CN113253274B - Fusion processing method for anti-collision ground surface power line of helicopter - Google Patents
Fusion processing method for anti-collision ground surface power line of helicopter Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The fusion processing method for the anticollision surface power line of the helicopter disclosed by the invention has the advantages of good safety, low maintenance cost, small information loss and high fusion precision. The invention is realized by the following technical scheme: the helicopter control module divides the fusion processing of the anticollision surface power line into a phase A of the iron tower power line warning prompt and a phase B of executing the flight task in real time. The method comprises the steps of A, fixing radar positions on the ground, collecting sensor system data, and obtaining error factor parameters of a system; the helicopter control module obtains information projected by the iron tower in a geographic coordinate system and information projected by the iron tower in the geographic coordinate system; drawing power lines between iron towers, calculating the position of the iron towers relative to a helicopter, sending data acquired by navigation and heading sensors and fusion data output by a helicopter control module into an image processing unit, correcting the stage A iron tower target, and correcting and fusing the detected target by utilizing error factors obtained in the stage A.
Description
Technical Field
The invention relates to a method for realizing warning and prompting of a power line of a helicopter front iron tower based on radar detection information, in particular to a method for fusing a power line of a real-time iron tower based on radar detection with a known pre-stored power line target of the iron tower in the field of information fusion, which provides a pilot with power line early warning and prompting functions and achieves the purpose of guaranteeing flight safety.
Background
With the continuous growth of aviation transportation in China, the prevention of accidents of collision and scratch of an airplane has become an important task of civil aviation safety in the current and future periods. Different from an automobile anti-collision system, the airplane is possible to collide due to the huge volume, the top ends of the two wings, the tail wings and the like, the shapes and the sizes of various types of airplanes are different, and the ground anti-collision system is adopted for carrying out multi-point distance measurement on the dangerous points of the airplane which are possibly collided. The single sensor and the detection method are difficult to ensure that complete and reliable information is provided at any moment, identification of targets is difficult to realize, and the problem of collision prevention of the aircraft on the ground cannot be fundamentally solved. It is difficult to adapt to various conditions only by a single sensor, and false alarms or missed alarms are easy to generate when judgment is made. A single type of sensor cannot detect objects very accurately and efficiently because of the hardware limitations of the sensor itself. To improve the recognition and estimation capability of the target, a multi-sensor fusion technique needs to be introduced. The multi-sensor data fusion can integrate the advantages of various sensors to make up for the defects or the shortcomings of each sensor, and improve the accuracy and the reliability of the system. The multi-sensor data fusion method has many methods, the data fusion processing process is complex, the working environment is bad, the interference factors are numerous, the environmental interference received in the tracking target is strong, the detection angle is small, and some of the detection angles are even linear propagation, so that many false targets are easy to cause, and false alarms are easy to judge. The basic principle of multi-sensor information fusion is just like the process of comprehensively processing information by human brain, and fully utilizes a plurality of sensor resources, and the complementation and redundant information of various sensors in space and time are combined according to a certain optimization criterion by reasonably supporting and using various sensors and observation information thereof, so as to generate consistency interpretation and description of the observation environment. The information fusion aims at separating observation information based on each sensor and deriving more effective information through optimizing combination of the information. This is the result of an optimal synergy, the ultimate goal of which is to take advantage of the co-or joint operation of multiple sensors to increase the effectiveness of the overall sensor system. Data fusion is generally defined as the process of analyzing, processing and integrating observation data of multiple sensors obtained in time series or processed data under certain criteria to complete the necessary estimation and decision making. The most easily understood meaning of data fusion is: the multi-source information is detected, correlated, estimated and comprehensively processed to obtain more accurate state estimation, target type identification and complete and timely assessment of the concept and threat. Prior to data fusion, spatial-temporal registration should also be performed on the multi-source data. Typically a multisensor system is not just a simple number of sets, but rather is functionally complementary in overall, synergistic, as a whole. But since all sensor data is sent to the fusion center for processing, the central data processing workload is great. Expensive costs are required for communication and computation.
Helicopters have been popular in various fields of military civil aviation, such as low-altitude complex environment flight, vertical take-off and landing, hovering and the like, due to their unique flight capability and aerodynamic characteristics since birth. However, due to the fact that helicopters have characteristics that other aircraft do not, it is often necessary to perform special tasks in low-altitude complex environments, which presents a great challenge for flight safety. The obstacles in the low-altitude complex environment comprise hills, trees, telegraph poles, high-voltage lines, buildings and other obstacles threatening the flight of the helicopter. The azimuth, pitch information for each obstacle image is used in conjunction with the flight data for the aircraft to form an alert display for the pilot.
Along with popularization of the application field of the helicopter, the helicopter is very important to prompt a front target object, in particular to alarming and prompting of a front power line. The existing helicopter power line warning prompt system is based on pre-stored power line data, and loads a power line target pre-stored in front according to the position of an airplane, so that the purpose of warning prompt is achieved. However, the warning mode is completely dependent on the accuracy of a pre-stored power line database, and when the airborne power line database is not updated in time or a marking error occurs, the warning prompt of the power line in real time is lacked, so that the warning prompt is invalid and the flight safety is influenced. Or the target detected by directly using the pure radar is directly used for high-price prompt, and larger errors and detection blind areas are easy to generate, so that the alarm information is inaccurate. If the pre-stored power line is not updated timely, alarm prompt failure or target power line loss does not occur.
At present, after mapping is carried out on the surface power line by using a mapping technology at home and abroad, mapping obtained data are processed and pre-stored, and a helicopter alarm system carries out loading alarm by acquiring pre-stored mapping pre-stored power line data; because all power line information data of the ground surface are mapped artificially, the power line data is updated untimely and cannot meet the requirements of flight tasks. If the real-time requirement of the alarm is met, a great deal of time and manpower are needed to do mapping work, and a great deal of maintenance work of an electric database is needed in the later period. The pure radar detection technology mainly uses millimeter wave radar to detect the front target, and the detected target is directly projected in front of the aircraft, so that the error of the result is larger.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides the method which has the advantages of good safety, low maintenance cost, small information loss and high fusion precision. The method is characterized in that the fusion processing of the power line and the known pre-stored power line is classified based on radar detection data, the power line detected by the radar in real time is used as a new method for correcting or supplementing the deficiency of the pre-stored power line data, and particularly, the method for warning and prompting the power line of the front iron tower of the helicopter is used for solving the problems that the helicopter timely finds the power line of the front iron tower and sends out warning and collision prevention in the flight process.
The technical scheme for achieving the aim is as follows: a fusion processing method of an anticollision surface power line of a helicopter is characterized in that: the helicopter control module divides the fusion processing of the anticollision surface power line into a phase A of an iron tower power line alarm prompt and a phase B of executing a flight task in real time, wherein the phase A is realized by fixing a radar position on the ground, acquiring data of a sensor system and acquiring error factor parameters of the system; the helicopter control module extracts an iron tower target detected by a radar fixed on the ground, performs coordinate conversion on the iron tower target detected by the radar, obtains information projected by an iron tower in a geographic coordinate system and information projected by the iron tower in the geographic coordinate system, extracts corresponding iron tower target information from a pre-stored iron tower database, inputs the projected iron tower coordinate and the extracted pre-stored iron tower coordinate into a system error solving equation, and obtains a group of system error factors; converting coordinates of the iron tower targets detected by the radar to convert the radar coordinate system into a geographic coordinate system, and acquiring projections of the iron tower in the geographic coordinate system from the geographic coordinate system; correcting and compensating the iron tower coordinates by using an error factor to obtain corrected geographic coordinate information data, reading iron tower coordinate data and radar detection data pre-stored in an iron tower database and a terrain database, finding out corresponding iron tower coordinate data, and carrying out fusion processing on the iron tower coordinate information and pre-stored and extracted data to obtain final iron tower target information; the helicopter module performs modeling operation on the iron towers, establishes two iron tower models with different colors, draws the iron tower models into three-dimensional terrain, draws power lines between the iron towers, calculates the position of the iron towers relative to the helicopter, judges whether to perform alarm prompt on the power lines according to the attitude, the speed and the systematic errors of the position of the aircraft, draws an alarm prompt frame, displays the alarm distance, the height and the collision time, sends data acquired by the navigation sensor and the heading sensor together with fusion data output by the helicopter control module into the image processing unit, corrects the stage A iron tower target, and corrects the fusion alarm display on the real-time flight detection target by utilizing error factors obtained in the stage A.
Compared with the prior art, the invention has the following beneficial effects
According to the invention, the fusion processing of the anticollision surface power line is divided into a phase A for warning and prompting the power line of the iron tower and a phase B for executing a flight task in real time, wherein the phase A is realized by fixing the radar position on the ground, and the data acquisition is carried out on a sensor system to acquire error factor parameters of the system; compared with the traditional iron tower alarm method, the method has the advantages of high accuracy, good safety and low maintenance cost.
The method comprises the steps of adopting a helicopter control module to extract an iron tower target detected by a radar fixed on the ground, carrying out coordinate conversion on the iron tower target detected by the radar, solving information projected by an iron tower in a geographic coordinate system and information projected by an iron tower in the geographic coordinate system, extracting corresponding iron tower target information from a pre-stored iron tower database, inputting the projected iron tower coordinate and the extracted pre-stored iron tower coordinate into a system error solving equation, and obtaining a group of system error factors; and the radar detection data and the pre-stored iron tower power line data are used for information fusion, errors generated by the system are corrected, and the accuracy of the data is improved.
According to the method, the iron tower targets detected by the radar are subjected to coordinate conversion, so that conversion from a radar coordinate system to a geographic coordinate system is realized, and projection of the iron tower in the geographic coordinate system is obtained in the geographic coordinate system; correcting and compensating the iron tower coordinates by using an error factor to obtain corrected geographic coordinate information data, finding out corresponding iron tower coordinate data by reading iron tower coordinate data and radar detection data pre-stored in an iron tower database and a terrain database, and carrying out fusion processing on the iron tower coordinate information and the pre-stored pre-extracted data to obtain final iron tower target information; the information loss is small, and the fusion precision is high. The alarm prompt is realized by using two data fusion processes, so that the safety of flight is improved; the maintenance period of pre-stored power line data of the iron tower can be greatly prolonged on the premise of ensuring accurate safety warning, and even in the next few years, safety to flight is not affected even if mapping and updating are not carried out.
According to the method, a helicopter module is adopted to perform modeling operation on iron towers, two iron tower models with different colors are established, the iron tower models are drawn into three-dimensional terrains, power lines between the iron towers are drawn, the position of the iron towers relative to the helicopter is calculated, whether warning prompt is performed on the power lines is judged according to the attitude, the speed and the systematic errors of the position of an airplane, a warning prompt frame is drawn, warning distance, height and collision time are displayed, data acquired by a navigation sensor and a heading sensor and fusion data output by a helicopter control module are sent to an image processing unit, a stage A iron tower target is corrected, and a real-time flight detection target is corrected and fused to be displayed by using error factors obtained in the stage A. The purposes of accurate and real-time alarm prompt of the front power line are achieved, and the safety of a flight mission is fully ensured. The technical problems of detection blind areas and the like of a traditional single radar are solved by adopting a mutual compensation technology, the helicopter warning prompt function can be realized by using pre-stored iron tower data even under the condition of unexpected failure of the radar, and the problems of untimely updating, inaccurate mapping or untimely warning caused by untimely updating of surface power line information data or serious error of the radar are solved by combining the radar technology with the known pre-stored power line database information, and the mapped iron tower data is maintained for several years, so that the method has the advantages of paying cost purchase for each data updating, increasing data time cost and subsequent maintenance cost and greatly reducing cost compared with the prior art.
According to the method, the error factor of the stage A is used for carrying out fusion calculation on the radar detected iron tower target and the pre-stored iron tower target to obtain a final iron tower target. The method comprises the steps of using the distance for solving the geographic position to achieve fusion of two groups of iron tower targets, using the information of the azimuth and the altitude of the iron tower on the aircraft to solve the projection intersection point of the power line and the aircraft heading direction under the plane of the aircraft, obtaining the collision point of the aircraft and sending out an alarm prompt. (the intersection point of the two straight lines of the power line and the airplane direction is calculated, and then projected back to the power line, so that accurate fusion is realized, and false alarms are reduced.
Drawings
FIG. 1 is a flow chart of a fusion process of a helicopter crash-proof surface power line of the present invention;
FIG. 2 is a flow chart for solving the sensor system error factor at stage A of FIG. 1;
FIG. 3 is a flow chart of the iron tower target fusion of FIG. 1 stage B;
fig. 4 is a functional block diagram of the implementation phase of fig. 3.
Detailed Description
See fig. 1. According to the invention, the helicopter control module divides the fusion processing of the anticollision surface power line into a phase A of the warning prompt of the iron tower power line and a phase B of executing the flight task in real time, the phase A is realized by fixing the radar position on the ground, and the data acquisition is carried out on the sensor system to acquire the error factor parameters of the system; the helicopter control module extracts an iron tower target detected by a radar fixed on the ground, performs coordinate conversion on the iron tower target detected by the radar, obtains information projected by an iron tower in a geographic coordinate system and information projected by the iron tower in the geographic coordinate system, extracts corresponding iron tower target information from a pre-stored iron tower database, inputs the projected iron tower coordinate and the extracted pre-stored iron tower coordinate into a system error solving equation, and obtains a group of system error factors; converting coordinates of the iron tower targets detected by the radar to convert the radar coordinate system into a geographic coordinate system, and acquiring projections of the iron tower in the geographic coordinate system from the geographic coordinate system; correcting and compensating the iron tower coordinates by using an error factor to obtain corrected geographic coordinate information data, reading iron tower coordinate data and radar detection data pre-stored in an iron tower database and a terrain database, finding out corresponding iron tower coordinate data, and carrying out fusion processing on the iron tower coordinate information and pre-stored and extracted data to obtain final iron tower target information; the helicopter module performs modeling operation on the iron towers, establishes two iron tower models with different colors, draws the iron tower models into three-dimensional terrain, draws power lines between the iron towers, calculates the position of the iron towers relative to the helicopter, judges whether to perform alarm prompt on the power lines according to the attitude, the speed and the systematic errors of the position of the aircraft, draws an alarm prompt frame, displays the alarm distance, the height and the collision time, sends data acquired by the navigation sensor and the heading sensor together with fusion data output by the helicopter control module into the image processing unit, corrects the stage A iron tower target, and corrects the fusion alarm display on the real-time flight detection target by utilizing error factors obtained in the stage A.
The phase A is to fix radar position on the ground, collect data from sensor system, and obtain error factor parameter of the system, and the phase B is to correct and fuse the detected target by using error factor obtained in phase A when the aircraft executes the flight task in real time.
The step A is that a radar fixed on a certain position on the ground adopts the following steps:
step1, starting up radar equipment and navigation heading equipment, acquiring current position, altitude and heading information, and performing target classification processing on echo data detected by a radar by a helicopter control module to classify out target data T (T 1 ,T 2 ,T 3 ,…T n ) Calculating the height of the iron tower in a radar coordinate system according to the echo amplitude of the radar and the space distance between the aircraft and the target iron tower, and then sequentially calculating the longitude of each group of iron towers in the radar coordinate system (S1) according to the navigation equipment information: LON, latitude: LAT, height H three-dimensional coordinate information T n Recording the connection relation of the power lines between each iron tower;
step2: the helicopter control module performs coordinate conversion from a radar coordinate system (S1) to a geographic coordinate system (S2) on all three-dimensional coordinate information of the iron towers according to data of the extracted navigation and heading sensors, and performs coordinate conversion on the radar coordinate information T (T) 1 ,T 2 ,T 3 ,…T n ) Each group of data is converted into projection of a geographic coordinate system, and three-dimensional coordinate information T ' (T ' of three kinds of information including longitude, latitude and altitude of a group of iron towers in the geographic coordinate system is obtained after conversion ' 1 ,T′ 2 ,T′ 3 …T′ n )；
Step3: the helicopter control module queries pre-stored iron tower database information according to position information provided by navigation and heading sensors, and acquires a group of pre-stored iron tower information T '(T' 1 ,T″ 2 ,T″ 3 …T″ n ) Finding out the corresponding iron towers of each iron tower in the iron tower information T 'according to the distance position, wherein the iron towers T' n Corresponding iron tower T' n The information is rearranged by T ' (T ' according to the corresponding relation ' 1 ,T′ 2 ,T′ 3 …T′ n ) And T '(T') 1 ,T″ 2 ,T″ 3 …T″ n ) Sequentially;
step4, the iron tower database sets a group of error systems (alpha, beta 0, delta) according to the error factor alpha affecting the iron tower longitude LON, the error factor beta affecting the iron tower latitude LAT and the systematic error factor beta 1 affecting the iron tower height H, initializes the error systems (alpha, beta, delta), initializes the error systems (alpha = 0, beta = 0, delta = 0) and detects three-dimensional coordinate information T ' (T ' of radar iron towers ' 1 ,T′ 2 ,T′ 3 …T′ n ) And pre-storing iron tower information T '(T') 1 ,T″ 2 ,T″ 3 …T″ n ) Inputting an error correction equation as a parameter; generating a new set of error influencing factors (alpha ', beta 1'), iterating (beta 2', beta 0', beta 4 ') to (alpha, beta 3, delta), taking (alpha, beta, delta) = (alpha', beta ', delta') as a new error influencing factor as an error correction equation parameter, and repeatedly traversing the system error factors until T 'is reached' n And T' n Is completed, resulting in a final error impact factor (α, β, δ).
Step5, repeating Step1, step2 and Step3 to obtain two groups of iron tower information T ' (T ' ' 1 ,T′ 2 ,T′ 3 …T′ n ) And T '(T') 1 ,T″ 2 ,T″ 3 …T″ n )；
Step4 and step5 are key steps for obtaining error factors in the step A, and the accuracy of the error factors directly influences the fusion treatment of the step B iron tower.
See fig. 3.Step6, in the real-time flight execution task, the stage B airplane executes the flight task in real time, the system error influence factors obtained in the stage A are utilized to correct and fuse the targets detected in real-time flight, and the final error influence factors (alpha, beta and delta) obtained in the Step5 are obtainedAs a parameter, T' n ＝T′ n ++ (alpha, beta, delta) and obtaining a new group of iron tower information T ' (T ' after iteration ' 1 ,T′ 2 ,T′ 3 …T′ n ) For iron tower information T '(T' 1 ,T′ 2 ,T′ 3 …T′ n ) Performing error compensation, and obtaining new iron tower information T '[ T' 1 ,T′ 2 ,T′ 3 ……T′ n ]And pre-storing iron tower information T '(T') 1 ,T″ 2 ,T″ 3 …T″ n ) Fusion processing is carried out, and the iron tower T 'is extracted from the iron tower data' n Longitude of (2)Iron tower T' n Is of the latitude gamma of (2) 1 T' -iron tower n Longitude of->And iron tower T n Dimension gamma of (2) 2 Solving forAnd->Geographical position spatial distance d>
If solved iron tower T' n With T n Is the geographic location spatial distance of (2)Then consider T' n With T n Is the same iron tower in geographic position, reserve T n Coordinate position->Iron tower T 'is taken' n Height T' n (h 1 ) Iron tower T n Height T n (h 2 ) If (3)|T′ n (h 1 )-T″ n (h 2 )|<=λ, then->If |T' n (h 1 )-T″ n (h 2 )|>λ,T″ n (h 2 )＝T″ n (h 2 ) Will->Added to the iron tower information group, M [ M ] 1 ,M 2 ,M 3 ……M N ]]Obtain the latest iron tower coordinate information data +.>If solved iron tower T' n With T n Is>Then consider T' n With T n Is two target towers in different geographic positions, T 'is calculated' n Added to M' [ M ] 1 ’,M 2 ,’,M 3 ’……M N ’]；T″ n Added to tower information set M [ M ] 1 ,M 2 ,M 3 ……M N ]In (I)>Get iron tower target->And->
See fig. 4.Step7: stage B, from obtaining tower M [ M ] 1 ,M 2 ,M 3 ……M N ]And M' [ M ] 1 ’,M 2 ,’,M 3 ’……M N ’]Data, taking out the longitude, latitude and altitude information of each iron tower target, establishing a loading iron tower model, and obtainingEach iron tower model is loaded into three-dimensional terrain, openGL drawing language is used for realizing that the iron tower model projects and draws power lines between iron towers on geographic objects, and M [ M ] is used for drawing 1 ,M 2 ,M 3 ……M N ]The iron tower model and the power line in the model are projected onto an airborne plane to obtain a linear equation y 1 ＝k 1 x 1 +b 1 And solving the intersection point of the linear equation according to the linear equation of the aircraft on the plane of the aircraft.
Stetp8 in terms of aircraft current position O (Lon, lat, alt) and attitude P (θ 1 ,θ 2 ,θ 3 ) Calculating plane and iron tower M [ M ] for center 1 ,M 2 ,M 3 ……M N ]、M’[M 1 ’,M 2 ,’,M 3 ’……M N ’]And the relative position of the power line, judging whether an intersection point exists, comparing the difference value between the aircraft height O (Alt) and the power line height H, wherein H=M (H), if O (Alt) -H>50 meters, the aircraft height is represented, the aircraft height is higher than the front power line, the front power line is not required to be warned, and if O (Alt) -H<50 meters, the power line in front of the plane is higher than the plane, and the position of the plane is taken as the starting point, and the course angle P (theta 3 ) Acquiring a current aircraft track direction linear equation y for an included angle on an aircraft-mounted plane 2 ＝k 2 x 2 +b 2 The method comprises the steps of carrying out a first treatment on the surface of the If k is 1 ＝k 2 Then it is indicated that the power line is parallel to the aircraft and no collision point exists, e.g. k 1 ≠k 2 Then calculateThe OpenGL draws the projection position of the intersection point on the power line, and the square box prompts the warning.
Projecting intersection points (x ', y') of the plane of the aircraft into the power line, acquiring collision points of the aircraft and the power line, and marking the collision points of the power line by using an OpenGL drawing square frame; solving the distance from the plane coordinate O (x, y) of the airplane to the intersection point (x ', y')Calculating data and characters of collision points of airplaneA warning cue is displayed. The aircraft ground speed is GS, and the aircraft to collision point time t=d/GS is calculated. And drawing the alarm time T and the alarm distance D by using OpenGL, and sending out characters to display alarm prompts to a pilot.
Under the condition of a stage B real-time flight stage, firstly starting up radar equipment, detecting target data through the radar equipment, classifying the target data, classifying iron tower targets, carrying out coordinate conversion on all iron tower targets according to information of navigation and heading sensors, projecting an iron tower into a geographic coordinate system, acquiring information of the iron tower in the geographic coordinate system, correcting the iron tower information by using a system error influence factor acquired in the stage A, generating new iron tower information after error supplementation, acquiring the iron tower information in an iron tower database at the current position according to information of the navigation and heading sensors, and finally carrying out fusion processing on the iron tower information detected by the radar and corrected by the error influence factor and the iron tower information in the iron tower database to obtain final iron tower information.
In the stage B, after the information of the final iron tower is obtained, firstly, drawing a direct power line of the iron tower according to a direct connection relation of the iron tower, projecting the power line into an airborne plane, obtaining a group of linear equations of the power line on the airborne plane, solving a group of linear equations taking an airplane as a point course as a slope, then solving an intersection point of the linear equations of the power line and the airplane course, if the intersection point is not right in front of the two groups of linear equations, not carrying out alarm display, if the intersection point is not right, solving the intersection point, solving the position of the intersection point on a straight line, drawing the position of the intersection point by using an openGL interface, sending an alarm prompt, displaying the alarm prompt in a geographic coordinate system screen, otherwise solving the position of the intersection point, calculating the time from the airplane to the collision point according to the airplane posture and the speed, then carrying out text display in the screen, sending the alarm prompt, modeling the iron tower information according to the information, and finally drawing the model into a geographic coordinate system for display.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A fusion processing method of an anticollision surface power line of a helicopter is characterized in that: the helicopter control module divides the fusion processing of the anticollision surface power line into a phase A of an iron tower power line alarm prompt and a phase B of executing a flight task in real time, wherein the phase A fixes a radar position on the ground, performs data acquisition on a sensor system, and acquires error factor parameters of the system; the helicopter control module extracts an iron tower target detected by a radar fixed on the ground, performs coordinate conversion on the iron tower target detected by the radar, obtains information projected by an iron tower in a geographic coordinate system, extracts corresponding iron tower target information from a pre-stored iron tower database, inputs the projected iron tower coordinate and the extracted pre-stored iron tower coordinate into a system error solving equation, and obtains a group of system error factors; converting coordinates of the iron tower targets detected by the radar to convert the radar coordinate system into a geographic coordinate system, and acquiring projections of the iron tower in the geographic coordinate system from the geographic coordinate system; correcting and compensating the iron tower coordinates by using an error factor to obtain corrected geographic coordinate information data, reading iron tower coordinate data and radar detection data pre-stored in an iron tower database and a terrain database, finding out corresponding iron tower coordinate data, and carrying out fusion processing on the iron tower coordinate information and pre-stored and extracted data to obtain final iron tower target information; the helicopter module performs modeling operation on iron towers, establishes iron tower models with two different colors, draws the iron tower models into three-dimensional terrain, draws power lines between the iron towers, calculates the position of the iron towers relative to the helicopter, judges whether to perform alarm prompt on the power lines according to the attitude, the speed and the systematic errors of the position of the aircraft, draws an alarm prompt frame, displays the alarm distance, the height and the collision time, sends data acquired by a navigation sensor and a heading sensor together with fusion data output by a helicopter control module into an image processing unit, corrects a stage A iron tower target, and corrects fusion alarm display on the real-time flight detection target by using error factors obtained by the stage A when the aircraft performs a flight task in real time.
2. The fusion processing method of the helicopter anticollision surface power line according to claim 1, wherein the fusion processing method comprises the following steps: the method comprises the steps of starting up radar equipment and navigation heading equipment, acquiring current position, altitude and heading information, performing target classification processing on echo data detected by a radar by a helicopter control module, and classifying iron tower target data T (T 1 ,T 2 ,T 3 ,…T n ) The method comprises the steps of calculating the height of an iron tower in a radar coordinate system according to the echo amplitude of a radar and the space distance between an airplane and a target iron tower, and then sequentially solving the longitude of each group of iron towers in the radar coordinate system S1 according to navigation equipment information: LON, latitude: LAT, height H three-dimensional coordinate information T n Recording the connection relation of the power lines between each iron tower; the helicopter control module performs coordinate conversion from a radar coordinate system S1 to a geographic coordinate system S2 on all three-dimensional coordinate information of the iron towers according to data of the extracted navigation and heading sensors, and the radar coordinate information T (T 1 ,T 2 ,T 3 ,…T n ) Each group of data is converted into projection of a geographic coordinate system, and three-dimensional coordinate information T ' (T ' of three kinds of information including longitude, latitude and altitude of a group of iron towers in the geographic coordinate system is obtained after conversion ' 1 ,T′ 2 ,T′ 3 …T′ n )。
3. The fusion processing method of the helicopter anticollision surface power line according to claim 2, wherein the fusion processing method comprises the following steps: the helicopter control module queries pre-stored iron tower database information according to position information provided by navigation and heading sensors, acquires a group of pre-stored iron tower information, and finds out corresponding iron of each iron tower in the pre-stored iron tower information T 'according to the distance position by three-dimensional coordinate information T'Tower, wherein the tower T' n Corresponding iron tower T' n The information is rearranged by T ' (T ' according to the corresponding relation ' 1 ,T′ 2 ,T′ 3 …T′ n ) And T '(T') 1 ,T″ 2 ,T″ 3 …T″ n ) Sequentially.
4. A fusion processing method of a helicopter crash-proof surface power line as claimed in claim 3, wherein: the iron tower database sets a group of error coefficients (alpha, beta, delta) according to the error factor alpha affecting the longitude LON of the iron tower, the error factor beta affecting the latitude LAT of the iron tower and the system error factor delta affecting the altitude H of the iron tower, initializes the error coefficients to alpha=0, beta=0 and delta=0, and initializes the initialized error coefficients and three-dimensional coordinate information T ' (T ' of the iron tower detected by the radar in a geographic coordinate system ' 1 ,T′ 2 ,T′ 3 …T′ n ) And pre-stored iron tower information T '(T') after corresponding arrangement 1 ,T″ 2 ,T″ 3 …T″ n ) Inputting an error correction equation as a parameter; generating a group of new error influence factors (alpha ', beta 1'), iterating (beta 2', beta 0', beta 4 ') into (beta 5, beta 3, beta 7), inputting (alpha, beta 6, delta) = (alpha', beta ', delta') as new error coefficients into error correction equation parameters, and repeatedly traversing the system error coefficients until each target traversal in three-dimensional coordinate information T 'and prestored iron tower information T' of the iron tower detected by the radar is completed, so as to obtain the final error influence factors alpha, beta and delta.
5. The fusion processing method of the helicopter anticollision surface power line according to claim 4, wherein the fusion processing method comprises the following steps: in a stage B for executing the flight mission of the aircraft in real time, correcting and fusing the targets detected by the real-time flight by utilizing the systematic error influence factors obtained in the stage A, wherein the obtained final error influence factors (alpha, beta, delta) are taken as parameters to enable T' n ＝T′ n ++ (alpha, beta, delta) and obtaining a new group of iron tower information T ' (T ' after iteration ' 1 ,T′ 2 ,T′ 3 …T′ n ) And the newly obtained iron tower information T '(T' 1 ,T′ 2 ,T′ 3 …T′ n ) And pre-storing iron tower information T '(T') 1 ,T″ 2 ,T″ 3 …T″ n ) Fusion processing is carried out, and an iron tower T 'is extracted from iron tower data' n Longitude of (2)Iron tower T' n Is of the latitude gamma of (2) 1 T' -iron tower n Longitude of->And iron tower T n Dimension gamma of (2) 2 Solving->And (3) withGeographical position spatial distance d>
If solved iron tower T' n With T n Is the geographic location spatial distance of (2)Then consider T' n With T n Is the same iron tower in geographic position, reserve T n And (5) coordinate positions.
6. The fusion processing method of the helicopter anticollision surface power line according to claim 5, wherein the fusion processing method comprises the following steps: the reservation T n The coordinate position comprises a reserved iron tower T n Longitude and latitude information of (a), i.eExtracting iron tower T 'from iron tower data' n Height T 'of (2)' n (h 1 ) Iron tower T n T of height n (h 2 ) If |T' n (h 1 )-T″ n (h 2 )|<By =λ, then makeIf |T' n (h 1 )-T″ n (h 2 )|>Lambda, remain iron tower T n Height information of (T) ", i.e n (h 2 )＝T″ n (h 2 ) The method comprises the steps of carrying out a first treatment on the surface of the After determining the height information +.>Added to tower information set M [ M ] 1 ,M 2 ,M 3 ……M N ]Obtain the latest iron tower coordinate information data +.>If solved iron tower T' n With T n Is>Then consider T' n With T n Is two target towers in different geographic positions, T 'is calculated' n Added to M' [ M ] 1 ’,M 2 ,’,M 3 ’……M N ’]；T″ n Added to tower information set M [ M ] 1 ,M 2 ,M 3 ……M N ]In (I)> Get iron tower target->And->
7. The fusion processing method of the helicopter anti-collision surface power line according to claim 6, wherein the fusion processing method comprises the following steps: stage B, obtaining iron tower information group M [ M ] 1 ,M 2 ,M 3 ……M N ]And M' [ M ] 1 ’,M 2 ,’,M 3 ’……M N ’]Data, taking out target longitude, latitude and altitude information of each iron tower, establishing a loading iron tower model, loading each iron tower model into three-dimensional terrain, using OpenGL drawing language to realize projection drawing of objects of the iron tower model in geography to draw power lines between the iron towers, and carrying out M [ M ] 1 ,M 2 ,M 3 ……M N ]The iron tower model and the power line in the model are projected onto an airborne plane to obtain a linear equation y 1 ＝k 1 x 1 +b 1 And solving the intersection point of the linear equation according to the linear equation of the aircraft on the plane of the aircraft.
8. The fusion processing method of the helicopter anticollision surface power line according to claim 7, wherein: with the current position O (Lon, lat, alt) and the attitude P (theta) 1 ,θ 2 ,θ 3 ) Calculating plane and iron tower M [ M ] for center 1 ,M 2 ,M 3 ……M N ]、M’[M 1 ’,M 2 ,’,M 3 ’……M N ’]And the relative position of the power line, judging whether an intersection point exists, and comparing the difference value between the aircraft height O (Alt) and the power line height H, wherein H=M (H), namely, the height information in the iron tower information group M is used as the height of the power line, if O (Alt) -H>50 meters, it indicates that the aircraft is higher than the front power line, no warning is required for the front power line, if O (Alt) -H<50 meters, the power line in front of the plane is higher than the plane, and the position of the plane is taken as the starting point, and the course angle P (theta 3 ) Acquiring a current aircraft track direction linear equation y for an included angle on an aircraft-mounted plane 2 ＝k 2 x 2 +b 2 The method comprises the steps of carrying out a first treatment on the surface of the If k is 1 ＝k 2 Then it is indicated that the power line is parallel to the aircraft and no collision point exists, e.g. k 1 ≠k 2 Then calculateThe OpenGL draws the projection position of the intersection point (x ', y') on the power line, and the square box prompts warning.
9. The fusion processing method of the helicopter anticollision surface power line according to claim 8, wherein: projecting intersection points (x ', y') of the plane of the aircraft into the power line, acquiring collision points of the aircraft and the power line, and marking the collision points of the power line by using an OpenGL drawing square frame; solving the distance from the plane coordinate O (x, y) of the airplane to the intersection point (x ', y')Calculating data of the collision point of the aircraft, and displaying warning prompts in a text mode; the ground speed of the aircraft is GS, the time T=D/GS from the aircraft to the collision point is calculated, the warning time T and the warning distance D are drawn by using OpenGL, and a text display warning prompt is sent to a pilot.
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