KR20090089049A - Method of creating vertical route of aircraft automatically - Google Patents

Abstract

A method for automatically generating vertical route of aircraft on the flight path of the aviation is provided to supply the vertical route of aircraft by using an approximate function using the sampling period by using maximum value and minimum value of altitude data. An operation unit samples maximum value and minimum value of altitude data about horizontal route and evaluates the set of the maximum value and minimum value(S110). The operation unit operates a function approximated function about the vertical route of aircraft and produces the initial vertical route(S120). The operation unit completes the vertical route of aircraft and completes vertical route of aircraft(S130).

Description

Method of creating vertical route of aircraft automatically}

The present invention relates to a vertical flight path automatic generation method for automatically generating and providing a vertical flight path on the flight path of the aviation.

As a flight path generation algorithm of an aircraft, conventionally, only a method of generating a passing point in a straight line using a shortest distance on a straight line between two sections corresponding to a reference path point and a target path point is taken.

In addition, in order to determine avoidance points between the two sections, a paper or electronic map, a user's memory or experience, photographic images, etc. are used. have.

In such a conventional case, determination of avoidance points such as high ground is passive, correction and modification of the determined avoidance point are very cumbersome, and reliability of the determined avoidance point is inferior.

The present invention was created to solve the above problems, and provides an automatic vertical flight path generation method that automatically generates and provides a vertical flight path of the aircraft approximated to the altitude data using the altitude data of the terrain. There is this.

Using the actual altitude data on the terrain corresponding to the horizontal path of the aircraft of the present invention for achieving the above object, by sampling the maximum and minimum values of the altitude data for each path on the horizontal path to a set of the maximum minimum value Obtaining an altitude data interval sampling step; An initial vertical path calculation step of generating an initial vertical path by calculating an approximated function of the vertical path of the aircraft using the set of maximum and minimum values of the altitude data; And a vertical path shifting step of moving the initial vertical path upward by adding an error value about a specific path at which an error between the set of the maximum minimum value of the altitude data and the function is maximized to the function.

Here, in the initial vertical path calculation step, the coefficient value constituting the function is determined, but the initial vertical path is determined by determining the coefficient value that is the minimum value of the sum of the error between the set of the maximum minimum value and the function for each path. Can be generated by optimizing the path.

The function is characterized in that it is a function of even difference.

More specifically, the function may be a quadratic function or a quadratic function.

Meanwhile, in the vertical path movement step, only the maximum value among the set of the maximum minimum values may be used.

According to the automatic vertical flight path generation method of the present invention, the vertical flight path of the aircraft automatically approximated to the altitude data of the terrain is automatically generated, while sampling the sections using the maximum minimum value of the altitude data, and using the sampled sections. Approximated functions can be used to provide a safe vertical flight path.

In addition, by offsetting the function using the error value of the point where the error in the function and the actual altitude data is maximum, a safe aircraft path without collisions can be generated for all flight paths, and the order of the function is properly adjusted. It can flexibly respond to the terrain or the situation of the aircraft.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the present specification and claims should not be construed as being limited to the common or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that it can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

1 is a flowchart of a method for automatically generating a vertical flight path according to an embodiment of the present invention, FIG. 2 is a system configuration diagram for the method of FIG. 1, FIG. 3 is a view showing an embodiment of a horizontal path of an aircraft on a specific terrain, 4 is a diagram illustrating altitude data regarding the horizontal path of FIG. 3.

FIG. 5 is a diagram illustrating an interval sampling step of FIG. 1 using FIG. 4, FIG. 6 is a diagram illustrating an initial vertical path calculating step of FIG. 1 using FIG. 5, and FIG. 1 is a diagram illustrating a vertical path shifting step of FIG. 1.

Hereinafter, a method for automatically generating a vertical flight path according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 7.

First, the calculation unit 120 obtains a set of maximum and minimum values by sampling the maximum and minimum values of the altitude data for each path of the horizontal path, using the actual altitude data about the terrain corresponding to the horizontal path of the aircraft (S110). .

That is, the altitude data section sampling step (S110) uses the horizontal path of the aircraft as shown in FIG. 3, and the actual altitude data as shown in FIG. 4 on the horizontal path, to determine the maximum and minimum values of the altitude data on the horizontal path. The sample is obtained as shown in FIG. 5.

In the terrain data DB 110 of FIG. 2, terrain data including local latitude, longitude, and altitude information may be stored in advance. In the operation unit 120, a set of maximum and minimum values may be stored using altitude information on the terrain data. Can be saved.

In addition, the operation unit 120 receives a horizontal path of a specific region desired to know the vertical flight path through a separate input means from the user, and compares the designated horizontal path portion and the terrain data DB 110 corresponding Altitude data regarding the horizontal path portion may be taken out from the terrain data DB 110 to enable a desired vertical flight path calculation.

On the other hand, the set of the maximum minimum value is calculated by the following method.

s ₀ to s _m are all sets of altitude data shown in FIG. 4 with respect to the horizontal path of FIG. 3, where m means each section on the horizontal path. In addition, d ₀ to d _n represent a set of maximum and minimum values obtained by sampling a maximum value and a minimum value on the altitude data set s ₀ to s _m , and n denotes each sampled section.

Here, the set of maximum and minimum values d ₀ to d _n satisfies n <m since only the maximum and minimum values are sampled for all the altitude data s ₀ to s _m .

Under these assumptions, the following formulas (1) and (2) are used to obtain any d _i (0 ≦ _i ≦ n) for any s _j (1 <j <m).

Equation 1 Sampling of the Maximum Value

s _{j -1} <s _j A, s _j> If s _{j + 1,} s _j → d _i

[Equation 2] sampling of the minimum value

s _{j -1} > s _j A, s _j <s _j if _{+1, j} s → d _i

That is, the sampling of the maximum value for each section of the altitude data s ₀ to s _{m is} shown in Equation 1, and the sampling of the minimum value for each section is shown in Equation 2,

In other words, Equation 1 is a case where the altitude data of the section between both sides is smaller than both sides with respect to both sections, and Equation 2 is the opposite concept and the altitude data of the section between both sides with respect to both sections. Is greater than both sides. The collection of d _i corresponding to the maximum value and the minimum value obtained by Equations 1 and 2 means a set of maximum and minimum values.

By sampling the maximum value and the minimum value with respect to the graph of the altitude data of FIG. 4, the graph of the maximum minimum value as shown in FIG. 5 is calculated.

As described above, according to the sampling of the maximum value and the minimum value of the altitude data, since all altitude data s ₀ to s _m on the desired horizontal path are not used, only the maximum value and the minimum value point of the altitude data are sampled and used. In addition, there is an advantage that the operation time of the vertical flight path of the present invention can be shortened and the system can be further simplified.

On the other hand, after the altitude data section sampling step (S110) as described above, the calculation unit 120 calculates an approximated function on the vertical path of the aircraft by using a set (d ₀ ~ d _n ) of the maximum minimum value of the altitude data Generate an initial vertical path (S120).

Here, using the characteristic that the aircraft normally descends again after rising, it is preferable that the function calculated is a function of even difference so as to correspond to the path attribute of the aircraft.

That is, functions of odd differences, such as cubic functions and quintic functions, have a characteristic of continuously rising curves, and thus are not suitable for use in flight paths of aircraft.

Here, in the present invention, as a function of an even difference, a quadratic function, a quadratic function, and the like may be used, but as the degree increases, the operation of the function is complicated, time consuming, and mathematical. Since it is difficult to implement, it is preferable to implement it as the simplest quadratic function.

Of course, in consideration of the complexity of the aircraft flight, elaboration, etc. can be selected as a function of the desired order to perform the operation. Here, of course, it is possible to change the order by the user's operation through a separate input means (keyboard, mouse, etc.).

On the other hand, the initial vertical path calculation step (S120) will be described in more detail as follows.

For example, assuming that a quadratic function is used to generate the initial vertical path, the function d relating to the vertical path approximated using the set of maximum minimum values d ₀ to d _n is simply It can be expressed as:

[Equation 3]

Here, Equation 3 can be completed by determining each coefficient value (c ₁ , c _2, c ₃ ) constituting the quadratic function.

The set up the minimum value (d ₀ ~ d _n) and the function (d) the set of the error between (d ₀ ~ d _n) of each path (i; 0 ~ n) is the result summed with which the smallest It is desirable to generate coefficients by optimizing the initial vertical path by determining coefficient values, which can be realized by equation (4).

[Equation 4]

That is, the square value of the difference between the function (d) of the initial vertical path shown in Equation 3 and the maximum sampling value (d _i ) that is actually sampled is calculated for each path (i), and the value summed for each path becomes the minimum. The function refers to a function representing a vertical flight path most approximated to a set of sampled maximum minimum values d ₀ to d _n .

That is, but calculated through Equation (5) below is a coefficient value _{(c 1, c 2, c} 3) is in the the coefficient value sum (Error) is minimized in error is calculated by Equation 4 c _1, c _{2 ,} c ₃ is calculated to generate a function of the optimized initial vertical path as shown in FIG. 6 reflecting this in Equation 3.

[Equation 5]

As described above, after the generation of the optimized initial vertical path function, the operation unit 120 includes the set of 'function (d) of Equation 3 in which c ₁ , c _{2, and} c ₃ are determined' and 'the maximum minimum value of the altitude data ( The error value of the specific path at which the error value between d ₀ and d _n ) 'is generated is added to the function d, and the vertical flight path is completed by shifting the previously calculated initial vertical path (S130). .

That is, as the function is moved upward from Figure 6 to Figure 7, in this case it is possible to obtain a safe vertical flight path without collision with the terrain in any flight section.

In other words, as shown in Equation 6 below, the square value K ² regarding the difference between the d value on the i path obtained from Equation 3 and the d _i value on the i path sampled from the actual altitude data is maximized. The path exists and the vertical flight path of Equation 7, i.e., the shape of Fig. 7, can be completed by adding the K value corresponding to the K ² value for the specific path to Equation 3 and offsetting it from Fig. 6. Do.

[Equation 6]

[Equation 7]

As shown in FIG. 7, according to the flight path according to Equation 7 thus completed, among all paths (i; 0 to n) corresponding to the set of maximum and minimum values d ₀ to d _n , an error with the function is By adding the error value (k) for the most specific path, for all paths (i; 0 to n), providing a safe vertical flight path without any risk of collision with the terrain in any given flight path section. can do.

On the other hand, when performing the offset by the calculation of the error value in the vertical path shift step (S130) as described above it can be calculated using the error using only the maximum value of the set of the maximum minimum value (d ₀ ~ d _n ), which is generally the minimum value The point of is focused on the point that the value of the altitude data is smaller than the point of the maximum value. The error about the minimum value is not used in the calculation, so the reliability thereof may be degraded, but the operation process may be reduced and the calculation time may be saved.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

1 is a flowchart of a method for automatically generating a vertical flight path according to an embodiment of the present invention;

2 is a system configuration diagram for the method of FIG. 1;

3 is a view showing an embodiment of a horizontal path of an aircraft on a specific terrain;

4 is a view showing elevation data regarding a horizontal path of FIG. 3;

FIG. 5 is a diagram illustrating an interval sampling step of FIG. 1 using FIG. 4;

FIG. 6 is a view illustrating an initial vertical path calculating step of FIG. 1 using FIG. 5;

FIG. 7 is a diagram illustrating a vertical path movement step of FIG. 1 using FIG. 6.

<Explanation of symbols for the main parts of the drawings>

Terrain data dB 120

Claims (5)

An altitude data section sampling step of sampling a maximum value and a minimum value of the altitude data for each path of the horizontal path using a real altitude data of a terrain corresponding to a horizontal path of an aircraft to obtain a set of maximum minimum values; An initial vertical path calculation step of generating an initial vertical path by calculating an approximated function of the vertical path of the aircraft using the set of maximum and minimum values of the altitude data; And The vertical flight path automatic generation method comprising a vertical path shifting step of moving the initial vertical path upward by adding an error value about a specific path in which an error between the set of the maximum minimum value of the altitude data and the function is maximized to the function. . The method of claim 1, wherein the initial vertical path calculation step comprises: Determining a coefficient value constituting the function, and optimizing the initial vertical path by determining the coefficient value at which a result value obtained by summing the error between the set of the maximum minimum value and the function for each path is minimized. How to automatically generate vertical flight paths. The method of claim 1 or 2, wherein the function is Vertical flight path automatic generation method characterized in that it is a function of an even difference. The method of claim 3, wherein the function is A vertical flight path automatic generation method characterized in that it is a quadratic function or a quadratic function. The method of claim 1, wherein the vertical path movement step, The vertical flight path automatic generation method, characterized in that using only the maximum value of the set of the maximum minimum value.

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