CN102496312B - 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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- CN102496312B CN102496312B CN201110436410.7A CN201110436410A CN102496312B CN 102496312 B CN102496312 B CN 102496312B CN 201110436410 A CN201110436410 A CN 201110436410A CN 102496312 B CN102496312 B CN 102496312B
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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 present invention relates to the General Aviation communication technology, the warning technology while particularly relating to invasion of aerial target in restricted airspace.
Background technology
In recent years, General Aviation is developed rapidly.Public affair flight, commercial aviation, aerial visit, private driving license training, be just subject to more and more people's favor, had the enough large market demand.Statistical figure show, approximately there are 33.6 ten thousand of general-purpose aircrafts in the whole world at present, and the pilot who is engaged in General Aviation activity reaches 700,000.Therefore, general-purpose aircraft plays very important effect in national economy.
The fast development of General Aviation, has also brought great air security potential problem.Aircraft in General Aviation is different from the aircraft in civil aviaton, its flight circuit, highly do not fix, in flight course, change at any time.Air traffic control department is not invaded or is the flight safety of guarantee aerial target itself in order to ensure specific region, and in certain hour section, draws the certain spatial areas of establishing.Therefore, the flying activity of aircraft, need to be subject to the restriction of restricted airspace, explosive area and restricted area.For the some flight paths of aircraft, as its edge that can arrive restriction spatial domain within the adaptability time, system need to be carried out alarm or early warning, reminds controlling officer to be noted.
Air traffic control system identified and invaded in advance/alarm in time method to aerial target is: when system detects aerial target, system is carried out following cycle criterion to this aerial target, and process flow diagram as shown in Figure 1, comprises the steps:
S101: obtain the three-dimensional coordinate of the current location of track of the target aircraft, determine the current track points of aerial target.
S102: if the distance in this track points and a certain restriction spatial domain be less than in adaptability pre-warning time the distance that can reach in advance, give early warning;
S103: if the distance in this track points and a certain restriction spatial domain be less than in adaptability alarm time the distance that can reach in advance, give alarm;
S104: finish.Carry out next track points processing and judge flow process, repeat above-mentioned steps S101-S103.
Adaptability pre-warning time and adaptability alarm time rule of thumb arrange for technician, are that 3 minutes, adaptability alarm time are 2 minutes such as adaptability pre-warning time can be set.In prior art, air traffic control system in above-mentioned steps S102,103, judge the distance in track points and a certain restriction spatial domain whether be less than in adaptability early warning/alarm time the method for the distance that can reach in advance mainly contain:
Draw and establish straight line along aerial target heading, calculate aerial target heading extended line and each restriction spatial domain (restriction spatial domain can be considered three-dimensional gengon arbitrarily) and whether have intersection point, as there is intersection point, calculate the distance (as shown in Figure 2) between aerial target and intersection point; If judge, this distance is less than distance that aerial target can reach in advance in adaptability early warning/alarm time, pre-/alarm.This algorithm is relatively more direct, simple, but the intersection point method for solving operand of straight line and space body is large, and has many solutions problem.
Or, restriction spatial domain outer rim is expanded outwardly, the relative distance of expansion equals the distance that aerial target reaches in advance in adaptability early warning/alarm time; If judge in the spatial domain of aerial target after expansion, pre-/alarm.The algorithm of judging point in space body is relatively ripe, reliable, but the algorithm that carries out spatial domain outer rim expansion need to take a large amount of operation time.
In sum, the air traffic control system of prior art is invaded the method for alarm (or early warning) to aerial target, operation time is long, cause alarm (or early warning) reaction slow, in the situation that target is accelerated suddenly, likely produce the situation of alarm in time (or early warning) aloft.
Summary of the invention
The embodiment of the present invention provides a kind of alarm method and device of invasion of aerial target in restricted airspace, judges the time in order to shorten alarm, improves the promptness of alarm.
An alarm method for invasion of aerial target in restricted airspace, comprising:
Determine the extrapolation alarm track points of aerial target, described extrapolation alarm track points refer to described aerial target along its heading in adaptability alarm time the location point that can reach in advance;
Judge whether described extrapolation alarm track points is positioned at rule body, and described rule body is the rule body in the described restriction of predetermined containing spatial domain;
Be positioned at outside described rule body if judge described extrapolation alarm track points, determine not alarm;
Otherwise, further judge whether described extrapolation alarm track points is positioned at described restriction spatial domain; Be positioned at described restriction spatial domain if judge described extrapolation alarm track points, determine alarm.
In described definite aerial target in adaptability alarm time before the location point that can reach in advance, also comprise:
Determine the extrapolation early warning track points of described aerial target, described extrapolation early warning track points refer to described aerial target in adaptability pre-warning time the location point that can reach in advance;
Judge whether described extrapolation early warning track points is positioned at rule body;
Be positioned at outside described rule body if judge described extrapolation early warning track points, determine not early warning;
Otherwise, further judge whether described extrapolation early warning track points is positioned at described restriction spatial domain; Be positioned at described restriction spatial domain if judge described extrapolation early warning track points, determine early warning.
Described rule body is specially spheroid; Described spheroid is the smallest sphere that contains described restriction spatial domain; Or described spheroid is the large setting value of radius, the center spheroid identical with the center of described smallest sphere of smallest sphere described in radius ratio.
Describedly judge whether described extrapolation early warning track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of described extrapolation early warning track points
1, Y
1, Z
1meet as lower inequality simultaneously, judge that described extrapolation early warning track points is positioned at described rule body; Otherwise, judge that described extrapolation early warning track points is not positioned at described rule body;
X
min≤ X
1≤ X
max; (formula 1)
Y
min≤ Y
1≤ Y
max; (formula 2)
Z
min≤ Z
1≤ Z
max; (formula 3)
X in above-mentioned formula 1
maxfor the surface of described spheroid maximal value in X coordinate figure a little, X
minfor the surface of described spheroid minimum value in X coordinate figure a little;
Y in above-mentioned formula 2
maxfor the surface of described spheroid maximal value in Y coordinate figure a little, Y
minfor the surface of described spheroid minimum value in Y coordinate figure a little;
Z in above-mentioned formula 3
maxfor the surface of described spheroid maximal value in Z coordinate figure a little, Z
minfor the surface of described spheroid minimum value in Z coordinate figure a little.
Describedly judge whether described extrapolation alarm track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of described extrapolation alarm track points
2, Y
2, Z
2meet with lower inequality simultaneously, judge that described extrapolation alarm track points is positioned at described rule body; Otherwise, judge that described extrapolation alarm track points is not positioned at described rule body;
X
min≤ X
2≤ X
max; (formula 7)
Y
min≤ Y
2≤ Y
max; (formula 8)
Z
min≤ Z
2≤ Z
max; (formula 9)
X in above-mentioned formula 7
maxfor the surface of described spheroid maximal value in X coordinate figure a little, X
minfor the surface of described spheroid minimum value in X coordinate figure a little;
Y in above-mentioned formula 8
maxfor the surface of described spheroid maximal value in Y coordinate figure a little, Y
minfor the surface of described spheroid minimum value in Y coordinate figure a little;
Z in above-mentioned formula 9
maxfor the surface of described spheroid maximal value in Z coordinate figure a little, Z
minfor the surface of described spheroid minimum value in Z coordinate figure a little.
Described rule body is specially: containing outside the smallest sphere in described restriction spatial domain, containing the minimum square of described spheroid.
Describedly judge whether described extrapolation early warning track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of described extrapolation early warning track points
1, Y
1, Z
1meet with at least one inequality in lower inequality, judge that described extrapolation early warning track points is positioned at described rule body; Otherwise, judge that described extrapolation early warning track points is not positioned at described rule body;
X
min≤ X
1≤ X
max; (formula 4)
Y
min≤ Y
1≤ Y
max; (formula 5)
Z
min≤ Z
1≤ Z
max; (formula 6)
X in above-mentioned formula 4
maxfor the surface of described spheroid maximal value in X coordinate figure a little, X
minfor the surface of described spheroid minimum value in X coordinate figure a little;
Y in above-mentioned formula 5
maxfor the surface of described spheroid maximal value in Y coordinate figure a little, Y
minfor the surface of described spheroid minimum value in Y coordinate figure a little;
Z in above-mentioned formula 6
maxfor the surface of described spheroid maximal value in Z coordinate figure a little, Z
minfor the surface of described spheroid minimum value in Z coordinate figure a little.
Describedly judge whether described extrapolation alarm track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of described extrapolation alarm track points
2, Y
2, Z
2meet with at least one inequality in lower inequality, judge that described extrapolation alarm track points is positioned at described rule body; Otherwise, judge that described extrapolation alarm track points is not positioned at described rule body;
X
min≤ X
2≤ X
max; (formula 10)
Y
min≤ Y
2≤ Y
max; (formula 11)
Z
min≤ Z
2≤ Z
max; (formula 12)
X in above-mentioned formula 10
maxfor the surface of described spheroid maximal value in X coordinate figure a little, X
minfor the surface of described spheroid minimum value in X coordinate figure a little;
Y in above-mentioned formula 11
maxfor the surface of described spheroid maximal value in Y coordinate figure a little, Y
minfor the surface of described spheroid minimum value in Y coordinate figure a little;
Z in above-mentioned formula 12
maxfor the surface of described spheroid maximal value in Z coordinate figure a little, Z
minfor the surface of described spheroid minimum value in Z coordinate figure a little.
An alarm device for invasion of aerial target in restricted airspace, comprising:
Warning processing module, for determining the extrapolation alarm track points of aerial target, described extrapolation alarm track points refer to described aerial target along its heading in adaptability alarm time the location point that can reach in advance;
The first judge module, for the extrapolation alarm track points definite according to described warning processing module, judges whether described extrapolation alarm track points is positioned at rule body; If so, return to not warning information to described warning processing module; Otherwise, send and continue judgement notice;
The second judge module, for the continuation judgement notice sending according to described the first judge module, judges whether described extrapolation alarm track points is positioned at described restriction spatial domain; If so, return to warning information to described warning processing module; Otherwise, return to not warning information to described warning processing module;
Described warning processing module determines whether alarm according to the information of returning.
Described device, also comprises:
Early warning processing module, for determining the extrapolation early warning track points of described aerial target; And,
Described the first judge module, also for the extrapolation early warning track points definite according to described early warning processing module, judges whether described extrapolation early warning track points is positioned at rule body; If so, return to not early warning information to described early warning processing module; Otherwise, send and continue judgement notice;
The second judge module is the continuation judgement notice for sending according to described the first judge module also, judges whether described extrapolation early warning track points is positioned at described restriction spatial domain; If so, return to early warning information to described early warning processing module; Otherwise, return to not early warning information to described warning processing module;
Described early warning processing module determines whether early warning according to the information of returning.
Because the embodiment of the present invention is before judging whether extrapolation alarm track points is positioned at restriction spatial domain, first judge whether extrapolation alarm track points is positioned at a rule body that contains this restriction spatial domain, and judge whether extrapolation alarm track points is positioned at that the calculating process of rule body is very simple, operand is little, be positioned at the situation outside rule body for great majority extrapolation alarm track points, can make rapidly the decision of not alarm, shorten alarm and judge the time, thereby save the time for next alarm cycle criterion, improved the promptness of alarm.
Similarly, for the early warning judgement before alarm judgement, before judging whether extrapolation early warning track points is positioned at restriction spatial domain, first judge whether extrapolation early warning track points is positioned at a rule body that contains this restriction spatial domain, and it is very simple to judge whether extrapolation early warning track points is positioned at the calculating process of rule body, operand is little, be positioned at the situation outside rule body for great majority extrapolation early warning track points, can make rapidly the decision of not early warning, shorten early warning and judge the time, thereby save the time for next alarm or early warning cycle criterion, improve the promptness that alarm obtains early warning.
Brief description of the drawings
Fig. 1 be the aerial target of prior art invade restricted area pre-/process flow diagram of alarm method;
Fig. 2 is the schematic diagram of the aerial target heading extended line of prior art and the intersection point in restriction spatial domain;
Fig. 3 is the smallest sphere schematic diagram in the containing restriction spatial domain of the embodiment of the present invention;
Fig. 4 is the schematic diagram of the minimum square outside the smallest sphere that contains restriction spatial domain, that contain this spheroid of the embodiment of the present invention;
Fig. 5 is the invasion of aerial target in restricted airspace alarm method process flow diagram of the embodiment of the present invention;
Fig. 6 is the structural representation of the invasion of aerial target in restricted airspace alarm device of the embodiment of the present invention.
Embodiment
In a kind of method of aerial target being invaded in advance/alarm that the embodiment of the present invention provides, first for restriction spatial domain, determine a rule body that can contain this restriction spatial domain, for example, it can be the spheroid that contains this restriction spatial domain, preferably, this spheroid is the smallest sphere (as shown in Figure 3) that can contain this restriction spatial domain; Or this rule body can be spheroid, this spheroid is the large setting value of radius, the center spheroid identical with the center of described smallest sphere of smallest sphere described in radius ratio, and the radius of smallest sphere expands the spheroid forming after setting value again; Or this rule body can be minimum square (as shown in Figure 4) outside the smallest sphere that contains restriction spatial domain, that contain this spheroid.In the time carrying out alarm cycle criterion, can first determine the extrapolation alarm track points of aerial target, whether be positioned at rule body.Here, extrapolation alarm track points refer to aerial target along its heading in adaptability alarm time the location point that can reach in advance, for example, the A point in as shown in Figure 3.
If in rule body, further accurately judge whether extrapolation alarm track points is positioned at restriction spatial domain; Be positioned at restriction spatial domain if judge extrapolation alarm track points, carry out alarm; Otherwise, not alarm.
If not in rule body, determine that this time alarm is not carried out in judgement, can start alarm judgement next time.In fact, it is that its extrapolation alarm track points is positioned at outside rule body that aerial target has more than 90% probability, and judge aerial target, whether to be positioned at the algorithm of rule body very simple, only need carry out numeric ratio, greatly save alarm and judged the time, can carry out in time the circulation of the judgement of alarm next time.Especially the aerial target of accelerating suddenly for flying speed, shortens current this alarm and judges the time, just can carry out in time next alarm judgement, alarm in time.
In actual applications can also be before alarm judgement, increase the early warning judgement of whether aerial target being invaded to restriction spatial domain, the judgement for early warning in the embodiment of the present invention also judges similar with alarm:
Whether the extrapolation early warning track points of determining aerial target, be positioned at rule body.Here, extrapolation early warning track points refer to aerial target along its heading in adaptability pre-warning time the location point that can reach in advance, for example, the B point in as shown in Figure 3.
If in rule body, further accurately judge whether extrapolation early warning track points is positioned at restriction spatial domain; Be positioned at restriction spatial domain if judge extrapolation early warning track points, carry out early warning; Otherwise, not early warning.
If not in rule body, determine that this time early warning is not carried out in judgement, can start early warning judgement next time.In fact, it is that its extrapolation early warning track points is positioned at outside rule body that aerial target has more than 90% probability, and judge extrapolation early warning track points, whether to be positioned at the algorithm of rule body very simple, only need carry out the comparison of numerical value, greatly save early warning and judged the time, can carry out in time the circulation of the judgement of early warning next time.
Describe the technical scheme of the embodiment of the present invention in detail below in conjunction with accompanying drawing.Air traffic control system detects after aerial target, aerial target is carried out to the cycle criterion of early warning and alarm, and process flow diagram as shown in Figure 5, comprises the steps:
S501: the extrapolation early warning track points of determining aerial target.
S502: judge that extrapolation early warning track points is whether in rule body; If, execution step S503; Otherwise, determine not early warning, finish this early warning judgement, and carry out alarm determining step S511;
If rule body is the smallest sphere that can contain this restriction spatial domain, judge extrapolation early warning track points whether the concrete grammar in rule body be:
Spheroid as shown in Figure 3, in three-dimensional coordinate:
P1, the P2 point of Z-direction axle, wherein, the Z coordinate figure that P1 is ordered is Z coordinate figure minimum in all points of spherome surface, is designated as Z
min; The Z coordinate figure that P2 is ordered is Z coordinate figure maximum in all points of spherome surface, is designated as Z
max.
Along P3, the P4 point of X coordinate axis, wherein, the X coordinate figure that P3 is ordered is X coordinate figure minimum in all points of spherome surface, is designated as X
min; The X coordinate figure that P4 is ordered is X coordinate figure maximum in all points of spherome surface, is designated as X
max.
Along P5, the P6 point of Y coordinate axis, wherein, the Y coordinate figure that P5 is ordered is Y coordinate figure minimum in all points of spherome surface, is designated as Y
min; The Y coordinate figure that P6 is ordered is Y coordinate figure maximum in all points of spherome surface, is designated as Y
max.
Suppose, the three-dimensional coordinate of extrapolation early warning track points is (X
1, Y
1, Z
1), if judge X
1, Y
1, Z
1meet the condition of following formula 1,2,3 simultaneously, determine that extrapolation early warning track points is in rule body, in this spheroid:
X
min≤ X
1≤ X
max; (formula 1)
Y
min≤ Y
1≤ Y
max; (formula 2)
Z
min≤ Z
1≤ Z
max; (formula 3)
Above-mentioned X
min, X
max, Y
min, Y
max, Z
min, Z
maxbefore entering alarm cycle criterion, can determine, such as determining when the system initialization, needn't in the time that each alarm judges, recalculate.
If rule body be outside the smallest sphere that contains restriction spatial domain, the minimum square that contains this spheroid, judge extrapolate early warning track points whether the concrete grammar in rule body be:
Limit the X of the smallest sphere in spatial domain for above-mentioned containing
min, X
max, Y
min, Y
max, Z
min, Z
max, as long as the three-dimensional coordinate X of extrapolation early warning track points
1, Y
1, Z
1can meet at least one condition in condition shown in following formula 4,5,6, judgement extrapolation early warning track points is in rule body, in this square; Otherwise judgement extrapolation track points is not in rule body, not in this square.
X
min≤ X
1≤ X
max; (formula 4)
Y
min≤ Y
1≤ Y
max; (formula 5)
Z
min≤ Z
1≤ Z
max; (formula 6)
As can be seen here, judging extrapolation early warning track points, whether to be positioned at the algorithm of rule body very simple, only need carry out numeric ratio.And aerial target to have more than 90% probability be that its extrapolation early warning track points is positioned at the situation outside rule body, therefore, by this determining step, can make fast the judgement of not early warning for more than 90% situation, for the judgement of next early warning or alarm saves time.
S503: further judge that extrapolation early warning track points is whether limiting in spatial domain.If, carry out early warning, finish this early warning judgement, and carry out alarm determining step S511; Otherwise, determine not early warning, finish this early warning judgement, and carry out alarm determining step S511.
How to judge whether extrapolation early warning track points can adopt prior art well-known to those skilled in the art in restriction spatial domain.Example is as described above: draw and establish straight line along aerial target heading, whether calculated line and restriction spatial domain exist intersection point, as have intersection point, calculate the distance between aerial target and intersection point; Be less than the distance between aerial target and extrapolation early warning track points, early warning.
S511: the extrapolation alarm track points of determining aerial target.
S512: judge that extrapolation alarm track points is whether in rule body.If, execution step S513; Otherwise, determine not alarm, finish this alarm judgement, can start next time pre-/alarm cycle criterion, restart to perform step S501.
Judge that extrapolation alarm track points is whether in the method and above-mentioned steps S502 in rule body, the method in rule body is identical to judge the early warning track points of extrapolating.Concrete:
Limit the X of the smallest sphere in spatial domain for above-mentioned containing
min, X
max, Y
min, Y
max, Z
min, Z
max, to suppose, the three-dimensional coordinate of extrapolation alarm track points is (X
2, Y
2, Z
2), if judge X
2, Y
2, Z
2meet the condition of following formula 7,8,9 simultaneously, determine that extrapolation alarm track points is in rule body, in this spheroid:
X
min≤ X
2≤ X
max; (formula 7)
Y
min≤ Y
2≤ Y
max; (formula 8)
Z
min≤ Z
2≤ Z
max; (formula 9)
Above-mentioned X
min, X
max, Y
min, Y
max, Z
min, Z
maxbefore entering alarm cycle criterion, can determine, such as determining when the system initialization, needn't in the time that each alarm judges, recalculate.
If rule body be outside the smallest sphere that contains restriction spatial domain, the minimum square that contains this spheroid, judge extrapolate early warning track points whether the concrete grammar in rule body be:
Limit the X of the smallest sphere in spatial domain for above-mentioned containing
min, X
max, Y
min, Y
max, Z
min, Z
max, as long as the three-dimensional coordinate X of extrapolation alarm track points
2, Y
2, Z
2can meet at least one condition in condition shown in following formula 10,11,12, judgement extrapolation early warning track points is in rule body, in this square; Otherwise judgement extrapolation track points is not in rule body, not in this square.
X
min≤ X
2≤ X
max; (formula 10)
Y
min≤ Y
2≤ Y
max; (formula 11)
Z
min≤ Z
2≤ Z
max; (formula 12)
As can be seen here, judging extrapolation alarm track points, whether to be positioned at the algorithm of rule body very simple, only need carry out numeric ratio.And aerial target to have more than 90% probability be that its extrapolation alarm track points is positioned at the situation outside rule body, therefore, by this determining step, can make fast the judgement of not alarm for more than 90% situation, for the judgement of next early warning or alarm saves time.
S513: judge that extrapolation alarm track points is whether in restriction spatial domain.If, carry out alarm, finish this alarm judgement, start next time pre-/alarm cycle criterion, restart to perform step S501; Otherwise, determine not alarm, finish this alarm judgement, start next time pre-/alarm cycle criterion, restart to perform step S501.
How to judge whether extrapolation alarm track points can adopt prior art well-known to those skilled in the art in restriction spatial domain.Example is as described above: draw and establish straight line along aerial target heading, whether calculated line and restriction spatial domain exist intersection point, as have intersection point, calculate the distance between aerial target and intersection point; Be less than the distance between aerial target and extrapolation alarm track points, alarm.
The embodiment of the present invention also provides a kind of alarm device of invasion of aerial target in restricted airspace, as shown in Figure 6, comprising: warning processing module 601, the first judge module 602, the second judge module 603.
Warning processing module 601 is for determining the extrapolation alarm track points of aerial target.
The extrapolation alarm track points that the first judge module 602 is definite according to warning processing module 601, judges whether described extrapolation alarm track points is positioned at rule body.Described rule body is the rule body in the described restriction of predetermined containing spatial domain, can be specifically: the smallest sphere in the described restriction of predetermined containing spatial domain; Or, containing outside the smallest sphere in described restriction spatial domain, contain the minimum square of described spheroid.If judgement extrapolation alarm track points is positioned at rule body, the first judge module 602 returns to not warning information to warning processing module 601; Otherwise the first judge module 602 sends and continues judgement notice to the second judge module 603.Judge that method that whether extrapolation alarm track points be positioned at rule body as previously mentioned, repeats no more herein.
The continuation judgement notice that the second judge module 603 sends according to the first judge module 602, judges whether described extrapolation alarm track points is positioned at described restriction spatial domain; If so, return to warning information to warning processing module 601; Otherwise, return to not warning information to warning processing module 601.
Warning processing module 601 determines whether alarm according to the information of returning.
Further, the alarm device of invasion of aerial target in restricted airspace also comprises: early warning processing module 604.
Early warning processing module 604 is for determining the extrapolation early warning track points of described aerial target.
The first judge module 602, also for the extrapolation early warning track points definite according to early warning processing module 604, judges whether described extrapolation early warning track points is positioned at rule body; If so, return to not early warning information to early warning processing module 604; Otherwise, send and continue judgement notice to the second judge module 603.Judge that method that whether extrapolation early warning track points be positioned at rule body as previously mentioned, repeats no more herein.
The second judge module 603 is the continuation judgement notice for sending according to the first judge module 602 also, states extrapolation early warning track points described in judgement and whether is positioned at described restriction spatial domain; If so, return to early warning information to early warning processing module 604; Otherwise, return to not early warning information to warning processing module 604.
Early warning processing module 604 determines whether early warning according to the information of returning.
Because the embodiment of the present invention is before judging whether extrapolation alarm track points is positioned at restriction spatial domain, first judge whether extrapolation alarm track points is positioned at a rule body that contains this restriction spatial domain, and judge whether extrapolation alarm track points is positioned at that the calculating process of rule body is very simple, operand is little, be positioned at the situation outside rule body for great majority extrapolation alarm track points, can make rapidly the decision of not alarm, shorten alarm and judge the time, thereby save the time for next alarm cycle criterion, improved the promptness of alarm.
Similarly, for the early warning judgement before alarm judgement, before judging whether extrapolation early warning track points is positioned at restriction spatial domain, first judge whether extrapolation early warning track points is positioned at a rule body that contains this restriction spatial domain, and it is very simple to judge whether extrapolation early warning track points is positioned at the calculating process of rule body, operand is little, be positioned at the situation outside rule body for great majority extrapolation early warning track points, can make rapidly the decision of not early warning, shorten early warning and judge the time, thereby save the time for next alarm or early warning cycle criterion, improve the promptness that alarm obtains early warning.
One of ordinary skill in the art will appreciate that all or part of step realizing in above-described embodiment method is can carry out the hardware that instruction is relevant by program to complete, this program can be stored in a computer read/write memory medium, as: ROM/RAM, magnetic disc, CD etc.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1. an alarm method for invasion of aerial target in restricted airspace, comprising:
Judge whether extrapolation early warning track points is positioned at rule body, and described extrapolation early warning track points refers to the described aerial target location point that institute can reach in advance in adaptability pre-warning time, and described rule body is the rule body that predetermined containing limits spatial domain;
Be positioned at outside described rule body if judge described extrapolation early warning track points, determine not early warning;
Otherwise, further judge whether described extrapolation early warning track points is positioned at restriction spatial domain;
Be positioned at described restriction spatial domain if judge described extrapolation early warning track points, determine early warning;
Determine the extrapolation alarm track points of aerial target, described extrapolation alarm track points refer to described aerial target along its heading in adaptability alarm time the location point that can reach in advance;
Judge whether described extrapolation alarm track points is positioned at rule body, and described rule body is the rule body in the described restriction of predetermined containing spatial domain;
Be positioned at outside described rule body if judge described extrapolation alarm track points, determine not alarm;
Otherwise, further judge whether described extrapolation alarm track points is positioned at described restriction spatial domain; Be positioned at described restriction spatial domain if judge described extrapolation alarm track points, determine alarm.
2. the method for claim 1, described rule body is spheroid, described spheroid is the smallest sphere that contains described restriction spatial domain; Or described spheroid is the large setting value of radius, the center spheroid identical with the center of described smallest sphere of smallest sphere described in radius ratio.
3. method as claimed in claim 2, describedly judges whether described extrapolation early warning track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of described extrapolation early warning track points
1, Y
1, Z
1meet as lower inequality simultaneously, judge that described extrapolation early warning track points is positioned at described rule body; Otherwise, judge that described extrapolation early warning track points is not positioned at described rule body;
X
min≤ X
1≤ X
max; (formula 1)
Y
min≤ Y
1≤ Y
max; (formula 2)
Z
min≤ Z
1≤ Z
max; (formula 3)
X in above-mentioned formula 1
maxfor the surface of described spheroid maximal value in X coordinate figure a little, X
minfor the surface of described spheroid minimum value in X coordinate figure a little;
Y in above-mentioned formula 2
maxfor the surface of described spheroid maximal value in Y coordinate figure a little, Y
minfor the surface of described spheroid minimum value in Y coordinate figure a little;
Z in above-mentioned formula 3
maxfor the surface of described spheroid maximal value in Z coordinate figure a little, Z
minfor the surface of described spheroid minimum value in Z coordinate figure a little;
And, describedly judge whether described extrapolation alarm track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of described extrapolation alarm track points
2, Y
2, Z
2meet with lower inequality simultaneously, judge that described extrapolation alarm track points is positioned at described rule body; Otherwise, judge that described extrapolation alarm track points is not positioned at described rule body;
X
min≤ X
2≤ X
max; (formula 7)
Y
min≤ Y
2≤ Y
max; (formula 8)
Z
min≤ Z
2≤ Z
max; (formula 9)
X in above-mentioned formula 7
maxfor the surface of described spheroid maximal value in X coordinate figure a little, X
minfor the surface of described spheroid minimum value in X coordinate figure a little;
Y in above-mentioned formula 8
maxfor the surface of described spheroid maximal value in Y coordinate figure a little, Y
minfor the surface of described spheroid minimum value in Y coordinate figure a little;
Z in above-mentioned formula 9
maxfor the surface of described spheroid maximal value in Z coordinate figure a little, Z
minfor the surface of described spheroid minimum value in Z coordinate figure a little.
4. the method for claim 1, described rule body is specially: containing outside the smallest sphere in described restriction spatial domain, containing the minimum square of described spheroid.
5. method as claimed in claim 4, describedly judges whether described extrapolation early warning track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of described extrapolation early warning track points
1, Y
1, Z
1meet with at least one inequality in lower inequality, judge that described extrapolation early warning track points is positioned at described rule body; Otherwise, judge that described extrapolation early warning track points is not positioned at described rule body;
X
min≤ X
1≤ X
max; (formula 4)
Y
min≤ Y
1≤ Y
max; (formula 5)
Z
min≤ Z
1≤ Z
max; (formula 6)
X in above-mentioned formula 4
maxfor the surface of described spheroid maximal value in X coordinate figure a little, X
minfor the surface of described spheroid minimum value in X coordinate figure a little;
Y in above-mentioned formula 5
maxfor the surface of described spheroid maximal value in Y coordinate figure a little, Y
minfor the surface of described spheroid minimum value in Y coordinate figure a little;
Z in above-mentioned formula 6
maxfor the surface of described spheroid maximal value in Z coordinate figure a little, Z
minfor the surface of described spheroid minimum value in Z coordinate figure a little;
And, describedly judge whether described extrapolation alarm track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of described extrapolation alarm track points
2, Y
2, Z
2meet with at least one inequality in lower inequality, judge that described extrapolation alarm track points is positioned at described rule body; Otherwise, judge that described extrapolation alarm track points is not positioned at described rule body;
X
min≤ X
2≤ X
max; (formula 10)
Y
min≤ Y
2≤ Y
max; (formula 11)
Z
min≤ Z
2≤ Z
max; (formula 12)
X in above-mentioned formula 10
maxfor the surface of described spheroid maximal value in X coordinate figure a little, X
minfor the surface of described spheroid minimum value in X coordinate figure a little;
Y in above-mentioned formula 11
maxfor the surface of described spheroid maximal value in Y coordinate figure a little, Y
minfor the surface of described spheroid minimum value in Y coordinate figure a little;
Z in above-mentioned formula 12
maxfor the surface of described spheroid maximal value in Z coordinate figure a little, Z
minfor the surface of described spheroid minimum value in Z coordinate figure a little.
6. an alarm device for invasion of aerial target in restricted airspace, is characterized in that, comprising:
Early warning processing module, for determining the extrapolation early warning track points of aerial target; And determine whether early warning according to the information of returning;
Warning processing module, for determining the extrapolation alarm track points of aerial target, described extrapolation alarm track points refer to described aerial target along its heading in adaptability alarm time the location point that can reach in advance;
The first judge module, for the extrapolation early warning track points definite according to described early warning processing module, judges whether described extrapolation early warning track points is positioned at rule body; If so, return to not early warning information to described early warning processing module; Otherwise, send first and continue judgement notice; For the extrapolation alarm track points definite according to described warning processing module, judge whether described extrapolation alarm track points is positioned at rule body, and described rule body is spheroid; If so, return to not warning information to described warning processing module; Otherwise, send second and continue judgement notice;
The second judge module, for the first continuation judgement notice sending according to described the first judge module, judges whether described extrapolation early warning track points is positioned at described restriction spatial domain; If so, return to early warning information to described early warning processing module; Otherwise, return to not early warning information to described warning processing module; For the second continuation judgement notice sending according to described the first judge module, judge whether described extrapolation alarm track points is positioned at described restriction spatial domain; If so, return to warning information to described warning processing module; Otherwise, return to not warning information to described warning processing module;
Described warning processing module determines whether alarm according to the information of returning.
7. device as claimed in claim 6, is characterized in that, described spheroid is the smallest sphere that contains described restriction spatial domain; Or described spheroid is the large setting value of radius, the center spheroid identical with the center of described smallest sphere of smallest sphere described in radius ratio; Or,
Described rule body is specially outside the smallest sphere that contains described restriction spatial domain, contains the minimum square of described spheroid.
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| CN103903482B (en) * | 2012-12-26 | 2017-10-17 | 上海航空电器有限公司 | Forward sight predicts alarm method in a kind of ground proximity warning system |
| JP6133506B2 (en) | 2014-04-17 | 2017-05-24 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Flight control for flight restricted areas |
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| GB2548107B (en) * | 2016-03-07 | 2022-04-13 | Openworks Eng Ltd | Determining whether an object has entered a certain space |
| CN105788372B (en) * | 2016-04-11 | 2018-10-19 | 成都民航空管科技发展有限公司 | Reduce the optimization method and system of special area alarm false-alarm |
| CN108226915B (en) * | 2017-12-25 | 2021-07-30 | 中国人民解放军63921部队 | Quantitative representation space multi-target spatial distribution method |
| WO2022141101A1 (en) * | 2020-12-29 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling removable platform, and removable platform |
| CN113741517A (en) * | 2021-08-31 | 2021-12-03 | 普宙科技(深圳)有限公司 | Method, system, equipment and storage medium for preventing unmanned aerial vehicle from entering no-fly zone |
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