CN115655260A - 3D aeronautical map construction method and device based on digital earth and storage medium - Google Patents
3D aeronautical map construction method and device based on digital earth and storage medium Download PDFInfo
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Abstract
The invention relates to a 3D aviation map construction method, a device and a storage medium based on a digital earth, which are applied to the technical field of aviation maps and comprise the following steps: the method comprises the steps of obtaining flight route data, plotting flight route points through the flight route data, generating each flight route through the flight route points and an integral flight route algorithm, superposing height data on the flight routes, compensating the height and the horizontal plane of the flight routes, and finally inputting the flight route data and a terrain live-action into Web GIS digital earth software to generate a flight route graph containing a terrain background.
Description
Technical Field
The invention relates to the technical field of an aviation map, in particular to a 3D aviation map construction method and device based on a digital earth and a storage medium.
Background
The map for aviation (hereinafter referred to as "map") is a map for aviation that represents various aviation elements and necessary natural geography and human factors, with the purpose of satisfying the needs of civil aviation operation and other aviation activities. In order to ensure the safety and smoothness of the air vehicle in the air, reasonable space flight routes are planned in the chart, and the criss-cross air routes form an air traffic network over a city. According to the requirements of national civil aviation governing departments, a pilot needs to refer to a navigation chart and make or check a flight plan in a preparation stage before flying; during flying, the aircraft needs to fly according to the required path in the aerograph, thereby ensuring the safety and the order of flying operation.
At present, in the technology of a presentation mode, two forms of a paperboard chart and an electronic chart are mainly used, but the form of the electronic chart provided in China is generally a PDF (portable document format) version corresponding to the paper chart, and is not chart browsing software provided in an APP (application) mode, and the paper chart has large paper chart width by adopting the paperboard chart, so that a driver is not easy to check; the wear is easy, the identifiability colors of the chart elements are easy to distort, and potential safety hazards exist in the use process. In addition, the traditional paper-based chart is difficult to update and manage, extra cost is still needed for processing after expiration, no matter the paper-based chart or the electronic chart displays a route by a two-dimensional plane coordinate system, the route has no depth, only physical quantities of direction and length can be displayed, the motion trail of the airplane in space cannot be comprehensively and effectively known, the route display background is blank or simple terrain symbols, real terrain scene display is not fused, a driver cannot accurately perceive the position relation between the route and the geographical space where the route is located when looking up the chart, effective terrain situational awareness is difficult to establish, and potential risk points exist.
Disclosure of Invention
In view of the above, the present invention aims to provide a method, an apparatus, and a storage medium for constructing a 3D air map based on digital earth, so as to solve the problems in the prior art that both a cardboard air map and an electronic air map display air routes in a two-dimensional plane coordinate system, the air routes have no depth, the movement tracks of an aircraft in a space cannot be comprehensively and effectively understood, the air route display background is mostly blank or simple terrain symbols, real terrain scene display is not fused, a driver cannot accurately sense the position relationship between the air routes and a geographic space where the air routes are located when looking up the air map, effective terrain scene awareness is difficult to establish, and potential risk points exist.
According to a first aspect of the embodiments of the present invention, there is provided a digital earth-based 3D aerial map construction method, including:
acquiring airline data, wherein the airline data comprises data recorded in Chinese navigation data compilation and data recorded by airborne equipment;
plotting an airport location and runway direction for the airline based on the airline data;
calculating the waypoint coordinates of the route by using a waypoint positioning algorithm, and determining the positions of waypoints in a departure map, an approach map and an approach map;
generating an airway route and a ground sliding route by using an integral track algorithm based on data recorded by airborne equipment, and generating an departure airway route, an approach airway route and an approach airway route based on direct connection lines of airway point coordinates;
stacking height data of an off-site route, an approach route, an airway route and a ground taxi route;
correcting the height of the approach route by adopting a temperature compensation algorithm;
adopting an air route stage correction algorithm to correct the horizontal plane of a route, and adopting a geographic characteristic point algorithm to correct the horizontal plane of a ground sliding route;
and inputting the air route data and the terrain real scene into Web GIS digital earth software to obtain the 3D aeromap.
Preferably, the first and second electrodes are formed of a metal,
the method for generating the airway route and the ground taxi route based on the data recorded by the airborne equipment by using the integral flight path algorithm comprises the following steps:
acquiring primary flight activity in airborne equipment as a standard flight path, and acquiring flight data in the standard flight path;
establishing a space rectangular coordinate system, and projecting the ground speed to three Cartesian coordinate axes according to the magnetic heading angle, the drift angle and the track angle data in the flight data;
according to the frequency of the flight speed, the course, the track angle and the drift angle recorded by the airborne equipment, the displacement of the airplane is obtained through numerical integration, the displacement of the airplane along one direction is the accumulated value of the speed once per second along the direction, and an airway route and a ground taxi route are obtained.
Preferably, the first and second electrodes are formed of a metal,
the step of correcting the altitude of the approach route by adopting a temperature compensation algorithm comprises the following steps:
acquiring the entrance elevation of an airport runway, the airport temperature and the program height of each positioning point published by a navigation chart;
calculating the temperature deviation relative to the ISA temperature through the inlet elevation above the mean sea level and the airport temperature;
and acquiring a corrected height through a corrected compensation formula of the air pressure height based on the temperature deviation relative to the ISA temperature, and correcting the program height through the corrected height.
Preferably, the first and second liquid crystal display panels are,
the step of performing the horizontal plane correction on the airway route by adopting the airway stage correction algorithm comprises the following steps:
dividing groups according to the flight process, respectively calculating the average positions of the direct connecting flight path and the integral flight path to obtain the average deviation of the direct connecting flight path and the integral flight path, and obtaining flight path correction according to the average deviation;
and correcting the horizontal plane of the integral flight path through the flight path correction quantity to obtain a corrected flight path.
Preferably, the first and second electrodes are formed of a metal,
the step of performing the horizontal plane correction on the ground sliding route by adopting the geographic feature point algorithm comprises the following steps:
acquiring a starting point and an end point of each section of integral track and taking the starting point and the end point as two geographic feature points;
respectively converting the position data of the two geographic feature points into rectangular coordinates through a longitude and latitude conversion formula of map projection;
determining a deviation value of the initial point according to the rectangular coordinate and the longitude and latitude data of the initial point, and determining a deviation value of the end point according to the rectangular coordinate and the longitude and latitude data of the end point;
and respectively correcting the positioning result of the starting point and the positioning result of the ending point according to the deviation value of the starting point and the deviation value of the ending point.
Preferably, the first and second liquid crystal display panels are,
the calculating the waypoint coordinates of the route by using the waypoint positioning algorithm comprises the following steps:
and calculating the waypoint coordinates of the air route through a satellite-based waypoint positioning algorithm or a land-based waypoint positioning algorithm.
Preferably, the first and second electrodes are formed of a metal,
the satellite-based waypoint positioning algorithm comprises the following steps: acquiring longitude and latitude coordinates of the waypoints through a global navigation satellite system, and directly positioning the waypoints through the longitude and latitude coordinates;
the land-based waypoint positioning algorithm comprises: a double-station positioning algorithm or a single-station positioning algorithm;
the dual-station positioning algorithm comprises the following steps: a dual stage p/theta positioning algorithm, a dual stage theta/theta positioning algorithm, and a dual stage p/p positioning algorithm.
According to a second aspect of embodiments of the present invention, there is provided a digital earth-based 3D aeronautical map construction apparatus, the apparatus comprising:
a data acquisition module: the system is used for acquiring airline data, wherein the airline data comprises data recorded in China navigation data compilation and data recorded by airborne equipment;
a plotting module: for plotting airport locations and runway directions for an airline based on airline data;
waypoint determination module: the system is used for calculating the waypoint coordinates of the route by using a waypoint positioning algorithm and determining the positions of waypoints in a departure map, an approach map and an approach map;
a course determination module: the system comprises a data acquisition unit, a data processing unit and a data processing unit, wherein the data acquisition unit is used for acquiring data recorded by airborne equipment, generating an airway route and a ground sliding route by using an integral airway algorithm, and generating an departure airway route, an approach airway route and an approach airway route based on direct connection lines of airway point coordinates;
a height superposition module: the system is used for superposing height data on an off-site route, an approach route, an airway route and a ground taxi route;
a height correction module: the system is used for correcting the height of an approaching route by adopting a temperature compensation algorithm;
a horizontal plane correction module: the system is used for correcting the horizontal plane of an air route by adopting an air route stage correction algorithm and correcting the horizontal plane of a ground sliding route by adopting a geographic characteristic point algorithm;
an output module: and the method is used for inputting the air route data and the terrain real scene into Web GIS digital earth software to obtain a 3D aeromap.
According to a third aspect of the embodiments of the present invention, there is provided a storage medium storing a computer program which, when executed by a processor, implements the steps of the digital-earth-based 3D aerial map construction method according to any one of the above.
The technical scheme provided by the embodiment of the invention can have the following beneficial effects:
the method includes the steps that an off-site flight line, an approach flight line, a route flight line and a ground sliding line are generated through a flight path point and an integral flight path algorithm based on data recorded in Chinese navigation data compilation and data recorded by airborne equipment, a 3D standard flight path of an airplane for taking off, climbing, descending, approach landing and ground sliding is constructed, height data are superposed on the flight lines, the problems that the flight lines are displayed through a two-dimensional plane coordinate system in the prior art, the flight lines have no longitudinal depth, and the motion tracks of the airplane in the space cannot be comprehensively and effectively known are solved, then the approach flight line in the flight lines is subjected to height compensation through a temperature compensation algorithm, an air route stage correction algorithm and a geographic characteristic point algorithm, horizontal plane compensation is carried out on the route flight lines and the ground sliding line, accordingly, the flight line data in the scheme are more accurate, finally the flight line data and a terrain real scene are input into Web digital earth software, a flight line graph containing a terrain background is generated, the problems that in the prior art, the flight line display is mostly blank symbols or simple terrain symbols, real terrain display is not fused, a terrain display is capable of perceiving the relationship between the terrain and a terrain real terrain and a geographic GIS space, and potential risk is difficult to establish are solved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow diagram illustrating a digital Earth based 3D aeronautical map construction method in accordance with an exemplary embodiment;
FIG. 2 is a schematic diagram illustrating a dual stage ρ/θ positioning algorithm in accordance with another exemplary embodiment;
FIG. 3 is a schematic diagram illustrating a dual stage theta/theta positioning algorithm in accordance with another exemplary embodiment;
FIG. 4 is a schematic diagram illustrating a dual stage ρ/ρ localization algorithm in accordance with another exemplary embodiment;
FIG. 5 is a schematic illustration of a jagged trajectory shown in accordance with another exemplary embodiment;
FIG. 6 is a system diagram of a digital Earth based 3D aerial map construction device shown in accordance with another exemplary embodiment;
in the drawings: the system comprises a data acquisition module, a 2-plotting module, a 3-waypoint determining module, a 4-route determining module, a 5-height superposition module, a 6-height correction module, a 7-horizontal plane correction module and an 8-output module.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
Example one
FIG. 1 is a flowchart illustrating a digital Earth based 3D aeronautical mapping method, according to an exemplary embodiment, as shown in FIG. 1, including:
s1, acquiring course data, wherein the course data comprises data recorded in Chinese navigation data compilation and data recorded by airborne equipment;
s2, plotting the airport position and the runway direction of the flight based on flight data;
s3, calculating the waypoint coordinates of the air route by using a waypoint positioning algorithm, and determining the positions of waypoints in the departure map, the approach map and the approach map;
s4, generating a route and a ground sliding route by utilizing an integral track algorithm based on data recorded by airborne equipment, and generating an departure route, an approach route and an approach route based on direct connection lines of route point coordinates;
s5, stacking height data on an departure route, an approach route, an airway route and a ground sliding route;
s6, correcting the height of the approach route by adopting a temperature compensation algorithm;
s7, performing horizontal plane correction on the airway route by adopting an airway stage correction algorithm, and performing horizontal plane correction on the ground sliding route by adopting a geographic feature point algorithm;
s8, inputting the air route data and the terrain real scene into Web GIS digital earth software to obtain a 3D aerial map;
it can be understood that the 3D construction of the instrument flight path in the application is mainly carried out by referring to flight programs specified in Chinese navigation data compilation published by the China civil aviation administration to carry out 3D construction, wherein a taxi route map, a standard instrument off-site map, a standard instrument on-site map and an instrument approach map are selected, and 3D standard flight paths of aircraft takeoff, climbing, descending, approach landing and ground taxi are mainly constructed. Furthermore, in addition to the chart data, a portion of the data is from flight data recorded by the onboard device, then plotting the base locations, including plotting airport locations, runway directions, and waypoints, where plotting the waypoint locations is most important, using waypoint location algorithms to determine the locations of waypoints in the departure chart, approach chart, and determining departure course, near course, and approach course through direct links to the waypoints; the method comprises the steps that an airway route and a ground sliding route are generated by utilizing an integral flight path algorithm based on airborne data, and height data are superposed on the generated airway route, so that the problems that in the prior art, the airway is displayed by a two-dimensional plane coordinate system, the airway has no depth, and the motion trail of an airplane in space cannot be comprehensively and effectively known are solved; in order to improve the accuracy of the air route, the height of an approaching air route is corrected through a temperature compensation algorithm, an air route stage correction algorithm is adopted to correct the horizontal plane of the air route, a geographic characteristic point algorithm is adopted to correct the horizontal plane of a ground sliding route, corrected air route data and a terrain scene are input into Web GIS digital earth software together to obtain a 3D air map, and the Web GIS refers to a base Internet platform, client application software and a geographic information system which runs on a world wide Web through a WWW protocol. The Web page of WWW is used as the user interface of GIS software, and Internet and GIS technology are combined together. The digital earth adopts Web GIS technology based on B/S mode. The flight path display needs to relate to a large amount of geographic information data such as landforms, airports, roads, buildings, open lands and the like, and guarantees the landform display of the section where the flight path is located by utilizing the graphic processing technology, the surveying and mapping technology and the visualization technology of the GIS; the problem of in the prior art, the course display background is mostly blank or simple terrain symbols, does not fuse real terrain scene display, and the driver can't accurately perceive the position relation of the course and the geographical space where the course is located when looking up the chart, is difficult to establish effective terrain situational awareness, has potential risk point is solved, and the final check with the plane chart is checked, the uniformity is checked, and the preparation is completed.
Preferably, the first and second liquid crystal display panels are,
the method for generating the airway route and the ground taxi route based on the data recorded by the airborne equipment by using the integral track algorithm comprises the following steps:
acquiring primary flight activity in airborne equipment as a standard flight path, and acquiring flight data in the standard flight path;
establishing a space rectangular coordinate system, and projecting the ground speed to three Cartesian coordinate axes according to the magnetic heading angle, the drift angle and the track angle data in the flight data;
according to the frequency of the flight speed, the course, the track angle and the drift angle recorded by the airborne equipment, the displacement of the airplane is obtained through numerical integration, the displacement of the airplane along one direction is the accumulated value of the speed once per second along the direction, and an airway route and a ground taxi route are obtained;
it can be understood that the route drawn in the route map is a route plan used between the taking-off and landing stages of the airplane, the route is wide in range and far in distance, if only key route points are constructed, and then the route is constructed by directly connecting front and rear route points, the route is zigzag, unreasonable inflection points exist, as shown in fig. 5, so that the flight route needs to be optimized by an algorithm, the transition is smooth, and the flight route is closer to the actual operation. In addition, although the ground taxi route is drawn in the ground taxi image, the method of directly connecting front and rear ground position points to construct the route is not smooth, and the ground taxi route image is not published in many airports, similar to the problem encountered in constructing the route image. Therefore, the integral track algorithm of the flight data recorded by the airborne equipment is suitable for 3D construction of tracks in a route map and a taxi route map; and selecting one flight activity as a standard flight path according to the screening. Establishing a track integral calculation model according to parameters such as the ground speed, the course angle, the drift angle, the track angle and the like of the airplane in the flight data recorded by the airborne equipment, wherein the specific calculation steps are as follows:
(1) And establishing a space rectangular coordinate system. Defining x as east coordinate, y as vertical coordinate and z as north coordinate;
(2) And (5) decomposing the ground speed vector. Projecting the ground speed to three Cartesian coordinate axes according to the magnetic course angle, the drift angle and the track angle of the flight attitude data, wherein the formula is as follows:
in the formula, vg is ground speed, beta is track angle,
is the heading angle and psi is the drift angle. Vy is a vertical speed, vx is an east speed, and Vz is a north speed;
(3) And integrating to calculate the flight path. Since the frequency of recording the speed, heading, track angle and drift angle of the aircraft by the recorder is once per second, the displacement calculation of the aircraft can be obtained by numerical integration, and the displacement of the aircraft along one direction is the accumulated value of the speed of the aircraft along the direction once per second. Assuming that the time varies from t0 to t, the numerical integration equation can be expressed as follows:
in the formula, vx (i), vy (i), and Vz (i) are three discrete velocity component values of an east direction, a vertical direction, and a north direction at a certain time, respectively, and x, y, and z are displacement amounts of the east direction, the vertical direction, and the north direction, respectively.
Preferably, the first and second electrodes are formed of a metal,
the step of correcting the altitude of the approach route by adopting a temperature compensation algorithm comprises the following steps:
acquiring the entrance elevation of an airport runway, the airport temperature and the program height of each positioning point published by a navigation chart;
calculating the temperature deviation relative to the ISA temperature through the inlet elevation above the mean sea level and the airport temperature;
acquiring a corrected height through a corrected compensation formula of the air pressure height based on the temperature deviation relative to the ISA temperature, and correcting the program height through the corrected height;
it can be understood that, since the altitude value provided by the onboard air pressure type altimeter is based on the ISA condition, if the measured air temperature and the air temperature vertical decreasing rate of the reference surface do not meet the ISA condition, the altitude indication deviation will be caused. The basic climate characteristics of China show that extreme low temperatures continuously occur in parts of regions of northeast, north China and northwest all the year round in winter, the lowest temperature is lower than-40 ℃, and the indicating height is higher due to low temperature errors, so that the flight safety margin is reduced. Therefore, the temperature compensation is carried out on the air pressure height when the vertical section of the 3D route is constructed, and the correction compensation formula of the air pressure height provided in the ICAO DOC 8168 is used in the application:
in the formula, Δ h = temperature correction amount; Δ TSTD = temperature deviation from ISA temperature; l0= standard rate of decrease of gas pressure and temperature in the first layer of ISA (sea level to top of convection); hfp = program height above entry at FAP; t0= standard temperature at sea level (288.15K); hTHR = inlet elevation above mean sea level; for example: the airport runway entrance height of a northern airport is 456ft, the airport temperature is-20 ℃, the published program heights of aeronautical charts are MSA =3000ft, IAF =3940ft, IF = FAF =2300ft and DA =657ft. According to the temperature correction formula, delta TSTD = -20- (15-0.0019812 x 456) = -34.1 ℃; l0=0.0019812 ℃/ft; t0=288.15K; hTHR =456ft; the height deviation is shown in the following table. When constructing the vertical section of the 3D route, it should be constructed according to the actual altitude in the table, based on the reported air temperature values at the airport.
Preferably, the first and second electrodes are formed of a metal,
the step of performing horizontal plane correction on the airway route by adopting the airway stage correction algorithm comprises the following steps:
dividing groups according to the flight process, respectively calculating the average positions of the direct connecting line flight path and the integral flight path to obtain the average deviation of the direct connecting line flight path and the integral flight path, and obtaining the flight path correction quantity according to the average deviation;
correcting the horizontal plane of the integral track through the track correction quantity to obtain a corrected track;
it will be appreciated that the integrated track is smooth and continuous, but there is an accumulated error of iterative calculations; the direct-connection flight path is zigzag, an unreasonable inflection point exists, and the error is stable. Therefore, the integrated track needs to be corrected. The correction method divides groups according to the flight process, and respectively calculates the average positions of the direct connection flight path and the integral flight path, so as to obtain the flight path correction quantity (delta xi, delta yi) as shown in the following formula:
wherein
Directly connecting a flight path corresponding to the jth recorded data;
an integral track corresponding to the jth recorded data is recorded; i is a record group number; m is the size of the record group; Δ x i Recording the component of the average deviation of the flight path in the x direction for the ith group; Δ z i The component in the z direction of the mean deviation of the track is recorded for the ith group. After the average deviation of the integral track of the direct link track is calculated, the integral track can be corrected according to the following formula to obtain a corrected track, namely:
wherein k is a record number;
an integral flight path is taken;
is a track after the direct connecting track.
Preferably, the first and second liquid crystal display panels are,
the step of performing horizontal plane correction on the ground sliding route by adopting the geographic feature point algorithm comprises the following steps:
acquiring a starting point and an end point of each section of integral track and taking the starting point and the end point as two geographic feature points;
respectively converting the position data of the two geographic feature points into rectangular coordinates through a longitude and latitude conversion formula of map projection;
determining a deviation value of the starting point according to the rectangular coordinate and the longitude and latitude data of the starting point, and determining a deviation value of the ending point according to the rectangular coordinate and the longitude and latitude data of the ending point;
correcting the positioning result of the starting point and the positioning result of the end point according to the deviation value of the starting point and the deviation value of the end point;
it can be appreciated that the accumulated error of data calculation can cause the reconstructed 3D course to have a deviation from the true course position due to the longer reconstructed course and more waypoints. When no terrain reference exists, the track deviation is not obvious; once there is a terrain reference, such as a terrain scene like an airport, a runway, etc., the matching problem of the reconstructed track and the geographic information needs to be considered. Therefore, the research adopts a geographical feature point correction model. The starting point and the ending point of each section of track integral are two geographic feature points, the feature points are key positions of ground operation, no deviation exists generally, the longitude and latitude data can be directly obtained from navigation data, and the feature point position data can be converted into rectangular coordinates through a longitude and latitude conversion formula of map projection. According to the projection characteristics of the ink card holder, the longitude and latitude conversion formula is as follows:
wherein the content of the first and second substances,
in the formula, (B0, L0) is longitude and latitude of a coordinate origin, (B, L) is longitude and latitude of an arbitrary point, corresponding rectangular coordinates are (X, Z), a, B, e and e' are respectively a long half shaft, a short half shaft, a first eccentricity and a second eccentricity of an earth ellipsoid, and N is a curvature radius of a prime unit; the start-stop characteristic points of the takeoff ground section are respectively a stop position point and an departure point, and the start-stop characteristic points of the landing ground section are respectively a grounding point and a stop position point. The deviation value is determined by the difference between the longitude and latitude data corresponding to each start-stop point and the characteristic point data, namely, delta Xn = XIN-XTn and delta Zn = ZIn-ZTn, wherein (XIN, ZIn) and (XTn, ZTn) are respectively the data of the start characteristic point and the longitude and latitude data. Δ Xn ' = XIn ' -XTn ', ' Δ Zn ' = ZIn ' -ZTn ', where (XIn ', ZIn '), (XTn ', ZTn ') are the ending feature point data and the latitude and longitude data, respectively. The positioning result can be corrected by adopting the following formula according to the increment of the error correction quantity along with the time;
wherein, the first formula is correction of the positioning result according to the starting characteristic point, i =0,1,2, 3.. N/2, n is the number of waypoints; the second formula is the correction of the positioning result according to the ending feature point, i = n/2, n/2+1, n/2+2, n/2+3,.. N, n is the number of waypoints arranged in time series.
Preferably, the first and second electrodes are formed of a metal,
the calculating the waypoint coordinates of the route by using the waypoint positioning algorithm comprises the following steps:
calculating the waypoint coordinates of the air route through a satellite-based waypoint positioning algorithm or a land-based waypoint positioning algorithm;
it will be appreciated that the satellite based waypoints are routes designed using the PBN navigation specification, and the navigation facility is primarily a combined navigation source of GNSS + INS, where GNSS (global navigation satellite system) is currently predominantly GPS for use in the country. The GPS waypoints can be directly positioned by using longitude and latitude coordinates, and the data can be obtained through navigation database data. Therefore, the longitude and latitude coordinates of the points can be directly added into the digital earth when the satellite-based waypoints are drawn.
Preferably, the first and second electrodes are formed of a metal,
the satellite-based waypoint positioning algorithm comprises the following steps: acquiring longitude and latitude coordinates of the waypoints through a global navigation satellite system, and directly positioning the waypoints through the longitude and latitude coordinates;
the land-based waypoint positioning algorithm comprises: a double positioning algorithm or a single positioning algorithm;
the dual-station positioning algorithm comprises the following steps: a dual rho/theta positioning algorithm, a dual theta/theta positioning algorithm and a dual rho/rho positioning algorithm;
it is understood that the land-based navigation apparatus mainly includes a VOR (very high frequency omni-directional beacon), a DME (distance measuring machine), an ILS (instrument landing system), and the like. The ground-based navigation equipment is used for monitoring the deviation of the airplane from a preselected channel by transmitting radio positioning signals to the air and judging the position relation between the airplane and the ground-based navigation equipment after the airplane receives the radio positioning signals. Considering the positioning form of two stations and a single station commonly adopted by the prior land-based navigation equipment, the cross positioning of the waypoints is completed by utilizing the azimuth and distance parameters provided by the navigation station, and the complete coincidence with the WGS-84 coordinate is finally realized by completing the coordinate conversion of the waypoints.
Dual stage ρ/θ positioning:
defining: the point A is a track guiding radio station, and the point B is a side positioning radio station;
known conditions (directly obtainable by consulting voyage data): latitude N of point A A Longitude E of point A A Latitude N of point B B Longitude E of point B B Point A is used for sending out a true azimuth angle TCA of a radial line, and point B is used as a radius r of a circle center;
as shown in a in the attached figure 2, AB > r > BE, the point A is outside the circle, the radial line intersects with the circle, the intersection points are respectively C (a point closer to A) and D (a point farther from A), and C and D are the coordinate points to BE obtained:
NC＝CalN(N A ，TC A ，L AC )，E C ＝CalE(N A ，E A ，TC A ，L AC )；
ND＝CalN(N A ，TC A ，L AD )，E D ＝CalE(N A ，E A ，TC A ，L AD )
as shown in b of fig. 2, AB > r = BE, point a is outside the circle and the radial line is tangent to the circle, E is the sought coordinate point:
NE＝CalN(N A ，TC A ，L AE )，E E ＝CalE(N A ，E A ，TC A ，L AE )
as shown in c in fig. 2, r > AB > 0, the intersection point of the radial line and the circle is D, and the point D is the determined coordinate point:
N D ＝CalN(N A ，TC A ，L AD )，E D ＝CalE(N A ，E A ，TC A ，L AD )
as shown by d in FIG. 2, BE > r, AE has no intersection with the circle, in which case there is no solution.
Dual stage θ/θ positioning:
defining: A. b, dividing the two points into navigation stations 1 and 2, and providing radial lines CRS1 and CRS2;
known conditions (directly obtainable by consulting voyage data): latitude N of point A A Longitude E of point A A Latitude N of point B B Longitude E of point B B The true azimuth angle TCA of the radial line sent by the point A and the true azimuth angle TCB of the radial line sent by the point B;
as shown in a of fig. 3, C is the coordinate point found:
NC＝CalN(N A ，TC A ，L AC )，E C ＝CalE(E A ，N A ，TC A ，L AC )
as shown in B of fig. 3, if radial lines of the two points a and B are parallel to each other, TCA = TCB or TCA = TCB ± 180 is satisfied, and there is no intersection point in this case;
if A and B are the same point, the intersection point of two radial lines is the longitude and latitude coordinates of A or B, as shown in c of figure 3.
Double stage rho/rho positioning:
defining: point A is a navigation station 1, and distance information r is extracted 1 (ii) a The point B is a navigation station 2 and provides distance information r 2 ；
Known conditions (directly obtainable by consulting voyage data): latitude NA of point A, longitude E of point A A Latitude N of point B B Longitude E of point B B Radius r of circle with point A as center A And the radius r of the circle with point B as the center B ；
As shown in a in fig. 4, C and D are the coordinate points:
N C ＝CalN(N A ，TC AB -A，L AC )，E C ＝CalE(E A ，N A ，TC AB -A，L AC )；
N D ＝CalN(N A ，TC AB +A，L AD )，E D ＝CalE(E A ，N A ，TC AB +A，L AD )
as shown in B of figure 4, the A and B circles do not intersect, and CalNm (N) is satisfied A ，E A ，N B ，E B )＜|r A -r B I, this case without intersection points;
as shown in c of FIG. 4, the A and B circles do not intersect, and CalNm (N) is satisfied A ，E A ，N B ，E B )＞r A +r B This case has no intersection.
Single stage positioning (VOR/DME combined):
the single angular distance positioning is to calculate the longitude and latitude of the point B under the condition of knowing the longitude and latitude of the point A and the lengths of TC and AB. Wherein, the north pole point of the point C (the latitude is 90 degrees, the longitude is 0 degrees), the globe center of the earth is the point O:
E B ＝E A +C，N B ＝90-a【a＝arccos( A A sinNcosc+cosNsinccosA)】
the custom functions that appear in the above positioning algorithm are shown in the following table:
example two
The embodiment also discloses a system schematic diagram of a digital earth-based 3D aeronautical map construction apparatus, as shown in fig. 6, including:
the data acquisition module 1: the system is used for acquiring airline data, wherein the airline data comprises data recorded in China navigation data compilation and data recorded by airborne equipment;
the plotting module 2: for plotting airport locations and runway directions for an airline based on airline data;
waypoint determination module 3: the system is used for calculating the waypoint coordinates of the air route by using a waypoint positioning algorithm and determining the positions of waypoints in the departure map, the approach map and the approach map;
the route determining module 4: the system comprises a data acquisition unit, a data processing unit and a data processing unit, wherein the data acquisition unit is used for acquiring data recorded by airborne equipment, generating an airway route and a ground sliding route by using an integral airway algorithm, and generating an departure airway route, an approach airway route and an approach airway route based on direct connection lines of airway point coordinates;
height superposition module 5: the system is used for superposing height data on an off-site route, an approach route, an airway route and a ground taxi route;
the height correction module 6: the system is used for correcting the height of an approaching route by adopting a temperature compensation algorithm;
the horizontal plane correction module 7: the system is used for correcting the horizontal plane of an air route by adopting an air route stage correction algorithm and correcting the horizontal plane of a ground sliding route by adopting a geographic characteristic point algorithm;
the output module 8: the system is used for inputting air route data and terrain real scenes into Web GIS digital earth software to obtain a 3D aeromap;
it can be understood that the method obtains the airline data through the data obtaining module 1, wherein the airline data comprises data recorded in Chinese navigation data compilation and data recorded by airborne equipment; plotting, by a plotting module 2, an airport location and a runway direction for an airline based on airline data; calculating the waypoint coordinates of the flight path by using a waypoint positioning algorithm through the waypoint determining module 3, and determining the positions of waypoints in the departure map, the approach map and the approach map; generating an airway route and a ground sliding route by an airway determining module 4 based on data recorded by airborne equipment by using an integral track algorithm, and generating an departure airway route, an approach airway route and an approach airway route based on a direct connection line of airway point coordinates; height data are superposed on an departure route, an approach route, an airway route and a ground sliding route through a height superposition module 5; the altitude of the approach route is corrected by adopting a temperature compensation algorithm through an altitude correction module 6; the horizontal plane correction module 7 adopts an air route stage correction algorithm to correct the horizontal plane of the route, and adopts a geographic feature point algorithm to correct the horizontal plane of the ground sliding route; and inputting the air route data and the terrain real scene into Web GIS digital earth software through an output module 8 to obtain a 3D aeromap. By the scheme, the problems that in the prior art, no matter a paperboard chart or an electronic chart displays a flight path in a two-dimensional plane coordinate system, the flight path has no depth, the motion track of an airplane in a space cannot be comprehensively and effectively known, the background of the flight path display is mostly blank or simple terrain symbols, real terrain scene display is not fused, a driver cannot accurately sense the position relation between the flight path and the geographic space where the flight path is located when looking up the chart, effective terrain situational awareness is difficult to establish, and potential risk points exist are solved.
EXAMPLE III
The embodiment also discloses a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the computer program realizes each step in the digital earth-based 3D aviation map construction method;
it will be appreciated that the storage medium referred to above may be a read-only memory, a magnetic or optical disk, or the like.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar contents in other embodiments may be referred to for the contents which are not described in detail in some embodiments.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. The 3D aviation map construction method based on the digital earth is characterized by comprising the following steps:
acquiring airline data, wherein the airline data comprises data recorded in China navigation data compilation and data recorded by airborne equipment;
plotting an airport location and runway direction for the airline based on the airline data;
calculating the waypoint coordinates of the route by using a waypoint positioning algorithm, and determining the positions of waypoints in a departure map, an approach map and an approach map;
generating an airway route and a ground sliding route by utilizing an integral track algorithm based on data recorded by airborne equipment, and generating an departure airway route, an approach airway route and an approach airway route based on direct connection lines of airway point coordinates;
stacking height data of an off-site route, an approach route, an airway route and a ground taxi route;
correcting the height of the approach route by adopting a temperature compensation algorithm;
adopting an air route stage correction algorithm to correct the horizontal plane of a route, and adopting a geographic characteristic point algorithm to correct the horizontal plane of a ground sliding route;
and inputting the air route data and the terrain real scene into Web GIS digital earth software to obtain a 3D aeromap.
2. The method of claim 1,
the method for generating the airway route and the ground taxi route based on the data recorded by the airborne equipment by using the integral track algorithm comprises the following steps:
acquiring primary flight activity in airborne equipment as a standard flight path, and acquiring flight data in the standard flight path;
establishing a space rectangular coordinate system, and projecting the ground speed to three Cartesian coordinate axes according to magnetic heading angle, drift angle and track angle data in flight data;
according to the frequency of the flight speed, the course, the track angle and the drift angle recorded by the airborne equipment, the displacement of the airplane is obtained through numerical integration, the displacement of the airplane along one direction is the accumulated value of the speed once per second along the direction, and an airway route and a ground taxi route are obtained.
3. The method of claim 2,
the step of correcting the altitude of the approach route by adopting a temperature compensation algorithm comprises the following steps:
acquiring the entrance elevation of an airport runway, the airport temperature and the program height of each positioning point published by a navigation chart;
calculating the temperature deviation relative to the ISA temperature by the inlet elevation above the mean sea level and the airport temperature;
and acquiring a corrected height through a corrected compensation formula of the air pressure height based on the temperature deviation relative to the ISA temperature, and correcting the program height through the corrected height.
4. The method of claim 3,
the step of performing the horizontal plane correction on the airway route by adopting the airway stage correction algorithm comprises the following steps:
dividing groups according to the flight process, respectively calculating the average positions of the direct connecting flight path and the integral flight path to obtain the average deviation of the direct connecting flight path and the integral flight path, and obtaining flight path correction according to the average deviation;
and correcting the horizontal plane of the integral flight path through the flight path correction quantity to obtain a corrected flight path.
5. The method of claim 4,
the step of performing the horizontal plane correction on the ground sliding route by adopting the geographic feature point algorithm comprises the following steps:
acquiring a starting point and an end point of each section of integral track and taking the starting point and the end point as two geographic feature points;
respectively converting the position data of the two geographic feature points into rectangular coordinates through a longitude and latitude conversion formula of map projection;
determining a deviation value of the starting point according to the rectangular coordinate and the longitude and latitude data of the starting point, and determining a deviation value of the ending point according to the rectangular coordinate and the longitude and latitude data of the ending point;
and respectively correcting the positioning result of the starting point and the positioning result of the ending point according to the deviation value of the starting point and the deviation value of the ending point.
6. The method according to any one of claims 1 to 5,
the calculating the waypoint coordinates of the airline by using the waypoint positioning algorithm comprises the following steps:
and calculating the waypoint coordinates of the flight path through a satellite-based waypoint positioning algorithm or a land-based waypoint positioning algorithm.
7. The method of claim 6,
the satellite-based waypoint positioning algorithm comprises the following steps: acquiring longitude and latitude coordinates of the waypoints through a global navigation satellite system, and directly positioning the waypoints through the longitude and latitude coordinates;
the land-based waypoint positioning algorithm comprises: a double positioning algorithm or a single positioning algorithm;
the dual-station positioning algorithm comprises the following steps: a dual stage p/theta positioning algorithm, a dual stage theta/theta positioning algorithm, and a dual stage p/p positioning algorithm.
8. Digital earth-based 3D aeronautical map construction apparatus, characterized in that the apparatus comprises:
a data acquisition module: the system is used for acquiring the airline data, wherein the airline data comprises data recorded in Chinese navigation data compilation and data recorded by airborne equipment;
a plotting module: for plotting airport locations and runway directions for an airline based on airline data;
waypoint determination module: the system is used for calculating the waypoint coordinates of the air route by using a waypoint positioning algorithm and determining the positions of waypoints in the departure map, the approach map and the approach map;
a route determining module: the system comprises a data acquisition unit, a data processing unit and a data processing unit, wherein the data acquisition unit is used for acquiring data recorded by airborne equipment, generating an airway route and a ground sliding route by using an integral airway algorithm, and generating an departure airway route, an approach airway route and an approach airway route based on direct connection lines of airway point coordinates;
a height superposition module: the system is used for superposing height data on an off-site route, an approach route, an airway route and a ground taxi route;
a height correction module: the system is used for correcting the height of an approaching route by adopting a temperature compensation algorithm;
a horizontal plane correction module: the system is used for correcting the horizontal plane of an air route by adopting an air route stage correction algorithm and correcting the horizontal plane of a ground sliding route by adopting a geographic characteristic point algorithm;
an output module: and the method is used for inputting the air route data and the terrain real scene into Web GIS digital earth software to obtain the 3D aeromap.
9. A storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the steps in the digital-earth based 3D aerial map construction method according to any one of claims 1 to 7.
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