CN111814098B - Terrain profile inclination angle calculation method for eliminating micro-terrain influence - Google Patents
Terrain profile inclination angle calculation method for eliminating micro-terrain influence Download PDFInfo
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Abstract
The invention belongs to the field of aircraft mission planning, and relates to a terrain profile inclination angle calculation method for eliminating micro-terrain influence, which comprises the following steps of: sequentially reading coordinate values of all elevation points on the topographic profile data; calculating an initial terrain inclination angle by adopting a least square method; on the basis of each elevation point on the section, defining a local terrain inclination angle of the position of each elevation point on the section as a local terrain inclination angle; calculating the difference between each local terrain inclination angle and the initial terrain inclination angle, and calculating the weight corresponding to each elevation point; and setting a termination condition, and calculating the inclination angle of the terrain profile by adopting an iterative method to describe the overall trend of the terrain profile. The method can be applied to the navigation planning process of the unmanned aerial vehicle and is used for automatically picking up the terrain profile trend corresponding to the flight path of the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the field of aircraft mission planning, particularly relates to a terrain tracking mission planning method for an unmanned aerial vehicle, and particularly relates to a terrain profile dip angle calculation method for eliminating micro-terrain influence.
Background
The inclination angle of the terrain profile can reflect the overall change trend of a group of land terrain measurement data. In the process of planning the route of the unmanned aerial vehicle, the inclination angle of the terrain profile corresponding to the terrain with flat tendency is a main factor for determining the flight climbing angle of the unmanned aerial vehicle in the area. The method for reasonably defining the inclination angle of the terrain profile can weaken the influence of the micro-terrain on the integral inclination trend of the terrain. The method and the device can accurately realize the calculation of the inclination angle of the terrain profile, and have important significance for rapidly and accurately planning the route of the unmanned aerial vehicle under the terrain tracking condition.
The unmanned aerial vehicle route planning firstly ensures the flight safety of the unmanned aerial vehicle in the flight process, and in addition, in order to reduce the probability of the radar detection of the unmanned aerial vehicle in the flight process, the route design is carried out according to the landform profile trend as much as possible in the unmanned aerial vehicle route planning process, and the flight height of the unmanned aerial vehicle is reduced through the flight mode of terrain tracking so as to realize the radar stealth function. At present, in the process of processing task planning data of an unmanned aerial vehicle, micro-terrain data influencing the inclination angle of a terrain profile is usually eliminated by means of manual visual editing, and then the inclination angle of the terrain profile is calculated.
Disclosure of Invention
In order to solve the problems in the traditional terrain data processing engineering, the invention provides a terrain profile inclination angle calculation method for eliminating the influence of micro-terrain.
The technical scheme of the invention is as follows:
a terrain profile inclination angle calculation method for eliminating micro-terrain influence comprises the following specific steps:
a. selecting a group of terrain profile data with known flat tendency;
b. reading 2-dimensional coordinate values of all elevation points on the terrain profile;
c. calculating initial terrain slope rate phi by adopting least square method 0 ；
d. Calculating local terrain gradient corresponding to each elevation point
e. Taking the inverse of the square of the difference between the local terrain gradient and the initial terrain gradient as the weight P of each elevation point;
f. and (4) setting an iteration condition, calculating the inclination rate of the terrain profile by adopting an iteration method, and calculating the inclination angle of the terrain profile by arc tangent.
In the step b, h is defined when the topographic profile data is read i The terrain corresponding to the elevation point i in the group, z i The lateral offset corresponding to the elevation point i.
In the step d, the calculation formula of the local terrain slope rate corresponding to the elevation point i is as follows:
in the step e, a calculation formula for defining the weight P of each elevation point of 1 group of terrain data is as follows:
in the step f, let L = [ h ] 1 h 2 … h n ] T ，
V＝[v 1 v 2 … v n ] T Is a vector of the residual error, and is,
for constant term estimation (vertical intercept of trend line), formula is adopted
Calculating the slope rate of the terrain
If phi 1 -Φ 0 |＜10 -3 If so, stop the calculation, otherwise order
Jumping to step d until phi 1 -Φ 0 |＜10 -3 。
The invention has the beneficial effects that: the terrain profile inclination angle calculation method provided by the invention can accurately extract the terrain inclination angle with micro-terrain fluctuation but flat overall trend, and the extraction result can effectively eliminate the influence of small-scale terrain fluctuation on the overall trend capture process of large-scale terrain. The method can be applied to the navigation planning process of the unmanned aerial vehicle and is used for automatically picking up the terrain profile trend corresponding to the flight path of the unmanned aerial vehicle.
Drawings
Fig. 1 is a schematic flow chart of the process of calculating the terrain inclination angle according to the present invention.
FIG. 2 is a schematic diagram of local terrain slope corresponding to the elevation point in the present invention.
FIG. 3 is a graph of the effect of an example calculation in the present invention.
Detailed Description
The following further describes the specific embodiments of the present invention with reference to the drawings and technical solutions.
The implementation process of the invention is to realize the calculation of the inclination angle of the topographic profile by iterative calculation of a computer. Selecting a certain 1 group of topographic profile data S (containing 240 elevation sampling points, the topographic profile data is shown in table 1) obtained in one topographic survey, and calculating the topographic profile inclination angle of the group of data by adopting the method disclosed by the invention, wherein the method comprises the following steps (shown in fig. 1 and 2):
TABLE 1 topographic Profile data
Step a, reading all nodes q on the set of terrain profile data S 1 、q 2 、…、q n In the plane of (z) i ,h i )(i＝1,2,…,n)；n＝240；
Step b, defining L = [ h = 1 h 2 … h n ] T ，
Using a formula
Calculating the slope rate phi of the initial terrain profile 0 ＝0.0783；
Step c, extracting the first elevation point q from the group data S 1 Record as the current elevation point q i ；
D, judging whether the current node is the first elevation point on the terrain profile, if so, judging whether the current node is the first elevation point on the terrain profileReading the elevation point q after the current elevation point 2 Definition of
Is the elevation point q 1 Corresponding local terrain slope rate
Otherwise, extracting the previous elevation point on the topographic profile and recording the previous elevation point as q i-1 Definition of
Is the current elevation point q i Corresponding local terrain slope rate
Step e, calculating
Defining the set of terrain data as a weight matrix corresponding to each elevation point of the set of terrain data;
step f, calculating
Definition of
As a new terrain profile slope rate; calculating | Φ 1 -Φ 0 If | Φ 1 -Φ 0 |＜10 -3 Then define Φ = Φ 1 Entering step g; otherwise, let Φ 0 ＝Φ 1 Entering step e;
through 10 times of iterative computation, | phi 1 -Φ 0 |＝0.0005＜10 -3 If the iteration termination condition is satisfied, then Φ = Φ 1 ＝-0.00007921。
Step g, calculating theta S And = arctan (Φ) = arctan (-0.00007921) = -0.0057 ° is the terrain profile inclination angle corresponding to the set of data S.
The calculation effect of the embodiment is shown in fig. 3, and it can be seen from the figure that the overall advantage of the terrain profile tends to be horizontal. The terrain slope of 0.0783, obtained directly by least squares fitting, is clearly different from the overall trend of the terrain profile, mainly due to the influence of the concave terrain with a lateral offset between 0 and 10 km. In the method, the influence of the micro-topography on the calculation of the terrain inclination angle is considered, so that the influence of the elevation point at the concave terrain on the calculation of the trend of the profile of the whole terrain is weakened through a weighting scheme in an iterative process. The fitted submarine topography inclination rate gradually converges towards a flat submarine, the influence of a micro-topography area elevation point on capturing the overall terrain inclination angle is effectively weakened, the final iterative fitting result is obtained, namely-0.00007921 is closer to the real submarine inclination condition, and the method has an obvious effect.
Claims (1)
1. A terrain profile inclination angle calculation method for eliminating micro-terrain influence is characterized by comprising the following specific steps:
a. selecting a group of terrain profile data with known flat tendency;
b. reading 2-dimensional coordinate values of all elevation points on the terrain profile;
c. calculating initial terrain slope rate phi by adopting least square method 0 ；
d. Calculating local terrain slope rate corresponding to each elevation point
e. Taking the inverse of the square of the difference between the local terrain gradient and the initial terrain gradient as the weight P of each elevation point;
f. setting iteration conditions, calculating the inclination rate of the terrain profile by adopting an iteration method, and calculating the inclination angle of the terrain profile by arc tangent;
in the step b, h is defined when the topographic profile data is read i For the terrain corresponding to elevation point i in the group, z i The horizontal deviation corresponding to the elevation point i;
in the step d, the calculation formula of the local terrain slope rate corresponding to the elevation point i is as follows:
in the step e, a calculation formula for defining the weight P of each elevation point of 1 group of terrain data is as follows:
in the step f, let L = [ h ] 1 h 2 …h n ] T ，
Is a constant term estimate; using the formula
Calculating the slope rate of the terrain
If phi 1 -Φ 0 |＜10 -3 Stopping the calculation; on the contrary order
Jumping to step d until phi 1 -Φ 0 |＜10 -3 。
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1524500A1 (en) * | 2003-10-13 | 2005-04-20 | Saab Ab | Method and device for planning a trajector |
| EP2755046A1 (en) * | 2013-01-14 | 2014-07-16 | Honeywell International Inc. | System and method for autotilting a ground-mapping radar |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1524500A1 (en) * | 2003-10-13 | 2005-04-20 | Saab Ab | Method and device for planning a trajector |
| EP2755046A1 (en) * | 2013-01-14 | 2014-07-16 | Honeywell International Inc. | System and method for autotilting a ground-mapping radar |
Non-Patent Citations (1)
| Title |
|---|
| 基于局部规划的三维航迹规划方法;陈楸等;《计算机仿真》;20110715(第07期);全文 * |
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