CN116363908B - Flight track yaw detection method, electronic equipment and storage medium - Google Patents

Flight track yaw detection method, electronic equipment and storage medium Download PDF

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CN116363908B
CN116363908B CN202310645438.4A CN202310645438A CN116363908B CN 116363908 B CN116363908 B CN 116363908B CN 202310645438 A CN202310645438 A CN 202310645438A CN 116363908 B CN116363908 B CN 116363908B
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flight
track
aircraft
detected
standard
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CN116363908A (en
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刘昊
王殿胜
卞磊
刘思扬
鄂逸飞
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China Travelsky Mobile Technology Co Ltd
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China Travelsky Mobile Technology Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0082—Surveillance aids for monitoring traffic from a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0043—Traffic management of multiple aircrafts from the ground
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Navigation (AREA)

Abstract

The invention provides a flight track yaw detection method, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring n position information sequentially sent by the aircraft to be detected, and obtaining a position information set Q; determining a navigation track Y of an aircraft to be detected; determining a standard flight track to obtain a standard flight track set P; according to L (Q) 1 ,P j ) And L (Q) n ,P j ) Determining P j Corresponding flight sub-track H j The method comprises the steps of carrying out a first treatment on the surface of the According to L (Q) i ,H j ) Determining the track line segment corresponding to Y to H j Average distance R between corresponding sub-track segments j The method comprises the steps of carrying out a first treatment on the surface of the If R is j ≤R 0 And determining the yaw detection result of the aircraft to be detected as that the flight track of the aircraft to be detected is not yaw. According to the invention, by calculating the distance between the tracks, the yaw judgment can be carried out on the flight track of the aircraft to be detected in a period of time, so that the flight safety is improved, and meanwhile, the flight dynamics of the flight can be accurately mastered.

Description

Flight track yaw detection method, electronic equipment and storage medium
Technical Field
The present invention relates to the field of data processing, and in particular, to a flight trajectory yaw detection method, an electronic device, and a storage medium.
Background
When an aircraft flight executes a flight mission, if the aircraft flight can arrive at a destination on time or if special conditions are met during the flight, whether the flight track is yawed is judged, the current flight track yawing detection method is determined by analyzing the flight track of the aircraft after the aircraft lands, and the yawing detection method for the aircraft navigation is not provided, so that the control of flight dynamics of the aircraft is not facilitated for the management personnel.
Disclosure of Invention
Aiming at the technical problems, the invention adopts the following technical scheme:
according to one aspect of the application, a flight trajectory yaw detection method is provided, and is applied to a trajectory yaw detection system, wherein the trajectory yaw detection system is in communication connection with a plurality of aircrafts and is used for acquiring position information sent by each aircraft.
The flight track yaw detection method comprises the following steps:
s100, every first preset time t 1 Acquiring the position t of the aircraft to be detected 1 N pieces of position information sequentially transmitted to obtain a position information set q= (Q) 1 ,Q 2 ,...,Q i ,...,Q n )；Q i =(Q i1 ,Q i2 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein i=1, 2, n; q (Q) i At t for the aircraft to be detected 1 The i-th position information sent internally; q (Q) i1 Is Q i Longitude of the position of the corresponding aircraft to be detected; q (Q) i2 Is Q i Latitude of the corresponding position of the aircraft to be detected;
s200 according to Q 1 ,Q 2 ,...,Q i ,...,Q n Determining the position of an aircraft to be detected at t 1 A navigation track Y in the navigation system;
s300, acquiring an initial geographic area D of the aircraft to be detected 1 And to the geographical area D 2 ；
S400, determining the starting position as D according to a plurality of historical flights 1 The arrival position is D 2 To obtain a standard flight track set P= (P) 1 ,P 2 ,...,P j ,...,P m ) The method comprises the steps of carrying out a first treatment on the surface of the Where j=1, 2, m; p (P) j A j standard flight track;
s500, according to L (Q) 1 ,P j ) And L (Q) n ,P j ) Determining P j Corresponding flight sub-track H j The method comprises the steps of carrying out a first treatment on the surface of the Wherein L (Q) 1 ,P j ) Is Q 1 Corresponding position point to P j The shortest distance between the corresponding track line segments; l (Q) n ,P j ) Is Q n Corresponding position point to P j The shortest distance between the corresponding track line segments;
s600 according to L (Q) i ,H j ) Determining the track line segment corresponding to Y to H j Average distance R between corresponding sub-track segments j The method comprises the steps of carrying out a first treatment on the surface of the Wherein L (Q) i ,H j ) Is Q i Corresponding position point to H j The shortest distance between the corresponding sub-track line segments;
s700, if R j ≤R 0 Determining that the flight track of the aircraft to be detected is not yawed according to the yaw detection result of the aircraft to be detected; wherein R is 0 Is a preset yaw distance threshold.
In an exemplary embodiment of the present application, step S400 further includes:
s410, acquiring a second preset time period [ t ] 2 ,t 3 ]In, the initial position is D 1 The arrival position is D 2 Arrival error times of w historical flights of (a) to obtain a first arrival error time set e= (E) 1 ,E 2 ,...,E s ,...,E w )；E s =E s1 -E s2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein s=1, 2, once again, w; w is more than or equal to m; t is t 2 ＜t 3 ；E s The arrival error time of the s-th historical flight; e (E) s1 The planned arrival time for the s-th historical flight; e (E) s2 Actual arrival time for the s-th historical flight; t is t 2 A starting time of a second preset time period; t is t 3 A deadline for a second preset time period;
s420, if E s ≤E 0 Determining the corresponding historical flight as a first flight; wherein E is 0 The arrival error time threshold is preset;
s430, clustering a plurality of first flights according to first flight tracks corresponding to each first flight, and determining c flight class groups;
s440, obtaining the arrival error time of the first flight included in each flight group to obtain a second arrival error time set N= (N) 1 ,N 2 ,...,N d ,...,N c )；N d =(N d1 ,N d2 ,...,N de ,...,N df(d) )；N de =N de1 -N de2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the liquid crystal display device comprises a liquid crystal display device,d=1, 2,; e=1, 2, f (d); f (d) is the number of first flights included in the d-th flight class group; n (N) d A list of arrival error times for the first flight included in the d-th flight class group; n (N) de An arrival error time for the e-th first flight included in the d-th flight class group; n (N) de1 A planned arrival time for an e-th first flight included in the d-th flight class group; n (N) de2 An actual arrival time for the e-th first flight included in the d-th flight class group;
s450, MAX (N) d1 ,N d2 ,...,N de ,...,N df(d) ) Corresponding first flight and MIN (N d1 ,N d2 ,...,N de ,...,N df(d) ) The corresponding first flight is determined to be a standard flight, and the flight track of the standard flight is determined to be a standard flight track; wherein MAX () is a preset maximum value determining function; MIN () is a preset minimum value determination function.
In an exemplary embodiment of the present application, step S430 further includes:
s431, acquiring an a-th first flight and a b-th first flight from g first flights; wherein a=1,..g; b=1.. g; and a is not equal to b;
s432, determining a track distance M between the first flight track corresponding to the a-th first flight and the first flight track corresponding to the b-th first flight according to the first flight track corresponding to the a-th first flight and the first flight track corresponding to the b-th first flight ab ；
S433, if M ab ≤M 0 Determining the a first flight and the b first flight as the same flight class group; wherein M is 0 Is a preset track distance threshold.
In an exemplary embodiment of the present application, a yaw distance threshold R is preset 0 Is determined by the following method:
s710, acquiring a third preset time period [ t ] 4 ,t 5 ]In, the initial position is D 1 The arrival position is D 2 Historical yawing flight tracks of the q historical yawing flights of (a) to obtain a historical yawing flight track set Z= (Z) 1 ,Z 2 ,...,Z v ,...,Z q ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein v=1, 2, q; z is Z v Yaw the flight trajectory for the v-th history;
s720, obtaining the initial position as D 1 The arrival position is D 2 A historical standard flight trajectory T of a historical standard flight of (a);
s730 according to Z v And T, determine Z v And a track distance Dis (Z) between T v ,T)；
S740, determining R 0 =∑ q v=1 Dis(Z v ,T)/q。
In an exemplary embodiment of the present application, after step S450, the flight trajectory yaw detection method further includes:
s460, if the number h of the standard flights is greater than m, sequencing each standard flight according to the numerical increment sequence of the arrival error time to obtain a sequenced standard flight set X= (X) 1 ,X 2 ,...,X k ,...,X h ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein k=1, 2,..h; x is X k Is the kth standard flight in X;
s470, if m is singular, X is taken as 1 ,...,X (m-1)/2 And X h-(m+1)/2+1 ,...,X h The flight track of (1) is determined to be a standard flight track, and a standard flight track set P= (P) is obtained 1 ,P 2 ,...,P j ,...,P m ) And performs step S500;
s480, if m is a double number, X is taken as 1 ,...,X m/2 And X h-m/2+1 ,...,X h The flight track of (1) is determined to be a standard flight track, and a standard flight track set P= (P) is obtained 1 ,P 2 ,...,P j ,...,P m ) And performs step S500.
In an exemplary embodiment of the present application, step S700 further includes:
s710, if the average distance between the track segment corresponding to Y and the sub-track segment corresponding to each flight sub-track is greater than R 0 And determining a yaw detection result of the aircraft to be detected as yaw of the flight track of the aircraft to be detected.
In the present applicationIn an exemplary embodiment, the average distance R j Is determined by the following method:
R j =∑ n i=1 L(Q i ,H j )/n。
in an exemplary embodiment of the present application, step S200 further includes:
s210 according to Q 1 ,Q 2 ,...,Q n Will Q 1 ,Q 2 ,...,Q n Corresponding position points are sequentially connected in a global positioning system to obtain the position of the aircraft to be detected at t 1 And the navigation track Y in the navigation system.
According to one aspect of the present application, there is provided a non-transitory computer readable storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement the aforementioned flight trajectory yaw detection method.
According to one aspect of the present application, there is provided an electronic device comprising a processor and the aforementioned non-transitory computer-readable storage medium.
The invention has at least the following beneficial effects:
according to the method, the navigation track of the aircraft to be detected is determined by acquiring the position information sent by the aircraft to be detected, the flight sub-track corresponding to the navigation track of the aircraft to be detected is determined on the standard flight track, the distance calculation is carried out on the navigation track of the aircraft to be detected and the flight sub-track of each standard flight track to obtain the corresponding average distance, if the average distance which is smaller than or equal to the preset yaw distance threshold exists in the flight sub-track, the fact that the flight track of the aircraft to be detected is not yaw is determined, the yaw judgment can be carried out on the flight track of the aircraft to be detected in a period of time by calculating the distance between the tracks, and the flight dynamics of flights can be accurately mastered while the flight safety is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a flight trajectory yaw detection method according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
A flight track yaw detection method is applied to a track yaw detection system, the track yaw detection system is in communication connection with a plurality of aircrafts and is used for acquiring position information sent by each aircrafts, each aircraft can send an ADSB signal every set time, the ADSB signal comprises flight information, position and other flight data information, and the track yaw detection system detects whether each aircraft is yawed in executing a flight task by acquiring the ADSB signal of each aircraft.
As shown in fig. 1, a flight trajectory yaw detection method includes the following steps:
s100, every first preset time t 1 Acquiring the position t of the aircraft to be detected 1 N pieces of position information sequentially transmitted to obtain a position information set q= (Q) 1 ,Q 2 ,...,Q i ,...,Q n )；Q i =(Q i1 ,Q i2 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein i=1, 2, n; q (Q) i At t for the aircraft to be detected 1 The i-th position information sent internally; q (Q) i1 Is Q i Longitude of the position of the corresponding aircraft to be detected; q (Q) i2 Is Q i Latitude of the corresponding position of the aircraft to be detected;
in aircraft to be detected, i.e. in aircraft communicatively connected to the track yaw detection systemThe position information of the aircraft to be detected can be obtained from the ADSB signals transmitted by the aircraft to be detected, and the transmission interval time ratio t of the ADSB signals of the aircraft to be detected 1 Short, so at t 1 And the track yaw detection system receives n ADSB signals sent by the aircraft to be detected, each ADSB signal further comprises position information of the aircraft to be detected when the ADSB signal is sent, the position is determined by longitude and latitude, and the actual position of the aircraft to be detected is determined by longitude and latitude.
When the aircraft to be detected executes the flight mission, every t 1 The position information of the aircraft to be detected is acquired, so that the intermittent acquisition of the flight track of the aircraft to be detected can be ensured, the system calculation force is saved, the flight track of the aircraft to be detected in the current period can be ensured to be acquired at any time, and the yaw judgment is carried out on the flight track.
S200 according to Q 1 ,Q 2 ,...,Q i ,...,Q n Determining the position of an aircraft to be detected at t 1 A navigation track Y in the navigation system;
further, step S200 further includes:
s210 according to Q 1 ,Q 2 ,...,Q n Will Q 1 ,Q 2 ,...,Q n Corresponding position points are sequentially connected in a global positioning system to obtain the position of the aircraft to be detected at t 1 And the navigation track Y in the navigation system.
Let t 1 The position points sent by the aircraft to be detected are sequentially connected in a Global Positioning System (GPS), and the obtained line segment is that the aircraft to be detected is at t 1 The navigation track in the GPS is used for judging whether yaw occurs or not, and in addition, all the position points and the flight track are subjected to data processing in the same GPS so as to ensure that track errors cannot occur.
S300, acquiring an initial geographic area D of the aircraft to be detected 1 And to the geographical area D 2 ；
S400, determining the starting position as D according to a plurality of historical flights 1 The arrival position is D 2 Obtaining a standard flight track set P by m standard flight tracks of (1)=(P 1 ,P 2 ,...,P j ,...,P m ) The method comprises the steps of carrying out a first treatment on the surface of the Where j=1, 2, m; p (P) j A j standard flight track;
in order to determine whether the flight trajectory of the aircraft to be detected is yawed, the yaw is compared with a standard flight trajectory, i.e. the flight trajectory of the flight crew plan, so that the starting geographic area D of the aircraft to be detected is obtained first 1 And to the geographical area D 2 I.e. take-off and landing places of the aircraft to be detected, D, if the aircraft to be detected is a flight from Beijing to the sea 1 Beijing, D 2 Since most cities have only one airport, the taking-off city and the landing city of the aircraft to be detected are obtained, and if the taking-off city or the landing city of the aircraft to be detected has two or more airports, D can be obtained 1 And D 2 Represented as a take-off airport and a landing airport.
When the standard flight track is determined, the standard flight track can be determined by directly acquiring the navigation track specified by the flight schedule, but the standard flight track determined by the method has limitation and cannot accurately judge whether the navigation track of the aircraft to be detected is yawed, so that m standard flight tracks are determined according to historical flights, and the judgment result of the flight track can be more accurate by the method for determining the standard flight track according to the historical flights, so that the obtained standard flight track is more accurate.
Further, step S400 further includes:
s410, acquiring a second preset time period [ t ] 2 ,t 3 ]In, the initial position is D 1 The arrival position is D 2 Arrival error times of w historical flights of (a) to obtain a first arrival error time set e= (E) 1 ,E 2 ,...,E s ,...,E w )；E s =E s1 -E s2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein s=1, 2, once again, w; w is more than or equal to m; t is t 2 ＜t 3 ；E s The arrival error time of the s-th historical flight; e (E) s1 The planned arrival time for the s-th historical flight; e (E) s2 Actual arrival time for the s-th historical flight; t is t 2 A starting time of a second preset time period; t is t 3 A deadline for a second preset time period;
the second preset time period may be one month or one week, and the specific value may be determined by the historical departure times of the flight, if D 1 To D 2 If the number of historical take-off times of flights on the route is too large, one week can be determined as a second preset time period, otherwise, if the number of historical take-off times is too small, one month can be determined as the second preset time period, and all initial positions in the second preset time period are obtained to be D 1 The arrival position is D 2 The arrival error time of each historical flight is obtained, the arrival error time is the difference between the planned arrival time and the actual arrival time, the arrival error time can be used for judging the standard point rate of the corresponding historical flight, the smaller the arrival error time is, the higher the standard point rate of the corresponding historical flight is, the higher the standard point rate is, the lower the probability of yaw of the corresponding historical flight is, and therefore the standard flight is determined according to the arrival error time, and the yaw probability of the flight can be accurately represented.
S420, if E s ≤E 0 Determining the corresponding historical flight as a first flight; wherein E is 0 The arrival error time threshold is preset;
and determining the historical flights with the arrival error time smaller than or equal to the preset arrival error time threshold as first flights, wherein the first flights represent historical flights conforming to the error time range.
S430, clustering a plurality of first flights according to first flight tracks corresponding to each first flight, and determining c flight class groups;
after determining that the flight tracks corresponding to the first flights are the first flight tracks, and determining that the data volume is large, comparing all the first flights, the data processing volume is too large, so that the first flights with large matching degree are put in one class group, the data processing volume is reduced, namely clustering all the first flights, and determining that the flight tracks of the first flights in c flight class groups are similar.
Wherein, step S430 further includes:
s431, acquiring an a-th first flight and a b-th first flight from g first flights; wherein a=1,..g; b=1.. g; and a is not equal to b;
the first flight a and the first flight b are optional from g first flights, or can be obtained sequentially, for example, a is 1, b is 2, that is, the first flight a and the second first flight b are obtained, the first flight a and the third first flight b are obtained after the first flight a and the second flight b are compared, and the first flight a and the third first flight b are obtained until each two first flights in g first flights are compared.
S432, determining a track distance M between the first flight track corresponding to the a-th first flight and the first flight track corresponding to the b-th first flight according to the first flight track corresponding to the a-th first flight and the first flight track corresponding to the b-th first flight ab ；
The track distance between the first flight tracks corresponding to every two first flights is determined by a bidirectional Hausdorff distance, for example, the a1 point is arranged on the a first flight track, the b1 point is arranged on the b first flight track, and the track distance is determined by the distance between the respective track points.
S433, if M ab ≤M 0 Determining the a first flight and the b first flight as the same flight class group; wherein M is 0 Is a preset track distance threshold.
If the track distance between the two first flight tracks is smaller than or equal to the preset track distance threshold, the track distance between the two first flight tracks is too small, and the first flight tracks can be combined into one flight class group.
S440, obtaining the arrival error time of the first flight included in each flight group to obtain a second arrival error time set N= (N) 1 ,N 2 ,...,N d ,...,N c )；N d =(N d1 ,N d2 ,...,N de ,...,N df(d) )；N de =N de1 -N de2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein, d=1,2.., c, performing operation; e=1, 2, f (d); f (d) is the number of first flights included in the d-th flight class group; n (N) d A list of arrival error times for the first flight included in the d-th flight class group; n (N) de An arrival error time for the e-th first flight included in the d-th flight class group; n (N) de1 A planned arrival time for an e-th first flight included in the d-th flight class group; n (N) de2 An actual arrival time for the e-th first flight included in the d-th flight class group;
after the flight class groups are determined, a specific first flight is selected from each flight class group as a standard flight, the determining factor is the arrival error time, and the standard flight in each flight class group is determined through the arrival error time of each first flight in each flight class group.
S450, MAX (N) d1 ,N d2 ,...,N de ,...,N df(d) ) Corresponding first flight and MIN (N d1 ,N d2 ,...,N de ,...,N df(d) ) The corresponding first flight is determined to be a standard flight, and the flight track of the standard flight is determined to be a standard flight track; wherein MAX () is a preset maximum value determining function; MIN () is a preset minimum value determination function;
the first flight with the largest arrival error time and the first flight with the smallest arrival error time in each flight class group are determined to be standard flights, so that the distinction degree of the first flights in each flight class group can be embodied, the determined samples of the standard flights are more dispersed, and the obtained yaw result is more accurate.
S460, if the number h of the standard flights is greater than m, sequencing each standard flight according to the numerical increment sequence of the arrival error time to obtain a sequenced standard flight set X= (X) 1 ,X 2 ,...,X k ,...,X h ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein k=1, 2,..h; x is X k Is the kth standard flight in X;
after the standard flights are determined, if the number of the standard flights is greater than m, the number of the determined standard flights is still too large, in order to further save the system calculation power, the number of the standard flights is further reduced, and then m standard flights are selected from all the determined standard flights, and in order to further embody the distinction degree of the selected standard flights, h standard flights are further sequenced according to the arrival error time, and the first m/2 standard flights and the last m/2 standard flights in the h standard flights are selected, wherein the flight tracks are the standard flight tracks.
S470, if m is singular, X is taken as 1 ,...,X (m-1)/2 And X h-(m+1)/2+1 ,...,X h The flight track of (1) is determined to be a standard flight track, and a standard flight track set P= (P) is obtained 1 ,P 2 ,...,P j ,...,P m ) And performs step S500;
s480, if m is a double number, X is taken as 1 ,...,X m/2 And X h-m/2+1 ,...,X h The flight track of (1) is determined to be a standard flight track, and a standard flight track set P= (P) is obtained 1 ,P 2 ,...,P j ,...,P m ) And performs step S500;
s500, according to L (Q) 1 ,P j ) And L (Q) n ,P j ) Determining P j Corresponding flight sub-track H j The method comprises the steps of carrying out a first treatment on the surface of the Wherein L (Q) 1 ,P j ) Is Q 1 Corresponding position point to P j The shortest distance between the corresponding track line segments; l (Q) n ,P j ) Is Q n Corresponding position point to P j The shortest distance between the corresponding track line segments;
according to the position t of the aircraft to be detected 1 The first position point and the last position point which are sent in the aircraft are used for determining the flight sub-track corresponding to each standard flight track, namely, the shortest distance from the first position point of the aircraft to be detected to each standard flight track and the shortest distance from the last position point of the aircraft to be detected to each standard flight track are calculated, the flight track between the corresponding two shortest distance points is determined to be the flight sub-track of the corresponding standard flight track, and the flight sub-track represents the flight sub-track of the aircraft to be detected and the standard flight track at t 1 And a flight track corresponding to the inner navigation track.
S600 according to L (Q) i ,H j ) Determining the track line segment corresponding to Y to H j Corresponding subAverage distance R between track segments j =∑ n i=1 L(Q i ,H j ) N; wherein L (Q) i ,H j ) Is Q i Corresponding position point to H j The shortest distance between the corresponding sub-track line segments;
after the flight sub-track is determined, calculating the average distance between the navigation track of the aircraft to be detected and each flight sub-track according to the distance from each position point of the aircraft to be detected to each flight sub-track, wherein the average distance represents the distance between the aircraft to be detected and the corresponding flight sub-track.
S700, if R j ≤R 0 Determining that the flight track of the aircraft to be detected is not yawed according to the yaw detection result of the aircraft to be detected; wherein R is 0 A yaw distance threshold is preset;
s710, if the average distance between the track segment corresponding to Y and the sub-track segment corresponding to each flight sub-track is greater than R 0 And determining a yaw detection result of the aircraft to be detected as yaw of the flight track of the aircraft to be detected.
And comparing each average distance with a value of a preset yaw distance threshold to determine whether the aircraft to be detected is yawed, if one average distance is smaller than or equal to the preset yaw distance threshold, the aircraft to be detected is determined to be not yawed on a normal track, and the next average distance comparison is not needed, so that the system calculation force is further saved. Otherwise, if all the average distances are larger than the preset yaw distance threshold, the fact that the aircraft to be detected is not in the range of any standard flight track is indicated, and it is determined that the aircraft to be detected is yaw.
Wherein a yaw distance threshold R is preset 0 Is determined by the following method:
s710, acquiring a third preset time period [ t ] 4 ,t 5 ]In, the initial position is D 1 The arrival position is D 2 Historical yawing flight tracks of the q historical yawing flights of (a) to obtain a historical yawing flight track set Z= (Z) 1 ,Z 2 ,...,Z v ,...,Z q ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein v=1, 2, q; z is Z v Yaw the flight trajectory for the v-th history;
s720, obtaining the initial position as D 1 The arrival position is D 2 A historical standard flight trajectory T of a historical standard flight of (a);
s730 according to Z v And T, determine Z v And a track distance Dis (Z) between T v ,T)；
S740, determining R 0 =∑ q v=1 Dis(Z v ,T)/q。
The preset yaw distance threshold is determined through the distance between the historical yaw flight and the historical standard flight, the historical yaw flight track of the historical yaw flight in the third preset time period is obtained, the distance calculation is carried out on the historical yaw flight track and the historical standard flight track, each track distance is obtained, and the average value is obtained to represent the optimal yaw distance.
According to the method, the navigation track of the aircraft to be detected is determined by acquiring the position information sent by the aircraft to be detected, the flight sub-track corresponding to the navigation track of the aircraft to be detected is determined on the standard flight track, the distance calculation is carried out on the navigation track of the aircraft to be detected and the flight sub-track of each standard flight track to obtain the corresponding average distance, if the average distance which is smaller than or equal to the preset yaw distance threshold exists in the flight sub-track, the fact that the flight track of the aircraft to be detected is not yaw is determined, the yaw judgment can be carried out on the flight track of the aircraft to be detected in a period of time by calculating the distance between the tracks, and the flight dynamics of flights can be accurately mastered while the flight safety is improved.
Embodiments of the present invention also provide a non-transitory computer readable storage medium that may be disposed in an electronic device to store at least one instruction or at least one program for implementing one of the methods embodiments, the at least one instruction or the at least one program being loaded and executed by the processor to implement the methods provided by the embodiments described above.
Embodiments of the present invention also provide an electronic device comprising a processor and the aforementioned non-transitory computer-readable storage medium.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. Those skilled in the art will also appreciate that many modifications may be made to the embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims (9)

1. The flight track yaw detection method is characterized by being applied to a track yaw detection system, wherein the track yaw detection system is in communication connection with a plurality of aircrafts and is used for acquiring position information sent by each aircraft;
the method comprises the following steps:
s100, every first preset time t 1 Acquiring the position t of the aircraft to be detected 1 N pieces of position information sequentially transmitted to obtain a position information set q= (Q) 1 ,Q 2 ,...,Q i ,...,Q n )；Q i =(Q i1 ,Q i2 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein i=1, 2, n; q (Q) i At t for the aircraft to be detected 1 The i-th position information sent internally; q (Q) i1 Is Q i Longitude of the position of the corresponding aircraft to be detected; q (Q) i2 Is Q i Latitude of the corresponding position of the aircraft to be detected;
s200 according to Q 1 ,Q 2 ,...,Q i ,...,Q n Determining the position of the aircraft to be detected at t 1 A navigation track Y in the navigation system;
s300, acquiring the initial geographic area D of the aircraft to be detected 1 And to the geographical area D 2 ；
S400, determining the starting position as D according to a plurality of historical flights 1 The arrival position is D 2 To obtain a standard flight track set P= (P) 1 ,P 2 ,...,P j ,...,P m ) The method comprises the steps of carrying out a first treatment on the surface of the Where j=1, 2, m; p (P) j A j standard flight track;
s500, according to L (Q) 1 ,P j ) And L (Q) n ,P j ) Determining P j Corresponding flight sub-track H j The method comprises the steps of carrying out a first treatment on the surface of the Wherein L (Q) 1 ,P j ) Is Q 1 Corresponding position point to P j The shortest distance between the corresponding track line segments; l (Q) n ,P j ) Is Q n Corresponding position point to P j The shortest distance between the corresponding track line segments;
s600 according to L (Q) i ,H j ) Determining the track line segment corresponding to Y to H j Average distance R between corresponding sub-track segments j The method comprises the steps of carrying out a first treatment on the surface of the Wherein L (Q) i ,H j ) Is Q i Corresponding position point to H j The shortest distance between the corresponding sub-track line segments;
s700, if R j ≤R 0 Determining that the flight track of the aircraft to be detected is not yawed according to the yaw detection result of the aircraft to be detected; wherein R is 0 A yaw distance threshold is preset;
wherein, the step S400 further includes:
s410, acquiring a second preset time period [ t ] 2 ,t 3 ]In, the initial position is D 1 The arrival position is D 2 Arrival error times of w historical flights of (a) to obtain a first arrival error time set e= (E) 1 ,E 2 ,...,E s ,...,E w )；E s =E s1 -E s2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein s=1, 2, once again, w; w is more than or equal to m; t is t 2 ＜t 3 ；E s The arrival error time of the s-th historical flight; e (E) s1 The planned arrival time for the s-th historical flight; e (E) s2 Actual arrival time for the s-th historical flight; t is t 2 A starting time of a second preset time period; t is t 3 A deadline for a second preset time period;
s420, if E s ≤E 0 Determining the corresponding historical flight as a first flight; wherein E is 0 The arrival error time threshold is preset;
s430, clustering a plurality of first flights according to first flight tracks corresponding to each first flight, and determining c flight class groups;
s440, obtaining the arrival error time of the first flight included in each flight group to obtain a second arrival error time set N= (N) 1 ,N 2 ,...,N d ,...,N c )；N d =(N d1 ,N d2 ,...,N de ,...,N df(d) )；N de =N de1 -N de2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein d=1, 2, c; e=1, 2, f (d); f (d) is the number of first flights included in the d-th flight class group; n (N) d A list of arrival error times for the first flight included in the d-th flight class group; n (N) de An arrival error time for the e-th first flight included in the d-th flight class group; n (N) de1 A planned arrival time for an e-th first flight included in the d-th flight class group; n (N) de2 An actual arrival time for the e-th first flight included in the d-th flight class group;
s450, MAX (N) d1 ,N d2 ,...,N de ,...,N df(d) ) Corresponding first flight and MIN (N d1 ,N d2 ,...,N de ,...,N df(d) ) The corresponding first flight is determined to be a standard flight, and the flight track of the standard flight is determined to be a standard flight track; wherein MAX () is a preset maximum value determining function; MIN () is a preset minimum value determination function.
2. The method of detecting yaw of a flight trajectory according to claim 1, wherein the step S430 further comprises:
s431, acquiring an a-th first flight and a b-th first flight from g first flights; wherein a=1,..g; b=1.. g; and a is not equal to b;
s432, determining a track distance M between the first flight track corresponding to the a-th first flight and the first flight track corresponding to the b-th first flight according to the first flight track corresponding to the a-th first flight and the first flight track corresponding to the b-th first flight ab ；
S433, if M ab ≤M 0 Determining the a first flight and the b first flight as the same flight class group;wherein M is 0 Is a preset track distance threshold.
3. The method for detecting the yaw of a flight trajectory according to claim 1, wherein the preset yaw distance threshold R 0 Is determined by the following method:
s710, acquiring a third preset time period [ t ] 4 ,t 5 ]In, the initial position is D 1 The arrival position is D 2 Historical yawing flight tracks of the q historical yawing flights of (a) to obtain a historical yawing flight track set Z= (Z) 1 ,Z 2 ,...,Z v ,...,Z q ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein v=1, 2, q; z is Z v Yaw the flight trajectory for the v-th history; t is t 4 A start time for the third preset time period; t is t 5 A deadline for the third preset time period;
s720, obtaining the initial position as D 1 The arrival position is D 2 A historical standard flight trajectory T of a historical standard flight of (a);
s730 according to Z v And T, determine Z v And a track distance Dis (Z) between T v ,T)；
S740, determining R 0 =∑ q v=1 Dis(Z v ,T)/q。
4. The method according to claim 1, further comprising, after the step S450:
s460, if the number h of the standard flights is greater than m, sorting each standard flight according to the numerical increment sequence of the arrival error time to obtain a sorted standard flight set X= (X) 1 ,X 2 ,...,X k ,...,X h ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein k=1, 2,..h; x is X k Is the kth standard flight in X;
s470, if m is singular, X is taken as 1 ,...,X (m-1)/2 And X h-(m+1)/2+1 ,...,X h The flight track of (1) is determined to be a standard flight track, and a standard flight track set P= (P) is obtained 1 ,P 2 ,...,P j ,...,P m ) And performs step S500;
s480, if m is a double number, X is taken as 1 ,...,X m/2 And X h-m/2+1 ,...,X h The flight track of (1) is determined to be a standard flight track, and a standard flight track set P= (P) is obtained 1 ,P 2 ,...,P j ,...,P m ) And performs step S500.
5. The method of detecting yaw of a flight trajectory according to claim 1, wherein the step S700 further comprises:
s710, if the average distance between the track segment corresponding to Y and the sub-track segment corresponding to each flight sub-track is greater than R 0 And determining the yaw detection result of the aircraft to be detected as that the flight track of the aircraft to be detected is yaw.
6. The method for detecting the yaw of a flight trajectory according to claim 1, wherein the average distance R j Is determined by the following method:
R j =∑ n i=1 L(Q i ,H j )/n。
7. the method of detecting yaw of a flight trajectory according to claim 1, wherein the step S200 further comprises:
s210 according to Q 1 ,Q 2 ,...,Q n Will Q 1 ,Q 2 ,...,Q n Corresponding position points are sequentially connected in a global positioning system to obtain the aircraft to be detected at t 1 And the navigation track Y in the navigation system.
8. A non-transitory computer readable storage medium having stored therein at least one instruction or at least one program, wherein the at least one instruction or the at least one program is loaded and executed by a processor to implement the flight trajectory yaw detection method of any one of claims 1-7.
9. An electronic device comprising a processor and the non-transitory computer readable storage medium of claim 8.
CN202310645438.4A 2023-06-02 2023-06-02 Flight track yaw detection method, electronic equipment and storage medium Active CN116363908B (en)

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CN107808552A (en) * 2017-10-27 2018-03-16 中航信移动科技有限公司 Flight behavioral value method and apparatus
CN110992733A (en) * 2019-12-11 2020-04-10 北京航空航天大学 Online detection method and device for flight deviation from normal track behavior
CN112862171A (en) * 2021-01-29 2021-05-28 北京航空航天大学 Flight arrival time prediction method based on space-time neural network
CN116052482A (en) * 2023-04-03 2023-05-02 中航信移动科技有限公司 Method for early warning of aircraft track yaw, electronic equipment and storage medium

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107808552A (en) * 2017-10-27 2018-03-16 中航信移动科技有限公司 Flight behavioral value method and apparatus
CN110992733A (en) * 2019-12-11 2020-04-10 北京航空航天大学 Online detection method and device for flight deviation from normal track behavior
CN112862171A (en) * 2021-01-29 2021-05-28 北京航空航天大学 Flight arrival time prediction method based on space-time neural network
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