CN109035870A - The consistency monitoring method and device of track retention property - Google Patents
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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
Technical Field
The invention relates to the technical field of airspace safety and monitoring, in particular to a method and a device for monitoring consistency of track keeping performance.
Background
The track keeping performance refers to the performance that the actual track of the aircraft is consistent with the planned track, is an important factor influencing the operation safety of an airspace, and is a breakthrough for reducing the flight interval standard and improving the airspace capacity. Consistency monitoring of track keeping performance is an important means for ensuring safe and efficient Operation of air traffic tracks, and particularly, with gradual popularization of a Track Based Operation (TBO) concept, the importance of aircraft track keeping performance is increasingly prominent.
In the prior art, a consistency monitoring method adopted in air traffic control work is as follows: and the controller observes the current position and speed of the aircraft from the radar monitoring data, compares the observed position information and speed information of the aircraft with the planned track of the aircraft, and further judges the consistency of track maintenance performance.
However, this consistency detection method can only determine whether the flight path deviation of the aircraft is consistent after the flight path deviation occurs, and cannot predict the flight deviation of the aircraft in advance, and cannot warn the compensation deviation of the aircraft in advance.
Disclosure of Invention
The invention provides a method and a device for monitoring the consistency of track keeping performance, which can provide suggestions for the flight of an aircraft in time by predicting the track consistency of the aircraft in advance and improve the operation efficiency of air traffic.
A first aspect of the present invention provides a method for monitoring consistency of track maintenance performance, including:
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.
Optionally, the obtaining the aircraft track coincidence probability and the aircraft track non-coincidence probability within a preset time period after the current time includes:
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 keeping consistent probability and the aircraft track keeping inconsistent probability according to the likelihood deviation angle, the current flight coordinate, the prediction deviation distance and a Bayesian algorithm.
Optionally, the obtaining a likelihood deviation angle and a likelihood deviation distance corresponding to the predicted deviation distance according to the predicted deviation distance and the maximum likelihood estimation algorithm includes:
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.
Optionally, the acquiring, according to the planned track of the aircraft, a track-consistent data set and a track-inconsistent data set of the aircraft at each time on the planned track includes:
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.
Optionally, the acquiring a track-consistent data set and a track-inconsistent data set according to the planned flight coordinate and a preset flight boundary includes:
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.
Optionally, the acquiring a track-consistent data set and a track-inconsistent data set according to the plurality of planned deviation angles and the flight boundary includes:
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.
Optionally, the obtaining a result of the aircraft performance maintenance according to the aircraft track coincidence probability, the aircraft track non-coincidence probability and a preset probability threshold includes:
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.
A second aspect of the present invention provides a track-keeping performance consistency monitoring apparatus, 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.
A third aspect of the present invention provides a track-keeping performance consistency monitoring apparatus, comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executes computer-executable instructions stored in the memory to cause the track-keeping-performance consistency monitoring device to perform the track-keeping-performance consistency monitoring method.
A fourth aspect of the present invention provides a computer-readable storage medium, which stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the method for monitoring consistency of track keeping performance is implemented.
The invention provides a method and a device for monitoring consistency of track maintenance performance, wherein the method comprises the following steps: 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; acquiring the deviation distance of the aircraft according to the planned flight path and the current flight path of the aircraft; the deviation distance is the distance between the deviation coordinate of the deviation starting 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 moment according to the current flight coordinate, the deviation distance, the aircraft track consistency data set, the aircraft track inconsistency data set and the maximum likelihood estimation algorithm; and acquiring a performance maintaining result of the aircraft according to the track consistency probability, the track inconsistency probability and a preset probability threshold value of the aircraft. By predicting the track consistency of the aircraft in advance, suggestions can be provided for the aircraft to fly in time, and the operation efficiency of air traffic is improved.
Drawings
FIG. 1 is a first schematic flow chart of a method for monitoring consistency of track maintenance performance according to the present invention;
FIG. 2 is a second schematic flow chart of a method for monitoring consistency of track maintenance performance according to the present invention;
FIG. 3 is a first schematic view of an aircraft flight provided by the present invention;
FIG. 4 is a first schematic structural diagram of a track maintenance performance consistency monitoring device according to the present invention;
fig. 5 is a schematic structural diagram of a consistency monitoring device for track maintenance performance according to the present invention.
Detailed Description
In order to make the objects, 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 with reference to the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a method for monitoring consistency of track maintenance performance according to the present invention, where an execution main body of the method flow shown in fig. 1 may be a device for monitoring consistency of track maintenance performance, and the device for monitoring consistency of track maintenance performance may be implemented by any software and/or hardware. As shown in fig. 1, the method for monitoring the consistency of track maintenance performance according to this embodiment may include:
s101, acquiring a track consistent data set and a track inconsistent data set of the aircraft at each moment on the planned track according to the planned track of the aircraft.
The aircraft in this embodiment refers to an aircraft with a fixed planned flight path, and may be any one of an airplane, a glider, a rotorcraft, and a helicopter, and this embodiment does not limit the type of the aircraft.
The planned flight path refers to a flight path preset for the aircraft and comprises planned flight coordinates corresponding to each time of flight. The planned flight coordinates may be spatial coordinates of where the aircraft is located. At the same moment when the aircraft tracks are consistent, the spatial coordinates corresponding to the actual track and the planned track are the same or the spatial coordinates corresponding to the actual track and the planned track meet the preset conditions; correspondingly, at the same moment when the aircraft tracks are not consistent, the spatial coordinates corresponding to the actual track and the planned track are different or the spatial coordinates corresponding to the actual track and the planned track do not meet the preset condition.
According to the planned flight path of the aircraft, the specific way of acquiring the aircraft flight path consistency data set may be: assuming that the planned flight coordinates corresponding to time a correspond to different flight angles, the flight angle may be an angle of departure of the aircraft from the planned flight path that may range from-90 to 90 at time a. And judging whether the flight coordinates corresponding to different flight angles at the moment A meet preset conditions or not, and determining a set of flight coordinates meeting the preset conditions as a track consistency data set of the aircraft at the moment A.
Correspondingly, the planned flight coordinates of the planned flight path at each moment are obtained according to the method, the deviation angle which is possibly deviated from the planned flight path and corresponds to the planned flight coordinates at each moment is obtained, and all the sets of the flight coordinates meeting the preset conditions are determined as the aircraft flight path consistency data set.
Correspondingly, all sets of flight coordinates which do not meet the preset conditions are determined as aircraft track inconsistent data sets.
S102, 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 a distance between a deviation coordinate at which deviation from the planned flight path starts and a start flight coordinate corresponding to the start flight time.
In this embodiment, a flight coordinate corresponding to each time of a current track of an aircraft, which is acquired by broadcast automatic dependent surveillance (ADS-B), is adopted, and specifically, the flight coordinate may include longitude, latitude, altitude, and the like where the aircraft is located.
And according to the correspondence of the time, determining a coordinate point which is inconsistent with the planned flight path in the current flight path as a predicted deviation coordinate, and determining a predicted deviation distance as a distance between the deviation coordinate and the flight starting coordinate corresponding to the flight starting time. The predicted deviation coordinate may be a flight coordinate corresponding to each historical time before the current time corresponding to the current track.
S103, acquiring the aircraft track consistency probability and the aircraft track inconsistency probability in 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 the maximum likelihood estimation algorithm.
In this embodiment, the current time is obtained, and the probability that the tracks of the aircraft are consistent or inconsistent in the preset time period is obtained according to the preset time period, so as to determine whether the tracks of the aircraft are consistent in the next time period, and further suggest the flight of the aircraft, so as to prevent the aircraft from generating harmful offset.
Specifically, a likelihood angle corresponding to the offset distance is obtained by using a maximum likelihood estimation algorithm according to the current flight coordinate, the predicted offset distance, the aircraft track consistent data set and the track inconsistent data set, and then the aircraft track keeping consistent probability in a preset time period is obtained according to the likelihood angle, the current flight coordinate, the predicted offset distance and the aircraft track consistent data set; and acquiring the probability of the inconsistency of the aircraft track in the preset time period according to the likelihood angle, the current flight coordinate, the predicted deviation distance and the data set of the inconsistency of the aircraft track.
In this embodiment, a maximum likelihood estimation algorithm is not described in detail, which is the same as the principle of the algorithm in the prior art, and is not described herein again.
And S104, 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.
In this embodiment, a probability threshold may be preset, and a specific manner of obtaining the result of the aircraft performance retention according to the aircraft track coincidence probability, the aircraft track non-coincidence probability, and the preset probability threshold may be: and when the aircraft track consistency probability is greater than the probability threshold value, determining that the aircraft tracks are consistent, and when the aircraft track inconsistency probability is greater than the probability threshold value, determining that the aircraft tracks are inconsistent. And transmitting the result of the aircraft maintaining performance to the aircraft, so that the aircraft can adjust the flight path according to the predicted flight path maintaining performance so as to avoid harmful deviation.
The method for monitoring the consistency of the track keeping performance provided by the embodiment comprises the following steps: 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; 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 of the deviation starting 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 moment according to the current flight coordinate, the predicted deviation distance, the aircraft track consistency data set, the aircraft track inconsistency data set and the maximum likelihood estimation algorithm; and acquiring a performance maintaining result of the aircraft according to the track consistency probability, the track inconsistency probability and a preset probability threshold value of the aircraft. By predicting the track consistency of the aircraft in advance, suggestions can be provided for the aircraft to fly in time, and the operation efficiency of air traffic is improved.
Fig. 2 is a schematic flow diagram of a second method for monitoring consistency of track maintenance performance provided by the present invention, and as shown in fig. 2, the method for monitoring consistency of track maintenance performance provided by this embodiment may include:
and S201, acquiring the corresponding planned flight coordinates of the aircraft at each moment according to the planned flight path.
The planned flight path of the aircraft designates a flight path for the aircraft, and when the planned flight path is made, the planned flight coordinates corresponding to each time are also determined.
S202, acquiring a track consistent data set and a track inconsistent data set according to the planned flight coordinate and a preset flight boundary.
In this embodiment, a planned deviation distance is introduced to acquire the track-consistent data set and the track-inconsistent data set, where the planned deviation distance is a distance between a planned flight coordinate corresponding to each time and a starting flight coordinate of the aircraft. Namely, a plurality of deviation distances are obtained and are denoted as SiThe set of the plurality of deviation distances is S, which is expressed by the following formula 1:
S＝{Si＝Smin+(i-1)ΔS,i＝1,2,......N1formula 1
Wherein the planned flight path is divided into N1Segment, SminIs S1And deltas represents the difference between two adjacent planned deviation distances after segmentation.
According to the planned flight coordinate, acquiring a plurality of planned deviation angles corresponding to the planned flight coordinate; in particular, during flight of the aircraft, the planned deviation angle that may occur is-90 ° to 90 °, thus dividing this 180 ° into N2Each planned deviation distance SiAll have N2A planned deviation angle gammaiThe set of planned deviation angles γ can be expressed as the following equation 2:
γ＝{γ1＝-90°,......γN2/2＝-Δγ，γN2/2+1＝Δγ，......，γN290 ° } equation 2
Wherein Δ γ represents a division of 180 ° into N2In the case of shares, the angle of each share is small.
In particular, for each planned deviation distance SiHaving N2A planned deviation angle gammaiThus, there is a corresponding N for each planned flight coordinate2Assumed planned deviation coordinates, such as the planned flight coordinates for the first second, which correspond to (S)1,γ1)、(S1,γ2)……(S1,γN2) The plan deviates from the coordinates.
Thus for N1For each planned flight coordinate, there is a total of N1·N2A planned deviation coordinate; a flight boundary is preset, in this embodiment, a flight of an aircraft on a planned track is a straight line segment is described, fig. 3 is a first schematic flight diagram of the aircraft provided by the present invention, as shown in fig. 3, a solid line segment 1 in the diagram represents the planned track, a solid line segment 2 represents a current actual track, and a dashed line segment 3 represents a preset flight boundary, specifically, a distance from the flight boundary to the planned track in this embodiment may be set to 5km, but the distance may be appropriately adjusted according to specific situations, which is not limited in this embodiment.
Determining data corresponding to consistent flight coordinates in a 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.
In this embodiment, a mode set φ for the aircraft may be establishedM＝{M0,M1In which M is0For track-consistent data sets, M1And the data set is a track inconsistency data set.
And S203, acquiring the predicted deviation distance of the aircraft according to the planned flight path and the current flight path of the aircraft.
According to the start flight coordinate corresponding to the start flight time corresponding to the planned track of the aircraft and the planned flight coordinate corresponding to the current time corresponding to the current track, a predicted deviation distance is obtained, wherein the predicted deviation distance can be the distance between the planned flight coordinate corresponding to the current time and the start flight coordinate, as shown in fig. 3, the planned flight coordinate corresponding to the current time is B, and the deviation distance can be the distance S between the planned flight coordinate B corresponding to the current time and the start flight coordinate corresponding to the start flight timei。
In this embodiment, the predicted deviation distance and the planned deviation distance are distances between the planned flight coordinate and the start flight coordinate corresponding to each time, and the predicted deviation distance and the planned deviation distance corresponding to each time are substantially the same in numerical value; in order to distinguish the two, the planned deviation distance is the deviation distance corresponding to each moment on the planned flight path before the aircraft takes off, and the deviation distance comprises the deviation distance of each moment from the flight starting point to the flight end point of the aircraft on the planned flight path; the predicted deviation distance is a deviation distance on a planned flight path corresponding to the current time in the current flight process of the aircraft, and the deviation distance may include a deviation distance corresponding to the current time and a historical time before the current time.
And S204, 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.
In this embodiment, a specific manner of obtaining the likelihood deviation angle according to the predicted deviation distance may be: according to the current time, acquiring the sub-deviation distances corresponding to the historical times before the current time, wherein the deviation distances of the current 99 seconds are S when the current 100S of the flying aircraft is the first1，S2……S99And acquiring the sub-likelihood deviation angle corresponding to each sub-deviation distance according to each sub-deviation distance and a maximum likelihood estimation algorithm.
In this embodiment, the distances of the aircraft from the planned route are normally distributed, and the following formula 3 is shown:
wherein z (k) is the current flight coordinate, z (l) is the normal representation corresponding to the current flight coordinate, and gamma isiFor each sub-likelihood deviation angle, S, corresponding to each historical momentiFor the sub-deviation distances corresponding to the respective history times, σ represents the standard deviation of the deviation distances, μ represents the average value of the deviation distances, and this embodiment is set to zero, P (z (k) | γk，M1，Sk) The intermediate values obtained in the maximum likelihood estimation algorithm.
The calculation method according to the maximum likelihood function can be shown as the following equation 4:
L(γi|M1，Si,z(k))＝Πl＝1,2......kP(z(l)|γi，M1，Si) Equation 4
Finally, the likelihood deviation angle corresponding to the current time isWhich is the maximum value among the sub-likelihood deviation angles, can be expressed as the following equation 5:
further, the likelihood deviation distance is a deviation angle corresponding to each likelihood deviation angle.
And S205, 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 the Bayes algorithm.
After the likelihood deviation angle and the prediction deviation distance are obtained, obtaining the aircraft keeping consistent probability and the track keeping inconsistent probability according to a Bayes algorithm, which can be specifically shown in the following formulas 6-8:
wherein,is a conditional probability of z (k), where MjCan be M0Or M1That is, the probability of keeping the aircraft consistent and the probability of keeping the track inconsistent are both obtained by using the equation 6.
Wherein,is SiThe conditional probability of (2).
Wherein,is MjThe conditional probability of (2).
Finally, the aircraft consistent probability is maintained from equations 6-8As shown in the following formula 9:
aircraft maintenance of consistent probabilityAs shown in the following formula 10:
and S206, acquiring the result of the aircraft performance keeping according to the aircraft track keeping consistency probability, the track keeping inconsistency probability and a preset probability threshold.
In this embodiment, a probability threshold value may be preset to be 0.5, when the probability of keeping the aircraft tracks consistent is greater than 0.5, it is determined that the aircraft tracks are consistent, and when the probability of keeping the aircraft tracks inconsistent is greater than 0.5, it is determined that the aircraft tracks are inconsistent. And transmitting the result of the aircraft maintaining performance to the aircraft, so that the aircraft can adjust the flight path according to the predicted flight path maintaining performance so as to avoid harmful deviation.
In the embodiment, according to a planned flight path, a planned flight coordinate corresponding to an aircraft at each moment is obtained; acquiring a track consistency data set and a track inconsistency data set according to the planned flight coordinates and a preset flight boundary, and further acquiring a mode set of the aircraft; acquiring a likelihood deviation angle according to the deviation distance of the current flight path and a plurality of sub-deviation distances and sub-likelihood deviation angles corresponding to the deviation distance; according to the likelihood deviation angle, the mode set of the aircraft and the Bayesian algorithm, the aircraft track consistency probability and the aircraft track inconsistency probability are obtained, then the result of aircraft track maintenance is obtained according to the probability threshold, and through predicting the aircraft track consistency in advance, suggestions can be timely provided for aircraft flight, harmful deviation can be timely prevented, and the air traffic operation efficiency is improved.
Fig. 4 is a schematic structural diagram of a consistency monitoring device for track maintenance performance according to the present invention, as shown in fig. 4, the flight arrival and departure rate predicting device 300 includes: a data set acquisition module 301, 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 a track-consistent data set and a track-inconsistent data set of the aircraft at each time on a planned track according to the planned track of the aircraft.
A deviation distance obtaining module 302, which 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 a distance between a deviation coordinate at which deviation from the planned flight path starts and a start flight coordinate corresponding to the start flight time.
The probability obtaining module 303 is configured to obtain an aircraft track consistency probability and an aircraft track inconsistency probability within a preset time period after a current time according to the current flight coordinate, the predicted deviation distance, the aircraft track consistency data set, the track inconsistency data set, and the maximum likelihood estimation algorithm.
The performance maintaining obtaining module 304 is configured to obtain a performance maintaining result of the aircraft according to the aircraft track consistency probability, the aircraft track inconsistency probability, and a preset probability threshold.
The principle and technical effect of the consistency monitoring device for the track keeping performance provided by the embodiment are similar to those of the consistency monitoring method for the track keeping performance, and are not described herein again.
Optionally, the probability obtaining module 303 is specifically configured to obtain 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;
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.
Optionally, the probability obtaining module 303 is further configured to obtain, according to the current time, sub-deviation distances corresponding to historical times before the current time;
acquiring sub-likelihood deviation angles corresponding to the sub-deviation distances according to the sub-deviation distances and a maximum likelihood estimation algorithm;
and acquiring the likelihood deviation angle according to the plurality of sub-likelihood deviation angles.
Optionally, the data set obtaining module 301 is specifically configured to obtain a planned flight coordinate corresponding to each time of the aircraft 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.
Optionally, the data set obtaining module 301 is further configured to obtain, according to the planned flight coordinate, a plurality of planned deviation angles corresponding to the planned flight coordinate;
and acquiring a track consistent data set and a track inconsistent data set according to the plurality of plan deviation angles and the flight boundary.
The data set acquisition module 301 is further configured to determine data corresponding to consistent flight coordinates within a 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.
Optionally, the performance maintaining obtaining module 304 is specifically configured to determine that the aircraft tracks are consistent if the aircraft track consistency probability is greater than the probability threshold;
and if the probability of the inconsistency of the aircraft tracks is greater than the probability threshold value, determining the inconsistency of the aircraft tracks.
Fig. 5 is a schematic structural diagram of a second consistency monitoring device for track maintenance performance provided by the present invention, where the consistency monitoring device for track maintenance performance may 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.
A memory 401 for storing program instructions.
The processor 402 is configured to implement the method for monitoring consistency of track keeping performance in this embodiment when the program instructions are executed, and specific implementation principles may be referred to the foregoing embodiments, which are not described herein again.
The track-keeping performance consistency monitoring device 400 may also include an input/output interface 403.
The input/output interface 403 may include a separate output interface and input interface, or may be an integrated interface that integrates input and output. The output interface is used for outputting data, the input interface is used for acquiring input data, the output data is a general name output in the method embodiment, and the input data is a general name input in the method embodiment.
The present invention also provides a readable storage medium, in which an execution instruction is stored, and when the execution instruction is executed by at least one processor of the consistency monitoring device for track maintenance performance, when the execution instruction is executed by the processor, the consistency monitoring method for track maintenance performance in the above embodiments is implemented.
The present invention also provides a program product comprising execution instructions stored in a readable storage medium. The at least one processor of the consistency monitoring device for the track keeping performance may read the execution instruction from the readable storage medium, and the execution of the execution instruction by the at least one processor causes the consistency monitoring device for the track keeping performance to implement the consistency monitoring method for the track keeping performance provided by the various embodiments described above.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the foregoing embodiments of the network device or the terminal device, it should be understood that the Processor may be a Central Processing Unit (CPU), or may be another general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present application may be embodied directly in a hardware processor, or in a combination of the hardware and software modules in the processor.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
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.
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