CN102506872B - Method for judging flight route deviation - Google Patents
Method for judging flight route deviation Download PDFInfo
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- CN102506872B CN102506872B CN201110385567.1A CN201110385567A CN102506872B CN 102506872 B CN102506872 B CN 102506872B CN 201110385567 A CN201110385567 A CN 201110385567A CN 102506872 B CN102506872 B CN 102506872B
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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
To the present invention relates in routeing field a kind of judges the method that flight route departs from, and is specially adapted to aerial route deviation warning, flight navigation and the application such as monitoring, airspace management.
Background technology
Along with the development of technology, airborne aircraft quantity increasing fast, airspace management and flight are monitored further important, need each aircraft along planning Route reform.Therefore, alarm is departed from air route is important consideration content.And location point and air route coordinate are generally terrestrial coordinate, between coordinate, unit (longitude and latitude employing degree are unit, highly adopt rice to be unit) disunity, can not be directly used in calculating.At present, the many employings of aerial route bias determining method and ground driftage judge similar method, air route is projected to ground, then is converted into Gauss's rectangular coordinate, judge.Also there is the decision method of consideration time pertinence, namely whether arrive assigned address according to the fixed time and judge.First method is when relating to air route across Gauss's band, and the error of calculation is comparatively large, easily cause false alarm, and height tolerance also needs other calculating, and second method is applicable to special circumstances when performing contingency tasks, is difficult to popularization and application.
Summary of the invention
The technical matters of solution required for the present invention be to avoid the weak point in above-mentioned background technology and provide a kind of based on rectangular space coordinate and 3 D stereo geometric algorithm, method that the judgement aerial route that has nothing to do with the time departs from.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:
Judge the method that flight route departs from, it is characterized in that comprising the following steps:
(1) aircraft current location point P in earth coordinates is converted to the location point P ' in rectangular coordinate system in space;
(2) air route location point in earth coordinates is converted to the air route location point in rectangular coordinate system in space;
(3) two continuous position point A and B in air route in rectangular space coordinate are got;
(4) use solid geometry algorithm, calculate P ', space length between A, B respectively at 3, i.e. the length on spatial triangle P ' AB tri-limits;
(5) if having in three limits length be 0 limit, then coincide point is as nearest point Pv, then enters step (9); Otherwise, enter step (6);
(6) if P ', A, B 3 point-blank, according to the position relationship between 3 o'clock, calculate nearest point Pv, then enter step (9); Otherwise, enter step (7); Wherein, calculate nearest point Pv to be specially: if P ' is on the left extended line of line segment AB, then Pv is exactly A point; On the right extended line of line segment AB, then Pv is exactly B point; If P ' is on line segment AB, Pv is exactly P ' point;
(7) according to the triangle cosine law, angle ∠ A and angle ∠ B size is calculated;
(8) if having one in angle ∠ A, angle ∠ B for right angle or obtuse angle, then respective point is as nearest point Pv; If angle ∠ A, angle ∠ B are acute angle, then trigonometric function is utilized to calculate P ' some intersection point M on line segment AB, as nearest point Pv;
(9) the rectangular space coordinate Pv of air route nearest point is converted to terrestrial coordinate Pv ';
(10) under earth coordinates, the earth horizontal range and the discrepancy in elevation of between current location point P and air route nearest point Pv ' is calculated;
(11) judge horizontal range and the discrepancy in elevation whether in the deviation range allowed, if all in permissible range, then think and do not go off course; Otherwise, repeat step (3) to step (11), until all location points in air route traversal is complete, if current location point is not in arbitrary section of air route permissible range, be then judged to deviate from course line.
Wherein, step (4) calculates to the air route nearest point in step (8), employing be rectangular space coordinate and solid geometry algorithm.
Wherein, the calculated level Distance geometry discrepancy in elevation in step (10), carries out under earth coordinates.
Wherein, terrestrial coordinate (L, B, H in step (1), being respectively geodetic longitude, geodetic latitude, geodetic height) formula that is scaled rectangular space coordinate (X, Y, Z, be respectively 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 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 the first excentricity of ellipsoid, e
2=(a
2-b
2)/a
2, N is radius of curvature in prime vertical, N=a/ (1-e
2sin
2b)
0.5, a is that semimajor axis of ellipsoid is long, and b is that semiminor axis of ellipsoid is long.
The present invention's tool compared with background technology has the following advantages:
1, present invention, avoiding the impact of air route coordinate across Gauss's band, utilize rectangular space coordinate and 3 D stereo geometric algorithm, carry out nearest point calculating.
2, the present invention has time independence, is applicable to air route bias determining in most cases.Namely whenever, as long as in the deviation range that air route is allowed, then not driftage is thought.
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, there is no approximate processing, horizontal range and the discrepancy in elevation are obtained simultaneously, avoid the extra computation of highly deviated.
4, also to have algorithm easy to be understandable, stable and reliable for performance in the present invention, the advantage such as applied widely.
Accompanying drawing explanation
Fig. 1 is the rectangular coordinate system in space schematic diagram that the present invention uses.
Wherein, O is true origin (ellipsoid center), and Z axis is consistent with the turning axle of ellipsoid and point to the arctic, and X-axis is positioned on the intersection in initial geodetic meridian plane and equator, and Y-axis and X-axis, Z axis form right-handed coordinate system.
Fig. 2 is a kind of schematic diagram when nearest point calculates in the present invention.
Wherein, X, Y, Z are respectively three coordinate axis of rectangular coordinate system in space, P ' is current location point, A, B are two continuous print location points in air route, Pv is the nearest point calculated, 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 an A to a B.
Embodiment
Below, the invention will be further described for composition graphs 1 and Fig. 2.
A kind ofly judge the method that flight route departs from, the method principle is for be converted to rectangular space coordinate by aircraft current location point terrestrial coordinate and air route location point terrestrial coordinate, adopt 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 by the horizontal range between calculating two terrestrial coordinate points and the discrepancy in elevation, determine whether in the deviation range that air route is allowed.
The present invention includes step:
(1) aircraft current location point P in earth coordinates is converted to the location point P ' in rectangular coordinate system in space.According to the conversion formula of rectangular space coordinate (XYZ) with terrestrial coordinate (LBH), by the terrestrial coordinate of current location point, be designated as P (L, B, H), be converted to rectangular space coordinate, be designated as P ' (X, Y, Z).
(2) air route location point in earth coordinates is converted to the air route location point in rectangular coordinate system in space, be designated as set R '=p1, p2 ..., pn}.
(3) get two continuous position point A and B in air route in rectangular space coordinate, be designated as A=pi, B=pj (1≤i, j≤n).
(4) use solid geometry algorithm, calculate P ', space length between A, B respectively at 3, i.e. the length on spatial triangle P ' AB tri-limits.Be designated as L1 (P '-> pi), L2 (P '-> pj) and L3 (pi-> pi) respectively.
(5) if having in three limits length be 0 limit, then coincide point is as nearest point Pv, then enters step (9); Otherwise, enter 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 pi or pj.
(6) if P ', A, B 3 point-blank, according to the position relationship between 3 o'clock, calculate nearest point Pv, then enter step (9); Otherwise, enter step (7).If P ' is on the left extended line of line segment AB, then Pv=pi; On the long line in the right court of a feudal ruler of line segment AB, then Pv=pj; If P ' is on line segment AB, Pv=P '.
(7) according to the triangle cosine law, angle ∠ A and angle ∠ B size is calculated.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) if having one in angle ∠ A, angle ∠ B for right angle or obtuse angle, then respective point is as nearest point Pv; If angle ∠ A, angle ∠ B are acute angle, then trigonometric function is utilized to calculate P ' some intersection point M on line segment AB, as nearest point Pv.
As calculated intersection point coordinate M according to angle ∠ A, then M.x=pi.x+ (pj.x-pi.x) * L1*cosA/L3, 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 of air route nearest point is converted to terrestrial coordinate Pv '.According to the conversion formula of rectangular space coordinate (XYZ) with terrestrial coordinate (LBH), by the rectangular space coordinate of nearest point, Pv (X, Y, Z), is converted to terrestrial coordinate Pv ' (L, B, H).
(10) under earth coordinates, the earth horizontal range and the discrepancy in elevation of between current location point P and air route nearest point Pv ' is calculated.
(11) judge horizontal range and the discrepancy in elevation whether in the deviation range allowed, if all in permissible range, then think and do not go off course; Otherwise, repeat step (3) to step (11), until all location points in air route traversal is complete, if current location point is not in arbitrary section of air route permissible range, be then judged to deviate from course line.
Wherein, terrestrial coordinate (L, B, H in step (1), be respectively geodetic longitude, geodetic latitude, geodetic height) be scaled rectangular space coordinate (X, Y, Z, be respectively space three-dimensional cartesian component) formula be: X=(N+H) cosB cosL, Y=(N+H) cosB sinL, Z=[N (1-e
2)+H sinB; The formula that rectangular space coordinate in 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 the first excentricity of ellipsoid, e
2=(a
2-b
2)/a
2, N is radius of curvature in prime vertical, N=a/ (1-e
2sin
2b)
0.5, a is that semimajor axis of ellipsoid is long, and b is that semiminor axis of ellipsoid is long.
Claims (2)
1. judge the method that flight route departs from, it is characterized in that comprising the following steps:
(1) aircraft current location point P in earth coordinates is converted to the location point P ' in rectangular coordinate system in space;
(2) air route location point in earth coordinates is converted to the air route location point in rectangular coordinate system in space;
(3) two continuous position point A and B in air route in rectangular space coordinate are got;
(4) use solid geometry algorithm, calculate P ', space length between A, B respectively at 3, i.e. the length on spatial triangle P ' AB tri-limits;
(5) if having in three limits length be 0 limit, then coincide point is as nearest point Pv, then enters step (9); Otherwise, enter step (6);
(6) if P ', A, B 3 point-blank, according to the position relationship between 3 o'clock, calculate nearest point Pv, then enter step (9); Otherwise, enter step (7); Wherein, calculate nearest point Pv to be specially: if P ' is on the left extended line of line segment AB, then Pv is exactly A point; On the right extended line of line segment AB, then Pv is exactly B point; If P ' is on line segment AB, Pv is exactly P ' point;
(7) according to the triangle cosine law, angle ∠ A and angle ∠ B size is calculated;
(8) if having one in angle ∠ A, angle ∠ B for right angle or obtuse angle, then using the summit at above-mentioned right angle or obtuse angle as nearest point Pv; If angle ∠ A, angle ∠ B are acute angle, then trigonometric function is utilized to calculate P ' some intersection point M on line segment AB, as nearest point Pv;
(9) the rectangular space coordinate Pv of air route nearest point is converted to terrestrial coordinate Pv ';
(10) under earth coordinates, the earth horizontal range and the discrepancy in elevation of between current location point P and air route nearest point Pv ' is calculated;
(11) judge horizontal range and the discrepancy in elevation whether in the deviation range allowed, if all in permissible range, then think and do not go off course; Otherwise, repeat step (3) to step (11), until all location points in air route traversal is complete, if current location point is not in arbitrary section of air route permissible range, be then judged to deviate from course line.
2. a kind of method that flight route departs from that judges according to claim 1, is characterized in that: step (4) calculates to the air route nearest point in step (8), employing be rectangular space coordinate and solid geometry algorithm.
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| CN102506872B true CN102506872B (en) | 2015-02-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103412575B (en) * | 2013-08-23 | 2017-03-01 | 无锡汉和航空技术有限公司 | A kind of depopulated helicopter flight course control device |
| CN109990793B (en) * | 2017-12-29 | 2021-06-18 | 杭州海康威视系统技术有限公司 | Method, apparatus and computer readable storage medium for determining yaw of vehicle |
| 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 |
| 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 |
| 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 |
| CN112396872B (en) * | 2020-11-03 | 2022-04-08 | 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 |
| CN113112873B (en) * | 2021-03-29 | 2022-12-09 | 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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| GR1006243B (en) * | 2007-11-26 | 2009-01-28 | Γεωργιος Φουρλας | Method for detecting the divergence of passenger aircrafts from their flight plan. |
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| CN1234575A (en) * | 1997-12-15 | 1999-11-10 | 雷特翁公司 | Air traffic control system |
| EP1243895A2 (en) * | 2001-03-19 | 2002-09-25 | Kabushiki Kaisha Toshiba | Navigation assisting system, flight-route calculating method, and navigation assisting method |
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