CN106019987A - 3D interactive simulated flight path generation method and 3D interactive simulated flight path generation system - Google Patents
3D interactive simulated flight path generation method and 3D interactive simulated flight path generation system Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
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Abstract
The invention discloses a 3D interactive simulated flight path generation method and a 3D interactive simulated flight path generation system, relates to the technical field of air traffic management, and aims to provide a simulated flight path generation method of a variety of flight path data sources in view of the defects of the existing flight path generation process. The method comprises a simulated flight path generation step in which flight path source data is received and a real-time simulated flight path is generated according to the flight path source data, an interactive control step in which a simulation control instruction input by a user is received and the flight path simulation process is controlled according to the simulation control instruction, and a flight path display step in which the result of flight path simulation is displayed.
Description
Technical field
The present invention relates to blank pipe technical field, especially a kind of three-dimensional interactive simulation flight path generates method.
Background technology
Air traffic control radar is one of important information source of air traffic control system (ATCS) supervision airflight situation, is to ensure that flight safety, realizes radar control and improve the basis of airspace capacity.Conventional air traffic control radar once surveillance radar (PSR), secondary surveillance radar (SSR), scene surveillance radar (SMR) etc..Wherein, the information that surveillance radar provides includes that target parent is to the distance of radar, range rate or radial velocity, orientation, height etc.；Blank pipe secondary radar provides the significant datas such as aircraft code, and distance, orientation, height；The echo-signal of scene surveillance radar passes through Targets Dots and flight path processing, form comprehensive airdrome scene dynamic menu, can also be processed by real aperture imaging, the high resolution radar figure of display airdrome scene, it is achieved necessary target recognition and static target or barrier imaging.Air traffic control automation system processes the supervision data of radar, produces single source flight path that monitors, process radar track, ADS-B flight path, ADS-C flight path, sets up system flight path, it is achieved system flight path couples with flight plan, produce coupling based on flight path.
But existing flight path is set up process and is had the disadvantage that
The Data Source of flight path is single, and applicable scene has uniqueness；
The generation method of simulation flight path is the most single, it is impossible to well meet the demand that aviation management monitors and air traffic control system (ATCS) is tested and evaluated；
Flight path lacks Interactive control, it is impossible to require to simulate any flight path neatly according to training and scenario；
Target track displaying simply, does not provide Three-dimensional Track display environment during actual implementation.Simulation flight path can comprehensively show by dynamic realtime in three-dimensional artificial environment, and more intuitively, information more comprehensively, provides the user with more preferable feeling of immersion, sense of reality, interactivity.
Summary of the invention
The technical problem to be solved is: for the problem of above-mentioned existence, first provide the method generating simulation flight path according to multiple track data source.
The three-dimensional interactive simulation flight path that the present invention provides generates method, including:
Simulation flight path generation step, receives flight path source data, generates real-time Simulation flight path according to flight path source data；
Interactive control step, receives the simulation control instruction of user's input and is controlled simulation flight path process according to simulation control instruction；
Target track displaying step, shows simulation flight path result.
Further, described flight path source data includes that 4 D trajectory information, screen take point data, flight plan, GPX data, radar track and system flight path.
Further, the method generating real-time Simulation flight path is simple interpolations track model method or flight dynamics emulation mode.
Further, described simulation control instruction includes reloading flight path, stopping track Calculation, corrected altitude and the control of flight path formation speed.
Further, Target track displaying step farther includes: by loading the model of corresponding aircraft, show the position of aircraft, the angle of pitch, roll angle and course angle further in display picture.
The present invention also provides for a kind of to generate system with said method step three-dimensional interactive one to one simulation flight path, including:
Simulation flight path generation module, is used for receiving flight path source data, generates real-time Simulation flight path according to flight path source data；And according to the simulation control instruction of Interactive control module offer, simulation flight path process is controlled；And to Target track displaying module output simulation flight path result；
Interactive control module, for receiving the simulation control instruction of user's input；
Target track displaying module, for showing simulation flight path result.
Further, Target track displaying module is additionally operable to the model by loading corresponding aircraft, shows the position of aircraft, the angle of pitch, roll angle and course angle in display picture.
In sum, owing to have employed technique scheme, the invention has the beneficial effects as follows: three-dimensional interactive simulation flight path generates method provides the information such as the position of aircraft, speed, attitude, there is provided test data for aviation management monitoring system, test the performance of aviation management monitoring system, the correctness of authentication function；Test data are provided for radar simulation emulation；Test data source is provided for air traffic automated system.
The generation data source mode of simulation flight path can be that screen takes point data, 4D track data, GPX tracing point, flight plan, radar track and system flight path etc., the GPX data meeting google earth can be drawn, flight plan message, 4 D trajectory file etc. can be accepted as data source, radar track and the system flight path etc. monitoring data processing software output can be received, conveniently carry out testing data preservation, read, playback etc..
According to different demands, the method for simulation is different, can produce different efficiency and the simulation flight path result of different-effect.In the simulation process of Interactive control flight path, user can be to be controlled including the simulation stopping flight path, reloading track data source and track Calculation mode, correction cruising altitude data etc., by the operating result of dynamic reflection user in three-dimensional scenic.
The simulation Target track displaying module provided, the demonstration more directly perceived, more rich to the effect offer of track model, provide the user more preferable feeling of immersion, sense of reality and interactivity, play the advantage of real-time three-dimensional emulation.
Accompanying drawing explanation
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein:
Fig. 1 is present system theory diagram.
Fig. 2 is 4 D trajectory message processing flow figure.
Fig. 3 is the flow chart taking from screen and a little obtaining analog data source.
Detailed description of the invention
All features disclosed in this specification, or disclosed all methods or during step, in addition to mutually exclusive feature and/or step, all can combine by any way.
Any feature disclosed in this specification, unless specifically stated otherwise, all can be by other equivalences or there is the alternative features of similar purpose replaced.I.e., unless specifically stated otherwise, an example during each feature is a series of equivalence or similar characteristics.
The invention discloses a kind of three-dimensional interactive simulation flight path and generate method, belong to aircraft simulation monitoring field in air traffic control system.The method includes simulating flight path generation step, Interactive control step and Target track displaying step.Can generate three-dimensional simulation flight path by the present invention, the generation of flight path can be with dynamic interaction, as shown in Figure 1.Wherein,
Simulation flight path generation step
Receiving data from track data source, generate the real-time flight path status information of aircraft according to algorithm, flight path generates the control that process accepts the simulation control instruction of user's input, and exports simulation flight path result.
(1) flight path source data is received
Track data source comprises: 4 D trajectory information, screen take point data, flight plan, GPX data, radar track and system flight path etc..
Four-dimensional flight path is with room and time form, to each point locus (longitude, latitude and height) in a certain aircraft's flight track and the accurate description of time, operation based on flight path refers to use on the air route of 4D flight path " controlling the time of advent ", i.e. controls the aircraft " time window " by specific way point.4 D trajectory generates and ensure that aircraft arrives the time needed for certain point along the restriction and aircraft whether meeting the aspects such as height, speed, gradient of climb during predetermined Route reform.Based on accurate mathematical model, aircraft performance model, the aerial sports of combined standard include the air distance taken off, the flight track that takes off, climb, cruise, decline, enter air distance that is near and that land, and each section can describe with barycenter kinetics equation etc..In high density spatial domain using operation based on 4D flight path (Trajectory based Operation) as one of basic operating mechanism, be following to big flow, high density, closely-spaced under the conditions of spatial domain implement a kind of effective means of management, the uncertainty of aircraft's flight track can be significantly decreased, improve spatial domain and the safety of Airport Resources and utilization rate.
The approach realizing 4 D trajectory prediction generally has method in optimal control and process synthesis method two kinds, in conjunction with the practical flight feature of aircraft, generally uses process synthesis method.Process synthesis method refers to by specifying entrance to measure point (EM) and measurement and positioning point (MF), and from the beginning of entering and measuring point, control aircraft flies according to 4 D trajectory, at the appointed time arrives measurement and positioning point.The simply and easy treat flow process of 4 D trajectory is as in figure 2 it is shown, demonstrate the aircraft flight path calculation method when waiting altitude and waiting Ma/CAS number flight, and wherein CAS represents the table speed highly accelerated to, and TAS represents that true air speed, Ma represent Mach number.
Screen takes what point data was obtained by, location point information is obtained according to mouse click event, by the latitude and longitude information being converted to take a little of coordinate system, further according to parameters such as the height that takes off arranged, cruising altitude, descent altitude, speed, acceleration, motion stages (take off, climb, cruise, decline, enter near, landing), form track data source, as shown in Figure 3.
Flight plan generates analog data source by obtaining the flight plan information in air traffic automated system or navigational intelligence etc., include flight plan acquisition, verify, resolve, TRAJECTORY CONTROL point generation etc..
GPX(GPS eXchange Format, GPS swap file) in order to describe waypoint, track, distance, save position, height above sea level and time with label, can be used to the swapping data of the GPS device different and software.The available GPSBable software such as GML, KML, GPX is changed.
Radar track includes single radar track and radar fusion flight path etc., and radar track information describes on certain time point the information such as the position and attitude of target.Supervision process processes software receipt radar data, standardizes radar data, carries out single radar track association tracking, multi-radar data fusion, flight path management and real-time quality and controls, the single radar track of output and many radar tracks.
System flight path is by monitoring that data processing software exports.Monitor that data processing software receives, processes the supervision data such as radar and ADS-B, monitor that source data fusion etc. processes by multi-radar data fusion with more, obtain continuous whole, reliable and stable system flight path.
(2) real-time Simulation flight path is generated
The generation of simulation flight path has two kinds of optional methods, simple interpolations track model and flight dynamics emulation.
Simple interpolations track model utilizes the method for interpolation, carries out interpolation between the location point that data source provides, and exports continuous print flight path information.Wherein, for different track data sources, there is different interpolation methods.
GPX and 4 D trajectory simulation, can carry out interpolation according to the time difference between path point, path length difference, generate continuous flight path.And screen takes the temporal information a little not having correspondence, take fuzzy control according to speed, acceleration.Taking off, climbing, declining, entering the stages such as near, landing, according to the parameter of aircraft, with reference to flight reality, adjusting acceleration factor and carry out flight tracking control, and in cruising phase, control flight path according to cruising speed and generate.The track data source information that flight plan obtains includes the information such as execution date, type, wake flow type, original base, airport of destination, cruising altitude, actual time of departure, landing station, landing time, cruising speed, way point, tracing point can be obtained by 4 D trajectory prediction, then the real-time Simulation carrying out 4 D trajectory calculates.If the required precision to flight path is the highest, and efficiency requirements higher time, can the taking off of flight, climb, cruise, decline, enter near, landing period, according to flight plan data, carry out simple interpolation calculation, obtain fuzzy that but computational efficiency is high track model data.Radar track and system flight path describe the real-time Simulation position obtaining aircraft after aircraft location point in the information such as location point sometime, attitude, speed, optional speed and the positional increment of Time Calculation aircraft, with flight path calculates.
Simple interpolations simulation flight path generates and can only carry out coarse track model, calculates simple, and speed is fast, adapts to multi-aircraft and calculates, if requiring to carry out fine track model, then needs to combine 4D tracing point, carries out vehicle dynamics emulation.
Flight dynamics is that flight carries out the basis of track model true to nature, and by the various parameters of different aircraft, flight controls, power effect under various circumstances, obtains the information such as the speed of aircraft, acceleration, attitude.Accurate flight dynamics emulation can obtain the flight path almost coincideing with practical flight track.FlightGear, as one of foremost cross-platform flight simulation software increased income, has powerful real flight simulation function, open program architecture and reserved external data input/output interface.Flight engine, it is provided that the real-time Simulation flight of aircraft, utilizes flight dynamics model, controls the information such as the attitude of aircraft, position based on aerodynamics coefficient or geological information.Can obtain under various flight conditions comparing the simulation result coincideing accurately with practical flight.More typical flight model has UIUC, Beech99, Marchetti S-211jet trainer, JSB, YASim etc..Utilize the corresponding interface of fdm, to different types of aircraft, carry out flight simulation simulation, generate the information such as position corresponding to each moment (longitude, latitude, highly) and attitude (angle of pitch pitch, roll angle roll, course angle heading).
(3) simulation controls
Receive Interactive control order and parameter, simulation flight path is generated process and is controlled.Simulation control instruction includes: reloads, stop track Calculation, corrected altitude, flight path formation speed control etc..When simulating control instruction for reloading flight path, then for same aircraft, stop the calculating of flight path, delete original flight path, reload new track Calculation pattern and new track data source and continue track Calculation.
When simulating control instruction for stopping track Calculation, then stop the calculating of flight path and update display, stopping the position of aircraft on the flight path picture of display and the renewal of attitude.
When simulation control instruction is corrected altitude, then cruise according to input parameters revision aircraft, take off, the height value in the stage such as landing.
When simulating control instruction and being the control of flight path formation speed, then the progress generated according to input parameter acceleration or deceleration simulation flight path.
(4) simulation flight path output
The result of track model is exported, the information such as the content of output includes the real-time position of aircraft (longitude, latitude, highly), attitude (angle of pitch pitch, roll angle roll, course angle heading).
Interactive control step
Flight path Interactive control module provides the user the interface controlling track model, including reloading, stop track Calculation, corrected altitude, flight path formation speed control etc..This step also includes control command and the parameter receiving user's input, after input information is verified, is supplied to correct order and parameter simulate flight path generation step.
Target track displaying step
The flight path that display calculates, monitors to aviation management and air traffic automated management provides scene, in order to checking.In scene, aircraft can use label, velocity line, historical track to identify, for vivider mark aircraft, the attitude informations such as the position of aircraft, angle of pitch pitch, roll angle roll, course angle heading can be further looked at by loading the model of corresponding aircraft.The corresponding different model of different aircraft loads, same aircraft can have the model of different accuracy, demand according to display, viewpoint control the model of display from the distance of model, configuration file etc., can be according to the different demands of different scenarios, it is achieved effect and the balance of efficiency.
In other embodiments, the analog data of the flight path that Target track displaying is also exported by this step contrasts with real flight path, adjust flight path and generate parameter and the weight of process, revise and optimize efficiency and the effect of flight path generation module, generate simulation flight path smooth, that approximation is true and computational efficiency is high.
The present invention also provides for a kind of to generate system with said method step three-dimensional interactive one to one simulation flight path, including:
Simulation flight path generation module, is used for receiving flight path source data, generates real-time Simulation flight path according to flight path source data；And according to the simulation control instruction of Interactive control module offer, simulation flight path process is controlled；And to Target track displaying module output simulation flight path result；
Interactive control module, for receiving the simulation control instruction of user's input；
Target track displaying module, for showing simulation flight path result.
The embodiment of said method step is equally applicable to this floppy disk system.
The invention is not limited in aforesaid detailed description of the invention.The present invention expands to any new feature disclosed in this manual or any new combination, and the arbitrary new method that discloses or the step of process or any new combination.
Claims (10)
1. a three-dimensional interactive simulation flight path generates method, it is characterised in that including:
Simulation flight path generation step, receives flight path source data, generates real-time Simulation flight path according to flight path source data；
Interactive control step, receives the simulation control instruction of user's input and is controlled simulation flight path process according to simulation control instruction；
Target track displaying step, shows simulation flight path result.
A kind of three-dimensional interactive simulation flight path the most according to claim 1 generates method, it is characterised in that described flight path source data includes that 4 D trajectory information, screen take point data, flight plan, GPX data, radar track and system flight path.
A kind of three-dimensional interactive simulation flight path the most according to claim 1 generates method, it is characterised in that the method generating real-time Simulation flight path is simple interpolations track model method or flight dynamics emulation mode.
A kind of three-dimensional interactive simulation flight path the most according to claim 1 generates method, it is characterised in that described simulation control instruction includes reloading flight path, stopping track Calculation, corrected altitude and the control of flight path formation speed.
A kind of three-dimensional interactive simulation flight path the most according to claim 1 generates method, it is characterized in that, Target track displaying step farther includes: by loading the model of corresponding aircraft, show the position of aircraft, the angle of pitch, roll angle and course angle further in display picture.
6. a three-dimensional interactive simulation flight path generates system, it is characterised in that including:
Simulation flight path generation module, is used for receiving flight path source data, generates real-time Simulation flight path according to flight path source data；And according to the simulation control instruction of Interactive control module offer, simulation flight path process is controlled；And to Target track displaying module output simulation flight path result；
Interactive control module, for receiving the simulation control instruction of user's input；
Target track displaying module, for showing simulation flight path result.
A kind of three-dimensional interactive simulation flight path the most according to claim 6 generates system, it is characterised in that described flight path source data includes that 4 D trajectory information, screen take point data, flight plan, GPX data, radar track and system flight path.
A kind of three-dimensional interactive simulation flight path the most according to claim 6 generates system, it is characterised in that the method generating real-time Simulation flight path is simple interpolations track model method or flight dynamics emulation mode.
A kind of three-dimensional interactive simulation flight path the most according to claim 6 generates system, it is characterised in that described simulation control instruction includes reloading flight path, stopping track Calculation, corrected altitude and the control of flight path formation speed.
A kind of three-dimensional interactive simulation flight path the most according to claim 6 generates system, it is characterized in that, Target track displaying module is additionally operable to the model by loading corresponding aircraft, shows the position of aircraft, the angle of pitch, roll angle and course angle further in display picture.
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| CN108021144A (en) * | 2017-12-29 | 2018-05-11 | 中国地质大学（武汉） | A kind of unmanned aerial vehicle flight path planning and dynamic threats evade emulator |
| CN109670251A (en) * | 2018-12-25 | 2019-04-23 | 中国民用航空飞行学院 | A kind of aircraft is left the theatre running track analog control system and method, computer program |
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