CN109035870A - The consistency monitoring method and device of track retention property - Google Patents

Abstract

The present invention provides the consistency monitoring method and device of a kind of track retention property, this method comprises: obtaining aircraft the track consistent data set at each moment and track inconsistent data set on desired track according to the desired track of aircraft；According to the current track of desired track and aircraft, the prediction deviation distance of aircraft is obtained；According to current flight coordinate, prediction deviation distance, aircraft track consistent data set, track inconsistent data set and maximum- likelihood estimation, the aircraft track consistent probabilistic and the inconsistent probability of aircraft track in the preset time period after current time are obtained；According to aircraft track consistent probabilistic, the inconsistent probability of track and preset probability threshold value, the result of aircraft retention property is obtained.It by the track consistency of look-ahead aircraft, can advise in time for aircraft, improve the operational efficiency of air traffic.

Description

Consistency monitoring method and device for track keeping performance

technical field

The invention relates to the technical field of airspace security and monitoring, in particular to a method and device for monitoring the consistency of track keeping performance.

Background technique

Track keeping performance refers to the performance that the actual track of the aircraft is consistent with the planned track. It is an important factor affecting the safety of airspace operations, and it is also a breakthrough to reduce flight separation standards and increase airspace capacity. Consistency monitoring of track keeping performance is an important means to ensure the safe and efficient operation of air traffic tracks, especially with the gradual promotion of the concept of Trajectory Based Operation (TBO), the importance of aircraft track keeping performance increasingly prominent.

In the prior art, the consistent monitoring method adopted in the air traffic control work is: the controller observes the current position and speed of the aircraft from the radar surveillance data, and compares the observed aircraft position information and speed information with the planned track of the aircraft. Comparison, and then judge the consistency of track keeping performance.

However, this consistency detection method can only make a consistent judgment after the aircraft's track deviation occurs, and cannot predict the flight deviation of the aircraft in advance, nor can it warn the compensation deviation of the aircraft in advance.

Contents of the invention

The invention provides a method and device for monitoring the consistency of track keeping performance. By predicting the track consistency of aircraft in advance, suggestions can be put forward for aircraft flight in time, and the operating efficiency of air traffic is improved.

A first aspect of the present invention provides a consistent monitoring method for track keeping performance, comprising:

According to the planned trajectory of the aircraft, obtain the consistent data set of the trajectory and the inconsistent data set of the trajectory of the aircraft at each time point on the planned trajectory;

According to the planned track and the current track of the aircraft, the predicted deviation distance of the aircraft is obtained; the predicted deviation distance is the difference between the deviation coordinates starting to deviate from the planned track and the flight start coordinates corresponding to the flight start time the distance between

According to the current flight coordinates, the predicted deviation distance, the consistent data set of the aircraft track, the inconsistent data set of the track, and the maximum likelihood estimation algorithm, obtain all the preset time periods after the current moment. Consistent probability of said aircraft track and inconsistent probability of said aircraft track;

A result of maintaining performance of the aircraft is obtained according to the probability of consistent tracks of the aircraft, the probability of inconsistent tracks and a preset probability threshold.

Optionally, the acquisition of the aircraft track coincidence probability and the aircraft track inconsistent probability within a preset time period after the current moment includes:

According to the predicted deviation distance and the maximum likelihood estimation algorithm, obtaining the likelihood deviation angle and the likelihood deviation distance corresponding to the predicted deviation distance;

According to the likelihood deviation angle, the current flight coordinates, the predicted deviation distance and the Bayesian algorithm, the probability that the aircraft track remains consistent and the probability that the aircraft track remains inconsistent are obtained.

Optionally, according to the predicted deviation distance and the maximum likelihood estimation algorithm, obtaining the likelihood deviation angle and the likelihood deviation distance corresponding to the predicted deviation distance includes:

According to the current moment, obtain the sub-deviation distance corresponding to each historical moment before the current moment;

According to each said sub-deviation distance and the maximum likelihood estimation algorithm, obtain the sub-likelihood deviation angle corresponding to each said sub-deviation distance;

According to the plurality of sub-likelihood deviation angles, the likelihood deviation angle and the likelihood deviation distance are acquired.

Optionally, according to the planned trajectory of the aircraft, obtaining the consistent data set of the trajectory of the aircraft at each moment on the planned trajectory and the inconsistent data set of the trajectory include:

Acquiring the planned flight coordinates of the aircraft corresponding to each moment according to the planned track;

According to the planned flight coordinates and the preset flight boundaries, a consistent data set of tracks and a data set of inconsistent tracks are acquired.

Optionally, according to the planned flight coordinates and the preset flight boundaries, the acquisition of the consistent data set of the trajectory and the inconsistent data set of the trajectory includes:

Acquiring multiple planned deviation angles corresponding to the planned flight coordinates according to the planned flight coordinates;

According to the plurality of plan deviation angles and the flight boundaries, a data set of consistent tracks and a data set of inconsistent tracks are acquired.

Optionally, the acquisition of a consistent data set of tracks and an inconsistent data set of tracks according to multiple planned deviation angles and the flight boundaries includes:

Determining the data corresponding to the consistent flight coordinates within the flight boundary as a track consistent data set;

The data corresponding to the inconsistent flight coordinates outside the flight boundary is determined as a track inconsistent data set.

Optionally, the obtaining the result of maintaining performance of the aircraft according to the probability of consistent trajectory of the aircraft, the probability of inconsistent trajectory and a preset probability threshold includes:

If the probability of the consistent trajectory of the aircraft is greater than the probability threshold, determine that the trajectory of the aircraft is consistent;

If the aircraft track inconsistency probability is greater than the probability threshold, it is determined that the aircraft track is inconsistent.

A second aspect of the present invention provides a track keeping performance consistency monitoring device, comprising:

The data set acquisition module is used to acquire, according to the planned track of the aircraft, the track consistent data set and the track inconsistent data set of the aircraft at each moment on the planned track;

The deviation distance acquisition module is used to obtain the predicted deviation distance of the aircraft according to the planned trajectory and the current trajectory of the aircraft; The distance between the starting flight coordinates corresponding to the moment;

A probability acquisition module, configured to acquire the predicted flight time after the current moment according to the current flight coordinates, the predicted deviation distance, the consistent data set of the aircraft track, the inconsistent data set of the track, and the maximum likelihood estimation algorithm. The probability of consistent trajectory of the aircraft and the probability of inconsistency of the trajectory of the aircraft in the time period are assumed;

The maintenance performance acquisition module is used to obtain the result of the aircraft maintenance performance according to the probability of the same trajectory of the aircraft, the probability of the inconsistent trajectory and the preset probability threshold.

A third aspect of the present invention provides a track keeping performance consistency monitoring device, including: at least one processor and memory;

the memory stores computer-executable instructions;

The at least one processor executes the computer-executed instructions stored in the memory, so that the track keeping performance consistency monitoring device executes the above track keeping performance consistency monitoring method.

A fourth aspect of the present invention provides a computer-readable storage medium, where computer-executable instructions are stored on the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, the consistency of the above-mentioned track keeping performance is realized monitoring method.

The present invention provides a method and device for monitoring the consistency of track keeping performance. The method includes: according to the planned track of the aircraft, acquiring the consistent data set of the track and the inconsistent data set of the track at each time point on the planned track of the aircraft ;According to the planned track and the current track of the aircraft, the deviation distance of the aircraft is obtained; the deviation distance is the distance between the deviation coordinates of the departure from the planned track and the corresponding start flight coordinates at the time of starting the flight; according to the current flight coordinates, the deviation distance , consistent data sets of aircraft trajectories, inconsistent data sets of trajectories, and a maximum likelihood estimation algorithm to obtain the consistent probability of aircraft trajectories and the probability of inconsistent aircraft trajectories within the preset time period after the current moment; Probability, track inconsistency probability and preset probability threshold to obtain the result of aircraft maintaining performance. By predicting the trajectory consistency of aircraft in advance, suggestions can be put forward for aircraft flight in time, which improves the operating efficiency of air traffic.

Description of drawings

Fig. 1 is a schematic flow chart one of the consistency monitoring method for track keeping performance provided by the present invention;

Fig. 2 is a schematic flow chart II of the consistency monitoring method for track keeping performance provided by the present invention;

Fig. 3 is the aircraft flight schematic diagram one provided by the present invention;

Fig. 4 is a structural schematic diagram 1 of a consistency monitoring device for track keeping performance provided by the present invention;

FIG. 5 is a second structural schematic diagram of the track keeping performance consistency monitoring device provided by the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the implementation of the present invention. example, not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Figure 1 is a schematic flow diagram of the method for monitoring the consistency of track keeping performance provided by the present invention. The execution subject of the method flow shown in Figure 1 can be a consistency monitoring device for track keeping performance, and the track keeping performance is consistent. The monitoring device can be realized by arbitrary software and/or hardware. As shown in Figure 1, the consistency monitoring method of track keeping performance provided by this embodiment may include:

S101, according to the planned trajectory of the aircraft, acquire a consistent data set and a inconsistent data set of the trajectory of the aircraft at each time point on the planned trajectory.

The aircraft in this embodiment refers to an aircraft with a fixed planned flight path, which may be any one of an airplane, a glider, a rotorcraft, and a helicopter. This embodiment does not limit the type of the aircraft.

The planned flight path refers to the flight route preset for the aircraft, including the planned flight coordinates corresponding to each flight moment. The planned flight coordinates may be the spatial coordinates where the aircraft is located. Consistent aircraft trajectories mean that at the same moment, the space coordinates corresponding to the actual and planned trajectories are the same or the space coordinates corresponding to the two meet the preset conditions; The space coordinates corresponding to the track and the planned track are different or the space coordinates corresponding to the two do not meet the preset conditions.

According to the planned trajectory of the aircraft, the specific way to obtain the consistent data set of the aircraft trajectory can be: assuming that the corresponding planned flight coordinates at time A correspond to different flight angles, the flight angle can be that the aircraft may deviate from the planned trajectory at time A The deviation angle, the range of the deviation angle is -90°—90°. It is judged whether the flight coordinates corresponding to different flight angles at time A meet the preset conditions, and the set of flight coordinates satisfying the preset conditions is determined as the consistent data set of the aircraft's track at time A.

Correspondingly, the planned flight coordinates at each moment of the planned flight path are obtained according to the above method, and the deviation angles corresponding to the planned flight coordinates at each moment that may deviate from the planned flight path are obtained, and the set of all flight coordinates that meet the preset conditions is determined as the aircraft flight path consistent data set.

Correspondingly, a set of all flight coordinates that do not satisfy the preset condition is determined as an inconsistent data set of aircraft tracks.

S102. According to the planned track and the current track of the aircraft, the predicted deviation distance of the aircraft is obtained; the predicted deviation distance is the distance between the deviation coordinates at which the aircraft starts to deviate from the planned track and the flight start coordinates corresponding to the flight start time.

In this embodiment, automatic dependent surveillance-broadcast (ADS-B) is used to obtain the flight coordinates corresponding to each moment of the aircraft's current track. Specifically, the flight coordinates may include the longitude, latitude, and altitude of the aircraft.

According to the time correspondence, the coordinate points in the current track that are inconsistent with the planned track are determined as the predicted deviation coordinates, and the predicted deviation distance is determined as the distance between the deviation coordinates and the flight start coordinates corresponding to the flight start time. Wherein, the predicted deviation coordinates may be flight coordinates corresponding to each historical moment before the current moment corresponding to the current flight track.

S103, according to the current flight coordinates, the predicted deviation distance, the consistent data set of the aircraft track, the inconsistent data set of the track, and the maximum likelihood estimation algorithm, obtain the probability of the consistent aircraft track and the probability of the aircraft track within the preset time period after the current moment. Track inconsistency probability.

In this embodiment, the current moment is obtained, and the probability of consistent or inconsistent aircraft tracks within the preset time period is obtained according to the preset preset time period, and then it is judged whether the aircraft track remains consistent in the next time period , to further advise on the flight of the aircraft to avoid harmful deviations of the aircraft.

Specifically, according to the current flight coordinates, the predicted deviation distance, the consistent data set of the aircraft track, and the inconsistent data set of the aircraft track, the maximum likelihood estimation algorithm is used to obtain the likelihood angle corresponding to the offset distance, and then according to the likelihood angle, the current flight coordinates, predicted deviation distance, and consistent data set of aircraft track to obtain the consistent probability of aircraft track within a preset time period; and according to the likelihood angle, current flight coordinates, predicted deviation distance and inconsistent data set of aircraft track, Obtain the inconsistent probability of the aircraft trajectory within the preset time period.

Wherein, the maximum likelihood estimation algorithm is not described in detail in this embodiment, and its principle is the same as that of the algorithm in the prior art, so details are not described here.

S104. According to the probability of consistent aircraft tracks, the probability of inconsistent tracks, and a preset probability threshold, the result of maintaining the performance of the aircraft is obtained.

In this embodiment, the probability threshold can be set in advance, and according to the probability of aircraft trajectory consistency, the probability of trajectory inconsistency and the preset probability threshold, the specific method for obtaining the result of maintaining performance of the aircraft can be: when the probability of aircraft trajectory consistency is greater than the probability threshold, It is determined that the trajectory of the aircraft is consistent, and when the probability of the inconsistent trajectory of the aircraft is greater than the probability threshold, it is determined that the trajectory of the aircraft is inconsistent. The result of the aircraft keeping performance is sent to the aircraft, so that the aircraft adjusts the track according to the predicted track keeping performance, so as to avoid harmful deviations.

The consistent monitoring method of track keeping performance provided by this embodiment includes: according to the planned track of the aircraft, obtaining the track consistent data set and the track inconsistent data set of the aircraft at each moment on the planned track; and the current track of the aircraft to obtain the predicted deviation distance of the aircraft; the predicted deviation distance is the distance between the deviation coordinates of the departure from the planned track and the corresponding start flight coordinates at the start of flight time; according to the current flight coordinates, the predicted deviation distance, the aircraft Track consistency data set, track inconsistent data set, and maximum likelihood estimation algorithm to obtain the aircraft track consistency probability and aircraft track inconsistency probability within the preset time period after the current moment; according to the aircraft track consistency probability, The trajectory inconsistency probability and the preset probability threshold are used to obtain the result of aircraft maintaining performance. By predicting the trajectory consistency of aircraft in advance, suggestions can be put forward for aircraft flight in time, which improves the operating efficiency of air traffic.

Below in conjunction with Fig. 2, the consistency monitoring method of track keeping performance provided by the present invention is further described, and Fig. 2 is a schematic flow chart II of the consistency monitoring method of track keeping performance provided by the present invention, as shown in Fig. 2 , this implementation Examples of consistent monitoring methods for track keeping performance may include:

S201. Acquire the planned flight coordinates of the aircraft at each moment according to the planned flight path.

The planned flight path of the aircraft is the designated flight route of the aircraft, and when the planned flight path is formulated, the planned flight coordinates corresponding to each moment are also determined.

S202. According to the planned flight coordinates and the pre-set flight boundaries, acquire a consistent data set of tracks and a data set of inconsistent tracks.

In this embodiment, a planned deviation distance is introduced in order to obtain a consistent data set of tracks and a data set of inconsistent tracks. The planned deviation distance refers to the distance between the planned flight coordinates corresponding to each moment and the aircraft start flight coordinates. That is, the obtained multiple plan deviation distances are expressed as S _i , and the set of multiple plan deviation distances is S, which is shown in the following formula 1:

S={S _i ＝S _min +(i-1)ΔS, i=1,2,...N ₁ }Formula 1

Among them, the planned track is divided into N ₁ segments, S _min is S ₁ , and ΔS represents the difference between the deviation distances of two adjacent plans after segmentation.

According to the planned flight coordinates, multiple planned deviation angles corresponding to the planned flight coordinates are obtained; specifically, during the flight of the aircraft, the possible planned deviation angles are -90°-90°, therefore, the 180° is divided into N ₂ parts , each plan deviation distance S _i has N ₂ plan deviation angles γ _i , and the set γ of plan deviation angles can be expressed as the following formula 2:

γ={γ ₁ =-90°, ... γ _N2/2 = -Δγ, γ _N2/2+1 = Δγ, ..., γ _N2 =90°} Formula 2

Among them, Δγ represents the angle of each part when 180° is divided into N ₂ parts.

Specifically, there are N ₂ plan deviation angles γ _i for each plan deviation distance S _i , therefore, there are N ₂ hypothetical plan deviation coordinates for each plan flight coordinate, such as the plan flight coordinate corresponding to the first second , which correspond to (S ₁ ,γ ₁ ), (S ₁ ,γ ₂ )...(S ₁ ,γ _N2 ) plan deviation coordinates.

Therefore, for N ₁ planned flight coordinates, there are N ₁ · N ₂ planned deviation coordinates; the flight boundary is preset, and the present embodiment takes the flight of an aircraft on a planned track as a straight line segment for illustration, as shown in Fig. 3 Aircraft flight schematic diagram 1 provided by the present invention, as shown in Figure 3, the solid line segment 1 in the figure represents the planned flight path, the solid line segment 2 represents the current actual flight path, and the dotted line segment 3 represents the preset flight boundary. Specifically, this implementation In the example, the distance between the flight boundary and the planned flight track can be set as 5 km, but this distance can be adjusted appropriately according to specific conditions, and this embodiment does not limit it.

The data corresponding to the consistent flight coordinates within the flight boundary is determined as the consistent data set of the track; the data corresponding to the inconsistent flight coordinates outside the flight boundary is determined as the inconsistent data set of the track.

In this embodiment, an aircraft model set φ _{M =} {M ₀ , M ₁ } can be established, where M ₀ is a data set with consistent tracks, and M ₁ is a data set with inconsistent tracks.

S203. According to the planned trajectory and the current trajectory of the aircraft, the predicted deviation distance of the aircraft is obtained.

According to the start flight coordinates corresponding to the start flight time corresponding to the planned flight path of the aircraft, and the planned flight coordinates corresponding to the current moment corresponding to the current flight path, the predicted deviation distance is obtained, and the predicted deviation distance can be the planned flight coordinates corresponding to the current moment and The distance between the starting flight coordinates, as shown in Figure 3, the corresponding planned flight coordinates at the current moment is B, and the deviation distance can be the distance between the planned flight coordinates B corresponding to the current moment and the corresponding starting flight coordinates at the time of starting the flight S _i .

In this embodiment, the predicted deviation distance and the above-mentioned planned deviation distance are the distances between the planned flight coordinates corresponding to each moment and the starting flight coordinates, and the two are essentially the difference between the predicted deviation distance and the planned deviation distance corresponding to each moment. The values are the same; just to distinguish the two, the planned deviation distance is the deviation distance corresponding to each moment on the planned track before the aircraft takes off. The predicted deviation distance is the deviation distance on the planned track corresponding to the current moment during the current flight of the aircraft, and the deviation distance may include the deviation distance corresponding to the current moment and historical moments before the current moment.

S204. Acquire a likelihood deviation angle and a likelihood deviation distance corresponding to the prediction deviation distance according to the prediction deviation distance and the maximum likelihood estimation algorithm.

In this embodiment, the specific method of obtaining the likely deviation angle according to the predicted deviation distance may be: according to the current time, obtain the sub-deviation distance corresponding to each historical time before the current time, for example, when the aircraft is flying for the 100th s, obtain the previous The offset distances of ₉₉ seconds are respectively S ₁ , S ₂ .

In this embodiment, the distance of the deviation of the aircraft from the planned route is normally distributed, as shown in the following formula 3:

Among them, z(k) is the current flight coordinates, z(l) is the normal representation corresponding to the current flight coordinates, γ _i is the sub-likelihood deviation angle corresponding to each historical moment, S _i is the sub-deviation distance corresponding to each historical moment , σ represents the standard deviation of the deviation distance, μ represents the average value of the deviation distance, which is set to zero in this embodiment, and P(z(k)|γ _k , M ₁ , S _k ) is the median obtained in the maximum likelihood estimation algorithm value.

According to the calculation method of the maximum likelihood function, it can be shown in the following formula 4:

L(γ _i |M ₁ , S _i ,z(k))=Π _l=1,2...k P(z(l)|γ _i ,M ₁ ,S _i ) Formula 4

Finally, the likelihood deviation angle corresponding to the current moment is It is the maximum value of the deviation angles of each sub-likelihood, which can be shown in the following formula 5:

Further, the likelihood deviation distance is the deviation angle corresponding to each likelihood deviation angle.

S205. According to the likelihood deviation angle, the current flight coordinates, the predicted deviation distance, and the Bayesian algorithm, obtain the probability of consistent aircraft tracks and the probability of inconsistent aircraft tracks.

After obtaining the likelihood deviation angle and the predicted deviation distance, according to the Bayesian algorithm, the probability of keeping the same aircraft and the probability of keeping the track inconsistent are obtained, as shown in the following formula 6-8:

in, is the conditional probability of z(k), where M _j can be M ₀ or M ₁ , that is, the probability that the aircraft remains consistent and the probability that the track remains inconsistent are both obtained using this formula 6.

in, is the conditional probability of _Si .

in, is the conditional probability of _Mj .

Finally, the consistent probability of the aircraft can be obtained from formula 6-8 As shown in Equation 9 below:

aircraft consistent probability As shown in formula 10 below:

S206. According to the probability of keeping the same track of the aircraft, the probability of not keeping the same track of the aircraft, and the preset probability threshold, the result of keeping the performance of the aircraft is obtained.

In this embodiment, the probability threshold can be set in advance to be 0.5. When the probability of keeping the same trajectory of the aircraft is greater than 0.5, it is determined that the trajectory of the aircraft is consistent. When the probability of keeping the trajectory of the aircraft is greater than 0.5, it is determined that the trajectory of the aircraft remains inconsistent. The result of the aircraft keeping performance is sent to the aircraft, so that the aircraft adjusts the track according to the predicted track keeping performance, so as to avoid harmful deviations.

In this embodiment, according to the planned flight path, the corresponding planned flight coordinates of the aircraft at each moment are obtained; according to the planned flight coordinates and the preset flight boundaries, the consistent data set of the flight path and the inconsistent data set of the flight path are obtained, and then the aircraft's flight information is obtained. Mode set; obtain the likelihood deviation angle according to the deviation distance of the current track and the multiple sub-deviation distances and sub-likelihood deviation angles corresponding to the deviation distance; obtain the likelihood deviation angle according to the deviation distance of the current track, the mode set of the aircraft and the Bayesian algorithm. The probability of aircraft track consistency and the probability of aircraft track inconsistency, and then obtain the result of aircraft track keeping according to the probability threshold. By predicting the consistency of aircraft track in advance, suggestions can be made for aircraft flight in time, and the occurrence of harmful deviation can be prevented in time , improving the operational efficiency of air traffic.

Fig. 4 is a structural schematic diagram of a consistency monitoring device for track keeping performance provided by the present invention. As shown in Fig. 4 , the prediction device 300 for the flight arrival and departure rate includes: a data set acquisition module 301, and a deviation distance acquisition module 302 , a probability acquisition module 303 and a retention performance acquisition module 304 .

The data set acquiring module 301 is configured to acquire, according to the planned track of the aircraft, the track consistent data set and the track inconsistent data set at each time point on the planned track of the aircraft.

The deviation distance acquisition module 302 obtains the predicted deviation distance of the aircraft according to the planned flight path and the current flight path of the aircraft; the predicted deviation distance is the distance between the deviation coordinates at which the aircraft starts to deviate from the planned flight path and the flight start coordinates corresponding to the flight start time.

The probability acquisition module 303 is used to obtain the aircraft trajectory within a preset time period after the current moment according to the current flight coordinates, the predicted deviation distance, the consistent data set of the aircraft trajectory, the inconsistent data set of the trajectory, and the maximum likelihood estimation algorithm. Track coincidence probability and aircraft track disagreement probability.

The maintenance performance acquisition module 304 is used to obtain the result of the aircraft maintenance performance according to the probability of the consistent trajectory of the aircraft, the probability of the inconsistent trajectory and the preset probability threshold.

The principle and technical effect of the track keeping performance consistency monitoring device provided in this embodiment are similar to those of the above track keeping performance consistency monitoring method, and will not be repeated here.

Optionally, the probability acquisition module 303 is specifically configured to acquire the likelihood deviation angle and likelihood deviation distance corresponding to the prediction deviation distance according to the prediction deviation distance and the maximum likelihood estimation algorithm;

According to the likelihood deviation angle, the current flight coordinates, the predicted deviation distance and the Bayesian algorithm, the probability of consistent aircraft track and the probability of inconsistent aircraft track are obtained.

Optionally, the probability acquisition module 303 is also specifically configured to acquire the sub-deviation distances corresponding to each historical moment before the current moment according to the current moment;

According to each sub-deviation distance and the maximum likelihood estimation algorithm, obtain the sub-likelihood deviation angle corresponding to each sub-deviation distance;

According to the plurality of sub-likelihood deviation angles, the likelihood deviation angles are obtained.

Optionally, the data set acquisition module 301 is specifically used to acquire the planned flight coordinates of the aircraft corresponding to each moment according to the planned flight path;

According to the planned flight coordinates and the preset flight boundaries, a data set with a consistent track and a data set with an inconsistent track are obtained.

Optionally, the data set acquisition module 301 is specifically further configured to acquire a plurality of planned deviation angles corresponding to the planned flight coordinates according to the planned flight coordinates;

According to multiple plan deviation angles and flight boundaries, a data set with a consistent track and a data set with an inconsistent track are obtained.

The data set acquisition module 301 is also specifically used to determine the data corresponding to the consistent flight coordinates within the flight boundary as a track consistent data set;

The data corresponding to the inconsistent flight coordinates outside the flight boundary is determined as a track inconsistent data set.

Optionally, the maintenance performance acquisition module 304 is specifically used to determine that the aircraft track is consistent if the probability of the same track of the aircraft is greater than the probability threshold;

If the aircraft trajectory inconsistent probability is greater than the probability threshold, it is determined that the aircraft trajectory is inconsistent.

FIG. 5 is a schematic structural diagram II of the track keeping performance consistency monitoring device provided by the present invention. The track keeping performance consistency monitoring device can be, for example, a terminal device, such as a smart phone, a tablet computer, a computer, and the like. As shown in FIG. 5 , the track keeping performance consistency monitoring device 400 includes: a memory 401 and at least one processor 402 .

The memory 401 is used for storing program instructions.

The processor 402 is configured to implement the method for monitoring the consistency of the track keeping performance in this embodiment when the program instructions are executed. For specific implementation principles, please refer to the above-mentioned embodiments, and details will not be repeated here in this embodiment.

The track keeping performance consistency monitoring device 400 may also include an input/output interface 403 .

The input/output interface 403 may include an independent output interface and an input interface, or may be an integrated interface integrating input and output. Wherein, the output interface is used to output data, and the input interface is used to obtain input data, the above-mentioned output data is a general term for output in the above method embodiments, and the input data is a general term for input in the above method embodiments.

The present invention also provides a readable storage medium, wherein an execution instruction is stored in the readable storage medium, and when at least one processor of the track keeping performance consistency monitoring device executes the execution instruction, when the computer execution instruction is executed by the processor , implement the method for monitoring the consistency of the track keeping performance in the above embodiment.

The present invention also provides a program product, which includes execution instructions, and the execution instructions are stored in a readable storage medium. At least one processor of the track keeping performance consistency monitoring device can read the execution instructions from the readable storage medium, and at least one processor executes the execution instructions so that the track keeping performance consistency monitoring device implements the above-mentioned various implementations The consistent monitoring method of the track keeping performance provided by the method.

In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware, or in the form of hardware plus software functional units.

The above-mentioned integrated units implemented in the form of software functional units may be stored in a computer-readable storage medium. The above-mentioned software functional units are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute the instructions described in various embodiments of the present invention. part of the method. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), magnetic disk or optical disc, etc. Various media that can store program code.

In the embodiments of the above-mentioned network device or terminal device, it should be understood that the processor may be a central processing unit (English: Central Processing Unit, CPU for short), and may also be other general-purpose processors, digital signal processors (English: Digital Signal Processor, referred to as: DSP), application specific integrated circuit (English: Application Specific Integrated Circuit, referred to as: ASIC), etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. The steps of the methods disclosed in this application can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (10)

1. A method for monitoring consistency of track keeping performance is characterized by comprising the following steps:

acquiring a track consistent data set and a track inconsistent data set of an aircraft at each moment on a planned track according to the planned track of the aircraft;

acquiring a predicted deviation distance of the aircraft according to the planned flight path and the current flight path of the aircraft; the predicted deviation distance is the distance between the deviation coordinate starting to deviate from the planned flight path and the starting flight coordinate corresponding to the starting flight time;

acquiring the aircraft track consistency probability and the aircraft track inconsistency probability within a preset time period after the current time according to the current flight coordinate, the predicted deviation distance, the aircraft track consistency data set, the track inconsistency data set and a maximum likelihood estimation algorithm;

and acquiring a performance maintaining result of the aircraft according to the aircraft track consistency probability, the aircraft track inconsistency probability and a preset probability threshold.

2. The consistency monitoring method according to claim 1, wherein the obtaining the aircraft track consistency probability and the aircraft track inconsistency probability within a preset time period after the current time comprises:

acquiring a likelihood deviation angle and a likelihood deviation distance corresponding to the prediction deviation distance according to the prediction deviation distance and a maximum likelihood estimation algorithm;

and acquiring the aircraft track consistency probability and the aircraft track inconsistency probability according to the likelihood deviation angle, the current flight coordinate, the predicted deviation distance and a Bayesian algorithm.

3. The consistency monitoring method according to claim 2, wherein the obtaining a likelihood deviation angle and a likelihood deviation distance corresponding to the predicted deviation distance according to the predicted deviation distance and a maximum likelihood estimation algorithm comprises:

acquiring sub-deviation distances corresponding to historical moments before the current moment according to the current moment;

acquiring a sub-likelihood deviation angle corresponding to each sub-deviation distance according to each sub-deviation distance and a maximum likelihood estimation algorithm;

and acquiring the likelihood deviation angle and the likelihood deviation distance according to the plurality of sub-likelihood deviation angles.

4. The consistency monitoring method according to claim 1, wherein the acquiring a track consistency data set and a track inconsistency data set of the aircraft at each time on a planned track according to the planned track of the aircraft comprises:

acquiring a planned flight coordinate corresponding to the aircraft at each moment according to the planned flight path;

and acquiring a track-consistent data set and a track-inconsistent data set according to the planned flight coordinate and a preset flight boundary.

5. The consistency monitoring method according to claim 4, wherein the acquiring a track-consistent data set and a track-inconsistent data set according to the planned flight coordinates and a preset flight boundary comprises:

according to the planned flight coordinate, acquiring a plurality of planned deviation angles corresponding to the planned flight coordinate;

and acquiring a track consistency data set and a track inconsistency data set according to the plurality of plan deviation angles and the flight boundary.

6. The consistency monitoring method of claim 5, wherein the acquiring a track consistent data set and a track inconsistent data set based on the plurality of planned departure angles and the flight boundaries comprises:

determining data corresponding to the consistent flight coordinates in the flight boundary as a track consistent data set;

and determining data corresponding to the inconsistent flight coordinates outside the flight boundary as a track inconsistent data set.

7. The consistency monitoring method according to claim 1, wherein the obtaining the aircraft performance maintaining result according to the aircraft track consistency probability, the aircraft track inconsistency probability and a preset probability threshold comprises:

if the aircraft track consistency probability is larger than the probability threshold value, determining that the aircraft tracks are consistent;

and if the probability of the aircraft track inconsistency is larger than the probability threshold value, determining that the aircraft track is inconsistent.

8. A track-keeping performance consistency monitoring device, comprising:

the data set acquisition module is used for acquiring a track consistent data set and a track inconsistent data set of the aircraft at each moment on a planned track according to the planned track of the aircraft;

the deviation distance acquisition module is used for acquiring the predicted deviation distance of the aircraft according to the planned flight path and the current flight path of the aircraft; the predicted deviation distance is the distance between the deviation coordinate starting to deviate from the planned flight path and the starting flight coordinate corresponding to the starting flight time;

a probability obtaining module, configured to obtain the aircraft track coincidence probability and the aircraft track non-coincidence probability within a preset time period after the current time according to the current flight coordinate, the predicted deviation distance, the aircraft track coincidence data set, the track non-coincidence data set, and a maximum likelihood estimation algorithm;

and the maintenance performance obtaining module is used for obtaining the result of the aircraft maintenance performance according to the aircraft track consistency probability, the aircraft track inconsistency probability and a preset probability threshold.

9. A track-keeping performance consistency monitoring device, comprising: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executing computer-executable instructions stored by the memory to cause the track maintenance performance consistency monitoring device to perform the method of any of claims 1-7.

10. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, implement the method of any one of claims 1-7.