CN115655260B - 3D aviation map construction method and device based on digital earth and storage medium - Google Patents
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Abstract
The invention relates to a 3D aviation map construction method, a device and a storage medium based on digital earth, which are applied to the technical field of aviation maps and comprise the following steps: obtaining route data, plotting route points through the route data, generating each route through the route points and an integral track algorithm, superposing the height data on the route, compensating the height and the horizontal plane of the route, finally inputting the route data and the terrain real scene into Web GIS digital earth software to generate a route map containing the terrain background, so as to solve the problems that in the prior art, the route display background is blank or simple terrain symbols, the display of the real terrain scene is not fused, a driver cannot accurately perceive the position relationship between the route and the geographic space where the route is located when consulting the route map, and effective terrain scene consciousness is difficult to establish, potential risk points exist, the route does not have depth, and the problem that the movement track of the aircraft in space cannot be comprehensively and effectively known is solved.
Description
Technical Field
The invention relates to the technical field of aviation maps, in particular to a 3D aviation map construction method, device and storage medium based on digital earth.
Background
An aeronautical special map (hereinafter referred to as a "aeronautical map") is a special map representing various aeronautical elements and necessary natural geographies and personal elements for the purpose of meeting the needs of civil aviation operation and other aviation activities. In order to ensure the safety and smoothness of the air operation of the aircraft, reasonable space flight routes are planned in the navigation chart, and the crisscrossed air routes form an air traffic network in the air of the city. According to the requirements of national aviation authorities, the preparation stage before the flight of an airplane pilot needs to consult a navigation chart, and a flight plan is produced or checked; when in flight, the aircraft needs to fly according to the path required in the aerogram, so that the safety and the order of the flight operation are ensured.
At present, in the technology of the presentation mode of the aerial image, two modes of a paperboard aerial image and an electronic aerial image are mainly provided, but the form of the electronic aerial image provided by China is generally a PDF version corresponding to the paper aerial image, and is not aerial image browsing software provided in an APP mode, the paper aerial image is large in amplitude, and a driver cannot easily view the paper aerial image; the wear is easy, the distinguishable colors of the navigation chart elements are easy to generate distortion, and potential safety hazards exist in use. In addition, the traditional paper board pattern is difficult to update and manage, additional cost is still needed for processing after expiration, the pattern is displayed by a two-dimensional plane coordinate system no matter the paper board pattern or the electronic pattern, the pattern has no depth and only can display physical quantities of direction and length, the motion track of the aircraft in the space cannot be comprehensively and effectively known, the pattern display background is blank or simple terrain symbols, the real terrain scene display is not fused, a driver cannot accurately perceive the position relationship between the pattern and the geographic space where the pattern is located when looking up the pattern, effective terrain scene consciousness 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 aeromap based on digital earth, so as to solve the problems in the prior art that no matter whether a cardboard aeromap or an electronic aeromap is a two-dimensional plane coordinate system, the aeromap has no depth, the motion track of an aircraft in space cannot be fully and effectively known, the display background of the aeromap is blank or a simple topographic symbol, the display of the real topographic scene is not fused, the driver cannot accurately perceive the position relationship between the aeromap and the geographic space where the aeromap is located, and it is difficult to establish effective topographic situational awareness, and potential risk points exist.
According to a first aspect of an embodiment of the present invention, there is provided a digital earth-based 3D aerial map construction method, including:
acquiring route data, wherein the route data comprises data recorded in Chinese navigation data assembly and data recorded by airborne equipment;
Plotting airport locations and runway directions for the airlines based on the airline data;
Calculating the waypoint coordinates of the route by using the waypoint positioning algorithm, and determining the positions of the waypoints in the departure map, the approach map and the approach map;
generating a route and a ground taxi route by using an integral track algorithm based on data recorded by airborne equipment, and generating an off-site route, an on-site route and an on-site route based on a direct connection of route point coordinates;
Superposing height data on the departure route, the approach route, the course route and the ground taxi route;
Correcting the altitude of the approach route by adopting a temperature compensation algorithm;
carrying out horizontal plane correction on the air route by adopting an air route stage correction algorithm, and carrying out horizontal plane correction on the ground sliding route by adopting a geographic characteristic point algorithm;
and inputting the route data and the terrain live-action into Web GIS digital terrestrial software to obtain the 3D aviation map.
Preferably, the method comprises the steps of,
The generating the route and the ground taxi route based on the data recorded by the airborne equipment by using an integral flight path algorithm comprises the following steps:
Acquiring a 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;
And (3) recording the frequency of the flight speed, the course, the track angle and the drift angle according to the airborne equipment, obtaining the displacement of the airplane through numerical integration, wherein the displacement of the airplane along one direction is the speed accumulated value of once per second along the direction, and obtaining the course and the ground sliding course.
Preferably, the method comprises the steps of,
The correcting the altitude of the approach route by adopting the temperature compensation algorithm comprises the following steps:
Acquiring the elevation of an entrance of an airport runway, the temperature of the airport and the program height of each positioning point published by a chart;
calculating a temperature deviation from ISA temperature by an entrance elevation above average sea level and airport temperature;
based on the temperature deviation relative to the ISA temperature, the correction height is obtained through a correction compensation formula of the air pressure height, and the program height is corrected through the correction height.
Preferably, the method comprises the steps of,
The adoption of the air route stage correction algorithm to carry out horizontal plane correction on the route comprises the following steps:
Dividing the groups according to the flight progress, respectively calculating the average positions of the direct link track and the integral track to obtain the average deviation of the direct link track and the integral track, and obtaining the track correction according to the average deviation;
and correcting the horizontal plane of the integral track through the track correction amount to obtain a corrected track.
Preferably, the method comprises the steps of,
The step of carrying out 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 ending point of each section of integral track and taking the starting point and the ending point as two geographic characteristic points;
converting the position data of two geographic feature points into rectangular coordinates respectively through a longitude and latitude conversion formula of map projection;
determining a starting point deviation value according to the rectangular coordinates of the starting point and longitude and latitude data, and determining an ending point deviation value according to the rectangular coordinates of the ending point and the longitude and latitude data;
And correcting the positioning result of the starting point and the positioning result of the ending point respectively according to the starting point deviation value and the ending point deviation value.
Preferably, the method comprises the steps of,
The calculating the waypoint coordinates of the route by the waypoint positioning algorithm comprises the following steps:
And calculating the waypoint coordinates of the route through a star-based waypoint positioning algorithm or a land-based waypoint positioning algorithm.
Preferably, the method comprises the steps of,
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 double-station positioning algorithm comprises the following steps: a dual-stage ρ/θ positioning algorithm, a dual-stage θ/θ positioning algorithm, and a dual-stage ρ/ρ positioning algorithm.
According to a second aspect of an embodiment of the present invention, there is provided a digital earth-based 3D aerial map construction device, the device comprising:
And a data acquisition module: the system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring route data, and the route data comprises data recorded in Chinese navigation data assembly and data recorded by airborne equipment;
a plotting module: an airport location and runway orientation for plotting the route based on the route data;
the waypoint determining module: the navigation method comprises the steps of calculating route point coordinates of a route by using a route point positioning algorithm, and determining positions of route points in a departure map, an approach map and an approach map;
The route determining module: generating a route and a ground taxi route by using an integral track algorithm based on data recorded by airborne equipment, and generating an off-site route, an on-site route and an on-site route based on a direct connection of route point coordinates;
And a height superposition module: the system is used for superposing height data on the departure route, the approach route and the ground taxi route;
And a height correction module: the temperature compensation algorithm is used for correcting the altitude of the approach route;
and a horizontal plane correction module: the ground taxi-path horizontal plane correction method is used for carrying out horizontal plane correction on a taxi-path by adopting an air taxi-path stage correction algorithm and carrying out horizontal plane correction on a ground taxi-path by adopting a geographic feature point algorithm;
and an output module: and the method is used for inputting the route data and the terrain live-action into Web GIS digital terrestrial software to obtain the 3D aviation map.
According to a third aspect of 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 a digital earth-based 3D aerial map construction method as described in any of the above.
The technical scheme provided by the embodiment of the invention can comprise the following beneficial effects:
The application generates an off-site route, an on-site route and a ground taxi route based on data recorded in Chinese navigation data assembly and data recorded by airborne equipment through a route point and an integral route algorithm, constructs a 3D standard route of airplane take-off, climbing, descending, on-site landing and ground taxi, superimposes altitude data on the route, solves the problems that the prior art displays the route by a two-dimensional plane coordinate system, the route has no depth, the movement track of the airplane in space cannot be comprehensively and effectively known, then carries out altitude compensation on the on-site route in the route through a temperature compensation algorithm, an air route stage correction algorithm and a geographic characteristic point algorithm, carries out horizontal plane compensation on the route and the ground taxi route, finally inputs the route data and a terrain real scene into Web GIS digital earth software, and generates a route including a terrain background so as to solve the problems that the prior art displays a background or a simple terrain symbol, has no real terrain scene, and cannot accurately sense the position of the map in the space, and has no risk and difficulty in locating the map.
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 aerial map construction method, according to an exemplary embodiment;
FIG. 2 is a schematic diagram of a dual stage ρ/θ positioning algorithm, shown in accordance with another exemplary embodiment;
FIG. 3 is a schematic diagram of a dual stage θ/θ positioning algorithm shown in accordance with another exemplary embodiment;
FIG. 4 is a schematic diagram of a dual stage ρ/ρ positioning algorithm, according to another example embodiment;
FIG. 5 is a schematic diagram of a zigzag track shown according to 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 accompanying drawings: the system comprises a 1-data acquisition module, a 2-plotting module, a 3-waypoint determination module, a 4-route determination 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 exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.
Example 1
FIG. 1 is a flow diagram illustrating a digital earth-based 3D aerial map construction method, as shown in FIG. 1, according to an exemplary embodiment, including:
s1, acquiring route data, wherein the route data comprises data recorded in Chinese navigation data assembly and data recorded by airborne equipment;
S2, plotting airport positions and runway directions of the airlines based on the airline data;
s3, calculating the waypoint coordinates of the route by using a waypoint positioning algorithm, and determining the positions of the waypoints in the departure map, the approach map and the approach map;
S4, generating a route and a ground taxi route by using an integral track algorithm based on data recorded by airborne equipment, and generating an off-site route, an on-site route and an on-site route based on direct connection of route point coordinates;
S5, superposing height data on the departure route, the approach route, the route and the ground taxi route;
S6, correcting the altitude of the approach route by adopting a temperature compensation algorithm;
S7, carrying out horizontal plane correction on the air route by adopting an air route stage correction algorithm, and carrying out horizontal plane correction on the ground sliding route by adopting a geographic feature point algorithm;
s8, inputting the route data and the terrain live-action into Web GIS digital earth software to obtain a 3D aviation map;
It can be understood that the 3D construction of the instrument flight path is mainly performed with reference to the flight procedure specified in the Chinese navigation data assembly published by the Chinese civil aviation, wherein a sliding route diagram, a standard instrument departure diagram, a standard instrument approach diagram and a meter approach diagram are selected, and the 3D standard flight path of the aircraft taking off, climbing, descending, approach landing and ground sliding is mainly constructed. In addition, except the map data, part of the data come from flight data recorded by airborne equipment, and then basic positions are plotted, including airport positions, runway directions and waypoints are plotted, wherein the plotted waypoint positions are the most important, the positions of waypoints in the departure map, the arrival map and the approach map are determined by using a waypoint positioning algorithm, and the departure route, the near-field route and the approach route are determined by direct connection of the waypoints; generating a route and a ground taxi route by using an integral track algorithm based on airborne data, and superposing height data on the generated route, thereby solving the problems that the routes are displayed by a two-dimensional plane coordinate system in the prior art, the routes have no depth, and the motion trail of an airplane in space cannot be comprehensively and effectively known; in order to improve the accuracy of the route, the height of the approaching route is corrected through a temperature compensation algorithm, the horizontal plane of the route is corrected through an air route stage correction algorithm, the horizontal plane of the ground sliding route is corrected through a geographic feature point algorithm, the corrected route data and the terrain reality are input into Web GIS digital terrestrial software together to obtain a 3D aviation map, the Web GIS refers to a base Internet platform and client application software, and a geographic information system running on the world wide Web is adopted by a WWW protocol. The Web page of WWW is used as a user interface of GIS software, and the Internet and GIS technology are combined together. The digital earth adopts a Web GIS technology based on a B/S mode. The flight path display needs to relate to a large amount of geographic information data such as topography, airports, roads, buildings, air spaces and the like, and guarantees are provided for the topography display of the section where the flight path is located by utilizing the graphic processing technology, the mapping technology and the visualization technology of the GIS; in the prior art, most of route display backgrounds are blank or simple terrain symbols, real terrain scene display is not fused, a driver cannot accurately perceive the position relation between a route and a geographic space where the route is located when looking up a route map, effective terrain scene consciousness is difficult to establish, potential risk points exist, and finally the route map is checked with a plane route map to check consistency, so that manufacturing is completed.
Preferably, the method comprises the steps of,
The generating the route and the ground taxi route based on the data recorded by the airborne equipment by using an integral flight path algorithm comprises the following steps:
Acquiring a 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 aircraft is obtained through numerical integration, the displacement of the aircraft along one direction is the speed accumulated value of once per second along the direction, and the course and the ground sliding route are obtained;
It can be understood that the route drawn in the route map is a route plan used between the take-off and landing stages of the aircraft, and the route is wide in range and long 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 saw-toothed, and has unreasonable inflection points, as shown in fig. 5, so that the flight route needs to be optimized by an algorithm, and the flight route is smooth in transition and is more close to actual operation. In addition, although the ground taxi route is drawn in the ground taxi map, similar to the problem encountered in constructing the route map, the method of directly connecting the front and rear ground position points is not smooth enough in constructing the route, and many airports do not publish the ground taxi route map. Therefore, the integral track algorithm using the flight data recorded by the airborne equipment is suitable for 3D construction of tracks in the route map and the taxiing route map; and selecting one flight activity as a standard flight path according to the screening. According to the parameters of the ground speed, the course angle, the drift angle, the track angle and the like of the airplane in flight data recorded by the airborne equipment, a track integral calculation model is established, and the specific calculation steps are as follows:
(1) And establishing a space rectangular coordinate system. Providing x as an east coordinate, y as a vertical coordinate and z as a north coordinate;
(2) And (5) decomposing the ground speed vector. According to the magnetic heading angle, drift angle and track angle of the flight attitude data, the ground speed is projected to three Cartesian coordinate axes, and the formula is as follows:
where Vg is ground speed, beta is track angle, As heading angle, ψ is drift angle. Vy is vertical velocity, vx is east velocity, vz is north velocity;
(3) And integrating to calculate the track. Since the recorder records the speed, heading, track angle and drift angle of the aircraft 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 velocity accumulated value once per second along the direction. Assuming time changes from t0 to t, the numerical integration formula can be expressed as follows:
Wherein Vx (i), vy (i) and Vz (i) are three discrete velocity component values in the east, vertical and north directions at a certain moment, and x, y and z are displacement amounts in the east, vertical and north directions respectively.
Preferably, the method comprises the steps of,
The correcting the altitude of the approach route by adopting the temperature compensation algorithm comprises the following steps:
Acquiring the elevation of an entrance of an airport runway, the temperature of the airport and the program height of each positioning point published by a chart;
calculating a temperature deviation from ISA temperature by an entrance elevation above average sea level and airport temperature;
Acquiring a correction height through a correction compensation formula of the air pressure height based on temperature deviation relative to the ISA temperature, and correcting the program height through the correction height;
It will be appreciated that, because the altitude value provided by the on-board barometric altimeter is based on ISA conditions, if the measured reference plane air temperature and air temperature vertical reduction rate do not meet ISA conditions, a deviation in altitude indication may result. The basic characteristics of the climate in China show that extremely low temperatures continuously occur throughout the year in the northeast, north China and northwest regions, the lowest temperature is lower than-40 ℃, and the phenomenon of high indication is caused by low temperature errors, so that the flight safety margin is reduced. Therefore, the application uses the correction compensation formula in ICAO DOC 8168 for providing the air pressure height when constructing the vertical section of the 3D air course to compensate the air pressure height by temperature:
Where Δh=temperature correction amount; Δtstd = temperature deviation from ISA temperature; l0=barometric altitude temperature standard taper rate in ISA first layer (sea level to troposphere top); hFAP = program high above ingress at FAP; t0=standard temperature at sea level (288.15K); hTHR = inlet elevation above mean sea level; for example: the elevation of the entrance of an airport runway in the north is 456ft, the temperature of the airport is-20 ℃, the program heights published by the aerogram MSA=3000 ft, IAF=3940ft, IF=FAF=2300ft and DA=657ft. According to the temperature correction formula, Δtstd= -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. In constructing the vertical section of the 3D route, it should be constructed according to the actual altitude in the table based on the air temperature values reported by the airport.
Preferably, the method comprises the steps of,
The adoption of the air route stage correction algorithm to carry out horizontal plane correction on the route comprises the following steps:
Dividing the groups according to the flight progress, respectively calculating the average positions of the direct link track and the integral track to obtain the average deviation of the direct link track and the integral track, and obtaining the track correction according to the average deviation;
correcting the horizontal plane of the integral track through the track correction amount to obtain a corrected track;
It will be appreciated that the integration track is smooth and continuous, but there is an accumulated error of iterative computation; the direct connection track is saw-toothed, and has unreasonable inflection points, but the error is stable. Therefore, correction of the integration track is required. The correction method is characterized in that the average positions of the direct link track and the integral track are calculated respectively according to the flight progress division groups, and the track correction quantity (delta xi and delta yi) can be obtained as shown in the following formula:
Wherein the method comprises the steps of Recording a direct link track corresponding to the data for the j-th record; /(I)Recording an integral track corresponding to the data for the j-th track; i is the record group number; m is the size of the record group; Δχ i is the component of the average deviation of the i-th set of recorded tracks in the x-direction; Δz i is the component of the average deviation of the recorded track of the i-th group in the z-direction. After the average deviation of the integral track with 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; Is an integral track; /(I) Is the track after the direct link track.
Preferably, the method comprises the steps of,
The step of carrying out 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 ending point of each section of integral track and taking the starting point and the ending point as two geographic characteristic points;
converting the position data of two geographic feature points into rectangular coordinates respectively through a longitude and latitude conversion formula of map projection;
determining a starting point deviation value according to the rectangular coordinates of the starting point and longitude and latitude data, and determining an ending point deviation value according to the rectangular coordinates of the ending point and the longitude and latitude data;
correcting the positioning result of the starting point and the positioning result of the ending point respectively according to the starting point deviation value and the ending point deviation value;
It will be appreciated that the accumulated error in data computation may result in deviations in the reconstructed 3D route from the true route location due to longer reconstructed routes and more waypoints. When no topography reference exists, the track deviation is not obvious; once there is a topographical reference, such as a topographical view of an airport, runway, etc., the problem of matching the reconstructed track with the geographic information needs to be considered. Thus, studies have employed a geographic feature point correction model. The starting point and the ending point of each section of track integration are two geographic feature points, the feature points are key positions of ground operation, no deviation exists generally, longitude and latitude data can be directly obtained from navigation data, and the feature point 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,
Wherein, (B0, L0) is longitude and latitude of an origin of coordinates, (B, L) is longitude and latitude of any point, corresponding rectangular coordinates are (X, Z), a, B, e, e' are respectively a long half axis, a short half axis, a first eccentricity and a second eccentricity of an ellipsoid of the earth, and N is a radius of curvature of a circle of a mortise; the start-stop characteristic points of the take-off ground section are respectively a stop position point and an off-site point, and the start-stop characteristic points of the landing ground section are respectively a ground point and a stop position point. The deviation value is determined by the difference between the longitude and latitude data corresponding to each start and stop point and the characteristic point data, namely DeltaXn= XIn-XTn and DeltaZn= ZIn-ZTn, wherein (XIn, ZIn) and (XTn, ZTn) are the data of the start characteristic point and the longitude and latitude data respectively. Δxn '= XIn' -XTn ',Δzn' = ZIn '-ZTn', where (XIn ', ZIn'), (XTn ', ZTn') are the end feature point data and 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;
The first formula is correction of the positioning result according to the initial characteristic points, i=0, 1,2,3, & gt. The second formula is correction of the positioning result according to the ending feature points, i=n/2, n/2+1, n/2+2, n/2+3.
Preferably, the method comprises the steps of,
The calculating the waypoint coordinates of the route by the waypoint positioning algorithm comprises the following steps:
calculating the waypoint coordinates of the route through a star-based waypoint positioning algorithm or a land-based waypoint positioning algorithm;
It can be understood that the star-based waypoint is an airline designed by using the PBN navigation specification, and the navigation device is a combined navigation source of gnss+ins for donor, wherein GNSS (global navigation satellite system) is mainly using GPS in China. The GPS waypoints can be directly positioned by using longitude and latitude coordinates, and the data can be obtained through navigation database materials. Therefore, the longitude and latitude coordinates of the points can be directly added in the digital earth when the star-based waypoints are drawn.
Preferably, the method comprises the steps of,
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 double-station positioning algorithm comprises the following steps: a double-stage rho/theta positioning algorithm, a double-stage theta/theta positioning algorithm and a double-stage rho/rho positioning algorithm;
It will be appreciated that land-based navigation devices mainly include VORs (very high frequency omni-directional beacons), DMEs (rangefinders), ILS (instrumentation landing systems), etc. The principle of the land-based navigation device is that the deviation of the airplane from a preselected channel is monitored by transmitting radio positioning signals into the air, judging the position relation between the received radio positioning signals and the land-based navigation device and the airplane. Considering the positioning form of double stations and single station adopted by the existing land-based navigation equipment, the cross positioning of the waypoints is finished by utilizing the azimuth and distance parameters provided by the navigation station, and the complete matching with the WGS-84 coordinates is finally realized by finishing the coordinate conversion of the waypoints.
Dual ρ/θ positioning:
definition: the point A is a track guiding radio station, and the point B is a lateral positioning radio station;
Known conditions (directly available by reference to navigation data): the latitude N A of the point A, the longitude E A of the point A, the latitude N B of the point B, the longitude E B of the point B, the true azimuth TCA of the radial line of the point A, and the radius r of the point B as the center of the circle;
As shown in a of fig. 2, AB > r > BE, the point a is outside the circle, the radial line intersects the circle, and the intersection points are C (a point closer to a) and D (a point farther from a), respectively, C, D are the required coordinate points:
NC＝CalN(NA,TCA,LAC),EC＝CalE(NA,EA,TCA,LAC);
ND＝CalN(NA,TCA,LAD),ED＝CalE(NA,EA,TCA,LAD)
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 required coordinate point:
NE＝CalN(NA,TCA,LAE),EE＝CalE(NA,EA,TCA,LAE)
As shown in c of fig. 2, r > AB > 0, the intersection point of the radial line and the circle is D, and the D point is the coordinate point:
ND＝CalN(NA,TCA,LAD),ED＝CalE(NA,EA,TCA,LAD)
as shown by d in FIG. 2, BE > r, AE has no intersection with the circle, in which case there is no solution.
Double station θ/θ positioning:
Definition: A. two points B are divided into navigation stations 1 and 2, and radial lines CRS1 and CRS2 are provided;
Known conditions (directly available by reference to navigation data): the latitude N A of the point A, the longitude E A of the point A, the latitude N B of the point B, the longitude E B of the point B, the true azimuth TCA of the radial line sent by the point A, and the true azimuth TCB of the radial line sent by the point B;
As shown in a of fig. 3, C is the coordinate point:
NC＝CalN(NA,TCA,LAC),EC＝CalE(EA,NA,TCA,LAC)
As shown in b of fig. 3, if the radial lines of two points A, B are parallel to each other, tca=tcb or tca=tcb±180 is satisfied, which is the case without the intersection point;
if A, B is a point, the intersection point of the two radial lines is the latitude and longitude coordinates of a or B, as shown in c of fig. 3.
Dual station ρ/ρ positioning:
Definition: the point A is a navigation platform 1, and the distance information r 1 is extracted; the point B is a navigation platform 2 and provides distance information r 2;
Known conditions (directly available by reference to navigation data): the latitude NA of the point A, the longitude E A of the point A, the latitude N B of the point B, the longitude E B of the point B, the circle radius r A of the point A as the center of the circle and the circle radius r B of the point B as the center of the circle;
As shown in a of fig. 4, C, D is a calculated coordinate point:
NC＝CalN(NA,TCAB-A,LAC),EC＝CalE(EA,NA,TCAB-A,LAC);
ND＝CalN(NA,TCAB+A,LAD),ED＝CalE(EA,NA,TCAB+A,LAD)
As shown in b of fig. 4, A, B circles do not intersect, satisfying CalNm (N A,EA,NB,EB)＜|rA-rB |, this case without intersection;
As shown in c of fig. 4, A, B circles do not intersect, meeting CalNm (N A,EA,NB,EB)＞rA+rB), which is the case without intersection.
Single unit positioning (VOR/DME combination):
The single angular distance positioning is to calculate the longitude and latitude of the point B under the condition that the longitude and latitude of the point A and the lengths of TC and AB are known. Wherein, the north pole of the C point (latitude is 90 degrees, longitude is 0 degree), and the sphere center of the earth is the O point:
EB＝EA+C,NB＝90-a【a＝arccos(sinNAcosc+cosNAsinccosA)】
the custom functions that appear in the above-described positioning algorithm are shown in the following table:
Example two
The embodiment also discloses a system schematic diagram of a 3D aerial map building device based on digital earth, as shown in fig. 6, including:
Data acquisition module 1: the system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring route data, and the route data comprises data recorded in Chinese navigation data assembly and data recorded by airborne equipment;
Plotting module 2: an airport location and runway orientation for plotting the route based on the route data;
waypoint determination module 3: the navigation method comprises the steps of calculating route point coordinates of a route by using a route point positioning algorithm, and determining positions of route points in a departure map, an approach map and an approach map;
Route determination module 4: generating a route and a ground taxi route by using an integral track algorithm based on data recorded by airborne equipment, and generating an off-site route, an on-site route and an on-site route based on a direct connection of route point coordinates;
height superimposing module 5: the system is used for superposing height data on the departure route, the approach route and the ground taxi route;
Height correction module 6: the temperature compensation algorithm is used for correcting the altitude of the approach route;
Horizontal plane correction module 7: the ground taxi-path horizontal plane correction method is used for carrying out horizontal plane correction on a taxi-path by adopting an air taxi-path stage correction algorithm and carrying out horizontal plane correction on a ground taxi-path by adopting a geographic feature point algorithm;
output module 8: the method comprises the steps of inputting route data and terrain live-action into Web GIS digital terrestrial software to obtain a 3D aviation map;
It can be understood that the application acquires the route data through the data acquisition module 1, wherein the route data comprises data recorded in Chinese navigation data assembly and data recorded by airborne equipment; plotting, by a plotting module 2, the airport position and runway direction of the route based on the route data; calculating the waypoint coordinates of the route by the waypoint determining module 3 by using the waypoint positioning algorithm, and determining the positions of the waypoints in the departure map, the approach map and the approach map; generating a route and a ground taxi route by an integral route algorithm based on data recorded by airborne equipment through a route determining module 4, and generating an off-site route, an on-site route and an on-site route based on direct connection of route point coordinates; superposing the altitude data on the off-site route, the on-route and the ground taxi route by the altitude superposition module 5; correcting the altitude of the approach route by adopting a temperature compensation algorithm through an altitude correction module 6; the horizontal plane correction module 7 corrects the horizontal plane of the air route and the air route by adopting an air route stage correction algorithm, and corrects the horizontal plane of the ground sliding route by adopting a geographic feature point algorithm; and inputting the route data and the terrain live-action into Web GIS digital earth software through an output module 8 to obtain the 3D aviation map. Through the scheme, the problems that in the prior art, no matter a paperboard aerial image or an electronic aerial image is displayed by a two-dimensional plane coordinate system, the aerial image has no depth, the motion track of an airplane in space cannot be comprehensively and effectively known, the aerial image display background is blank or simple terrain symbols, the real terrain scene display is not fused, a driver cannot accurately perceive the position relationship between the aerial image and the geographic space where the aerial image is located when looking up the aerial image, effective terrain scene consciousness is difficult to establish, and potential risk points exist are solved.
Example III
The embodiment also discloses 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 as described in any of the above;
it is to be understood that the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
It is to be understood that the same or similar parts in the above embodiments may be referred to each other, and that in some embodiments, the same or similar parts in other embodiments may be referred to.
It should be noted that in the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "plurality" means at least two.
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 further 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 is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the 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, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., 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 present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (9)
1. A method for constructing a 3D aerial map based on digital earth, the method comprising:
acquiring route data, wherein the route data comprises data recorded in Chinese navigation data assembly and data recorded by airborne equipment;
Plotting airport locations and runway directions for the airlines based on the airline data;
Calculating the waypoint coordinates of the route by using the waypoint positioning algorithm, and determining the positions of the waypoints in the departure map, the approach map and the approach map;
generating a route and a ground taxi route by using an integral track algorithm based on data recorded by airborne equipment, and generating an off-site route, an on-site route and an on-site route based on a direct connection of route point coordinates;
Superposing height data on the departure route, the approach route, the course route and the ground taxi route;
Correcting the altitude of the approach route by adopting a temperature compensation algorithm;
carrying out horizontal plane correction on the air route by adopting an air route stage correction algorithm, and carrying out horizontal plane correction on the ground sliding route by adopting a geographic characteristic point algorithm;
and inputting the route data and the terrain live-action into Web GIS digital terrestrial software to obtain the 3D aviation map.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
The generating the route and the ground taxi route based on the data recorded by the airborne equipment by using an integral flight path algorithm comprises the following steps:
Acquiring a 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;
And (3) recording the frequency of the flight speed, the course, the track angle and the drift angle according to the airborne equipment, obtaining the displacement of the airplane through numerical integration, wherein the displacement of the airplane along one direction is the speed accumulated value of once per second along the direction, and obtaining the course and the ground sliding course.
3. The method of claim 2, wherein the step of determining the position of the substrate comprises,
The correcting the altitude of the approach route by adopting the temperature compensation algorithm comprises the following steps:
Acquiring the elevation of an entrance of an airport runway, the temperature of the airport and the program height of each positioning point published by a chart;
calculating a temperature deviation from ISA temperature by an entrance elevation above average sea level and airport temperature;
based on the temperature deviation relative to the ISA temperature, the correction height is obtained through a correction compensation formula of the air pressure height, and the program height is corrected through the correction height.
4. The method of claim 3, wherein the step of,
The adoption of the air route stage correction algorithm to carry out horizontal plane correction on the route comprises the following steps:
Dividing the groups according to the flight progress, respectively calculating the average positions of the direct link track and the integral track to obtain the average deviation of the direct link track and the integral track, and obtaining the track correction according to the average deviation;
and correcting the horizontal plane of the integral track through the track correction amount to obtain a corrected track.
5. The method of claim 4, wherein the step of determining the position of the first electrode is performed,
The step of carrying out 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 ending point of each section of integral track and taking the starting point and the ending point as two geographic characteristic points;
converting the position data of two geographic feature points into rectangular coordinates respectively through a longitude and latitude conversion formula of map projection;
determining a starting point deviation value according to the rectangular coordinates of the starting point and longitude and latitude data, and determining an ending point deviation value according to the rectangular coordinates of the ending point and the longitude and latitude data;
And correcting the positioning result of the starting point and the positioning result of the ending point respectively according to the starting point deviation value and the ending point deviation value.
6. The method according to any one of claims 1 to 5, wherein,
The calculating the waypoint coordinates of the route by the waypoint positioning algorithm comprises the following steps:
And calculating the waypoint coordinates of the route through a star-based waypoint positioning algorithm or a land-based waypoint positioning algorithm.
7. The method of claim 6, wherein the step of providing the first layer comprises,
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 double-station positioning algorithm comprises the following steps: a dual-stage ρ/θ positioning algorithm, a dual-stage θ/θ positioning algorithm, and a dual-stage ρ/ρ positioning algorithm.
8. A digital earth-based 3D aerial map construction device, the device comprising:
And a data acquisition module: the system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring route data, and the route data comprises data recorded in Chinese navigation data assembly and data recorded by airborne equipment;
a plotting module: an airport location and runway orientation for plotting the route based on the route data;
the waypoint determining module: the navigation method comprises the steps of calculating route point coordinates of a route by using a route point positioning algorithm, and determining positions of route points in a departure map, an approach map and an approach map;
The route determining module: generating a route and a ground taxi route by using an integral track algorithm based on data recorded by airborne equipment, and generating an off-site route, an on-site route and an on-site route based on a direct connection of route point coordinates;
And a height superposition module: the system is used for superposing height data on the departure route, the approach route and the ground taxi route;
And a height correction module: the temperature compensation algorithm is used for correcting the altitude of the approach route;
and a horizontal plane correction module: the ground taxi-path horizontal plane correction method is used for carrying out horizontal plane correction on a taxi-path by adopting an air taxi-path stage correction algorithm and carrying out horizontal plane correction on a ground taxi-path by adopting a geographic feature point algorithm;
and an output module: and the method is used for inputting the route data and the terrain live-action into Web GIS digital terrestrial software to obtain the 3D aviation map.
9. 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 of any of claims 1-7.
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