maxIs the maximum value in the X coordinate values of all points on the surface of the sphere, XminThe minimum value in the X coordinate values of all the points on the surface of the sphere;
y in the above equation 8maxIs the maximum value in the Y coordinate values of all points on the surface of the sphere, YminThe value is the minimum value in the Y coordinate values of all the points on the surface of the sphere;
z in the above equation 9maxIs the maximum value in Z coordinate values of all points on the surface of the sphere, ZminZ coordinates of all points of the surface of the sphereThe minimum value among the values.
5. The method according to claim 1 or 2, wherein the rule body is specifically: and the minimum cube containing the sphere is arranged outside the minimum sphere containing the limited airspace.
6. The method according to claim 5, wherein the judging whether the extrapolated early-warning track point is located in the rulers specifically includes:
if the three-dimensional coordinate X of the extrapolation early warning track point1、Y1、Z1If at least one inequality in the following inequalities is met, judging that the extrapolation early warning track point is positioned in the regular body; otherwise, judging that the extrapolation early warning track point is not positioned in the regular body;
Xmin≤X1≤Xmax(ii) a (formula 4)
Ymin≤Y1≤Ymax(ii) a (formula 5)
Zmin≤Z1≤Zmax(ii) a (formula 6)
X in the above formula 4maxIs the maximum of the X coordinate values of all points of the surface of the sphere, XminThe minimum value in the X coordinate values of all the points on the surface of the sphere;
y in the above equation 5maxIs the maximum value in the Y coordinate values of all points of the surface of the sphere, YminThe value is the minimum value in the Y coordinate values of all the points on the surface of the sphere;
z in the above equation 6maxIs the maximum value of Z coordinate values of all points of the surface of the sphere, ZminThe Z coordinate value of all points on the surface of the sphere is the minimum value;
and judging whether the extrapolated warning track point is positioned in the rule body specifically comprises the following steps:
if the three-dimensional coordinate X of the extrapolated warning track point2、Y2、Z2If at least one inequality in the following inequalities is satisfied, the extrapolated warning track point is judged to be located in the regular body(ii) a Otherwise, judging that the extrapolated warning track point is not located in the regular body;
Xmin≤X2≤Xmax(ii) a (formula 10)
Ymin≤Y2≤Ymax(ii) a (formula 11)
Zmin≤Z2≤Zmax(ii) a (formula 12)
X in the above equation 10maxIs the maximum value in the X coordinate values of all points on the surface of the sphere, XminThe minimum value in the X coordinate values of all the points on the surface of the sphere;
y in the above equation 11maxIs the maximum value in the Y coordinate values of all points on the surface of the sphere, YminThe value is the minimum value in the Y coordinate values of all the points on the surface of the sphere;
z in the above equation 12maxIs the maximum value in Z coordinate values of all points on the surface of the sphere, ZminIs the minimum value of Z coordinate values of all points on the surface of the sphere.
7. An apparatus for warning the intrusion of an airborne target into a restricted airspace, comprising:
the system comprises an alarm processing module, a data processing module and a data processing module, wherein the alarm processing module is used for determining an extrapolated alarm track point of an aerial target, and the extrapolated alarm track point refers to a position point which can be predicted by the aerial target along the flight direction of the aerial target within adaptive alarm time;
the first judgment module is used for judging whether the extrapolated warning track point is positioned in the regular body according to the extrapolated warning track point determined by the warning processing module; if yes, returning no-alarm information to the alarm processing module; otherwise, sending a continuous judgment notice;
the second judgment module is used for judging whether the extrapolated warning track point is positioned in the limited airspace according to the continuous judgment notice sent by the first judgment module; if yes, returning alarm information to the alarm processing module; otherwise, returning no-alarm information to the alarm processing module;
and the alarm processing module determines whether to alarm or not according to the returned information.
8. The apparatus of claim 7, further comprising:
the early warning processing module is used for determining an extrapolation early warning track point of the aerial target; and the number of the first and second groups,
the first judgment module is also used for judging whether the extrapolated early-warning track points are positioned in the regular body according to the extrapolated early-warning track points determined by the early-warning processing module; if yes, returning no-early-warning information to the early-warning processing module; otherwise, sending a continuous judgment notice;
the second judgment module is also used for judging whether the extrapolated early-warning track point is positioned in the limited airspace according to the continuous judgment notice sent by the first judgment module; if yes, early warning information is returned to the early warning processing module; otherwise, returning no-early-warning information to the warning processing module;
and the early warning processing module determines whether to perform early warning according to the returned information.
9. The device according to claim 7 or 8, wherein the regular body is in particular a sphere; the sphere is the minimum sphere containing the restricted airspace; or the sphere is a sphere with a radius larger than the radius of the minimum sphere by a set value and the center of the sphere is the same as the center of the minimum sphere; or,
the regular body is specifically a minimum cube that is outside a minimum sphere that encloses the restricted airspace and that encloses the sphere.
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