CN108489480A - A kind of aircraft track straight line turning detection method - Google Patents

A kind of aircraft track straight line turning detection method Download PDF

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Publication number
CN108489480A
CN108489480A CN201810222310.6A CN201810222310A CN108489480A CN 108489480 A CN108489480 A CN 108489480A CN 201810222310 A CN201810222310 A CN 201810222310A CN 108489480 A CN108489480 A CN 108489480A
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flight path
track
azimuth difference
track points
straight line
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CN108489480B (en
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刘清旺
符利勇
李世明
陈尔学
李增元
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INSTITUTE OF SOURCE INFORMATION CHINESE ACADEMY OF FORESTRY
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INSTITUTE OF SOURCE INFORMATION CHINESE ACADEMY OF FORESTRY
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
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  • General Physics & Mathematics (AREA)
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Abstract

The first aspect of the present invention provides a kind of aircraft track straight line turning detection method, including obtaining track data step, azimuth difference calculates step, azimuth difference summation step, the first flight path judgment step, first level distance calculate step, the second flight path judgment step, the second horizontal distance and calculate step, third flight path judgment step and terminate step, by effectively by track segmentation, it is controlled by threshold value to extract straightway and turnaround section, and then neatly controls the shape of straightway and turnaround section.

Description

A kind of aircraft track straight line turning detection method
Technical field
The present invention relates to flight path detection field more particularly to a kind of aircraft track straight line turning detection methods.
Background technology
For airborne track data, the complete flight path for flying to descent from is continuously had recorded, is contained The information such as the rectilinear flight section of the area of observation coverage and the position of turning flight section, rectilinear flight section flight path can be used for analyze actual flight path with Plan the consistency in course line, if reached Flight Design requirement, therefore, it is necessary to be segmented to entire flight path, extraction is wherein Straight line segment data.Due to the influence of unsteady motion air, there are shaking phenomenons in aircraft flight, for straight course For, leading to actual flight track, there are certain variations, between current track points and previous track points and latter track points Angle there are certain fluctuations, if in addition, the sampling time interval very little of flight path, the angle changing of flight path also very little.Cause This can preferably describe rectilinear path feature by the accumulative angle change of continuous track points.If continuous flight path is used only The accumulative angle change of point carries out track segmentation, then for being mixed with for the flight path for the uphill process that spirals so that flight path section mistake In being crushed, in addition, the long course line with certain curvature will be divided into multistage, it is unable to reach expected subsection efect.Therefore, it needs Automatically to merge shorter straightway to reach long straightway, and merge continuous turnaround section automatically with the number of less turnaround section Amount.
Invention content
The object of the present invention is to provide a kind of aircraft track straight line turning detection methods, will not meet the straight line of length requirement Section is automatically incorporated into neighbouring turnaround section, extracts the straight line segment data in flight path, is to analyze actual flight path and planning flight path It is no consistent, to detect whether to reach Flight Design requirement.
To solve the above problems, the first aspect of the present invention provides a kind of aircraft track straight line turning detection method, packet It includes：
Track data step is obtained, the track data of each track points during aircraft navigation is obtained, and calculates each boat The azimuth of mark point；
Azimuth difference calculates step, obtains the azimuth difference of two neighboring track points successively from track initiation point, such as Fruit azimuth difference then immediately arrives at corrected azimuth difference, if azimuth difference is more than in range (- 180,180) 180 °, then corrected azimuth difference is that azimuth difference subtracts 360 degree, if azimuth difference is less than -180 °, corrects orientation Angular difference value is that azimuth difference adds 360 °；
Azimuth difference summation step, the corrected azimuth difference obtained in azimuthal mathematic interpolation step are summed To obtain summed result；
First flight path judgment step, according to the summed result obtained in azimuth difference summation step and corresponding first ratio It is compared compared with threshold value, judges whether the flight path of aircraft is initial straight line segment, if summed result compares threshold value less than first For a part for initial straight line segment, azimuth difference summation step is continued to execute, if summed result is greater than or equal to the first ratio Compared with threshold value, then latter track points are waypoint, and are stored in interim flight path point list, into next step；
First level distance calculates step, obtains the first level distance between two endpoints of initial straight line segment, and first Horizontal distance is obtained by following formula：
Wherein, RD is first level distance, and two extreme coordinates of initial straight line segment are respectively (x1, y1)、(x2, y2)；
Second flight path judgment step, if first level distance compares threshold value more than second, by the track points of current flight path It is stored in whole straight line segment list, interim flight path point list is emptied, continues cycling through and judge follow-up track points, if first level distance Compare threshold value less than or equal to second, then the interim flight path point list of current flight path section is transferred to complete turnaround section list, into Enter next step；
Second horizontal distance calculates step, obtains the second horizontal distance between two endpoints of whole straight line segment, and second Horizontal distance is obtained by following formula：
Wherein, WD is the second horizontal distance, and two extreme coordinates of whole straight line segment are respectively (x11, y11)、(x22, y22)；
Third flight path judgment step, if the second horizontal distance compares threshold value more than third, by the boat of current flight path section Mark point is stored in effective straightway list, if the second horizontal distance compares threshold value less than or equal to third, by current flight path section Track points be stored in effective turnaround section list；Then the first flight path judgment step is continued to execute from waypoint；
Step is terminated, after judging the track points during navigation, returns to effective straightway list and effectively turning Duan Liebiao.
Further, above-mentioned aircraft track detection method, the azimuth difference calculate step and further include：
First party parallactic angle step is calculated, first orientation is calculated according to the track data of the first track points and the second track points Angle；
Second party parallactic angle step is calculated, second orientation is calculated according to the track data of the second track points and third track points Angle；
……
The (n-1)th azimuth step is calculated, (n-1) is calculated according to the track data of (n-1) track points and the n-th track points Azimuth；
Further, above-mentioned aircraft track detection method, according to the bearing data of the track points of acquisition according to Secondary calculating first party parallactic angle, second party parallactic angle ... (n-1) azimuthal azimuth difference.
Compare threshold value by first, second compare threshold value and third compares threshold value to control straightway and the turning of flight path Section, to control straightway bending degree and turnaround section in short straight line section,
Description of the drawings
Fig. 1 is method and step schematic diagram according to an embodiment of the invention；
Fig. 2 is flow diagram according to an embodiment of the invention；
Fig. 3 is flight path schematic diagram according to an embodiment of the invention.
Specific implementation mode
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join According to attached drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair Bright range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid this is unnecessarily obscured The concept of invention.
The present embodiment is described in detail below, with reference to figure 1, method shown in the present embodiment includes the following steps：
S100：Track data step is obtained, the track data of each track points during aircraft navigation is obtained, and is calculated every The azimuth of a track points；
S200：Azimuth difference calculates step, obtains the azimuth difference of the two neighboring track points successively, such as Azimuth difference described in fruit then immediately arrives at corrected azimuth difference, if the angle of cut in range (- 180,180) Value be more than 180 °, then corrected azimuth difference be the azimuth difference subtract 360 degree, if the azimuth difference be less than- 180 °, then corrected azimuth difference is that the azimuth difference adds 360 °；
The azimuth difference calculates step：
First party parallactic angle step is calculated, first orientation is calculated according to the track data of the first track points and the second track points Angle；
Second party parallactic angle step is calculated, second orientation is calculated according to the track data of the second track points and third track points Angle；
……
The (n-1)th azimuth step is calculated, (n-1) is calculated according to the track data of (n-1) track points and the n-th track points Azimuth；
S300：Azimuth difference summation step calculates the amendment orientation obtained in step to the azimuth difference Angular difference value is summed to obtain summed result；
First party parallactic angle, second party parallactic angle ... are calculated successively according to the bearing data of the track points of acquisition (n-1) azimuthal azimuth difference.
S400：First flight path judgment step, according to the summation obtained in the corrected azimuth difference summation step As a result compare threshold value with corresponding first to be compared, judge whether the flight path of aircraft is initial straight line segment, the summed result It is the initial straight line segment to compare threshold value less than described first then, and the summed result compares threshold more than or equal to described first Value, then last track points is waypoint；
S500：First level distance calculates step, obtains the first level distance between two endpoints of the straightway；
S600：Second flight path judgment step, it is described if first level distance compares threshold value more than described second Flight path is a part for whole straight line segment, continues cycling through and judges follow-up track points, if the first level distance is less than or waits Compare threshold value in described second, then the flight path is a part for complete turnaround section, into next step；
S700：Second horizontal distance calculates step, obtains the second level between two endpoints of the whole straight line segment Distance；
S800：Third flight path judgment step, it is described if second horizontal distance compares threshold value more than the third Flight path is effective straightway, if second horizontal distance compares threshold value less than or equal to the third, the flight path is A part for effective turnaround section
S900：Terminate step, after judging the track points during navigation, return effective straightway list and Effective turnaround section list.
With reference to figure 2, after the track data for obtaining each track points, first judge in flight path whether to include initial straight Section, according to the azimuth A2 of the azimuth A1 of previous track points and latter track points, the difference dA of computer azimuth angle A1 and A2, i.e., DA=A2-A1, since azimuthal value range is：[0,360), so the azimuth difference near 0 °, which exists, is more than 180 ° The case where, so needing to be modified, if 180 °, dA1=dA-360 of dA ＞, if dA ＜ -180, dA1=dA + 360, successively computer azimuth angle difference and be modified obtain corrected azimuth difference dA1, then to corrected azimuth difference DA1 carries out accumulative summation to obtain summed result sum (dA1), at this time according to summed result to determine whether being initial straight line segment.
In flight course, due to the influence of the factors such as air turbulence, when executing rectilinear flight task, adjacent boat Azimuth between mark point also will appear minor fluctuations, therefore when determining whether initial straight line segment, by summed result Sum (dA1) threshold value TA compared with first are compared judgement, if summed result sum (dA1) compares threshold value TA less than first, It then carries out accumulative summation and show that the flight path of summed result sum (dA1) is initial straight line segment, if summed result sum (dA1) is more than Or compare threshold value equal to first then latter track points are waypoint, then this section of flight path is counted as initial straight line segment, then with the Two compare threshold value and third compares threshold value and judged, determine whether effective straightway or effective turnaround section, complete this section After flight path judges, then following cycle judges remaining track points.
With reference to Fig. 3, one embodiment of the present of invention is shown, obtains each track points a in actual flight path AD first1、 a2、a3·anTrack data, and calculate azimuth difference between the azimuth and adjacent track points of each track points, that is, count Calculate track points a1、a2、a3·an-1Azimuth, then calculate a successively1And a2Between azimuth difference, then calculate a again2、 a3Between azimuth difference, until complete an-2And an-1Between azimuth difference calculate.
It completes after azimuth difference calculates, to start azimuthal difference and carry out read group total one by one, in embodiment, from A points Summation is to B points, summed result sum (dA1)=2.3 °, and first to compare threshold value be 10 °, compares threshold value less than first, so Continue to sum, when summation is to C points, summed result sum (dA1)=10.1 ° at this time, suitably larger than first compares threshold value, so C points are waypoint at this time, and AC sections of flight paths then can be considered as initial straight line segment, are stored in interim flight path point list, and then start The first level distance between AC sections is calculated, due to having obtained each track points information, it is possible to by AC sections two The coordinate of endpoint, and according to formula (1) to which first level distance be calculated, show that AC sections of first level distance is 212m, and second compares threshold value for 5m, it is seen that AC sections of first level distance compares threshold value more than second, so AC sections are complete Straightway then empties interim flight path point list, is stored in whole straight line segment list, and it is horizontal to calculate second then according to formula (2) Distance show that the second horizontal distance is 212m, and it is 200m that third, which compares threshold value, it is seen that AC section of the second horizontal distance is more than the Three compare threshold value, so AC sections are effective straightways, are stored in effective straightway list.
Since first compare threshold value, second compares threshold value and third compares the size of threshold value and influences whether the defeated of final result Go out, thus under normal circumstances first compare threshold range be 1-15 °, it is proposed that be 10 °, second compare threshold range be 1-10m, build View is 5m, and it is 100-500m that third, which compares threshold range, it is proposed that can carry out operation well in this numerical value for 200m And obtain final result.
After completing AC sections of flight path judgement again, it can then continue track points judgement since C points, according to aforementioned step Rapid to carry out, details are not described herein again.Since aircraft can cause local tracks point to deviate during navigation because of airflow influence It is expected that flight path, so the first whole straight line segment may be first segment flight path, it is also possible to navigate for first segment flight path and subsequent multistage Mark.
It should be understood that the above-mentioned specific implementation mode of the present invention is used only for exemplary illustration or explains the present invention's Principle, but not to limit the present invention.Therefore, that is done without departing from the spirit and scope of the present invention is any Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.In addition, appended claims purport of the present invention Covering the whole variations fallen into attached claim scope and boundary or this range and the equivalent form on boundary and is repairing Change example.

Claims (3)

  1. The detection method 1. a kind of aircraft track straight line is turned, which is characterized in that including：
    Track data step is obtained, the track data of each track points during aircraft navigation is obtained, and calculates each boat The azimuth of mark point；
    Azimuth difference calculates step, obtains the angle of cut of the two neighboring track points successively from track initiation point Value, if the azimuth difference then immediately arrives at corrected azimuth difference, if the orientation in range (- 180,180) Angular difference value is more than 180 °, then corrected azimuth difference is that the azimuth difference subtracts 360 degree, if the azimuth difference is small In -180 °, then corrected azimuth difference is that the azimuth difference adds 360 °；
    Azimuth difference summation step calculates the azimuth difference corrected azimuth difference obtained in step and carries out Summation is to obtain summed result；
    First flight path judgment step, according to the summed result obtained in the azimuth difference summation step and corresponding One, which compares threshold value, is compared, and judges whether the flight path of aircraft is initial straight line segment, if the summed result is less than described the One compare threshold value then be the initial straight line segment a part, the azimuth difference summation step is continued to execute, if described Summed result compares threshold value more than or equal to described first, then latter track points are waypoint, and are stored in interim flight path point list, Into next step；
    First level distance calculates step, obtains the first level distance between two endpoints of the initial straight line segment, described First level distance is obtained by following formula：
    Wherein, RD is the first level distance, and two extreme coordinates of the initial straight line segment are respectively (x1, y1)、(x2, y2)；
    Second flight path judgment step, if first level distance compares threshold value more than described second, by the boat of current flight path Mark point is stored in whole straight line segment list, empties interim flight path point list, continues cycling through and judge follow-up track points, if described first Horizontal distance compares threshold value less than or equal to described second, then has been transferred to the interim flight path point list of current flight path section Turn over curved segment list, into next step；
    Second horizontal distance calculates step, obtains the second horizontal distance between two endpoints of the whole straight line segment, described Second horizontal distance is obtained by following formula：
    Wherein, WD is second horizontal distance, and two extreme coordinates of the whole straight line segment are respectively (x11, y11)、(x22, y22)；
    Third flight path judgment step, if second horizontal distance compares threshold value more than the third, by current flight path section Track points be stored in effective straightway list, if second horizontal distance compares threshold value less than or equal to the third, The track points of current flight path section are stored in effective turnaround section list；Then first flight path is continued to execute from the waypoint to sentence Disconnected step；
    Terminate step, after judging the track points during navigation, return effective straightway list and it is described effectively Turnaround section list.
  2. 2. aircraft track detection method according to claim 1, it is characterised in that：
    The azimuth difference calculates step：
    First party parallactic angle step is calculated, first party parallactic angle is calculated according to the track data of the first track points and the second track points；
    Second party parallactic angle step is calculated, second party parallactic angle is calculated according to the track data of the second track points and third track points；
    ……
    The (n-1)th azimuth step is calculated, the orientation (n-1) is calculated according to the track data of (n-1) track points and the n-th track points Angle.
  3. 3. aircraft track detection method according to claim 2, it is characterised in that：
    First party parallactic angle, second party parallactic angle ... is calculated successively according to the bearing data of the track points of acquisition (n-1) azimuthal azimuth difference.
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