WO2015097948A1 - 形状判定装置、形状判定プログラム、形状判定方法 - Google Patents
形状判定装置、形状判定プログラム、形状判定方法 Download PDFInfo
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- WO2015097948A1 WO2015097948A1 PCT/JP2014/004783 JP2014004783W WO2015097948A1 WO 2015097948 A1 WO2015097948 A1 WO 2015097948A1 JP 2014004783 W JP2014004783 W JP 2014004783W WO 2015097948 A1 WO2015097948 A1 WO 2015097948A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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]
- G08G5/0095—Aspects of air-traffic control not provided for in the other subgroups of this main group
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/10—Map spot or coordinate position indicators; Map reading aids
Definitions
- the present invention relates to a shape determination device, a shape determination program, and a shape determination method.
- an air route such as an aircraft can be expressed using a line segment connecting two points on a true sphere.
- the aircraft ensures safety by flying in the airspace permitted to operate among the airspaces set in the sky.
- adjacent airspaces overlap, a plurality of aircrafts enter the overlapped area, which is a problem from the viewpoint of ensuring safety. Therefore, in the above navigation system, it is necessary to accurately detect airway intersections and airspace overlap in order to ensure aircraft safety.
- Patent Document 1 a positional relationship determination device that performs internal / external determination of an arbitrary point with respect to a polygon on the earth (corresponding to an airspace)
- This positional relationship determination device calculates the number of intersections between a line passing through a target point to be determined and a side of the polygon, and determines whether the target point exists inside or outside the polygon according to the number of intersections. For example, this positional relationship determination apparatus determines that the target point exists inside if the number of intersections is odd, and the target point exists outside if the number of intersections is even.
- Patent Document 2 an apparatus for performing inside / outside determination using an image obtained by projecting a three-dimensional closed curve on the earth (corresponding to an airspace) onto a two-dimensional plane.
- This device projects a closed curve on the earth onto a two-dimensional equatorial plane with reference to a pole (north or south pole).
- Patent Document 2 projects a closed curve on the earth onto the equator plane. Therefore, in the first place, the device cannot make the inside / outside determination for the airspace set in the northern hemisphere and the southern hemisphere across the equator.
- the present invention has been made in view of the above circumstances, and an object of the present invention is to accurately and accurately determine a positional relationship in an area of any shape and size on the earth. .
- the shape determination apparatus includes a first reference circle to which the input first line segment on the input true sphere belongs and an input second line segment on the true sphere.
- Candidate point detecting means for detecting a point at which the second reference circle intersects as a candidate point, and an intersection for determining whether the candidate point is an intersection of the first line segment and the second line segment Detecting means.
- the shape determination program includes a first reference circle to which the input first line segment on the input true sphere belongs and an input second line segment on the true sphere.
- the first reference circle to which the input first line segment on the input true sphere belongs and the input second line segment on the true sphere belong A point where the second reference circle intersects is detected as a candidate point, and it is determined whether or not the candidate point is an intersection of the first line segment and the second line segment.
- FIG. 1 is a block diagram schematically showing a configuration of a geographic information management apparatus 100 according to a first embodiment. It is a figure which shows the information contained in the basic shape database D1. It is a figure which shows the information contained in the airspace information database D2. 3 is a block diagram schematically showing a basic configuration of a calculation unit 3.
- FIG. 5 is a flowchart showing an intersection detection operation of the geographic information management apparatus 100. It is a diagram showing the relationship between the point P 1 and point P 2 on the sphericity CB. Orientation from the point P 1 on the sphericity CB to the point P 2 is a diagram showing a case where the eastward.
- Orientation from the point P 1 on the sphericity CB to the point P 2 is a diagram showing a case where the westward. It is a figure which shows the circle CC1 on the true sphere CB. It is a figure which shows circular arc CC2 on the true sphere CB where the direction from a start point to an end point is counterclockwise. It is a figure which shows circular arc CC3 on the true sphere CB clockwise from the start point to the end point. It is a figure which shows the line segment L on the true sphere CB. It shows two line segments L 1 and L 2 on the sphericity CB.
- a reference circle C 1 and the reference circle C 2 is a diagram showing a case where (for mating) having two points of intersection.
- a reference circle C 1 and the reference circle C 2 is a diagram showing a case where the relation of separation. It is a diagram showing a case where the reference circle C 1 and the reference circle C 2 is in the relation of inclusion.
- a reference circle C 1 and the reference circle C 2 is a diagram showing a case where the relationship of the circumscribed.
- a reference circle C 1 and the reference circle C 2 is a diagram showing a case where the relationship of inscribed. Is a diagram showing a case where the reference circle C 1 and the reference circle C 2 coincide. It is a figure which shows the case where a reference
- Central angle [psi is a diagram illustrating a line segment L 1 of the case [pi or more and less than 2 ⁇ ( ⁇ ⁇ ⁇ ⁇ 2 ⁇ ) . If the central angle [psi is smaller than [pi is a diagram illustrating a line segment L 1 of (0 ⁇ ⁇ ).
- 5 is a flowchart showing an intersection detection operation of a line segment in the geographic information management apparatus 100. It is a flowchart which shows a candidate point registration process. It is a flowchart which shows a range verification process. It is a block diagram which shows typically the structure of the geographic information management apparatus 200 concerning Embodiment 2. FIG. It is a figure which shows the example of the airspace provided on the true sphere CB.
- FIG. It is a figure which shows the case where the airspace A and the airspace B have two intersections. It is a figure which shows the case where the airspace A includes the airspace B.
- FIG. It is a figure which shows the case where the airspace B is inscribed in the airspace A. It is a figure which shows the case where the airspace A and the airspace B are circumscribed.
- FIG. It is a figure which shows the example in which two line segments which exist on the great circle with respect to the true sphere CB have an intersection. It is a figure which shows the case where the line segment LA and line segment LB of FIG. 38 are seen from the sky of the intersection Pc.
- Expression (55) it is a diagram illustrating a positional relationship between a reference circle to which the section Ain belongs and a reference circle to which the section Bout belongs when viewed from directly above the intersection Pc. It is a figure which shows the positional relationship of the reference
- Expression (56) it is a diagram illustrating a positional relationship between a reference circle to which the section Ain belongs and a reference circle to which the section Bout belongs when viewed from directly above the intersection Pc.
- Expression (56) it is a diagram illustrating a positional relationship between a reference circle to which the section Ain belongs and a reference circle to which the section Bout belongs when the intersection Pc is the zenith.
- Expression (57) it is a diagram illustrating a positional relationship between a reference circle to which the section Ain belongs and a reference circle to which the section Bout belongs when viewed from directly above the intersection Pc.
- Expression (57) it is a diagram illustrating a positional relationship between a reference circle to which the section Ain belongs and a reference circle to which the section Bout belongs when the intersection Pc is the zenith. It is a flowchart which shows the procedure of step S25.
- FIG. 10 is a diagram illustrating an example of points set in the separation determination performed in Embodiment 2.
- FIG. 10 is a diagram illustrating an example of points set in the separation determination performed in Embodiment 2.
- FIG. 10 is a diagram illustrating an example of points set in the separation determination performed in Embodiment 2.
- FIG. 10 is a diagram illustrating an example of points set in the separation determination performed in Embodiment 2.
- FIG. 10 is a diagram illustrating an example of points set in the separation determination performed in Embodiment 2.
- FIG. 10 is a diagram illustrating an example of points set in the separation determination performed in Embodiment 2.
- FIG. 10 is a diagram illustrating an example of points set in the separation determination performed in Embodiment 2.
- FIG. 10 is a diagram illustrating an example of points set in the separation determination performed in Embodiment 2.
- FIG. 10 is a diagram illustrating an example of points set in the separation determination performed in Embodiment 2.
- FIG. 10 is a diagram illustrating an example
- FIG. 10 is a diagram illustrating an example of points set in the separation determination performed in Embodiment 2.
- FIG. 10 is a diagram illustrating an example of points set in the separation determination performed in Embodiment 2.
- FIG. 10 is a flowchart illustrating a procedure of position determination according to a third embodiment.
- 3 is a block diagram schematically showing a configuration of a geographic information management device 400.
- FIG. It is a figure which shows the information contained in the conversion source information database D4.
- 5 is a flowchart schematically showing the operation of the geographic information management apparatus 400. It is a figure which shows the relationship between the spheroid EB in the WGS84 coordinate system, and the observation object OBJ.
- Reference latitude theta 0 is a graph showing the latitude dependence of error rate Err ⁇ error rate Err ⁇ and meridians interval parallels interval if it is equatorial (latitude 0 degrees).
- Reference latitude theta 0 is a graph showing the latitude dependence of error rate Err ⁇ error rate Err ⁇ and meridians interval parallels interval if it is 18 degrees north latitude.
- Reference latitude theta 0 is a graph showing the latitude dependence of error rate Err ⁇ error rate Err ⁇ and meridians interval parallels interval if it is 36 degrees north latitude.
- Reference latitude theta 0 is a graph showing the latitude dependence of error rate Err ⁇ error rate Err ⁇ and meridians interval parallels interval if it is 54 degrees north latitude.
- Reference latitude theta 0 is a graph showing the latitude dependence of error rate Err ⁇ error rate Err ⁇ and meridians interval parallels interval if a north pole (90 degrees north latitude).
- Reference latitude theta 0 is a graph showing the latitude dependence of error rate Err ⁇ error rate Err ⁇ and meridians interval parallels interval if it is 18 degrees north latitude. It is a figure which shows the range where the error rate Err ⁇ of meridian intervals in the vicinity of Japan with respect to 35 degrees north latitude and 135 degrees east longitude is less than 0.01% and less than 0.04%.
- FIG. 1 is a block diagram schematically illustrating a configuration of the geographic information management apparatus 100 according to the first embodiment.
- the geographic information management device 100 includes an input device 1, a storage device 2, a calculation unit 3, a display device 4, and a bus 5.
- the geographic information management apparatus 100 is configured using hardware resources such as a computer system.
- the geographic information management device 100 expresses a position on the earth as a position on a true sphere, and determines whether or not there is an intersection of line segments indicating air routes on the true sphere or overlap of airspaces. .
- the input device 1 is used when inputting data to the geographic information management device 100 from the outside.
- various data input means such as a keyboard, a mouse, a DVD (Digital Versatile Disc) drive, and a network connection can be applied.
- the storage device 2 can store a database in which data provided via the input device 1 is stored, and a program used for processing in the calculation unit 3.
- various storage devices such as a hard disk drive and a flash memory can be applied.
- the storage device 2 stores a basic shape database D1 and an airspace information database D2.
- the basic shape database D1 is unique information given in advance.
- FIG. 2 is a diagram showing information included in the basic shape database D1.
- the basic shape database D1 includes, for example, the radius R of the true sphere CB (Earth).
- the airspace information database D2 includes coordinate information indicating line segments and airspaces on the true sphere CB.
- FIG. 3 is a diagram showing information included in the airspace information database D2.
- the airspace information database D2 includes the coordinates P (X, Y, Z) of the aircraft in the true sphere CB, line segments (airways) connecting two points, airspace names, airspace shapes (circles, rectangles, etc.) and ranges. Contains information to indicate.
- the airspace information database D2 includes, for example, P (X, Y, Z), the three-dimensional orthogonal coordinates of the start point of the line segment, the three-dimensional orthogonal coordinates of the end point of the line segment, the airspace shape, and a line segment (large circle, Latitude, meridian), circle and arc information representing the range of the airspace, three-dimensional orthogonal coordinates and radius of the center for representing the circle.
- the storage device 2 can store a program PRG1 that defines calculation processing for detecting intersections of line segments, which will be described later.
- the calculation unit 3 can read a program and a database from the storage device 2 and perform necessary calculation processing.
- the calculation unit 3 is configured by, for example, a logic circuit or a CPU (Central Processing Unit).
- the calculation unit 3 is configured as a shape determination device that determines the shape of a line segment or an airspace on the earth expressed by a true sphere.
- FIG. 4 is a block diagram schematically showing the basic configuration of the calculation unit 3.
- the calculation unit 3 includes a candidate point detection unit 31 and an intersection detection unit 32. Details of the candidate point detection unit 31 and the intersection detection unit 32 will be described later.
- the geographic information management device 100 may be configured only by the calculation unit 3, and the storage device 2 and the like may be outside the device and connected via a cable, a communication path, or the like.
- the display device 4 displays the coordinates of the aircraft, operation information, and the like so as to be visible according to the calculation result in the calculation unit 3. Further, the display device 4 can also display the result of intersection detection, which will be described later, output from the calculation unit 3. As the display device 4, various display devices such as a liquid crystal monitor can be applied.
- FIG. 5 is a flowchart showing the intersection detection operation of the geographic information management apparatus 100.
- the calculation unit 3 reads the program PRG1.
- the program PRG1 is a program for determining whether two line segments on the true sphere CB have intersections using the airspace information database D2. Thereby, the calculation unit 3 functions as a shape determination device having the candidate point detection unit 31 and the intersection detection unit 32.
- the program PRG1 is read from the storage device 2, for example.
- the calculation unit 3 includes the CPU, and the program PRG1 is read.
- the calculation unit 3 can be configured as a shape determination device that includes a physical entity, for example, a candidate point detection unit 31 and an intersection detection unit 32 configured by logic circuits.
- the calculation unit 3 reads the airspace information database D ⁇ b> 2 from the storage device 2.
- the calculation unit 3 substitutes the information included in the airspace information database D2 into the mathematical formula defined by the program PRG1, and performs intersection detection.
- the calculation unit 3 outputs a detection result of whether or not the two line segments given by D2 have intersections to the outside. For example, the calculation unit 3 outputs the intersection detection result to the storage device 2.
- the position vector representing the point on the true sphere CB is a normalized position vector divided by the radius R of the true sphere CB included in the basic shape database D1.
- the standardized vector is simply referred to as a vector.
- the airspace can be defined as a region surrounded by one or more non-intersecting line segments.
- the region is defined as a line segment that circulates counterclockwise, that is, the left side in the traveling direction is defined as the inside of the region and the right side is defined as the outside of the region.
- a line segment on the true sphere CB is an arc.
- An arc can be represented as a section sandwiched between a start point and an end point on a circle that is a closed curve.
- the north pole is displayed as N
- the south pole is displayed as S
- the equator is displayed as EQ.
- the position is a three-dimensional orthogonal coordinate (hereinafter referred to as the Z-axis as the axis passing through the South Pole and North Pole in the North Pole direction), and the X-axis and Y-axis as the two orthogonal axes on the great circle including the equator. Simply referred to as three-dimensional coordinates). It described shortest path between the point P1 and the point P 2 on the shortest path sphericity CB between two points on a sphere (the earth surface).
- Figure 6 is a graph showing the relationship between the point P 1 and point P 2 of the perfect sphere CB. Assuming that a point on the shortest path connecting the point P 1 and the point P 2 on the true sphere CB is P, the position vector P indicating the point P satisfies each vector equation shown in the following equation (1).
- Va is a unit normal vector to the plane PL1 which belongs segment indicating the shortest path between the point P 1 and point P 2.
- s a is the cosine of the angle formed by the unit normal vector Va and the position vector of the point P, and is 0 in this example.
- a latitude line connecting two points of the same latitude A latitude line connecting the points P 1 and P 2 of the same latitude on the true sphere CB (on the ground surface) will be described.
- a latitude line on the true sphere CB (on the ground surface) can be understood as a travel line between two points at the same latitude on the true sphere CB.
- Figure 7 is a diagram showing a case azimuth from the point P 1 of the perfect sphere CB to the point P 2 is eastward. If the point on the latitude line where the points P 1 and P 2 on the true sphere CB exist is P, the position vector of the point P satisfies each vector equation shown in the equation (2).
- Vb is a unit normal vector with respect to the plane PL 2 to which the latitude line where the points P 1 and P 2 exist belongs.
- the pole N is the north pole of the true sphere CB. Since the plane PL 2 is parallel to the latitude line, the position vector of the unit normal vector V b and poles N coincide.
- s b is the sine of the angle ⁇ formed by the position vectors of the points P 1 and P 2 and the equator plane, and is expressed by the following equation (3).
- Figure 8 is a diagram showing a case orientation of the point P 2 is westward from the point P 1 of the perfect sphere CB.
- V c is the unit normal vector to the plane PL3 which belongs parallels to the point P 1 and point P 2 is present.
- the pole S (the south pole of the earth) of the true sphere CB is defined.
- a position vector indicating the pole S is expressed by the following equation (4). Plane PL3 is because it is parallel to the latitude line, a position vector representing the unit normal vector V c and pole S coincide.
- s c is equal to the sine of the angle ⁇ formed by the position vectors of the points P 1 and P 2 and the equator plane, and the sign is eastward from the point P 1 (start point) to the point P 2 (end point) This is the reverse of the case (FIG. 7) and is expressed by the following equation (5).
- FIG. 9 is a diagram showing a circle CC1 on the true sphere CB.
- Circle CC1 on sphericity CB can be a distance from a point P 0 is understood as a set of points is r.
- Position vector of the point P on the circumference of the circle CC1 satisfy each vector equation of the following equation using the position vector of the point P 0 (6).
- R represents the radius of the true sphere CB.
- V d is the unit normal vector of a plane circle CC1 belongs coincides with the position vector of the point P 0.
- s d is the cosine of the angle formed by the point P 0 and the point P on the true sphere CB, and is expressed by the following equation (7).
- An arc connecting two points of the true sphere An arc on the true sphere CB will be described.
- An arc on the true sphere CB can be understood as a set of points whose distance is r from the point P 0 on the true sphere CB.
- FIG. 10 is a diagram showing an arc CC2 on the true sphere CB whose counterclockwise direction is from the start point to the end point.
- R represents the radius of the true sphere CB.
- V e is the unit normal vector of a plane circular arc CC2 belongs coincides with the position vector of the point P 0.
- s e is the cosine of the angle formed by the point P 0 and the point P on the true sphere, and is represented by the following equation (9).
- FIG. 11 is a diagram showing an arc CC3 on a true sphere CB whose direction from the start point to the end point is clockwise.
- the position vector of the point P on the arc CC3 satisfies each vector equation of the following equation (10).
- R represents the radius of the true sphere CB.
- Ve is the unit normal vector of a plane circular arc CC3 belongs, is the position vector in the opposite direction of the point P 0.
- the normal vector is opposite to the case of FIG. 10 so that the arc can be treated as a counterclockwise rotation around the normal vector. That is, the direction in which the right screw advances when moving from the start point to the end point on the arc CC3 on the plane is set as the direction of the normal vector of the plane.
- s e is equal to the cosine of the angle formed by the point P 0 and an arbitrary point P on the arc on the true sphere CB, has a negative sign, and is expressed by the following equation (11).
- a circle including a part of an arc that is a line segment on the true sphere CB is referred to as a reference circle, and in this case, the arc is referred to as belonging to the reference circle.
- FIG. 12 is a diagram showing a line segment L on the true sphere CB.
- C is a reference circle to which a line segment L that is an arc on the true sphere CB belongs.
- P be the point on the circumference of the reference circle C.
- a path from the start point PS to the end point PE in the counterclockwise direction on the circumference of the reference circle when the reference circle is viewed from above the true sphere CB is defined as a line segment L belonging to the reference circle C.
- the position vector of the point P on the reference circle C satisfies the following expression (12).
- s is a parameter that indirectly indicates the radius (curvature radius) of the reference circle C.
- V is a unit normal vector with respect to the plane to which the reference circle C belongs.
- FIG. 13 is a diagram showing two line segments L 1 and L 2 on the true sphere CB.
- the line segment C 1 reference circle L 1 belongs, a reference circle segment L 2 belongs and C 2.
- S 1 a parameter indicating a radius (radius of curvature) of the reference circle C 1
- the reference circle C 2 radius parameter indicating the (curvature radius) and s 2.
- the unit normal vector with respect to a plane reference circle C 1 belongs to V1.
- the unit normal vector with respect to a reference circle C 2 belongs plane and V 2.
- a point on the circumference of the reference circle C 1 P 1, a point on the circumference of the reference circle C 2 and P 2.
- the following equation (13) is obtained from the equation (12).
- Candidate point detecting unit 31 of the operation unit 3 detects the intersection of the reference circle C 1 and the reference circle C 2 (candidate points). In this detection, the candidate point detection unit 31 detects an intersection using a discriminant D described below. Hereinafter, derivation of the discriminant D will be described.
- the position vector of the intersection point Pc can be defined by the following equation (14).
- ⁇ , ⁇ , and ⁇ are real numbers described later.
- equation (17) is materialized in the intersection Pc.
- D shown in Formula (19) is a discriminant for the presence or absence of an intersection, and is expressed by the following Formula (20).
- Equation (19) includes the square root of discriminant D. Therefore, the solution of the equation (14) representing the intersection point Pc needs to be classified according to the value of the discriminant D.
- Equation (21) the position vectors at the intersections Pc 1 and Pc 2 are expressed by Equation (21) below.
- FIG. 15 is a reference circle C 1 and the reference circle C 2 is a diagram showing a case where the relation of separation. In this case, as shown in FIG. 15, it is spatially separated from the reference circle C 1 and the reference circle C 2, no intersection.
- Figure 16 is a diagram showing a case where the reference circle C 1 and the reference circle C 2 is in the relation of inclusion. Segment in this case, as shown in FIG.
- a reference circle C1 and the reference circle C 2 is to be configured but share the space on true sphere CB, the lines and the reference circle C 2 which constitutes the reference circle C 1 Has no intersection.
- ⁇ is also 0.
- State where the reference circle C 1 and the reference circle C 2 is in contact can be divided into two.
- One is a reference circle C 1 and the reference circle C 2 is a case which circumscribes or inscribes the intersection Pc as a contact.
- the other is a case where the reference circle C 1 and the reference circle C 2 coincide.
- the reference circle C 1 and the reference circle C 2 are circumscribed or inscribed
- the discriminant D is 0 and the following equation (22) is satisfied, the reference circle C 1 and the reference circle C 2 are 1 Has two intersections.
- the position vector of the intersection point Pc 0 between the reference circle C 1 and the reference circle C 2 is expressed by the following equation (23) by substituting the equations (16) and (19) into the equation (14). Is done.
- the reference circle C 1 and the reference circle C 2 is a diagram showing a case where the relationship of the circumscribed.
- the reference circle C 1 and the reference circle C 2 is circumscribed by the intersection Pc 0.
- Figure 18 is a reference circle C 1 and the reference circle C 2 is a diagram showing a case where the relationship of inscribed.
- the reference circle C 1 is inscribed with the reference circle C 2 at the intersection Pc 0.
- the discriminant D is 0, and, if that satisfies the following equation (24), coincides with the reference circle C 1 and the reference circle C 2 .
- Figure 19 is a diagram showing a case where the reference circle C 1 and the reference circle C 2 coincide.
- the reference circle C 2 is a reference circle C 1 and the same circle.
- the start point and end point of each of the two line segments are taken as intersections.
- FIG. 20 is a diagram illustrating a case where the reference circles match and two line segments are separated.
- the starting point PS1 of the line segment L 1 the end point PE1 of the line segment L 1
- the starting point of the line segment L 2 PS2 4-point of the end point PE2 of the line segment L 2 is the intersection Pc.
- FIG. 21 is a diagram illustrating a case where the reference circles match and the start point of one line segment overlaps the end point of the other line segment.
- the end point PE1 of the line segment L 1 is the intersection Pc.
- FIG. 22 is a diagram illustrating a case where the reference circles match and there is one overlapping portion between two line segments.
- the starting point PS1 of the line segment L 1 the end point of the line segment L1 PE1, the start point of the line segment L 2 PS2, 4-point of the end point PE2 of the line segment L 2 is the intersection Pc.
- FIG. 23 is a diagram illustrating a case where the reference circles match, the start point of one line segment overlaps the end point of the other line segment, and there is one overlapping portion in two line segments.
- the end point PE1 of the line segment L 1 is the intersection P c.
- FIG. 24 is a diagram illustrating a case where the reference circles match and there are two overlapping portions between two line segments.
- the starting point PS1 of the line segment L 1 the end point PE1 of the line segment L 1
- the starting point of the line segment L 2 PS2 4-point of the end point PE2 of the line segment L 2 is the intersection Pc.
- the intersection of the reference circle C 1 and the reference circle C 2 is not necessarily an intersection between the line segment L 1 and the line segment L 2. Therefore, in order to distinguish the intersection of the reference circle C 1 and the reference circle C 2 and the intersection of the line segment L 1 and the line segment L 2 , the intersection of the reference circle C 1 and the reference circle C 2 detected above. Are referred to as candidate points.
- intersection point detection unit 32, the line segment L 1 on the reference circle C 1 is described a method of determining whether to include a candidate point Pc of the formula (14). Hits the determination, intersection point detection unit 32, the central angle of the line segment L 1 [psi, performs case analysis.
- FIG. 26 is a diagram illustrating a line segment L 1 when the central angle [psi is less than [pi or more and 2 ⁇ ( ⁇ ⁇ ⁇ ⁇ 2 ⁇ ) .
- the line segment L 1 becomes a semi-circular arc or major arc, satisfies the following equation (25).
- PS, PE is a start point and an end point of L 1, for example, FIG. 26 shows the same points as PS1 and PE1 in Figure 27.
- FIG. 27 is a diagram illustrating a line segment L 1 when the central angle [psi is less than ⁇ (0 ⁇ ⁇ ) .
- the arc is a subarc and satisfies the following formula (28).
- intersection point detection unit 32, the line segment L 1 and the line segment L 2 intersect at two points (the case of mating), meet at a point, or, it can be determined that they match.
- FIG. 28 is a flowchart showing the intersection detection operation of the line segment in the geographic information management apparatus 100.
- Step SS1 The candidate point detection unit 31 calculates the discriminant D.
- Step SS2 The candidate point detection unit 31 determines whether or not the discriminant D is smaller than zero. Thereby, the candidate point detection part 31 can determine whether a candidate point exists. If the discriminant D is smaller than 0, there is no candidate point. When the discriminant D is 0 or more, there is at least one candidate point.
- Step SS3 When the discriminant D is 0 or more, the candidate point detection unit 31 determines whether the discriminant D is 0.
- Step SS4 If the discriminant D is greater than 0, intersection point detection unit 32 calculates the candidate point Pc 1.
- Step SS5 Intersection point detection unit 32 the candidate point Pc 1, performs the intersection determination process. The intersection determination process will be described later.
- Step SS6 Intersection point detection unit 32 calculates the candidate point Pc 2.
- Step SS7 Intersection point detection unit 32 performs the intersection determination process for candidate points Pc 2. The intersection determination process will be described later.
- Step SS8 When the discriminant D is 0, the candidate point detection unit 31 determines whether the equation (29) is satisfied.
- Step SS9 When satisfying the expression (29), intersection point detection unit 32 calculates the candidate point Pc 0.
- Step SS10 Intersection point detection unit 32 performs the intersection determination process for candidate points Pc 0. The intersection determination process will be described later.
- Step SS11 If not satisfy Expression (29), intersection point detection unit 32, the starting point PS1 of the line segment L 1, performs the intersection determination process.
- Step SS12 Intersection point detection unit 32, the end point PE1 of the intersection line L 1, performs the intersection determination process.
- Step SS13 Intersection point detection unit 32, the start point PS2 intersection line L 2, performs the intersection determination process.
- Step SS14 Intersection point detection unit 32, the end point PE2 intersection line L 2, performs the intersection determination process.
- FIG. 29 is a flowchart showing the intersection determination process.
- Step SR1 The intersection detection unit 32 sets the candidate point calculated in the immediately preceding step as the determination target point PJ.
- Step SR2 Intersection point detection unit 32, determination target point PJ is performed for determining the scope verification process or present on the line L 1. Details of the range verification process will be described later. If the decision object point PJ is not present on the line segment L 1, the process ends.
- Step SR3 If decision object point PJ is present on the line L 1, intersection point detection unit 32 performs range verification process to determine whether the determination target point PJ is present on the line L 2. Details of the range verification process will be described later. If the decision object point PJ is not present on the line L 2, the process ends.
- Step SR4 If decision object point PJ is present on the line L 1 and on L 2, intersection point detection unit 32 registers the decision object point PJ as candidate points.
- FIG. 30 is a flowchart showing the range verification process.
- the line segment to be verified is referred to as LJ.
- Step SA1 The intersection detection unit 32 determines whether the determination target line segment LJ is a circle.
- Step SA2 If the determination target line segment LJ is not a circle, the intersection detection unit 32 determines whether the line segment is a superior arc.
- Step SA3 When the determination target line segment LJ is a dominant arc, the intersection detection unit 32 determines whether at least one of Expression (26) and Expression (27) is satisfied. When at least one of Expression (26) and Expression (27) is satisfied, the determination target point PJ is on the determination target line segment LJ (YES determination).
- Step SA4 When the determination target line segment LJ is an inferior arc or a semicircular arc, the intersection detection unit 32 determines whether or not both Expression (26) and Expression (27) are satisfied. When both Expression (26) and Expression (27) are satisfied, the determination target point PJ is on the determination target line segment LJ (YES determination). When at least one of Expression (26) and Expression (27) is not satisfied, the determination target point PJ does not exist on the determination target line segment LJ (NO determination).
- the shape determination apparatus of the geographic information management apparatus 100 can reliably determine whether or not two line segments set on the true sphere have intersections.
- the geographic information management device 100 can reliably determine whether or not two air routes represented by arcs on a true sphere intersect, and whether or not line segments constituting the air space intersect. It is.
- the reason is that the candidate point detection unit 31 detects the intersection of the reference circles to which the two line segments belong, and the intersection detection unit 32 determines whether the detected intersections of the reference circles are included in the two line segments. It is because it determines.
- FIG. 31 is a block diagram schematically illustrating a configuration of the geographic information management apparatus 200 according to the second embodiment.
- the geographic information management device 200 has a configuration in which the computation unit 3 of the geographic information management device 100 according to the first embodiment is replaced with a computation unit 6.
- the calculation unit 6 has a configuration in which an overlap determination unit 33 is added to the calculation unit 3.
- the rest of the configuration of the geographic information management device 200 is the same as that of the geographic information management device 100, and thus the description thereof is omitted.
- FIG. 32 is a diagram showing an example of the airspace provided on the true sphere CB.
- FIG. 32 shows an example in which airspace A is surrounded by line segments LA1 to LA4 and airspace B is surrounded by line segments LB1 to LB4. Since FIG. 32 is merely an example, the number of line segments surrounding each of the airspace A and the airspace B can be one or a plurality other than four.
- FIG. 33 is a diagram illustrating a case where the airspace A and the airspace B have two intersections.
- FIG. 34 is a diagram illustrating a case where the airspace A includes the airspace B.
- FIG. 35 is a diagram illustrating a case where the airspace B is inscribed in the airspace A.
- airspace A and airspace B overlap.
- the reference numerals attached to the line segments are not shown in FIGS.
- FIG. 32 described above shows a case where the airspace A and the airspace B are separated.
- FIG. 36 is a diagram illustrating a case where the airspace A and the airspace B are circumscribed. In the example of FIGS. 32 and 36, the airspace A and the airspace B are set without overlapping.
- the geographic information management apparatus 200 determines whether the airspace A and the airspace B are separated or circumscribed, or overlap.
- FIG. 37 is a flowchart showing a procedure of air space duplication determination of the geographic information management apparatus 200.
- Step S21 As shown in FIG. 32, the airspace is set by being surrounded by one or more line segments that are arcs. In other words, when the airspace A and the airspace B overlap, one of the line segments surrounding the airspace A and one of the line segments surrounding the airspace B generally have an intersection except in the case of inclusion. Therefore, the overlap determination unit 33 first determines whether any of the line segments surrounding the airspace A and any of the line segments surrounding the airspace B have an intersection.
- This determination can be made by applying the intersection detection described in the first embodiment to the line segment surrounding the airspace A and the line segment surrounding the airspace B.
- Step S22 When any of the line segments surrounding the airspace A and any of the line segments surrounding the airspace B have an intersection, the airspace A and the airspace B are in a circumscribed, inscribed, or intersecting relationship at the intersection. Therefore, the overlap determination unit 33 first determines whether the airspace A and the airspace B are circumscribed, inscribed, or intersected at each intersection.
- the area is defined as the inside of the area on the left side and the outside of the area on the right side as viewed from the line segment that rotates counterclockwise. Accordingly, when determining whether each intersection is circumscribed, inscribed, or intersected, the overlap determining unit 33 determines whether the other boundary line is on the left or right side as viewed from the line segment that circulates at each intersection.
- a segment Ain also referred to as incoming line Ain, hereinafter the same
- a segment Aout also referred to as outgoing line Aout, hereinafter the same
- a segment Bin which surrounds airspace B
- the following description assumes that there are four Bout line segments.
- a portion from the start point A1 toward the intersection point Pc is defined as a section Ain.
- the starting point of the line segment LB passing through the intersection Pc and B 1, the end points and B 2.
- the portion extending from the intersection point Pc to the end point B 2 is a section Bout.
- the overlap determination unit 33 can determine whether the airspace B is on the left or right side when viewed from the airspace A based on the relative relationship between the four sections. That is, the overlap determination unit 33 determines whether the airspace B is on the left or right when viewed from the incoming line Ain and the outgoing line Aout of the airspace A.
- the duplication determination unit 33 first determines whether the incoming line Bin of the airspace B is on the left or right when viewed from the incoming line Ain of the airspace A.
- FIG. 38 is a diagram illustrating an example in which four line segments existing in the true sphere CB have intersections.
- the line segment LA indicates one of the line segments that delimit the airspace A.
- a line segment LB indicates one of the line segments that delimit the airspace B.
- the line segment LA and the line segment LB intersect at the intersection Pc.
- FIG. 39 is a diagram illustrating a case where the line segment LA and the line segment LB in FIG. 38 are viewed from above the intersection Pc.
- FIG. 40 is a diagram showing another example in which four line segments existing in the true sphere CB have intersections.
- the line segment LA indicates one of the line segments that delimit the airspace A.
- a line segment B indicates one of the line segments that delimit the airspace B.
- the line segment LA and the line segment LB intersect at the intersection Pc.
- the direction of the line segment LB is reversed compared to the example of FIG.
- FIG. 41 is a diagram illustrating a case where the line segment LA and the line segment LB in FIG. 40 are viewed from above the intersection Pc.
- FIG. 42 is a diagram illustrating an example in which a line segment existing on the small circle with respect to the true sphere CB intersects with a line segment existing on the small circle or the great circle with respect to the true sphere CB.
- FIG. 43 is a diagram illustrating a case where the line segment LA and the line segment LB in FIG. 42 are viewed from above the intersection Pc.
- the portion extending from the intersection point Pc to the end point B 2 is a section Bout.
- the normal vector of the section Ain is V Ain
- the normal vector of the section Aout is V Aout
- the normal vector of the section Bin is V Bin
- the normal vector of the section Bout is V Bout .
- the normal vector of a section means a normal vector of a reference circle to which the section belongs. 38 to 43 show the case where the normal vector V Ain and the normal vector V Aout are the same, and these are indicated as the normal vector V A. 38 to 43 show the case where the normal vector V Bin and the normal vector V Bout are the same, and these are indicated as the normal vector V B.
- the determination of the positional relationship between the section Bin and the airspace A will be described. First, consider the positional relationship between the section Bin and the section Ain. When the following expression (30) is satisfied, the section Bin is on the left side of the section Ain.
- the right side of the section” or “the left side of the section” means right or left when facing the section.
- the section Bin is on the right side of the section Ain.
- the section Bin is parallel to the section Ain, and the section Bin is on the left side of the section Ain.
- section Bin is on the right side of section Aout.
- the section Bin is parallel to the section Aout, and the section Bin is on the right side of the section Aout.
- FIG. 44 is a diagram illustrating the positional relationship between the reference circle to which the section Aout belongs and the reference circle to which the section Bin belongs when viewed from directly above the intersection Pc when Expression (40) is satisfied.
- FIG. 45 is a diagram showing the positional relationship between the reference circle to which the section Aout belongs and the reference circle to which the section Bin belongs when the intersection point Pc is the zenith when the expression (40) is satisfied.
- FIG. 46 is a diagram illustrating the positional relationship between the reference circle to which the section Aout belongs and the reference circle to which the section Bin belongs when viewed from directly above the intersection Pc when Expression (41) is satisfied.
- FIG. 47 is a diagram showing the positional relationship between the reference circle to which the section Aout belongs and the reference circle to which the section Bin belongs when the intersection point Pc is the zenith when the expression (41) is satisfied.
- FIG. 48 is a diagram illustrating the positional relationship between the reference circle to which the section Aout belongs and the reference circle to which the section Bin belongs when viewed from directly above the intersection Pc when Expression (42) is satisfied.
- FIG. 49 is a diagram illustrating a positional relationship between the reference circle to which the section Aout belongs and the reference circle to which the section Bin belongs when the intersection point Pc is the zenith when the formula (42) is satisfied.
- the region A is bent or goes straight to the left at the intersection Pc.
- the section Bin is on the right side when viewed from the section Ain or the section Aout, the section Bin is on the right side with respect to the airspace A. Otherwise, the section Bin is on the left side with respect to the airspace A.
- FIG. 50 is a diagram illustrating the positional relationship between the reference circle to which the section Ain belongs and the reference circle to which the section Bout belongs when viewed from directly above the intersection Pc when Expression (55) is satisfied.
- FIG. 51 is a diagram showing the positional relationship between the reference circle to which the section Ain belongs and the reference circle to which the section Bout belongs when the intersection Pc is the zenith when the expression (55) is satisfied.
- FIG. 52 is a diagram illustrating the positional relationship between the reference circle to which the section Ain belongs and the reference circle to which the section Bout belongs when viewed from directly above the intersection Pc when Expression (56) is satisfied.
- FIG. 53 is a diagram illustrating the positional relationship between the reference circle to which the section Ain belongs and the reference circle to which the section Bout belongs when the intersection (Pc) is the zenith when Expression (56) is satisfied.
- FIG. 54 is a diagram illustrating the positional relationship between the reference circle to which the section Ain belongs and the reference circle to which the section Bout belongs when viewed from directly above the intersection Pc when Expression (57) is satisfied.
- FIG. 55 is a diagram showing the positional relationship between the reference circle to which the section Ain belongs and the reference circle to which the section Bout belongs when the intersection point Pc is the zenith when the expression (57) is satisfied.
- the region A is bent or goes straight to the left at the intersection Pc.
- the section Bout is on the right side when viewed from the section Ain or the section Aout, the section Bout is on the right side with respect to the airspace A. Otherwise, the section Bout is on the left side with respect to the airspace A.
- the region A is bent to the right at the intersection Pc.
- the section Bout is on the right side when viewed from the section Ain and the section Aout, the section Bout is on the right side with respect to the airspace A. Otherwise, the section Bout is on the left side with respect to the airspace A.
- the overlap determination unit 33 can determine that the airspace B is on the right side of the airspace A at the intersection Pc, that is, circumscribes it.
- the duplication determination unit 33 can determine that the airspace B is outside the airspace A (Ste S24).
- the airspace B is inscribed or intersected with the airspace A, that is, the overlap determination unit 33 can determine that the airspace A and the airspace B overlap ( Step S23). Since the relative relationship between the airspace A and the airspace B is the same, a detailed description thereof will be omitted.
- the airspace A and the airspace B are circumscribed.
- the airspace B is inscribed in the airspace A.
- the airspace A is inside the airspace B and the airspace B is outside the airspace A.
- the duplication determination unit 33 determines that the airspace B is outside the airspace A.
- Step S23 When the airspace B is in contact with or inscribed at all or some of the intersections with the airspace A, the duplication determination unit 33 determines that the airspace B is not outside the airspace A (at least partially overlaps). .
- Step S25 A case will be described in which it is determined in step S21 that any of the line segments surrounding the airspace A and any of the line segments surrounding the airspace B have no intersection. In this case, the overlap determination unit 33 determines whether the airspace A and the airspace B are separated. At this time, all arbitrary points P on the boundary line constituting the airspace B are inside or outside the airspace A (the airspace B is not on the airline A boundary line because there is no intersection of the airspace A and the airspace B). .
- the overlap determination unit 33 selects an arbitrary point on the boundary line constituting the airspace B, and determines whether the airspace B exists inside or outside the airspace A by determining whether the airspace B exists inside or outside the airspace A. The relationship can be clarified.
- FIG. 56 is a flowchart showing the procedure of step S25.
- Step S251 The overlap determination unit 33 sets a point P12 on an arbitrary line segment among the line segments constituting the airspace B. Moreover, the same part sets a point P11 on an arbitrary line segment among the line segments constituting the airspace A.
- Step S252 The overlap determination unit 33 obtains a straight line LAB that passes through the points P11 and P12.
- Step S253 The overlap determination unit 33 obtains all intersections between the straight line LAB and the airspace A. At this time, at least the point P11 is detected as an intersection.
- Step S254 The overlap determining unit 33 selects an intersection PA between the airline A and the straight line LAB closest to the point P12 from the intersections between the airspace A and the straight line LAB. Specifically, the same part selects the intersection having the largest inner product with the position vector of the point P11.
- Step S255 The overlap determination unit 33 obtains an outgoing line vector VPA that exits from the intersection PA and passes through the point P12.
- 57 to 65 are diagrams illustrating examples of points set in the inside / outside determination performed in the second embodiment.
- the overlap determination unit 33 determines the positional relationship between the outgoing line vector VPA and the airspace A at the intersection PA. This can be similarly determined by replacing the section Bout with the outgoing line vector VPA in the above equations (45) to (57).
- Step S257 When the outgoing line vector VPA is determined to be outside the airspace A, the overlap determination unit 33 determines that the airspace B is outside the airspace A.
- Step S258 When it is determined in step S256 that the outgoing line vector VPA is inside the airspace A, the duplication determination unit 33 determines that the airspace B is inside the airspace A.
- the internal / external determination with respect to the airspace B of the airspace A can also be determined by the same method.
- the airspace A is included in the airspace B.
- the airspace B When the airspace B is inside the airspace A and the airspace A is outside the airspace B, the airspace B is included in the airspace A.
- Step S26 After the airspace duplication determination is completed, the duplication determination unit 33 outputs the determination result to the outside. For example, the duplication determination unit 33 outputs the intersection detection result to the storage device 2.
- the geographic information management apparatus 200 can reliably determine whether the airspace A and the airspace B overlap. This makes it possible to reliably determine whether or not two airspaces surrounded by a circular arc on a true sphere overlap.
- the reason is that the overlap determination unit 33 detects the intersections of the line segments surrounding the area and determines the positional relationship between the line segments and the areas at each intersection.
- Embodiment 3 A geographic information management apparatus according to the third embodiment will be described.
- the geographic information management apparatus according to the present embodiment has the same configuration as that of the geographic information management apparatus 200 according to the second embodiment.
- the duplication determination unit 33 of the calculation unit 6 determines the location of the spot in addition to the airspace duplication determination.
- the position determination of the point will be described.
- the overlap determination unit 33 determines the positional relationship between an arbitrary point Pa and a certain airspace.
- FIG. 66 is a flowchart illustrating a procedure of position determination according to the third embodiment.
- Step S301 the overlap determination unit 33 determines whether the point Pa satisfies Expression (12), which is an equation of a line segment.
- Expression (12) is an equation of a line segment.
- the duplication determination unit 33 determines whether the point Pa is based on the determination result obtained using the equations (25) to (28). Is present on the line segment constituting the airspace A.
- Step S302 The overlap determination unit 33 sets a point P21 on an arbitrary line segment among the line segments constituting the airspace A.
- Step S303 The overlap determination unit 33 obtains a straight line LPA passing through the points Pa and P21.
- Step S304 The overlap determination unit 33 obtains all intersections between the straight line LPA and the airspace A. At this time, at least one point P21 is detected as an intersection.
- Step S305 The overlap determination unit 33 selects an intersection point P22 closest to the point Pa from the intersection points of the airspace A and the straight line LPA. Specifically, the same part selects the intersection having the largest inner product with the position vector of the point Pa.
- Step S306 An outgoing line vector VPC that goes out from the point P22 and passes through the point Pa is obtained.
- Step S307 Next, the overlap determination unit 33 determines the positional relationship between the outgoing line vector VPC and the airspace A.
- Step S308 When it is determined that the outgoing line vector VPC is outside the airspace A, the overlap determination unit 33 determines that the point Pa is outside the airspace A.
- Step S309 When the outgoing line vector VPC is determined to be inside the airspace A, the duplication determination unit 33 determines that the point Pa is inside the airspace A.
- Step S310 The overlap determination unit 33 outputs the position determination result of the point to the outside. For example, the duplication determination unit 33 outputs the position determination result of the point to the storage device 2.
- this position determination may be performed by a part other than the duplication determination unit 33 of the calculation unit 6.
- Embodiment 4 A geographic information management apparatus 400 according to the fourth embodiment will be described.
- the geographic information management apparatus 400 is configured using hardware resources such as a computer system.
- the geographic information management device 400 performs a coordinate conversion process for projecting coordinates on the spheroid to coordinates on a true sphere. Then, by performing arithmetic processing using the projected coordinates on the true sphere, the geographic information management device 400 simplifies and speeds up the processing, and controls the moving object moving on the earth with small hardware resources. Realize navigation calculation. That is, the geographic information management device 400 is an example of a coordinate conversion device configured to be able to execute coordinate conversion processing.
- FIG. 67 is a block diagram schematically showing the configuration of the geographic information management apparatus 400.
- the geographic information management device 400 has a configuration in which the storage device 2 and the calculation unit 3 of the geographic information management device 100 according to the first embodiment are replaced with the storage device 7 and the calculation unit 8, respectively.
- the storage device 7 stores a parameter information database D3 and a conversion source information database D4 in addition to the basic shape database D1 and the airspace information database D2.
- the storage device 7 also stores a coordinate conversion program PRG4 that prescribes a coordinate conversion calculation process.
- the calculation unit 8 has a configuration in which a coordinate conversion unit 34 is added to the calculation unit 3.
- the rest of the configuration of the geographic information management apparatus 400 is the same as that of the geographic information management apparatus 100, and thus description thereof is omitted.
- the parameter information database D3 includes parameters for converting the coordinate information in the spheroid of the airspace information database D2 into coordinate information on a true sphere. That is, the coordinates on the spheroid are projected onto a true sphere.
- the converted coordinates on the true sphere are referred to as projected coordinates. Details of the parameter information database D3 will be described later.
- the conversion source information database D4 is information input through the input device 1, for example, and includes coordinates on the spheroid of the aircraft to be monitored and coordinate information on the airspace in the spheroid.
- FIG. 68 is a diagram showing information included in the conversion source information database D4.
- the conversion source information database D4 includes coordinates p (x, y, z) on the spheroid of the aircraft, line segments (airways) connecting two points, airspace names, airspace shapes (circles, rectangles, etc.) and ranges. Contains information indicating.
- the conversion source information database D4 includes, for example, p (X, Y, Z), line segment start latitude / longitude, line segment end latitude / longitude, airspace shape, and airline range (great circle, latitude, meridian) ), Information on circles and arcs representing the range of the airspace, central latitude / longitude and radius for representing the circle.
- FIG. 69 is a flowchart schematically showing the operation of the geographic information management apparatus 400.
- the coordinate conversion unit 34 of the calculation unit 3 reads the coordinate conversion program PRG4.
- the coordinate conversion program PRG4 is a program for converting coordinates on the spheroid into projected coordinates on the true sphere using the basic shape database D1, the parameter information database D3, and the conversion source information database D4.
- the coordinate conversion program PRG4 is read from the storage device 7, for example.
- Step S42 Next, the coordinate conversion unit 34 reads the basic shape database D1 and the parameter information database D3 from the storage device 7.
- Step S43 The coordinate conversion unit 34 substitutes information contained in the basic shape database D1 and the parameter information database D3 for mathematical formulas defined by the coordinate transformation program PRG4 to generate mathematical formulas for coordinate transformation.
- Step S44 The coordinate conversion unit 34 reads the conversion source information database D4 from the storage device 7, substitutes the coordinate information included in the conversion source information database D4 for the generated mathematical expression, and converts the coordinates in the spheroid to the projected coordinates in the true sphere. . That is, the coordinate conversion unit 34 converts the conversion source information database D4 into the airspace information database D2. Details of the coordinate conversion in step S44 will be described later.
- Step S45 The coordinate conversion unit 34 outputs the projected coordinates in the true sphere included in the airspace information database D2 to the outside. For example, the coordinate conversion unit 34 outputs the airspace information database D ⁇ b> 2 to the storage device 7.
- the calculation unit 3 includes the CPU and reads the program PRG4.
- the calculation unit 3 can be configured as a device that includes a physical entity, for example, a coordinate conversion unit 34 formed of a logic circuit.
- FIG. 70 is a diagram showing the relationship between the spheroid EB and the observation object OBJ in the WGS84 coordinate system.
- a indicates the equator radius of the spheroid EB.
- a 6,378,137 m.
- h indicates the altitude of the observation object OBJ on the spheroid EB in the WGS84 coordinate system.
- ⁇ represents the latitude on the spheroid EB of the observation object OBJ in the WGS84 coordinate system.
- ⁇ indicates the longitude of the observation object OBJ on the spheroid EB in the WGS84 coordinate system.
- N indicates the radius of the spheroid EB at the current position of the observation object OBJ.
- the three-dimensional position of the observation object on the spheroid EB in the WGS84 coordinate system is expressed by the following equation (58).
- the basic shape database D1 includes the equator radius a, the reference latitude ⁇ o, the reference longitude ⁇ o, the eccentricity e, and the flatness f of the spheroid EB (Earth).
- the meridian interval is examined.
- the meridian interval is proportional to the cosine of the latitude, and at an altitude of 0 (ground surface), the maximum value is a at the equator and the minimum value is 0 at the north or south pole.
- the meridian interval D ⁇ on the sphere and on the ground surface on the spheroid EB in the WGS84 coordinate system is expressed by the following equation (60) from the equation (58).
- FIG. 71 is a graph showing the latitude-line interval ratio and the meridian interval ratio in the spheroid EB.
- the latitude interval ratio DL is a value obtained by dividing the latitude interval by the equator radius a.
- the meridian interval ratio DM is a value obtained by dividing the meridian interval by the equator radius a and the cosine cos ⁇ .
- the latitude interval ratio increases from the equator toward the North Pole.
- the meridian interval ratio increases from the equator toward the North Pole.
- FIG. 72 is a diagram showing the relationship between the true sphere CB and the observation object OBJ.
- R indicates the radius of the true sphere CB.
- h indicates the altitude of the observation object OBJ in the true sphere CB.
- ⁇ ( ⁇ ) is a function of the latitude ⁇ on the spheroid EB in the WGS84 coordinate system, and indicates the projected latitude on the true sphere CB.
- ⁇ ( ⁇ ) is a function of the longitude ⁇ on the spheroid EB in the WGS84 coordinate system, and indicates the projected longitude on the true sphere CB.
- the three-dimensional position (X, Y, Z) of the observation object OBJ on the true sphere CB is expressed by the following formula (61) using three-dimensional polar coordinates.
- the latitude interval ⁇ on the ground surface on the true sphere is expressed by the following equation (62) from the equation (61).
- the meridian interval ⁇ on the ground surface on the true sphere is expressed by the following formula (63) from the formula (61).
- the coordinate conversion unit 34 converts the coordinates on the spheroid EB in the above-described WGS84 coordinate system into projected coordinates projected onto the true sphere CB.
- conversion parameters for converting coordinates on the spheroid EB in the WGS84 coordinate system to projection coordinates on the true sphere CB will be described.
- a conversion parameter Pr for converting the equator radius a of the spheroid EB in the WGS84 coordinate system to the radius R of the true sphere CB is calculated.
- the following formula (69) is obtained by formula (67) ⁇ formula (66) / formula (64).
- Expression (69) is equal to the first term on the left side of Expression (68).
- Expression (70) is equal to the second term on the left side of Expression (68).
- Equation (69) and Equation (70) the equator radius a of the spheroid EB in the WGS84 coordinate system is expressed as a true sphere CB as shown in Equation (71) below.
- the conversion parameter Pr for converting to the radius R of the current can be calculated.
- ⁇ indicates an equivalent modification of the equation.
- the coordinate conversion unit 34 can convert the equator radius a of the spheroid EB to the equator radius R of a true sphere by calculating Pr ⁇ a.
- the projection longitude ⁇ is expressed by the following equation (77). That is, the coordinate conversion unit 34 can convert the longitude ⁇ in the spheroid EB into the projected longitude ⁇ on the true sphere based on the equations (76) and (77).
- step S44 The latitude coordinate conversion in step S44 will be described in detail below.
- a method for converting the reference latitude ⁇ 0 in the spheroid EB to the projection reference latitude ⁇ 0 on the true sphere CB will be described.
- the following expression (78) is obtained from the expression (74) / expression (73).
- Equation (65) is modified to obtain the following Equation (80).
- Equation (80) is transformed to obtain the following equation (81).
- ⁇ is a third type elliptic integral
- C is an integral constant.
- the coordinate conversion unit 34 can convert the latitude ⁇ in the spheroid EB into the projected latitude ⁇ on the true sphere based on the equation (81).
- the conditions set above are merely examples.
- the area on the true sphere CB may be equal (the same product).
- the conditions may be other conditions such that the direction on the spheroid EB and the direction on the true sphere CB coincide with each other at an arbitrary latitude ⁇ (equal angle). In order to actually perform coordinate conversion, the calculation using the elliptic function is complicated.
- the use of the approximate expression using the expansion formula by Helmelt facilitates handling.
- calculation using the expansion formula by Hermelt will be described.
- the third aspect ratio n is defined by the following formula (82) using the aspect ratio f.
- the expression (83) is converted using the expressions (84A) to (84F), and the projected latitude ⁇ on the true sphere CB is expressed by the following expression (85).
- FIG. 73 is a diagram showing information included in the parameter information database D3.
- the parameter information database D3 includes the radius R of the true sphere CB, the parameter Pr for calculating the radius R of the true sphere CB, the projection reference latitude ⁇ 0 , the conversion parameter ⁇ expressed by the equation (76), the equations (84A) to (84) Conversion parameters ⁇ ⁇ , ⁇ 0 , ⁇ 2 , ⁇ 4 , ⁇ 6 , ⁇ 8 represented by (84E).
- the coordinate conversion unit 34 can acquire correction parameters necessary for converting the conversion source information database D4 into the airspace information database D2.
- FIG. 74 is a graph showing the latitude dependence of the latitude interval ratio when the reference latitude ⁇ 0 is 36 degrees north latitude. 74 is defined in the same manner as in FIG. In FIG. 74, the line displayed as D ⁇ is obtained by dividing the value obtained by equation (60) by the equator radius a. A line denoted by ⁇ is obtained by dividing the value obtained by the equations (62) and (85) by the equator radius a. In the following, when the latitude is displayed in the graph, “N” is displayed after the number indicating latitude for the north latitude, and “S” is displayed after the number indicating the latitude for the south latitude. The equator is indicated as “EQ”.
- the latitude dependence of the latitude interval D ⁇ in the spheroid EB coincides with the latitude dependency of the latitude interval ⁇ in the projected coordinates. That is, it can be understood that there is almost no error in the projected coordinates in the latitude direction (north-south direction).
- FIG. 75 is a graph showing the latitude dependence of the meridian interval ratio when the reference latitude ⁇ 0 is 36 degrees north latitude.
- the interval ratio in FIG. 75 is defined in the same manner as in FIG.
- the line denoted by D ⁇ is obtained by dividing the value obtained by equation (60) by the equator radius a and the cosine cos ⁇ .
- a line denoted by ⁇ is obtained by dividing the values obtained by the equations (63), (76), and (85) by the equator radius a and the cosine cos ⁇ .
- the latitude dependence of the meridian interval D ⁇ in the WGS84 coordinate system and the latitude dependence of the meridian interval ⁇ in the projected coordinates are approximately within the range of 14 degrees north latitude to 55 degrees north latitude when the reference latitude ⁇ 0 is 36 degrees north latitude. I can understand that they match.
- FIG. 76 is a graph showing the latitude dependency of the error rate Err ⁇ of the latitude interval and the error rate Err ⁇ of the longitude interval when the reference latitude ⁇ 0 is the equator (0 degrees north latitude).
- FIG. 77 is a graph showing the latitude dependency of the latitude rate error rate Err ⁇ and the meridian interval error rate Err ⁇ when the reference latitude ⁇ 0 is 18 degrees north latitude.
- FIG. 78 is a graph showing the latitude dependency of the error rate Err ⁇ of the latitude line interval and the error rate Err ⁇ of the meridian interval when the reference latitude ⁇ 0 is 36 degrees north latitude.
- FIG. 79 is a graph showing the latitude dependence of the latitude rate error rate Err ⁇ and the meridian interval error rate Err ⁇ when the reference latitude ⁇ 0 is 54 degrees north latitude.
- the latitude-line interval error rate Err ⁇ is obtained by dividing the difference between ⁇ and D ⁇ by D ⁇ .
- the meridian interval error rate Err ⁇ is obtained by dividing the difference between ⁇ and D ⁇ by D ⁇ .
- FIG. 81 shows a latitude range in which the meridian interval error rate Err ⁇ is less than 0.01% in the plane rectangular coordinate system when the reference latitude is changed, and the meridian interval error rate Err ⁇ is a reference in the universal horizontal Mercator projection. It is a table
- FIG. 82 is a graph showing the latitude dependency of the latitude rate error rate Err ⁇ and the longitude rate error rate Err ⁇ when the reference latitude ⁇ 0 is 18 degrees north latitude. This is presumably because the third-order term for latitude ⁇ that becomes dominant at higher latitudes and the fourth-order term for latitude ⁇ appearing at lower latitudes compete. This phenomenon, in FIG. 81, may look like even when the 18 degrees south and reference latitude theta 0.
- FIG. 83 is a diagram showing a range in which the error rate Err ⁇ of meridian intervals in the vicinity of Japan with respect to 35 degrees north latitude and 135 degrees east longitude is less than 0.01% and less than 0.04%.
- a range where the meridian interval error rate Err ⁇ is less than 0.01% is indicated by a solid line, and a range where the error rate Err ⁇ is less than 0.04% is indicated by a chain line.
- the longitude range is approximately the same as the latitude range, but the longitude range is not limited to this. However, unless the reference latitude ⁇ 0 is the North Pole or the South Pole, the value of the correction factor ⁇ ⁇ in the longitude direction is different from 1. Therefore, when the earth goes around in the east-west direction, it does not return to the starting point. Therefore, the longitude range is desirably about ⁇ 90 degrees at the maximum with respect to the reference longitude.
- the coordinates on the spheroid EB are changed to the projected coordinates on the true sphere CB in a vast area that encompasses Japan's territorial sea. Conversion is possible with an error rate of less than 0.01%.
- the north-south is a vast area from the equator to the central part of Siberia, and the east-west is a wide area from the Indian Ocean to the central Pacific Ocean. It is possible to convert the upper coordinates into coordinates on the true sphere CB with an error rate of less than 0.04%.
- the geographic information management device 400 can be mounted on a passenger aircraft, for example.
- the device determines the appropriate reference latitude and reference longitude and calculates the conversion parameters
- the flight parameters of a relatively long distance can be calculated using the calculated conversion parameters in consideration of the flight leg of a general passenger aircraft. Appropriate coordinate conversion is possible.
- a passenger aircraft equipped with the geographic information management device 400 For example, considering a flight starting from London, a passenger aircraft equipped with the geographic information management device 400, for example, must operate to Tokyo or New York with a coordinate conversion error rate of 0.01% or less with one conversion parameter calculation. Can do. In addition, the passenger aircraft can be operated to Rio de Janeiro with a coordinate conversion error rate of 0.04% or less with one correction parameter calculation. In order to operate to Rio de Janeiro with an error rate of 0.01% or less, the geographic information management device 400 mounted on the passenger aircraft needs to calculate the correction parameter twice.
- the following table shows the latitude range, reference latitude, and error rate of each flight route (flight leg).
- ICAO International Civil Aviation Civilization
- EGLL Heathrow Airport (London, UK)
- RJAA New Tokyo International Airport (Narita Airport, Japan)
- John F. Kennedy International Airport New York, USA
- SBGL Antonio Carlos Jobim International Airport (Rio de Janeiro, Brazil).
- the geographic information management device 400 can perform the above-described highly accurate coordinate conversion only by calculating the correction parameter once every few hours. Therefore, it can be easily mounted on a moving body such as a passenger aircraft that requires a reduction in the size of the calculation system.
- the geographic information management apparatus 400 can project coordinates on the earth, which is a spheroid, onto a true sphere while suppressing errors in a larger area than before. Thereby, the geographic information management apparatus 400 can perform a calculation process using the coordinate information of a true sphere on a true sphere that can be easily mathematically processed. Therefore, it is possible to calculate information related to the operation of the aircraft with a small device at higher speed and higher accuracy.
- the present invention is not limited to the above-described embodiments, and can be appropriately changed without departing from the spirit of the present invention.
- the coordinate conversion unit according to the fourth embodiment can be added to the calculation unit 6 according to the second embodiment and the calculation unit 8 according to the third embodiment.
- the storage device 2 may be replaced with the storage device 7.
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Abstract
Description
実施の形態1にかかる地理情報管理装置100について説明する。図1は、実施の形態1にかかる地理情報管理装置100の構成を模式的に示すブロック図である。地理情報管理装置100は、入力装置1、記憶装置2、演算部3、表示装置4、バス5を有する。地理情報管理装置100は、例えばコンピュータシステムなどのハードウェア資源を用いて構成される。
ステップS11
まず、演算部3は、プログラムPRG1を読み込む。プログラムPRG1は、空域情報データベースD2を用いて、真球CB上の2本の線分が交点を有するかを判定するためのプログラムである。これにより、演算部3は、候補点検出部31及び交点検出部32を有する形状判定装置として機能する。プログラムPRG1は、例えば記憶装置2から読み出される。
ステップS12
次いで、演算部3は、記憶装置2から空域情報データベースD2を読み出す。
ステップS13
演算部3は、プログラムPRG1で規定される数式に、空域情報データベースD2に含まれる情報を代入し、交点検出を行う。
ステップS14
演算部3は、D2で与えられた2本の線分が交点を有するか否かの検出結果を、外部に出力する。例えば、演算部3は、記憶装置2に交点検出の結果を出力する。
真球上における2地点間の最短経路
真球CB上(地表面上)の地点P1と地点P2との間の最短経路について説明する。図6は、真球CB上の地点P1と地点P2との間の関係を示す図である。真球CB上の地点P1と地点P2とを結ぶ最短経路上の点をPとすると、点Pを示す位置ベクトルPは、以下の式(1)に示す各ベクトル方程式を満足する。Vaは、地点P1と地点P2との間の最短経路を示す線分が属する平面PL1に対する単位法線ベクトルである。saは、単位法線ベクトルVaと点Pの位置ベクトルとがなす角の余弦であり、この例では0となる。
真球CB上(地表面上)の同一緯度の地点P1と地点P2との間を結ぶ緯線について説明する。真球CB上(地表面上)の緯線は、真球CB上の同一緯度における2地点間の航程線として理解することができる。
地点P1(始点)から地点P2(終点)への方位が西向きである場合について説明する。図8は、真球CB上の地点P1から地点P2への方位が西向きである場合を示す図である。真球CB上の地点P1と地点P2とが存在する緯線上の点をPとすると、点Pの位置ベクトルは、式(4)に示す各ベクトル方程式を満足する。なお、Vcは、地点P1と地点P2とが存在する緯線が属する平面PL3に対する単位法線ベクトルである。ここで、真球CBの極点S(地球の南極)を定義する。極点Sを示す位置ベクトルは、以下の式(4)で表される。平面PL3は緯線に対して平行であるので、単位法線ベクトルVcと極点Sを示す位置ベクトルは一致する。
真球CB上での円について説明する。図9は、真球CB上の円CC1を示す図である。真球CB上の円CC1は、ある点P0からの距離がrである地点の集合として理解することができる。円CC1の円周上の点Pの位置ベクトルは、点P0の位置ベクトルを用いた以下の式(6)の各ベクトル方程式を満たす。Rは、真球CBの半径を示す。Vdは、円CC1が属する平面の単位法線ベクトルであり、点P0の位置ベクトルに一致する。
真球CB上の円弧について説明する。真球CB上の円弧は、真球CB上の点P0から距離がrである点の集合として理解することができる。
演算部3の候補点検出部31は、基準円C1と基準円C2との交点(候補点)を検出する。この検出においては、候補点検出部31は、以下で説明する判別式Dを用いて、交点を検出する。以下、判別式Dの導出について説明する。
判別式Dが正の値をとる場合、δは絶対値が等しい正負の2値をとる。よって、交点Pcを表す式(14)の解は2つ得られる。すなわち、この場合には、基準円C1と基準円C2とは、真球CB上の2つの交点Pc1及びPc2で交差する。図14は、基準円C1と基準円C2とが2つの交点を有する(交接する)場合を示す図である。
判別式Dが負の値をとる場合、δは虚数解となるので、基準円C1と基準円C2とは交点を有しない。基準円C1と基準円C2とが交点を有しない場合、基準円C1と基準円C2とは、分離又は内包の関係にある。図15は、基準円C1と基準円C2とが分離の関係にある場合を示す図である。この場合、図15に示すように、基準円C1と基準円C2とは空間的に離隔しており、交点を有しない。図16は、基準円C1と基準円C2とが内包の関係にある場合を示す図である。この場合、図16に示すように、基準円C1と基準円C2とは真球CB上で領域を共有するものの、基準円C1を構成する線分と基準円C2を構成する線分とは、交点を有しない。
判別式Dが0の場合(D=0)
判別式Dが0の場合、δも0となる。この場合、基準円C1と基準円C2とは接している状態にある。基準円C1と基準円C2とが接している状態は、2つに分けて考えることができる。1つは、基準円C1と基準円C2とが、交点Pcを接点として外接又は内接する場合である。もう1つは、基準円C1と基準円C2とが一致する場合である。
基準円C1と基準円C2とが外接又は内接する場合
判別式Dが0で、かつ、以下の式(22)を満たす場合には、基準円C1と基準円C2とは、1つの交点を有する。
基準円C1と基準円C2とが一致する場合
また、判別式Dが0で、かつ、以下の式(24)を満たす場合には、基準円C1と基準円C2とは一致する。
中心角Ψがπ以上2π以下である場合(π≦Ψ≦2π)
図25は、中心角Ψが2πである場合(Ψ=2π)の線分L1を示す図である。中心角Ψが2πの場合、候補点Pcは線分L1上に存在する。また、図26は、中心角Ψがπ以上かつ2πよりも小さい場合(π≦Ψ<2π)の線分L1を示す図である。この場合、線分L1は、半円弧又は優弧となり、以下の式(25)を満たす。式(25)乃至式(26)において、PS、PEは、L1の始点と終点であり、例えば、図26、図27におけるPS1とPE1と同じ点を示す。
図27は、中心角Ψがπより小さい場合(0<Ψ<π)の線分L1を示す図である。この場合、円弧は劣弧となり、以下の式(28)を満たす。
ステップSS1
候補点検出部31は、判別式Dを算出する。
ステップSS2
候補点検出部31は、判別式Dが0よりも小さいか否かを判定する。これにより、候補点検出部31は、候補点が存在するかを判定できる。判別式Dが0よりも小さい場合、候補点は存在しない。判別式Dが0以上の場合、少なくとも1つ以上の候補点が存在する。
ステップSS3
判別式Dが0以上の場合、候補点検出部31は、判別式Dが0であるかを判定する。
ステップSS4
判別式Dが0よりも大きい場合、交点検出部32は、候補点Pc1を算出する。
ステップSS5
交点検出部32は、候補点Pc1について、交点判定処理を行う。交点判定処理については後述する。
ステップSS6
交点検出部32は、候補点Pc2を算出する。
ステップSS7
交点検出部32は、候補点Pc2について交点判定処理を行う。交点判定処理については後述する。
ステップSS8
判別式Dが0の場合の場合、候補点検出部31は、式(29)を満たすか判定する。
式(29)を満たす場合、交点検出部32は、候補点Pc0を算出する。
ステップSS10
交点検出部32は、候補点Pc0について交点判定処理を行う。交点判定処理については後述する。
ステップSS11
式(29)を満たさない場合、交点検出部32は、線分L1の始点PS1について、交点判定処理を行う。
ステップSS12
交点検出部32は、交点線分L1の終点PE1について、交点判定処理を行う。
ステップSS13
交点検出部32は、交点線分L2の始点PS2について、交点判定処理を行う。
ステップSS14
交点検出部32は、交点線分L2の終点PE2について、交点判定処理を行う。
ステップSR1
交点検出部32は、判定対象点PJとして、直前のステップで算出した候補点を設定する。
ステップSR2
交点検出部32は、判定対象点PJが、線分L1上に存在するかを判定する範囲検証処理を行う。範囲検証処理の詳細は、後述する。判定対象点PJが線分L1上に存在しない場合には、処理は終了する。
ステップSR3
判定対象点PJが線分L1上に存在する場合、交点検出部32は、判定対象点PJが線分L2上に存在するかを判定する範囲検証処理を行う。範囲検証処理の詳細は、後述する。判定対象点PJが線分L2上に存在しない場合には、処理は終了する。
ステップSR4
判定対象点PJが線分L1上及びL2上に存在する場合、交点検出部32は、判定対象点PJを候補点として登録する。
ステップSA1
交点検出部32は、判定対象線分LJが円であるかを判定する。
ステップSA2
判定対象線分LJが円ではない場合、交点検出部32は、線分が優弧であるかを判定する。
ステップSA3
判定対象線分LJが優弧である場合、交点検出部32は、式(26)及び式(27)の少なくともいずれか一方を満たすか判定する。式(26)及び式(27)の少なくともいずれか一方を満たす場合、判定対象点PJは、判定対象線分LJ上にある(YES判定)。式(26)及び式(27)のいずれも満さない場合、判定対象点PJは、判定対象線分LJ上に存在しない(NO判定)。
ステップSA4
判定対象線分LJが劣弧または半円弧である場合、交点検出部32は、式(26)及び式(27)の両方を満たすか判定する。式(26)及び式(27)の両方を満たす場合、判定対象点PJは、判定対象線分LJ上にある(YES判定)。式(26)及び式(27)の少なくとも一方を満たさない場合、判定対象点PJは、判定対象線分LJ上に存在しない(NO判定)。
実施の形態2にかかる地理情報管理装置200について説明する。図31は、実施の形態2にかかる地理情報管理装置200の構成を模式的に示すブロック図である。地理情報管理装置200は、実施の形態1にかかる地理情報管理装置100の演算部3を演算部6に置換した構成を有する。演算部6は、演算部3に重複判定部33を追加した構成を有する。地理情報管理装置200のその他の構成は地理情報管理装置100と同様であるので、説明を省略する。
ステップS21
図32に示すように、空域は、円弧である1又は複数の線分で囲まれることで設定される。つまり、空域Aと空域Bとが重複する場合、空域Aを囲む線分のいずれかと空域Bを囲む線分のいずれかとは、一般に内包の場合を除いて交点を有する。よって、重複判定部33は、まず、空域Aを囲む線分のいずれかと空域Bを囲む線分のいずれかとが交点を有するかを判定する。この判定は、実施の形態1で説明した線分の交点検出を、空域Aを囲む線分と空域Bを囲む線分とに適用することで可能である。
ステップS22
空域Aを囲む線分のいずれかと空域Bを囲む線分のいずれかとが交点を有する場合、当該交点において空域Aと空域Bとは、外接、内接、又は交接の関係に有る。そこで、重複判定部33は、まず、空域Aと空域Bとが各交点において外接、内接、または交接しているかを判定する。
以下の式(31)を満たす場合、区間Binは、区間Ainの右側にある。
区間Binと区間Aoutとの位置関係について検討する。以下の式(35)を満たす場合、区間Binは、区間Aoutの左側にある。
ステップS24
空域Bが空域Aとすべての交点で外接している場合には、重複判定部33は、空域Bは空域Aの外部と判定する。
ステップS23
空域Bが空域Aとすべてまたは一部の交点で交接または内接している場合には、重複判定部33は、空域Bは空域Aの外部ではない(少なくとも一部重複している)と判定する。
ステップS25
ステップS21において、空域Aを囲む線分のいずれかと空域Bを囲む線分のいずれかとが交点を有しないと判定された場合について説明する。この場合、重複判定部33は、空域Aと空域Bとが分離しているかを判定する。このとき、空域Bを構成する境界線上の任意の地点Pはすべて空域Aの内部か外部にある(空域Aと空域Bの交点がないため空域Bが空域Aの境界線上にあることはない)。つまり、重複判定部33は、空域Bを構成する境界線上の任意の一点を選び、空域Aに対して内部に存在するか外部に存在するかを判定することで空域Bが空域Aに対する内外の関係を明らかにすることができる。
ステップS251
重複判定部33は、空域Bを構成する線分のうち、任意の線分上の点P12を設定する。また、同部は、空域Aを構成する線分のうち、任意の線分上の点P11を設定する。
ステップS252
重複判定部33は、点P11と点P12とを通る直線LABを求める。
ステップS253
重複判定部33は、直線LABと空域Aとの交点を全て求める。この際、少なくとも、点P11は交点として検出される。
ステップS254
重複判定部33は、空域Aと直線LABとの交点から、最も点P12に近い直線LABと空域Aとの交点PAを選定する。具体的に同部は、点P11の位置ベクトルとの内積が最も大きい交点を選択する。
ステップS255
重複判定部33は、交点PAから出て点P12を通る出線ベクトルVPAを求める。
ステップS256
次いで、重複判定部33は、交点PAにおける出線ベクトルVPAと空域Aとの位置関係を判定する。これは、上述の式(45)~(57)において、区間Boutを出線ベクトルVPAに置き換えることで、同様に判定することができる。
ステップS257
出線ベクトルVPAが空域Aの外側と判定された場合、重複判定部33は、空域Bは空域Aの外部であると判定する。
ステップS258
ステップS256で出線ベクトルVPAが空域Aの内側と判定された場合、重複判定部33は、空域Bは空域Aの内部にあると判定する。
ステップS26
空域の重複判定の完了後、重複判定部33は、外部に判定結果を出力する。例えば、重複判定部33は、記憶装置2に交点検出の結果を出力する。
実施の形態3にかかる地理情報管理装置について説明する。本実施の形態の地理情報管理装置は、実施の形態2にかかる地理情報管理装置200と同様の構成を有する。本実施の形態の地理情報管理装置では、演算部6の重複判定部33が空域重複判定の他に、地点の位置判定を行う。以下、地点の位置判定について説明する。
ステップS301
まず、重複判定部33は、点Paが線分の方程式である式(12)を満たすか判定する。点Paが線分の方程式を満たす場合に、上述の実施の形態1において説明したように、重複判定部33は、式(25)~(28)を用いて行った判定結果に基づき、点Paが空域Aを構成する線分の上に存在するか否かを判定する。
ステップS302
重複判定部33は、空域Aを構成する線分のうち、任意の線分上の点P21を設定する。
ステップS303
重複判定部33は、点Paと点P21とを通る直線LPAを求める。
ステップS304
重複判定部33は、直線LPAと空域Aとの交点を全て求める。この際、少なくとも、上記の点P21の1点は交点として検出される。
ステップS305
重複判定部33は、空域Aと直線LPAとの交点から、最も点Paに近い交点P22を選定する。具体的に同部は、点Paの位置ベクトルとの内積が最も大きい交点を選択する。
ステップS306
点P22から出て、点Paを通る出線ベクトルVPCを求める。
ステップS307
次いで、重複判定部33は、出線ベクトルVPCと空域Aとの位置関係を判定する。これは、上述の式(45)~(57)において、Boutを出線ベクトルVPCに置き換えることで、同様に判定することができる。
ステップS308
出線ベクトルVPCが空域Aの外側と判定された場合、重複判定部33は、点Paは空域Aの外側であると判定する。
ステップS309
出線ベクトルVPCが空域Aの内側と判定された場合、重複判定部33は、点Paは空域Aの内側であると判定する。
ステップS310
重複判定部33は、地点の位置判定結果を、外部に出力する。例えば、重複判定部33は、記憶装置2に地点の位置判定結果を出力する。
実施の形態4にかかる地理情報管理装置400について説明する。地理情報管理装置400は、例えばコンピュータシステムなどのハードウェア資源を用いて構成される。
ステップS41
まず、演算部3の座標変換部34は、座標変換プログラムPRG4を読み出す。座標変換プログラムPRG4は、基本形状データベースD1、パラメータ情報データベースD3及び変換元情報データベースD4を用いて、回転楕円体における座標を、真球上における投影座標に変換するプログラムである。座標変換プログラムPRG4は、例えば記憶装置7から読み出される。
ステップS42
次いで、座標変換部34は、記憶装置7から基本形状データベースD1及びパラメータ情報データベースD3を読み出す。
ステップS43
座標変換部34は、座標変換プログラムPRG4で規定される数式に、基本形状データベースD1及びパラメータ情報データベースD3に含まれる情報を代入し、座標変換を行う数式を生成する。
ステップS44
座標変換部34は、記憶装置7から変換元情報データベースD4を読み出し、生成した数式に変換元情報データベースD4に含まれる座標情報を代入し、回転楕円体における座標を真球における投影座標に変換する。すなわち、座標変換部34は、変換元情報データベースD4を空域情報データベースD2に変換する。ステップS44での座標変換の詳細については、後述する。
ステップS45
座標変換部34は、空域情報データベースD2に含まれる真球における投影座標を、外部に出力する。例えば、座標変換部34は、記憶装置7に空域情報データベースD2を出力する。
なお、本発明は上記実施の形態に限られたものではなく、趣旨を逸脱しない範囲で適宜変更することが可能である。例えば、実施の形態4にかかる座標変換部を、実施の形態2にかかる演算部6や実施の形態3にかかる演算部8に追加することができることは言うまでもない。この場合、記憶装置2を、記憶装置7に置換すればよい。
2、7 記憶装置
3、6、8 演算部
4 表示装置
5 バス
31 候補点検出部
32 交点検出部
33 重複判定部
34 座標変換部
100、200、400 地理情報管理装置
A、B 空域
C、C1、C2 基準円
CB 真球
D1 基本形状データベース
D2 空域情報データベース
D3 パラメータ情報データベース
D4 変換元情報データベース
EB 回転楕円体
L、LA、LB、L1~L4、 線分
LAB、LPA 直線
OBJ 観測対象物
Claims (15)
- 入力された真球上の入力された第1の線分が属する第1の基準円と前記真球上の入力された第2の線分が属する第2の基準円とが交わる点を候補点として検出する候補点検出手段と、
前記候補点が前記第1の線分と前記第2の線分との交点であるか否かを判定する交点検出手段と、を備える、
形状判定装置。 - 前記第1の基準円に対する単位法線ベクトルをV1、前記第2の基準円に対する単位法線ベクトルをV2、前記第1の基準円の半径を示すパラメータをS1、前記第2の基準円の半径を示すパラメータをS2、判別式Dを以下の式としたとき、
前記判別式Dが0よりも大きい場合には、候補点が2つ存在するものと判定し、
前記判別式Dが0よりも小さい場合には、候補点は存在しないと判定し、
前記判別式Dが0であり、かつ、以下の式を満たす場合、候補点が1つ存在するものと判定し、
請求項1に記載の形状判定装置。 - 前記真球上の線分で囲まれる入力された第1の領域と、前記真球上の線分で囲まれる入力された第2の領域と、が互いに重複するかを判定する重複判定手段を更に備える、
請求項1乃至4のいずれか一項に記載の形状判定装置。 - 前記重複判定手段は、
前記第1の領域と前記第2の領域とが交点を有するかを判定し、
前記第1の領域と前記第2の領域とが交点を有し、かつ、前記第1の領域と前記第2の領域とがすべての前記交点で外接している場合、前記第2の領域は前記第1の領域の外部であると判定し、
前記第1の領域と前記第2の領域とが交点を有し、かつ、すべての前記交点のうちで前記第1の領域と前記第2の領域とが外接していない前記交点が有る場合、前記第2の領域が前記第1の領域と少なくとも一部が重複すると判定し、
前記第1の領域と前記第2の領域とが交点を有さない場合、前記第1の領域と前記第2の領域との内外関係を判定する、
請求項5に記載の形状判定装置。 - 前記第1の領域と前記第2の領域とが交点を有さない場合、前記重複判定手段は、
前記第2の領域を構成する線分上に第2の点を設定し、
前記第1の領域を構成する線分上に第1の点を設定し、
前記第1の点及び前記第2の点を通る直線を設定し、
前記設定した線分と前記第1に領域とのすべての交点を検出し、
前記検出した交点のうちで前記第2の点に最も近い第1の交点を設定し、
前記第1の交点から前記第2の点に向かう出線ベクトルに対する法線ベクトルを設定し、
前記法線ベクトルが前記第2の領域の外部である場合、前記第1の領域は前記第2の領域の外部であると判定し、
前記法線ベクトルが前記第2の領域の外部ではない場合、前記第1の領域は前記第2の空域の内部であると判定する、
請求項6に記載の形状判定装置。 - 予め与えられた回転楕円体の形状を規定する情報から変換パラメータを算出して記憶し、前記回転楕円体における座標を示す情報を入力して、記憶してある前記変換パラメータと所定の数式から前記回転楕円体における座標を示す情報を前記真球における座標に変換し、変換した前記真球における座標を示す情報を出力する座標変換手段を更に備える、
請求項1乃至7のいずれか一項に記載の形状判定装置。 - 前記座標変換手段は、記憶してある前記変換パラメータを用いて前記回転楕円体の3次元極座標を前記真球の極座標に変換し、前記真球の極座標を前記真球の3次元直交座標に変換する、
請求項8に記載の形状判定装置。 - 前記回転楕円体は地球の形状を示すものであり、
前記回転楕円体の極座標は、地球の半径、緯度、経度を用い、前記真球の極座標は、前記真球の半径、緯度、緯度を用いる、
請求項9に記載の形状判定装置。 - 前記座標変換手段は、
予め定められた基準緯度において、前記回転楕円体の緯線間隔は、前記真球の投影基準緯度における緯線間隔と等しく、
前記基準緯度において、前記回転楕円体の経線間隔は、前記真球の前記投影基準緯度における経線間隔と等しく、
前記基準緯度において、前記回転楕円体の緯線間隔の緯度方向の一次変化率は、前記真球の前記投影基準緯度における緯線間隔の緯度方向の一次変化率と等しく、
前記基準緯度において、前記回転楕円体の経線間隔の緯度方向の一次変化率は、前記真球の前記投影基準緯度における経線間隔の緯度方向の一次変化率と等しく、
前記基準緯度において、前記回転楕円体経線間隔の緯度方向の二次変化率は、前記真球の前記投影基準緯度における経線間隔の緯度方向の二次変化率と等しい条件下で、前記変換パラメータを決定する、
請求項10に記載の形状判定装置。 - 前記回転楕円体の緯度をθ、前記回転楕円体の経度をφ、前記真球の緯度をΘ、前記真球の経度をΦ、前記回転楕円体の赤道半径をa、高度をh、前記回転楕円体の離心率をe、前記真球の半径をR、前記基準緯度をθ0、基準経度をφ0、Cを前記投影基準緯度Θoが下記式で求められるときの積分定数としたとき、
前記座標変換手段は、
前記回転楕円体の赤道半径aを前記真球の半径Rに変換するための前記変換パラメータをPrとして、入力された前記回転楕円体の赤道半径aを以下の数式により、前記真球の半径Rに変換し、
請求項11に記載の形状判定装置。 - 入力された真球上の入力された第1の線分が属する第1の基準円と前記真球上の入力された第2の線分が属する第2の基準円とが交わる点を候補点として検出する処理と、
前記候補点が前記第1の線分と前記第2の線分との交点であるか否かを判定する処理と、をコンピュータに実行させる、
形状判定プログラムを記録したコンピュータ読み取り可能な記録媒体。 - 入力された真球上の入力された第1の線分が属する第1の基準円と前記真球上の入力された第2の線分が属する第2の基準円とが交わる点を候補点として検出し、
前記候補点が前記第1の線分と前記第2の線分との交点であるか否かを判定する、
形状判定方法。
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