CN104613967B - The chart management method of portable airborne navigation system - Google Patents
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Abstract
A kind of chart management method of portable airborne navigation system.Which includes that obtaining chart coordinate demarcates；Complete airborne vehicle positioning；Chart is layered with being split and chart subgraph is obtained；The focus information of airborne vehicle display location in navigation system is set；Determine the focus subgraph-based indexing of airborne vehicle place subgraph；Realize showing the chart initialization background of navigation system；Navigation system background chart is translated and rotated；The steps such as chart scaling are carried out to system background aviation according to the zoom operations of user.The chart management method of the portable airborne navigation system that the present invention is provided is the background using standard chart as airborne navigational system, under memory headroom confined condition, chart is layered and is split using quaternary tree mode, by the effective index to aviation with call, achievable navigation system takes inherent efficiency problem so as to efficiently solve chart to the operation such as the loading of chart, translation, rotation, scaling.
Description
Technical Field
The invention belongs to the technical field of navigation, and particularly relates to a low-cost, high-reliability and portable chart management method of a portable airborne navigation system.
Background
The airborne navigation system is used as an important system for guaranteeing navigation safety, and can provide real-time information such as airplane position, speed, attitude and the like for other airborne systems and pilots. In particular, in Performance Based Navigation (PBN), the Performance of an onboard navigation system directly affects the operation of the aircraft and is therefore of great importance for navigation safety. At present, the common airborne navigation systems mainly include: inertial navigation systems, atmospheric data systems, satellite navigation systems, short-range land-based radio navigation systems, and the like. These on-board navigation systems are often expensive and are often equipped only on large, expensive mass transit air craft. For a navigable aircraft, because the aircraft has the characteristics of small volume, low load, low speed, low height, low price and the like, an airborne navigation system which is simple in structure, low in price and capable of meeting the requirement of safe operation is usually selected.
Currently, research on airborne navigation systems is mainly based on systems developed by desktop computers or portable computers, one is to combine position information provided by airborne navigation systems such as inertial navigation, radio navigation and the like with chart information provided by geographic information system platforms to display navigation information on a chart, and the other is to provide aircraft position information by using GPS and indicate the position of an aircraft on an electronic chart. The main problem with these systems is the poor portability of the system.
With the mass emergence of tablet Electronic products, civil aviation began using tablet computers as Electronic Flight Bags (EFBs). The electronic flight bag is a portable electronic device used by pilots for displaying various flight data and performing calculation and check in preparation for various flights. Although the electronic flight bag can replace the traditional paper chart in a certain range, the real-time display of the position of the aircraft cannot be realized.
The advent of tablet computers, and in particular, tablet computers with built-in GPS functionality, has made it possible to develop portable onboard navigation systems. However, since the tablet pc cannot simply load the chart due to limited space, research on loading and management of the chart is required.
Disclosure of Invention
In order to solve the operations of indexing, loading, translating, rotating, zooming and the like of the chart background of the portable airborne navigation system, the invention aims to provide a chart management method of the portable airborne navigation system.
In order to achieve the above object, the present invention provides a chart management method of a portable onboard navigation system, comprising the following steps performed in sequence:
1) s1 stage of obtaining the mapping relation between longitude and latitude coordinates of the navigation chart and the coordinates of the position image pixels according to the coordinates of a plurality of key points in the navigation chart used by the airborne navigation system;
2) according to the mapping relation between the longitude and latitude coordinates of the chart obtained in the step 1) and the position image pixel coordinates, calculating the position image pixel coordinates of the aircraft on the chart according to the longitude and latitude coordinate information of the aircraft, thereby completing the positioning of the aircraft and obtaining the position and the front and rear position information of the aircraft;
3) an S3 stage of obtaining a chart subgraph by layering and dividing the chart in a quadtree way;
4) stage S4 of setting the focus information of the display position of the aircraft in the navigation system;
5) determining a S5 stage of a focus subgraph index of the subgraph where the aircraft is located according to the aircraft position information obtained in the step 2) and the segmented subgraph in the step 3);
6) according to the focal point subgraph indexed in the step 5) and the default information of the system focal point, placing the focal point subgraph and the related adjacent subgraph on a display screen to realize the S6 stage of initializing and displaying the navigation chart background of the navigation system;
7) according to the position information of the front and the back of the aircraft obtained in the step 2), the focal point information in the step 4) and the focal point subgraph in the step 5), translating and rotating the background navigation chart of the navigation system at S7;
8) and S8, zooming the navigation chart of the system background navigation chart according to the zooming operation of the user by using the focus information of the step 4) and the focus subgraph of the step 5).
In step 1), the method for obtaining the mapping relationship between the longitude and latitude coordinates of the chart and the coordinates of the bitmap pixels according to the coordinates of a plurality of key points in the chart used by the airborne navigation system comprises the following steps: the method comprises the steps of establishing a conversion matrix between longitude and latitude coordinates and a navigation map position pixel coordinate by adopting a one-time fitting algorithm, establishing an equation set by utilizing the longitude and latitude coordinates of at least 3 known route points on a standard navigation map, and solving unknown parameters in the conversion matrix by adopting a least square algorithm to obtain a mapping relation between the longitude and latitude coordinates and the position image pixel coordinate of the navigation map.
In step 3), the method for obtaining the chart subgraph by layering and dividing the chart in the quadtree manner is as follows: defining the original chart with the highest resolution as a 0 th layer, taking the resolution as the normalized resolution, processing by extracting pixel points to obtain M layers of charts with different resolutions, and then dividing each layer of charts into subgraphs with standard sizes by taking the size of a display screen of a navigation system as a parameter.
In step 4), the method for setting the focal point information of the display position of the aircraft in the navigation system is as follows: the screen position of the aircraft is defined as a focus, the information representing the focus comprises screen position information and heading information displayed by the aircraft, and the focus information is adjusted by adopting system default setting information or user operation.
In step 5), the method for determining the focal sub-image index of the sub-image where the aircraft is located according to the aircraft position information obtained in step 2) and the segmented navigation sub-image in step 3) is as follows: determining a subgraph, namely a focus subgraph, where the aircraft is located in the subgraphs of the different layers segmented in the step 3) according to the default resolution of the system by using the aircraft position information obtained in the step 2).
In step 6), the method for placing the focus sub-image and the related adjacent sub-image on the display screen according to the focus sub-image indexed in step 5) and the default information of the system focus to realize the navigation chart background initialization display of the navigation system comprises the following steps: and (3) placing the focal subgraphs indexed in the step 5) at corresponding positions according to default focal information of the system, and sequentially placing adjacent subgraphs of the same layer of the focal subgraphs in a display background to form initial splicing of the navigation chart background.
In step 7), the method for translating and rotating the navigation system background chart according to the position information of the front and the back of the aircraft obtained in step 2), the focal point information in step 4) and the focal point subgraph in step 5) comprises the following steps: when the position of the aircraft changes, the flying distance and the flying course of the aircraft are calculated by utilizing the front and rear position information of the aircraft obtained in the step 2), and the translation amount and the rotation amount of the background chart are converted by combining the focus information in the step 4), so that the corresponding translation and rotation are carried out on the background chart.
In step 8), the method for zooming the navigation map of the system background navigation map according to the zooming operation of the user by using the focus information of step 4) and the focus sub-map of step 5) comprises: comparing the zoom ratio of the system with an upper threshold value and a lower threshold value, and when the zoom ratio is in the threshold range, zooming and displaying in the map layer without changing the map layer; and if the zoom rate exceeds the threshold, switching to a new layer, completing zoom display by loading the subgraph of the new layer, and updating the zoom rate along with the switching of the layer.
The chart management method of the portable airborne navigation system provided by the invention takes the standard chart as the background of the airborne navigation system, carries out layering and segmentation on the chart in a quadtree mode under the condition of limited memory space, and can realize the operations of loading, translation, rotation, scaling and the like of the chart by the navigation system through effective indexing and calling of aviation, thereby effectively solving the problem of internal efficiency of the chart occupation.
Drawings
FIG. 1 is a flow chart of a chart management method of a portable airborne navigation system provided by the present invention;
FIG. 2 is a diagram illustrating the effect of coordinate calibration of a chart of a system;
FIG. 3 is a partial enlarged effect view of a background chart of the system;
FIG. 4 is an effect diagram of the system chart after translation and rotation;
fig. 5 is a schematic diagram of the aircraft position information after being dynamically updated.
Detailed Description
The method for managing the chart of the portable onboard navigation system according to the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a flowchart of a chart management method of a portable onboard navigation system provided by the invention.
As shown in fig. 1, the chart management method of the portable onboard navigation system provided by the invention comprises the following steps in sequence:
1) and S1 stage of obtaining the mapping relation between the longitude and latitude coordinates of the navigation chart and the coordinates of the position image pixels according to the coordinates of a plurality of key points in the navigation chart used by the airborne navigation system:
the real-time longitude and latitude information of the aircraft comes from a GPS module built in the portable equipment, and the airborne navigation system takes a standard chart as a background, so that the primary task is to mark the aircraft at the correct position of the chart. Because the standard chart is provided in the form of a bitmap, the latitude and longitude coordinates of the aircraft provided by the GPS module need to be converted into the bitmap pixel coordinates of the chart, so as to realize the marking of the aircraft at the correct position of the chart. The process of converting the latitude and longitude coordinates of the aircraft into bitmap pixel coordinates is called chart coordinate calibration.
In the standard chart, because the longitude and latitude coordinates of key waypoints such as a navigation station, an airport and the like are known, the chart can be calibrated by utilizing the coordinates of the key points. Assuming that longitude and latitude coordinates of N key waypoints can be obtained on the chart, (lambda)n,θn) For the longitude and latitude coordinates of the nth key waypoint, the pixel coordinates of the waypoint available on the chart are estimated asThe method can be obtained by adopting a one-time fitting algorithm:
wherein,a 2 × N-dimensional data matrix formed by pixel coordinate estimation of N selected key waypoints in a chart, specifically
G is a 3 multiplied by N dimensional data matrix formed by the longitude and latitude of the corresponding waypoint,
a is a 2 x 3 dimensional calibration matrix,
and E is a 2 XN dimensional calibration error matrix.
The chart coordinate calibration process is a process of estimating a calibration matrix A by the formula (1), and a least square method can be adopted for solving, namely:
solving equation (5) can obtain the estimated value of the calibration matrix:
it is clear that when one fitting is used, the matrix estimate is scaledThe premise that the number N of the selected reference points is not less than 3, and the estimated value of the calibration matrix calculated by the formula (6) increases with the number N of the selected reference pointsThe accuracy of (2) is correspondingly improved.
2) According to the mapping relation between the longitude and latitude coordinates and the position pixel coordinates of the navigation map obtained in the step 1), calculating the position pixel coordinates of the aircraft on the navigation map according to the longitude and latitude coordinate information of the aircraft, thereby completing the positioning of the aircraft, and obtaining the position and the front and rear position information of the aircraft in an S2 stage:
aircraft positioning refers to the process of solving the pixel coordinates of the aircraft on an original standard chart from the longitude and latitude coordinates of the aircraft. Current latitude and longitude coordinates (lambda) of the aircraft0,θ0) Provided by a GPS module built in the portable device. Using calibration matrix estimates
The corresponding bit image pixel coordinate (x) of the aircraft in the original standard chart can be calculated0,y0)。
The flying distance and the flying heading of the aircraft in the corresponding time interval can be calculated by utilizing the position change of the front and the back of the aircraft.
3) And an S3 stage of obtaining the chart subgraph by layering and dividing the chart in a quadtree manner:
in the step, the chart is layered and divided in a quadtree mode. The navigation map is divided by uniformly dividing the navigation map into a plurality of sub-maps according to the connection convention size. The layering of the navigation map is realized by reducing the resolution, so that the spatial domain scales of the sub-maps of different layers are different, and the navigation map management of the system under different resolutions is realized.
And defining the original standard chart with the highest resolution as a 0 th layer, and taking the resolution of the original standard chart as the normalized resolution. And obtaining M layers of navigation maps which are respectively marked as the 0 th, 1 st, … th and (M-1) th layers by extracting pixel points. The number of the pixel points between the two adjacent layers is 2 times in the directions of the x axis and the y axis, namely the resolution of the mth layer chart is 1/2mThus, the layer with low resolution will present navigation information of larger area compared with the layer with high resolution for the same size of subgraph, and the latter will provide finer navigation information.
Assuming that the width and height dimensions of the display screen of the flat panel device are w and h pixels, respectively, the parameters are defined as follows:
d＝f(w,h) (8)
i.e. the parameter d is determined by some functional relationship of w and h.
And taking the upper left corner of each navigation map as an origin and the parameter d as the side length of the square subgraph to segment each navigation map. The r-th row and c-th column of the mth layer of the navigation map are defined as (m, r, c). Obviously, the pixel at the upper left corner of the sub-graph (m, r, c) is the pixel at the [ (r-1) d-1] th row and [ (c-1) d +1] th column of the mth layer of navigation graph.
Since the resolution between two adjacent layers is 2 times, the spatial range represented by a certain subgraph of the mth layer is represented by 4 subgraphs at the m-1 layer, and conversely, the spatial range represented by 1/4 parts of the certain subgraph at the m +1 layer.
4) Stage S4 of setting the focus information of the aircraft display position in the navigation system:
this step defines the position of the aircraft displayed on the navigation system screen as the focal point. The information related to the focus comprises the horizontal and vertical coordinates (x) of the screen position where the focus is positionedc,yc) And the clockwise angle theta of the aircraft heading relative to the vertical upward direction of the screencI.e. can be represented synthetically as (x)c,yc,θc)。
The focus information is a reference for performing operations such as loading, translation, rotation, and scaling on the navigation chart. The focus information can be preset by the system or modified by the user, so that the navigation system observes different interest areas.
5) According to the aircraft position information obtained in the step 2) and the segmented navigation map subgraph in the step 3), determining a focus subgraph index of the subgraph in which the aircraft is located at the S5 stage:
this step defines the sub-image in which the aircraft is located as the focal sub-image. From step (4), the focal subgraph is also the subgraph where the focal point is located. Determining the subgraph number of the 0 th-layer navigation map where the aircraft is located according to the segmentation subgraph parameter d in the step (3):
whereinIndicating a rounding up operation. If the upper left pixel of the sub-image is defined as [ 11 ]]TI.e., row 1, column 1 element, the pixel coordinates of the aircraft in this sub-graph are:
when the navigation system is started, the system background is not necessarily based on the 0 th layer chart, and may be any one of the 0 to (M-1) layers. From a system resolution of s, one can take:
and determining the layer m where the focal plane chart is located.
According to the relationship between the upper layer and the lower layer of the aerograph, the subgraph number of the aircraft at the m-th layer can be further determined by utilizing the subgraph and subgraph coordinate information of the aircraft at the 0 th layer determined by the equations (9) and (10):
the subgraph is the focal subgraph. The pixel coordinates of the aircraft in the focal sub-image can also be further determined:
6) according to the focal point subgraph indexed in the step 5) and the default information of the system focal point, a focal point subgraph and related adjacent subgraphs are placed on a display screen, and the navigation chart background of the navigation system is initially displayed in an S6 stage:
focal subgraphs (m, r) indexed according to step (5)m,cm) And pixel coordinates (x ') of the aircraft in the focal subgraph'm,y′m) And system focus parameter (x)c,yc,θc) The coordinate of the pixel at the upper left corner of the focus sub-image on the screen can be determined as (x)c-x′m+1,yc-y′m+1)。
According to the layering and segmentation principle of the navigation map in the step (3), 8 sub-maps in the same map layer related to the focal sub-map can be determined, wherein the sub-maps are (m, r)m±1,cm±1)，(m,rm,cm+/-1) and (m, r)m±1,cm). These subgraphs and the focal subgraphs are spliced together in sequence to form the initial chart background of the system.
7) And (3) according to the position information of the front and the back of the aircraft obtained in the step (2), the focal point information in the step (4) and the focal point subgraph in the step (5), translating and rotating the background navigation chart of the navigation system at S7:
when the user carries out translation operation on the display interface of the navigation system, the position of the aircraft is separated from the position of the focus, and at the moment, the coordinates of the pixel point at the focus are required to be recalculated.
The change of the fore-aft position of the aircraft can be represented by the change of the pixel coordinates of the aircraft on the 0 th layer chart, and the current pixel coordinate of the aircraft on the 0 th layer chart is assumed to be pn＝(xn,yn) New pixel coordinate is pn+1＝(xn+1,yn+1). Due to the change of the position of the aircraft, the new position coordinates of the aircraft need to be aligned to the focus through translation and rotation of the chart. According to the focus parameter and the relationship between different layers of navigation charts, the translation amount of the mth layer navigation chart as the display background is as follows:
where α is the system zoom rate and the default value is 1, which the user can modify.
After the navigation chart is translated, the rotation angle with the focus as the center can be provided by the direction-finding equipment of the system, and can also be obtained by the front-back position relation:
Δθ＝arg[pnpn+1]-arg[pn-1pn]+θc(15)
wherein arg [ p ]npn+1]Is represented by point pnPoint of direction pn+1The argument of the vector.
8) Using the focus information of step 4) and the focus subgraph of step 5), and zooming the system background navigation chart according to the zooming operation of the user at S8 stage:
the invention allows the user to zoom the navigation chart so as to obtain better navigation display effect.
The scaling of the chart can be performed not only in the chart of the current layer, but also can occur in the switching between adjacent charts. When switching between different image layers occurs, it is necessary to maintain the same focus information and direction information as those of the original image layer in the navigation map of the new image layer.
When the system zoom rate α is greater than when the zoom threshold αinAnd (3) switching the system background image layer from the m-th layer to the m-1-th layer, updating the scaling rate to α' ═ α/2, re-indexing the focal subgraph according to the step (5), and completing the background refreshing process after the chart layer switching by the step (6).
When the system zoom rate α is less than the zoom-out threshold αoutAnd (3) switching the system background image layer from the m-th layer to the m + 1-th layer, updating the scaling rate to α' ═ 2 α, re-indexing the focal subgraph according to the step (5), and completing the background refreshing process after the chart layer switching by the step (6).
When the system scaling rate α is at (α)out,αin) When the map is in the middle, the switching between the layers does not occur, and the corresponding layer subgraphs are displayed in an α -time amplification mode.
System amplification threshold αinAnd a narrow threshold αoutIt should satisfy:
to prevent adjacent inter-layer switching jitter, threshold αinAnd αoutThe requirements are as follows:
namely:
αin>2αout(18)
results of the experiment
The effectiveness of the chart management method of the portable airborne navigation system provided by the invention can be verified by the following experiments.
A system simulation platform is built by an Android development tool ADT of the Eclipse development platform, a Tianjin area of a chart ZBASA is used as an experimental airspace, and position simulation data are sent to a system positioning module to verify the system function.
And calibrating the chart by using navigation points PEK, CG, P75, NIKIT and TONIL in the chart ZBA, and then loading the chart into the system according to the calibration result. The coordinates of the navigation point VYK are sent to the system using the simulation platform. As can be seen in fig. 2, the system focus is correctly located at the position of the navigation point VYK. Fig. 2 is partially enlarged, as shown in fig. 3. It can be seen that the system focus is accurately located at the navigation point VYK. Therefore, the chart calibration method adopted by the invention is effective.
The scene shown in fig. 3 is rotated and translated, and the chart background is changed as shown in fig. 4. Comparing fig. 4 with fig. 3, it can be seen that the system shows that after rotation and translation, the parameters of the focal point are changed, while the position between the aircraft and the chart is not changed.
The simulation platform periodically sends aircraft position data to the system, and the flying state of the aircraft is simulated by changing the aircraft position data. As can be seen from fig. 5, the change in the aircraft position parameter changes the relative position between the aircraft and the chart. Compared to fig. 2, the system focus position is unchanged.
Claims (8)
1. A chart management method of a portable airborne navigation system is characterized by comprising the following steps: which comprises the following steps carried out in sequence:
1) s1 stage of obtaining the mapping relation between longitude and latitude coordinates of the navigation chart and the coordinates of the position image pixels according to the coordinates of a plurality of key points in the navigation chart used by the airborne navigation system;
2) according to the mapping relation between the longitude and latitude coordinates of the chart obtained in the step 1) and the position image pixel coordinates, calculating the position image pixel coordinates of the aircraft on the chart according to the longitude and latitude coordinate information of the aircraft, thereby completing the positioning of the aircraft and obtaining the position and the front and rear position information of the aircraft;
3) an S3 stage of obtaining a chart subgraph by layering and dividing the chart in a quadtree way;
4) stage S4 of setting the focus information of the display position of the aircraft in the navigation system;
5) determining a S5 stage of a focus subgraph index of the subgraph where the aircraft is located according to the aircraft position information obtained in the step 2) and the segmented subgraph in the step 3);
6) according to the focal point subgraph indexed in the step 5) and the default information of the system focal point, placing the focal point subgraph and the related adjacent subgraph on a display screen to realize the S6 stage of initializing and displaying the navigation chart background of the navigation system;
7) according to the position information of the front and the back of the aircraft obtained in the step 2), the focal point information in the step 4) and the focal point subgraph in the step 5), translating and rotating the background navigation chart of the navigation system at S7;
8) and S8, zooming the navigation chart of the system background navigation chart according to the zooming operation of the user by using the focus information of the step 4) and the focus subgraph of the step 5).
2. The method of claim 1, wherein the method further comprises: in step 1), the method for obtaining the mapping relationship between the longitude and latitude coordinates of the chart and the coordinates of the bitmap pixels according to the coordinates of a plurality of key points in the chart used by the airborne navigation system comprises the following steps: the method comprises the steps of establishing a conversion matrix between longitude and latitude coordinates and a navigation map position pixel coordinate by adopting a one-time fitting algorithm, establishing an equation set by utilizing the longitude and latitude coordinates of at least 3 known route points on a standard navigation map, and solving unknown parameters in the conversion matrix by adopting a least square algorithm to obtain a mapping relation between the longitude and latitude coordinates and the position image pixel coordinate of the navigation map.
3. The method of claim 1, wherein the method further comprises: in step 3), the method for obtaining the chart subgraph by layering and dividing the chart in the quadtree manner is as follows: defining the original chart with the highest resolution as a 0 th layer, taking the resolution as the normalized resolution, processing by extracting pixel points to obtain M layers of charts with different resolutions, and then dividing each layer of charts into subgraphs with standard sizes by taking the size of a display screen of a navigation system as a parameter.
4. The method of claim 1, wherein the method further comprises: in step 4), the method for setting the focal point information of the display position of the aircraft in the navigation system is as follows: the screen position of the aircraft is defined as a focus, the information representing the focus comprises screen position information and heading information displayed by the aircraft, and the focus information is adjusted by adopting system default setting information or user operation.
5. The method of claim 1, wherein the method further comprises: in step 5), the method for determining the focal sub-image index of the sub-image where the aircraft is located according to the aircraft position information obtained in step 2) and the segmented navigation sub-image in step 3) is as follows: determining a subgraph, namely a focus subgraph, where the aircraft is located in the subgraphs of the different layers segmented in the step 3) according to the default resolution of the system by using the aircraft position information obtained in the step 2).
6. The method of claim 1, wherein the method further comprises: in step 6), the method for placing the focus sub-image and the related adjacent sub-image on the display screen according to the focus sub-image indexed in step 5) and the default information of the system focus to realize the navigation chart background initialization display of the navigation system comprises the following steps: and (3) placing the focal subgraphs indexed in the step 5) at corresponding positions according to default focal information of the system, and sequentially placing adjacent subgraphs of the same layer of the focal subgraphs in a display background to form initial splicing of the navigation chart background.
7. The method of claim 1, wherein the method further comprises: in step 7), the method for translating and rotating the navigation system background chart according to the position information of the front and the back of the aircraft obtained in step 2), the focal point information in step 4) and the focal point subgraph in step 5) comprises the following steps: when the position of the aircraft changes, the flying distance and the flying course of the aircraft are calculated by utilizing the front and rear position information of the aircraft obtained in the step 2), and the translation amount and the rotation amount of the background chart are converted by combining the focus information in the step 4), so that the corresponding translation and rotation are carried out on the background chart.
8. The method of claim 1, wherein the method further comprises: in step 8), the method for zooming the navigation map of the system background navigation map according to the zooming operation of the user by using the focus information of step 4) and the focus sub-map of step 5) comprises: comparing the zoom ratio of the system with an upper threshold value and a lower threshold value, and when the zoom ratio is in the threshold range, zooming and displaying in the map layer without changing the map layer; and if the zoom rate exceeds the threshold, switching to a new layer, completing zoom display by loading the subgraph of the new layer, and updating the zoom rate along with the switching of the layer.
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