CN116486654B - Method for constructing local airspace meshing and coordinate conversion thereof - Google Patents
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Abstract
The invention provides a method for constructing local airspace meshing and coordinate transformation thereofA method for changing, belonging to the field of air traffic management; the method comprises the following specific steps: firstly, uniformly meshing intervals of latitude [ -88 DEG, +88 DEG ] according to a reference standard of a world geodetic system and a 1:100 ten thousand navigation chart frame, and establishing a local grid coordinate system; then dividing the local grid into 4 layers, and performing amplitude combination treatment when dividing the first-level spherical surface according to the latitude to obtain a longitude and latitude grid with fixed latitude difference and changed longitude difference; then, the longitude and latitude coordinates (L, B) of any target are selected, the local coordinate system is utilized to encode the a-bc-d, and the origin coordinates of the local grid coordinate system of the grid encoding are calculatedFinally, the origin coordinates of the local grid coordinate system are utilizedSeparately computing a grid position encoded identifier ID for each level r Grid coordinate origin warp and weft of each levelValues. The invention can construct the mutual conversion of grid position codes and geographic longitude and latitude coordinates, and improves the utilization rate of airspace resources and air traffic management facilities.
Description
Technical Field
The invention belongs to the field of air traffic management, and particularly relates to a method for constructing local airspace meshing and coordinate conversion thereof.
Background
With the trend of air traffic from low density to high density, the problems of air congestion, blockage, danger approaching, uneconomical energy consumption and the like are caused, and the problems are common problems faced by all countries in the world at present.
Although the construction of the air traffic management infrastructure in China is rapidly developed, the growth speed of the air traffic is still not caught up, and a modern airspace management method is needed to improve the utilization rate of airspace resources and the air traffic management infrastructure and exert the efficiency of the air-space-ground integrated aviation system to the maximum extent.
The digital airspace system is based on the premise of new basic theoretical research, and applies advanced electronic information technology, calculation technology, automatic control technology and the like to an air traffic management system comprehensively, and the core of the digital airspace system is to construct a digital airspace grid division method.
Disclosure of Invention
The invention establishes the recursion division of the airspace grid unit from the technical view of the digital earth, in particular to a method for constructing local airspace grid subdivision and coordinate conversion thereof, and improves the utilization rate of airspace resources and air traffic management facilities.
The method for constructing the local airspace meshing and the coordinate conversion thereof comprises the following specific steps:
step one, adopting a reference standard of a world geodetic system-1984 (WGS-84), framing according to a 1:100 universal navigation map, equally meshing intervals of latitude [ -88 DEG, +88 DEG), and establishing a local grid coordinate system;
after equal grid division, each small grid has a longitude interval of 6 degrees and a latitude interval of 4 degrees, and corresponds to the first-stage grid of the Beidou grid position coding method.
The local grid coordinate system uses the point of the lower left corner of the divided grid as an origin, the latitude increasing direction is the vertical axis positive direction, and the longitude increasing direction is the horizontal axis positive direction.
Dividing the local grid of the space into 4 layers, and performing amplitude combination treatment when dividing the first-level spherical surface according to the latitude to obtain a longitude and latitude grid with fixed latitude difference and changed longitude difference;
the longitude and latitude division is adopted to realize global seamless non-overlapping division, meanwhile, the spherical Gaussian distance in the weft direction is fixed, and the warp interval of dividing units is approximately equal by changing the number of warp division in different latitude areas, so that the deformation problem of grid units is effectively improved; after the combination of the frames, a new dividing interval is obtainedThe method comprises the following steps:
representing the warp pitch; />Representing the weft pitch.
(1) In the weft direction [ -60 DEG, +60 DEG), the frame combination is not needed, thenr=1, 2,3,4 is 4 levels of division; />For longitude interval after framing, ΔL r Is the original longitude interval; />For the latitude interval after the combination, deltaB r Is the original latitude interval;
(2) in the latitudinal direction [ -76 °, -60 °) or [ +60 °, +76°) interval, the latitude interval does not become 4 ° longitude interval 2 times the original one; the following is obtained:
(3) in the latitudinal direction [ -88 °, -76 °) or [ +76 °, +88°) interval, the latitude interval does not become 4 ° longitude interval 4 times the original one; the following is obtained:
(4) in the latitudinal [ -90 °, -88 °) or [ +88 °, +90°) interval, the latitude intervals are 2 °, and the longitude intervals are all 360 ° together; the following is obtained:
selecting longitude and latitude coordinates (L, B) of any target, and calculating origin coordinates of a grid-coded local grid coordinate system by utilizing the local grid coordinate system grid coding a-bc-d
Firstly, judging whether the latitude coordinate of a target meets B < 0 degrees, if so, a=S; otherwise, a=n;
s represents southern hemisphere; n represents the northern hemisphere;
then, calculation:
wherein floor (x) is a floor function;a longitude interval after the combination of the fortune is shown; />Indicating the latitude interval after the closing.
Finally, when a=s, thenOtherwise, when a=n, then +.>
Thereby obtaining the origin longitude and latitude coordinates of the grid codes of the local grid coordinate system
Fourth, utilizing the origin coordinates of the local grid coordinate systemSeparately computing a grid position encoded identifier ID for each level r Grid coordinate origin warp/weft +/for each level>Value:
the specific process is as follows
Step 401, dividing four-level grids of a local coordinate system respectively:
first-stage meshing of a local coordinate system: the interval longitude and latitude (6 degree multiplied by 4 degree) are divided into intervals (delta L) 1 ＝30',ΔB 1 Dividing by 30'), recursing in a 12×8 mode, wherein the encoding method is "row number+column number", and encoding the sub-grids in turn in the directions of increasing longitude and increasing latitude, wherein "column number x" is encoded from 1 to 9, a to C (corresponding to 1 to 12), and "row number y" is encoded from a to H (corresponding to 1 to 8);
second-level meshing of the local coordinate system: the interval warp and weft (30 '. Times.30') are divided into intervals (delta L) 2 ＝15',ΔB 2 10') is subdivided, the coding method is recursive according to a 2 x 3 pattern, the coding method adopts a reverse "Z" order, i.e. starting from the origin of the grid coordinates, the sub-grids are coded in sequence according to the directions of increasing longitude and increasing latitude, the numerical codes are as followsFrom 1 to 6.
Third-level meshing of a local coordinate system: the interval warp and weft (15 '. Times.10') are divided into intervals (delta L) 3 ＝5',ΔB 3 By splitting in 3 x 2 mode recursion, the coding method uses the reverse "Z" order, the numerical coding of whichFrom 1 to 6;
fourth-level meshing of a local coordinate system: the interval warp and weft (5 '. Times.5') are divided into intervals (delta L) 4 ＝1',ΔB 4 By splitting in 5 x 5 mode recursion, the coding method uses the reverse "Z" order, the values of which are codedFrom 01 to 25;
step 402, using character codesA relative position code representing a four-level meshing of the local coordinate system meshing a-bc-d;
the method comprises the following steps:
for the region of latitude [ -60 °, +60°, building the relative position code of longitude and latitude coordinates (L, B) and gridIs a conversion method of (2);
the specific method comprises the following steps:
first, the r=1-level identification code x-y calculation method is as follows:
then, the identification code ID of the r=2, 3,4 th hierarchy is calculated r I.e.Grid according to M r ×N r Mode recursion; the calculation method is as follows:
ID r ＝u+(v-1)×M r
finally, the origin longitude and latitude of the r (r=1, 2,3, 4) level coordinates is calculatedValue:
mod (n, m) represents the remainder of n with respect to modulo m.
Step 403: similarly, longitude and latitude coordinates (L, B) and grid relative position codes are respectively carried out on the intervals of the latitude [ -76 DEG, -60 DEG or [ +60 DEG, +76 DEG), the latitude [ -88 DEG, -76 DEG or [ +76 DEG, +88 DEG), and the intervals of the latitude [ -90 DEG, -88 DEG or [ +88 DEG, +90 DEG)To obtain four levels of grid position encoded identifier ID r Grid coordinate origin warp/weft +/for each level>Values.
The invention has the advantages that:
1) A method for constructing local airspace meshing and coordinate conversion thereof provides a set of meshing recursion dividing and coding method under a local coordinate system; meanwhile, the mutual conversion between grid position codes and geographic longitude and latitude coordinates can be constructed.
2) On the basis of compatible navigation map framing, a grid coordinate system suitable for airspace management is provided, a mode of sphere partition recursion division is adopted, a local digital airspace grid model of a stereoscopic space is established, and grid position coding and interconversion of longitude and latitude coordinates are realized; the mutual conversion of the geographic longitude and latitude coordinates and the grid position codes is realized, and the grid position identifier of the r level is related to the longitude and latitude of the grid origin coordinates of the r-1 level.
Drawings
FIG. 1 is a flow chart of a method for constructing a local spatial grid subdivision and coordinate transformation thereof;
FIG. 2 is a view of a selected local coordinate region in global geospatial as employed in the present invention;
FIG. 3 is a schematic diagram of a partial meshing and encoding method employed in the present invention;
FIG. 4 is a grid-related element definition employed by the present invention;
fig. 5 is a grid coding definition employed by the present invention.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples for the purpose of facilitating understanding and practicing the present invention by those of ordinary skill in the art. It is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments, and especially the present invention does not limit the type of intelligent optimization and conventional optimization algorithm of the group in the technical solution. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
The invention establishes a recursion division method of a space domain grid unit from the perspective of digital earth technology, in particular to a method for constructing local space domain grid subdivision and coordinate conversion thereof, which is shown in figure 1 and comprises the following steps:
step one, uniformly dividing grids in a space domain interval of latitude [ -88 DEG, +88 DEG ] based on a single 1:100 voyage map by adopting a reference standard of a world geodetic system-1984 (WGS-84) and framing according to the 1:100 voyage map, and establishing a local grid coordinate system;
and (3) the grid final map after equal grid division, wherein the longitude interval of each small grid is 6 degrees, and the latitude interval is 4 degrees, and the grid final map corresponds to the first-stage grid of the Beidou grid position coding method.
The coordinate origin is a grid coordinate origin corresponding to the appointed 1:100 universal navigation map; as shown in fig. 2, the definition is as follows: the local grid coordinate system is defined by using the position point of the lower left corner of the divided grid as the coordinate origin of the grid, the latitude increasing direction is the vertical axis positive direction, and the longitude increasing direction is the horizontal axis positive direction; the longitude and latitude (L, B) value of the point and the position code for identifying the grid can be built into an algorithm for mutual conversion.
Dividing the local grid of the space into 4 layers, and performing amplitude combination treatment when dividing the first-level spherical surface according to the latitude to obtain a longitude and latitude grid with fixed latitude difference and changed longitude and latitude as a new dividing interval;
the division interval of the 4 layers is as follows;
TABLE 1
Taking the condition that space compression exists in the north-south pole partition of the spherical surface into consideration, the targeted amplitude combination processing is carried out in the first-level spherical surface partition process, so that a longitude and latitude grid with fixed latitude difference and changed longitude difference is established. The dividing mode has the advantages of longitude and latitude grid, is convenient for grid cell coding and longitude and latitude conversion, and accords with the expression habit of people on coordinates. Therefore, global seamless non-overlapping division is realized by adopting longitude and latitude division, meanwhile, the spherical Gaussian distance in the latitude direction is also fixed, and the warp interval of dividing units is approximately equal by changing the number of warp division in different latitude areas, so that the deformation problem of grid units is effectively improved.
After the combination of the frames, a new dividing interval is obtainedThe method comprises the following steps:
representing the warp pitch; />Representing the weft pitch.
In the weft direction [ -60 DEG, +60 DEG), the frame combination is not needed, thenr=1, 2,3,4 is 4 levels of division; />For longitude interval after framing, ΔL r Is the original longitude interval; />For the latitude interval after the combination, deltaB r Is the original latitude interval;
in the latitudinal direction [ -76 °, -60 °) or [ +60 °, +76°) interval, the latitude interval does not become 4 ° longitude interval 2 times the original one; the following is obtained:
in the latitudinal interval of '88', '76', '88', the latitude interval does not become 4 DEG longitude interval 4 times the original 4 DEG longitude interval; the following is obtained:
in the latitudinal [ -90 °, -88 °) or [ +88 °, +90°) interval, the latitude intervals are 2 °, and the longitude intervals are all 360 ° together; the following is obtained:
step three, selecting any target to sit at longitude and latitudeTarget (L, B), using local coordinate system grid coding a-bc-d, calculating the origin longitude and latitude coordinates of the grid coded local grid coordinate system
Calculating grid position codes of the hierarchy, and realizing the mutual conversion between the grid codes and the longitudes and latitudes; firstly, judging the north-south hemisphere where the target is located by the positive and negative of the latitude, wherein a is only S representing the south hemisphere or N representing the north hemisphere; bc is determined by the longitude of the target; the method comprises the following steps:
firstly, judging whether the latitude coordinate of a target meets B < 0 degrees, if so, a=S; otherwise, a=n;
s represents southern hemisphere; n represents the northern hemisphere;
then, calculation:
wherein floor (x) is a floor function;a longitude interval after the combination of the fortune is shown; />Indicating the latitude interval after the closing.
Finally, when a=s, thenOtherwise, when a=n, then +.>
Thereby obtaining the origin longitude and latitude coordinates of the grid codes of the local grid coordinate system
Fourth, utilizing the origin coordinates of the local grid coordinate systemSeparately computing a grid position encoded identifier ID for each level r Grid coordinate origin warp/weft +/for each level>Value:
the specific process is as follows
Step 401, the local coordinate system is (6 degrees x 4 degrees) in the geographic range of latitude [ -60 degrees, +60 degrees), the other latitude ranges are processed according to the 1:100 ten thousand navigation map frame, and four-level grids of the local coordinate system are respectively divided:
as shown in fig. 3, the local coordinate system is first-level meshing: the interval longitude and latitude (6 degree multiplied by 4 degree) are divided into intervals (delta L) 1 ＝30',ΔB 1 Dividing by 30'), recursing in a 12×8 mode, wherein the encoding method is "row number+column number", and encoding the sub-grids in turn in the directions of increasing longitude and increasing latitude, wherein "column number x" is encoded from 1 to 9, a to C (corresponding to 1 to 12), and "row number y" is encoded from a to H (corresponding to 1 to 8);
as shown in fig. 5, the local coordinate system is meshed in the second level: the interval warp and weft (30 '. Times.30') are divided into intervals (delta L) 2 ＝15',ΔB 2 10') is subdivided, the coding method is recursive according to a 2 x 3 pattern, the coding method adopts a reverse "Z" order, i.e. starting from the origin of the grid coordinates, the sub-grids are coded in sequence according to the directions of increasing longitude and increasing latitude, the numerical codes are as followsFrom 1 to 6. The coding sequence is inconsistent with the frame coding of the navigation map, but the longitude and latitude values of the grid coordinate origin are convenient to decode;
third-level meshing of a local coordinate system: the interval warp and weft (15 '. Times.10') are divided into intervals (delta L) 3 ＝5',ΔB 3 By splitting in 3 x 2 mode recursion, the coding method uses the reverse "Z" order, the numerical coding of whichFrom 1 to 6;
fourth-level meshing of a local coordinate system: the interval warp and weft (5 '. Times.5') are divided into intervals (delta L) 4 ＝1',ΔB 4 By splitting in 5 x 5 mode recursion, the coding method uses the reverse "Z" order, the values of which are codedFrom 01 to 25;
step 402, using character code stringA relative position code representing a four-level meshing of the local coordinate system meshing a-bc-d;
the method comprises the following steps:
for the region of latitude [ -60 °, +60°, building the relative position code of longitude and latitude coordinates (L, B) and gridIs a conversion method of (2);
as shown in fig. 4, the specific method is as follows:
first, the r=1-level identification code x-y calculation method is as follows:
then, the identification code ID of the r=2, 3,4 th hierarchy is calculated r I.e.Grid according to M r ×N r Mode recursion; the calculation method is as follows:
ID r ＝u+(v-1)×M r
finally, the origin longitude and latitude of the r (r=1, 2,3, 4) level coordinates is calculatedValue:
mod (n, m) represents the remainder of n with respect to modulo m.
Step 403: similarly, longitude and latitude coordinates (L, B) and grid relative position codes are respectively carried out on the intervals of the latitude [ -76 DEG, -60 DEG or [ +60 DEG, +76 DEG), the latitude [ -88 DEG, -76 DEG or [ +76 DEG, +88 DEG), and the intervals of the latitude [ -90 DEG, -88 DEG or [ +88 DEG, +90 DEG)To obtain four levels of grid position encoded identifier ID r Grid coordinate origin warp/weft +/for each level>Values.
Such partitioning is to improve the efficiency of determining the target position. The finer the meshing, the higher its accuracy, but the larger the corresponding data it relates to, the greater its cost. The efficiency can be effectively improved by adopting different levels of grid coding description. The grid division realizes the integral integration of the geometric space body and the air traffic data on the basis of the air traffic route network space division, and realizes the organization and management of the information physical space.
Comparing the calculation time of the grid-based airspace conflict detection with the calculation time of the traditional geometry, from the aspect of calculation efficiency, when the calculation conflict detection task is used for a large-scale airspace, the grid-based airspace conflict detection algorithm is faster, and the efficiency is improved by about 50%.
Claims (3)
1. A method for constructing local airspace meshing and coordinate conversion thereof is characterized by comprising the following specific steps:
step one, adopting a reference standard of a world geodetic system-1984 (WGS-84), framing according to a 1:100 universal navigation map, equally meshing intervals of latitude [ -88 DEG, +88 DEG), and establishing a local grid coordinate system;
dividing the local grid of the space into 4 layers, and performing amplitude combination treatment when dividing the first-level spherical surface according to the latitude to obtain a longitude and latitude grid with fixed latitude difference and changed longitude difference;
after the combination of the frames, a new dividing interval is obtainedThe method comprises the following steps:
representing the warp pitch; />Representing weft spacing；
(1) In the weft direction [ -60 DEG, +60 DEG), the frame combination is not needed, thenr=1, 2,3,4 is 4 levels of division; />For longitude interval after framing, ΔL r Is the original longitude interval; />For the latitude interval after the combination, deltaB r Is the original latitude interval;
(2) in the latitudinal intervals of [ -76 °, -60 °) or [ +60 °, +76°, the latitude interval does not become 4 °, and the longitude interval is 2 times of the original interval; the following is obtained:
(3) in the latitudinal intervals of [ -88 °, -76 °) or [ +76 °, +88°, the latitude interval does not become 4 °, and the longitude interval is 4 times of the original one; the following is obtained:
(4) in the latitudinal [ -90 °, -88 °) or [ +88 °, +90°) interval, the latitude intervals are 2 °, and the longitude intervals are all 360 ° together; the following is obtained:
selecting longitude and latitude coordinates (L, B) of any target, and calculating origin coordinates of a grid-coded local grid coordinate system by utilizing the local grid coordinate system grid coding a-bc-d
Firstly, judging whether the latitude coordinate of a target meets B < 0 degrees, if so, a=S; otherwise, a=n;
s represents southern hemisphere; n represents the northern hemisphere;
then, calculation:
wherein floor (x) is a floor function;a longitude interval after the combination of the fortune is shown; />Representing latitude intervals after the fortune combination;
finally, when a=s, thenOtherwise, when a=n, then +.>
Thereby obtaining the origin longitude and latitude coordinates of the grid codes of the local grid coordinate system
Fourth, utilizing the origin coordinates of the local grid coordinate systemSeparately computing a grid position encoded identifier ID for each level r Grid coordinate origin warp/weft +/for each level>A value;
the specific process is as follows
Step 401, dividing four-level grids of a local coordinate system respectively:
first-stage meshing of a local coordinate system: the interval longitude and latitude (6 degree multiplied by 4 degree) are divided into intervals (delta L) 1 ＝30',ΔB 1 Dividing by 30'), recursing according to a 12×8 mode, wherein the coding method is "row number+column number", and coding the sub-grids in turn according to the increasing direction of longitude and latitude, wherein "column number x" is from 1 to 9, a to C, and 1 to 12 are corresponding; "line number y" is encoded from A to H; corresponding to 1 to 8;
second-level meshing of the local coordinate system: the interval warp and weft (30 '. Times.30') are divided into intervals (delta L) 2 ＝15',ΔB 2 10') is subdivided, the coding method is recursive according to a 2 x 3 pattern, the coding method adopts a reverse "Z" order, i.e. starting from the origin of the grid coordinates, the sub-grids are coded in sequence according to the directions of increasing longitude and increasing latitude, the numerical codes are as followsFrom 1 to 6;
third-level meshing of a local coordinate system: the interval warp and weft (15 '. Times.10') are divided into intervals (delta L) 3 ＝5',ΔB 3 By splitting in 3 x 2 mode recursion, the coding method uses the reverse "Z" order, the numerical coding of whichFrom 1 to 6;
fourth-level meshing of a local coordinate system: the interval warp and weft (5 '. Times.5') are divided into intervals (delta L) 4 ＝1',ΔB 4 =1') is split, recursively according to a 5 x 5 pattern, the coding method uses the reverse "Z" order,its numerical codeFrom 01 to 25;
step 402, using character codesA relative position code representing a four-level meshing of the local coordinate system meshing a-bc-d;
the method comprises the following steps:
for the region of latitude [ -60 °, +60°, building the relative position code of longitude and latitude coordinates (L, B) and gridIs a conversion method of (2);
the specific method comprises the following steps:
first, the r=1-level identification code x-y calculation method is as follows:
then, the identification code ID of the r=2, 3,4 th hierarchy is calculated r I.e.Grid according to M r ×N r Mode recursion; the calculation method is as follows:
ID r ＝u+(v-1)×M r
finally, the origin longitude and latitude of the r (r=1, 2,3, 4) level coordinates is calculatedValue:
mod (n, m) represents the remainder of n with respect to modulo m;
step 403: similarly, longitude and latitude coordinates (L, B) and grid relative position codes are respectively carried out on the intervals of the latitude [ -76 DEG, -60 DEG or [ +60 DEG, +76 DEG), the latitude [ -88 DEG, -76 DEG or [ +76 DEG, +88 DEG), and the intervals of the latitude [ -90 DEG, -88 DEG or [ +88 DEG, +90 DEG)To obtain four levels of grid position encoded identifier ID r Grid coordinate origin warp/weft +/for each level>Values.
2. The method for constructing local airspace meshing and coordinate transformation thereof according to claim 1, wherein in the first step, after equal meshing, each small meshing is 6 ° in longitude interval and 4 ° in latitude interval, and corresponds to the first-stage meshing of the beidou meshing position encoding method;
the local grid coordinate system uses the point of the lower left corner of the divided grid as an origin, the latitude increasing direction is the vertical axis positive direction, and the longitude increasing direction is the horizontal axis positive direction.
3. The method for constructing local airspace meshing and coordinate conversion thereof according to claim 1, wherein in the second step, longitude and latitude division is adopted to realize global seamless non-overlapping division, meanwhile, the spherical gaussian distance in the latitude direction is fixed, and the warp intervals of dividing units are approximately equal by changing the number of times of warp division in different latitude areas, so that the deformation problem of the grid units is effectively improved.
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| CN111477034A (en) * | 2020-03-16 | 2020-07-31 | 中国电子科技集团公司第二十八研究所 | Large-scale airspace use plan conflict detection and release method based on grid model |
| CN112672131A (en) * | 2020-12-07 | 2021-04-16 | 聚好看科技股份有限公司 | Panoramic video image display method and display equipment |
| CN113919995A (en) * | 2021-10-20 | 2022-01-11 | 南京智慧航空研究院有限公司 | Low-altitude space domain grid planning and coding method |
| CN114419281A (en) * | 2022-01-18 | 2022-04-29 | 中国人民解放军93209部队 | Method for calculating space geometric relation of airspace grid |
| CN115329220A (en) * | 2022-08-09 | 2022-11-11 | 北斗伏羲中科数码合肥有限公司 | Low-altitude spatial domain earth subdivision grid data organization and query method and device |
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