CN106846926A - A kind of no-fly zone unmanned plane method for early warning - Google Patents
A kind of no-fly zone unmanned plane method for early warning Download PDFInfo
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- CN106846926A CN106846926A CN201710239027.XA CN201710239027A CN106846926A CN 106846926 A CN106846926 A CN 106846926A CN 201710239027 A CN201710239027 A CN 201710239027A CN 106846926 A CN106846926 A CN 106846926A
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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]
- G08G5/0073—Surveillance aids
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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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]
- G08G5/0095—Aspects of air-traffic control not provided for in the other subgroups of this main group
Abstract
The invention belongs to unmanned plane regulation technique field, a kind of no-fly zone unmanned plane method for early warning is particularly related to.The method of the present invention gathers a number of latitude and longitude coordinates point that unmanned plane ought fly for the previous period first, by Coordinate Conversion, it is converted into corresponding plane coordinates point in plane right-angle coordinate, then these corresponding Discrete Plane coordinate points are carried out curve fitting using improved least square method, fit the flight path of unmanned plane this period, finally obtain tangent line of the matched curve in current point, judge whether unmanned plane can enter no-fly zone by judging whether the tangent line can intersect with the fence of description no-fly zone.If meeting, obtain current point apart from the real-time range of no-fly zone and alert in time, if will not if carry out the prediction of subsequent time.Unmanned plane method for early warning in no-fly zone of the invention will have wide practical use in civilian unmanned plane supervision area.
Description
Technical field
The invention belongs to unmanned plane regulation technique field, a kind of no-fly zone unmanned plane method for early warning is particularly related to.
Background technology
With continuing to develop for unmanned air vehicle technique, increasing Small Civil unmanned plane quilt in our daily life
Using.But increasingly ripe compared to unmanned air vehicle technique, the regulation technique of unmanned plane then comparatively falls behind, especially to flying
The supervision of unmanned plane, more lacks around the no-fly zones such as airport.In order to ensure the traffic safety of low latitude domain, prevent around no-fly zone
Unmanned plane swarm into the region, cause unnecessary security incident, it is necessary to the unmanned plane around no-fly zone is carried out timely pre-
Police commissioner manages.
The content of the invention
The purpose of the present invention is to propose to a kind of no-fly zone unmanned plane method for early warning.
The technical scheme is that：
A kind of no-fly zone unmanned plane method for early warning, it is characterised in that comprise the following steps：
S1, acquisition unmanned plane during flying trajectory coordinates, specifically include：
S11, the discrete coordinate that unmanned plane during flying track is obtained by GPS：Under WGS-84 coordinate systems, obtain and record
The coordinate points of unmanned plane during flying track；
Coordinate points under S12, the WGS-84 coordinate systems by coordinate system transformation approach by record are converted under BJ-54 coordinate systems
Geographical coordinate；
S13, by the geographical coordinate under BJ-54 coordinate systems by gauss projection method by the geographical spherical coordinate transformation into Gauss
Plane coordinates (x, y)：
The conversion formula equation below 1 and formula 2 of geographical coordinate (B, L) and Gauss plane coordinate (x, y)：
Wherein, B is the geodetic latitude of subpoint；L=L-L0 is the geodetic longitude of subpoint, and L0 is the meridianal the earth of axle
Longitude；N is the radius of curvature in prime vertical of subpoint；T=tanB；η=e2*cosB, e2 are the second eccentricity of elliptical shape ball；X0 is
As l=0, from the Meridian arc length that equator is started at, equation below 3：
Wherein, a is that major radius is long；K0、K2、K4、K6、K8It is the known coefficient relevant with the first eccentric ratio e 1 of elliptical shape ball；
S2, the Gauss plane coordinate according to acquisition, flight is fitted to using least square method by the flight path of unmanned plane
Curve；
S3, the flight curve to obtaining are updated：
Used as a queue, repeat step S1 gets new nothing to the multiple unmanned plane during flying coordinates that will be obtained in step S1
After man-machine flight path coordinate, cast out the coordinate points of unmanned plane during flying coordinate queue tail of the queue, the new unmanned plane during flying for obtaining is sat
Mark adds team's head, and according to the unmanned plane during flying coordinate queue after renewal, repeat step S2 fits new unmanned plane during flying again
Curve；
S4, repeat step S3 are persistently updated to unmanned plane during flying curve；Above-mentioned steps are as shown in Figure 1；And according to obtaining
The unmanned plane during flying curve for obtaining, judges whether unmanned plane can enter no-fly zone, the unmanned plane early warning to that will enter no-fly zone.
Because unmanned plane is likely to occur the situation that special circumstances cause movement locus to deviate in flight, it is added
Itself motion non-intellectual, only depend merely on the matched curve at some moment predict the unmanned plane flight path obviously some
It is unreliable and unreasonable, it is therefore necessary to which that traditional least square curve fitting algorithm is improved, used at current time
Least square curve fitting algorithm fits the flight path of unmanned plane this period, and subsequent time casts out the coordinate of most end
Put and add newest coordinate points and fit new curve again, trajectory predictions uninterruptedly are carried out to unmanned plane during flying, so that
The accuracy and reliability of prediction are improve, therefore, further, the specific method of the step S2 is：
Define adaptation function p (x) equation below 4 between unmanned plane during flying curve and unmanned plane during flying track：
P (x)=a0+a1x+a2x2+...+amxm(formula 4)
Define the quadratic sum E2 equation below 5 of error between unmanned plane during flying curve and real data
Polynomial function in defined formula 4 is 5 order polynomial functions, then bent to unmanned plane during flying using least square method
The fitting of line is specially：
To E2 respectively to aiPartial derivative is sought, the equation of equation below 6 is obtained：
Formula 6 is converted into the equation group for 5 order polynomial a0, a1 ... a5, equation below 7：
Using the equation group shown in Gaussian elimination method solution formula 7, the coefficient a of 5 order polynomials is obtained0,a1,…a5, obtain
5 order polynomial functions of the fitting of curve, so as to obtain the expression formula of the curve of fitting unmanned plane during flying track.
After the flight path for fitting unmanned plane, next problem be exactly unmanned plane enter no-fly zone early warning, it is necessary to
Judge the unmanned plane whether can enter no-fly zone, be the unmanned plane flight path matched curve whether can with represent no-fly zone
Fence intersect.The present invention carries out early warning and alert using the tangent line based on unmanned plane during flying geometric locus current point.Due to
The tangent line of flight path certain point then illustrates heading of the unmanned plane in the point, by obtaining matched curve at current time
The tangential equation of point then can well illustrate whether current time unmanned plane has the trend for flying into no-fly zone.
After the tangential equation of the current point drawn using matched curve, by judge the tangent line whether with description no-fly zone
Fence intersects to predict whether the unmanned plane can enter no-fly zone.However, because fence is irregular shape, such as
What knows whether straight line intersects with irregular figure, is a problem urgently to be resolved hurrily.The present invention is using minimum external
Rectangular Method, each flex point latitude and longitude coordinates of fence are transformed into Gaussian parabolic line system plane first is sat
Mark, then solves the convex closure of the fence, finally by tangent line of the flight path in current point for directly calculating unmanned plane
Whether intersect to predict whether the unmanned plane can enter no-fly zone with the minimum enclosed rectangle of description fence, so as to solve
This problem.As shown in Fig. 2 further, the specific method of the step S4 is：
According to the unmanned plane during flying curve for obtaining, early warning is carried out using the tangent line based on unmanned plane during flying curve current point pre-
Survey：
If G (x0,y0) it is current point on unmanned plane during flying track fitting curve, if matched curve is deposited in the derivative of G points
Then according to the 5 order polynomial curves and the coordinate of current point being fitted, the slope of the tangential equation of current point, then root are being obtained
According to the point slope form equation of straight line, the coordinate of current point is brought into, draw the tangential equation of current point, equation below 8：
y-y0=f'(x0)(x-x0) (formula 8)
If unmanned plane during flying track fitting curve does not exist in the derivative of G points, defined by tangent line and known, matched curve is current
The tangential equation of point G is equation below 9：
X=x0(formula 9)
Obtain and unmanned plane movement locus in the tangential equation of current point, ought pass through for the previous period by formula 8 and formula 9
Judge whether the tangent line intersects with no-fly zone fence and predict whether the unmanned plane can enter no-fly zone, if so, then to nobody
Machine sends early warning signal, if it is not, the early warning for then carrying out next round judges.
Further, it is described to judge whether the specific method intersected with no-fly zone fence is the tangent line：
Irregular polygon is shown as on map according to no-fly zone fence, no-fly zone fence is divided
Solution, fence is substituted using convex closure, and the convex closure is comprising one group of minimal convex polygon of point in plane, specially：
The point for choosing y-coordinate minimum is concentrated to be designated as p in the flex point of description fence0, then with p0It is origin, to other
All flex points do coordinate transform, while calculating the coordinate and argument of these points, with these flex points of the non-drop sequence of argument, and remember row
Point set after sequence is equation below 10：
T={ p1,p2,p3,...,pn-1(formula 10)
Wherein, p1With pn-1Respectively with p0Constitute the minimum argument with maximum；
Using the element in point set T as the dispatching point of event from p0Start to pn-1Untill be scanned, in scanning process
In, scanned fence flex point is stored with storehouse CS, and semi-enclosed convex polygon, first heap are constituted by these flex points
The initialization element of stack is pn-1、p0, the fence flex point in point set T is entered successively according to polar argument size then
Row scanning, it is assumed that at a time, stack content is equation below 11：
CS={ pn-1,p0,...,pi,pj,pk(formula 11)
Stack top fence flex point is pk, the point being scanned is pl, to by pj、pk、plThe path direction of composition enters
Row judge, if turn left, then by this three-point shape into side be chimb, by point plPress-in stack top, then proceedes to scanning next
Individual fence flex point；And if turning right, then stack top fence flex point p nowkIt is not necessarily the summit of convex closure, will
It ejects stack top, and p is then continued to scan on againl, stack top element now is pj, to by pi、pj、plThe path direction of composition, adopts
Judged in aforementioned manners；
The minimal convex polygon of fence is obtained per the minimum enclosed rectangle of a line：
The a line in tried to achieve convex polygon is chosen as initial line is played, this is obtained in two summits according to this edge
Linear equation where side, and remember that the straight line is L1, slope is k1；
Find out in the convex polygon of the fence in all of flex point to straight line L1Apart from farthest point, p is designated asx, obtain
Cross pxPut and slope is also k1Linear equation, and remember the straight line be L2；
It is e that note chooses the left end point on side, obtained point e and slope is -1/k1Linear equation, note straight line be L3, according to such as
Lower formula 12：
Obtain all in straight line L of convex polygon3Apart from straight line L in the flex point on the left side3Farthest flex point is designated as py, and ask
Go out all in straight line L of convex polygon3Apart from straight line L in the flex point on the right3Farthest flex point is designated as pz, then slope is obtained respectively
For -1/k1And cross point pyLinear equation, note straight line be L4, and slope is -1/k1And cross point pzLinear equation, note straight line be
L5；
Straight line L is obtained respectively4With L1、L1With L5、L5With L2、L2With L4Intersection point be A, B, C, D, then be made up of A, B, C, D
Rectangle was the minimum enclosed rectangle on this side of the convex polygon of fence；
The minimum enclosed rectangle by other all sides of the convex polygon of fence is obtained, and is calculated according to the above method
Went out four apex coordinates of the minimum enclosed rectangle per a line and preserved；
The minimum enclosed rectangle size of required all every a lines by the convex polygon is calculated and compares, most
The boundary rectangle of small area is the minimum enclosed rectangle of the fence for describing the no-fly zone；
Predict whether the unmanned plane can enter with whether minimum enclosed rectangle intersects by the tangent line of directly calculating current point
Enter no-fly zone：
The intersection point p of the tangent line and straight line where minimum enclosed rectangle side is calculated respectively1、p2、p3、p4；If tangential equation be as
Lower formula 13：
Y=k*x+b (formula 13)
Linear equation where minimum enclosed rectangle side is equation below 14：
Y=ki*x+bi(i=1,2,3,4) (formula 14)
Then as follows 15：
By the straight line of four binary for solving rectilinear(-al) where every a line of the current point tangent line respectively with rectangle
Equation group is come straight-line intersection coordinate (Xi, Yi) where the every a line for solving the tangent line and rectangle；
Judge required intersection point whether on minimum enclosed rectangle side：
Because the intersection point of the tangent line and rectangle is possible on the extended line on side, it is therefore desirable to rejected not by constraints
Intersection point in the rectangular edges；Selected from the required intersection point for meeting constraints closest apart from unmanned plane current point
Point, is obtained from the closest intersection point of current point from the intersection point for obtaining using distance between two points formula；Unmanned plane is calculated to work as
It is most short with no-fly zone that preceding point is current time unmanned plane with the distance of closest intersection point on minimum enclosed rectangle side
Distance.
The beneficial effects of the invention are as follows：A kind of new no-fly zone unmanned plane method for early warning is proposed, to the nothing around no-fly zone
It is man-machine timely to implement early warning, real-time monitoring, the purpose for preventing them from swarming into no-fly zone are carried out to them to reach, greatly carry
The security of Small Civil unmanned plane during flying, will be widely used in civilian unmanned plane supervision area around no-fly zone high
Prospect.
Brief description of the drawings
Fig. 1 is unmanned plane during flying trajectory predictions process flow diagram flow chart；
Fig. 2 is the prealarming process flow chart that unmanned plane enters no-fly zone.
Specific embodiment
Technical scheme is had described in detail in Summary, be will not be repeated here.
Claims (4)
1. a kind of no-fly zone unmanned plane method for early warning, it is characterised in that comprise the following steps：
S1, acquisition unmanned plane during flying trajectory coordinates, specifically include：
S11, the discrete coordinate that unmanned plane during flying track is obtained by GPS：Under WGS-84 coordinate systems, obtain and record nobody
The coordinate points of machine flight path；
Coordinate points under S12, the WGS-84 coordinate systems by coordinate system transformation approach by record are converted to the ground under BJ-54 coordinate systems
Reason coordinate；
S13, by the geographical coordinate under BJ-54 coordinate systems by gauss projection method by the geographical spherical coordinate transformation into Gaussian plane
Coordinate (x, y)：
The conversion formula equation below 1 and formula 2 of geographical coordinate (B, L) and Gauss plane coordinate (x, y)：
Wherein, B is the geodetic latitude of subpoint；L=L-L0 is the geodetic longitude of subpoint, and L0 is the meridianal the earth warp of axle
Degree；N is the radius of curvature in prime vertical of subpoint；T=tanB；η=e2*cosB, e2 are the second eccentricity of elliptical shape ball；X0 is to work as
During l=0, from the Meridian arc length that equator is started at, equation below 3：
Wherein, a is that major radius is long；K0、K2、K4、K6、K8It is the known coefficient relevant with the first eccentric ratio e 1 of elliptical shape ball；
S2, the Gauss plane coordinate according to acquisition, flight curve is fitted to using least square method by the flight path of unmanned plane；
S3, the flight curve to obtaining are updated：
Used as a queue, repeat step S1 gets new unmanned plane to the multiple unmanned plane during flying coordinates that will be obtained in step S1
After flight path coordinate, cast out the coordinate points of unmanned plane during flying coordinate queue tail of the queue, the new unmanned plane during flying coordinate for obtaining is added
Join the team head, according to the unmanned plane during flying coordinate queue after renewal, repeat step S2 fits new unmanned plane during flying curve again；
S4, repeat step S3 are persistently updated to unmanned plane during flying curve；And according to the unmanned plane during flying curve for obtaining, judge
Whether unmanned plane can enter no-fly zone, the unmanned plane early warning to that will enter no-fly zone.
2. a kind of no-fly zone unmanned plane method for early warning according to claim 1, it is characterised in that the step S2's is specific
Method is：
Define adaptation function p (x) equation below 4 between unmanned plane during flying curve and unmanned plane during flying track：
P (x)=a0+a1x+a2x2+...+amxm(formula 4)
Define the quadratic sum E2 equation below 5 of error between unmanned plane during flying curve and real data
Polynomial function in defined formula 4 is 5 order polynomial functions, then using least square method to unmanned plane during flying curve
Fitting is specially：
To E2 respectively to aiPartial derivative is sought, the equation of equation below 6 is obtained：
Formula 6 is converted into the equation group for 5 order polynomial a0, a1 ... a5, equation below 7：
Using the equation group shown in Gaussian elimination method solution formula 7, the coefficient a of 5 order polynomials is obtained0,a1,…a5, obtain curve
Fitting 5 order polynomial functions, so as to obtain the expression formula of the curve of fitting unmanned plane during flying track.
3. a kind of no-fly zone unmanned plane method for early warning according to claim 2, it is characterised in that the step S4's is specific
Method is：
According to the unmanned plane during flying curve for obtaining, early warning and alert is carried out using the tangent line based on unmanned plane during flying curve current point：
If G (x0,y0) it is current point on unmanned plane during flying track fitting curve, if matched curve exists in the derivative of G points,
The coordinate of 5 order polynomial curves and current point according to fitting, obtains the slope of the tangential equation of current point, further according to straight line
Point slope form equation, bring the coordinate of current point into, draw the tangential equation of current point, equation below 8：
y-y0=f'(x0)(x-x0) (formula 8)
If unmanned plane during flying track fitting curve does not exist in the derivative of G points, defined by tangent line and known, matched curve is in current point G
Tangential equation be equation below 9：
X=x0(formula 9)
By formula 8 and formula 9 obtain ought for the previous period unmanned plane movement locus current point tangential equation, by judging
Whether the tangent line intersects with no-fly zone fence is predicted whether the unmanned plane can enter no-fly zone, if so, then sending out unmanned plane
Go out early warning signal, if it is not, the early warning for then carrying out next round judges.
4. a kind of no-fly zone unmanned plane method for early warning according to claim 3, it is characterised in that the judgement tangent line is
The no specific method that intersects with no-fly zone fence is：
Irregular polygon is shown as on map according to no-fly zone fence, using Minimum Enclosing Rectangle method to no-fly zone
Fence is decomposed, specially：
The convex closure of fence is obtained, the convex closure is, comprising one group of minimal convex polygon of point in plane, to be enclosed in description electronics
The flex point on column concentrates the point for choosing y-coordinate minimum to be designated as p0, then with p0It is origin, coordinate transform is done to other all flex points, together
When calculate these point coordinate and argument, with argument it is non-drop sort these flex points, and remember sequence after point set be equation below
10：
T={ p1,p2,p3,...,pn-1(formula 10)
Wherein, p1With pn-1Respectively with p0Constitute the minimum argument with maximum；
Using the element in point set T as the dispatching point of event from p0Start to pn-1Untill be scanned, in scanning process, use heap
Stack CS stores scanned fence flex point, and semi-enclosed convex polygon is made up of these flex points, and storehouse is first first
Beginningization element is pn-1、p0, the fence flex point in point set T is scanned successively according to polar argument size then,
It is assumed that at a time, stack content is equation below 11：
CS={ pn-1,p0,...,pi,pj,pk(formula 11)
Stack top fence flex point is pk, the point being scanned is pl, to by pj、pk、plThe path direction of composition is sentenced
It is disconnected, if turning left, then by this three-point shape into side be chimb, by point plPress-in stack top, then proceedes to scan next electricity
Sub- fence flex point；And if turning right, then stack top fence flex point p nowkIt is not necessarily the summit of convex closure, by its bullet
Go out stack top, p is then continued to scan on againl, stack top element now is pj, to by pi、pj、plThe path direction of composition, using upper
The method of stating is judged；
The minimal convex polygon of fence is obtained per the minimum enclosed rectangle of a line：
The a line in tried to achieve convex polygon is chosen as initial line is played, this side institute is obtained on two summits according to this edge
In linear equation, and remember that the straight line is L1, slope is k1；
Find out in the convex polygon of the fence in all of flex point to straight line L1Apart from farthest point, p is designated asx, obtained px
Put and slope is also k1Linear equation, and remember the straight line be L2；
It is e that note chooses the left end point on side, obtained point e and slope is -1/k1Linear equation, note straight line be L3, according to following public affairs
Formula 12：
Obtain all in straight line L of convex polygon3Apart from straight line L in the flex point on the left side3Farthest flex point is designated as py, and obtain convex
It is polygonal all in straight line L3Apart from straight line L in the flex point on the right3Farthest flex point is designated as pz, then it is -1/ to obtain slope respectively
k1And cross point pyLinear equation, note straight line be L4, and slope is -1/k1And cross point pzLinear equation, note straight line be L5；
Straight line L is obtained respectively4With L1、L1With L5、L5With L2、L2With L4Intersection point be A, B, C, D, then the rectangle being made up of A, B, C, D
As cross the minimum enclosed rectangle on this side of the convex polygon of fence；
The minimum enclosed rectangle by other all sides of the convex polygon of fence is obtained, and was calculated according to the above method
Four apex coordinates of the minimum enclosed rectangle per a line are simultaneously preserved；
Calculate and compare the minimum enclosed rectangle size of required all every a lines by the convex polygon, minimal face
Long-pending boundary rectangle is the minimum enclosed rectangle of the fence for describing the no-fly zone；
Predict whether the unmanned plane can enter taboo by the way that whether the tangent line and minimum enclosed rectangle of directly calculating current point intersect
Fly area：
The intersection point p of the tangent line and straight line where minimum enclosed rectangle side is calculated respectively1、p2、p3、p4；If tangential equation is following public
Formula 13：
Y=k*x+b (formula 13)
Linear equation where minimum enclosed rectangle side is equation below 14：
Y=ki*x+bi(i=1,2,3,4) (formula 14)
Then as follows 15：
By the linear equation of four binary for solving rectilinear(-al) where every a line of the current point tangent line respectively with rectangle
Group is come straight-line intersection coordinate (Xi, Yi) where the every a line for solving the tangent line and rectangle；
Judge required intersection point whether on minimum enclosed rectangle side：
Because the intersection point of the tangent line and rectangle is possible on the extended line on side, it is therefore desirable to rejected not at this by constraints
Intersection point in rectangular edges；Selected from the required intersection point for meeting constraints apart from the closest point of unmanned plane current point, from
Obtained from the closest intersection point of current point using distance between two points formula in the intersection point of acquisition；Calculate unmanned plane current point with
The distance of closest intersection point is the beeline of current time unmanned plane and no-fly zone on minimum enclosed rectangle side.
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