CN111613097B - Method and system for avoiding label of air traffic control automation system - Google Patents

Method and system for avoiding label of air traffic control automation system Download PDF

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CN111613097B
CN111613097B CN202010500573.6A CN202010500573A CN111613097B CN 111613097 B CN111613097 B CN 111613097B CN 202010500573 A CN202010500573 A CN 202010500573A CN 111613097 B CN111613097 B CN 111613097B
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avoidance
track
cost
marker post
label
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CN111613097A (en
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郭春波
周自力
侯昌波
唐亚军
李明翔
王松
莫飞
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Chengdu Civil Aviation Air Traffic Control Science & Technology Co ltd
Second Research Institute of CAAC
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Chengdu Civil Aviation Air Traffic Control Science & Technology Co ltd
Second Research Institute of CAAC
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    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
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Abstract

The invention discloses a method for avoiding a label of an air traffic control automation system, which comprises the steps of setting an automatic avoidance priority strategy of overlapping detection and display elements for flight path information; establishing a processing mechanism for avoiding cost based on the control preference information and the display elements; obtaining an optimal avoidance scheme according to the automatic avoidance priority strategy and the processing mechanism, and executing avoidance operation according to the optimal avoidance scheme; the label avoidance method and the label avoidance system are suitable for real-time large-batch dynamic target label avoidance, and can select the optimal avoidance strategy from multiple avoidance schemes generated by multiple display elements, thereby effectively solving the problem of frequent label jumping caused by the traditional method and improving the target tracking identification degree of a controller. And the actual control operation and the personalized preference parameters are considered in the calculation of the avoidance scheme, so that the man-machine interaction is more friendly, the avoidance effect is more humanized and close to the actual manual signboard dragging effect of a controller, and the method is suitable for popularization.

Description

Method and system for avoiding label of air traffic control automation system
Technical Field
The invention relates to the technical field of air traffic control, in particular to a method for avoiding a label of an air traffic control automation system.
Background
An Air Traffic Control automation System (ATC System) is the most important technical tool for an Air Traffic controller to grasp the Air flight situation in real time and implement Air Traffic Control. The air traffic is commanded by the controller through interaction with the ATC system, wherein the airplane label carries basic information (including identification number, flight number, alarm information, state information and the like) of the airplane, and the basic information is an important component of an operation interface of the whole control system, and if the label is overlapped, correct judgment of the controller is seriously influenced, and the efficiency of the control system is reduced.
At present, many scholars at home and abroad make much research on a sign avoidance algorithm, but most of the scholars aim at the sign avoidance of a static target, and the traditional sign avoidance technical scheme comprises the following steps:
1. based on a simulated annealing algorithm, the method only researches avoidance of a static target label, and the method emphasizes avoidance and is not suitable for the current large-batch real-time moving target scene, and meanwhile, the calculated amount of the method is large and the requirement of ATC control operation activity with high update rate is difficult to meet.
2. There is also a force-directed (force-directed) based signage avoidance method; the method has the idea that objects are regarded as particles, and the purpose that the labels do not overlap is achieved according to the physical characteristics of like charges repelling each other and opposite charges attracting each other of the particles; however, the method is only limited to the study of static targets; real-time dynamic target operability was not analytically verified.
3. An MWF-based grid method label avoidance method; the method divides the whole screen into grids, each grid is given weight, and then the optimal position of the label is calculated by using a search algorithm; the method has huge calculation amount and occupies a great deal of memory, and the real-time performance is influenced.
In the conventional sign avoidance technology, the research of a static target is emphasized, the calculated amount is huge, and the method is not suitable for a real-time dynamic target with high update rate in a large airspace range; and the label is emphasized to avoid once, the label is frequently jumped due to the fact that factors such as the priority of each display element of the flight path, the actual operation preference of a controller and the like are not considered, the label of the flight path is difficult to track and identify by the controller, and the guidance of the controller is not facilitated.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a novel method for avoiding the signs of the air traffic control automation system, which can realize the ordered avoidance of the signs of real-time dynamic target tracks in a large-range airspace according to rules; the problem of overlapping display of the flight path information under the condition of mass real-time flight paths is solved, the tracking and identifying degree of the flight paths is improved, and the real-time decision-making capability and the control efficiency of a controller are enhanced.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a method for sign avoidance of an air traffic control automation system comprises the following steps:
setting an automatic avoidance priority strategy of overlapping detection and display elements for the flight path information;
establishing a processing mechanism for avoiding cost based on the control preference information and the display elements;
and obtaining an optimal avoidance scheme according to the automatic avoidance priority strategy and the processing mechanism, and executing avoidance operation according to the optimal avoidance scheme.
Further, in the above method for avoiding signs of the air traffic control automation system, the overlap detection uses a bounding box algorithm to calculate whether overlap occurs between the display elements;
the automatic avoidance priority of the display elements at least comprises avoidance priorities of track labels, benchmarks, speed vector lines, track symbols and historical point tracks:
(1) the track label cannot be overlapped with other manually dragged labels;
(2) the track label cannot be crossed with other manually dragged mark poles;
(3) the track label cannot be overlapped with track symbols or historical points of other tracks;
(4) the track label cannot be overlapped with other track labels;
(5) the track marker post can not be crossed with other track marker posts;
(6) the track marker post can not be crossed with other track markers;
(7) the track label cannot be crossed with the speed vector lines of other tracks;
(8) the track marker post can not cross the track symbol or the historical point track of the track.
(9) The flight path marker post can not be crossed with flight path symbols or historical point tracks of other flight paths;
(10) the track marker post can not be crossed with the speed vector line of the track;
(11) the track marker post cannot intersect the velocity vector lines of other tracks.
Further, in the above method for avoiding signs of the air traffic control automation system, the establishing of the processing mechanism based on the control preference information and the avoidance cost of the display element includes:
s1, acquiring control preference information and track information of a display area;
s2, preprocessing the display elements of the display area by integrating the control preference information to obtain a preliminary preference avoidance scheme;
s3, calculating the avoidance cost of each display element for the preliminary preference avoidance scheme;
and S4, determining an optimal avoidance scheme according to the calculation result.
Further, in the above method for avoiding the label of the air traffic control automation system, the step s1 includes:
s11, obtaining preference data of the length of a marker post of a controller and an included angle between the marker post and a speed vector line, and analyzing and processing the preference data according to the weight priority to obtain preference data of the length of the marker post and the angle;
s12, acquiring seven-element group information of all tracks in a display area; the flight path information of the display area at the moment T can be represented by a seven-tuple T (p, H, v, H, l, a, delta);
where p represents the position of the track at time t, H represents the heading of the track at time t, v represents the speed at time t, and H ═ pt-n,pt-n-1,…,pt-1Denotes historical trace points, l denotes time mark at tThe length of the rod, a represents the included angle between the marker post and the speed vector line at the time t, and delta represents the content of the track label at the time t; the position and the range of each display element of the flight path in the scene at the time T can be uniquely determined through a seven-tuple T.
Further, in the above method for avoiding the label of the air traffic control automation system, the step s2 includes:
s21, preprocessing the seven-tuple information of the flight path:
setting sign avoidance priority and covering weight thereof according to the sign operation information;
removing the position and the range of the hidden label according to the label operation information;
calculating the position and the range of the vector line according to the vector line switch and the setting parameters;
s22, grouping the track information according to the position and range of the signboard, the position and range of the vector line and/or the control operation and the distance from the display center;
and S23, traversing all limited marker post lengths and angle preferences of each grouped flight path to serve as a preliminary preference avoidance scheme.
Further, in the above method for avoiding the label of the air traffic control automation system, the step s3 includes:
defining avoidance cost C ═ α Coverlap+βCangle+γClength+δCjitter；
Wherein C isoverlapRepresenting the cost of overlap of the current track display element and other track display elements, CangleRepresenting the current flight path marker post and vector line angle priority cost, ClengthIndicating the current track marker post length priority cost, CjitterAnd the additional penalty cost of the current track due to repeated change of the sign avoidance strategy is represented, wherein alpha, beta, gamma and delta are weight coefficients of each cost respectively.
Further, in the above method for avoiding signs of the air traffic control automation system, the current angle priority cost C between the flight path marker post and the vector lineoverlapThe calculation method comprises the following steps:
according to the automatic avoidance priority strategy of the display elements, different overlapping costs are given to the overlapping conditions of the display elements of different types, and an avoidance scheme with low cost is guided to be preferentially selected; the overlap types are mainly divided into:
label plate
Figure BDA0002524648150000041
Manually-operated drag scutcheon (C)overlap 1) Sign board
Figure BDA0002524648150000042
Hand-operated dragging post (C)overlap 2) Sign board
Figure BDA0002524648150000043
Track symbol (C)overlap 3) Sign board
Figure BDA0002524648150000046
Label (C)overlap 4) Marker post
Figure BDA0002524648150000045
Marker post (C)overlap 5) Sign board
Figure BDA0002524648150000044
Marker post (C)overlap 6) Sign board
Figure BDA0002524648150000047
Vector line (C)overlap 7) Marker post
Figure BDA00025246481500000411
Self track symbol or historical track (C)overlap 8) Marker post
Figure BDA0002524648150000048
Other track symbols or historical trails (C)overlap 9) Marker post
Figure BDA0002524648150000049
Self track vector line (C)overlap 10) Marker post
Figure BDA00025246481500000410
Other track vector lines (C)overlap 11) No overlap (0), and the overlap cost between each overlap type satisfies the following relationship:
Coverlap 1＞Coverlap 2＞Coverlap 3＞Coverlap 4＞Coverlap 5＞Coverlap 6＞Coverlap 7＞Coverlap 8＞Coverlap 9＞Coverlap 10＞Coverlap 11。
further, in the above method for avoiding signs of the air traffic control automation system, the current angle priority cost C between the flight path marker post and the vector lineangleThe calculation method comprises the following steps:
taking the angle of the marker post as a limited set Am＝{a1,a2,…,am}; introducing a corresponding weight cost set W for each vector line anglem＝{Cangle 1,Cangle 2,…,CanglemIn which C isangle 1The relationship between the angle weight costs is as follows:
Cangle1＜Cangle 2＜…Canglem；
recommending that the angle set of the marker post and the vector line is calculated to be 8-level angles
Am＝{45,135,225,315,90,270,0,180}；
Priority cost C for current track marker post lengthlengthThe calculation method comprises the following steps:
taking the length of the marker post as a limited set Ln＝{l1,l2,…,lnN is a positive integer; is LnIntroducing a corresponding weight cost set Wn＝{Clength1，Clength2，…，Clengthn}; wherein, Clength1The relationship between the benchmarking length weight costs is as follows:
Clength1＜Clength2＜…＜Clengthn
the recommended length of the benchmarking is 3-level length.
Further, the above-mentioned empty pipe automationIn the method for avoiding the system label, the additional penalty cost C of the current track due to repeatedly changing the label avoiding strategyjitterThe calculation method comprises the following steps: the penalty cost is decayed to reset over a time slice, and is below the mean of the combination of the benchmarking and vector line angle costs and the benchmarking length costs.
A system comprising a rights processor and a memory, the memory having stored therein a program which, when executed by the processor, performs the steps of any of the above-described embodiments of the method.
Compared with the prior art, the invention has the beneficial effects that:
the label avoidance method and the label avoidance system are suitable for real-time large-batch dynamic target label avoidance, and can select the optimal avoidance strategy from multiple avoidance schemes generated by multiple display elements, thereby effectively solving the problem of frequent label jumping caused by the traditional method and improving the target tracking identification degree of a controller. And the actual control operation and the personalized preference parameters are considered in the calculation of the avoidance scheme, so that the man-machine interaction is more friendly, the avoidance effect is more humanized and close to the actual manual signboard dragging effect of a controller, and the method is suitable for popularization.
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In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a flow diagram of a method of sign avoidance for an automated system for empty pipe in accordance with one embodiment of the present invention;
FIG. 2 is an example of the overlap of a bounding box algorithm on line segments and rectangles; wherein
2a is an overlapping schematic diagram of a line segment y and a rectangle x obtained by using a bounding box;
2b is an overlapping schematic of rectangle x1 and rectangle x 2;
2c is an overlay of segment y1 and segment y2 using bounding boxes;
fig. 3 is a logic block diagram of the label avoidance system of the air traffic control automation system of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
As shown in fig. 1, a method for sign avoidance of an air traffic control automation system includes:
setting an automatic avoidance priority strategy of overlapping detection and display elements for the flight path information;
establishing a processing mechanism for avoiding cost based on the control preference information and the display elements;
and obtaining an optimal avoidance scheme according to the automatic avoidance priority strategy and the processing mechanism, and executing avoidance operation according to the optimal avoidance scheme.
In the sign avoidance method, the actual control operation and the personalized preference (namely the control preference information) are comprehensively controlled to participate in calculation, so that the man-machine interaction is more friendly when the air traffic control commands work, and the avoidance effect is more humanized and is close to the effect of the actual manual drag of the signs by a controller.
Displaying an aircraft (generally referred to as civil aviation passenger aircraft) in an airport scene and a nearby airspace in real time on an operation interface of an air traffic control automation system (hereinafter referred to as an 'ATC system'), wherein the aircraft has a unique rectangular label associated with the rectangular label; generally, the track display elements on the interface include track labels, track rods (i.e. track guide lines), speed vector lines, track symbols, historical traces, and the like; the relative position of the sign and the identification point of the aircraft in motion is always kept unchanged, the sign post and the like can be manually dragged, and the position relation between the display element and the identification point of the aircraft after adjustment is recorded and kept unchanged until the sign is manually reset again.
The control preference information includes personalized preference and control operation information, wherein the personalized preference includes a post length preference parameter, a post and track motion direction preference parameter, and the like, and the control operation includes a target vector line display switch and a label display switch.
In the automatic avoidance priority strategy for setting the overlap detection and the label display elements for the track information, the overlap detection is used for judging whether the display elements collide (i.e. overlap) or not, such as between two labels, between a label and a track symbol, between two track poles and the like; since such collision detection involves the detection of overlapping of incompletely regular patterns such as data blocks (i.e., signs), line segments (e.g., flight bars, velocity vector lines), etc., in one embodiment of the present invention, a bounding box overlap algorithm is used to determine whether a collision occurs between display elements.
A bounding box overlapping algorithm, namely, aiming at irregular graphs, only regular graphs need to be bounded, so that the graph overlapping for detecting the irregular graphs is converted into the overlapping for detecting the regular bounding boxes of the irregular graphs in a two-dimensional space; as shown in fig. 2, an example of performing different image collision detection by using bounding box overlap algorithm in two-dimensional space is shown, and fig. 2a is a schematic diagram of using bounding boxes to obtain overlap of a line segment y and a rectangle x; in FIG. 2b is an overlapping illustration of rectangle x1 and rectangle x 2; FIG. 2c is an overlay of segment y1 and segment y2 using bounding boxes. The invention calculates whether the display elements collide with each other or not through the algorithm.
In the above automatic avoidance priority policy for setting overlap detection and signage display elements for track information, the setting of the automatic avoidance priority policy for display elements includes:
in a large-batch track scene, due to the limitation of the range of a screen display area and the like, all track display elements are all clearly displayed in the scene, which is a problem that cannot be perfectly solved at present, the invention considers the control of actual operation (operations such as vector line switch, sign hiding and the like) and application requirements, if the track display elements are overlapped or crossed, the invention improves by using an efficient approximate optimization solution, and the automatic avoidance priority of the display elements is processed according to the following sequence:
(1) the track signs cannot overlap with other manually dragged signs.
(2) The track markers cannot cross other manually dragged poles.
(3) The track label cannot be overlapped with the track symbols or historical points of other tracks.
(4) The track signs cannot overlap with other track signs.
(5) The track post cannot cross other track posts.
(6) The track post cannot cross other track tags.
(7) The track markers cannot cross the velocity vector lines of other tracks.
(8) The track marker post can not cross the track symbol or the historical point track of the track.
(9) The track marker post cannot intersect with the track symbols or historical points of other tracks.
(10) The track marker post cannot intersect the present track velocity vector line.
(11) The track marker post cannot intersect the velocity vector lines of other tracks.
And under the automatic avoidance priority strategy, automatically avoiding the display elements which are detected and judged to have collision. Furthermore, the invention is used for calculating the optimal avoidance scheme by establishing a processing mechanism based on the control preference information and the avoidance cost of the display elements.
In this embodiment, establishing a processing mechanism based on the control preference information and the avoidance cost of the display element includes:
s1, acquiring control preference information and track information of a display area;
s2, preprocessing the display elements of the display area by integrating the control preference information to obtain a preliminary preference avoidance scheme;
s3, calculating the avoidance cost of each display element for the preliminary preference avoidance scheme;
and S4, determining an optimal avoidance scheme according to the calculation result.
The control preference information can reflect personalized preferences of a controller in a control process, such as preferences of the controller on the length of a marker post, the included angle between the marker post and a speed vector line, display or hiding preferences of an operation vector line and a sign and the like; the preference data of these controllers can be obtained by any suitable behavior preference calculation method that is mature at present, and the present invention is not limited solely.
In step S1, include
S11, obtaining preference data of the length of a marker post of a controller and an included angle between the marker post and a speed vector line, and analyzing and processing the preference data according to the weight priority to obtain preference data of the length of the marker post and the angle;
and S12, acquiring seven-element group information of all tracks in the display area, wherein the seven-element group information comprises sign operation information and all vector line operation information (namely vector line switches, setting parameters and the like).
The flight path information of the aircraft at the time T on the management and command interface in the ATC system can be represented by the following seven-tuple T (p, H, v, H, l, a and delta);
where p represents the position of the track at time t, H represents the heading of the track at time t, v represents the velocity (for calculating the velocity vector line length) at time t, and H ═ pt-n,pt-n-1,…,pt-1The historical track is represented, the length of a marker post at the t moment is represented by l, the included angle between the marker post at the t moment and a speed vector line is represented by a, and the content of a track label at the t moment is represented by delta; the position and the range of each display element of the flight path in the scene at the time T can be uniquely determined through a seven-tuple T.
Step S2. in the step (A), the method comprises
S21, preprocessing the seven-tuple information of the flight path:
a. setting a sign avoidance priority (namely an automatic avoidance priority strategy of the display elements) and a coverage weight thereof according to the sign operation information;
b. removing the position and the range of the hidden label according to the label operation information;
c. and calculating the position and the range of the vector line according to the vector line switch and the setting parameters.
S22, grouping the track information according to the position and range of the signboard, the position and range of the vector line and/or the control operation and the distance from the display center;
s23, traversing all limited benchmark lengths and angle preferences of each grouped flight path (namely a target) as a primary preference avoidance scheme;
and S3, calculating the avoidance cost of each display element for the preliminary preference avoidance scheme.
The seven-element group can know the track T of the aircraft i to which a certain sign belongsiAvoidance strategies that can be taken are only related to l, a; let T be T-time track set Γ ═ T1,,T2,T3,…,TmM is a positive integer, the same applies below; and defining the avoidance cost mapping from each display element of one flight path to the two-dimensional space omega projection as C: gamma → omega.
An optimized standard automatic avoidance strategy at time t can be obtained under the condition of giving the mapping relation
Figure BDA0002524648150000101
Let
Figure BDA0002524648150000102
The minimum is an optimal solution of the avoidance strategy at the time t.
C is the avoidance cost, and the avoidance cost formula can be obtained according to MWF improvement, where C ═ α C is defined hereinoverlap+βCangle+γClength+δCjitter(ii) a Wherein C isoverlapRepresents the overlapping cost (hereinafter referred to as "overlapping cost"), C, of the current track display element and other track display elementsanglePriority cost (hereinafter referred to as "cost of the angle between the target and the vector line"), C, representing the angle between the target and the vector line (i.e., the included angle) of the current tracklengthPriority cost (hereinafter referred to as "post cost") of indicating the length of the current track post, CjitterAnd (3) representing the extra penalty cost (hereinafter referred to as the switch avoidance strategy penalty cost) of the current track caused by repeatedly changing the sign avoidance strategy. Wherein α, β, γ, δ are weight coefficients (i.e. the coverage weights) of the costs respectively, and are set according to actual control operation conditions.
Wherein: 1) overlap cost CoverlapCalculation method
According to the priority arrangement when the display elements are overlapped on the track in the automatic avoidance priority strategy of the display elements, different overlapping costs are given to the overlapping conditions of the display elements of different types, and an algorithm is guided to preferentially select the avoidance strategy with low cost. The overlap type is mainly divided into
Figure BDA0002524648150000103
Representing the overlapping relationship between two elements before and after):
label plate
Figure BDA0002524648150000104
Manually-operated drag scutcheon (C)overlap 1) Sign board
Figure BDA0002524648150000105
Hand-operated dragging post (C)overlap 2) Sign board
Figure BDA0002524648150000106
Track symbol (C)overlap 3) Sign board
Figure BDA00025246481500001010
Label (C)overlap 4) Marker post
Figure BDA0002524648150000108
Marker post (C)overlap 5) Sign board
Figure BDA0002524648150000107
Marker post (C)overlap 6) Sign board
Figure BDA00025246481500001011
Vector line (C)overlap 7) Marker post
Figure BDA0002524648150000109
Self track symbol or historical track (C)overlap 8) Marker post
Figure BDA00025246481500001012
Other track symbols or historical trails (C)overlap 9) Marker post
Figure BDA00025246481500001014
Self track vector line (C)overlap 10) Marker post
Figure BDA00025246481500001013
Other track vector lines (C)overlap 11) No overlap (0), and the overlap cost between each overlap type satisfies the following relationship:
Coverlap1＞Coverlap2＞Coverlap3＞Coverlap4＞Coverlap5＞Coverlap6＞Coverlap7＞Coverlap8＞Coverlap9＞Coverlap10＞Coverlap11
2) angle cost of marker post and vector line CangleCalculation method
In an ATC system, a track sign display is displayed by default at 45 degrees, but when signs are avoided, all signs cannot be guaranteed to be scattered according to the angle, so that the sign angle suitable for the observation habit of an operator can be generated during avoiding, and meanwhile, in order to reduce the calculation amount generated during angle selection, the angle of a sign pole is taken as a limited set Am＝{a1，a2，…，am}. In addition, a corresponding weight cost set W is introduced for each vector line anglem＝{Cangle 1，Cangle 2，…，CanglemIn which C isangle 1The relationship between the angle weight costs is as follows:
Cangle1＜Cangle2＜…＜Canglem
in this embodiment, it is recommended that the angle set of the calculation target and the vector line is 8-level angles, and there is Am；{45，135，225，315，90，270，0，180}。
3) Cost of marker post ClengthThe calculation method comprises the following steps:
large-batch target scene in ATC systemIf the length of the marker post is too long, the targets cannot be well distinguished, and the accuracy of the control tracking and identification of the targets is influenced, so that the marker post length in the scheme is a limited set Ln＝{l1，l2，…，lnN is a positive integer, and L is also a positive integernIntroducing corresponding weight cost sets
Wn＝{Clength1，Clength2…，Clengthn}。
Wherein, Clength1The relationship between the benchmarking length weight costs is as follows:
Clength1＜Clength2＜…＜Clengthn
in this embodiment, the recommended length of the marker post is 3-level length.
4) Penalty cost for handover avoidance policy CjitterThe calculation method comprises the following steps:
the frequent switching of the tag avoidance strategy can cause the flight path tag to jump frequently, the penalty cost of repeatedly moving the tag is introduced for preventing the repeated moving of the tag during the calculation of the avoidance strategy, if the tag moves when the flight path is updated next time, a penalty cost is given to the flight path, and the calculation principle of the cost is as follows: the penalty cost is decayed to reset over a time slice, and is below the mean of the combination of the benchmarking and vector line angle costs and the benchmarking length costs.
In the invention, the avoidance cost C of each track is calculated, and the minimum value is the lowest total cost; and the corresponding avoidance scheme is the optimal scheme when the avoidance cost C is the lowest.
And S4, determining an optimal avoidance scheme according to the calculation result.
According to the automatic avoidance priority strategy and the processing mechanism, an optimal avoidance scheme is obtained, and avoidance operation (including the length of the marker post, the included angle between the marker post and the vector line and the like) is executed according to the optimal avoidance scheme.
The label avoidance method is suitable for real-time large-scale dynamic target label avoidance, and can select the optimal avoidance strategy from multiple avoidance schemes generated by multiple display elements, thereby effectively solving the problem of frequent label jumping caused by the traditional method and improving the target tracking recognition degree of a controller. And the actual control operation and the personalized preference parameters are considered in the calculation of the avoidance scheme, so that the man-machine interaction is more friendly, the avoidance effect is more humanized and close to the actual manual signboard dragging effect of a controller, and the method is suitable for popularization.
In another aspect, the present invention further provides a system for implementing the above-mentioned sign avoidance method, as shown in fig. 3, which includes a processor and a memory, where the memory stores a program, and when the program is executed by the processor, the program performs:
setting an automatic avoidance priority strategy of overlapping detection and display elements for the flight path information;
establishing a processing mechanism for avoiding cost based on the control preference information and the display elements;
and obtaining an optimal avoidance scheme according to the automatic avoidance priority strategy and the processing mechanism, and executing avoidance operation according to the optimal avoidance scheme.
The principle of the steps of the program execution of the system of the present invention is consistent with the method of the present invention, and each step may refer to the above-mentioned related description, which is not repeated.
In the program execution of the automatic avoidance priority strategy for setting the overlap detection and the label display elements for the track information, the overlap detection strategy is used for judging whether the display elements collide (namely overlap) or not, such as between two labels, between a label and a track symbol, between two track poles and the like; since such collision detection involves the detection of overlapping of incompletely regular patterns such as data blocks (i.e., signs), line segments (e.g., flight bars, velocity vector lines), etc., in one embodiment of the present invention, a bounding box overlap algorithm is used to determine whether a collision occurs between display elements.
The bounding box overlapping algorithm is that for irregular patterns, only regular patterns need to be bounded, so that the pattern overlapping for detecting the irregular patterns is converted into the overlapping for detecting the regular bounding boxes in a two-dimensional space. The invention calculates whether the display elements collide with each other or not through the algorithm.
In the step of executing the automatic avoidance priority strategy for setting the overlap detection and the signboard display element for the track information by the program, the setting of the automatic avoidance priority strategy for the signboard display element comprises the following steps:
the automatic avoidance priority for the signage display elements is processed as follows:
(1) the track signs cannot overlap with other manually dragged signs.
(2) The track markers cannot cross other manually dragged poles.
(3) The track label cannot be overlapped with the track symbols or historical points of other tracks.
(4) The track signs cannot overlap with other track signs.
(5) The track post cannot cross other track posts.
(6) The track post cannot cross other track tags.
(7) The track markers cannot cross the velocity vector lines of other tracks.
(8) The track marker post can not cross the track symbol or the historical point track of the track.
(9) The track marker post cannot intersect with the track symbols or historical points of other tracks.
(10) The track marker post cannot intersect the present track velocity vector line.
(11) The track marker post cannot intersect the velocity vector lines of other tracks.
And under the automatic avoidance priority strategy, automatically avoiding the display elements which are detected and judged to have collision. Furthermore, the invention is used for calculating the optimal avoidance scheme by establishing a processing mechanism based on the control preference information and the avoidance cost of the display elements.
In this embodiment, establishing a processing mechanism based on the control preference information and the avoidance cost of the display element includes:
s1, acquiring control preference information and track information of a display area;
s2, preprocessing the display elements of the display area by integrating the control preference information to obtain a preliminary preference avoidance scheme;
s3, calculating the avoidance cost of each display element for the preliminary preference avoidance scheme;
and S4, determining an optimal avoidance scheme according to the calculation result.
Step S1. in, include
S11, obtaining preference data of the length of a marker post of a controller and an included angle between the marker post and a speed vector line, and analyzing and processing the preference data according to the weight priority to obtain preference data of the length of the marker post and the angle;
and S12, acquiring seven-element group information of all tracks in the display area, wherein the seven-element group information comprises sign operation information and all vector line operation information.
The flight path information of the aircraft at the time T on the management and command interface in the ATC system can be represented by the following seven-tuple T (p, H, v, H, l, a and delta);
where p represents the position of the track at time t, H represents the heading of the track at time t, v represents the velocity (for calculating the velocity vector line length) at time t, and H ═ pt-n,pt-n-1,…,pt-1The historical track is represented, the length of a marker post at the t moment is represented by l, the included angle between the marker post at the t moment and a speed vector line is represented by a, and the content of a track label at the t moment is represented by delta; the position and the range of each display element of the flight path in the scene at the time T can be uniquely determined through a seven-tuple T.
Step S2. in the step (A), the method comprises
S21, preprocessing the seven-tuple information of the flight path:
d. setting sign avoidance priority and covering weight thereof according to the sign operation information;
e. removing the position and the range of the hidden label according to the label operation information;
f. and calculating the position and the range of the vector line according to the vector line switch and the setting parameters.
S22, grouping the track information according to the position and range of the signboard, the position and range of the vector line and/or the control operation and the distance from the display center;
s23, traversing all limited benchmark lengths and angle preferences of each grouped flight path (namely a target) as a primary preference avoidance scheme;
and S3, calculating the avoidance cost of each display element for the preliminary preference avoidance scheme.
The seven-element group can know the track T of the aircraft i to which a certain sign belongsiAvoidance strategies that can be taken are only related to l, a; let T be T-time track set Γ ═ T1,,T2,T3,…,TmM is a positive integer, the same applies below; and defining the avoidance cost mapping from each display element of one flight path to the two-dimensional space omega projection as C: gamma → omega.
An optimized standard automatic avoidance strategy at time t can be obtained under the condition of giving the mapping relation
Figure BDA0002524648150000151
Let
Figure BDA0002524648150000152
The minimum is an optimal solution of the avoidance strategy at the time t.
C is the avoidance cost, and the avoidance cost formula can be obtained according to MWF improvement, where C ═ α C is defined hereinoverlap+βCangle+γClength+δCjitter(ii) a Wherein C isoverlapRepresents the overlapping cost (hereinafter referred to as "overlapping cost"), C, of the current track display element and other track display elementsanglePriority cost (hereinafter referred to as "cost of the angle between the target and the vector line"), C, representing the angle between the target and the vector line (i.e., the included angle) of the current tracklengthPriority cost (hereinafter referred to as "post cost") of indicating the length of the current track post, CjitterAnd (3) representing the extra penalty cost (hereinafter referred to as the switch avoidance strategy penalty cost) of the current track caused by repeatedly changing the sign avoidance strategy. Wherein alpha, beta, gamma and delta are weight coefficients of each cost respectively and are set according to actual conditions.
Wherein: 1) overlap cost CoverlapCalculation method
According to the priority arrangement when the elements are overlapped in the track display, different overlapping costs are given to the overlapping conditions of the display elements of different types, and an algorithm is guided to preferentially select an avoidance strategy with low cost. Overlap type is mainlyIs divided into (
Figure BDA0002524648150000153
Representing the overlapping relationship between two elements before and after):
label plate
Figure BDA0002524648150000159
Manually-operated drag scutcheon (C)overlap 1) Sign board
Figure BDA0002524648150000156
Hand-operated dragging post (C)overlap 2) Sign board
Figure BDA0002524648150000157
Track symbol (C)overlap 3) Sign board
Figure BDA00025246481500001511
Label (C)overlap 4) Marker post
Figure BDA0002524648150000155
Marker post (C)overlap 5) Sign board
Figure BDA0002524648150000158
Marker post (C)overlap 6) Sign board
Figure BDA00025246481500001510
Vector line (C)overlap 7) Marker post
Figure BDA0002524648150000154
Self track symbol or historical track (C)overlap 8) Marker post
Figure BDA00025246481500001512
Other track symbols or historical trails (C)overlap 9) Marker post
Figure BDA00025246481500001514
Self track vector line (C)overlap 10) Marker post
Figure BDA00025246481500001513
Other track vector lines (C)overlap 11) No overlap (0), and the overlap cost between each overlap type satisfies the following relationship:
Coverlap1＞Coverlap2＞Coverlap3＞Coverlap4＞Coverlap5＞Coverlap6＞Coverlap7＞Coverlap8＞Coverlap9＞Coverlap10＞Coverlap11
2) angle cost of marker post and vector line CangleCalculation method
In an ATC system, a track sign display is displayed by default at 45 degrees, but when signs are avoided, all signs cannot be guaranteed to be scattered according to the angle, so that the sign angle suitable for the observation habit of an operator can be generated during avoiding, and meanwhile, in order to reduce the calculation amount generated during angle selection, the angle of a sign pole is taken as a limited set Am＝{a1，a2，…，am}. In addition, a corresponding weight cost set W is introduced for each vector line anglem＝{Cangle 1，Cangle 2，…，CanglemIn which C isangle 1The relationship between the angle weight costs is as follows:
Cangle1＜Cangle2＜…＜Canglem
in this embodiment, it is preferable to recommend that the angle set of the calculation target and the vector line is 8-level angles, and there are
Am＝{45，135，225，315，90，270，0，180}。
3) Cost of marker post ClengthThe calculation method comprises the following steps:
if the length of the marker post is too long in a large amount of target scenes in an ATC system, targets cannot be well distinguished, but the accuracy of target control tracking and identification is influenced, so that the length of the marker post in the scheme is a limited set Ln＝{l1，l2，…，lnIs additionally LnIntroducing corresponding weight cost sets
Wn＝{Clength1，Clength2，…Clengthn}。
Wherein, Clength1The relationship between the benchmarking length weight costs is as follows:
Clength1＜Clength2＜…＜Clengthn
in this embodiment, the preferred length of the post is 3 steps.
4) Penalty cost for handover avoidance policy CjitterThe calculation method comprises the following steps:
the frequent switching of the tag avoidance strategy can cause the flight path tag to jump frequently, the penalty cost of repeatedly moving the tag is introduced for preventing the repeated moving of the tag during the calculation of the avoidance strategy, if the tag moves when the flight path is updated next time, a penalty cost is given to the flight path, and the calculation principle of the cost is as follows: the penalty cost is decayed to reset over a time slice, and is below the mean of the combination of the benchmarking and vector line angle costs and the benchmarking length costs.
And S4, determining an optimal avoidance scheme according to the calculation result.
And obtaining an optimal avoidance scheme according to the automatic avoidance priority strategy and the processing mechanism, and executing avoidance operation (comprising the length of the marker post, the included angle between the marker post and the vector line and the like) according to the optimal avoidance scheme.
In particular, implementation of the invention and all of the functional operations provided herein may be implemented in computer software, firmware, or hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. Implementations of the present invention can be implemented as one or more computer program products, i.e., one or more modules of computer program instructions encoded on a computer-readable medium; the computer readable medium can be a machine-readable storage device, a machine-readable storage substrate, a memory device, a composition of matter effecting a machine-readable propagated signal, or a combination of one or more of them.
A computer program (also known as a program, software application, script, or code) can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program does not necessarily correspond to a file in a file system. A program can be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub programs, or portions of code). A computer program can be deployed to be executed on one computer or on multiple computers at one site or distributed across multiple sites and interconnected by a communication network.
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; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims (7)

1. A method for avoiding a label of an air traffic control automation system is characterized by comprising the following steps:
setting an automatic avoidance priority strategy of overlapping detection and display elements for the flight path information;
establishing a processing mechanism for avoiding cost based on the control preference information and the display elements;
obtaining an optimal avoidance scheme according to the automatic avoidance priority strategy and the processing mechanism, and executing avoidance operation according to the optimal avoidance scheme;
the processing mechanism for establishing the avoidance cost based on the control preference information and the display element comprises the following steps:
s1, acquiring control preference information and track information of a display area;
s2, preprocessing the display elements of the display area by integrating the control preference information to obtain a preliminary preference avoidance scheme;
s3, calculating the avoidance cost of each display element for the preliminary preference avoidance scheme;
s4, determining an optimal avoidance scheme according to a calculation result;
the step S1 comprises the following steps:
s11, acquiring preference data of the length of a marker post of a controller and an included angle between the marker post and a speed vector line, and analyzing the preference data to obtain preference data of the length of the marker post and the angle;
s12, acquiring seven-element group information of all tracks in a display area; the flight path information of the display area at the moment T can be represented by a seven-tuple T (p, H, v, H, l, a, delta);
where p represents the position of the track at time t, H represents the heading of the track at time t, v represents the speed at time t, and H ═ pt-n,pt-n-1,…,pt-1The historical track is represented, the length of a marker post at the t moment is represented by l, the included angle between the marker post at the t moment and a speed vector line is represented by a, and the content of a track label at the t moment is represented by delta; the position and the range of each display element of the flight path in the scene at the moment T can be uniquely determined through a seven-tuple T; the step S2 comprises the following steps:
s21, preprocessing the seven-tuple information of the flight path:
setting sign avoidance priority and covering weight thereof according to the sign operation information;
removing the position and the range of the hidden label according to the label operation information;
calculating the position and the range of the vector line according to the vector line switch and the setting parameters;
s22, grouping the track information according to the position and range of the signboard, the position and range of the vector line and/or the control operation and the distance from the display center;
and S23, traversing all limited marker post lengths and angle preferences of each grouped flight path to serve as a preliminary preference avoidance scheme.
2. The method for sign avoidance for an air traffic control automation system according to claim 1, wherein the overlap detection uses a bounding box algorithm to calculate whether overlap occurs between display elements;
the automatic avoidance priority of the display elements at least comprises avoidance priorities of track labels, benchmarks, speed vector lines, track symbols and historical point tracks:
(1) the track label cannot be overlapped with other manually dragged labels;
(2) the track label cannot be crossed with other manually dragged mark poles;
(3) the track label cannot be overlapped with track symbols or historical points of other tracks;
(4) the track label cannot be overlapped with other track labels;
(5) the track marker post can not be crossed with other track marker posts;
(6) the track marker post can not be crossed with other track markers;
(7) the track label cannot be crossed with the speed vector lines of other tracks;
(8) the flight path marker post can not be crossed with a flight path symbol or a historical point path of the flight path;
(9) the flight path marker post can not be crossed with flight path symbols or historical point tracks of other flight paths;
(10) the track marker post can not be crossed with the speed vector line of the track;
(11) the track marker post cannot intersect the velocity vector lines of other tracks.
3. The method for sign avoidance of the air traffic control automation system according to claim 1, wherein the step s3. comprises:
defining avoidance cost C ═ α Coverlap+βCangle+γClength+δCjitter；
Wherein C isoverlapRepresenting the cost of overlap of the current track display element and other track display elements, CangleRepresenting the current flight path marker post and vector line angle priority cost, ClengthIndicating the current track marker post length priority cost, CjitterIndicating the amount of the sign avoidance strategy due to repeated changes in the current trackAnd (4) penalizing cost, wherein alpha, beta, gamma and delta are weight coefficients of each cost respectively.
4. The air traffic control automation system sign avoidance method of claim 3 wherein the current track pole to vector line angle priority cost CoverlapThe calculation method comprises the following steps:
according to the automatic avoidance priority strategy of the display elements, different overlapping costs are given to the overlapping conditions of the display elements of different types, and an avoidance scheme with low cost is guided to be preferentially selected; the overlap types are mainly divided into:
Figure FDA0003149585160000041
Figure FDA0003149585160000042
Figure FDA0003149585160000043
Figure FDA0003149585160000044
Figure FDA0003149585160000045
there is no overlap (0), and the overlap cost between each overlap type satisfies the following relation:
Coverlap1＞Coverlap2＞Coverlap3＞Coverlap4＞Coverlap5＞Coverlap6＞Coverlap7＞Coverlap8＞Coverlap9＞Coverlap10＞Coverlap11。
5. the air traffic control automation system sign avoidance method of claim 4 wherein the current track pole to vector line angle priority cost CangleCalculation method：
Taking the angle of the marker post as a limited set Am＝{a1,a2,…,am}；WmIntroducing a corresponding weight cost set W for each vector line anglem＝{Cangle1,Cangle2,…,CanglemIn which C isangle1The relationship between the angle weight costs is 0:
Cangle1＜Cangle2＜…Canglem；
wherein, the angle set of the computing marker post and the vector line is 8-level angles
Am＝{45,135,225,315,90,270,0,180}；
Priority cost C for current track marker post lengthlengthThe calculation method comprises the following steps:
taking the length of the marker post as a limited set Ln＝{l1,l2,…,lnN is a positive integer; wnIs LnIntroducing a corresponding weight cost set Wn＝{Clength1,Clength2,…,Clengthn}; wherein, Clength1The relationship between the benchmarking length weight costs is given by the following equation:
Clength1<Clength2<…<Clengthn。
6. the method for signage avoidance in an air traffic control automation system of claim 5 wherein the additional penalty cost C for the current flight path due to repeated changes to signage avoidance strategyjitterThe calculation method comprises the following steps: the penalty cost is decayed to reset over a time slice, and is below the mean of the combination of the benchmarking and vector line angle costs and the benchmarking length costs.
7. A system for label avoidance in an air traffic control automation system, comprising a processor and a memory, the memory having stored thereon a program which, when executed by the processor, performs the steps of the method of any one of claims 1 to 6.
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