CN113051633A

CN113051633A - Aircraft operation visualization method

Info

Publication number: CN113051633A
Application number: CN202110362930.1A
Authority: CN
Inventors: 万路军; 徐鑫宇; 黄阿倩; 蔡明�; 高志周; 戴江斌; 沈堤; 陈致远; 余付平; 霍丹
Original assignee: Air Force Engineering University of PLA
Current assignee: Air Force Engineering University of PLA
Priority date: 2021-04-02
Filing date: 2021-04-02
Publication date: 2021-06-29
Anticipated expiration: 2041-04-02
Also published as: CN113051633B

Abstract

The invention provides an aircraft operation visualization method based on a four-dimensional space-time grid, which comprises the following steps: determining the minimum side length of a two-dimensional plane grid on the earth surface, establishing an earth surface subdivision grid system facing the operation of the aircraft, subdividing and coding the grid height, performing two-dimensional plane meshing representation on an aircraft operation route, constructing a four-dimensional space-time grid facing the operation of the aircraft, and coloring the four-dimensional space-time grid; the method can visually and integrally display the four-dimensional space-time information of the aircraft on the display screen, realizes the visualization of the four-dimensional state of the aircraft in the flight process, facilitates the controller to know the position and the operation time of the aircraft in time, can provide visual, dynamic and comprehensive aircraft operation state display for the controller, enables the controller to have global knowledge on the flight dynamics of the aircraft for a period of time in the future, and better ensures the flight safety.

Description

Aircraft operation visualization method

Technical Field

The invention belongs to the technical field of air traffic management, and particularly relates to a grid-based aircraft operation visualization method.

Background

With the rapid development of national economy, the rapid development period is also met by the China civil aviation industry in recent years, and the China civil aviation passenger traffic is stable in the world for 15 years continuously as far as 2020. The rapid development of civil aviation industry greatly increases the air traffic flow. In order to ensure the safety of civil aviation flight, a flight controller is required to constantly pay attention to the running state of an aerial aircraft on a display screen.

The current methods of characterizing aircraft operation are: the starting point, the turning point and the ending point are determined in advance in the course of planning the air route, wherein the connecting lines from the starting point to the turning point, from the turning point to the turning point and from the turning point to the ending point are called air route sections, and the air route sections are connected end to form the air route. And the flight controller monitors the running state of the aircraft on a display screen of the flight management system through the acquired radar signals. Because the spatial position of the aircraft in the air is constantly changed along with the time, the operation situation of the aircraft needs to be represented by both the time dimension and the space dimension, the method for representing the operation of the aircraft in the current flight management system is to represent the operation state of the aircraft in two dimensions (horizontal plane) or three dimensions (horizontal plane + height), and it is difficult for a flight controller to visually see the four-dimensional operation state of the aircraft and the time when the aircraft operates to each point in real time through a display screen.

Disclosure of Invention

In order to overcome the defects of the prior art and realize the display of four-dimensional information in a three-dimensional space, time information needs to be displayed by a certain method. The invention provides a grid method of a flight path, wherein the grid is a four-dimensional space-time grid, and the running state of an aircraft is represented by the four-dimensional space-time grid, and the method comprises the following steps:

step 1: determining the minimum side length of a two-dimensional plane grid on the earth surface, namely determining the minimum side length of the grid according to the cruising speed of an aircraft;

step 2: establishing an earth surface subdivision grid system facing the aircraft operation, namely subdividing the earth surface into multi-level and multi-scale grids, and then coding the grids of each level;

and step 3: the grid height is divided and coded, namely, all the flight heights of the aircraft are covered for dividing and coding;

and 4, step 4: performing two-dimensional planar gridding representation on an aircraft running route, namely discretizing a continuous route, and representing the continuous route by using a string of grids which are non-overlapped, seamless and connected end to end, wherein each grid represents the position of the aircraft at different moments;

and 5: constructing a four-dimensional space-time grid for the operation of the aircraft, namely constructing a three-dimensional space grid after a navigation section is subjected to two-dimensional gridding, and further constructing a four-dimensional space-time grid;

step 6: and coloring the four-dimensional space-time grid, namely coloring the space-time grids with different time information into different colors.

Further, in the above-mentioned case,

the cruising speed range of the aircraft in the step 1 is v₁～v₂Kilometer per hour, v₁<v₂And the range of the minimum side length of the two-dimensional plane grid on the earth surface is a-b, wherein:

in the step 2, the subdivision level of the earth surface subdivision grid system is set to 7 levels;

selecting a height range of 0-40000 m for subdivision coding in the step 3, and setting a height level to be 7 levels;

step 4 comprises the following steps:

step 4-1: selecting a navigation section;

step 4-2: calculating the outsourcing rectangle of each flight segment;

step 4-3: calculating the minimum outsourcing grid and the codes of each flight section to obtain the Level _ n of the minimum outsourcing grid layer of each flight section;

step 4-4: establishing a rectangular coordinate system in the minimum outsourcing grid of each flight segment;

and 4-5: calculating a row-column coordinate set of a 7 th-level grid where each flight segment is located;

and 4-6: calculating a set of 7 th-level two-dimensional plane grid codes representing each flight segment;

and 4-7: gridding the flight section;

the step 5 comprises the following steps:

step 5-1: constructing a three-dimensional space grid;

step 5-2: constructing a four-dimensional space-time grid;

in step 6, the aircraft running time corresponds to the R value, the G value and the B value of the colored light.

Further, in the above-mentioned case,

v in step 1₁780 km/h, v₂1000 kilometers per hour, the minimum side length a of the two-dimensional plane grid on the earth surface is 210 meters, and the minimum side length b of the two-dimensional plane grid on the earth surface is 270 meters;

the step 2 comprises the following steps:

step 2-1: carrying out 1 st level grid splitting and coding;

step 2-2: carrying out mesh generation and encoding of 2 nd-6 th levels;

step 2-3: performing 7 th level splitting and coding;

step 2-4: converting the latitude and longitude coordinates of the aircraft into grid codes;

the step 3 comprises the following steps:

step 3-1: level 1 height range encoding;

step 3-2: level 2 height range encoding;

step 3-3: level 3 height range encoding;

step 3-4: performing level 4 to 7 height range encoding;

step 3-5: and determining the 7 th-level altitude range of the flying altitude of the aircraft.

Further, in the above-mentioned case,

the step 2-4 of converting the longitude and latitude coordinates of the aircraft into grid codes comprises the following steps:

step 2-4-1: calculating a level 1 trellis code;

step 2-4-2: calculating a 2 nd level trellis code;

step 2-4-3: calculating a3 rd level mesh code;

step 2-4-4: calculating the code of the 4 th-level grid;

step 2-4-5: calculating the code of the 5 th-level grid;

step 2-4-6: calculating the code of the 6 th-level grid;

step 2-4-7: the encoding of the 7 th level mesh is calculated.

Further, in the above-mentioned case,

step 4-6, setting the row and column coordinates of a certain 7 th-Level grid as (X, Y), and then calculating to obtain the 7 th-Level _ n + 1-7-Level codes of the grid according to the row and column coordinates (X, Y) to calculate a set of 7 th-Level two-dimensional plane grid codes representing each flight segment, wherein the set comprises the following steps:

step 4-6-1: calculating the 7 th level encoding of the grid corresponding to the coordinates (X, Y);

step 4-6-2: calculating the grid level 6 code corresponding to the coordinates (X, Y);

step 4-6-3: calculating the 5 th level encoding of the grid corresponding to the coordinates (X, Y);

step 4-6-4: calculating the 4 th level encoding of the grid corresponding to the coordinates (X, Y);

step 4-6-5: calculating the 3 rd level encoding of the grid corresponding to the coordinates (X, Y);

step 4-6-6: and calculating the level 2 code of the grid corresponding to the coordinates (X, Y).

Further, in the above-mentioned case,

selecting the intersection point of the meridian and the equator as a subdivision origin in the step 2-1, and dividing the earth surface with latitude ranges of [ -88 degrees, 88 degrees ] and longitude ranges of [ -180 degrees, 180 degrees ] into 44 × 90 parts by using a level 1 grid with 4 ° × 4 degrees;

step 2-2, the layer number is smaller as the upper layer, the layer number is larger as the lower layer, the grid of the upper layer is a grid of the higher layer and is used as a father grid, the grid of the lower layer is a grid of the lower layer and is used as a child grid, every 1 grid of the father grid of the upper layer is averagely divided into 16 parts to obtain 16 child grids of the lower layer, and the 16 child grids are subjected to 16-system coding according to a Piano space filling curve until the 16 child grids are divided to the 6 th layer;

and in the step 2-3, the 6 th-level grid is averagely divided into 4 parts to obtain the 7 th-level grid.

Further, in the above-mentioned case,

the abscissa is 90 numbers from west to east at intervals of 1 from 00-89 numbers; in the ordinate, the north latitude is letters A-V from low to high, and the letters are 22 capital English letters in total; the south latitude is letters a to v from low to high, and the letters are 22 small-case English letters in total; the grid serial number of the level 1 is encoded from low to high according to latitude from the equator by using 44 English letters A-V and a-V in the latitude direction, wherein the north latitude capital and the south latitude lowercase; the grid number of the level 1 is coded with 90 digits in total from 00 to 89 from west to east in the longitude direction from the meridian of the beginning.

Further, in the above-mentioned case,

and 2-4, setting the longitude and latitude coordinates of the aircraft as (L, B), wherein L is latitude, B is longitude, and the representation forms of L and B are both in degree minute and second, and are recorded as L ═ L_D°L_M′L_S″,B＝B_D°B_M′B_S", wherein L_DDegree of latitude, L_MIs a fraction of the latitude value, L_SSeconds which is the latitude value; b is_DDegree of longitude, B_MIs a fraction of the longitude value, B_SSeconds which is the longitude value;

in step 2-4-1, the level 1 trellis code is calculated, and the calculation formula is as follows:

L_D/quotient M at 4 °₁The remainder is N₁，M₁The English letter corresponding to +1 is the latitude direction code of the 1 st level grid where the point is located, north latitude capital and south latitude lowercase; b is_D/Quotient m at 4 °₁The remainder is n₁，m₁The longitude direction of the 1 st level grid where the point is located is coded;

in step 2-4-2, the 2 nd level grid code is calculated, and the calculation formula is as follows:

N₁is the remainder of step 2-4-1, M₂The latitude direction number of the 2 nd level grid where the point is located is the number; n is₁Is the remainder of step 2-4-1, m₂The longitude direction number of the 2 nd level grid where the point is located is the number;

and 2-4-3, calculating the 3 rd-level grid code by using a calculation formula as follows:

L_Mquotient M of/15₃The remainder is N₃，M₃The latitude direction number of the 3 rd level grid where the point is located is the number; b is_MQuotient m of/15₃The remainder is n₃，m₃The longitude direction number of the 3 rd level grid where the point is located is the number;

and 2-4-4, calculating the code of the 4 th-level grid, wherein the calculation formula is as follows:

N₃is the remainder of step 2-4-3, so N₃Quotient M of/3.75₄The remainder is N₄，M₄I.e. the latitude direction of the 4 th level grid where the point is locatedNumber; n is₃Is the remainder of step 2-4-3, n₃The quotient m of/3.75₄The remainder is n₄，m₄The longitude direction number of the 4 th layer grid where the point is located is the number;

and 2-4-5, calculating the code of the 5 th-level grid, wherein the calculation formula is as follows:

the remainder of step 2-4-4 is N₄Therefore (N)₄×60+L_S) The quotient M of/56 ″₅The remainder is N₅，M₅The latitude direction number of the 5 th level grid where the point is located is the number; (n)₄×60+B_S) The quotient m of/56 ″₅The remainder is n₅，m₅The longitude direction number of the 5 th layer grid where the point is located is the number;

and 2, calculating the code of the 6 th-level grid in steps 2-4-6, wherein the calculation formula is as follows:

N₅quotient M of/14 ″₆The remainder is N₆，M₆The latitude direction number of the 6 th level grid where the point is located is the number; n is₅The quotient m of/14 ″₆The remainder is n₆，m₆The longitude direction number of the 6 th layer grid where the point is located is the number;

and (3) calculating the code of the 7 th-level grid in the steps 2-4-7, wherein the calculation formula is as follows:

N₆quotient M for/7 ″₇The remainder is N₇，M₇The latitude direction number of the 7 th level grid where the point is located is the number; n is₆The quotient m of/7 ″₇The remainder is n₇，m₇I.e. the longitudinal number of the 7 th hierarchical grid in which the point is located.

Further, in the above-mentioned case,

in the step 3-1, the whole height range of 0-40000 m is halved, the code is 0 within the height of [0 m, 20000 m ], and the code is 1 within the height of [20000 m, 40000 m ];

3-2, halving the upper and lower 2 height range codes of the 1 st level, wherein the height difference of the 2 nd level is 10000 meters; halving the height range of [0 m, 20000 m), the code is 00 within the height of [0 m, 10000 m), and the code is 01 within the height of [10000 m, 20000 m); similarly, the height range of [20000 meters and 40000 meters ] is divided into two parts, the code is 10 within the height of [20000 meters and 30000 meters ], and the code is 11 within the height of [30000 meters and 40000 meters ];

in the step 3-4, the height differences of the 4 th to the 7 th levels are 2500 meters, 1250 meters, 625 meters and 312.5 meters respectively; the lower level is a higher level, the higher level is a lower level, the lower level is halved in each height range of the upper level, after halving, the height range of the lower level is added with 0 after being coded in the height range of the upper level, and the height range of the higher level is added with 1 after being coded in the height range of the upper level; the upper and lower level height range codes have inheritance, and the length of the codes represents the level of the height range;

the method for calculating the 7 th-level height range code of the height value from the height value H in the step 3-5 comprises the following steps: h is divided by 312.5, and if the H can be divided by the T, the obtained result is T; if the integer part can not be divided, the integer part of the obtained result is T, and the decimal part is T; and converting the decimal value T into 7-bit binary code, namely encoding the 7 th-level height range in which the height value H is positioned.

Further, in the above-mentioned case,

in the step 6, the R value corresponds to hours, the G value corresponds to minutes, and the B value corresponds to seconds; the R value is 30 values from 0 according to the step length of 8, the minimum value is 0, and the maximum value is 232; the G and B values take 60 values in steps of 4, a minimum of 0 and a maximum of 236.

The method of the invention realizes the four-dimensional state visualization in the flight process of the aircraft by corresponding the running time of the aircraft to the color RGB value of the four-dimensional space-time grid one by one, and coloring different colors on the grid where the aircraft is positioned at different running times, and visually and integrally displaying the four-dimensional space-time information on the display screen, thereby facilitating the controller to know the position and the running time of the aircraft in time, providing visual, dynamic and comprehensive aircraft running state display for the controller, leading the controller to have global knowledge on the flight dynamics of the aircraft in a period of time in the future, and better ensuring the flight safety.

Drawings

FIG. 1 is a block diagram of the process flow of the present invention;

FIG. 2 is a schematic diagram of a level 1 partitioning and encoding scheme of an earth surface partitioning grid system;

FIG. 3 is a schematic diagram of a 2 nd-7 th level partitioning and encoding scheme of an earth surface partitioning grid system;

FIG. 4 is a diagram of a complete encoding structure of a subdivision grid of the earth's surface;

FIG. 5 is a schematic diagram of a trellis height partitioning and encoding scheme;

FIG. 6 is a schematic diagram of a two-dimensional planar gridding representation of an aircraft flight path;

FIG. 7 is a schematic diagram of determining an outsourcing rectangle for each leg;

FIG. 8 is a schematic diagram of determining a minimum outsourcing grid for each leg;

FIG. 9 is a schematic diagram of a rectangular coordinate system established in the minimum outsourcing grid of each leg;

FIG. 10 is a schematic representation of aircraft operation visualization based on four-dimensional spatiotemporal mesh coloring;

FIG. 11 is a schematic representation of a two-dimensional planar gridding of a leg in an embodiment of the present invention;

FIG. 12 is a diagram of a four-dimensional spatio-temporal grid representation of a flight segment in accordance with an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the following describes the present invention in further detail with reference to the accompanying drawings and examples.

The basic principle of the invention is that a four-dimensional space-time grid system facing the aircraft operation is constructed, and continuous flight paths are discretized, so that the operation position of the aircraft in each second can be displayed, three parameters of time, minute and second of the predicted time of the aircraft arriving at each grid are in one-to-one correspondence with three parameters of RGB of colored light, the four-dimensional space-time grid where the aircraft arrives at different moments in the operation process is colored, and the predicted arrival time of the aircraft arriving at different positions is visually displayed.

As shown in fig. 1, the method of the present invention comprises the steps of:

step 1: the minimum side length of a two-dimensional planar grid of the earth's surface is determined.

The minimum side length of the two-dimensional plane grid on the earth surface is the flight distance of each second in the cruise stage of the aircraft. Because the speed of the aircraft is comprehensively determined according to factors such as safety, economy and the like, the aircraft flies at a relatively fixed normal speed, namely a cruising state. The speed corresponding to the cruise condition is the cruise speed. During flight, the aircraft consumes the least amount of fuel per unit distance at cruise speed, and cruise conditions take the longest time throughout the flight, so it is most cost effective to maintain cruise speed flight. Let the cruising speed range of the aircraft be v₁～v₂Kilometer per hour, v₁<v₂Then the minimum side length (in meters) of the grid is in the range a-b, where:

the cruising speed of civil aviation flights is generally 780-1000 km/h, such as 828 km/h in an A320 series of airbus, 896 km/h in an A340-200 series of cruising speeds, and about 900 km/h in a Boeing series of cruising speeds, such as 917 km/h in 747-800 series of cruising speeds. If the flight flies at the cruising speed of 780-1000 km/h, the flying distance per minute is 13-16.7 km, and the flying distance per second is 210-270 m. In order to more accurately represent the running time of the aircraft, the time information represented by the grid is accurate to the second level, so that the minimum side length of the two-dimensional plane grid is 210-270 meters, and the two-dimensional plane grid is a square with the side length of 210-270 meters. The current international mainstream civil aircraft dimensions are shown in table 1. The minimum size of the two-dimensional planar grid can fully encompass the mainstream aircraft in table 1.

TABLE 1

Model number	Long and long	Width (wingspan)	Height of
				Air passenger A380	72.75 Rice	79.75 Rice	24.09 m
Air passenger A320	37.57 m	34.10 m	11.76 m
				Boeing 747-8	76.4 m	68.5 m	19.4 m
Boeing 737	28.6 m	28.3 m	11.3 m
				C919	37.57 m	34.10 m	11.76 m

Step 2: and establishing an earth surface subdivision grid system facing the aircraft operation. The earth surface is divided into multi-level and multi-scale grids, each level grid has a corresponding area, and then the grid of each level is coded according to coding rules. Any grid on the earth surface has a unique code, the grid can be led out according to the code, namely the position of the unique grid is determined by one code, and the grid code and the longitude and latitude coordinates can be rapidly converted. The step 2 specifically comprises the following steps:

step 2-1: and carrying out 1 st-level grid splitting and coding. As shown in fig. 2, the intersection of the meridian and the equator is selected as a subdivision origin, and the earth surface having latitude ranges of-88 °,88 ° and longitude ranges of-180 °,180 ° is divided into 44 × 90 parts by using a level 1 grid of 4 ° × 4 °.

In one embodiment of the invention, the abscissa is 90 numbers from 00 to 89 from west to east, with an interval of 1; in the ordinate, the north latitude is letters A-V from low to high, and the letters are 22 capital English letters in total; the south latitude from low to high is letters a-v, and the total number of the letters is 22 small-case English letters. The grid serial number of the level 1 is encoded from low to high according to latitude from the equator by using 44 English letters A-V and a-V in the latitude direction, wherein the north latitude capital and the south latitude lowercase; the grid number of the level 1 is coded with 90 digits in total from 00 to 89 from west to east in the longitude direction from the meridian of the beginning. Because the earth has an average radius of about 6371 km and an average circumference of 2 π × 6371 ≈ 40030 km, the 1 ° grid has a side length of 2 π × 6371 ÷ 360 ≈ 111 km, so the 1 st level grid (4 ° × 4 ° grid) has a side length of about 444 km.

Step 2-2: and (5) carrying out mesh generation and encoding of 2 nd-6 th levels. The grid of the upper level is a parent grid, and the grid of the lower level is a low-level grid and is used as a child grid. And averagely dividing every 1 parent grid of the previous level into 16 parts to obtain 16 child grids of the next level, and carrying out 16-system coding (0123456789ABCDEF) on the 16 child grids according to a Piano space filling curve until the 16 child grids are divided to the 6 th level, as shown in FIG. 3. The child trellis code inherits the code of the parent trellis of the previous level and has 1 bit more than the parent trellis of the previous level. The sizes of the 2 nd to 6 th grade grids are respectively 1 degree multiplied by 1 degree, 15 'multiplied by 15', 3.75 'multiplied by 3.75', 56 'multiplied by 56' and 14 'multiplied by 14', and the side lengths of the grids are respectively 111 kilometers, 28 kilometers, 7 kilometers, 1.75 kilometers and 440 meters.

In a specific embodiment of the present invention, a 15 'x 15' grid at level 3 is encoded as J29AB, which is divided into 16 4-level grids of 3.75 'x 3.75', and the 16 sub-grids are encoded according to the encoding scheme of fig. 3, wherein the encoding schemes are { J29AB0, J29AB1, J29AB2, J29AB3, J29AB4, J29AB5, J29AB6, J29AB7, J29AB8, J29AB9, J29ABA, J29ABB, J29ABD, J29ABE, J29ABF }.

Step 2-3: and performing 7 th level splitting and coding. Because the side length of the 6 th-level grid is 440 meters, if the 6 th-level grid is still equally divided into 16 parts, the 7 th-level grid is 110 meters, and the minimum size of the spatial grid which is not determined in the step 1 is in the range of 210 meters to 270 meters, so that the 7 th-level grid dividing method cannot be according to the dividing mode of the 2 nd-6 th-level grids. At the moment, the 6 th-level grid is averagely divided into 4 parts, the side length of the 7 th-level grid is 220 m, the dimension is in the range of 210 m-270 m, the flying distance of the aircraft per second and the size of the aircraft are considered, meanwhile, the 7 th-level grid dividing method reduces the calculation amount and improves the speed of computer display, and therefore the 7 th-level grid is selected to be 220 m multiplied by 220 m. The earth surface subdivision grid system sets the subdivision level to 7 levels finally. The smaller the number of the layers of the grids is, the higher the layers of the representing grids are, the higher the layers are, and the whole 7-layer subdivision grid is in a pyramid shape. The corresponding relationship between the Level number Level _ n of the mesh and the encoding length L _ Code of the mesh is as follows:

L_Code＝Level_n+2

the complete coding structure of the earth surface subdivision grid is shown in fig. 4. Due to the inheritance relation of the earth surface subdivision grid codes, the coding structure of the earth surface subdivision grid of the Level _ n Level is from the Level 1 to the Level _ n Level.

Through steps 2-1, 2-2 and 2-3, the earth is subdivided into seamless, non-overlapping meshes, each mesh having a unique code and corresponding area. The grid size and side length of each level are shown in table 2.

TABLE 2

Step 2-4: and converting the longitude and latitude coordinates into grid codes. Let the latitude and longitude coordinates of the aircraft be (L, B), where L is latitude, B is longitude, and the representation forms of L and B are both in deci-second degree, which is written as L ═ L_D°L_M′L_S″,B＝B_D°B_M′B_S", wherein L_DDegree of latitude, L_MIs a fraction of the latitude value, L_SSeconds which is the latitude value; b is_DDegree of longitude, B_MIs a fraction of the longitude value, B_SThe number of seconds of the longitude value. As shown in fig. 3, the ordinate in the 1 st level grid represents the latitudinal direction code, the capital letter is north latitude, the small letter is south latitude, and the abscissa represents the longitudinal direction codes 00-89, and only a part of the 1 st level grid and codes are shown in fig. 3. The longitudinal coordinate in the 2 nd-6 th-level grids represents the latitude direction and is numbered as 0,1, 2 and 3; the abscissa represents the longitudinal direction and is numbered 0,1, 2, 3. The coordinate sequence is weft direction first and warp direction second. The corresponding relation between the 2 nd-6 th level coordinates and the codes is shown in the table 3:

TABLE 3

Coordinates of the object	Corresponding code	Coordinates of the object	Corresponding code
				(0，0)	0	(2，0)	8
(0，1)	1	(2，1)	9
				(1，0)	2	(3，0)	A
(1，1)	3	(3，1)	B
				(0，2)	4	(2，2)	C
(0，3)	5	(2，3)	D
				(1，2)	6	(3，2)	E
(1，3)	7	(3，3)	F

The longitudinal coordinate in the 7 th-level grid represents the latitude direction, and the numbers are 0 and 1; the abscissa represents the longitude direction, numbered 0 and 1, and the coordinate sequence is weft first and warp second. The correspondence between the 7 th-level coordinates and the codes is shown in table 4:

TABLE 4

Coordinates of the object	Corresponding code	Coordinates of the object	Corresponding code
				(0，0)	0	(1，0)	2
(0，1)	1	(1，1)	3

The detailed steps of converting the longitude and latitude coordinates into grid codes are as follows:

step 2-4-1: a level 1 trellis encoding is computed. The calculation formula is as follows:

since the level 1 grid is a 4 ° × 4 ° grid, L is calculated_DQuotient M at 4 °₁The remainder is N₁，M₁The English letter corresponding to +1 is the latitude direction code of the 1 st level grid where the point is located, north latitude capital and south latitude lowercase; b is_DQuotient m at 4 °₁The remainder is n₁，m₁I.e. the longitude direction of the level 1 grid in which the point is located. The two codes are combined into the 1 st level grid code of the point according to the sequence of weft direction first and warp direction later. For example, longitude and latitude coordinates of the praying hall of beijing tiantan are (39 ° 53 '24 "N, 116 ° 25' 09" E), 39 °/4 ° -9 and 3 °, 116 °/4 ° -29 and 0 °, which are located in the 10 th grid of north latitude and the 30 th grid of 4 ° × 4 ° in north latitude in the 1 st level, and the 10 th code of north latitude is capital english letter J, so the code of the 1 st level grid of the praying hall of beijing tiantan is J29.

Step 2-4-2: a level 2 trellis encoding is computed. The calculation formula is as follows:

since the level 2 grid is a 1 ° × 1 ° grid, the remainder N of step 2-4-1₁Dividing by 1 DEG to obtain a value M₂，M₂The latitude direction number of the 2 nd level grid where the point is located is the number; n is₁Dividing by 1 DEG to obtain the value m₂，m₂I.e. the longitude direction number of the 2 nd hierarchical grid where the point is located, and the coordinate (M) formed by the two numbers₂，m₂) Level 2 coding is mapped out according to Table 3And adding the level 1 code to obtain a level 2 trellis code. In the above example, since the code corresponding to the coordinate (3, 0) is a when 3 °/1 °/0 is 0, the code of the 2 nd-level mesh in the corner-alt praying hall in beijing is J29A.

Step 2-4-3: a level 3 trellis encoding is computed. The calculation formula is as follows:

the level 3 grid is a 15 'x 15' grid, so L_MQuotient M of/15₃The remainder is N₃，M₃The latitude direction number of the 3 rd level grid where the point is located is the number; b is_MQuotient m of/15₃The remainder is n₃，m₃I.e. the longitudinal number of the 3 rd hierarchical grid in which the point is located. Coordinates (M) formed from two numbers₃，m₃) The level 3 coding is mapped according to table 3 and added to the level 2 coding to obtain the level 3 trellis coding. For example, since the code corresponding to the coordinate (3, 1) is B in 53 '/15' being 3 or 8 ', 25'/15 'being 1 or 10', the code of the 3 rd level mesh where the praying hall of beijing tiantan is located is J29 AB.

Step 2-4-4: the encoding of the 4 th level mesh is calculated. The calculation formula is as follows:

the level 4 grid is a 3.75 'x 3.75' grid, so N₃Quotient M of/3.75₄The remainder is N₄，M₄The latitude direction number of the 4 th level grid where the point is located is the number; n is₃The quotient m of/3.75₄The remainder is n₄，m₄I.e. the longitudinal number of the 4 th hierarchical grid in which the point is located. Coordinates (M) formed from two numbers₄，m₄) The level 4 codes are mapped according to table 3 and added after the level 3 codes to obtain the level 4 trellis codes. For example, 8 '/3.75'/2 or more, 0.5 ', 10'/3.75'2.5' and the corresponding code of the coordinate (2, 2) is C, so the code of the 4 th grid where the Beijing Temple praying hall is located is J29 ABC.

Step 2-4-5: the encoding of the 5 th level mesh is calculated. The calculation formula is as follows:

the 5 th level grid is a 56 "× 56" grid, so (N)₄×60+L_S) The quotient M of/56 ″₅The remainder is N₅，M₅The latitude direction number of the 5 th level grid where the point is located is the number; (n)₄×60+B_S) The quotient m of/56 ″₅The remainder is n₅，m₅I.e. the longitudinal number of the 5 th hierarchical grid in which the point is located. Coordinates (M) formed from two numbers₅，m₅) The 5 th level encoding is mapped according to table 3 and added to the 4 th level encoding to obtain the 5 th level trellis encoding. For example, (0.5 × 60+24) "/56" ═ 0+ 54 ", (2.5 × 60+ 9)"/56 "═ 2 + 47", the code corresponding to the coordinates (0, 2) is 4, so the code of the 5 th grid where the praying hall of beijing tiantan is located is J29ABC 4.

Step 2-4-6: the encoding of the 6 th level mesh is calculated. The calculation formula is as follows:

the level 6 grid is a 14 '. times.14' grid, so N₅Quotient M of/14 ″₆The remainder is N₆，M₆The latitude direction number of the 6 th level grid where the point is located is the number; n is₅The quotient m of/14 ″₆The remainder is n₆，m₆I.e. the longitudinal number of the 6 th hierarchical grid in which the point is located. Coordinates (M) formed from two numbers₆，m₆) The level 6 coding is shown according to table 3, and is added to the level 5 coding to obtain the level 6 trellis coding. For example, 54 "/14" 3 by 12 ", 47"/14 "3 by 5", and coordinates (3 ″/14 ″)And 3) the corresponding code is F, so that the code of the 6 th-level grid where the praying hall of Beijing Temple is located is J29ABC 4F.

Step 2-4-7: the encoding of the 7 th level mesh is calculated. The calculation formula is as follows:

the 7 th level grid is a 7 '. times.7' grid, so N₆Quotient M for/7 ″₇The remainder is N₇，M₇The latitude direction number of the 7 th level grid where the point is located is the number; n is₆The quotient m of/7 ″₇The remainder is n₇，m₇I.e. the longitudinal number of the 7 th hierarchical grid in which the point is located. Coordinates (M) formed from two numbers₇，m₇) The level 7 codes are mapped according to table 4, and added after the level 6 codes to obtain the level 7 trellis codes. The remainder N is obtained because the division is not performed downwards until the 7 th level is reached₇And n₇No further operation is performed. For example, 12 "/7" ═ 1 or 5 ", 5"/7 "═ 0 or 7", the coding corresponding to the coordinates (1, 0) is 2, so the coding of the 7 th level grid where the praying hall of beijing altar is located is J29ABC4F 2.

And step 3: and (5) dividing and coding the grid height. The method comprises the steps that a certain altitude range is provided for aircraft operation, the flying altitude of the aircraft is mostly below 20000 meters, the flying altitude of a few types of aircraft can exceed 20000 meters, and in order to ensure that the altitude range of a grid can cover all flying altitudes of the aircraft, the altitude range of 0-40000 meters is selected for subdivision coding. The mesh height subdivision coding system is shown in fig. 5, and the detailed process is as follows:

step 3-1: level 1 height range coding. The height difference of the 1 st level is 20000 meters. Namely, the whole height range of 0-40000 m is halved, the code is 0 within the height of [0 m, 20000 m ], and the code is 1 within the height of [20000 m, 40000 m ]. In this specification, the symbols "[" and "]" represent end points including intervals, and the symbol ")" represents end points not including intervals.

Step 3-2: level 2 height range coding. The upper and lower 2 height range codes of the 1 st level are divided into two parts, and the height difference of the 2 nd level is 10000 meters. Halving the height range of [0 m, 20000 m), the code is 00 within the height of [0 m, 10000 m), and the code is 01 within the height of [10000 m, 20000 m). Similarly, the height range of [20000 meters, 40000 meters ] is divided into two halves, the code is 10 within the height of [20000 meters, 30000 meters ], and the code is 11 within the height of [30000 meters, 40000 meters ].

Step 3-3: level 3 height range coding. The 4 height range codes of level 2 are all halved, and the height difference of level 3 is 5000 meters. Halving the height range of [0 m, 10000 m), the height being encoded as 000 within [0 m, 5000 m), the height being encoded as 001 within [5000 m, 10000 m); halving the height range of [10000 meters, 20000 meters), the height within [10000 meters, 15000 meters) being coded as 010, the height within [15000 meters, 20000 meters) being coded as 011; halving the height range of [20000 meters, 30000 meters), wherein the height is coded as 100 within [20000 meters, 25000 meters) and is coded as 101 within [25000 meters, 30000 meters); halving the height range of [30000 m, 40000 m ], the height being coded as 110 within [30000 m, 35000 m), and the height being coded as 111 within [35000 m, 40000 m ].

Step 3-4: level 4 to 7 height range coding is performed. The difference in height between levels 4 to 7 is 2500 m, 1250 m, 625 m and 312.5 m. The lower level is divided into two parts in each height range of the upper level after the division, wherein the lower level is divided into two parts in each height range of the upper level after the division, 0 is added after the height range of the lower level in the upper level, and 1 is added after the height range of the upper level in the higher level. The upper and lower level height range codes have inheritance, and the length of the codes represents the level of the height range.

Step 3-5: and determining the 7 th-level altitude range of the flying altitude of the aircraft. Through steps 3-1 to 3-4, each height range corresponds to a unique code, and the codes correspond to the height ranges one to one. The flying height of the aircraft is always within a certain 7 th-level height range, and the 7 th-level height range code of the flying height of the aircraft is calculated, so that the 7 th-level height range of the flying height of the aircraft can be corresponding to the code. The method for calculating the height range code of the 7 th level where the height value is located by the height value H comprises the following steps: h is divided by 312.5, and if the H can be divided by the T, the obtained result is T; if the integer division cannot be performed, the integer part of the obtained result is T, and the decimal part is T. And converting the decimal value T into 7-bit binary code, namely, the decimal value T is the 7 th-level height range code of the height value H, and the 7 th-level height range is corresponding to the code. For example, the height subdivision code is that the cruising height of an aircraft is 9000 meters, 9000/312.5 is 28.8, and the decimal value 28 is converted into 7-bit binary code 0011100, so that the 7-level height code of 9000 meters is 0011100, and the 7-level height range corresponding to the code 0011100 is [8750 meters, 9062.5 meters ].

And 4, step 4: and performing two-dimensional planar gridding representation on the aircraft running route. The method is characterized in that a continuous route is discretized and is characterized by a series of grids which are non-overlapping, seamless and connected end to end, and each grid represents the position of the aircraft at different moments. The method comprises the following steps of characterizing a route as a set of a series of grids connected end to end, wherein a two-dimensional planar gridding characterization of the route is shown in FIG. 6, and the detailed steps comprise:

step 4-1: and selecting a navigation section. In the flying process of the aircraft, except for turning at turning points, the air route between the turning points is a straight line, so that the air route can be regarded as formed by connecting straight line sections of different sections, namely air route sections, and the connecting point of each air route section is the turning point of the air route.

Step 4-2: and calculating the outsourcing rectangle of each flight segment. The predicted flight path of the aircraft is divided into different flight segments at different turning points. As shown in FIG. 7, the starting point of each leg is P₁(L₁，B₁) The end point is P₂(L₂，B₂) Wherein L is₁Is a starting point P₁Latitude of (B)₁Is a starting point P₁Longitude of (d); l is₂Is an end point P₂Latitude of (B)₂Is an end point P₂Longitude of (c). Square blockThe direction is defined as "north up, south down, left, west and right east". If L is₁≠L₂And B₁≠B₂And respectively making two straight lines in the north-south direction at the starting point and the ending point of the navigation section, and simultaneously making two straight lines in the east-west direction at the starting point and the ending point of each navigation section, wherein the rectangle determined by the 4 straight lines is the outsourcing rectangle of the navigation section. If the longitude and latitude coordinate relationship of the starting point and the ending point of a certain navigation section is L₁＝L₂Or B₁＝B₂If the direction of the flight segment is east-west direction or north-south direction, the outsourcing rectangle of the flight segment does not need to be calculated, and the step is omitted.

Step 4-3: and calculating the minimum outsourcing grid and the code of each flight segment. For L₁≠L₂And B₁≠B₂The area S of the wrapping rectangle of the navigation section is calculated to be d₁×d₂Wherein d is₁Is the length of the outer rectangular envelope d₂The width of the outer rectangular envelope. Because the 1 st to 7 th Level grids have fixed areas, the grid Level _ n with the area larger than S and closest to S is compared. For L₁＝L₂Or B₁＝B₂Comparing the side length of the 1 st-7 th Level grids is larger than the length of the navigation section, and obtaining the grid Level _ n closest to the length of the navigation section. In each flight segment, a point P is arbitrarily selected₃And (4) calculating the Level _ n Level grid code of the point according to the method in the step (2-4), wherein the grid corresponding to the code is the minimum outsourcing grid of the navigation section. Taking the leg in fig. 8 as an example, the method for determining the minimum outsourcing grid is explained. Width d of the envelope rectangle of the leg in FIG. 8₁7km long d₂And 5 kilometers, the area of the outer package rectangle is 35 square kilometers. Since the 4 th level grid has a side length of 7km, an area of 49 square km, greater than 35 square km, and is closest to 35 square km, the minimum outsourcing grid for the leg corresponds to a level of 4, as shown in fig. 8. Suppose that one point is arbitrarily selected to be P in the flight segment₃A 1 is to P₃The longitude and latitude coordinates are converted into grid codes of a 4 th level according to the method of the step 2-4, wherein the grid codes correspond to the grids which are the minimum outsourcing grids of the flight segment. By adopting the method and the meterAnd calculating the minimum outer covering grids of all the legs.

Step 4-4: and establishing a rectangular coordinate system in the minimum outsourcing grid of each flight segment. The Level number of the minimum outsourcing grid of each flight is Level _ n, the minimum outsourcing grid of each flight is divided to the 7 th Level, and the 7 th Level grid obtained by dividing the minimum outsourcing grid of each flight is 16^6-Level_n X 4. Taking the 7 th level grid where the lower left vertex of the minimum outsourcing grid is positioned as the origin of coordinates, establishing a rectangular coordinate system, wherein the east direction and the north direction are positive directions, the horizontal and vertical axes of the grids are sequentially defined by 0,1, 2, 3,4, 5, 6, …,

and numbering, wherein coordinates on the coordinate axis represent positions of different 7 th-level grids, for example, coordinates of a lower left grid are (0, 0). Taking fig. 9 as an example, a thick black line is a certain flight segment, the minimum outsourcing mesh Level _ n of the flight segment is 5, the minimum outsourcing mesh of the flight segment is divided to the 7 th Level, 64 7 th Level meshes of 16 × 4 are obtained, and the horizontal and vertical coordinates are 0,1, 2, 3,4, 5, 6, 7.

And 4-5: and calculating a row-column coordinate set of the 7 th-level grid where each flight segment is located. And after determining the row and column coordinates of the starting point and the ending point of each flight segment, calculating the slope of each flight segment according to the course of each flight segment. An extension line in front of the longitudinal axis of the airplane is called a course line, an included angle formed by clockwise measuring the north end of the longitude line of the position of the airplane to the course line is called a course, and the course range is [0,360 degrees ]. The formula of the flight segment slope K calculated by the course C is as follows:

when the course is 0 degrees, the representative course is true north, the slope of the flight segment is infinity, and the initial point coordinate obtained in the step 4-4 is set as (x)₁，y₁) The coordinate of the end point is (x)₁，y₂) Then the abscissa of the grid coordinate between the starting point and the ending point of the flight segment is x₁Ordinate from y₁To y₂According to step length of1, obtaining a grid coordinate set between the starting point and the ending point of the flight segment. When the course is 180 degrees, the representative course is south, the slope of the flight segment is infinity, and the coordinate of the starting point of the flight segment is (x)₁，y₁) The coordinate of the end point is (x)₁，y₂) Then the abscissa of the grid coordinate between the starting point and the ending point of the flight segment is x₁Ordinate from y₁To y₂And reducing according to the step length of-1 to obtain a grid coordinate set between the starting point and the ending point of the flight segment. When the heading is not 0 degrees or 180 degrees, calculating the slope K of the flight segments, and calculating the grid coordinate set between the starting point and the ending point of each flight segment by linear interpolation. For a flight segment with the course of 0 degree or 180 degrees, the running position point of the aircraft at a certain time on the flight segment is just positioned on the boundary line of the east grid and the west grid, and the coordinates of the east grid are uniformly specified to represent the row and column coordinates of the 7 th grid; similarly, for a segment with the heading of 90 degrees or 270 degrees, the running position point of the aircraft at a certain time on the segment is just positioned on the boundary line of the south grid and the north grid, and the coordinates of the north grid are uniformly specified to represent the row and column coordinates of the 7 th grid.

And 4-6: and calculating a set of 7 th-level two-dimensional plane grid codes for representing each flight segment. And on the basis of obtaining the row and column coordinate set of the 7 th-level grid representing the flight sections in the steps 4-5, calculating the grid codes by using the row and column coordinates of the grid, and obtaining a set of the 7 th-level two-dimensional plane grid codes representing each flight section. And 4-3, calculating to obtain the minimum outsourcing grid and the codes of each flight segment, wherein the Level _ n of the minimum outsourcing grid layer of each flight segment is more than or equal to 1 and less than or equal to 7. Setting row and column coordinates of a certain 7 th-Level grid as (X, Y), then calculating according to the row and column coordinates (X, Y) to obtain a grid Level _ n + 1-7-Level code, and calculating layer by layer from low to high; the method of adding from high to low in reverse direction includes that the 7 th Level code is calculated, then the 6 th, 5 th, … … th and Level _ n +1 Level codes are calculated, and then the Level _ n +1 th, Level _ n +2 th, … … th and 7 th Level codes are added behind the minimum outsourcing grid code of the navigation section according to the inheritance relationship among all levels of grid codes. The detailed calculation method comprises the following steps:

step 4-6-1: and calculating the 7 th-level encoding of the grid corresponding to the coordinates (X, Y). The calculation formula is as follows:

where the right side of the equation is the calculation result, the remainder combination (B _7), i.e., the coordinates in table 4, results in level 7 encoding.

Step 4-6-2: and calculating the level 6 encoding of the grid corresponding to the coordinates (X, Y). The calculation formula is as follows:

where the right side of the equation is the calculation result, the residue combination (B _6), i.e., the coordinates in table 3, results in level 6 encoding.

Step 4-6-3: and calculating the 5 th level encoding of the grid corresponding to the coordinates (X, Y). The calculation formula is as follows:

where the right side of the equation is the calculation result, the remainder combination (B _5), i.e., the coordinates in table 3, results in level 5 encoding.

Step 4-6-4: and calculating the 4 th-level encoding of the grid corresponding to the coordinates (X, Y). The calculation formula is as follows:

where the right side of the equation is the calculation result, the remainder combination (B _4), i.e., the coordinates in table 3, results in level 4 encoding.

Step 4-6-5: and calculating the 3 rd level encoding of the grid corresponding to the coordinates (X, Y). The calculation formula is as follows:

where the right side of the equation is the calculation result, the remainder combination (B _3), i.e., the coordinates in table 3, results in level 3 encoding.

Step 4-6-6: and calculating the level 2 code of the grid corresponding to the coordinates (X, Y). The calculation formula is as follows:

where the right side of the equation is the calculation result, the remainder combination (B _2), i.e., the coordinates in table 3, results in level 2 encoding.

According to the numerical value of the minimum outsourcing grid Level _ n of the navigation segment, only the codes from the 7 th Level to the Level _ n +1 Level need to be calculated by adopting the methods from the step 4-6-1 to the step 4-6-6, and then the codes from the Level _ n +1 to the 7 th Level are sequentially added behind the minimum outsourcing grid code of the navigation segment, so that the 7 th Level grid code corresponding to the coordinates (X, Y) is obtained. According to the method, the row and column coordinates of all 7 th-level grids in each flight segment are converted into the codes of the 7 th-level grids one by one, and finally the row and column coordinate set of the 7 th-level grids in each flight segment is converted into the 7 th-level grid code set.

And 4-7: and (5) meshing the flight section. And (4) solving a union set of the grid coding sets of all the flight sections to obtain a grid coding set of the whole flight path. Due to the one-to-one correspondence relationship between the grid codes and the grid positions, corresponding grids are led out according to the grid code cables, and the flight segment is represented as a grid set. As shown in fig. 9, the dark grid in fig. 9 is a result of two-dimensional gridding characterization of a certain leg, and the leg is finally characterized as a set of dark grids.

And 5: and constructing a four-dimensional space-time grid for the aircraft operation. The method comprises the following steps:

step 5-1: and constructing a three-dimensional space grid. After the step 4, the flight route of the aircraft can be represented by a plane grid, the flight heights of different flight sections in the flight route are calculated by the method in the step 3-5 to obtain the 7 th level height range of the flight height, and the plane grid of each flight section is added with the corresponding height range to construct a three-dimensional space grid. The sizes of the 7 th-level two-dimensional plane grid determined by combining the step 1 and the step 2 are 220 m × 220 m, and the height difference of the 7 th level determined by the step 3 is 312.5 m, so that the length, width and height of the three-dimensional stereo grid are 220 m × 312.5 m respectively. The coding structure of the three-dimensional space grid is that a height code is added behind a two-dimensional plane grid code.

Step 5-2: and constructing a four-dimensional space-time grid. As can be seen from step 1, the size of the 7 th-level grid is equivalent to the flight distance of the aircraft per second in the cruising stage, so that after the flight path of the aircraft is represented by the 7 th-level grid, the operation time is increased by one second for each time the aircraft moves, and each 7 th-level grid corresponds to a unique aircraft operation time. Therefore, the three-dimensional space grid constructed in the step 5-1 actually contains the time information of the aircraft, and each small grid can represent the space and time information of the operation of the aircraft, namely the four-dimensional space-time information can be represented in the three-dimensional grid, and the four-dimensional space-time grid is constructed on the basis of the three-dimensional space grid.

Step 6: and coloring the four-dimensional space-time grid. And (3) corresponding the aircraft running time with the RGB value, and coloring different colors for the space-time grids containing different time information.

Red, green and blue are called primary colors because any color light can be mixed by red, green and blue according to a certain proportion. The mode in which the display colors of the display screen are displayed by mixing the optical three primary colors is called a three primary color mode (also called RGB color mode), which is an additive color model, and can be adjusted into various color lights that we can see daily by adjusting the RGB values of the color lights. And respectively corresponding the R value, the G value and the B value of the colored light to the time, minute and second attributes of time. The R value corresponds to hours, the G value corresponds to minutes, and the B value corresponds to seconds. The adjustable ranges of the R value, the G value and the B value are all 0-255, and the minimum adjustment amplitude is 1, so that the R value, the G value and the B value can respectively correspond to 256 different values. The full coverage of 60 minutes per hour, and 60 seconds per minute, can be achieved. The full 256-hour operating time of the aircraft can be characterized by the RGB values versus time. In fact, considering the maximum range of the aircraft and the fatigue degree of the crew, the longest straight flight route in the world, namely the total length of a New York Sydney route is 1.6 kilometers, and the longest straight flight route needs to fly for 20 hours, which is far less than 256 hours represented by the R value. Thus, the RGB values representing the time are fully capable of representing the complete expected operating time of the aircraft.

In order to completely show the complete expected operation process of the aircraft in the cruising process, the method is added for 10 hours on the basis of 20 hours of the longest direct flight route in the whole world, and the operation of the aircraft in 30 hours after the aircraft enters the cruising state is represented. As the value range of the R value is 0-255, in order to make the color light corresponding to different time have more identification, 30 values are taken from 0 according to the step length of 8, the minimum value is 0, the maximum value is 232, and the representative time is from 0 hour to 29 hours. Similarly, 1 hour is equal to 60 minutes, and 1 minute is equal to 60 seconds, so that 60 values are taken within the value ranges (0-255) of the G value and the B value according to the step length of 4, the minimum value is 0, the maximum value is 236, and the values respectively correspond to 0-59 for 60 minutes and 0-59 for 60 seconds. The correspondence between the RGB values and the time, minute, and second is shown in table 5.

TABLE 5

As shown in FIG. 10, assuming that the aircraft enters the cruising state at 8 o' clock in 1 morning of 2 months in 2021, the RGB values of the spatiotemporal grid color at a certain point A on the flight route are (24,92,100), respectively. As can be seen from the table lookup, 24 represents the 3 rd hour after the aircraft cruise phase begins, 92 represents the 23 rd minute, and 100 represents the 25 th second, and in summary, the time corresponding to the grid is the time when the aircraft enters the cruise state plus 3 hours, 23 minutes and 25 seconds, that is, the estimated arrival time of the aircraft to the grid is 11 hours, 23 minutes and 25 seconds. The RGB values of the space-time grid color at another point B on the flight line are respectively (48,120,112). As can be seen from the table lookup, 48 represents the 6 th hour after the aircraft cruise phase begins, 120 represents the 30 th minute, and 112 represents the 28 th second, and in summary, the time corresponding to the grid is the time when the aircraft enters the cruise state plus 6 hours, 30 minutes and 28 seconds, i.e., the estimated arrival time of the aircraft to the grid is 14 hours, 30 minutes and 28 seconds.

After the time values are in one-to-one correspondence with the RGB values, the four-dimensional space-time grid where the aircraft runs can be colored, different running times of the aircraft are represented by different colors, the running positions of the aircraft are represented by the positions of different grids, the predicted arrival time of the aircraft is displayed through different colors, and a flight controller can have clearer global knowledge on the running state of the aircraft in a period of time in the future.

As shown in fig. 11, in an embodiment of the present invention, a small segment of the flight path on the flight path is east-west, and has a length of 1100 meters, the longitude and latitude coordinates of the starting point are (45 ° 21 '20 "N, 110 ° 37' 10" E), the longitude and latitude coordinates of the ending point are (45 ° 21 '20 "N, 110 ° 37' 45" E), the aircraft heading is 90 °, the flight altitude is 10000 meters, and the aircraft reaches the starting point of the flight path in fig. 11 after entering the cruising state for 1 hour, 10 minutes and 0 second. The number of the abscissa and ordinate axes in fig. 11 is determined according to the method of establishing the rectangular coordinate system in step 4-4, representing the row and column number of the 7 th grid, and the row and column coordinates of the 7 th grid are determined by the abscissa and ordinate numbers.

After going through steps 1 to 3, a three-dimensional grid system is established. And then, carrying out two-dimensional planar gridding representation on the navigation section according to the flow of the step 4. And (4) directly entering the step (4-3) to calculate the minimum outsourcing grid and the code of the navigation section because the latitudes of the starting point and the ending point of the navigation section are the same. And comparing the number of grid layer levels with the length which is closest to the length of the flight segment and the side length of the 1 st-7 th level grids which is greater than the length of the flight segment. Since the length of the leg is 1.1 km, the side length of the 5 th level grid is 1.75 km, is greater than the length of the leg and is closest to the length of the row, the level number of the minimum outsourcing grid of the leg is 5. Any point is taken on the navigation section, the starting point of the navigation route is taken in the embodiment, and the longitude and latitude coordinates of the starting point are converted into 5 th-level grid codes according to the method in the step 2-4, and the steps are as follows:

step 2-4-1: computing level 1 trellis coding

The latitude and longitude coordinates of the starting point of the navigation segment are (45 degrees 21 '20' N, 110 degrees 37 '10' E), 45 degrees/4 degrees is 11 and 1 degrees, 110 degrees/4 degrees is 28 and 2 degrees, the grid is positioned in the 1 st level, the 12 th north latitude grid is a 12 th warp grid, the 29 th grid is a 4 degrees multiplied by 4 degrees, the 12 th north latitude grid is coded by capital letters L, and therefore the 1 st level grid is coded by L28.

Step 2-4-2: computing level 2 trellis coding

Since the 1 °/1 ° -2 °/2 ° -and the coordinates (1, 2) correspond to the code of 6 in table 3, the code of the 2 nd mesh is L286.

Step 2-4-3: computing level 3 trellis coding

Since the 21 '/15' is 1-6 ', 37'/15 'is 2-7', and the corresponding code of the coordinates (1, 2) is 6 according to table 3, the code of the 3 rd-level mesh is L2866.

Step 2-4-4: computing level 4 trellis coding

Since the 6 '/3.75' is 1 to 2.25 ', and the 7'/3.75 'is 1 to 2.25', the coordinate (1, 1) is 3 according to the corresponding code in table 3, the code of the 4 th-level mesh is L28663.

Step 2-4-5: computing level 5 trellis coding

Since (2.25 × 60+20) "/56" ═ 2, 43 ", (2.25 × 60+ 10)"/56 "═ 2, 33", and the coordinate (2, 2) is C according to the code corresponding to table 3, the code of the 5 th mesh is L28663C. I.e., the minimum outer-wrap trellis code for the leg is L28663C.

And (4) establishing a rectangular coordinate system in the minimum outsourcing grid of the flight segment according to the method in the step 4-4. And (3) dividing the minimum outsourcing grid of the leg to the 7 th level, wherein the 7 th level grids obtained by dividing the minimum outsourcing grid are 16 multiplied by 4 to 64. In fig. 11, the abscissa and ordinate axes are all 0,1, 2, 3,4, 5, 6, 7 in this order. Calculating the line and row coordinate sets of the 7 th level grid of the leg as { (1,4), (2,4), (3,4), (4,4), (5,4) } according to the method of step 4-5, and the line and row coordinate sets are represented by dark grids in FIG. 11. Converting the row-column coordinate set of the 7 th-level grid into a coding set according to the method of the step 4-6, taking the coordinates (1,4) as an example, the conversion method is as follows:

step 4-6-1: and calculating the 7 th-level encoding of the grid corresponding to the coordinates (1, 4).

4/2 is 2 or more and 0 or 1/2 is 0 or more and 1 or less, and the 7 th level code is 1 or less according to the correspondence in table 4.

Step 4-6-2: and calculating the 6 th-level encoding of the grid corresponding to the coordinates (1, 4).

2/4 is equal to 0 and 2 is equal to 0/4 is equal to 0 and 0, (2,0) according to the corresponding relation in table 3, the 6 th level code is 8.

And sequentially adding the 6 th-level and 7 th-level codes behind the minimum outsourcing trellis code L28663C of the flight segment to obtain the 7 th-level trellis code L28663C81 corresponding to the coordinates (1, 4). And (4) converting the coordinates in the coordinate set into 7 th-level grid codes one by one according to the methods of the step 4-6-1 and the step 4-6-2, and finally obtaining a set of 7 th-level two-dimensional plane grid codes for representing the flight segment, wherein the set of the 7 th-level two-dimensional plane grid codes is { L28663C81, L28663C90, L28663C91, L28663CC0, L28663CC1 }. And indexing out a grid set according to the coding set to obtain the two-dimensional planar gridding representation of the flight segment.

And 5, constructing a four-dimensional space-time grid. Firstly, a three-dimensional space grid is constructed according to the step 5-1. Since the flight height of the leg is 10000 meters, the 7 th level height range of the height value is calculated according to the steps 3-5. 10000/312.5 is 32, the decimal value 32 is converted into 7-bit binary code 0100000, so the 7 th level height range corresponding to the height value 10000 m is coded as 0100000, the 7 th level height range corresponding to the code is [10000 m, 10312.5 m), the height range is added on the two-dimensional plane grid represented in the step 4, and the three-dimensional space grid is constructed. The code set of the three-dimensional space grid representing the navigation section is { L28663C81-0100000, L28663C90-0100000, L28663C91-0100000, L28663CC0-0100000, L28663CC1-0100000 }. And then, according to the step 5-2, constructing a four-dimensional space-time grid according to the aircraft running time information contained in the grid. The 5 spatiotemporal meshes characterizing the legs in FIG. 11 are colored according to the method of step 6. According to the correspondence relationship of table 5, the RGB values of the colors of the 5 spatio-temporal grids corresponding to the flight segment from the start point to the end point are (8, 40, 0), (8, 40, 4), (8, 40, 8), (8, 40, 12), (8, 40, 16), respectively.

Fig. 12 is a schematic diagram illustrating a visual representation of a certain flight segment as a colored four-dimensional time grid in the functional verification software according to the principle of steps 1 to 6. The functional verification software is written in JavaScript language, and the running environment is as follows: operating system Windows10, 64 bits; a CPU: intel Core i7-105102.3 GHz; RAM: 16G.

Conventional aircraft operating software can only characterize the two-dimensional or three-dimensional operating state of the aircraft. As can be seen from fig. 12, the method provided by the present invention can visually represent the space and time information of the operation of the aircraft by corresponding the time and the color, so as to achieve the purpose of representing the four-dimensional space-time information in the three-dimensional grid, and can combine the time and space information without adding an additional display interface, so as to more visually represent the four-dimensional space-time information of the aircraft in the air. The time information is displayed through different colors, so that the controller can concentrate on the position of the aircraft in the air, the difference between the actual running state and the predicted running state of the aircraft can be found by the controller in time, the adjustment instruction can be issued in time, and the flight safety can be ensured.

Claims

1. A method of visualizing aircraft operation, comprising:

2. The aircraft operation visualization method of claim 1, wherein:

step 4 comprises the following steps:

step 4-1: selecting a navigation section;

step 4-2: calculating the outsourcing rectangle of each flight segment;

and 4-7: gridding the flight section;

the step 5 comprises the following steps:

step 5-1: constructing a three-dimensional space grid;

step 5-2: constructing a four-dimensional space-time grid;

3. A method of visualizing the operation of an aircraft as in claim 2, wherein:

the step 2 comprises the following steps:

step 2-1: carrying out 1 st level grid splitting and coding;

step 2-2: carrying out mesh generation and encoding of 2 nd-6 th levels;

step 2-3: performing 7 th level splitting and coding;

the step 3 comprises the following steps:

step 3-1: level 1 height range encoding;

step 3-2: level 2 height range encoding;

step 3-3: level 3 height range encoding;

step 3-4: performing level 4 to 7 height range encoding;

4. A method of visualizing the operation of an aircraft as in claim 3, wherein:

step 2-4-1: calculating a level 1 trellis code;

step 2-4-2: calculating a 2 nd level trellis code;

step 2-4-3: calculating a3 rd level mesh code;

step 2-4-4: calculating the code of the 4 th-level grid;

step 2-4-5: calculating the code of the 5 th-level grid;

step 2-4-6: calculating the code of the 6 th-level grid;

step 2-4-7: the encoding of the 7 th level mesh is calculated.

5. A method of visualizing the operation of an aircraft as in claim 3, wherein:

6. A method of visualizing the operation of an aircraft as in claim 3, wherein:

7. The aircraft operation visualization method according to claim 6, wherein:

8. The aircraft operation visualization method of claim 7, wherein:

L_Dquotient M at 4 °₁The remainder is N₁，M₁The English letter corresponding to +1 is the latitude direction code of the 1 st level grid where the point is located, north latitude capital and south latitude lowercase; b is_DQuotient m at 4 °₁The remainder is n₁，m₁The longitude direction of the 1 st level grid where the point is located is coded;

N₃is the remainder of step 2-4-3, so N₃Quotient M of/3.75₄The remainder is N₄，M₄The latitude direction number of the 4 th level grid where the point is located is the number; n is₃Is the remainder of step 2-4-3, n₃The quotient m of/3.75₄The remainder is n₄，m₄The longitude direction number of the 4 th layer grid where the point is located is the number;

9. A method of visualizing the operation of an aircraft as in claim 3, wherein:

10. A method of visualizing the operation of an aircraft as in claim 2, wherein: