CN117197384B - Automatic generation and space discrimination method for three-dimensional standard site protection area of air management station - Google Patents
Automatic generation and space discrimination method for three-dimensional standard site protection area of air management station Download PDFInfo
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Abstract
The invention discloses an automatic generation and space discrimination method for a three-dimensional standard site protection area of an empty pipe station, and belongs to the technical field of civil aviation. The method of the invention comprises the following steps: s1, performing triangular gridding treatment on discrete points in a scattered point domain to obtain a three-dimensional field protection area model of the empty pipe station; s2, judging the spatial relationship between the obstacle and the three-dimensional field protection area of the empty pipe station according to the three-dimensional field protection area model of the empty pipe station; s3, according to the space intersection judgment result in the step 2, if the standard site protection area requirement is not met, a height limiting suggestion is given. By adopting the method, the method can accurately calculate whether the obstacle is positioned in any site protection area of the empty pipe station or not and whether the obstacle exceeds the standard specification before the obstacle is constructed, so that the problems of hysteresis and passivity caused by the influence of the obstacle which can only be found when the obstacle passes the air pipe station flight check or has problems in actual operation are solved.
Description
Technical Field
The invention belongs to the technical field of civil aviation, and particularly relates to an automatic generation and space discrimination method for a three-dimensional standard site protection area of an empty pipe station.
Background
The communication navigation monitoring station (hereinafter referred to as a navigation station) of the civil aviation air traffic control is an important infrastructure for guiding the safe flight of the aircraft, and the safe operation of the station directly affects the flight safety. The signal precision of the communication station is easily influenced by surrounding environments such as topography and barriers, and in order to ensure the usability and precision of the signal of the communication station, the country and industry promulgate a plurality of standards to specify the site protection areas of different types of communication stations in detail, including national standard GB6364-2013 electromagnetic environment requirement of aviation radio navigation station (station) and industry standard MH/T4003.1-2021 civil aviation communication navigation monitoring station (station) setting site specification part 1: navigation, MH/T4003.1-2014, civil aviation communication navigation monitoring station (station) setting site Specification part 2: monitor, etc. In order to implement the effectiveness of standard implementation, a project clearance auditing management method in a civil airport clearance protection area is formulated, and before project construction, the construction party needs to report information such as the position and the elevation of project construction to civil aviation departments to inquire comments, if the site protection requirement of a lead-through station is not met, the safety gateway can be limited before the construction of an obstacle, so that the safety gateway is moved forward, and the situation that after the influence on the lead-through station is caused by the construction of the obstacle, the project construction is trapped in the two places where the project is removed or the signal of the lead-through station is unavailable is avoided.
The guiding station comprises more than 10 types of course beacons, downslide beacons, omni-directional beacons, distance meters, index beacons, primary/secondary monitoring radars and the like, and the station site protection standards of different types are different, so that the method has the advantages of not only defining a plane area, but also limiting the height, and most of site protection areas are irregular and complex in calculation rule. At present, only the limit boundary point of an obstacle can be calculated in a discrete manner by manual calculation, and if the obstacle is intersected with a site protection area part, the condition of missing calculation is easy to occur; meanwhile, aiming at high-voltage transmission lines with thousands of points, the situation that the same obstacle is positioned in different site protection areas of different stations exists because the high-voltage transmission lines can pass through tens of site protection areas of a plurality of airports, so that the calculation amount is huge, manpower cannot bear the calculation amount, and the precision cannot be ensured.
Therefore, the automatic generation and judgment method for the three-dimensional standard site protection area of the empty pipe station is provided, and whether the obstacle is located in any site protection area of the empty pipe station or not and whether the obstacle exceeds the standard specification is accurately calculated before the obstacle is built, so that the problem to be solved by the person skilled in the art is solved.
Disclosure of Invention
The invention aims to provide an automatic generation and judgment method of a three-dimensional standard site protection area of an empty pipe station based on requirements of standard compliance calculation and analysis of the site protection area of the empty pipe station by using an obstacle, and the method is used for accurately calculating whether the obstacle is positioned in any site protection area of the empty pipe station and exceeds standard regulations before the obstacle is constructed, so that the problems of lag and passivity caused by the fact that the influence of the obstacle is found only when the empty pipe station is in flight verification or in actual operation are solved.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention provides a method for automatically generating and spatially judging a three-dimensional standard site protection area of an empty pipe station, which comprises the following steps:
s1, performing triangular gridding treatment on discrete points in a scattered point domain to obtain a three-dimensional field protection area model of the empty pipe station;
s2, judging the spatial relationship between the obstacle and the three-dimensional field protection area of the empty pipe station according to the three-dimensional field protection area model of the empty pipe station;
s3, according to the space intersection judgment result in the step 2, if the standard site protection area requirement is not met, a height limiting suggestion is given.
The scatter domain is a region consisting of a series of discrete points.
In some embodiments of the present invention, in S1, performing the triangle gridding processing on the discrete points in the scattered point domain includes the following steps:
(1) Determining a first triangle
Any discrete point A is taken as a first vertex of a first triangle in the scattered point domain, a discrete point B closest to the discrete point A is found to be taken as a second vertex of the first triangle and form a base side AB, and a discrete point with the largest diagonal angle with the base side AB is found to be taken as a third vertex of the first triangle by applying a cosine theorem;
(2) Expansion of triangles
Starting from three sides of the first triangle in turn, finding a third discrete point by applying the cosine theorem;
to prevent the triangle from being missed, repeated or crossed, each new triangle is formed, the triangle is compared with the formed triangle, and if repeated or crossed, the triangle is not recorded.
In some embodiments of the present invention, in the step S2, the spatial position of the three-dimensional field protection area of the obstacle and the empty pipe station is rapidly determined by using a triangle intersection algorithm.
The types of the barriers are various, and different barriers have different standard requirements; in addition, the obstacle may be located in a plurality of site protection areas of a plurality of stations. Because the shape and distribution of the obstacle are irregular, the accuracy requirement of the spatial position relation judgment algorithm (comprising, partially intersecting, non-intersecting and the like) of the obstacle and the three-dimensional field protection area is very high, and therefore, the invention adopts the triangular intersecting algorithm to realize the rapid judgment of the spatial positions of the obstacle and the three-dimensional field protection area of the empty pipe station.
In some embodiments of the present invention, in the step S2, the spatial relationship between the obstacle and the three-dimensional field protection area of the different types of air-traffic stations is determined, and the method specifically includes the following steps:
assuming that the empty pipe station three-dimensional field protection area comprises m triangles, the obstacle comprises n triangles, and aiming at any triangle in the empty pipe station three-dimensional field protection areaAnd any triangle in the obstacleThe vertices are respectively: />，/>，/>And->，/>，/>The planes of the triangles are respectively +.>Andthe normal vectors are +.>And->；
Is->、/>And->Is->、/>The intersection line L with the two planes is marked as +.>The method comprises the steps of carrying out a first treatment on the surface of the The enclosed region formed by the points on L is，/>，
Because the form of the intersection point is fixed, only the condition is required to be satisfiedAnd->I.e. triangle->And->Overlapping.
And sequentially performing intersection judgment on m triangles in the three-dimensional field protection area of the hollow pipe station and n triangles in the barrier, and if only one group of triangles is intersected, intersecting the space.
In some embodiments of the invention, the triangle is then triangular when the following formula is satisfiedAnd->Overlapping;
。
the deduction process of the formula adopting the triangle intersection algorithm is as follows:
according to the given four points in space:，/>，/>，the determinant is defined as follows:
the right-handed spiral rule is used to define the positional relationship of four spatial points.
Representation->At->、/>、/>The normal direction (i.e., above) of the triangle formed in the counterclockwise order;
representation->At->Is arranged below the lower part of the upper part;
representing four points being coplanar.
Two triangles are arrangedAnd->The vertices are respectively: />，/>，/>And，/>，/>the planes of the triangles are respectively +.>And->The normal vectors are +.>And->。
Firstly, judging the mutual position relation of the plane where the triangle and the other triangle are positioned, and eliminating the condition of disjoint in advance.
By calculation ofTo judge->And->If the values of all determinant are not zero and are of the same sign, then +.>And->Disjoint, otherwise->And->And (5) intersecting. The intersections are divided into the following cases:
1) If the values of all determinant are zero, thenAnd->Coplanarity is converted into a line segment intersection problem of coplanarity;
2) If one determinant has a value of zero and the other two determinants have the same sign, then only one point is in the plane, and the test is made as to whether the vertex is in the planeInside, intersecting if yes, otherwise not intersecting;
3) OtherwiseIs located at the vertex of the plane->Both sides (include->Is in plane->In the case of (a).
And then according to a similar method toAnd->Further testing was performed, if tested, each triangle had to have a defined point on one side of the plane of the other triangle and two other points on the other side. The algorithm loops replacing each triangle vertex separately so that +.>（/>) Is positioned at->（/>) Two other points are positioned at the other side of the two points; at the same time to the vertex，/>（/>，/>) Exchange operation is performed to ensure +.>（/>) Is positioned at->（/>) I.e. normal direction.
Through the above pre-elimination and replacement operations,is->、/>And->Is->、The intersection line L with the two planes is marked as +.>As shown in fig. 5.
The enclosed region formed by the points on L is，/>To this end, the intersection test problem of two triangles is converted into a closed interval +.>，/>Is a problem of overlapping. If overlapping, then intersecting, otherwise not intersecting. Since the intersection point form is fixed, only the condition +.>And->I.e. indicating overlapping intervals, as shown in fig. 5.
The judgment condition can be further reduced to judge whether the following formula is satisfied:
。
in some embodiments of the present invention, if the obstacle is located in the site protection area of the empty pipe station according to the determination result of S2, a plurality of triangular nets at the intersection are acquired,
the triangular net combination of the site protection area of the empty pipe station is set asKWhich comprisesThe triangular net combination of the barrier isZIt comprises->；
First to empty pipe station site protection areaTriangular net->The first part crossing it, determined according to S2>Triangular net->Sequentially calculate +.>Three points->And->Three points->The minimum value in all z values is finally taken as the ultrahigh value of the obstacle;
and according to the ultrahigh value, giving a height limiting suggestion.
Compared with the prior art, the invention has the following beneficial effects:
the invention has scientific design and ingenious conception, and adopts the method of the invention to perform all-dimensional three-dimensional space calculation and analysis on all site protection areas of all empty pipe stations by the barrier before the barrier is constructed, thereby solving the problems of missing calculation, poor precision and huge calculation amount of the existing manual discrete point calculation, advancing the civil aviation safety gateway, avoiding the problem of limited airport operation caused by the need of carrying out the removal and the movement or the incapability of using the station after the barrier is constructed to influence the empty pipe stations, and saving the cost and expense of huge barrier removal or station movement.
Drawings
FIG. 1 is a schematic diagram of a heading beacon building confinement zone;
FIG. 2 is a schematic diagram of a triangular mesh filling;
FIG. 3 is a schematic diagram of a three-dimensional building confinement region for a heading beacon;
FIG. 4 is a schematic diagram of a three-dimensional field protection zone for a pointing beacon;
FIG. 5 is a schematic diagram of the principle of triangle intersection algorithm;
FIG. 6 is a flowchart for rapidly judging the spatial positions of the obstacle and the three-dimensional field protection area of the air traffic control station in the step S2;
FIG. 7 is a schematic view showing the three-dimensional shape of an obstacle according to example 1;
FIG. 8 is a schematic diagram of a heading beacon building restricted area of example 1;
fig. 9 is a schematic diagram of an omni-directional beacon field guard region according to embodiment 1.
Detailed Description
The scope of the invention is illustrated by the following examples in conjunction with the accompanying drawings and examples, which should not be construed as limiting the scope of the invention.
A method for automatically generating and spatially judging a three-dimensional standard site protection area of an empty pipe station comprises the following steps:
s1, performing triangular gridding treatment on discrete points in the scattered point domain to obtain a three-dimensional field protection area model of the empty pipe station.
The planar area of the field protection area is mostly in an irregular graph, and the limitation of vertical opening angles exists, such as a heading beacon building limitation area, as shown in fig. 1. And reconstructing and restoring the three-dimensional field protection area by adopting a triangular mesh filling method.
When the triangular net is formed, the length of each triangle is ensured to be the same as much as possible, and the occurrence of an excessive obtuse angle and an excessive acute angle is avoided. The minimum distance sum rule and the shortest circumscribing circle radius rule are adopted. The minimum distance and rule are the minimum distance from the point to be inserted to the two end points of the base edge, namely the opening angle of the point to the two end points of the base edgeThe maximum or cosine value is the minimum. The shortest circumcircle radius rule is that the radius of the triangle circumcircle is the smallest, and according to the cosine theorem formula:
wherein:for central angle=2 +>I.e. +.>，/>For the fixed length of the base side +.>Is the radius of the circumscribing circle.
The triangular gridding processing of the discrete points in the scattered point domain comprises the following steps:
(1) Determining a first triangle
Any discrete point A is taken as a first vertex of a first triangle in the scattered point domain, a discrete point B closest to the discrete point A is found to be taken as a second vertex of the first triangle and form a base side AB, and a discrete point with the largest diagonal angle with the base side AB is found to be taken as a third vertex of the first triangle by applying a cosine theorem;
(2) Expansion of triangles
Starting from three sides of the first triangle in turn, finding a third discrete point by applying the cosine theorem;
to prevent the triangle from being missed, repeated or crossed, each new triangle is formed, the triangle is compared with the formed triangle, and if repeated or crossed, the triangle is not recorded.
The triangle net filling schematic diagram is shown in fig. 2.
In one embodiment of the invention, the generated three-dimensional heading beacon building restricted area model is shown in fig. 3, and the generated three-dimensional pointing beacon field protection area model is shown in fig. 4.
S2, according to the empty pipe station three-dimensional field protection area model, the space positions of the obstacle and the empty pipe station three-dimensional field protection area are rapidly judged through a triangle intersection algorithm, and the method specifically comprises the following steps:
suppose an empty pipe stationThe three-dimensional field protection area comprises m triangles, the barrier comprises n triangles, and the barrier aims at any triangle in the empty pipe station three-dimensional field protection areaAnd any triangle in the obstacleThe vertices are respectively: />，/>，/>And->，/>，/>The planes of the triangles are respectively +.>Andthe normal vectors are +.>And->；
Is->、/>And->Is->、/>The intersection line L with the two planes is marked as +.>The method comprises the steps of carrying out a first treatment on the surface of the The enclosed region formed by the points on L is，/>As shown in fig. 5.
Because the form of the intersection point is fixed, only the condition is required to be satisfiedAnd->I.e. triangle->And->Overlapping.
And sequentially performing intersection judgment on m triangles in the three-dimensional field protection area of the hollow pipe station and n triangles in the barrier, and if only one group of triangles is intersected, intersecting the space.
Further, when the following formula is satisfied, then the triangle is further satisfiedAnd->Overlapping;
。
the judgment flow of step S2 is shown in fig. 6.
S3, according to the space intersection judgment result in the step 2, if the standard site protection area requirement is not met, a height limiting suggestion is given.
According to the judgment result of S2, if the obstacle is positioned in the site protection area of the empty pipe station, acquiring a plurality of triangular networks at the intersection,
the triangular net combination of the site protection area of the empty pipe station is set asKWhich comprisesThe triangular net combination of the barrier isZIt comprises->The method comprises the steps of carrying out a first treatment on the surface of the First ∈10 for the site protection area of the air line station>Triangular net->The first part crossing it, determined according to S2>Triangular net->Sequentially calculate +.>Three points inAnd->Three points inThe minimum value in all z values is finally taken as the ultrahigh value of the obstacle;
and according to the ultrahigh value, giving a height limiting suggestion.
Example 1
A method for automatically generating and spatially judging a three-dimensional standard site protection area of an empty pipe station comprises the following steps:
s1, performing triangular gridding treatment on discrete points in the scattered point domain to obtain a three-dimensional field protection area model of the empty pipe station.
The triangular gridding processing of the discrete points in the scattered point domain comprises the following steps:
(1) Determining a first triangle
Any discrete point A is taken as a first vertex of a first triangle in the scattered point domain, a discrete point B closest to the discrete point A is found to be taken as a second vertex of the first triangle and form a base side AB, and a discrete point with the largest diagonal angle with the base side AB is found to be taken as a third vertex of the first triangle by applying a cosine theorem;
(2) Expansion of triangles
Starting from three sides of the first triangle in turn, finding a third discrete point by applying the cosine theorem;
to prevent the triangle from being missed, repeated or crossed, each new triangle is formed, the triangle is compared with the formed triangle, and if repeated or crossed, the triangle is not recorded.
In some embodiments of the present invention, a generated three-dimensional heading beacon building confinement region model is shown in fig. 3, and a generated three-dimensional pointing beacon field protection region model is shown in fig. 4.
S2, according to the empty pipe station three-dimensional field protection area model, the space positions of the obstacle and the empty pipe station three-dimensional field protection area are rapidly judged through a triangle intersection algorithm, and the method specifically comprises the following steps:
assuming that the three-dimensional field protection area of the empty pipe station comprises m triangles, the barrier comprises n triangles, and the three-dimensional field of the empty pipe station is aimed atArbitrary triangles in ground guard areaAnd any triangle in the obstacleThe vertices are respectively: />，/>，/>And->，/>，/>The planes of the triangles are respectively +.>Andthe normal vectors are +.>And->；
Is->、/>And->Is->、/>The intersection line L with the two planes is marked as +.>The method comprises the steps of carrying out a first treatment on the surface of the The enclosed region formed by the points on L is，/>，
Because the form of the intersection point is fixed, only the condition is required to be satisfiedAnd->I.e. triangle->And->Overlapping.
And sequentially performing intersection judgment on m triangles in the three-dimensional field protection area of the hollow pipe station and n triangles in the barrier, and if only one group of triangles is intersected, intersecting the space.
Further, when the following formula is satisfied, then the triangle isAnd->Overlapping;
。
s3, according to the space intersection judgment result in the step 2, if the standard site protection area requirement is not met, a height limiting suggestion is given.
According to the judgment result of S2, if the obstacle is positioned in the site protection area of the empty pipe station, acquiring a plurality of triangular networks at the intersection,
the triangular net combination of the site protection area of the empty pipe station is set asKWhich comprisesThe triangular net combination of the barrier isZIt comprises->；
First to empty pipe station site protection areaTriangular net->The first part crossing it, determined according to S2>Triangular net->Sequentially calculate +.>Three points->And->Three points->The minimum value in all z values is finally taken as the ultrahigh value of the obstacle;
and according to the ultrahigh value, giving a height limiting suggestion.
In the present embodiment, an obstacle is defined by a coordinate pointThe composition, depending on the boundary point and the elevation of the roof, restores the three-dimensional shape of the obstacle, as shown in fig. 7.
According to the type and the position of the empty pipe station, three-dimensional field protection areas of different types are automatically drawn, the spatial position relation between the obstacle and each three-dimensional field protection area is automatically judged, and the obstacle is simultaneously positioned in the heading beacon building limit area and the omnidirectional beacon field protection area through spatial intersection judgment, as shown in the accompanying drawings 8 and 9 respectively.
The standard of the obstacle is 29.32 meters higher than the standard of the building limit area of the heading beacon station, and the standard of the field protection area of the omnidirectional beacon station is 19.87 meters higher than the standard of the field protection area of the omnidirectional beacon station, so that the height of the obstacle is required to be reduced by 29.32 meters to meet the field protection area requirements of all the air management stations.
The above embodiment is only one of the preferred embodiments of the present invention, and should not be used to limit the scope of the present invention, but all the insubstantial modifications or color changes made in the main design concept and spirit of the present invention are still consistent with the present invention, and all the technical problems to be solved are included in the scope of the present invention.
Claims (2)
1. The automatic generation and space discrimination method for the three-dimensional standard site protection area of the empty pipe station is characterized by comprising the following steps:
s1, performing triangular gridding treatment on discrete points in a scattered point domain to obtain a three-dimensional field protection area model of the empty pipe station;
s2, judging the spatial relationship between the obstacle and the three-dimensional field protection area of the empty pipe station according to the three-dimensional field protection area model of the empty pipe station;
s3, according to the space intersection judgment result in the step 2, if the standard site protection area requirement is not met, a height limiting suggestion is given;
in the step S1, performing triangular gridding processing on discrete points in the scattered point domain includes the following steps:
(1) Determining a first triangle
Any discrete point A is taken as a first vertex of a first triangle in the scattered point domain, a discrete point B closest to the discrete point A is found to be taken as a second vertex of the first triangle and form a base side AB, and a discrete point with the largest diagonal angle with the base side AB is found to be taken as a third vertex of the first triangle by applying a cosine theorem;
(2) Expansion of triangles
Starting from three sides of the first triangle in turn, finding a third discrete point by applying the cosine theorem;
in order to prevent the triangle from being missed, repeated or crossed, each new triangle is formed, the new triangle is compared with the formed triangle, and if repeated or crossed, the triangle is not recorded;
in the step S2, the rapid judgment of the spatial positions of the three-dimensional field protection areas of the barrier and the empty pipe station is realized through a triangle intersection algorithm;
in the step S2, the spatial relationship between the obstacle and the three-dimensional field protection areas of the different types of empty pipe stations is judged, and the method specifically comprises the following steps: assuming that the empty pipe station three-dimensional field protection area comprises m triangles, the obstacle comprises n triangles, and aiming at any triangle in the empty pipe station three-dimensional field protection areaAnd any triangle in the obstacle +.>The vertices are respectively: />，/>，/>And->，/>，/>，
Triangle when the following is satisfiedAnd->Overlapping;
。
2. the method for automatically generating and spatially discriminating a three-dimensional standard site protection area for an empty pipe station according to claim 1 wherein, based on the result of the determination of S2, if an obstacle is located in the site protection area for an empty pipe station, a plurality of triangular nets at intersections are acquired,
the triangular net combination of the site protection area of the empty pipe station is set asKWhich comprisesThe triangular net combination of the barrier isZIt comprises->；
First to empty pipe station site protection areaTriangular net->The first intersection with the first intersection is judged according to S2/>Triangular netSequentially calculate +.>Three points->And->Three points inThe minimum value in all z values is finally taken as the ultrahigh value of the obstacle;
and according to the ultrahigh value, giving a height limiting suggestion.
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