CN111122900B - Magnetic difference correction method and device - Google Patents
Magnetic difference correction method and device Download PDFInfo
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- CN111122900B CN111122900B CN201911314080.7A CN201911314080A CN111122900B CN 111122900 B CN111122900 B CN 111122900B CN 201911314080 A CN201911314080 A CN 201911314080A CN 111122900 B CN111122900 B CN 111122900B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
- G01P13/025—Indicating direction only, e.g. by weather vane indicating air data, i.e. flight variables of an aircraft, e.g. angle of attack, side slip, shear, yaw
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
Abstract
The invention discloses a magnetic difference correction method and a magnetic difference correction device, which relate to the technical field of flight data processing and are used for realizing the following steps: acquiring a first parameter and a second parameter of a flight path to be restored; extracting a first longitude and latitude of a starting point and an ending point of a flight path to be restored; calculating a first azimuth angle of the starting point and the ending point according to the first longitude and latitude of the starting point and the first longitude and latitude of the ending point; determining a reference point of a flight path to be restored; by taking the reference point as a center, performing recursive calculation on the front direction and the rear direction of the reference point according to a second parameter respectively to obtain a second longitude and latitude of the starting point and the ending point; calculating a second azimuth angle of the starting point and the ending point according to the second longitude and latitude of the starting point and the second longitude and latitude of the ending point; and calculating magnetic difference according to the first azimuth angle and the second azimuth angle. The invention has the beneficial effects that: the magnetic difference value is not required to be input manually, so that errors caused by the change of the magnetic difference value along with the change of the area and/or time to track reduction calculation are avoided, and the inaccuracy of the track reduction calculation result caused by the inaccuracy of the input magnetic difference value is avoided.
Description
Technical Field
The invention relates to the technical field of flight data processing, in particular to a magnetic difference correction method and device.
Background
In the process of visually restoring the flying process by using QAR data after the airplane flies, the flight path calculation and restoration of the airplane are one of the key technologies. In the existing flight path calculation method, parameters such as the heading, the speed and the altitude of the airplane are often used for integration. The heading recorded in the airborne equipment DAR or FDR of the airplane is the magnetic heading of the airplane, and the magnetic difference of the current position of the airplane needs to be added to convert the heading into the true heading of the airplane. Since the magnetic difference value is different in each region and changes every year in the same region with the passage of time, in the conventional aircraft track restoration, a person is often required to inquire documents such as a related chart and the like to manually input the magnetic difference value. And because the instrument equipment on the airplane may have data inaccuracy (for example, no calibration or insufficient calibration) or the decoding is incorrect, an error (for example, data after a decimal point is lost) is generated, so even if the correct magnetic difference is input manually, the flight path calculation is not accurate.
Disclosure of Invention
In order to solve at least one of the technical problems in the prior art, the present invention provides a magnetic difference correction method and apparatus, which can automatically calculate the magnetic difference without manually inputting the correct magnetic difference, and reduce the error of the manually input magnetic difference data to track reduction.
In a first aspect, a magnetic difference correction method is provided, which includes the following steps:
acquiring a first parameter and a second parameter of a track to be restored, wherein the first parameter comprises first longitude and latitude data, and the second parameter comprises ground speed, magnetic course and yaw angle;
extracting a first longitude and latitude of a starting point and an ending point of the flight path to be restored;
calculating a first azimuth angle of the starting point and the ending point according to the first longitude latitude of the starting point and the first longitude latitude of the ending point;
determining a reference point of the flight path to be restored, wherein the reference point is a position point between the starting point and the ending point;
with the reference point as the center, respectively carrying out recursion calculation on the front direction and the rear direction of the reference point according to the second parameter to obtain a second longitude and latitude of the starting point and the ending point;
calculating a second azimuth angle of the starting point and the ending point according to the second longitude and latitude of the starting point and the second longitude and latitude of the ending point;
and calculating magnetic difference according to the first azimuth angle and the second azimuth angle.
In a second aspect, there is provided a magnetic difference correction apparatus, the apparatus including:
the system comprises a parameter acquisition module, a data processing module and a data processing module, wherein the parameter acquisition module is used for acquiring a first parameter and a second parameter of a track to be restored, the first parameter comprises first longitude and latitude data, and the second parameter comprises ground speed, magnetic heading and yaw angle;
the first longitude and latitude extraction module is used for extracting a first longitude and latitude of a starting point and an ending point of the track to be restored;
a first azimuth calculation module, configured to calculate a first azimuth of the starting point and the ending point according to a first longitude and latitude of the starting point and a first longitude and latitude of the ending point;
the datum point determining module is used for determining a datum point of the flight path to be restored, wherein the datum point is a position point between the starting point and the ending point;
the second longitude and latitude calculation module is used for carrying out recursive calculation on the front direction and the rear direction of the reference point according to the second parameter by taking the reference point as the center to obtain a second longitude and latitude of the starting point and the ending point;
the second azimuth angle calculation module is used for calculating a second azimuth angle between the starting point and the ending point according to the second longitude and latitude of the starting point and the second longitude and latitude of the ending point;
and the magnetic difference correction module is used for calculating the magnetic difference according to the first azimuth angle and the second azimuth angle.
According to the technical scheme, first azimuth angles of a starting point and an ending point of the flight path to be restored are calculated by using first longitude and latitude data in flight data, then second longitude and latitude of the starting point and the ending point of the flight path to be restored are calculated by using magnetic heading, yaw angle and ground speed in the flight data, a second azimuth angle of the starting point and the ending point of the flight path to be restored is calculated according to the second longitude and latitude of the starting point and the ending point of the flight path to be restored, the difference value of the two azimuth angles is used as magnetic difference to carry out subsequent flight path restoration calculation, the magnetic difference value does not need to be manually input, errors caused by the fact that the magnetic difference value changes along with areas and/or time to the flight path restoration calculation are avoided, and the fact that the flight path restoration calculation result is inaccurate due to the input magnetic difference value is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block flow diagram of a magnetic flux difference correction method according to a first embodiment of the present invention;
FIG. 2 is a block diagram of a magnetic flux difference correction method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a magnetic difference correction apparatus according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a second longitude and latitude calculation module in the magnetic difference correction apparatus according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, 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.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element may be termed a second element, and, similarly, a second element may be termed a first element, without departing from the scope of example embodiments. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
Referring to fig. 1, fig. 1 is a flow chart of a magnetic difference correction method according to a first embodiment of the present invention. As shown in the figure, the method in the embodiment of the present invention includes:
s101, acquiring a first parameter and a second parameter of a track to be restored, wherein the first parameter comprises first longitude and latitude data, and the second parameter comprises ground speed, magnetic heading and yaw angle.
In a specific implementation, the first parameter and the second parameter may be obtained from an onboard device (e.g., QAR, FDR, etc.) of the aircraft. The QAR is an onboard flight data recorder that is used to provide quick and convenient access to the raw flight data, such as through a USB or cellular network connection, and/or using a standard memory card. QARs are often used by airlines to improve flight safety and operational efficiency and are often part of flight quality monitoring programs. Like the aircraft's Flight Data Recorder (FDR), the QAR receives input from a Flight Data Acquisition Unit (FDAU) and records over 2000 flight parameters. QARs may use higher sampling rates than FDRs and in some cases longer recording periods.
S102, extracting a first longitude and latitude of a starting point and an ending point of the flight path to be restored.
In a specific implementation, the first longitude and latitude of the starting point (in this embodiment, the starting point is denoted as point a) and the ending point (in this embodiment, the ending point is denoted as point B) of the track to be restored are extracted from the first longitude and latitude data, and the magnetic difference values of the starting point and the ending point of the track to be restored must be the same, so that the distance between the starting point and the ending point needs to meet a certain distance requirement, cannot be too long, and cannot be too short, whether the magnetic difference values of the starting point and the ending point are the same or not can be checked according to documents such as a related chart, or a distance threshold range is preset according to experience, and the magnetic difference values of the starting point and the ending point of the track within the distance threshold range are the same.
S103, calculating a first azimuth angle between the starting point and the ending point according to the first longitude latitude of the starting point and the first longitude latitude of the ending point.
In a specific implementation, the first azimuth calculation method may use a spherical cosine formula, may also expand the longitude and latitude into a distance and then simplify the calculation using a trigonometric function based on a plane, or may use a method of calculating an azimuth in a specific GIS (for example, a GIS system based on an ellipsoid); in this embodiment, taking a method of expanding the first longitude into the distance and then simplifying the calculation by using a plane-based trigonometric function as an example, the calculation formula is:
wherein A isj1Is the longitude of the starting point A, Bj1Is the longitude of the end point B, Aw1Is the latitude of the starting point A, Bw1The latitude at the end point B is here both the longitude and latitude which are the first longitude and latitude.
And S104, determining a reference point of the flight path to be restored, wherein the reference point is a position point between the starting point and the ending point.
In a specific implementation, the reference point of the flight path to be restored may be a time when a concerned event occurs, for example, a time when the aircraft lifts the wheel off in a takeoff phase, a time when the aircraft touches the ground in a landing phase, or a time between a start point and an end point if there is no concerned event or the aircraft is not in the takeoff or landing phase, where the reference point is denoted as a point C in this embodiment.
And S105, performing recursive calculation on the front direction and the rear direction of the reference point respectively according to the second parameter by taking the reference point as the center to obtain a second longitude and latitude of the starting point and the ending point.
In the concrete implementation, the datum point C is taken as a center, longitude and latitude coordinates of a front point and a rear point of the datum point C are respectively calculated by recursion in the front direction and the rear direction by using the ground speed, the magnetic heading and the yaw angle, and second longitude and latitude of the starting point and the end point are obtained until the positions of the starting point and the end point of the flight path to be restored. The method for calculating the longitude and latitude coordinates of the previous point and the next point of the reference point C by recursion may use a spherical cosine formula, and may also use a matrix coordinate conversion method of GIS.
Let C +1 be the next point in the direction from C to the end point, C-1 be the previous point in the direction from C to the start point, GS (C) be the ground speed at C, H (C) be the magnetic heading at C, D (C) be the yaw angle at C, take the GIS matrix coordinate calculation method in C + + language as an example, other computer languages may call different methods, but the calculation method is the same.
The first recursion formula for calculating the longitude and latitude coordinates of the C-1 point is as follows: matrix (C-1):: translate (0, GS (C-1)). Matrix:: rotate (-H (C) -D (C) -180, 0, 0, 1). Matrix (C);
the second recursion formula for calculating the longitude and latitude coordinates of the C +1 point is as follows: matrix (C + 1):: translate (0, GS (C + 1)). Matrix:: rotate (-H (C) -D (C), 0, 0, 1). Matrix (C);
wherein, Matrix () is a Matrix coordinate calculation method, C is the reference point, C +1 is the next point of the reference point to the end point direction, C-1 is the previous point of the reference point to the start point direction, gs (C) is the ground speed of the reference point corresponding time, h (C) is the magnetic heading of the reference point corresponding time, and d (C) is the yaw angle of the reference point corresponding time.
And after the matrix coordinates of the C-1 point and the matrix coordinates of the C +1 point are obtained, converting the matrix coordinates into GIS coordinates to respectively obtain longitude and latitude coordinates of the C-1 point and the C +1 point, and continuously calculating by using the recursion formula until second longitude and latitude of the starting point and the ending point are obtained.
And S106, calculating a second azimuth angle between the starting point and the ending point according to the second longitude and latitude of the starting point and the second longitude and latitude of the ending point.
In a specific implementation, the second azimuth angle may be calculated by using a spherical cosine formula, or by expanding the longitude and latitude into a distance and then simplifying the calculation by using a trigonometric function based on a plane, or by using a method for calculating an azimuth angle in a specific GIS (for example, a GIS system based on an ellipsoid); in this embodiment, taking as an example a method of expanding the second longitude and latitude into a distance and then simplifying the calculation by using a trigonometric function based on a plane, the calculation formula is as follows:
wherein A isj2Is the longitude of the starting point A, Bj2Is the longitude of the end point B, Aw2Is the latitude of the starting point A, Bw2The latitude at the end point B is the longitude and the latitude, both of which are the second longitude and the second latitude.
S107, calculating magnetic difference according to the first azimuth angle and the second azimuth angle.
In a specific implementation, the first azimuth angle a is subtracted from the second azimuth angle b obtained through calculation to obtain an azimuth angle difference value c, and the azimuth angle difference value c is used as magnetic difference to perform subsequent track calculation.
And when subsequent track calculation is carried out, integrating the azimuth angle difference value c to calculate the track. Because the starting point and the end point of the flight path to be restored have the same magnetic difference, the flight path calculated by using the magnetic difference calculated by the method is only suitable for a short-distance local area, if the long-distance flight path is required to be restored, the flight path can be divided into a plurality of small sections, the magnetic difference is calculated for each section, then the integration is carried out to obtain a plurality of sections of flight paths, and then the plurality of sections of flight paths are fused to restore the long-distance flight path.
In the embodiment of the invention, first azimuth angles of a starting point and an ending point of a flight path to be restored are calculated by using first longitude and latitude data recorded in airborne equipment, then second longitude and latitude of the starting point and the ending point of the flight path to be restored are calculated by using magnetic heading, yaw angle and ground speed in flight data, a second azimuth angle of the starting point and the ending point of the flight path to be restored is calculated according to the second longitude and latitude of the starting point and the ending point of the flight path to be restored, the difference value of the two azimuth angles is used as magnetic difference to carry out subsequent flight path restoration calculation, the magnetic difference value is not required to be manually input, a database based on the magnetic difference of a coordinate area or a specific position is not required to be additionally maintained, only the longitude and latitude, the magnetic heading, the yaw angle and the ground speed are required to be used, the magnetic difference of a certain flight stage can be calculated, and errors caused by the magnetic difference value along with the change of the area and/or time to the flight path restoration calculation are avoided, the method avoids inaccurate track reduction calculation results caused by inaccurate input magnetic difference values, and the automatic calculation of the magnetic difference is faster and more accurate than the manual adjustment speed.
Referring to fig. 2, fig. 2 is a block diagram illustrating a flow chart of a magnetic flux difference correction method according to a second embodiment of the present invention. As shown in the figure, the method in the embodiment of the present invention includes:
s201, acquiring a first parameter and a second parameter of a track to be restored, wherein the first parameter comprises first longitude and latitude data, and the second parameter comprises ground speed, magnetic heading and yaw angle.
S202, extracting a first longitude and latitude of a starting point and an ending point of the flight path to be restored.
S203, carrying out error correction and smoothing processing on the first longitude and latitude of the starting point and the first longitude and latitude of the ending point.
In the specific implementation, because the longitude and latitude data are used, the correctness and the smoothness of the longitude and latitude data must be ensured, and some conventional and rapid algorithms, such as a sliding window algorithm, can be used.
S204, calculating a first azimuth angle between the starting point and the ending point according to the first longitude latitude of the starting point and the first longitude latitude of the ending point.
S205, determining a reference point of the flight path to be restored, wherein the reference point is a position point between the starting point and the ending point.
And S206, performing recursive calculation on the front direction and the rear direction of the reference point respectively according to the second parameter by taking the reference point as the center to obtain a second longitude and latitude of the starting point and the ending point.
And S207, calculating a second azimuth angle between the starting point and the ending point according to the second longitude and latitude of the starting point and the second longitude and latitude of the ending point.
And S208, calculating magnetic difference according to the first azimuth angle and the second azimuth angle.
The steps S201 to S208 are the same as the corresponding steps in the first embodiment, and are not described again.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a magnetic difference correction apparatus according to an embodiment of the present invention. As shown in the figures, the apparatus in the embodiment of the present invention includes:
the parameter acquiring module 31 is configured to acquire a first parameter and a second parameter of a track to be restored, where the first parameter includes first longitude and latitude data, and the second parameter includes ground speed, magnetic heading and yaw angle;
a first longitude and latitude extracting module 32, configured to extract a first longitude and latitude of a starting point and an ending point of the track to be restored;
a preprocessing module 33, configured to perform error correction and smoothing on the first longitude latitude of the starting point and the first longitude latitude of the ending point before the first longitude latitude of the starting point and the first longitude latitude of the ending point of the track to be restored are extracted;
a first azimuth calculation module 34, configured to calculate a first azimuth of the starting point and the ending point according to the first longitude and the first latitude of the starting point and the first longitude and the first latitude of the ending point;
a reference point determining module 35, configured to determine a reference point of the track to be restored, where the reference point is a position point between the starting point and the ending point;
a second longitude and latitude calculation module 36, configured to perform recursive calculation on the reference point in the front and rear directions according to the second parameter, taking the reference point as a center, and obtain a second longitude and latitude of the starting point and the ending point;
a second azimuth calculation module 37, configured to calculate a second azimuth of the starting point and the ending point according to the second longitude and latitude of the starting point and the second longitude and latitude of the ending point;
a magnetic difference correction module 38, configured to calculate a magnetic difference according to the first azimuth angle and the second azimuth angle;
and the track reduction module 39 is used for integrating the magnetic difference to realize track reduction.
The first azimuth calculation module is preset with a first azimuth calculation formula:
wherein A isj1Is the longitude of the starting point A, Bj1Is the longitude of the end point B, Aw1Is the latitude of the starting point A, Bw1The latitude at the end point B is here both the longitude and latitude which are the first longitude and latitude.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a second longitude and latitude calculation module in the magnetic difference correction device according to the embodiment of the present invention. As shown, the second latitude and longitude calculation module 36 includes:
the first recursion calculating module 361 is configured to calculate the second longitude and latitude of the starting point by using a first recursion formula, where the first recursion formula is:
Matrix(C-1)＝Matrix::translate(0，GS(C-1))*Matrix::rotate(-H(C)-D(C)-180，0，0，1)*Matrix(C)；
a second recursion calculating module 362, configured to calculate a second longitude and latitude of the end point by using a second recursion formula, where the second recursion formula is:
Matrix(C+1)＝Matrix::translate(0，GS(C+1))*Matrix::rotate(-H(C)-D(C)，0，0，1)*Matrix(C)；
wherein, Matrix () is a Matrix coordinate calculation method, C is the reference point, C +1 is the next point of the reference point to the end point direction, C-1 is the previous point of the reference point to the start point direction, gs (C) is the ground speed of the reference point corresponding time, h (C) is the magnetic heading of the reference point corresponding time, and d (C) is the yaw angle of the reference point corresponding time.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: flash Memory disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The magnetic difference correction method and device provided by the embodiment of the invention are described in detail above, and the principle and the embodiment of the invention are explained in the present document by applying a specific example, and the description of the above embodiment is only used to help understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A magnetic difference correction method, comprising:
acquiring a first parameter and a second parameter of a track to be restored, wherein the first parameter comprises first longitude and latitude data, and the second parameter comprises ground speed, magnetic course and yaw angle;
extracting a first longitude and latitude of a starting point and an ending point of the flight path to be restored;
calculating a first azimuth angle of the starting point and the ending point according to the first longitude latitude of the starting point and the first longitude latitude of the ending point;
determining a reference point of the flight path to be restored, wherein the reference point is a position point between the starting point and the ending point;
with the reference point as the center, respectively carrying out recursion calculation on the front direction and the rear direction of the reference point according to the second parameter until the positions of the starting point and the ending point of the track to be restored to obtain second longitude and latitude of the starting point and the ending point;
calculating a second azimuth angle of the starting point and the ending point according to the second longitude and latitude of the starting point and the second longitude and latitude of the ending point;
and calculating magnetic difference according to the first azimuth angle and the second azimuth angle.
2. The magnetic difference correction method according to claim 1, wherein after the extracting the first longitude and latitude of the starting point and the ending point of the track to be restored, the method further comprises:
and performing error correction and smoothing processing on the first longitude and latitude of the starting point and the first longitude and latitude of the ending point.
3. The magnetic difference correction method according to claim 1, characterized in that: the distance value between the starting point and the ending point is in a preset distance range.
4. The magnetic difference correction method according to claim 1, wherein the first azimuth angle between the starting point and the ending point is calculated according to the first longitude latitude of the starting point and the first longitude latitude of the ending point, using the following formula:
wherein A isj1Is the longitude of the starting point A, Bj1Is the longitude of the end point B, Aw1Is the latitude of the starting point A, Bw1The latitude of the end point B.
5. The magnetic difference correction method according to claim 1, wherein the recursive calculation is performed on the reference point in the front and rear directions according to the second parameter by using a recursive formula as follows:
Matrix(C-1)＝Matrix::translate(0，GS(C-1))*Matrix::rotate(-H(C)-D(C)-180，0，0，1)*Matrix(C)；
Matrix(C+1)＝Matrix::translate(0，GS(C+1))*Matrix::rotate(-H(C)-D(C)，0，0，1)*Matrix(C)；
wherein, Matrix () is a Matrix coordinate calculation method, C is the reference point, C +1 is the next point of the reference point to the end point direction, C-1 is the previous point of the reference point to the start point direction, gs (C) is the ground speed of the reference point corresponding time, h (C) is the magnetic heading of the reference point corresponding time, and d (C) is the yaw angle of the reference point corresponding time.
6. A magnetic difference correction apparatus, characterized by comprising:
the system comprises a parameter acquisition module, a data processing module and a data processing module, wherein the parameter acquisition module is used for acquiring a first parameter and a second parameter of a track to be restored, the first parameter comprises first longitude and latitude data, and the second parameter comprises ground speed, magnetic heading and yaw angle;
the first longitude and latitude extraction module is used for extracting a first longitude and latitude of a starting point and an ending point of the track to be restored;
a first azimuth calculation module, configured to calculate a first azimuth of the starting point and the ending point according to a first longitude and latitude of the starting point and a first longitude and latitude of the ending point;
the datum point determining module is used for determining a datum point of the flight path to be restored, wherein the datum point is a position point between the starting point and the ending point;
the second longitude and latitude calculation module is used for carrying out recursive calculation on the reference point in the front direction and the rear direction respectively according to the second parameter by taking the reference point as the center until the positions of the starting point and the ending point of the track to be restored are reached to obtain a second longitude and latitude of the starting point and the ending point;
the second azimuth angle calculation module is used for calculating a second azimuth angle between the starting point and the ending point according to the second longitude and latitude of the starting point and the second longitude and latitude of the ending point;
and the magnetic difference correction module is used for calculating the magnetic difference according to the first azimuth angle and the second azimuth angle.
7. The magnetic difference correction apparatus according to claim 6, characterized by further comprising:
and the preprocessing module is used for performing error correction and smoothing processing on the first longitude latitude of the starting point and the first longitude latitude of the ending point before the first longitude latitude of the starting point and the first longitude latitude of the ending point of the track to be restored are extracted.
8. The magnetic difference correction apparatus according to claim 6, characterized in that: the distance value between the starting point and the ending point is in a preset distance range.
9. The magnetic difference correction device according to claim 6, wherein the first azimuth calculation module is preset with a first azimuth calculation formula:
wherein A isj1Is the longitude of the starting point A, Bj1Is the longitude of the end point B, Aw1Is the latitude of the starting point A, Bw1The latitude of the end point B.
10. The magnetic difference correction apparatus according to claim 6, wherein the second latitude and longitude calculation module includes:
a first recursion calculation module, configured to calculate a second longitude and latitude of the starting point by using a first recursion formula, where the first recursion formula is:
Matrix(C-1)＝Matrix::translate(0，GS(C-1))*Matrix::rotate(-H(C)-D(C)-180，0，0，1)*Matrix(C)；
a second recursion calculation module, configured to calculate a second longitude and latitude of the end point by using a second recursion formula, where the second recursion formula is:
Matrix(C+1)＝Matrix::translate(0，GS(C+1))*Matrix::rotate(-H(C)-D(C)，0，0，1)*Matrix(C)；
wherein, Matrix () is a Matrix coordinate calculation method, C is the reference point, C +1 is the next point of the reference point to the end point direction, C-1 is the previous point of the reference point to the start point direction, gs (C) is the ground speed of the reference point corresponding time, h (C) is the magnetic heading of the reference point corresponding time, and d (C) is the yaw angle of the reference point corresponding time.
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