CN115273562A - Consistency monitoring method for general aviation low-altitude navigation flight - Google Patents
Consistency monitoring method for general aviation low-altitude navigation flight Download PDFInfo
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Abstract
The utility model provides a consistency monitoring method for general aviation low-altitude navigation flight, which comprises the following steps: acquiring aviation information of an aircraft, wherein the aviation information comprises longitude and latitude and flying height of the aircraft; acquiring flight plan data of an aircraft, the flight plan data comprising: flight types, including airway route flight and airspace flight; the geographical model parameters comprise the geographical model parameters of an airway and an airspace, the geographical model parameters of the airway comprise coordinates of each vertex of a central line and the corresponding width of the airway, and the geographical model parameters of the airspace comprise the longitude and latitude of each vertex of a horizontal plane shape, an airspace height upper limit and an airspace height lower limit; judging whether the aircraft flies in a yawing mode according to the aviation information and the flight plan data, and the method comprises the following steps: if the flight type is airspace flight, judging whether the aircraft is in the airspace range according to the position information of the aircraft and the geographic model parameters of the flight airspace, if so, not performing yaw flight, and if not, performing yaw flight.
Description
Technical Field
The disclosure relates to the field of general aviation flight monitoring management, in particular to a general aviation low-altitude navigation flight consistency monitoring method.
Background
With the development of the field of general aviation, the requirements on monitoring and management of aircrafts such as a man-machine aircraft and an unmanned aerial vehicle, especially on monitoring of the flight consistency of the aircrafts, are increasing.
General aviation flight is different from the operation of fixed flights of civil aviation route routes, and has the following obvious characteristics:
firstly, the types of general aircrafts are various, and the sizes and flight characteristics of the aircrafts, the equipment of airborne equipment, the altitude/speed/course holding capacity and the like are different;
secondly, flight routes and airspaces are various, the flight situation of the aircraft is not limited to flying according to a fixed planned route, the flight airspace in the navigation may have irregular polygonal shapes and different height limits, and the planned flight route in the navigation may also consist of multiple sections;
thirdly, the relatively flexible maneuvering capability of the navigation aircraft and the various possible flight airspaces of planned flight in navigation lead to: the consistency detection of fixed route lines adopted by civil aviation is not suitable to be directly adopted; the flight consistency detection algorithm is suitable for flexible manned machines and unmanned aerial vehicles in navigation, and when the aircraft flies in a yawing mode, warning notification can be immediately monitored and made; the monitoring of the navigation flight consistency is realized by adopting the same information source (longitude and latitude and speed vector) and adopting a uniform flight consistency detection algorithm.
Therefore, the types of aircrafts are various, and the equipment on the aircrafts is different; the flight situations of different aircrafts are various and complex; the shapes of flight airspaces in navigation are various, so that the conventional general aviation flight consistency detection technology for cooperative monitoring information has a plurality of technical difficulties.
Disclosure of Invention
In order to solve the technical problem, the present disclosure provides a method for monitoring consistency of general aviation low-altitude navigation flight, including:
acquiring aviation information of an aircraft, wherein the aviation information comprises longitude and latitude and flying height of the aircraft;
acquiring flight plan data of the aircraft, the flight plan data comprising:
flight types, including airway route flight and airspace flight;
the geographical model parameters comprise the geographical model parameters of an airway route and an airspace, the geographical model parameters of the airway route comprise coordinates of each vertex of a central line and the corresponding width of the airway route, and the geographical model parameters of the airspace comprise the longitude and the latitude of each vertex of a horizontal plane shape, an airspace height upper limit and an airspace height lower limit;
judging whether the aircraft flies in a yawing mode according to the aviation information and the flight plan data, and the judging comprises the following steps:
if the flight type is airspace flight, judging whether the aircraft is in an airspace range according to the position information of the aircraft and the geographic model parameters of the flight airspace, if so, not performing yaw flight, and if not, performing yaw flight.
According to some embodiments of the present disclosure, the determining whether the aircraft is flying off-course according to the aviation information and the flight plan data further comprises:
if the flight type is the flight of an airway, calculating a first distance from the aircraft to the centerline of the airway according to the aviation message, comparing the first distance with the width, and judging the yaw condition of the aircraft according to the comparison result.
According to some embodiments of the present disclosure, the horizontal plane of the airspace is a circle, and determining whether the aircraft is in the airspace range according to the position information of the aircraft and the geographic model parameters of the flight airspace comprises:
comparing the flight altitude with the upper airspace altitude limit and the lower airspace altitude limit, if the flight altitude is between the upper airspace altitude limit and the lower airspace altitude limit, judging that the aircraft is in an airspace range in the vertical direction, and if the flight altitude is greater than the upper airspace altitude limit or less than the lower airspace altitude limit, judging that the aircraft is not in the airspace range in the vertical direction; and
and calculating a second distance between the current position of the aircraft and the circle of the airspace according to the longitude and the latitude of the aircraft, comparing the second distance with the radius of the airspace, and judging the yaw condition of the aircraft according to a comparison result.
According to some embodiments of the present disclosure, the calculating a second distance of the current position of the aircraft from the circle of the airspace according to the latitude and longitude of the aircraft comprises:
AO＝arccos(cos(Alat)cos(Olat)cos(Alon-Olon)+sin(Alat)sin(Olat))×EARTH_RADIUS
wherein AO represents a second distance, AlonRepresenting the aircraft longitude, AlatRepresenting the aircraft latitude, OlonRepresents center of a circle longitude, OlatRepresenting the circle center latitude;
judging the yaw condition of the aircraft according to the comparison result comprises the following steps:
if AO is less than or equal to R, the aircraft normally flies in the horizontal direction; and
if AO > R, the aircraft is flying off-course in the horizontal direction.
According to some embodiments of the present disclosure, the horizontal plane of the airspace is a polygon, and determining whether the aircraft is in the airspace range according to the position information of the aircraft and the geographic model parameters of the flight airspace includes:
comparing the flight altitude with the upper airspace altitude limit and the lower airspace altitude limit, if the flight altitude is between the upper airspace altitude limit and the lower airspace altitude limit, judging that the aircraft is in an airspace range in the vertical direction, and if the flight altitude is greater than the upper airspace altitude limit or less than the lower airspace altitude limit, judging that the aircraft is not in the airspace range in the vertical direction; and
according to the aircraft position information, calculating the number of intersection points of the east-west radial of the current position and the polygon, and judging the yaw condition of the aircraft according to the number of the intersection points, wherein the method comprises the following steps:
if the number of the intersection points is odd, the aircraft is in an airspace range in the horizontal direction;
and
and if the number of the intersection points is an odd number, the aircraft is not in the airspace range in the horizontal direction.
According to some embodiments of the disclosure, the polygon is an N-polygon, and the vertices of the polygon have a longitude DlonNLatitude of DlatNLongitude A of the aircraftlonLatitude A of the aircraftlat；
The calculating the number of intersections of the rays in the east-west direction of the current position and the polygon according to the aircraft position information comprises:
min(DlatN，DlatN+1)≤Flat≤max(DlatN，DlatN+1)
judging whether the point A is positioned on the line segment D or notNDN+1Between the maximum latitude and the minimum latitude, if not, the ray and the line segment DNDN+1If no intersection point exists, judging the next line segment, and if yes, entering the next step;
when min (D)latN，DlatN+1)＜Flat＜max(DlatN，DlatN+1) When the temperature of the water is higher than the set temperature,
calculating the longitude of intersection F, including:
Flon＝DlonN-((DlonN-DlonN+1)*(DlatN-Flat))/(DlatN-DlatN+1)
wherein, the A point is the east-west ray and the D pointNDN+1The intersection point of the line segments is F, FlonRepresents the longitude of intersection point F; flatExpressing the latitude of the intersection point F, wherein the latitude of the intersection point F is equal to that of the point A;
and judging the number of the intersection points, including:
if Flon＝AlonThen point A is at D of the polygon edgeNDN+1The above step (1);
if Flon＞AlonThen the ray is associated with the polygon edge DNDN+1One intersection point exists, and the number of the intersection points is increased by one; and
if Flon＜AlonThen the ray and the polygon edge DNDN+1There is no intersection and the number of foci is unchanged.
According to some embodiments of the disclosure, line segment DNDN+1Has two end points of DNAnd DN+1If D islatN＝DlatN+1Then A and DNDN+1On the same horizontal line, whether the following conditions are met or not needs to be judged:
min(DlonN，DlonN+1)≤Alon≤max(DlonN，DlonN+1)
if so, the point A is located at D of the polygonNDN+1On the edge.
According to some embodiments of the disclosure, line segment DNDN+1Has two end points of DNAnd DN+1If the following conditions are met:
Alat＝DlatNand A islon＜DlonN
Or Alat＝DlatN+1And A islon＜DlonN+1
Point A is the east-west ray and polygon edge DNDN+1There is an intersection point, DNOr DN+1；
If D islatN＞DlatN+1The number of the intersection points is reduced by 0.5;
if D islatN＜DlatN+1And 0.5 is added to the number of the intersection points.
According to some embodiments of the present disclosure, the calculating a first distance from the aircraft to a centerline of the airway route according to the aircraft information, comparing the first distance with the width, and determining a yaw condition of the aircraft according to the comparison result includes:
obtaining any segment of the route line of the route, the end points of the two ends of the central line are B (B)lat，Blon) And C (C)lat，Clon) Of an aircraftThe position is A (A)lat，Alon) The distance from the position of the aircraft to the center line is d, and the lengths of line segments AB, BC and AC are c, a and b respectively;
if b is2+c2＜a2Then, then
If a2+c2＜b2D = b;
if a2+b2＜c2Then d = c;
if d > dmaxThe aircraft flies off course; if d is less than or equal to dmaxIf so, the aircraft flies normally; the airway route comprises a plurality of airway segments, and the consistency comparison of the airway route comprises judging whether the aircraft flies off course in the corresponding airway segment at any time;
wherein EARTH _ RADIUS represents the average RADIUS of the EARTH; d is a radical ofmaxRepresenting the corresponding width of an airway route; in the longitude and latitude coordinate system
a＝arccos(cos(Blat)cos(Clat)cos(Blon-Clon)+sin(Blat)sin(Clat))×EARTH_RADIUS；
b＝arccos(cos(Alat)cos(Clat)cos(Alon-Clon)+sin(Alat)sin(Clat))×EARTH_RADIUS；
c＝arccos(cos(Alat)cos(Blat)cos(Alon-Blon)+sin(Alat)sin(Blat))×EARTH_RADIUS。
The consistency monitoring method for the aviation low-altitude navigation flight has the following effects:
the unified model is applicable to any polygonal flight airspace, flight routes consisting of any multi-segment line, any relative speed direction and any relative speed;
the transverse and longitudinal alarm distances do not need to be distinguished, and the transverse and longitudinal alarm distances are separately judged;
all parameters used for detection are obtained by cooperative monitoring information and are longitude and latitude without conversion;
converting the problem of whether a point is positioned in the polygon into a problem of comparing the longitude of the point with the longitude of the intersection point of the east-west ray passing through the point and the polygon; the problem of finding the intersection of the east-west ray passing through the point and the polygon is further converted into a problem of finding the intersection of the east-west ray passing through the point and each side of the polygon, and whether the point is located in the polygon is judged by judging the parity of the number of the intersections.
The method can be used for conventional airborne satellite positioning information and flight path or airspace parameters, and can be applied to airborne flight path or airspace warning or ground air management system for flight consistency warning.
The flight planning route is divided into a plurality of line segments, the distance between any moment and the corresponding sub route segment is judged by plan consistency comparison, whether the flight planning route deviates from the planning route is judged according to the shortest distance between a point and the line segment, and the calculation complexity is reduced.
Drawings
Fig. 1 schematically illustrates a flow chart of a method for consistency monitoring of a general aviation low altitude navigable flight of an embodiment of the present disclosure; and
fig. 2 schematically illustrates a flow chart of a method for consistency monitoring of a general aviation low altitude navigable flight in accordance with an embodiment of the present disclosure; and
fig. 3 schematically illustrates a schematic view of aircraft to centerline distances in accordance with an embodiment of the disclosure.
Detailed Description
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Furthermore, in the following description, descriptions of well-known technologies are omitted so as to avoid unnecessarily obscuring the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises" and "comprising," when used herein, specify the presence of stated features, steps, or operations, but do not preclude the presence or addition of one or more other features.
In those instances where a convention analogous to "at least one of A, B, and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B, and C" would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). In those instances where a convention analogous to "at least one of A, B, or C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B, or C" would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.).
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Fig. 1 schematically shows a flowchart of a consistency monitoring method for general aviation low-altitude navigable flight according to an embodiment of the present disclosure.
In order to solve the technical problem, the embodiment of the present disclosure provides a method for monitoring consistency of general aviation low-altitude navigation flight, which can determine whether an aircraft is in a flight route and an airspace of a flight plan according to position information, a motion speed and a direction angle of the aircraft, so as to implement a function of detecting consistency of general aviation low-altitude navigation flight, as shown in fig. 1, and include operations S1 to S3.
According to some embodiments of the disclosure, operation S1 includes: acquiring aviation information of an aircraft, wherein the aviation information comprises longitude and latitude and flying height of the aircraft.
According to some embodiments of the disclosure, operation S2 includes: acquiring flight plan data of the aircraft, the flight plan data comprising: flight types, including airway route flight and airspace flight; and the geographic model parameters comprise the route and the airspace geographic model parameters, the route geographic model parameters comprise the coordinates of each vertex of the center line and the corresponding width of the route, and the airspace geographic model parameters comprise the longitude and latitude of each vertex of the horizontal plane shape, the upper airspace height limit and the lower airspace height limit.
According to some embodiments of the disclosure, operation S3 includes: and judging whether the aircraft flies in a yawing mode or not according to the aviation information and the flight plan data.
If the flight type is airspace flight, judging whether the aircraft is in an airspace range according to the position information of the aircraft and the geographic model parameters of the flight airspace, if so, not performing yaw flight, and if not, performing yaw flight.
According to some embodiments of the present disclosure, the determining whether the aircraft is flying off-course according to the aviation information and the flight plan data further comprises: if the flight type is the flight of an airway route, calculating a first distance from the aircraft to the centerline of the airway route according to the aviation message, comparing the first distance with the width, and judging the yaw condition of the aircraft according to the comparison result.
According to some embodiments of the present disclosure, the horizontal plane of the airspace is a circle, and determining whether the aircraft is in the airspace range according to the position information of the aircraft and the geographic model parameters of the flight airspace includes:
comparing the flight altitude with the upper airspace altitude limit and the lower airspace altitude limit, if the flight altitude is between the upper airspace altitude limit and the lower airspace altitude limit, judging that the aircraft is in an airspace range in the vertical direction, and if the flight altitude is greater than the upper airspace altitude limit or less than the lower airspace altitude limit, judging that the aircraft is not in the airspace range in the vertical direction; and
and calculating a second distance between the current position of the aircraft and the circle of the airspace according to the longitude and the latitude of the aircraft, comparing the second distance with the radius of the airspace, and judging the yaw condition of the aircraft according to a comparison result.
According to some embodiments of the present disclosure, the calculating a second distance of the current position of the aircraft from the circle of the airspace according to the latitude and longitude of the aircraft comprises:
AO＝arccos(cos(Alat)cos(Olat)cos(Alon-Olon)+sin(Alat)sin(Olat))×EARTH_RADIUS
wherein AO represents a second distance, AlonRepresenting the aircraft longitude, AlatRepresenting the aircraft latitude, OlonDenotes center longitude, OlatRepresenting the circle center latitude;
judging the yaw condition of the aircraft according to the comparison result comprises the following steps:
if AO is less than or equal to R, the aircraft normally flies in the horizontal direction; and
if AO > R, the aircraft is flying off-course in the horizontal direction.
According to some embodiments of the present disclosure, the horizontal plane of the airspace is a polygon, and determining whether the aircraft is in the airspace range according to the position information of the aircraft and the geographic model parameters of the flight airspace includes:
comparing the flight altitude with the upper airspace altitude limit and the lower airspace altitude limit, if the flight altitude is between the upper airspace altitude limit and the lower airspace altitude limit, judging that the aircraft is in an airspace range in the vertical direction, and if the flight altitude is greater than the upper airspace altitude limit or less than the lower airspace altitude limit, judging that the aircraft is not in the airspace range in the vertical direction; and
according to the aircraft position information, calculating the number of intersections of the east-west rays of the current position and the polygon, and judging the yaw condition of the aircraft according to the number of the intersections, wherein the method comprises the following steps: if the number of the intersection points is odd, the aircraft is in an airspace range in the horizontal direction; and if the number of the intersection points is an odd-even number, the aircraft is not in the airspace range in the horizontal direction.
According to some embodiments of the disclosure, the polygon is an N-polygon, and the vertices of the polygon have a longitude DlonNLatitude of DlatNLongitude A of the aircraftlonLatitude A of the aircraftlat；
The calculating the number of intersections of the rays in the east-west direction of the current position and the polygon according to the aircraft position information comprises:
min(DlatN，DlatN+1)≤Flat≤max(DlatN，DlatN+1)
judging whether the point A is positioned on the line segment D or notNDN+1Between the maximum latitude and the minimum latitude, if not, the ray and the line segment DNDN+1If no intersection point exists, judging the next line segment, and if yes, entering the next step;
when min (D)latN，DlatN+1)＜Flat＜max(DlatN，DlatN+1) When the temperature of the water is higher than the set temperature,
calculating the longitude of intersection F, including:
Flon＝DlonN-((DlonN-DlonN+1)*(DlatN-Flat))/(DlatN-DlatN+1)
wherein, the A point is the east-west ray and DNDN+1The intersection point of the line segments is F, FlonRepresents the longitude of intersection point F; flatIndicating the latitude of the point of intersection F, the latitude of the point of intersection F being associated with the point AThe latitudes are equal;
and judging the number of the intersection points, including:
if Flon＝AlonThen point A is at polygon edge DNDN+1C, removing;
if Flon＞AlonThen the ray and the polygon edge DNDN+1One intersection point exists, and the number of the intersection points is increased by one; and
if Flon＜AlonThen the ray is associated with the polygon edge DNDN+1There is no intersection and the number of foci is unchanged.
According to some embodiments of the disclosure, line segment DNDN+1Has two end points of DNAnd DN+1If D islatN＝DlatN+1Then A and DNDN+1On the same horizontal line, whether the following conditions are met or not needs to be judged:
min(DlonN，DlonN+1)≤Alon≤max(DlonN，DlonN+1)
if so, the point A is located at D of the polygonNDN+1On the edge.
According to some embodiments of the disclosure, line segment DNDN+1Has two end points of DNAnd DN+1If the following conditions are met:
Alat＝DlatNand A islon＜DlonN
Or Alat＝DlatN+1And A islon＜DlonN+1
Point A east-west ray and polygon edge DNDN+1There is an intersection point with an intersection point DNOr DN+1In this case, the ray emitted from point a will count the number of intersections on each of the two sides where the intersections are located, and therefore the following processing is required:
if D islatN＞DlatN+1The number of the intersection points is reduced by 0.5;
if D islatN＜DlatN+1Adding 0.5 to the number of the intersection points;
through the processing, the influence of the ray intersection point on the end point on the judgment of the number of the intersection points can be eliminated, and the judgment is carried out according to the edge DNDN+1The trend of (convex and concave polygons) is added or subtracted by 0.5 for two adjacent sides.
According to some embodiments of the present disclosure, the calculating a first distance from the aircraft to a centerline of the airway route according to the aircraft information, comparing the first distance with the width, and determining a yaw condition of the aircraft according to the comparison result includes:
obtaining any segment of the route line, the end points of the two ends of the central line are B (B)lat，Blon) And C (C)lat，Clon) The aircraft position is A (A)lat，Alon) The distance from the position of the aircraft to the center line is d, and the lengths of line segments AB, BC and AC are c, a and b respectively;
if b is2+c2＜a2Then, then
If a2+c2＜b2Then d = b;
if a2+b2＜c2Then d = c;
if d > dmaxThe aircraft flies off course; if d is less than or equal to dmaxIf so, the aircraft flies normally; the airway route comprises a plurality of airway segments, and the consistency comparison of the airway route comprises judging whether the aircraft flies off course in the corresponding airway segment at any time;
wherein EARTH _ RADIUS represents the average RADIUS of the EARTH; dmaxRepresenting the corresponding width of the route of the airway; in the longitude and latitude coordinate system
a＝arccos(cos(Blat)cos(Clat)cos(Blon-Clon)+sin(Blat)sin(clat))×EARTH_RADIUS；
b＝arccos(cos(Alat)cos(Clat)cos(Alon-Clon)+sin(Alat)sin(Clat))×EARTH_RADIUS；
c＝arccos(cos(Alat)cos(Blat)cos(Alon-Blon)+sin(Alat)sin(Blat))×EARTH_RADIUS。
The technical solutions of the present disclosure are further described below with reference to specific embodiments, and it should be understood that the specific embodiments are for facilitating better understanding by those skilled in the art, and should not be construed as limiting the scope of the present disclosure.
Fig. 2 schematically illustrates a flow chart of a consistency monitoring method of a general aviation low-altitude navigable flight according to an embodiment of the present disclosure.
According to some embodiments of the present disclosure, there is provided a general aviation low latitude navigation flight consistency monitoring method, including: acquiring an information source of the aircraft, wherein the information source of the aircraft comprises latitude and longitude of the aircraft, flight speed, course angle and flight height; acquiring geographic model parameters of a route and an airspace in the aircraft flight plan, wherein the flight airspace range parameters comprise longitude and latitude of each vertex of a polygon with a horizontal plane as any polygon, an airspace height upper limit and an airspace height lower limit, the horizontal plane is circular circle center longitude and latitude, a radius distance, an airspace height upper limit and an airspace height lower limit, and the flight route parameters comprise coordinates of each vertex of a center line and corresponding width of a route; judging the position based on the latitude and longitude of the aircraft, judging the flight position in the flight plan where the aircraft is, and flying in an airspace or between route lines; if the aircraft flies between the route routes, calculating the distance from the aircraft to the center line of the route based on the position information of the aircraft, and judging whether the aircraft flies in a yawing manner or not by comparing the distance with the width of the route; and if the aircraft flies in the flying airspace, judging whether the aircraft flies in a yawing mode or not based on the aircraft position information. The invention is suitable for flight airspace with different aircraft flight situations (relative position, speed and height) and any polygonal or circular horizontal section.
According to some embodiments of the present disclosure, as shown in fig. 2, aviation information of an aircraft is acquired, a flight type and geographic model parameters of the aircraft are acquired, and the flight type of the aircraft is determined.
If the flight type is flight along a flight path, calculating the vertical deviation distance between the target and the flight path, judging whether the vertical deviation distance is greater than a vertical deviation standard, if so, sending a vertical yaw alarm, and if not, entering the next step; and calculating the horizontal deviation distance between the target and the located air route, judging whether the horizontal deviation distance is greater than a horizontal deviation standard, if so, sending a horizontal yaw warning, and if not, ending.
If the flight type is airspace flight, calculating the deviation between the target flight height and the planned height, judging whether the deviation distance is greater than a vertical deviation standard, if so, sending a vertical yaw warning, and if not, carrying out the next step; and calculating the horizontal direction deviation of the target, judging whether the target is in the planned flight airspace, if so, sending a horizontal yaw warning, and if not, finishing.
According to some embodiments of the disclosure, acquiring the aviation information of the aircraft comprises the longitude and latitude, the heading angle and the flight height of the aircraft, wherein the longitude A of the aircraft islonLatitude AlatThe flying speed V, the course angle theta and the flying height h.
According to some optional embodiments of the disclosure, the geographical model parameters of the airway and the airspace in the aircraft flight plan are taken, the flight airspace range parameters include longitude and latitude of each vertex of a polygon with a horizontal plane as any polygon, an upper airspace height limit and a lower airspace height limit, the horizontal plane is a circle center longitude and latitude, a radius distance, an upper airspace height limit and a lower airspace height limit of a circle, the flight airway parameters include coordinates of each vertex of a center line and corresponding width of the airway, wherein the upper geographical model height limit h of the flight airspace ismaxLower limit of height hminWhen the horizontal plane is any polygon, the polygon is N sidesShape, longitude of each vertex DlonNLatitude DlatNWhen the horizontal plane is circular, the center of the circle is longitude OlonLatitude OlatAnd a radius R. The centerline parameters of the route include the longitude and latitude coordinate height of the end point of each line segment and the corresponding width d of the routemax。
According to some optional embodiments of the disclosure, position judgment is carried out based on latitude and longitude of the aircraft, and the flight position of the aircraft in the flight plan is judged, and the aircraft is in airspace flight or inter-route flight. The flight plan of the aircraft comprises flight airspace information and route information of the planned flight of the aircraft, and the consistency between the flight plan and the aircraft is detected by comparing the flight plan with the actual flight track of the aircraft, so that whether the aircraft flies off course or not is judged.
According to some optional embodiments of the disclosure, if the aircraft flies between the route routes, the distance from the aircraft to the center line of the route is calculated based on the position information of the aircraft, and whether the aircraft flies off course is judged by comparing the distance with the width of the route.
Fig. 3 schematically illustrates a schematic view of aircraft to centerline distances in accordance with an embodiment of the disclosure.
According to some optional embodiments of the disclosure, if the aircraft flies between the airway routes, the distance from the aircraft to the centerline of the airway route is calculated based on the position information of the aircraft, and whether the aircraft flies off course is judged by comparing the distance with the width of the airway route. For any section of the route, as shown in FIG. 3, the endpoints B (B) at both ends of the centerline arelat，Blon) And C (C)lat，Clon) Computing aircraft A (A)lat，Alon) The distance d from the center line and the average RADIUS of the EARTH are EARTH _ RADIUS, and the method comprises the following steps:
in the longitude and latitude coordinate system, the distance d from the point a to the line segment with the point B and the point C as the end points is calculated. This problem can be divided into three cases:
let the lengths of AB, BC, AC be c, a, b, respectively
If b is2+c2＜a2In the case of FIG. 3 (a), d is the distance from point C to AB;
if a2+c2＜b2Fig. 3 (b), d = b;
if a2+b2＜c2Fig. 3 (c), d = c;
in fig. 3 (a), the point-to-line distance formula includes:
formula of point-to-line distance
If the distance d > dmaxIllustrating the aircraft flying off-course; otherwise, the aircraft is in normal running. The whole planned route consists of a plurality of route segments, and the consistency comparison of the route segments is to judge whether the aircraft flies off course in the corresponding route segment at any time.
According to some optional embodiments of the present disclosure, if the aircraft is flying in the flight space, determining whether the aircraft is in the airspace range based on the aircraft position information to determine whether the aircraft is flying off yaw includes: and judging whether the aircraft is in the airspace range in the vertical direction or not based on the flying height of the aircraft.
If the horizontal plane of the geographic model of the flying airspace is circular, whether the horizontal plane of the flying airspace is in the circular shape is judged based on longitude and latitude coordinates of the aircraft, and therefore whether the horizontal direction of the aircraft is in the airspace range is judged.
And if the horizontal plane of the geographic model of the flying airspace is any polygon, judging whether the horizontal plane is in the polygon based on the longitude and latitude coordinates of the aircraft, so as to judge whether the horizontal direction of the aircraft is in the airspace range.
Optionally, a determination is made based on the aircraft altitude, whether it is within the airspace range in the vertical direction.
The judgment is made according to the following formula:
hmin≤h≤hmax
where h is the flight altitude of the aircraft, hmaxUpper bound on the altitude of the geographic model of the flight airspace, hminThe lower height limit. If the inequality is true, the vertical direction of the aircraft is in the airspace range, and no yawing flight occurs; otherwise, the aircraft is flying off-course in the vertical direction.
According to some optional embodiments of the present disclosure, if the horizontal plane of the geographic model of the flying airspace is a circle, based on the longitude and latitude coordinates of the aircraft, it is determined whether the horizontal direction of the aircraft is within the airspace range by determining whether the horizontal direction of the aircraft is within the airspace range by:
aircraft longitude AlonLatitude AlatThe horizontal plane of the geographic model of the flight airspace is circular, and the center of the circle is longitude OlonLatitude OlatAnd a radius R. Calculating the AO distance according to the following formula:
AO＝arccos(cos(Alat)cos(Olat)cos(Alon-Olon)+sin(Alat)sin(Olat))×EARTH_RADIUS
if AO is less than or equal to R, the aircraft is in the range of the flying airspace and is in normal flight in the horizontal direction; otherwise, the aircraft is out of the range of the flight airspace and flies in a yawing mode in the horizontal direction.
According to some optional embodiments of the present disclosure, if the horizontal plane of the geographic model of the flight space domain is any polygon, based on the longitude and latitude coordinates of the aircraft, it is determined whether the horizontal direction of the aircraft is within the space domain, and the determination manner is as follows:
aircraft longitude AlonLatitude AlatWhen the horizontal plane of the geographic model of the flight airspace is any polygon, the polygon is an N-polygon, and the longitude D of each vertexlonNLatitude DlatN。
And calculating the longitude of the intersection point of the east-west ray and each line segment of the polygon in the horizontal plane of the flight space according to the position information of the aircraft. With point A and arbitrary line segment DNDN+1For example, point A is a east-west ray and point DNDN+1The intersection point of the line segments is F, and the longitude and latitude of the point F are Flon、FlatWherein the latitude of the point F is the same as that of the point Alat＝Flat。
Firstly, whether the point A is located on the line segment D is judgedNDN+1The maximum latitude and the minimum latitude, namely whether the following inequality is satisfied:
min(DlatN，DlatN+1)≤Flat≤max(DlatN，DlatN+1)
if the point A does not meet the requirement, the point A is not in the interval, the point A does not intersect with the polygon edge corresponding to the line segment, and the line segments corresponding to other edges are continuously judged.
When min (D)latN，DlatN+1)＜Flat＜max(DlatN，DlatN+1) When the utility model is used, the water is discharged,
calculate the longitude F of the intersection FlonThe calculation formula is as follows:
Flon＝DlonN-((DlonN-DlonN+1)*(DlatN-Flat))/(DlatN-DlatN+1)
if Flon＝AlonThen point A is at polygon edge DNDN+1The above.
If Flon＞AlonThen point A is the east-west ray and polygon edge DNDN+1There is one intersection point.
When D islatN＝DlatN+1When, A and DNDN+1On the same horizontal line.
If it is not
min(DlonN，DlonN+1)≤Alon≤max(DlonN，DlonN+1)
The point A is at the polygon edge DNDN+1The above.
If it is not
Alat＝DlatNAnd A islon＜DlonN
Or Alat＝DlatN+1And A islon＜DlonN+1
Point A east-west ray and polygon edge DNDN+1There is an intersection point, DNOr DN+1。
If D islatN＞DlatN+1The number of the intersection points is reduced by 0.5;
if D islatN＜DlatN+1Adding 0.5 to the number of the intersection points;
judging whether the point A is positioned in the polygon or not according to the calculated number of the intersection points, wherein the judgment rule is as follows:
if the number of the intersection points is odd, the fact that the point A is in the polygon is proved, and the aircraft is in the range of the flight airspace and normally flies is described in the horizontal direction;
if the number of the intersection points is even, the fact that the point A is not in the polygon is proved, the situation that the aircraft flies outside the range of the flying airspace in the horizontal direction and the aircraft flies in a yawing mode in the horizontal direction is described.
Compared with the prior art, the embodiment of the disclosure has the following beneficial effects:
the unified model is applicable to any polygonal flight airspace, flight routes consisting of any multi-segment line, any relative speed direction and any relative speed;
the transverse and longitudinal alarm distances do not need to be distinguished, and the transverse and longitudinal alarm distances are separately judged;
all parameters used for detection are obtained by cooperative monitoring information and are longitude and latitude without conversion;
converting the question of whether a point is located in the polygon into a question of comparing the longitude of the point with the longitude of the intersection of the east-west ray passing through the point and the polygon; the problem of finding the intersection of the east-west ray passing through the point and the polygon is further converted into the problem of finding the intersection of the east-west ray passing through the point and each side of the polygon, and whether the point is located in the polygon is judged by judging the parity of the number of the intersections.
The method can be used for conventional airborne satellite positioning information and flight path or airspace parameters, and can be applied to airborne flight path or airspace warning or ground air management system for flight consistency warning.
The flight planning route is divided into a plurality of line segments, the distance between any moment and the corresponding sub route segment is judged by plan consistency comparison, whether the flight planning route deviates from the planning route is judged according to the shortest distance between a point and the line segment, and the calculation complexity is reduced.
So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. In addition, the above definitions of the components are not limited to the specific structures, shapes or manners mentioned in the embodiments, and those skilled in the art may easily modify or replace them.
It is also noted that, unless otherwise indicated, the numerical parameters set forth in the specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers expressing dimensions of components, ranges, and so forth used in the specification and claims are to be understood as being modified in all instances by the term "about". In general, the meaning of the expression is meant to encompass variations of a specified number by ± 10% in some embodiments, by ± 5% in some embodiments, by ± 1% in some embodiments, by ± 0.5% in some embodiments.
Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (9)
1. A consistency monitoring method for general aviation low-altitude navigation flight is characterized by comprising the following steps:
acquiring aviation information of an aircraft, wherein the aviation information comprises longitude and latitude and flying height of the aircraft;
acquiring flight plan data of the aircraft, the flight plan data comprising:
flight types, including airway route flight and airspace flight;
the geographical model parameters comprise the geographical model parameters of an airway route and an airspace, the geographical model parameters of the airway route comprise coordinates of each vertex of a central line and the corresponding width of the airway route, and the geographical model parameters of the airspace comprise the longitude and the latitude of each vertex of a horizontal plane shape, an airspace height upper limit and an airspace height lower limit;
judging whether the aircraft flies in a yawing mode according to the aviation information and the flight plan data, and the judging comprises the following steps:
if the flight type is airspace flight, judging whether the aircraft is in an airspace range according to the position information of the aircraft and the geographic model parameters of the flight airspace, if so, not performing yaw flight, and if not, performing yaw flight.
2. The consistency monitoring method of claim 1, wherein determining whether the aircraft is flying off-course based on the aviation information and the flight plan data further comprises:
if the flight type is the flight of an airway, calculating a first distance from the aircraft to the centerline of the airway according to the aviation message, comparing the first distance with the width, and judging the yaw condition of the aircraft according to the comparison result.
3. The consistency monitoring method according to claim 1, wherein the horizontal plane of the airspace is a circle, and the determining whether the aircraft is within the airspace according to the position information of the aircraft and the geographic model parameters of the flight airspace comprises:
comparing the flight altitude with the upper airspace altitude limit and the lower airspace altitude limit, if the flight altitude is between the upper airspace altitude limit and the lower airspace altitude limit, judging that the aircraft is in an airspace range in the vertical direction, and if the flight altitude is greater than the upper airspace altitude limit or less than the lower airspace altitude limit, judging that the aircraft is not in the airspace range in the vertical direction; and
and calculating a second distance between the current position of the aircraft and the circle of the airspace according to the longitude and the latitude of the aircraft, comparing the second distance with the radius of the airspace, and judging the yaw condition of the aircraft according to a comparison result.
4. The consistency monitoring method of claim 3, wherein the calculating a second distance of the current position of the aircraft from the circle of the airspace according to the latitude and longitude of the aircraft comprises:
AO＝arccos(cos(Alat)cos(Olat)cos(Alon-Olon)+sin(Alat)sin(Olat))×EARTH_RADIUS
wherein AO represents a second distance, AlonRepresenting the aircraft longitude, AlatRepresenting the aircraft latitude, OlonDenotes center longitude, OlatRepresenting the circle center latitude;
judging the yaw condition of the aircraft according to the comparison result comprises the following steps:
if AO is less than or equal to R, the aircraft normally flies in the horizontal direction; and
if AO > R, the aircraft is flying off-course in the horizontal direction.
5. The consistency monitoring method according to claim 1, wherein the horizontal plane of the airspace is a polygon, and the determining whether the aircraft is within the airspace according to the position information of the aircraft and the geographic model parameters of the flight airspace comprises:
comparing the flight altitude with the upper airspace altitude limit and the lower airspace altitude limit, if the flight altitude is between the upper airspace altitude limit and the lower airspace altitude limit, judging that the aircraft is in an airspace range in the vertical direction, and if the flight altitude is greater than the upper airspace altitude limit or less than the lower airspace altitude limit, judging that the aircraft is not in the airspace range in the vertical direction; and
according to the aircraft position information, calculating the number of intersection points of the east-west radial of the current position and the polygon, and judging the yaw condition of the aircraft according to the number of the intersection points, wherein the method comprises the following steps:
if the number of the intersection points is odd, the aircraft is in an airspace range in the horizontal direction; and
and if the number of the intersection points is an odd number, the aircraft is not in the airspace range in the horizontal direction.
6. The consistency monitoring method of claim 5, wherein the polygon is an N-polygon, and the vertices of the polygon have a longitude DlonNLatitude of DlatNLongitude A of the aircraftlonLatitude A of the aircraftlat；
The calculating the number of intersections of the rays in the east-west direction of the current position and the polygon according to the aircraft position information comprises:
min(DlatN，DlatN+1)≤Flat≤max(DlatN，DlatN+1)
judging whether the point A is positioned on the line segment D or notNDN+1Between the maximum latitude and the minimum latitude, if not, the ray and the line segment DNDN+1If no intersection point exists, judging the next line segment, and if yes, entering the next step;
when min (D)latN，DlatN+1)＜Flat＜max(DlatN，DlatN+1) When the temperature of the water is higher than the set temperature,
calculating the longitude of intersection point F, including:
Flon＝DlonN-((DlonN-DlonN+1)*(DlatN-Flat))/(DlatN-DlatN+1)
wherein, the A point is the east-west ray and the D pointNDN+1The intersection point of the line segments is F, FlonRepresents the longitude of intersection point F; flatThe latitude of the intersection point F is represented, and the latitude of the intersection point F is equal to that of the point A;
and judging the number of the intersection points, including:
if Flon＝AlonThen point A is at D of the polygon edgeNDN+1The above step (1);
if Flon＞AlonThen the ray is associated with the polygon edge DNDN+1One intersection point exists, and the number of the intersection points is increased by one; and
if Flon＜AlonThen the ray is associated with the polygon edge DNDN+1There is no intersection and the number of foci is unchanged.
7. The consistency monitoring method of claim 6, wherein the line segment D isNDN+1Has two end points of DNAnd DN+1If D islatN＝DlatN+1Then A and DNDN+1On the same horizontal line, it is still necessary to judgeWhether the break satisfies:
min(DlonN，DlonN+1)≤Alon≤max(DlonN，DlonN+1)
if yes, the A point is located at D of the polygonNDN+1On the edge.
8. The consistency monitoring method of claim 6, wherein the line segment D isNDN+1Has two end points of DNAnd DN+1If the following conditions are met:
Alat＝DlatNand A islon＜DlonN
Or Alat＝DlatN+1And A islon＜DlonN+1
Point A east-west ray and polygon edge DNDN+1There is an intersection point with an intersection point DNOr DN+1；
If D islatN＞DlatN+1The number of the intersection points is reduced by 0.5;
if D islatN＜DlatN+1And the number of the intersection points is added with 0.5.
9. The consistency monitoring method according to claim 3, wherein the calculating a first distance from the aircraft to a centerline of the airway route according to the aviation information, comparing the first distance with the width, and determining a yaw condition of the aircraft according to a comparison result comprises:
obtaining any segment of the route line of the route, the end points of the two ends of the central line are B (B)lat，Blon) And C (C)lat，Clon) The aircraft position is A (A)lat，Alon) The distance from the position of the aircraft to the centerline is d, and the lengths of the line segments AB, BC and AC are c, a and b, respectively;
if b is2+c2＜a2Then, then
If a2+c2＜b2Then d = b;
if a2+b2＜c2D = c;
if d > dmaxThe aircraft flies off course; if d is less than or equal to dmaxIf so, the aircraft flies normally; the route line comprises a plurality of route segments, and the consistency comparison of the route lines comprises judging whether the aircraft flies in a yawing mode in the corresponding route segment at any moment;
wherein EARTH _ RADIUS represents the average RADIUS of the EARTH; dmaxRepresenting the corresponding width of the route of the airway; in the longitude and latitude coordinate system
a＝arccos(cos(Blat)cos(Clat)cos(Blon-Clon)+sin(Blat)sin(Clat))×EARTH_RADIUS；
b＝arccos(cos(Alat)cos(Clat)cos(Alon-Clon)+sin(Alat)sin(Clat))×EARTH_RADIUS；
c＝arccos(cos(Alat)cos(Blat)cos(Alon-Blon)+sin(Alat)sin(Blat))×EARTH_RADIUS。
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