CN102506872A - Method for judging flight route deviation - Google Patents
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- CN102506872A CN102506872A CN2011103855671A CN201110385567A CN102506872A CN 102506872 A CN102506872 A CN 102506872A CN 2011103855671 A CN2011103855671 A CN 2011103855671A CN 201110385567 A CN201110385567 A CN 201110385567A CN 102506872 A CN102506872 A CN 102506872A
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Abstract
The invention discloses a method for judging flight route deviation and relates to an application technique for judging air route deviation in the route planning field. The method is characterized in that, according a transformation relation between terrestrial coordinates and space rectangular coordinates, the terrestrial coordinates of the current position point of an aircraft and the terrestrial coordinates of the route position point of the aircraft are transformed into the space rectangular coordinates, the coordinates of a position of a route which is closest to the current position point are calculated section by section by adopting a three-dimensional solid geometrical algorithm, the coordinates of the position which is closest to the current position point are inversely transformed into the terrestrial coordinates, and then whether the deviation is within an allowable route deviation range or not is judged by calculating the horizontal distance and the altitude difference between two terrestrial coordinate points. The method for judging the flight route deviation has the characteristics of precise algorithm, rapid judging speed, small error, stable and reliable performance and the like, and is particularly suitable for application fields of air route deviation alarm, flight navigation and monitoring, airspace management and the like.
Description
Technical field
The present invention relates to a kind of method of judging that the flight air route is departed from the routeing field, be specially adapted to aerial route deviation warning, flight navigation and applications such as monitoring, airspace management.
Background technology
Along with the development of technology, airborne aircraft quantity increases fast, and airspace management is important further with the flight monitoring, needs each aircraft along the flight of planning air route.Therefore, the air route depart from the alarm be the important consideration content.And location point and air route coordinate are generally terrestrial coordinate, and unit between coordinate (longitude and latitude employing degree are unit, and highly adopting rice is unit) disunity can not directly be used for calculating.At present, the aerial route bias determining method to be adopted and the similar method of ground driftage judgement, and air route is projected to ground, is converted into Gauss's rectangular coordinate again, judges.Whether the decision method that consideration time pertinence is also arranged promptly arrives assigned address according to the fixed time and judges.First method is when relating to the air route and stride Gauss's band, and the error of calculation is bigger, is prone to cause false alarm, and height tolerance also needs to calculate in addition, and the special circumstances when second method is fit to carry out contingency tasks are difficult to popularization and application.
Summary of the invention
The technical matters of solution required for the present invention is to avoid the weak point in the above-mentioned background technology and provides a kind of based on method rectangular space coordinate and 3 D stereo geometric algorithm, that depart from irrelevant judgement aerial route of time.The present invention has the advantages that algorithm is easily understood, intelligibility is strong, easy to implement.
Technical matters to be solved by this invention is realized by following technical scheme:
A kind of method of judging that the flight air route is departed from is characterized in that may further comprise the steps:
(1) converts aircraft current location point P in the earth coordinates in the rectangular coordinate system in space location point P ';
(2) convert air route location point in the earth coordinates in the rectangular coordinate system in space air route location point;
(3) get two the continuous position point A and the B in air route in the rectangular space coordinate;
(4) use the solid geometry algorithm, calculate the space length between P ', A, B respectively at 3, i.e. the length on three limits of spatial triangle P ' AB;
Article (5) three, in the limit if it is 0 limit that length is arranged, then coincide point gets into step (9) then as nearest point Pv; Otherwise, get into step (6);
(6) point-blank concern as if P ', A, 3 of B, calculate nearest point Pv, get into step (9) then according to the position between 3 o'clock; Otherwise, get into step (7);
(7), calculate angle ∠ A and angle ∠ B size according to the triangle cosine law;
(8) as if having one to be right angle or obtuse angle among angle ∠ A, the angle ∠ B, then respective point is as nearest point Pv; If angle ∠ A, angle ∠ B are acute angle, then utilize trigonometric function to calculate P ' some intersection point M on line segment AB, as nearest point Pv;
(9) the rectangular space coordinate Pv with the air route nearest point converts terrestrial coordinate Pv ' into;
(10) under earth coordinates, calculate current location point P and between's air route nearest point Pv ' the earth horizontal range and the discrepancy in elevation;
(11) judge horizontal range and the discrepancy in elevation whether in the deviation range that allows,, then think and do not go off course if all in permissible range; Otherwise repeating step (3) is to step (11), and all location point traversals finish until the air route, if current location point not in arbitrary section air route permissible range, then is judged to be and has departed from the course line.
Wherein, the air route nearest point in step (4) to the step (8) is calculated, employing be rectangular space coordinate and solid geometry algorithm.
Wherein, the calculated level distance and the discrepancy in elevation in the step (10) are carried out under earth coordinates.
Wherein, The formula that terrestrial coordinate in the step (1) (L, B, H are respectively geodetic longitude, geodetic latitude, geodetic height) is scaled rectangular space coordinate (X, Y, Z are respectively the space three-dimensional cartesian component) is: X=(N+H) cosB cosL; Y=(N+H) cosB sinL, Z=[N (1-e
2)+H] sinB; The formula that rectangular space coordinate in the step (9) is scaled terrestrial coordinate is: L=arctan (Y/X), B=arctan [Z/ (X
2+ Y
2) * (1-e
2N (N+H)
-1], H=(X
2+ Y
2)
0.5/ cosB-N.Wherein, e is first excentricity of ellipsoid, e
2=(a
2-b
2)/a
2, N is a radius of curvature in prime vertical, N=a/ (1-e
2Sin
2B)
0.5, a is that semimajor axis of ellipsoid is long, b is that semiminor axis of ellipsoid is long.
The present invention compares with background technology has following advantage:
1, the present invention has avoided the air route coordinate to stride the influence of Gauss's band, utilizes rectangular space coordinate and 3 D stereo geometric algorithm, carries out nearest point and calculates.
2, the present invention has the time independence, is applicable to air route bias determining in most cases.Promptly whenever, as long as in the deviation range that allow in the air route, then think not driftage.
3, the present invention has the advantages that algorithm is accurate, judgement speed is fast, decision errors is little.Adopt three-dimensional coordinate and solid geometry algorithm, do not have approximate processing, simultaneously the horizontal range and the discrepancy in elevation are obtained, avoided the extra computation of highly deviated.
Advantages such as it is easy to be understandable, stable and reliable for performance that 4, the present invention also has algorithm, applied widely.
Description of drawings
Fig. 1 is the rectangular coordinate system in space synoptic diagram that the present invention uses.
Wherein, O is true origin (ellipsoid center), Z axle and directed north consistent with the turning axle of ellipsoid, and the X axle is positioned on the intersection in initial geodetic meridian plane and equator, and Y axle and X axle, Z axle constitute right-handed coordinate system.
Fig. 2 is a kind of synoptic diagram when nearest point is calculated among the present invention.
Wherein, X, Y, Z are respectively three coordinate axis of rectangular coordinate system in space, and P ' is the current location point, and A, B are two continuous location points in the air route; Pv is the nearest point that calculates; L1 is the space length of P ' to some A, and L2 is the space length of P ' to some B, and L3 is the space length of some A to some B.
Embodiment
Below, in conjunction with Fig. 1 and Fig. 2 the present invention is described further.
A kind of method of judging that the flight air route is departed from; This method principle is for to convert aircraft current location point terrestrial coordinate and air route location point terrestrial coordinate into rectangular space coordinate; Adopt the 3 D stereo geometric algorithm, calculate the bee-line place coordinate in current location point and air route piecemeal, and coordinate reverse in bee-line place is changed to terrestrial coordinate; Then through calculating the horizontal range and the discrepancy in elevation between two terrestrial coordinate points, whether judgement is in the deviation range that allow in the air route.
The present invention includes step:
(1) converts aircraft current location point P in the earth coordinates in the rectangular coordinate system in space location point P '.According to the conversion formula of rectangular space coordinate (XYZ) and terrestrial coordinate (LBH), with the terrestrial coordinate of current location point, be designated as P (L, B H), convert rectangular space coordinate into, be designated as P ' (X, Y, Z).
(2) convert air route location point in the earth coordinates in the rectangular coordinate system in space air route location point, be designated as the set R '=p1, p2 ..., pn}.
(3) get two the continuous position point A and the B in air route in the rectangular space coordinate, be designated as A=pi, and B=pj (1≤i, j≤n).
(4) use the solid geometry algorithm, calculate the space length between P ', A, B respectively at 3, i.e. the length on three limits of spatial triangle P ' AB.Be designated as respectively L1 (P '-＞pi), L2 (P '-＞pj) and L3 (pi-＞pi).
Article (5) three, in the limit if it is 0 limit that length is arranged, then coincide point gets into step (9) then as nearest point Pv; Otherwise, get into step (6).That is, if L1=0, then closest approach Pv=pi; If L2=0, then closest approach Pv=pj; If L3=0, then closest approach is that pi or pj all can.
(6) point-blank concern as if P ', A, 3 of B, calculate nearest point Pv, get into step (9) then according to the position between 3 o'clock; Otherwise, get into step (7).If P ' is on the left extended line of line segment AB, Pv=pi then; On the right extended line of line segment AB, Pv=pj then; If P ' is on line segment AB, Pv=P '.
(7), calculate angle ∠ A and angle ∠ B size according to the triangle cosine law.Known three length of sides are respectively L1, L2 and L3, then angle ∠ A=acos ((L1
2+ L3
2-L2
2)/(2*L1*L3)), angle ∠ B=acos ((L2
2+ L3
2-L1
2)/(2*L2*L3)).
(8) as if having one to be right angle or obtuse angle among angle ∠ A, the angle ∠ B, then respective point is as nearest point Pv; If angle ∠ A, angle ∠ B are acute angle, then utilize trigonometric function to calculate P ' some intersection point M on line segment AB, as nearest point Pv.
As calculate intersection point coordinate M according to angle ∠ A, M.x=pi.x+ (pj.x-pi.x) * L1*cosA/L3 then, M.y=pi.y+ (pj.y-pi.y) * L1*cosA/L3, M.z=pi.z+ (pj.z-pi.z) * L1*cosA/L3 makes Pv=M.
(9) the rectangular space coordinate Pv with the air route nearest point converts terrestrial coordinate Pv ' into.According to the conversion formula of rectangular space coordinate (XYZ) and terrestrial coordinate (LBH), with the rectangular space coordinate of nearest point, Pv (X, Y, Z), convert into terrestrial coordinate Pv ' (L, B, H).
(10) under earth coordinates, calculate current location point P and between's air route nearest point Pv ' the earth horizontal range and the discrepancy in elevation.
(11) judge horizontal range and the discrepancy in elevation whether in the deviation range that allows,, then think and do not go off course if all in permissible range; Otherwise repeating step (3) is to step (11), and all location point traversals finish until the air route, if current location point not in arbitrary section air route permissible range, then is judged to be and has departed from the course line.
Wherein, The formula that terrestrial coordinate in the step (1) (L, B, H are respectively geodetic longitude, geodetic latitude, geodetic height) is scaled rectangular space coordinate (X, Y, Z are respectively the space three-dimensional cartesian component) is: X=(N+H) cosB cosL; Y=(N+H) cosBsinL, Z=[N (1-e
2)+H] sinB; The formula that rectangular space coordinate in the step (9) is scaled terrestrial coordinate is: L=arctan (Y/X), B=arctan [Z/ (X
2+ Y
2) * (1-e
2N (N+H))
-1], H=(X
2+ Y
2)
0.5/ cosB-N.Wherein, e is first excentricity of ellipsoid, e
2=(a
2-b
2)/a
2, N is a radius of curvature in prime vertical, N=a/ (1-e
2Sin
2B)
0.5, a is that semimajor axis of ellipsoid is long, b is that semiminor axis of ellipsoid is long.
Claims (3)
1. judge the method that departs from of flight air route for one kind, it is characterized in that may further comprise the steps:
(1) converts aircraft current location point P in the earth coordinates in the rectangular coordinate system in space location point P ';
(2) convert air route location point in the earth coordinates in the rectangular coordinate system in space air route location point;
(3) get two the continuous position point A and the B in air route in the rectangular space coordinate;
(4) use the solid geometry algorithm, calculate the space length between P ', A, B respectively at 3, i.e. the length on three limits of spatial triangle P ' AB;
Article (5) three, in the limit if it is 0 limit that length is arranged, then coincide point gets into step (9) then as nearest point Pv; Otherwise, get into step (6);
(6) point-blank concern as if P ', A, 3 of B, calculate nearest point Pv, get into step (9) then according to the position between 3 o'clock; Otherwise, get into step (7);
(7), calculate angle ∠ A and angle ∠ B size according to the triangle cosine law;
(8) as if having one to be right angle or obtuse angle among angle ∠ A, the angle ∠ B, then respective point is as nearest point Pv; If angle ∠ A, angle ∠ B are acute angle, then utilize trigonometric function to calculate P ' some intersection point M on line segment AB, as nearest point Pv;
(9) the rectangular space coordinate Pv with the air route nearest point converts terrestrial coordinate Pv ' into;
(10) under earth coordinates, calculate current location point P and between's air route nearest point Pv ' the earth horizontal range and the discrepancy in elevation;
(11) judge horizontal range and the discrepancy in elevation whether in the deviation range that allows,, then think and do not go off course if all in permissible range; Otherwise repeating step (3) is to step (11), and all location point traversals finish until the air route, if current location point not in arbitrary section air route permissible range, then is judged to be and has departed from the course line.
2. a kind of method of departing from of flight air route of judging according to claim 1, it is characterized in that: the air route nearest point in step (4) to the step (8) is calculated, employing be rectangular space coordinate and solid geometry algorithm.
3. a kind of method of judging that the flight air route is departed from according to claim 1 is characterized in that: the calculated level distance and the discrepancy in elevation in the step (10), under earth coordinates, carry out.
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Cited By (8)
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| CN103412575A (en) * | 2013-08-23 | 2013-11-27 | 无锡汉和航空技术有限公司 | Unmanned helicopter air line control device and auxiliary control device |
| CN109960774A (en) * | 2019-02-13 | 2019-07-02 | 浩亚信息科技有限公司 | A kind of real-time measuring method of VFR route, electronic equipment, storage medium |
| CN109990793A (en) * | 2017-12-29 | 2019-07-09 | 杭州海康威视系统技术有限公司 | Determine the method, apparatus and computer readable storage medium of vehicle yaw |
| CN110211376A (en) * | 2019-05-28 | 2019-09-06 | 成都谷辘信息技术有限公司 | A kind of hazardous materials transportation vehicle monitoring early warning system |
| CN111121779A (en) * | 2019-12-06 | 2020-05-08 | 南京航空航天大学 | Real-time detection method for flight area where unmanned aerial vehicle is located |
| CN112396872A (en) * | 2020-11-03 | 2021-02-23 | 海丰通航科技有限公司 | Airplane yaw judging method and device based on computer flight plan CFP data and storage medium |
| CN113112873A (en) * | 2021-03-29 | 2021-07-13 | 中琪华安(北京)科技有限公司 | Airspace alarm method and device |
| CN115273562A (en) * | 2022-07-27 | 2022-11-01 | 齐鲁空天信息研究院 | Consistency monitoring method for general aviation low-altitude navigation flight |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103412575A (en) * | 2013-08-23 | 2013-11-27 | 无锡汉和航空技术有限公司 | Unmanned helicopter air line control device and auxiliary control device |
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| CN110211376A (en) * | 2019-05-28 | 2019-09-06 | 成都谷辘信息技术有限公司 | A kind of hazardous materials transportation vehicle monitoring early warning system |
| CN111121779A (en) * | 2019-12-06 | 2020-05-08 | 南京航空航天大学 | Real-time detection method for flight area where unmanned aerial vehicle is located |
| CN111121779B (en) * | 2019-12-06 | 2022-04-08 | 南京航空航天大学 | Real-time detection method for flight area where unmanned aerial vehicle is located |
| CN112396872A (en) * | 2020-11-03 | 2021-02-23 | 海丰通航科技有限公司 | Airplane yaw judging method and device based on computer flight plan CFP data and storage medium |
| CN113112873A (en) * | 2021-03-29 | 2021-07-13 | 中琪华安(北京)科技有限公司 | Airspace alarm method and device |
| CN115273562A (en) * | 2022-07-27 | 2022-11-01 | 齐鲁空天信息研究院 | Consistency monitoring method for general aviation low-altitude navigation flight |
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