A dynamic scheduling processing method for airborne terrain data based on flight position

Abstract

The present invention provides a real-time dynamic scheduling and processing method for airborne terrain data based on flight position. During the flight movement of the aircraft, a dual-buffer data processing strategy is used periodically for terrain data caching and terrain data processing and analysis. The airborne system can calculate the terrain data range according to the current position of the aircraft, calculate the overlapping area of ​​the previous terrain data, send a terrain data request for the new area, and complete the terrain data caching of the new area, thereby effectively reducing the communication line load, meeting the real-time update requirements of the airborne terrain data, and realizing efficient dynamic scheduling of terrain data.

Description

Technical Field

[0001] The invention relates to a dynamic dispatch processing method of airborne terrain data based on flight position. Technical Background

[0002] The airborne system requires real-time update of terrain data to meet the functional requirements of systems such as system display, trajectory planning, terrain avoidance and ground proximity warning. However, on the one hand, the need for airborne systems to process multiple tasks in real time limits the computing resources for updating terrain data, making it difficult to achieve fast and reliable update of terrain data. On the other hand, the amount of terrain data is large, so it is necessary to develop a dynamic scheduling method for terrain data based on the characteristics of the airborne system to achieve dynamic and reliable scheduling of terrain data to meet the functional and performance requirements of the ground proximity warning system, thereby improving the real-time needs of the airborne system. Summary of the invention

[0003] The present invention discloses a dynamic scheduling processing method for airborne terrain data based on flight position. During the flight movement of an aircraft, a dual-buffer data processing strategy is used periodically for terrain data caching and terrain data processing and analysis. The airborne system can calculate the terrain data range according to the current position of the aircraft, calculate the overlapping area of ​​the previous terrain data, send a terrain data request for the new area, and complete the terrain data caching of the new area, thereby effectively reducing the communication line load, meeting the real-time update requirements of the airborne terrain data, and realizing efficient dynamic scheduling of terrain data.

[0004] The present invention provides a real-time dynamic scheduling processing method for airborne terrain data based on flight position, characterized in that it comprises the following steps:

[0005] Step A: Based on the current position of the aircraft (x i ,y i ), sends a terrain data request for the specified area, caches the terrain data, and completes the initialization of the terrain cache area data.

[0006] Step B: Based on the current position of the aircraft (x i ,y i ) and the location of the terrain data center point in the last terrain data update cycle (x i-1 ,y i-1 ), calculate the track azimuth α of the aircraft’s motion direction.

[0007] Step C: Based on the center point position of the terrain data of adjacent periods and the terrain data range, the overlapping area of ​​the terrain data of adjacent periods is calculated.

[0008] Step D: Based on the range of the overlapping area and the position of the terrain data of the previous cycle, the row and column numbers of the overlapping area in the cached terrain data of the previous cycle are calculated, and the terrain data of the overlapping area is read from the cache.

[0009] Step F: Calculate the terrain data range in the row direction of the same column as the overlapping area according to the flight positions and terrain data ranges of adjacent cycles.

[0010] Step G: Send a terrain database request according to the terrain data range in the row direction of the non-overlapping area, and complete the caching of terrain data in the row direction of the non-overlapping area in the same column as the overlapping area.

[0011] Step H: According to the flight positions and terrain data ranges of adjacent cycles, terrain data requests and data updates in the column direction of the non-overlapping area are calculated to complete the terrain data cache processing in the new cache area.

[0012] Step I: The currently cached terrain data is used for terrain data processing, the terrain cache data of the previous cycle is cleared, a terrain data request is sent, and S1-S7 are repeated to complete the caching of terrain data of the next cycle, thereby realizing the scheduling of terrain data.

[0013] The current position (x) of the aircraft in step A i ,y i ) can be obtained using a global positioning system (GPS, BeiDou, etc.) or an inertial navigation device. Based on the current position and the spatial resolution and position information of the terrain data, cache the terrain data of the specified area and complete the initialization of the terrain cache area data.

[0014] The aircraft's moving direction and track azimuth α in step B can be determined based on the aircraft's current position (x i ,y i ) and the location of the terrain data center point cached in the previous cycle (x i-1 ,y i-1 ) is calculated and obtained, and the specific calculation formula is as follows:

[0015] (1) If x i >x i-1 ,y i >y i-1 ,but

[0016]

[0017] (2) If x i >x i-1 ,y i ≤y i-1 ,but

[0018]

[0019] (3) If x i <x i-1 ,y i ≤y i-1 ,but

[0020]

[0021] (4) If x i <x i-1 ,y i >y i-1 ,but

[0022]

[0023] (5) If x i =x i-1 ,y i >y i-1 , then α=π / 2, otherwise if x i =x i-1 ,y i <y i-1 , then α=3π / 2

[0024] The overlapping area of ​​the terrain data of adjacent periods in step C can be calculated based on the center point position of the terrain data of adjacent periods and the terrain data range, as follows:

[0025] (1) When 0<α≤π / 2, the overlapping area of ​​adjacent periodic terrain data is:

[0026]

[0027] (2) When π / 2<α≤π, the overlapping area of ​​adjacent periodic terrain data is:

[0028]

[0029] (3) When π<α≤3π / 2, the overlapping area of ​​adjacent periodic terrain data is:

[0030]

[0031] (4) When 3π / 2<α≤2π, the overlapping area of ​​adjacent periodic terrain data is:

[0032]

[0033] The terrain data of the overlapping area in step D can be cached according to the row and column numbers of the terrain data in the cache area corresponding to the overlapping area range.

[0034]

[0035] Where Δr, Δc are the offsets relative to the row and column numbers of the lower left corner of the terrain data, Δx, Δy are the spatial resolutions of the cache terrain data in the row and column directions, (x o ,y o ) is the lower left corner coordinate of the cache area terrain data.

[0036] The non-overlapping area in the same row direction as the overlapping area in step E can be calculated based on the center point position of the terrain data of adjacent periods and the terrain data range, as follows:

[0037] (1) When 0<α≤π / 2, the overlapping area of ​​adjacent periodic terrain data is:

[0038]

[0039] (2) When π / 2<α≤π, the overlapping area of ​​adjacent periodic terrain data is:

[0040]

[0041] (3) When π<α≤3π / 2, the overlapping area of ​​adjacent periodic terrain data is:

[0042]

[0043] (4) When 3π / 2<α≤2π, the overlapping area of ​​adjacent periodic terrain data is:

[0044]

[0045] The buffering of terrain data of the non-overlapping area in the same row direction as the overlapping area in step F can be achieved by sending a terrain data request to the onboard terrain data storage device.

[0046] The range of the remaining non-overlapping area in step G can be calculated based on the center point position of the terrain data of adjacent periods and the range of the terrain data, as follows:

[0047] (1) When 0<α≤π / 2, the overlapping area of ​​adjacent periodic terrain data is:

[0048]

[0049] (2) When π / 2<α≤π, the overlapping area of ​​adjacent periodic terrain data is:

[0050]

[0051] (3) When π<α≤3π / 2, the overlapping area of ​​adjacent periodic terrain data is:

[0052]

[0053] (4) When 3π / 2<α≤2π, the overlapping area of ​​adjacent periodic terrain data is:

[0054]

[0055] According to the above non-overlapping area terrain data range, a terrain data request is sent to the terrain storage device to complete the non-overlapping area terrain data caching process.

[0056] The terrain data that has been cached in the designated area in step H is used for terrain data processing. In response to terrain data processing requirements, the terrain data cache area of ​​the previous cycle is emptied to cache new terrain data, thereby achieving real-time updating and scheduling of terrain data. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 The diagram shows the technical roadmap for dynamic scheduling and processing of airborne terrain data.

[0058] Figure 2 The figure shows a schematic diagram of the dynamic scheduling and processing principle of airborne terrain data.

[0059] Figure 3 The diagram shows the dual-buffer data scheduling process for airborne terrain data.

[0060] Figure 4 Graphically illustrates the number of onboard terrain data caches. DETAILED DESCRIPTION

[0061] The technical solution of the present invention is described below through specific examples, but the following embodiments cannot limit the protection scope of the present invention.

[0062] See also Figure 1 and 2 The present invention discloses a real-time dynamic scheduling processing method of airborne terrain data based on flight position.

[0063] In particular, the dynamic scheduling technology of airborne terrain data involved in ground proximity warning equipment based on digital terrain databases that are widely used in aircraft. Such systems include but are not limited to specific products of avionics equipment such as aircraft ground proximity warning equipment, ground collision avoidance systems, terrain prompting and warning systems, and integrated environmental monitoring systems.

[0064] During the flight of the aircraft, a dual-buffer data processing strategy is used periodically for terrain data caching and terrain data processing and analysis. The airborne system can calculate the terrain data range according to the current position of the aircraft, calculate the overlapping area of ​​the previous terrain data, send terrain data requests for new areas, and complete terrain data caching for new areas, thereby effectively reducing the load on the communication line, meeting the real-time update requirements of airborne terrain data, and realizing efficient dynamic scheduling of terrain data.

[0065] The following steps are involved:

[0066] Step A: Based on the current position of the aircraft (x i ,y i ), sends a terrain data request for the specified area, caches the terrain data, and completes the initialization of the terrain cache area data.

[0067] Step B: Based on the current position of the aircraft (x i ,y i ) and the location of the terrain data center point in the last terrain data update cycle (x i-1 ,y i-1 ), calculate the track azimuth α of the aircraft’s motion direction.

[0068] Step C: Based on the center point position of the terrain data of adjacent periods and the terrain data range, the overlapping area of ​​the terrain data of adjacent periods is calculated.

[0069] Step D: Based on the range of the overlapping area and the position of the terrain data of the previous cycle, the row and column numbers of the overlapping area in the cached terrain data of the previous cycle are calculated, and the terrain data of the overlapping area is read from the cache.

[0070] Step F: Calculate the terrain data range in the row direction of the same column as the overlapping area according to the flight positions and terrain data ranges of adjacent cycles.

[0071] Step G: Send a terrain database request according to the terrain data range in the row direction of the non-overlapping area, and complete the caching of terrain data in the row direction of the non-overlapping area in the same column as the overlapping area.

[0072] Step H: According to the flight positions and terrain data ranges of adjacent cycles, terrain data requests and data updates in the column direction of the non-overlapping area are calculated to complete the terrain data cache processing in the new cache area.

[0073] Step I: The currently cached terrain data is used for terrain data processing, the terrain cache data of the previous cycle is cleared, a terrain data request is sent, and S1-S7 are repeated to complete the caching of terrain data of the next cycle, thereby realizing the scheduling of terrain data.

[0074] The current position (x) of the aircraft in step A i,y i ) can be obtained using a global positioning system (GPS, BeiDou, etc.) or an inertial navigation device. Based on the current position and the spatial resolution and position information of the terrain data, cache the terrain data of the specified area and complete the initialization of the terrain cache area data.

[0075] The aircraft's moving direction and track azimuth α in step B can be determined based on the aircraft's current position (x i ,y i ) and the location of the terrain data center point cached in the previous cycle (x i-1 ,y i-1 ) is calculated and obtained, and the specific calculation formula is as follows:

[0076] (1) If x i >x i-1 ,y i >y i-1 ,but

[0077]

[0078] (2) If x i >x i-1 ,y i ≤y i-1 ,but

[0079]

[0080] (3) If x i <x i-1 ,y i ≤y i-1 ,but

[0081]

[0082] (4) If x i <x i-1 ,y i >y i-1 ,but

[0083]

[0084] (5) If x i =x i-1 ,y i >y i-1 , then α=π / 2, otherwise if x i =x i-1 ,y i <y i-1 , then α=3π / 2

[0085] The overlapping area of ​​the terrain data of adjacent periods in step C can be calculated based on the center point position of the terrain data of adjacent periods and the terrain data range, as follows:

[0086] (1) When 0<α≤π / 2, the overlapping area of ​​adjacent periodic terrain data is:

[0087]

[0088] (2) When π / 2<α≤π, the overlapping area of ​​adjacent periodic terrain data is:

[0089]

[0090] (3) When π<α≤3π / 2, the overlapping area of ​​adjacent periodic terrain data is:

[0091]

[0092] (4) When 3π / 2<α≤2π, the overlapping area of ​​adjacent periodic terrain data is:

[0093]

[0094] The terrain data of the overlapping area in step D can be cached according to the row and column numbers of the terrain data in the cache area corresponding to the overlapping area range.

[0095]

[0096] Where Δr, Δc are the offsets relative to the row and column numbers of the lower left corner of the terrain data, Δx, Δy are the spatial resolutions of the cache terrain data in the row and column directions, (x o ,y o ) is the lower left corner coordinate of the cache area terrain data.

[0097] The non-overlapping area in the same row direction as the overlapping area in step E can be calculated based on the center point position of the terrain data of adjacent periods and the terrain data range, as follows:

[0098] (1) When 0<α≤π / 2, the overlapping area of ​​adjacent periodic terrain data is:

[0099]

[0100] (2) When π / 2<α≤π, the overlapping area of ​​adjacent periodic terrain data is:

[0101]

[0102] (3) When π<α≤3π / 2, the overlapping area of ​​adjacent periodic terrain data is:

[0103]

[0104] (4) When 3π / 2<α≤2π, the overlapping area of ​​adjacent periodic terrain data is:

[0105]

[0106] The buffering of terrain data of the non-overlapping area in the same row direction as the overlapping area in step F can be achieved by sending a terrain data request to the onboard terrain data storage device.

[0107] The range of the remaining non-overlapping area in step G can be calculated based on the center point position of the terrain data of adjacent periods and the range of the terrain data, as follows:

[0108] (1) When 0<α≤π / 2, the overlapping area of ​​adjacent periodic terrain data is:

[0109]

[0110] (2) When π / 2<α≤π, the overlapping area of ​​adjacent periodic terrain data is:

[0111]

[0112] (3) When π<α≤3π / 2, the overlapping area of ​​adjacent periodic terrain data is:

[0113]

[0114] (4) When 3π / 2<α≤2π, the overlapping area of ​​adjacent periodic terrain data is:

[0115]

[0116] According to the above non-overlapping area terrain data range, a terrain data request is sent to the terrain storage device to complete the non-overlapping area terrain data caching process.

[0117] The terrain data that has been cached in the designated area in step H is used for terrain data processing. In response to terrain data processing requirements, the terrain data cache area of ​​the previous cycle is emptied to cache new terrain data, thereby achieving real-time updating and scheduling of terrain data.

[0118] The method of use is as follows: a real-time dynamic scheduling and processing method for airborne terrain data based on flight position is encapsulated in the form of a software module, embedded in the main program of the aircraft airborne system, to complete the dynamic scheduling and processing of terrain data to meet the real-time needs of the airborne system.

[0119] The above only expresses the implementation mode of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A real-time dynamic scheduling processing method based on airborne terrain data of flight position, characterized in that: The following steps are included: Step S1: Based on the current position of the aircraft (x i ,y i ), send a terrain data request for the specified area, cache the terrain data, and complete the initialization of the terrain cache area data; Step S2: Based on the current position of the aircraft (x i ,y i ) and the location of the terrain data center point in the last terrain data update cycle (x i-1 ,y i-1 ), calculate the track azimuth α of the aircraft's moving direction; Step S3: Calculate the overlapping area of ​​the terrain data of adjacent periods based on the center point position of the terrain data of adjacent periods and the terrain data range; Step S4: based on the overlapping area range and the location of the terrain data of the previous cycle, the row and column numbers of the overlapping area in the cached terrain data of the previous cycle are calculated, and the terrain data of the overlapping area is read from the cache area; Step S5: Calculate the terrain data range in the row direction of the same column as the overlapping area according to the flight positions and terrain data ranges of the adjacent cycles; Step S6: sending a terrain database request according to the terrain data range in the row direction of the non-overlapping area, and completing the caching of terrain data in the non-overlapping area in the row direction of the same column as the overlapping area; Step S7: Calculate terrain data request and data update in the column direction of the non-overlapping area according to the flight position and terrain data range of the adjacent cycles, and complete the terrain data cache processing in the new cache area; as well as, Step S8: The currently cached terrain data is used for terrain data processing, the terrain cache data of the previous cycle is cleared, a terrain data request is sent, and steps S1-S7 are repeated to complete the caching of terrain data of the next cycle, thereby realizing the scheduling of terrain data; The aircraft's moving direction track azimuth α in step S2 is based on the current position of the aircraft (x i ,y i ) and the location of the terrain data center point cached in the previous cycle (x i-1 ,y i-1 ) is calculated and obtained. The specific calculation formula is as follows: If x i >x i-1 ,y i >y i-1 ,but If x i >x i-1 ,y i ≤y i-1 ,but If x i <x i-1 ,y i ≤y i-1 ,but If x i <x i-1 ,y i >y i-1 ,but If x i =x i-1 ,y i >y i-1 , then α=π / 2, otherwise if x i =x i-1 ,y i <y i-1 , then α=3π / 2; the overlapping area of ​​the terrain data of adjacent periods in step S3 is calculated based on the center point position of the terrain data of adjacent periods and the terrain data range, as follows: When 0<α≤π / 2, the overlapping area of ​​adjacent periodic terrain data is: When π / 2<α≤π, the overlapping area of ​​adjacent periodic terrain data is: When π<α≤3π / 2, the overlapping area of ​​adjacent periodic terrain data is: When 3π / 2<α≤2π, the overlapping area of ​​adjacent periodic terrain data is: The non-overlapping area in the same row direction as the overlapping area in step S5 is calculated based on the center point position of the terrain data of adjacent periods and the terrain data range, as follows: When 0<α≤π / 2, the overlapping area of ​​adjacent periodic terrain data is: When π / 2<α≤π, the overlapping area of ​​adjacent periodic terrain data is: When π<α≤3π / 2, the overlapping area of ​​adjacent periodic terrain data is: When 3π / 2<α≤2π, the overlapping area of ​​adjacent periodic terrain data is: The range of the remaining non-overlapping area in step S7 is calculated based on the center point position of the terrain data of adjacent periods and the range of the terrain data, as follows: When 0<α≤π / 2, the overlapping area of ​​adjacent periodic terrain data is: When π / 2<α≤π, the overlapping area of ​​adjacent periodic terrain data is: When π<α≤3π / 2, the overlapping area of ​​adjacent periodic terrain data is: When 3π / 2<α≤2π, the overlapping area of ​​adjacent periodic terrain data is: According to the above non-overlapping area terrain data range, a terrain data request is sent to the terrain storage device to complete the non-overlapping area terrain data caching process.

2. A real-time dynamic scheduling processing method based on airborne terrain data of flight position according to claim 1, characterized in that: The current position (x) of the aircraft in step S1 i ,y i ) Use the global positioning system or inertial navigation device to obtain, based on the current position and the spatial resolution and position information of the terrain data, cache the terrain data of the specified area and complete the initialization of the terrain cache area data.

3. The real-time dynamic scheduling processing method of the airborne terrain data based on the flight position according to claim 1 is characterized in that: The terrain data of the overlapping area in step S4 is cached according to the row and column numbers of the terrain data in the cache area corresponding to the overlapping area range; Where Δr, Δc are the offsets relative to the row and column numbers of the lower left corner of the terrain data, Δx, Δy are the spatial resolutions of the cache terrain data in the row and column directions, (x o ,y o ) is the lower left corner coordinate of the cache area terrain data.

4. The real-time dynamic scheduling processing method of the airborne terrain data based on the flight position according to claim 1 is characterized in that: The terrain data buffering of the non-overlapping area in the same row direction as the overlapping area in step S6 is implemented by sending a terrain data request to the onboard terrain data storage device, so as to buffer the terrain data of the non-overlapping area in the same row direction as the overlapping area.

5. The real-time dynamic scheduling processing method based on the airborne terrain data of the flight position according to claim 1 is characterized in that: The step S8 has completed the terrain data cached in the designated area for terrain data processing. In response to the terrain data processing requirements, the terrain data cache area of ​​the previous cycle is emptied to cache new terrain data cache, thereby realizing real-time updating and scheduling of terrain data.

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