CN107492266A - The conflict automatic distinguishing method and device of termination environment PBN instrument flight procedures - Google Patents
The conflict automatic distinguishing method and device of termination environment PBN instrument flight procedures Download PDFInfo
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- CN107492266A CN107492266A CN201710761927.0A CN201710761927A CN107492266A CN 107492266 A CN107492266 A CN 107492266A CN 201710761927 A CN201710761927 A CN 201710761927A CN 107492266 A CN107492266 A CN 107492266A
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- course line
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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]
- G08G5/04—Anti-collision systems
Abstract
The present invention relates to a kind of conflict automatic distinguishing method of termination environment PBN mission programs and device, the method comprising the steps of：Read the course data of all course line sections；All course line sections are traveled through, extract the course line section with crosspoint, and find out the crosspoint between intersecting course line section；The height of two end points of two intersecting course line sections is derived respectively；Judge whether two intersecting course line sections are less than or equal to the threshold value of setting in the spacing of intersection, be if it is determined as conflict, be otherwise determined as Lothrus apterus.Using method and device provided by the invention, the operating efficiency of programmer can be increased substantially, the live load of programmer is reduced, reduces probability of human error, while the visualization of mission program intuitively can quickly provide the reference means of potential conflict analysis for controlling officer.
Description
Technical field
The present invention relates to aerial navigation to service mission program design field, particularly a kind of termination environment PBN flight journeys
The conflict automatic distinguishing method and device of sequence.
Background technology
The increase of air traffic amount so that large-scale blank pipe termination environment becomes more and more busier, crowded.In the spatial domain of termination environment
Aircraft is generally in the state of flight climbed or declined, and adds the complexity in termination environment spatial domain, in high density traffic flow environment
Under, ensure that the traffic safety in complicated spatial domain is most important.How each relevant departments of Civil Aviation Administration of China is ensureing to fly if being faced with
The problem of ensuring flight safety while row service quality, large-scale terminal control area are more urgent.
As the core content of AIRSPACE PLANNING, perfect PBN (Performance Based Navigation, based on property
Can navigation) program can in effective guarantee termination environment flight safe operation.The large-scale termination environment of distinct Chinese characteristics has more
Entering and leaving port point, and it is distributed more scattered, so as to cause to enter the frequent intersection of outward route in termination environment.In addition, in China,
Most of mission program designers lack practical operating experiences, in order to meet gradient of climb (ROC) or downward gradient (ROD) etc.
Mission program design standard, often result in many potential control conflicting nodes or legs so that programming and controller's
Demand, which is not consistent, adds the airborne vehicle transfer difficulty of air traffic controller, and many scripts are additionally used in command process
Avoidable control interval, adds ATC controller workload.At present, these potential conflicts can only be divided one by one by human hand
Analysis, investigation, this work not only take time and effort, and produce mistake with the probability of missing as the increasing of mission program quantity
Add and be incremented by.
The content of the invention
It is an object of the invention to improve the deficiency in the presence of prior art, there is provided a kind of termination environment PBN mission programs
Conflict automatic distinguishing method and device.
In order to realize foregoing invention purpose, the embodiments of the invention provide following technical scheme：
A kind of conflict automatic distinguishing method of termination environment PBN mission programs, comprises the following steps：
The course data of all course line sections is read, and is stored；
All course line sections are traveled through, extract the course line section with crosspoint, and are found out between intersecting course line section
Crosspoint；
The height of two end points of two intersecting course line sections is derived respectively；
Judge whether two intersecting course line sections are less than or equal to the threshold value of setting in the spacing of intersection, if it is sentence
Wei there is not conflict, otherwise be determined as Lothrus apterus.
Further, in the above method, in addition to step：
According to the height of the two of course line section end points, extract respectively two intersecting course line sections away from crosspoint setting away from
Height layer from the range of；
It is described to judge whether two intersecting course line sections are less than the threshold value of setting by following steps in the spacing of intersection
Instead of：
Judging the minimum spacing between height layer of two intersecting course line sections in away from crosspoint set distance range is
The no threshold value for being less than or equal to setting.
A kind of conflict automatic discriminating gear of termination environment PBN mission programs, including：
Course data read module, for reading the course data of all course line sections, and store；
Crosspoint searching modul, for traveling through all course line sections, the course line section with crosspoint is extracted, and find out
Crosspoint between intersecting course line section；
Termination height derivation module, the height of two end points for deriving two intersecting course line sections respectively；
Conflict discrimination module, for judging whether two intersecting course line sections are less than or equal to setting in the spacing of intersection
Threshold value, be if it is determined as conflict, be otherwise determined as Lothrus apterus.
Further, in said apparatus, in addition to height layer extraction module, the height for two end points according to course line section
Degree, extracts height layer of the two intersecting course line sections in away from crosspoint set distance range respectively；
The conflict discrimination module is specifically used for, and judges two intersecting course line sections in away from crosspoint set distance range
Height layer between minimum spacing whether be less than or equal to setting threshold value, be if it is determined as conflict, be otherwise determined as
Lothrus apterus.
Compared with prior art, using method and device provided by the invention, programmer can be increased substantially
Operating efficiency, reduce the live load of programmer, reduce probability of human error, while the visualization (institute of mission program
Mission program is intuitively apparent on map by the visualization of meaning) intuitively quickly it can provide potential conflict for controlling officer
The reference means of analysis.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is a kind of flow of the conflict automatic distinguishing method of termination environment PBN mission programs provided in an embodiment of the present invention
Figure.
Fig. 2 is the two dimension displaying schematic diagram of two boat line segment intersections.
Fig. 3 is the three-dimensional display schematic diagram of two boat line segment intersections.
Fig. 4 is the stream of the conflict automatic distinguishing method of another termination environment PBN mission programs provided in an embodiment of the present invention
Cheng Tu.
Fig. 5 is a kind of structure of the conflict automatic discriminating gear of termination environment PBN mission programs provided in an embodiment of the present invention
Schematic diagram.
Fig. 6 is the knot of the conflict automatic discriminating gear of another termination environment PBN mission programs provided in an embodiment of the present invention
Structure schematic diagram.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
Referring to Fig. 1, the conflict automatic distinguishing method of the termination environment PBN mission programs provided in the present embodiment, including with
Lower step：
S101, reads the course data of all course line sections, and is stored in pre-established data structure.
In the present embodiment, illustrated by taking the PBN mission programs of AutoCAD forms as an example, the PBN flight journeys of CAD forms
In sequence, each approach course or flight-line design of leaving the theatre are a figure layer, and according to approach course, leave the theatre course line to name, enter
Since the drawing order in course line to Initial Approach anchor point approaching, and the drawing order in course line of leaving the theatre is since runway end points
To departure from port point.The main field of level configurations data has course line title, course line leg index, height limitation type, height value, deposits
Storage form is TXT text formattings, and the parameter of initialization has the longitude and latitude of CAD origins, gradient of climb of leaving the theatre, downward gradient of marching into the arena.
When reading course data, follow the steps below：
The data of CAD forms are converted to the data of DXF forms.Group code and its implication of the DXF about straight line such as following table institute
Show：
The first row data of reading DXF form, if " EOF ", then stop reading data, if not continuing down to read.
If the data the first row value read is " 0 ", the second row value is " LINE ", then start recording data.When reading value is
" 10 ", the x values of first end points of course line section are recorded, be " 20 " when being worth, the y values of first end points of course line section are recorded, when value is
" 30 ", the z values of first end points of course line section are recorded, be " 11 " when being worth, the x values of second end points of course line section are recorded, when value is
" 21 ", the y values of course line section second segment end points are recorded, be " 31 " when being worth, the z values of course line section second segment end points are recorded, when value is
" 8 ", record course line name section.
S102, travel through all course line sections, extract the course line section with crosspoint, and find out intersecting course line section it
Between crosspoint.
In this step, it is necessary first to the course line section with crosspoint is extracted from all course line sections, then again from every
Crosspoint is found out in one group of course line section to intersect.Crosspoint herein refers to the crosspoint in two dimension, as shown in Fig. 2 simultaneously
The non-two real crosspoints of course line section referred in three-dimensional.
In every two course line sections, described for the ease of distinguishing, it is the first course line section to define a wherein course line section, another
Course line section is the second course line section, judges whether two course line sections intersect, and its method is：Judge two end points of the first course line section
Whether it is located at the both sides of the second course line section, judges whether two end points of the second course line section are located at the both sides of the first course line section, such as
Two judged results of fruit are to be, then this two boat line segment intersections.In order to reduce the operand of hardware, when performing this step,
Judge whether two end points of the first course line section are located at the both sides of the second course line section, if not then terminating this two boats
The judgement whether line segment intersects；If then continuing to judge whether two end points of the second course line section are located at the two of the first course line section
Side, if not then terminating the judgement whether two course line sections intersect, if then judging this two boat line segment intersections, enter one
Step finds out crosspoint.
By taking situation shown in Fig. 2 as an example, illustrate and differentiate that flow is as follows：
There are two course line sections, respectively line segment AB, line segment CD, (two dimension) coordinates of wherein A points is (x1, y1), the seat of B points
It is designated as (x2, y2), the coordinate of C points is (x3, y3), and the coordinate of D points is (x4, y4).Judge whether line segment AB deposits with line segment CD
In intersection point, judged with amount of area：Make A points be vector starting point, B points be vector terminal, reference area amount S (A, B,
C) judge the position of C points, there are following several situations.
(1) if amount of area S is positive number, then ABC is counterclockwise, then C points are located at vector AB left side；
(2) if amount of area S is negative, then ABC is clockwise, then C points are located at vector AB right side；
(3) if amount of area S be 0, C points on line segment AB.
Same method, it can be determined that D points relative to line segment AB position.Then judge A points, B points relative to line segment CD
Position.If A points, B points are located at CD not homonymy and C points, D points are located at AB not homonymy, it is possible to conclude line segment AB and line
Section CD intersects.
When searching crosspoint, it is known that the extreme coordinates of two lines section, the intersecting point coordinate for asking for the two lines section are geometry number
Prior art in, here for saving space, this is not run business into particular one and stated.
S103, the height of two end points of two intersecting course line sections is derived respectively.
For having set the course line section of level configurations data when being directed to design mission program, after reading course data
The height of two end points of course line section can be directly obtained.As shown in Fig. 2 the height of course line section AB two end points is respectively
3600 (rice), 4200, the height of course line section CD two end points is respectively 3900,4800.
It is directed to for the course line section of no setting height configuration data, can be derived according to gradient of climb and downward gradient
Sail line segment two end points height.
Approach course section termination height is deduced and deduced according to field sequence is entered, since the height limitation value marched into the arena,
With defined minimum downward gradient and highest downward gradient, the minimum altitude and maximum height of end point under deducing.Leave the theatre course line
Section termination height, which is deduced, to be deduced according to order of leaving the theatre, and since the height limitation value left the theatre, minimum climbed with defined
Gradient and highest gradient of climb, deduce the minimum altitude and maximum height of lower end point.
There may be height limitation in view of way point below, it is necessary to carry out a series of comparison, specific deduction process is as follows：
Approach course termination height is deduced：
Step 1：Calculate minimum altitude, the maximum height of certain point.
Minimum altitude：Using approach altitude limits value as basic point, the nearest minimum altitude of first Search Length approach altitude limits value,
And assignment Z2 [2]==2, the minimum altitude value of this section is then calculated with formula Z2 [1]=Z1 [1]-D*CMax, is designated as Z2 [0],
If Z2 [0]>Z2 [2], then minimum altitude value is calculated value Z2 [0] at the point, is otherwise Z2 [2].
If being marched into the arena with greatest gradient, defined maximum height is not reached, i.e. minimum altitude value at the point is more than limitation
Upper height limit, then illustrate that mission program height or downward gradient are set unreasonable herein, therefore report an error.
Maximum height：If the point is Z2 [2]==1, Z2 [1]==Z2 [2], otherwise Z2 [2]==Z1 [1].
One course line may form (as shown in Figure 2) by a plurality of course line section, such a situation is directed to, by the minimum value of the point
The Z1 [0] and Z1 [1] of lower end point, repeat step one (now using the point as basic point) are assigned to maximum, until finding out this
The minimum altitude value and maximum height value of the end points of all course line sections in course line.
For example, in shown in Fig. 2, first using end points C as basic point, according to level configurations data (height limitation value), maximum ladder
Degree, minimal gradient, are first determined end points D minimum altitude value and maximum height value, are then determined again using end points D as basic point
End points E minimum altitude value and maximum height value, then again using end points E as basic point, determine end points F minimum altitude value and most
High height value.
Course line section termination height of leaving the theatre is deduced：
Step 1：Calculate minimum altitude, the maximum height of certain point：
Minimum altitude：Using height limitation value of leaving the theatre as basic point, first Search Length is left the theatre the nearest peak of height limitation value, and
Assignment Z2 [2]==1, setting height is maximum height value 9999 if not finding.Then formula Z2 [0]=Z1 [0]+D* is used
CMin calculates the minimum altitude value of this section, is designated as Z2 [0], then by Z2 [0] compared with Z2 [2], if Z2 [0]>Z2 [2],
Then Z2 [0]==Z2 [2], otherwise minimum altitude value is Z2 [0].
If the point be Z2 [2]==2, once compared again at this point, if Z2 [0]<Z2 [2], then at the point most
Low clearance value is Z2 [2], and is reminded, and changes minimum climb gradient, is otherwise Z2 [0].
Maximum height：Then the maximum of this section is calculated with formula Z2 [1]=Z1 [1]+D*CMax, is designated as Z2 [1], then
By Z2 [1] compared with Z2 [2] every trade, if Z2 [1]>Z2 [2], then Z2 [1]==Z2 [2], otherwise maximum height value is Z2 [1].
If the point be Z2 [2]==2, once compared again at this point, if Z2 [1]>Z2 [2], then at the point most
Big value is Z2 [1], otherwise, is reported an error.
The situation that a course line is made up of a plurality of course line section is directed to, the minimum value of the point and maximum are assigned to next
The Z1 [0] and Z1 [1] of end points, repeat step one (now using the point as basic point), until finding out all course line sections in the course line
The maximum and minimum value of end points.
The implication of above-mentioned variable is described as follows shown in table：
S104, judges whether two intersecting course line sections are less than or equal to the threshold value of setting in the spacing of intersection, if
It is to be determined as conflict, is otherwise determined as Lothrus apterus.
In this step, height of two course line sections in intersection is first derived respectively, then judge two height spacing
Whether the threshold value of setting is less than or equal to.Two termination heights of course line section are derived in step A103, according to geometrical relationship
Height of the course line section in crosspoint can be derived, this is prior art, does not run business into particular one and states herein.
As shown in figure 3, it is d1 to define height of the course line section AB in crosspoint, height of the course line section CD in crosspoint is d2,
So course line section AB and course line section CD is in the spacing of intersection | d1-d2 |, judge | d1-d2 | whether it is less than or equal to setting
Threshold value (such as 300), has if it is been determined as conflict, has otherwise been determined as Lothrus apterus.
It is directed to for the course line section of no setting height configuration data, because gradient of climb or downward gradient there are two values
(industry regulation have a greatest gradient and a greatest gradient), therefore in this case, intersecting two course line sections it is every
One end points has two height, a minimum constructive height and a maximum height.For example, intersecting course line section AB and course line section
CD, now the height of A points have Amin, the height of Amax, B point has Bmin, Bmax, and similarly 2 points of C, D height is respectively Cmin,
Cmax, Dmin, Dmax, now there are four kinds of combinations [Amin Bmin] and [Cmin Dmin]；[Amax Bmax] and [Cmin
Dmin]；[Amax Bmax] and [Cmax Dmax]；[Amin Bmin] and [Cmax Dmax].These four combinations will be performed
This step judged, as long as having a kind of situation the height of intersection occur is unsatisfactory for perpendicular separation more than 300 meters, is then sentenced
Being set to has conflict.
Generally, two course line sections meet the threshold requirement of setting in the height distance of intersection, just cry and think
Potential conflict is not present in two course line sections, is directed to excessively harsh situation, then requires away from crosspoint setpoint distance model
The threshold value of setting can not be more than by enclosing the minimum spacing between the height layer in (such as 3 nautical miles).It is directed to such a situation, such as Fig. 4
It is shown, method of discrimination is commented using following conflict：
S201, reads the course data of all course line sections, and is stored in pre-established data structure.
S202, travel through all course line sections, extract the course line section with crosspoint, and find out intersecting course line section it
Between crosspoint.
S203, the height of two end points of two intersecting course line sections is derived respectively.
S204, according to the height of the two of course line section end points, two intersecting course line sections are extracted respectively away from crosspoint
Height layer in set distance range.
For example, in Fig. 3, two end points in the section AB of course line apart from 3 nautical miles of crosspoint are respectively a, b, course line section CD middle-ranges
Two end points of 3 nautical miles from crosspoint are respectively c, d, it is assumed that the height at end points a is a1, and the height at end points b is b1, then
Altitude range of the height layer between a1 to b1 in the section AB of course line in the range of 3 nautical miles of crosspoint, it is assumed that the height at end points c
Spend for c1, the height at end points d is d1, then the height layer in the section CD of course line in the range of 3 nautical miles of crosspoint is c1 to d1
Between altitude range, the spacing between two height layers is the height between altitude range and c1 to d1 between a1 to b1
Spend the spacing of scope.An angle is changed, in terms of the geometrical relationship in mathematics, the spacing between two height layers is line segment ab
The distance between line segment cd, when judging, that is, judge whether the minimum spacing between line segment ab and line segment cd is less than or equal to setting
Threshold value.
S205, judge between the minimum between height layer of two intersecting course line sections in away from crosspoint set distance range
Away from whether less than or equal to the threshold value set, conflict is if it is determined as, has otherwise been determined as Lothrus apterus.
In the present embodiment above method, conventional AutoCAD format result data are designed by reading existing mission program,
Course data is automatically extracted, realizes that credible height section is deduced in the configuration based on the parameter such as way point height and rise and fall rate,
Automatic discrimination is realized to there may be perpendicular separation conflict in air route crosspoint according to civil aviation control rule, journey can be increased substantially
The operating efficiency of sequence designer, the live load of programmer is reduced, meanwhile, probability of human error is reduced, in addition, flight
The visualization of program intuitively can quickly provide the reference means of potential conflict analysis for controlling officer.
Referring to Fig. 5, a kind of conflict automatic discrimination dress of termination environment PBN mission programs is accordingly provided in the present embodiment
Put, corresponding to the method shown in Fig. 1.The device includes：
Course data read module, for reading the course data of all course line sections, and store.
Crosspoint searching modul, for traveling through all course line sections, the course line section with crosspoint is extracted, and find out
Crosspoint between intersecting course line section.
Termination height derivation module, the height of two end points for deriving two intersecting course line sections respectively.
Conflict discrimination module, for judging whether two intersecting course line sections are less than or equal to setting in the spacing of intersection
Threshold value, be if it is determined as conflict, be otherwise determined as Lothrus apterus.
Referring to Fig. 6, the conflict automatic discrimination of another termination environment PBN mission programs is accordingly provided in the present embodiment
Device, corresponding to the method shown in Fig. 4.The device includes：
Course data read module, for reading the course data of all course line sections, and store.
Crosspoint searching modul, for traveling through all course line sections, the course line section with crosspoint is extracted, and find out
Crosspoint between intersecting course line section.
Termination height derivation module, the height of two end points for deriving two intersecting course line sections respectively.
Height layer extraction module, for the height of two end points according to course line section, two intersecting boats are extracted respectively
Height layer of the line segment in away from crosspoint set distance range.
Conflict discrimination module, for judging height layer of two intersecting course line sections in away from crosspoint set distance range
Between minimum spacing whether be less than or equal to setting threshold value, be if it is determined as conflict, be otherwise determined as Lothrus apterus.
The corresponding description in aforementioned method steps is referred in place of being not directed in apparatus structure description herein.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.
Claims (8)
1. a kind of conflict automatic distinguishing method of termination environment PBN mission programs, it is characterised in that comprise the following steps：
The course data of all course line sections is read, and is stored；
All course line sections are traveled through, extract the course line section with crosspoint, and find out the intersection between intersecting course line section
Point；
The height of two end points of two intersecting course line sections is derived respectively；
Judge whether two intersecting course line sections are less than or equal to the threshold value of setting in the spacing of intersection, be if it is determined as
There is conflict, be otherwise determined as Lothrus apterus.
2. the conflict automatic distinguishing method of PBN mission programs in termination environment according to claim 1, it is characterised in that also wrap
Include step：
According to the height of the two of course line section end points, two intersecting course line sections are extracted respectively away from crosspoint setpoint distance model
Enclose interior height layer；
It is described judge two intersecting course line sections intersection spacing whether be less than setting threshold value replaced by following steps：
Judge whether the minimum spacing between height layer of two intersecting course line sections in away from crosspoint set distance range is small
In the threshold value equal to setting.
3. the conflict automatic distinguishing method of PBN mission programs in termination environment according to claim 1 or 2, it is characterised in that also
Including step：The course data for the course line section for having conflict is stored in tables of data, and/or, rower is entered into the crosspoint for having conflict
Note.
4. the conflict automatic distinguishing method of PBN mission programs in termination environment according to claim 1 or 2, it is characterised in that institute
State and travel through all course line sections, extract the course line section with crosspoint, and find out the crosspoint between intersecting course line section,
Including：
In every two course line sections, whether two end points of wherein one course line section are judged positioned at the both sides of another course line section, if
It is not to terminate；If then continue to judge two end points of another course line section whether positioned at a wherein course line section
Both sides, if not then terminating, if then finding out crosspoint according to the two of two course line sections end points.
5. the conflict automatic distinguishing method of PBN mission programs in termination environment according to claim 1 or 2, it is characterised in that institute
The height for two end points for deriving two intersecting course line sections respectively is stated, including：
It is directed to approach course section：Since the height limitation value marched into the arena, ladder is declined with the minimum downward gradient and highest of setting
Degree, deduce the minimum altitude and maximum height of lower end point；
It is directed to course line section of leaving the theatre：Since the height limitation value left the theatre, with the minimum gradient of climb and highest climbing ladder of setting
Degree, deduce the minimum altitude and maximum height of lower end point.
A kind of 6. conflict automatic discriminating gear of termination environment PBN mission programs, it is characterised in that including：
Course data read module, for reading the course data of all course line sections, and store；
Crosspoint searching modul, for traveling through all course line sections, the course line section with crosspoint is extracted, and find out intersecting
Course line section between crosspoint；
Termination height derivation module, the height of two end points for deriving two intersecting course line sections respectively；
Conflict discrimination module, the threshold for whether being less than or equal to set in the spacing of intersection for judging two intersecting course line sections
Value, has if it is been determined as conflict, has otherwise been determined as Lothrus apterus.
7. device according to claim 6, it is characterised in that also include：
Height layer extraction module, for the height of two end points according to course line section, two intersecting course line sections are extracted respectively
Height layer in away from crosspoint set distance range；
The conflict discrimination module is specifically used for, and judges height of two intersecting course line sections in away from crosspoint set distance range
Whether the minimum spacing spent between layer is less than or equal to the threshold value of setting, has if it is been determined as conflict, has otherwise been determined as no punching
It is prominent.
8. the device according to claim 6 or 7, it is characterised in that also include：
Conflict mark module, for the course data for the course line section for having conflict to be stored in into tables of data, and the intersection that will have conflict
Point is marked.
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| CN109615134A (en) * | 2018-12-10 | 2019-04-12 | 中国民用航空飞行学院 | One kind is left the theatre course data processing system and method, information data processing terminal |
| CN110570694A (en) * | 2019-09-03 | 2019-12-13 | 中国电子科技集团公司第二十八研究所 | Space-time correlation airway collision solution method based on airspace division |
| CN112287056A (en) * | 2020-11-04 | 2021-01-29 | 北京蒙泰华奥国际贸易有限公司 | Navigation management visualization method and device, electronic equipment and storage medium |
| WO2021163881A1 (en) * | 2020-02-18 | 2021-08-26 | 深圳市大疆创新科技有限公司 | Data processing method and system, device, and readable storage medium |
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