CN112130124B - Quick calibration and error processing method for unmanned aerial vehicle management and control equipment in civil aviation airport - Google Patents
Quick calibration and error processing method for unmanned aerial vehicle management and control equipment in civil aviation airport Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
Abstract
The invention discloses a method for quickly calibrating and processing errors of unmanned aerial vehicle management and control equipment in a civil aviation airport, relates to the technical field of unmanned aerial vehicle management, and provides a method for quickly calibrating and processing errors of a high-precision unmanned aerial vehicle. The invention comprises the following steps: the first step: performing off-site calibration, namely performing equipment calibration on an analog field according to airport defense requirements, adopting a navigation record and track information in an unmanned aerial vehicle automatic cruising mode and a flight log, and performing true flight calibration by additionally installing a navigation positioning module on the unmanned aerial vehicle; and a second step of: calibrating the diagram; and a third step of: calibrating by using an analog source field; the invention provides a three-step calibration method adopting field external calibration, on-graph calibration and analog source field internal calibration, which can effectively improve the actual use precision and efficiency of the unmanned aerial vehicle control equipment.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a method for quickly calibrating and processing errors of unmanned aerial vehicle control equipment in a civil aviation airport.
Background
At present, due to the convenience of unmanned aerial vehicles, the use of unmanned aerial vehicles is more and more, but the unmanned aerial vehicles bring convenience services to people, meanwhile, the unmanned aerial vehicles also have the problem of improper use, the phenomena of ' black flight ' frequently occur, the ' harassment, the ' frying machine ', ' candid photograph ', and the like become new public security threats in urban low-altitude, and the unmanned aerial vehicles become ' timing bombs ' hovering in the urban low-altitude. Furthermore, the unmanned aerial vehicle has a far beyond the category of 'consumer grade' due to good product quality. The main threats of unmanned aerial vehicle to city safety are as follows:
(1) Threat to civil aviation safety. (2) threatens national government personal safety. (3) threat to low-altitude security of prisons. (4) threat to energy facility security. (5) threat to public privacy security.
Since 2017, domestic civil airports have successively started to test and purchase unmanned aerial vehicle defense equipment and services, and the characteristics that unmanned aerial vehicle cannot be adopted for real flight calibration, unmanned aerial vehicle target defense is large, land features are wide and the like when unmanned aerial vehicle management and control equipment including radar, photoelectric tracking and radio detection equipment is installed in or near the civil airport flight area are considered.
According to the general technical requirements of detection and reaction systems of unmanned aerial vehicle in civil airports issued in 2019, in order to ensure the low-altitude safety of civil airports, equipment such as radio direction finding, photoelectric tracking, radar and the like are required to be adopted for linkage. In order to realize that the device can automatically discover and track the unmanned aerial vehicle target, calibration and calibration of the device are needed. However, unmanned aerial vehicles are required to be used in the calibration process, and a plurality of flying operations are performed. The method is specified by the requirements of the civil aviation airport for forbidden flight and the control related regulations of the unmanned aerial vehicle in the city where the airport is located, the installation site cannot use the unmanned aerial vehicle to perform equipment calibration, only a manual experience rough calibration method can be adopted, time and labor are wasted, and meanwhile, the tracking precision of the equipment is reduced.
Disclosure of Invention
The invention aims at: the invention provides a quick calibration and error processing method for unmanned aerial vehicle management and control equipment in a civil aviation airport, which has high tracking precision and high actual use efficiency.
The invention adopts the following technical scheme for realizing the purposes:
a method for quickly calibrating and processing errors of unmanned aerial vehicle management and control equipment in a civil aviation airport comprises the following steps:
the first step: off-site calibration
According to airport defense requirements, equipment calibration is performed on a simulation site, and by utilizing an unmanned aerial vehicle automatic cruising mode and navigation records and track information in a flight log, a navigation positioning module is additionally arranged on the unmanned aerial vehicle, real flight calibration is performed, and the following parameters are gradually obtained:
(1) And under different detection distances, radar detection results under different flying heights, such as the information of the height, speed, track and the like of the unmanned aerial vehicle.
(2) Under different detection distances and flying heights, capturing the video of the unmanned aerial vehicle shot in the photoelectric tracking equipment, calibrating the pixel range and the azimuth of the unmanned aerial vehicle occupying the whole video picture under different distances and heights.
(3) Under different detection distances and flying heights, recording detection results of not less than 50 groups of radio detection equipment, including a signal frequency range, an azimuth angle, signal strength and the like of the unmanned aerial vehicle, and recording radio signals of a communication link image transmission and a remote control link of the unmanned aerial vehicle by using an unmanned aerial vehicle signal simulation device based on software radio.
(4) After various devices are calibrated outside the field, device parameters are calibrated in a radar, photoelectric and radio detection linkage mode.
And a second step of: picture upper mark school
(1) Through surveying and mapping means, the known GIS data or surveying and mapping operation is carried out on the defending core area of the unmanned aerial vehicle, three-dimensional reconstruction is carried out on the defending area, and relevant surveying and mapping data are obtained.
(2) Combining public satellite map and actual measurement mapping data, performing two-dimensional plane management and control equipment azimuth calibration after interference such as an airport hollow-tube radar bracket, building shielding and the like is removed to the maximum extent by utilizing the selected mounting points, so as to determine the similar north pointing position of equipment, initialize a pitch angle, define the interaction range of equipment linkage interaction, define the overlapping part of the equipment detection range and calibrate the single-point positioning and multi-point positioning range.
(3) The distance, relative angle and the like between the devices are calculated through longitude and latitude coordinates on the graph, the map coordinates are converted into spherical coordinates, and the distance between two points is calculated by utilizing a Havers line formula.
Wherein the method comprises the steps of
R is the earth radius, the average value is 6371.137 km,and->Represents the latitude of two points, Δλ represents the longitude of two points
And (5) the degree is poor.
The angle in (3) in the second step is:
knowing two-point coordinates on a map, solving an angle of a two-point connecting line, converting longitude and latitude coordinates into global positioning GPS coordinates, wherein the distance between the two points is more than 2 km, the height is not more than 50 meters, and the formula is as follows:
(4) And calibrating a plurality of calibration points on the graph, wherein the number of the calibration points is not less than 3, and estimating the due relative positions of the calibration points in the detection range of each detection device and the absolute coordinates on the graph after the north-pointing calibration of each control device on the graph to form a reference coordinate point for fitting prediction.
And a third step of: calibration using analog source field internal calibration
(1) Designing a scheme and a route for simulating actual measurement in an airport by using a reference coordinate point marked and calibrated on the second step chart;
(2) Selecting various different test points at 500m, 1km, 3km and 5km for each mounting point, and selecting the stay position of a calibration simulation source according to the conventional requirement of a positioning algorithm, wherein the points can cover 360 degrees;
(3) The simulation source transmits an unmanned aerial vehicle simulation radar echo, an unmanned aerial vehicle simulation image transmission signal, an unmanned aerial vehicle simulation remote control signal and an unmanned aerial vehicle simulation optical signal to mark various devices;
(4) After receiving the signals, each type of control equipment records the azimuth coordinates of the analog source;
(5) Setting basic parameters of equipment by combining with constructing a calibration positioning calculation model;
(6) Finally, inputting actual coordinates of the radar, photoelectric tracking and radio detection equipment in a data fusion system, wherein the coordinates comprise longitude and latitude, equipment height, initial pitching angle and other information;
the analog source system comprises the following components:
(1) The upper computer (display control terminal) is used for controlling the analog module to work, controlling the directional antenna turntable, receiving azimuth information and supporting a map display function;
(2) Software radio module: a 2-channel processor is adopted for running radar echo analog signals and unmanned aerial vehicle analog signals;
(3) And a navigation positioning module: the method is used for giving longitude and latitude coordinates and height coordinates of the simulation source;
(4) An optical target simulation module: the method is generally determined by a vehicle body mark where a standard school bus is positioned, or a striking mark with clear contrast between the color and the environmental color is added on the roof of the vehicle;
(5) The radar echo simulation signal generation method comprises the following steps: determining signals of typical distances and angles generated by radar manufacturers in field external calibration;
(6) The unmanned aerial vehicle analog signal generation method comprises the following steps: when calibrating by the off-site standard, unmanned aerial vehicle image transmission signals and remote control signals received in a typical distance range are recorded and replayed, and the signal generation requirement is that unmanned aerial vehicle analog signals can be obviously displayed and identified on a spectrogram under the condition that electromagnetic environment is relatively clean as much as possible.
(7) Directional antenna (with turntable): the control device is used for transmitting radar echo analog signals and unmanned aerial vehicle analog signals to the direction of the control device.
The using flow of the simulation source system is as follows:
(1) Initializing equipment, and starting a navigation positioning module and a software radio module by an upper computer (display control terminal);
(2) According to map display, after the calibration equipment (vehicle) reaches a designated calibration point, the direction of a directional antenna is adjusted, an analog signal is transmitted to the management and control equipment to be calibrated, after the management and control equipment receives the analog signal, coordinates are recorded, and the result is uploaded to a server;
(3) After traversing all simulation points (single point for multiple times and multiple points), the simulation source is linked with the control equipment to generate all calibration data;
(4) The calibration data adopts a calibration algorithm to give teaching advice of the equipment one by one.
Further, in the first step, error processing is performed on the collected data by using a least square method, so that calibration accuracy can be better provided.
Further, the mounting point includes one or more of radar, photoelectric and radio detection.
The beneficial effects of the invention are as follows:
1. the method for calibrating the unmanned aerial vehicle management and control equipment by adopting the method for calibrating unmanned aerial vehicle flight in and near the airport flight zone can avoid the problems that the unmanned aerial vehicle management and control equipment possibly cannot operate in a no-flight zone and threatens the implementation of airport flight operation, and the method for calibrating by adopting the three-step calibration method for calibrating outside field, calibrating on-diagram and calibrating in a simulated source field is provided, so that the actual use precision and efficiency of the unmanned aerial vehicle management and control equipment can be effectively improved.
Detailed description of the preferred embodiments
The present invention will be further described in detail with reference to the following examples for a better understanding of the present invention by those skilled in the art.
Example 1
A method for quickly calibrating and processing errors of unmanned aerial vehicle management and control equipment in a civil aviation airport comprises the following steps:
the first step: off-site calibration
According to the airport defense requirements, equipment calibration is performed in a professional flight test field, the following parameters are gradually obtained by utilizing an unmanned aerial vehicle automatic cruising mode and navigation records and track information in a flight log and simultaneously installing a navigation positioning module on the unmanned aerial vehicle, wherein the real flight calibration is performed:
(1) And under different detection distances, radar detection results under different flying heights, such as the information of the height, speed, track and the like of the unmanned aerial vehicle.
(2) Under different detection distances and flying heights, capturing the video of the unmanned aerial vehicle shot in the photoelectric tracking equipment, calibrating the pixel range and the azimuth of the unmanned aerial vehicle occupying the whole video picture under different distances and heights.
(3) Under different detection distances and flying heights, recording detection results of not less than 50 groups of radio detection equipment, including a signal frequency range, an azimuth angle, signal strength and the like of the unmanned aerial vehicle, and recording radio signals of a communication link image transmission and a remote control link of the unmanned aerial vehicle by using an unmanned aerial vehicle signal simulation device based on software radio.
(4) After various devices are calibrated outside the field, device parameters are calibrated in a radar, photoelectric and radio detection linkage mode.
(5) For the collected data, the least square method is adopted for error processing
And a second step of: picture upper mark school
(1) Through surveying and mapping means, the known GIS data or unmanned aerial vehicle aerial survey for surveying and mapping specific approval is utilized to carry out three-dimensional reconstruction on the defending area, so that relevant surveying and mapping data are obtained.
(2) Combining public satellite map and actual measurement mapping data, performing two-dimensional plane management and control equipment azimuth calibration after interference such as an airport hollow-tube radar bracket, building shielding and the like is removed to the maximum extent by utilizing the selected mounting points, so as to determine the similar north pointing position of equipment, initialize a pitch angle, define the interaction range of equipment linkage interaction, define the overlapping part of the equipment detection range and calibrate the single-point positioning and multi-point positioning range.
(3) The distance, relative angle and the like between the devices are calculated through longitude and latitude coordinates on the graph, the map coordinates are converted into spherical coordinates, and the distance between two points is calculated by utilizing a Havers line formula.
Wherein the method comprises the steps of
R is the earth radius, the average value is 6371.137 km,and->Represents the latitude of two points, Δλ represents the longitude of two points
And (5) the degree is poor.
The angle in (3) in the second step is:
knowing coordinates of two points on the map, solving an angle of a connecting line of the two points, and converting longitude and latitude coordinates into global positioning GPS coordinates: the distance between two points is more than 2 km, the height is ignored when the height is not more than 50 meters, and the angle of the connecting line of the two points is expressed by the formula:
(4) And calibrating a plurality of calibration points on the graph, wherein the number of the calibration points is not less than 3, and estimating the due relative positions of the calibration points in the detection range of each detection device and the absolute coordinates on the graph after the north-pointing calibration of the control device on the graph. And forming a fitting prediction reference coordinate point.
And a third step of: calibration using analog source field internal calibration
(1) Designing a scheme and a route for simulating actual measurement in an airport by using a reference coordinate point marked and calibrated on the second step chart;
(2) Selecting points at 500m, 1km, 3km and 5km of each different test point potential to cover 360 degrees for three devices including radar, photoelectric and radio detection at each mounting point, and selecting a calibration simulation source stay position according to the conventional requirement of a positioning algorithm not less than 3 points;
(3) The simulation source transmits an unmanned aerial vehicle simulation radar echo, an unmanned aerial vehicle simulation image transmission signal, an unmanned aerial vehicle simulation remote control signal and an unmanned aerial vehicle simulation optical signal to mark various devices, the unmanned aerial vehicle simulation optical signal can mainly be a vehicle-mounted reference object where the simulation source is located and is limited by a field, only ground targets can be calibrated in and around the airport, and the altitude target is adjusted by referring to first-step field external calibration data;
(4) After receiving the signals, each type of control equipment records the azimuth coordinates of the analog source;
(5) Constructing a calibration positioning calculation model by combining a least square method, and basically setting basic parameters of equipment;
(6) Finally, inputting actual coordinates of the radar, photoelectric tracking and radio detection equipment in a data fusion system, wherein the coordinates comprise longitude and latitude, equipment height, initial pitching angle and other information.
The analog source system comprises the following components:
(1) The upper computer (display control terminal) is used for controlling the analog module to work, controlling the directional antenna turntable, receiving azimuth information and supporting a map display function;
(2) Software radio module: a 2-channel processor is adopted for running radar echo analog signals and unmanned aerial vehicle analog signals;
(3) And a navigation positioning module: the method is used for giving longitude and latitude coordinates and height coordinates of the simulation source;
(4) An optical target simulation module: the method is generally determined by a vehicle body mark where a standard school bus is positioned, or a striking mark with vivid colors such as yellow and red is added on the roof of the vehicle;
(5) The radar echo simulation signal generation method comprises the following steps: determining signals of typical distances and angles generated by radar manufacturers in field external calibration;
(6) The unmanned aerial vehicle analog signal generation method comprises the following steps: when calibrating by the external standard, the unmanned aerial vehicle image transmission signals and remote control signals received in the typical distance range are recorded and replayed, and the signal generation requirement is as clean as possible under the condition that the electromagnetic environment is relatively clean, and the unmanned aerial vehicle analog signals can be obviously displayed and identified on a spectrogram;
(7) Directional antenna (with turntable): the control device is used for transmitting radar echo analog signals and unmanned aerial vehicle analog signals to the direction of the control device.
The using flow of the simulation source system is as follows:
(1) Initializing equipment, and starting a navigation positioning module and a software radio module by an upper computer (display control terminal);
(2) According to map display, after the calibration equipment (vehicle) reaches a designated calibration point, the direction of a directional antenna is adjusted, an analog signal is transmitted to the management and control equipment to be calibrated, after the management and control equipment receives the analog signal, coordinates are recorded, and the result is uploaded to a server;
(3) After traversing all simulation points (single point for multiple times and multiple points), the simulation source is linked with the control equipment to generate all calibration data;
(4) The calibration data adopts a calibration algorithm to give teaching advice of the equipment one by one.
The present invention is not limited to the preferred embodiments, and the patent protection scope of the invention is defined by the claims, and all equivalent structural changes made by the application of the present invention are included in the scope of the invention.
Claims (8)
1. A quick calibration and error processing method for unmanned aerial vehicle management and control equipment in a civil aviation airport is characterized by comprising the following steps:
the first step: off-site calibration
According to airport defense requirements, equipment calibration is performed on a simulation site, and by utilizing an unmanned aerial vehicle automatic cruising mode and navigation records and track information in a flight log, a navigation positioning module is additionally arranged on the unmanned aerial vehicle, real flight calibration is performed, and the following parameters are gradually obtained:
(1) Radar detection results under different flight heights, such as the height, speed and track of the unmanned aerial vehicle, are obtained under different detection distances;
(2) Capturing video of the unmanned aerial vehicle shot in the photoelectric tracking equipment under different detection distances and flying heights, calibrating the pixel range and the azimuth of the unmanned aerial vehicle occupying the whole video picture under different distances and heights;
(3) Under different detection distances and flying heights, recording detection results of not less than 50 groups of radio detection equipment, including a signal frequency range, an azimuth angle and signal strength of the unmanned aerial vehicle, and recording radio signals of a communication link image transmission and a remote control link of the unmanned aerial vehicle by using an unmanned aerial vehicle signal simulation device based on software radio;
(4) After calibrating various devices outside the field, calibrating device parameters in a radar, photoelectric and radio detection linkage mode;
and a second step of: picture upper mark school
(1) By means of surveying and mapping, three-dimensional reconstruction is carried out on a defending area by utilizing known GIS data or by carrying out surveying and mapping operation on a defending core area of the unmanned aerial vehicle, and relevant surveying and mapping data are obtained;
(2) Combining public satellite map and actual measurement mapping data, performing two-dimensional plane management and control equipment azimuth calibration after interference such as an airport inner space tube radar bracket, building shielding and the like is removed to the maximum extent by utilizing the selected mounting points, so as to determine the similar north pointing position of equipment, initialize a pitch angle, define the interaction range of equipment linkage interaction, define the overlapping part of the equipment detection range and calibrate the single-point positioning and multi-point positioning range;
(3) Calculating the distance and the relative angle between the devices through longitude and latitude coordinates on the graph;
(4) Calibrating a plurality of calibration points on the graph, wherein the number of the calibration points is not less than 3, and estimating the due relative positions of the calibration points in the detection range of each detection device and the absolute coordinates on the graph after the north-pointing calibration of each control device on the graph to form a reference coordinate point for fitting prediction;
and a third step of: calibration using analog source field internal calibration
(1) Designing a scheme and a route for simulating actual measurement in an airport by using a reference coordinate point marked and calibrated on the second step chart;
(2) Selecting various different test points at 500m, 1km, 3km and 5km for each mounting point, and selecting the simulation source stay position according to the conventional requirement of a positioning algorithm, wherein the points can cover 360 degrees;
(3) The simulation source transmits an unmanned aerial vehicle simulation radar echo, an unmanned aerial vehicle simulation image transmission signal, an unmanned aerial vehicle simulation remote control signal and an unmanned aerial vehicle simulation optical signal to mark various devices;
(4) After receiving the signals, each type of control equipment records the azimuth coordinates of the analog source;
(5) Setting basic parameters of equipment by combining with constructing a calibration positioning calculation model;
(6) Finally, in the data fusion system, inputting actual coordinates of the radar, photoelectric tracking and radio detection equipment, wherein the actual coordinates comprise longitude and latitude, equipment height and initial pitching angle.
2. The method for fast calibrating and error processing of unmanned aerial vehicle control equipment in a civil aviation airport according to claim 1, wherein the error processing is performed on the collected data in the first step by using a least square method.
3. The method for rapid calibration and error handling of unmanned aerial vehicle control equipment in a civil aviation airport of claim 1, wherein the mounting points comprise one or more of radar, photoelectric and radio detection.
4. The method for quickly calibrating and processing errors of unmanned aerial vehicle control equipment in a civil aviation airport according to claim 1, wherein the analog source system comprises the following components:
(1) The upper computer display control terminal is used for controlling the analog module to work, controlling the directional antenna turntable, receiving azimuth information and supporting a map display function;
(2) Software radio module: a 2-channel processor is adopted for running radar echo analog signals and unmanned aerial vehicle analog signals;
(3) And a navigation positioning module: the method is used for giving longitude and latitude coordinates and height coordinates of the simulation source;
(4) An optical target simulation module: the method is generally determined by a vehicle body mark where a standard school bus is positioned, or a striking mark with clear contrast between the color and the environmental color is added on the roof of the vehicle;
(5) Directional antenna with turntable: the control device is used for transmitting radar echo analog signals and unmanned aerial vehicle analog signals to the direction of the control device.
5. The method for quickly calibrating and processing errors of unmanned aerial vehicle management and control equipment in a civil aviation airport according to claim 4, which is characterized by comprising the following steps: the using flow of the simulation source system is as follows:
(1) Initializing equipment, and starting a navigation positioning module and a software radio module by an upper computer display control terminal;
(2) According to map display, after the calibration equipment vehicle reaches a specified calibration point, the direction of a directional antenna is adjusted, an analog signal is transmitted to the management and control equipment to be calibrated, after the management and control equipment receives the analog signal, coordinates are recorded, and a result is uploaded to a server;
(3) After traversing all the simulation points, the simulation source performs single-point multiple times and multiple-point linkage with the control equipment to generate all calibration data;
(4) The calibration data adopts a calibration algorithm to give teaching advice of the equipment one by one.
6. The method for quickly calibrating and processing errors of unmanned aerial vehicle management and control equipment in a civil aviation airport according to claim 5, wherein the calibration algorithm comprises the following steps:
(1) The radar echo simulation signal generation method comprises the following steps: determining signals of typical distances and angles generated by radar manufacturers in field external calibration;
(2) The unmanned aerial vehicle analog signal generation method comprises the following steps: when calibrating by the off-site standard, unmanned aerial vehicle image transmission signals and remote control signals received in a typical distance range are recorded and replayed, and the signal generation requirement is that unmanned aerial vehicle analog signals can be obviously displayed and identified on a spectrogram under the condition that electromagnetic environment is relatively clean as much as possible.
7. The method for rapid calibration and error handling of unmanned aerial vehicle management and control equipment in a civil aviation airport according to claim 1, wherein the distance between the computing equipment in step (3) in the second step is:
converting map coordinates into spherical coordinates, and calculating the distance between two points by using a Haverine formula;
wherein the method comprises the steps of
R is the earth radius, the average value is 6371.137 km,and->Representing the latitude of the two points and Δλ represents the difference in longitude of the two points.
8. The method for rapid calibration and error handling of unmanned aerial vehicle control equipment in a civil aviation airport according to claim 1, wherein the angle in step (3) is:
knowing two-point coordinates on a map, solving an angle of a two-point connecting line, converting longitude and latitude coordinates into global positioning GPS coordinates, wherein the distance between the two points is more than 2 km, the height is not more than 50 meters, and the formula is as follows:
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