CN106291462A - A kind of method being accurately positioned aircraft position - Google Patents
A kind of method being accurately positioned aircraft position Download PDFInfo
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- CN106291462A CN106291462A CN201610789641.9A CN201610789641A CN106291462A CN 106291462 A CN106291462 A CN 106291462A CN 201610789641 A CN201610789641 A CN 201610789641A CN 106291462 A CN106291462 A CN 106291462A
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- Prior art keywords
- longitude
- latitude
- aircraft
- point
- receiver
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The present invention relates to a kind of method being accurately positioned aircraft position, it specifically includes following three steps: longitude and latitude maps rectangular coordinate, utilizes Newton iteration method to calculate aircraft approximate coordinate point under rectangular coordinate system, change between rectangular coordinate and longitude and latitude.In view of the airborne answering equipment being generally furnished with on current airline carriers of passengers, the signal receiver of combined ground, the airborne equipment broadcast message on passenger plane is utilized to be accurately positioned turnover field passenger plane, then can substitute the radar system of existing costliness, the orientation problem of turnover field passenger plane can be solved in the case of undertaking in its economy for middle-size and small-size airport, use method provided by the present invention, it is possible to save a large amount of manpower and materials and fund.
Description
Technical field
The present invention relates to flight monitoring technical field, particularly relate to a kind of method being accurately positioned aircraft position.
Background technology
In the case of current airport radar is costly, most of middle-size and small-size airport does not has economic capability and is equipped with airport
Radar system, this is allowed for the airport without radar system and can only be monitored constantly into outbound aircraft by monitoring personnel, the most not
But wasting manpower and material resources, and accuracy rate and efficiency all cannot be protected.
Summary of the invention
In view of this, it is necessary to a kind of method being accurately positioned aircraft position is provided.
The present invention is achieved in that a kind of method being accurately positioned aircraft position, it is characterised in that aircraft is in position
(Lat, Lon, Height) place, wherein Lat represents the latitude at aircraft place, and Lon represents the longitude at aircraft place, and Height represents
The height at aircraft place, when sending a broadcast singal, on ground, N platform receiver receives signal, due to different receivers simultaneously
Distance aircraft position far and near different, then the reception time of receiver there are differences, according to the position coordinates of receiver and
The time difference that signal receives, calculates accurate longitude and latitude and the height at aircraft place；
It specifically includes following three steps:
[step one]: longitude and latitude maps rectangular coordinate；
It is currently able to the longitude and latitude that information is receiver and the height obtained, but in actual computing, needs at right angle
List equation group under coordinate system to calculate, therefore, it is necessary first to the longitude and latitude of receiver is mapped in rectangular coordinate system；
Main method is: choose a bit in the middle of the scope that N number of receiver surroundsAs the initial point of coordinate system,
WithThe warp at some place isAxle, withPoint identical longitude under, calculate receiver latitude withRange difference between some latitude is made
For receiverCoordinate figure；
WithThe parallel at some place isAxle, withPoint same latitude under, calculate receiver longitude withDistance between some longitude
Difference is as receiverCoordinate figure;
The then longitude and latitude of certain receiverBeing mapped to rectangular coordinate to fasten, computational methods are:
WhereinRepresent the distance between 2 longitude and latitude points on the earth;
[step 2]: utilize Newton iteration method to calculate aircraft approximate coordinate point under rectangular coordinate system；
By mapping, longitude and latitude is mapped under rectangular coordinate system, then problem just can be changed into the side under three-dimensional system of coordinate
The Solve problems of journey group；
If aircraft A existsPoint sends broadcast singal, and the spread speed of signal is s, ground multiple receiversThe time receiving signal is respectivelyIf, the S point of aircraft
Coordinate is:, then can getThe equation group of individual equation composition:
Utilize the approximate solution of Newton iteration method accounting equation, be i.e. aircraft A positionApproximation under three-dimensional cartesian coordinate system
Point;
[step 3]: change between rectangular coordinate and longitude and latitude；
Through Newton iteration method can calculate aircraft at three-dimensional system of coordinate under approximation point, exist in order to be accurately positioned aircraft
Tellurian position, then need that the rectangular coordinate of aircraft approximates point and be mapped on corresponding longitude and latitude；
Main method is: owing to three-dimensional cartesian coordinate system is around a littleSet up, then aircraft is at three-dimensional right angle
Under coordinate systemThe most corresponding aircraft position of the coordinate figure of axleWith pointBetween longitude range difference and latitude range difference, according to
Relation between longitude and latitude and distance can be releasedThe approximation longitude and latitude of point:
Above-mentioned longitude and latitudeIt it is i.e. the position at the concrete place of aircraft A.
The advantage of a kind of method being accurately positioned aircraft position that the present invention provides is: in view of on current airline carriers of passengers
The airborne answering equipment being generally furnished with, the signal receiver of combined ground, utilize the airborne equipment broadcast message on passenger plane accurate
Determine turnover field, position passenger plane, then can substitute the radar system of existing costliness, can undertake in its economy for middle-size and small-size airport
In the case of solve the orientation problem of turnover field passenger plane, save a large amount of manpower and materials and fund.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, to the present invention
It is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to
Limit the present invention.
A kind of described method being accurately positioned aircraft position:
Based on theoretical knowledge background include:
Relation between a, longitude and latitude and distance:
Under same longitude Lon, latitude was once differing, then distance difference is:
Latitude 1 degree=111319.4912(rice);
Under Same Latitude Lat, longitude was once differing, then distance difference is:
Longitude 1 degree=111319.4912 * cos(Lat) (rice)；
B, Newton iteration method:
Newton method is again Newton-Raphson method (Newton-Raphson method), is a kind of weight solving Nonlinear System of Equations
Wanting alternative manner, its basic thought is by nonlinear multielement equation groupProgressively it is attributed to certain linear equation group to solve
Method.
Basic thought: by nonlinear equation linearisation；
If known equation groupThere is approximation root, and, by equation group at pointTaylor expansion, has:
。
Then equation groupCan approximate is expressed as linear equations:
。
Remember that its root is, then iteration function is:
。
C, geometric interpretation:
EquationRootMay be interpreted as curveWithThe abscissa of the intersection point of axle.
IfIt it is rootCertain approximation, cross curveUpper abscissa isPointDraw tangent line, and by this tangent line
WithThe abscissa of the intersection point of axleAsNew approximation.Iteration successively, until finding equationApproximate solution.
Practical operation method:
Aircraft is at position (Lat, Lon, Height) place, and wherein Lat represents the latitude at aircraft place, and Lon represents aircraft place
Longitude, Height represents the height at aircraft place, and when sending a broadcast singal, on ground, N platform receiver receives signal simultaneously,
Far and near difference due to different receivers distance aircraft position, then the reception time of receiver there are differences, according to receiver
Position coordinates and signal receive time difference, calculate aircraft place accurate longitude and latitude and height；
Algorithm premise: the range of receiving in view of receiver is certain, then algorithm calculates in the range of a certain distance, ignores same
Air line distance between 2 and the difference of distance of curved surface under height.
It specifically includes following three steps:
[step one]: longitude and latitude maps rectangular coordinate；
It is currently able to the longitude and latitude that information is receiver and the height obtained, but in actual computing, needs at right angle
List equation group under coordinate system to calculate, therefore, it is necessary first to the longitude and latitude of receiver is mapped in rectangular coordinate system；
Main method is: choose a bit in the middle of the scope that N number of receiver surroundsAs the initial point of coordinate system,
WithThe warp at some place isAxle, withPoint identical longitude under, calculate receiver latitude withRange difference between some latitude is made
For receiverCoordinate figure；
WithThe parallel at some place isAxle, withPoint same latitude under, calculate receiver longitude withDistance between some longitude
Difference is as receiverCoordinate figure;
The then longitude and latitude of certain receiverBeing mapped to rectangular coordinate to fasten, computational methods are:
WhereinRepresent the distance between 2 longitude and latitude points on the earth;
[step 2]: utilize Newton iteration method to calculate aircraft approximate coordinate point under rectangular coordinate system；
By mapping, longitude and latitude is mapped under rectangular coordinate system, then problem just can be changed into the side under three-dimensional system of coordinate
The Solve problems of journey group；
If aircraft A existsPoint sends broadcast singal, and the spread speed of signal is s, ground multiple receiversThe time receiving signal is respectivelyIf, the S point of aircraft
Coordinate is:, then can getThe equation group of individual equation composition:
Utilize the approximate solution of Newton iteration method accounting equation, be i.e. aircraft A positionApproximation under three-dimensional cartesian coordinate system
Point;
[step 3]: change between rectangular coordinate and longitude and latitude；
Through Newton iteration method can calculate aircraft at three-dimensional system of coordinate under approximation point, exist in order to be accurately positioned aircraft
Tellurian position, then need that the rectangular coordinate of aircraft approximates point and be mapped on corresponding longitude and latitude；
Main method is: owing to three-dimensional cartesian coordinate system is around a littleSet up, then aircraft is at three-dimensional right angle
Under coordinate systemThe most corresponding aircraft position of the coordinate figure of axleWith pointBetween longitude range difference and latitude range difference, according to
Relation between longitude and latitude and distance can be releasedThe approximation longitude and latitude of point:
Above-mentioned longitude and latitudeIt it is i.e. the position at the concrete place of aircraft A.
Algorithm simulation test recruitment evaluation:
According to existing application scenarios, analog data carries out proof of algorithm:
Assume to install 8 receivers around airport, take at random in the range of 8 receivers are surrounded and a little sit as right angle
Mark system initial point, chooses a little as impact point, calculates impact point and replace receiver signal to receive the time to the distance between each point,
Data are as follows:
8 receiver locations:
Dimension longitude height and the spacing of target
31.9947194637 116.9645690918 0 4919.3746
31.9971215927 116.9844818115 0 4816.2855
31.9924628609 116.9847393036 0 4305.9118
31.9825986711 116.9658994675 0 3670.6923
31.9811790140 116.9705772400 0 3341.9328
31.9817614401 116.9836664200 0 3143.5580
31.9859475186 116.9870567322 0 3604.9794
The position of the initial point randomly selected:
Dimension longitude height
31.9884590741 116.9731950760 0
Randomly selecting coordinate points as impact point, the meansigma methods taking experimental result is:
In the case of monocular punctuate solves:
Operation time average is: 1.5s；
Arithmetic accuracy average out to: difference of longitude 0.6m, difference of latitude 1.2m, difference in height 0.4m.
In view of the airborne answering equipment being generally furnished with on current airline carriers of passengers, the signal receiver of combined ground, utilize
Airborne equipment broadcast message on passenger plane is accurately positioned turnover field passenger plane, then can substitute the radar system of existing costliness,
Can solve to pass in and out the orientation problem of field passenger plane for middle-size and small-size airport in the case of undertaking in its economy, use provided by the present invention
Method, it is possible to save a large amount of manpower and materials and fund.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (1)
1. the method being accurately positioned aircraft position, it is characterised in that aircraft is at position (Lat, Lon, Height) place, wherein
Lat represents the latitude at aircraft place, and Lon represents the longitude at aircraft place, and Height represents the height at aircraft place, sends one
During broadcast singal, on ground, N platform receiver receives signal simultaneously, due to the far and near difference of different receivers distance aircraft position,
So reception time of receiver there are differences, and the time difference received according to position coordinates and the signal of receiver, calculating flies
The accurate longitude and latitude at machine place and height；
It specifically includes following three steps:
[step one]: longitude and latitude maps rectangular coordinate；
It is currently able to the longitude and latitude that information is receiver and the height obtained, but in actual computing, needs at right angle
List equation group under coordinate system to calculate, therefore, it is necessary first to the longitude and latitude of receiver is mapped in rectangular coordinate system；
Main method is: chooses the point of a receiver in the middle of the scope that N number of receiver surrounds, is set to, make
For the initial point of coordinate system, withThe warp at some place isAxle, withPoint identical longitude under, calculate receiver latitude withPoint latitude
Between range difference as receiverCoordinate figure；
WithThe parallel at some place isAxle, withPoint same latitude under, calculate receiver longitude withDistance between some longitude
Difference is as receiverCoordinate figure;
The then longitude and latitude of certain receiverBeing mapped to rectangular coordinate to fasten, computational methods are:
WhereinRepresent the distance between 2 longitude and latitude points on the earth;
[step 2]: utilize Newton iteration method to calculate aircraft approximate coordinate point under rectangular coordinate system；
By mapping, longitude and latitude is mapped under rectangular coordinate system, then problem just can be changed into the side under three-dimensional system of coordinate
The Solve problems of journey group；
If aircraft A existsPoint sends broadcast singal, and the spread speed of signal is s, ground multiple receiversThe time receiving signal is respectivelyIf, the S point of aircraft
Coordinate is:, then can getThe equation group of individual equation composition:
Utilize the approximate solution of Newton iteration method accounting equation, be i.e. aircraft A positionApproximation under three-dimensional cartesian coordinate system
Point;
[step 3]: change between rectangular coordinate and longitude and latitude；
Through Newton iteration method can calculate aircraft at three-dimensional system of coordinate under approximation point, exist in order to be accurately positioned aircraft
Tellurian position, then need that the rectangular coordinate of aircraft approximates point and be mapped on corresponding longitude and latitude；
Main method is: owing to three-dimensional cartesian coordinate system is around a littleSet up, then aircraft is at three-dimensional right angle
Under coordinate systemThe most corresponding aircraft position of the coordinate figure of axleWith pointBetween longitude range difference and latitude range difference, according to
Relation between longitude and latitude and distance can be releasedThe approximation longitude and latitude of point:
Above-mentioned longitude and latitudeIt it is i.e. the position at the concrete place of aircraft A.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109581289A (en) * | 2018-11-27 | 2019-04-05 | 南京理工大学 | Vehicle-mounted fire-fighting rotor wing unmanned aerial vehicle TOA co-located method |
| CN111307119A (en) * | 2020-03-17 | 2020-06-19 | 东南数字经济发展研究院 | Pixel-level spatial information recording method for oblique photography |
| CN111352444A (en) * | 2020-04-23 | 2020-06-30 | 上海交通大学 | Unmanned aerial vehicle outdoor mobile platform autonomous landing method and system based on wireless navigation |
| CN112269197A (en) * | 2020-10-12 | 2021-01-26 | 合肥四相至新科技有限公司 | Coordinate conversion method and system |
| CN114150725A (en) * | 2021-11-08 | 2022-03-08 | 中交疏浚技术装备国家工程研究中心有限公司 | Fine digging control system of grab dredger |
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| CN101706569A (en) * | 2009-11-05 | 2010-05-12 | 民航数据通信有限责任公司 | Method and device for estimating covering precision of multipoint positioning system |
| CN104900091A (en) * | 2015-06-19 | 2015-09-09 | 中国电子科技集团公司第五十一研究所 | Airport passive monitoring system and air traffic management system |
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| CN101256717A (en) * | 2008-04-09 | 2008-09-03 | 重庆市易博数字技术有限公司 | Quick public transport vehicle positioning based on GPS and traffic signal control method and apparatus |
| CN101706569A (en) * | 2009-11-05 | 2010-05-12 | 民航数据通信有限责任公司 | Method and device for estimating covering precision of multipoint positioning system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109581289A (en) * | 2018-11-27 | 2019-04-05 | 南京理工大学 | Vehicle-mounted fire-fighting rotor wing unmanned aerial vehicle TOA co-located method |
| CN111307119A (en) * | 2020-03-17 | 2020-06-19 | 东南数字经济发展研究院 | Pixel-level spatial information recording method for oblique photography |
| CN111352444A (en) * | 2020-04-23 | 2020-06-30 | 上海交通大学 | Unmanned aerial vehicle outdoor mobile platform autonomous landing method and system based on wireless navigation |
| CN112269197A (en) * | 2020-10-12 | 2021-01-26 | 合肥四相至新科技有限公司 | Coordinate conversion method and system |
| CN112269197B (en) * | 2020-10-12 | 2024-04-19 | 合肥四相至新科技有限公司 | Coordinate conversion method and system thereof |
| CN114150725A (en) * | 2021-11-08 | 2022-03-08 | 中交疏浚技术装备国家工程研究中心有限公司 | Fine digging control system of grab dredger |
| CN114150725B (en) * | 2021-11-08 | 2023-09-19 | 中交疏浚技术装备国家工程研究中心有限公司 | Fine digging control system of grab dredger |
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| CB02 | Change of applicant information |
Address after: 230088 Anhui City, Hefei Province, No. 4 Suzhou Road, Xin building, room 3009 Applicant after: Flying friend Technology Co., Ltd. Address before: 230088 Anhui City, Hefei Province, No. 4 Suzhou Road, Xin building, room 3009 Applicant before: Hefei Feiyou Network Technology Co., Ltd. |
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Application publication date: 20170104 |
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| RJ01 | Rejection of invention patent application after publication |