CN112396872B - Airplane yaw judging method and device based on computer flight plan CFP data and storage medium - Google Patents
Airplane yaw judging method and device based on computer flight plan CFP data and storage medium Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0052—Navigation or guidance aids for a single aircraft for cruising
Abstract
The invention discloses an airplane yaw judging method, device and storage medium based on computer flight plan CFP data, wherein the method comprises the following steps: receiving real-time data of an aircraft; obtaining a computer flight plan CFP of a flight to which the airplane belongs from a Flight Operation Control (FOC) system; judging the first passing waypoint; judging the located flight segment; judging whether yawing exists according to the yawing distance; and processing in the case of data loss. When the airplane drifts, an alarm can be obtained according to the airplane yawing judging method based on CFP data, and the safe flight of the airplane is ensured.
Description
Technical Field
The invention relates to an airplane yaw judging method and device based on computer flight plan CFP data and a storage medium, and belongs to the technical field of civil aviation information.
Background
With the rapid development of civil aviation transportation industry, more and more passengers select flights to go out, the operation control work of an airline company is heavier, and a set of operation alarm system needs to be established for monitoring the operation of each flight. The yaw warning is particularly important, and if the aircraft yaws, a navigation system or a flight control system may be failed, so that a serious result is caused. Therefore, the yaw alarm must be accurate and real-time. The calculation of the yaw warning depends on the real-time position of the aircraft itself and the planned route in the flight plan. And comparing the real-time position with the air route to complete the calculation of yaw. However, in the actual operation process, the real-time position of the aircraft is obtained from various sources, and the data reliability is different, and meanwhile, in the flight operation process, the flight may be separated from the planned route due to weather factors or the command of a controller, so for operation control personnel on the ground, all factors need to be integrated to judge the yaw. The accuracy of the algorithm for yaw warning also presents challenges.
Most of the existing yaw calculation algorithms are calculated by comparing the aircraft course with the course of the flight path and calculating the deviation distance from the flight path by combining the aircraft position, and the existing algorithms have the defects that errors exist in the judgment of the flight path middle section on one hand and the problem of interruption of the downloaded data of the real-time position of the aircraft needs to be considered in the actual operation on the other hand.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an airplane yaw judging method based on Computer Flight Plan (CFP) (computer Flight plan) data, which has the following specific scheme:
an aircraft yaw judging method based on computer Flight plan CFP (computer Flight plan) data is characterized by comprising the following steps:
(1) receiving real-time data of an aircraft;
(2) obtaining a computer flight plan CFP of a flight to which the airplane belongs from a Flight Operation Control (FOC) system;
(3) judging the first passing waypoint;
(4) the preliminary judgment of the located flight segment comprises the following steps: determining a flight segment according to the relative positions of a plurality of waypoints and the current position of the airplane;
(5) further judging the located segment, including: judging the flight segment according to the current course of the airplane and the included angle of the flight segment direction preliminarily determined in the step (4);
(6) and judging whether to yaw according to the yaw distance.
The method further comprises: the real-time data of the airplane in the step (1) is the real-time data of the airplane received by using ADS-B (Automatic Dependent Surveillance-Broadcast) ground receiving equipment, and the real-time data comprises: flight number, longitude, latitude, altitude, speed, heading, and timestamp.
The method further comprises: the CFP in the step (2) includes a flight path planned for the flight, and the flight path includes a coordinate of an airport at which the aircraft takes off, a TOC (time of cruise) point at which the aircraft starts to fly flat after climbing to a certain height, a tod (time of descent) point at which the aircraft starts to fly flat, and coordinates of each waypoint in the flight path; the descent time TOD is the position of the plane flight ending descent starting time; and coordinates of each waypoint in the airline are geographical coordinate points of various navigation facilities.
The method further comprises: the step (3) of determining the first waypoint determined to have passed includes: and judging the first passing waypoint through the distance according to the current position of the airplane, and starting yaw judgment if the TOC point at the cruise time is judged to pass and each waypoint behind the TOC point is reached.
The method further comprises: the preliminary judgment in the step (4) through the relative positions of the plurality of waypoints and the current position of the airplane comprises: and judging the distance between the aircraft and two adjacent waypoints A and B through three groups of continuous position data, and if the distance between the aircraft and the waypoints A and the distance between the aircraft and the waypoints B are far away from the waypoints A and close to the waypoints B, preliminarily considering that the aircraft is positioned between the waypoints AB.
The method further comprises: the step (5) of judging the flight segment according to the current heading of the airplane and the included angle of the flight segment direction preliminarily determined in the step (4) comprises the following steps: after the flight segment is preliminarily determined, determining that the preliminary judgment has an error according to course changes of subsequent continuous three groups of position data, if the included angle between the current course of the airplane and the preliminarily determined AB flight segment direction is more than 90 degrees, and returning to the step (4) for re-judgment; if the distance between the aircraft and the route point A is less than 90 degrees, judging the three groups of position data, and if the aircraft is still far away from the route point A and close to the route point B, preliminarily considering that the aircraft is positioned between the aircraft and the aircraft flies from the aircraft A to the aircraft B.
The method further comprises: the step (6) of determining whether to yaw according to the yaw distance includes: and (3) calculating the vertical distance of the flight section determined in the aircraft distance step (5) by adopting a point-to-straight line distance calculation method, judging that the aircraft yaws if the vertical distance between the aircraft and the determined flight section is more than 100 kilometers, and otherwise, judging that the aircraft does not yaw.
The method further comprises: the aircraft yaw determination method further includes: the processing in the case of data loss comprises the following steps: and (4) if the ADS-B data is interrupted, pausing yaw judgment, and when the data is recovered, performing yaw judgment according to the steps (3) to (6).
The invention also discloses: an aircraft yaw determination device based on computer flight plan CFP data, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the aircraft yaw determination method.
The invention also discloses: a computer-readable medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method for determining the yaw of an aircraft.
The invention has the beneficial effects that:
in the flight operation control work, whether the flight flies according to the flight plan planned route or not needs to be monitored, and by the airplane yaw judging method, the airplane yaw judging device and the storage medium based on the CFP data, provided by the invention, when the airplane drifts, an alarm can be obtained according to the airplane yaw judging method based on the CFP data, so that the safe flight of the airplane is ensured.
Drawings
FIG. 1 is a schematic illustration of a method for determining aircraft yaw based on CFP data in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a situation in which an aircraft flies according to a CFP determined flight path and preliminarily judges a flight segment under a normal condition in an embodiment of the present invention;
FIG. 3 is a schematic representation of an embodiment of the invention in a situation where the aircraft is in a yawing situation.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention relates to an aircraft (aircraft) yaw judging method based on Computer Flight Plan (CFP) (computer Flight plan) data, as shown in figure 1, the method comprises the following steps:
(1) firstly, receiving real-time data of an airplane, wherein the real-time data of the airplane is received by using ADS-B (Automatic Dependent surface-Broadcast) ground receiving equipment, and the real-time data comprises: flight number, longitude, latitude, altitude, speed, heading, and timestamp, as well as real-time data of the aircraft obtained using Iridium or other means.
(2) And acquiring a CFP from the FOC system, wherein the CFP is the basis of a flight route after being planned before the flight operation, the CFP comprises the route planned by the flight, and the route comprises a takeoff arrival airport coordinate, a cruise time TOC (time of cruise) point, a descent time TOD (time of descent) point and coordinates of each route point in the route. The TOC point at the cruising moment is the position of the plane at the moment when the plane starts to fly horizontally after climbing to a certain height; the descent time TOD is the position of the plane flight ending descent starting time; the coordinates of each waypoint in the route are geographical coordinate points of various navigation facilities, can be longitude and latitude, such as a very high frequency omnidirectional beacon (VOR) and the like, and also comprise manually set geographical coordinate points. The aircraft in the CFP flies along various coordinate points to reach a destination.
(3) As shown in fig. 1, determining the first waypoint determined to have passed includes: and judging the first passing waypoint to be confirmed according to the current position of the airplane, and if judging that the TOC point passes and any waypoint after the TOC is reached, starting yaw judgment, namely starting yaw judgment when confirming that one waypoint passes each time.
In the specific process of judging the first confirmed waypoint by distance according to the current position of the airplane, the judgment of the 'first' is that when the airplane passes through the TOC point or any waypoint behind the TOC through the distance, the distance relation between the position of the airplane and all waypoints on the route is judged through high-frequency calculation. The position relation between the aircraft position and all the waypoints is judged instead of only the distance relation between the aircraft and the first waypoint in the CFP, so that the method is suitable for the condition of approaching the route in the actual flight of the aircraft.
(4) And preliminarily judging the located flight segment.
There are several waypoints in the CFP, as shown in fig. 1, including: A. b, C are provided. Because the ADS-B position data has errors, and simultaneously, because of the reasons of weather and air traffic control command, uncertainty such as circling, direct flight and the like exists in the flight operation process, the preliminary judgment is firstly carried out through the relative positions of a plurality of route points and the current position of the airplane, and the judgment is carried out through three groups of continuous position data.
The judging process is as follows: firstly, obtaining the newly-passed waypoint of the aircraft in the step (3), assuming the waypoint A, then judging the distance change between the real-time position of the aircraft and all adjacent waypoints (A, B, B, C, two points are one group) behind the point A, and assuming that the conditions of approaching from the waypoint A and approaching from the waypoint B are met when calculating the distance between the two points A, B, considering that the aircraft is between AB.
As shown in fig. 2, taking two waypoints A, B as an example, based on the way width being 20 km, if the distance from the aircraft position to a certain waypoint a is less than 20 km, it is considered that the aircraft enters the waypoint a area, and the determination of the flight segment is immediately started when the aircraft waits to fly through the waypoint a. And judging the movement trend of the airplane according to the distance between the two waypoints A, B, and if the distance A is far and the distance B is close, preliminarily determining that the airplane is between the AB flight sections.
(5) And further judging the located flight segment.
After the preliminary navigation segment is determined, judging course changes of the subsequent continuous three groups of position data, wherein the subsequent continuous three groups of position data are different from the three groups of position data used in the step (4), and the latest three groups of position data received currently are adopted. Confirming whether the airplane is between the AB again; if the included angle between the course direction and the preliminarily determined AB flight segment direction is larger than 90 degrees, the preliminary judgment is considered to have an error, and the step (4) is returned to for re-judgment; if the distance between the aircraft and the route point A is less than 90 degrees, judging the three groups of position data, and if the aircraft is still far away from the route point A and close to the route point B, preliminarily considering that the aircraft is positioned between the aircraft and the aircraft flies from the aircraft A to the aircraft B.
As shown in fig. 3, if the included angle α between the heading and the preliminarily determined AB flight segment direction is greater than 90 °, it is likely that the aircraft will be about to hover or an air pipe is subjected to direct flight command, the preliminary judgment result has an error, the flight segment is delayed to be further judged, if the included angle α is less than 90 °, the trend judgment of the aircraft motion direction is performed again, and if the included angle α is consistent with the preliminary judgment, the aircraft position between the AB flight segments is considered.
(6) And judging whether to yaw according to the yaw distance.
And (3) calculating the vertical distance of the flight section determined in the aircraft distance step (5) by adopting a point-to-straight line distance calculation method, judging that the aircraft yaws if the vertical distance between the aircraft and the determined flight section is more than 100 kilometers, and otherwise, judging that the aircraft does not yaw.
(7) And (5) processing in the case of data missing.
And (3) because ADS-B data is influenced by factors such as terrain, the condition that data transmission cannot be interrupted can occur, if the data are interrupted, the yaw judgment algorithm suspends calculation, and when the data are recovered, the yaw judgment is carried out according to the steps (3) to (6).
According to the embodiment of the invention, the invention also discloses an airplane yaw judging device based on the CFP data of the computer flight plan, which comprises the following components: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the aircraft yaw determination method.
According to an embodiment of the invention, a computer-readable medium is also disclosed, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for determining yaw of an aircraft.
In the construction of a real-time warning platform system of an airline company, yaw warning can effectively play a role, 26 yaw warnings are given in 27 drifts, and the missing warning is that the flight returns, so that the algorithm does not cover the return condition.
Each functional unit in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a ReRAM, an MRAM, a PCM, a NAND Flash, a NOR Flash, a Memory, a magnetic disk, an optical disk, or other various media that can store program codes.
The above embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (8)
1. An aircraft yaw determination method based on computer flight plan CFP data is characterized by comprising the following steps:
(1) receiving real-time data of an aircraft;
(2) obtaining a computer flight plan CFP of a flight to which the airplane belongs from a Flight Operation Control (FOC) system;
(3) judging the first determined passing waypoint, and when the aircraft passes through the TOC point or any waypoint behind the TOC point through the distance, calculating and judging the distance relationship between the position of the aircraft and all the waypoints on the airway at high frequency;
(4) the preliminary judgment of the located flight segment comprises the following steps: determining a flight segment according to the relative positions of a plurality of waypoints and the current position of the airplane, and judging the distance change between the real-time position of the airplane and all the adjacent waypoints of each group after the waypoint A which is newly passed by the airplane is obtained in the step (3), wherein the judging process comprises the following steps: firstly, obtaining the latest passing waypoint of the airplane in the step (3), assuming the latest passing waypoint as the point A, then judging the distance change between the real-time position of the airplane and all adjacent waypoints of each group behind the point A, wherein A, B two points are one group, B, C two points are one group, and assuming that the conditions of the distance from the waypoint A and the distance from the waypoint B are met when the distance between the real-time position of the airplane and the two points is calculated to A, B, the airplane is considered to be between AB;
(5) further judging the located segment, including: judging the flight segment according to the current course of the airplane and the included angle of the flight segment direction preliminarily determined in the step (4);
(6) judging whether the aircraft yaws according to the yaw distance, and calculating the vertical distance of the flight section determined in the aircraft distance step (5) by adopting a point-to-straight line distance calculation method;
the step (5) of judging the flight segment according to the current heading of the airplane and the included angle of the flight segment direction preliminarily determined in the step (4) comprises the following steps: after the flight segment is preliminarily determined, determining that the preliminary judgment has an error according to course changes of subsequent continuous three groups of position data, if the included angle between the current course of the airplane and the preliminarily determined AB flight segment direction is more than 90 degrees, and returning to the step (4) for re-judgment; if the distance between the aircraft and the route point A is less than 90 degrees, judging the three groups of position data, and if the aircraft is still far away from the route point A and close to the route point B, preliminarily considering that the aircraft is positioned between the aircraft and the aircraft flies from the aircraft A to the aircraft B.
2. An aircraft yaw determining method according to claim 1, wherein the real-time data of the aircraft in the step (1) is real-time data of the aircraft received by using an ADS-B ground receiving device, and the real-time data includes: flight number, longitude, latitude, altitude, speed, heading, and timestamp.
3. The method for determining aircraft yaw as claimed in claim 1, wherein the CFP in step (2) includes a route planned for the flight, and the route includes a take-off arrival airport coordinate, a cruise time TOC point, a descent time TOD point, and each waypoint coordinate in the route, wherein the cruise time TOC point is a position where the aircraft starts to fly flat after climbing to a certain height; the descent time TOD is the position of the plane flight ending descent starting time; and coordinates of each waypoint in the airline are geographical coordinate points of various navigation facilities.
4. An aircraft yaw determination method as claimed in claim 1, wherein said determining the first waypoint determined to have passed in step (3) comprises: and judging the first passing waypoint through the distance according to the current position of the airplane, and starting yaw judgment if the TOC point at the cruise time is judged to pass and each waypoint behind the TOC point is reached.
5. The aircraft yaw determining method of claim 1, wherein determining whether to yaw based on the yaw distance in step (6) includes: and (3) calculating the vertical distance of the flight section determined in the aircraft distance step (5) by adopting a point-to-straight line distance calculation method, judging that the aircraft yaws if the vertical distance between the aircraft and the determined flight section is more than 100 kilometers, and otherwise, judging that the aircraft does not yaw.
6. An aircraft yaw determination method according to claim 5, further comprising: the processing in the case of data loss comprises the following steps: and (4) if the ADS-B data is interrupted, pausing yaw judgment, and when the data is recovered, performing yaw judgment according to the steps (3) to (6).
7. An aircraft yaw determination device based on computer flight plan CFP data, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the aircraft yaw determination method as claimed in any one of claims 1 to 6.
8. A computer-readable medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the aircraft yaw deciding method according to any one of claims 1 to 6.
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| CN113112876A (en) * | 2021-04-09 | 2021-07-13 | 河北师范大学 | Flight behavior detection method |
| CN114115344B (en) * | 2021-11-19 | 2023-03-28 | 中国直升机设计研究所 | Helicopter automatic area navigation flight segment selection method |
| CN114399925B (en) * | 2022-02-08 | 2022-09-23 | 安胜（天津）飞行模拟系统有限公司 | Design method of flight management system based on eVOTL airplane |
| CN115273562A (en) * | 2022-07-27 | 2022-11-01 | 齐鲁空天信息研究院 | Consistency monitoring method for general aviation low-altitude navigation flight |
| CN116052482B (en) * | 2023-04-03 | 2023-06-23 | 中航信移动科技有限公司 | Method for early warning of aircraft track yaw, electronic equipment and storage medium |
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| CN202549080U (en) * | 2012-03-16 | 2012-11-21 | 中国民用航空总局第二研究所 | Fusion system of radar data, flight plan data and ADS-B data |
| CN102819966A (en) * | 2012-09-10 | 2012-12-12 | 南京航空航天大学 | Off-course flight passing time forecasting method based on radar tracks |
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