A method for constructing airport taxiway model based on auxiliary points

Abstract

The present invention provides a method for constructing an airport taxiway model based on auxiliary points, comprising the following steps: selecting waypoints based on an electronic map, generating graph model vertices based on the waypoints, determining the edges included in the graph model based on the connection relationship of the waypoints, and recording the mutual correspondence between the edges and the vertices; determining the adjacency relationship between the edges by whether there are common vertices; for each waypoint on the electronic map, adding auxiliary points at positions close to the waypoints on each edge connected to the waypoint; establishing a correspondence between the edges, vertices and auxiliary points; establishing an angle calculation formula based on endpoint coordinates; calculating the angle based on the common vertices of adjacent edges and their auxiliary points, and determining the accessibility of adjacent edges; generating a reachable matrix based on the adjacency matrix according to the accessibility of adjacent edges. The present invention can be used to generate a graph model for directly searching for feasible taxiing paths based on the airport electronic map.

Description

Technical Field

[0001] The invention relates to the field of airport surface operation control, and in particular to an airport taxiway model construction method based on auxiliary points. Background Art

[0002] Using decision-making support tools to plan aircraft taxi paths can improve airport surface operation efficiency and reduce conflicts. A feasible taxi path must conform to the aircraft's kinematic laws and cannot have a too small turning radius. Therefore, in order to generate a feasible taxi path, it is first necessary to accurately describe the taxiway layout structure by building an appropriate model.

[0003] The graph model is a widely used method for representing the taxiway layout structure. Based on the taxiway layout provided by the electronic map, several waypoints are selected on the centerline of each taxiway at appropriate intervals and represented as vertices of the graph model. If there is a taxiway connecting two waypoints, it is represented as an edge between the corresponding vertices in the graph model, and the weight of the edge is the length of the corresponding taxiway centerline.

[0004] In actual applications, it is found that due to the existence of curved parts on the taxiway, it is difficult to accurately reflect whether the turning radius meets the requirements only through the basic graph model. For this reason, some existing methods further calculate the angle between adjacent edges based on the graph model. When the angle is too small, it is considered that the turning radius does not meet the requirements, and the corresponding path is excluded in the algorithm search process.

[0005] However, for curved taxiways, when the distance between waypoints is large, calculating the angle of the edge using this method still cannot ensure that the turning radius meets the requirements, making it difficult to accurately search for a feasible taxiing path. Summary of the invention

[0006] In order to solve the problems mentioned in the background technology, the present invention provides an airport taxiway model construction method based on auxiliary points, which adds auxiliary points near selected waypoints on the taxiway centerline, and then automatically calculates the taxiway centerline angle using the waypoints and auxiliary points, and establishes the reachability relationship between the edges in the graph model, providing a basis for further searching for feasible taxiing paths.

[0007] The present invention provides a method for constructing an airport taxiway model based on auxiliary points, which is characterized by comprising the following steps:

[0008] S10, selecting waypoints based on the electronic map, generating graph model vertices according to the waypoints, determining edges included in the graph model according to the connection relationship of the waypoints, and recording the corresponding relationship between the edges and the vertices;

[0009] S20, determining the adjacency relationship between edges by whether they have common vertices;

[0010] S30, for each waypoint on the electronic map, adding an auxiliary point at a position close to the waypoint on each edge connected to the waypoint;

[0011] The position of the auxiliary point needs to be determined according to the type of edge:

[0012] If the taxiway centerline corresponding to the edge is a straight line segment, the auxiliary point can be located anywhere on the straight line segment;

[0013] If the taxiway centerline corresponding to the edge is a curved segment, the auxiliary point should be located close to the vertex on the curved segment;

[0014] S40, establishing the corresponding relationship between the edges, vertices and auxiliary points;

[0015] S50, establishing an angle calculation formula based on endpoint coordinates;

[0016] S60, calculating the angle based on the common vertex of the adjacent edges and their auxiliary points, and determining the accessibility of the adjacent edges;

[0017] S70. Generate a reachability matrix based on the adjacency matrix according to the reachability of adjacent edges.

[0018] Furthermore, the execution steps of S10 include:

[0019] S11. When selecting waypoints based on the electronic map, starting from any taxiway endpoint, waypoints are added in sequence and marked as vertices n1, n2, ...,

[0020] S12. Add edges between the corresponding vertices of adjacent waypoints connected by taxiways, and mark them as e1, e2, ..., in the order of appearance.

[0021] S13, using a dictionary data type, taking an edge as a key and two vertices corresponding to the edge as values, recording the correspondence between the edge and the vertex, and forming an edge-vertex dictionary;

[0022] S14. Use the dictionary data type, take the vertex as the key, take the edge connected to the vertex as the value, record the correspondence between the vertex and the edge, and form a vertex-edge dictionary.

[0023] Furthermore, the execution of S20 includes the following steps:

[0024] S21, according to the vertex-edge dictionary, examine each vertex in turn, and the corresponding edges are adjacent to each other;

[0025] S22, represent the adjacency relationship between edges as an N2×N2 dimensional adjacency matrix M nei , if edge e i and e j connected, then M nei [i, j] = Mnei [j, i] = 1; otherwise, M nei [i, j] = M nei [j,i]=0.

[0026] Furthermore, in S30, for multiple edges connected to the same vertex, if the corresponding taxiway centerline is a curve segment and the tangent directions at the vertex are consistent, they may share one auxiliary point.

[0027] Furthermore, in S40, based on the edge-vertex dictionary, a new edge-auxiliary point dictionary is created with the edge as the key and the auxiliary point as the value, and the auxiliary point corresponding to each edge corresponds to the vertex one by one.

[0028] Furthermore, a method for determining corresponding auxiliary points based on edges and vertices is to first determine the index of the vertex based on the edge-vertex dictionary, and then use the index to search for the auxiliary point in the edge-auxiliary point dictionary.

[0029] Furthermore, the execution of S50 includes the following steps:

[0030] S51. For two adjacent edges e r and e l , if e r The two endpoints are n i and n j , e l The two endpoints are n j and n k , edge r and e l Corresponding to n j The auxiliary points are a i and a k , and a i 、n j 、a k The coordinates of are (x i ,y i )、(x j ,y j )、(x k ,y k ), where the horizontal axis represents latitude and the vertical axis represents longitude, then e can be determined based on the endpoint coordinates. r With e l The corresponding azimuth:

[0031]

[0032]

[0033] Where rad means converting the angle into radians;

[0034] S52, according to e r With el The corresponding azimuth and , calculate e r and e l Angle:

[0035] Furthermore, the specific execution of S60 includes the following steps:

[0036] S61, record adjacent edges e i 、e j The common vertex of c , two edges and n c The relevant auxiliary points are a r 、a l , according to a r 、n c 、a l Calculate the angle according to the angle calculation formula provided in step S50;

[0037] S62. According to the calculated angle, if the angle is greater than π / 2, then e i With e j Mutually accessible.

[0038] Furthermore, the execution steps of S70 include:

[0039] S71. Based on the adjacency matrix M nei Construct the reachability matrix M r ;

[0040] S72. Check each non-zero element in the matrix in turn. If M r [i, j] = 1, and e i 、e j If they are mutually reachable, then keep M r [i, j] = M r [j, i] = 1 remains unchanged; otherwise, let M r [i, j] = M r [j,i]=0.

[0041] Compared with the prior art, the present invention has the following advantages:

[0042] 1. It can correctly reflect the accessibility between edges, avoid too small turning radius, and is highly practical;

[0043] 2. Ability to build semi-automatic taxiway models based on electronic maps, with high flexibility and modeling efficiency, and accurate and reliable results;

[0044] 3. It can be directly used for taxiway modeling at different airports, with good versatility.

[0045] The auxiliary point-based airport taxiway model construction method provided by the present invention can generate a graph model for directly searching for a feasible taxiing path based on an airport electronic map. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 It is the overall flow chart of the present invention;

[0048] Figure 2 is a schematic diagram of an embodiment of the auxiliary point position of a straight line segment;

[0049] Figure 3 A schematic diagram of an embodiment of the auxiliary point position of a curve segment;

[0050] Figure 4 A schematic diagram of an embodiment in which the right side of a curved segment and a straight line segment have a common auxiliary point;

[0051] Figure 5 A schematic diagram illustrating an embodiment of calculating the angle between adjacent sides. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] In order to enable those skilled in the art to have a clearer understanding of the present invention, the present invention provides a specific implementation example for illustration, and the process includes:

[0054] S10, selecting waypoints based on the electronic map, generating graph model vertices based on the waypoints, determining the edges included in the graph model based on the connection relationship of the waypoints, and recording the corresponding relationship between the edges and vertices, specifically:

[0055] S11. When selecting waypoints based on the electronic map, starting from any taxiway endpoint, waypoints are added in sequence and marked as vertices n1, n2, ...,

[0056] S12. Add edges between the corresponding vertices of adjacent waypoints connected by taxiways, and mark them as e1, e2, ..., in the order of appearance.

[0057] S13, using a dictionary data type, taking an edge as a key and two vertices corresponding to the edge as values, recording the correspondence between the edge and the vertex, and forming an edge-vertex dictionary;

[0058] S14. Use the dictionary data type, take the vertex as the key, take the edge connected to the vertex as the value, record the correspondence between the vertex and the edge, and form a vertex-edge dictionary.

[0059] S20, determining the adjacency relationship between edges by whether they have common vertices, specifically:

[0060] S21, according to the vertex-edge dictionary, examine each vertex in turn, and the corresponding edges are adjacent to each other;

[0061] S22, represent the adjacency relationship between edges as an N2×N2 dimensional adjacency matrix M nei , if edge e i 、e j connected, then M nei [i, j] = M nei [j, i] = 1; otherwise, M nei [i, j] = M nei [j,i]=0;

[0062] S30, for each waypoint on the electronic map, add an auxiliary point near the waypoint on each edge connected to the waypoint, specifically:

[0063] The position of the auxiliary point needs to be determined according to the type of edge:

[0064] like Figure 2 As shown in the figure, if the taxiway centerline corresponding to the edge is a straight line segment, the auxiliary point can be located anywhere on the straight line segment;

[0065] like Figure 3 As shown in the figure, if the taxiway centerline corresponding to the edge is a curve segment, the auxiliary point should be located close to the vertex on the curve segment;

[0066] like Figure 4 As shown, for multiple edges connected to the same vertex, if the corresponding taxiway centerline is a curve segment and the tangent directions at the vertex are (approximately) consistent, they can share one auxiliary point;

[0067] It should be noted that when adding auxiliary points, the auxiliary points are numbered a1, a2, ..., according to the order of appearance.

[0068] S40, establishing the corresponding relationship between the edge, the vertex and the auxiliary point, specifically:

[0069] S41, based on the edge-vertex dictionary, a new edge-auxiliary point dictionary is created with the edge as the key and the auxiliary point as the value, and the auxiliary point corresponding to each edge corresponds to the vertex one by one;

[0070] S42. The method for determining the corresponding auxiliary point based on the edge and the vertex is to first determine the index of the vertex based on the edge-vertex dictionary, and then use the index to search for the auxiliary point in the edge-auxiliary point dictionary.

[0071] S50, establishing an angle calculation formula based on the endpoint coordinates, specifically:

[0072] S51. For two adjacent edges e r 、e l , if e r The two endpoints are n i 、n j , e l The two endpoints are n j 、n k , edge r 、e l Corresponding to n j The auxiliary points are a i 、a k , and a i 、n j 、a k The coordinates of are (x i ,y i )、(x j ,y j )、(x k ,y k ), where the horizontal axis represents latitude and the vertical axis represents longitude, then e can be determined based on the endpoint coordinates. r 、e l Azimuth

[0073]

[0074]

[0075] Where rad means converting the angle into radians;

[0076] S52, according to e r 、e l Azimuth Calculate e r 、e l The angle of

[0077] It should be noted that for those skilled in the art, Figure 5The curve segment shown can be calculated according to the above formula for calculating the angle based on the auxiliary points.

[0078] S60: Calculate the angle based on the common vertex of the adjacent edges and their auxiliary points to determine the accessibility of the adjacent edges, specifically:

[0079] S61, record adjacent edges e i 、e j The common vertex of c , two edges and n c The relevant auxiliary points are a r 、a l , according to a r 、n c 、a l Calculate the angle according to the above formula;

[0080] S62. If the angle is greater than π / 2, then e i 、e j Mutually accessible.

[0081] S70, based on the adjacent edge reachability, generate a reachability matrix based on the adjacency matrix, specifically:

[0082] S71. Based on the adjacency matrix M nei Construct the reachability matrix M r ;

[0083] S72. Check each non-zero element in the matrix in turn. If M r [i, j] = 1, and e i 、e j If they are mutually reachable, then keep M r [i, j] = M r [j, i] = 1, unchanged, otherwise set M r [i, j] = M r [j,i]=0.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for constructing an airport taxiway model based on auxiliary points, characterized in that: The following steps are involved: S10, selecting waypoints based on the electronic map, generating graph model vertices according to the waypoints, determining edges included in the graph model according to the connection relationship of the waypoints, and recording the corresponding relationship between the edges and the vertices; S20, determining the adjacency relationship between edges by whether they have common vertices; S30, for each waypoint on the electronic map, adding an auxiliary point at a position close to the waypoint on each edge connected to the waypoint; The position of the auxiliary point needs to be determined according to the type of edge: If the taxiway centerline corresponding to the edge is a straight line segment, the auxiliary point can be located anywhere on the straight line segment; If the taxiway centerline corresponding to the edge is a curved segment, the auxiliary point is located on the curved segment close to the vertex; S40, establishing the corresponding relationship between the edges, vertices and auxiliary points; S50, establishing an angle calculation formula based on endpoint coordinates; S60, calculating the angle based on the common vertex of the adjacent edges and their auxiliary points, and determining the accessibility of the adjacent edges; S70. Generate a reachability matrix based on the adjacency matrix according to the reachability of adjacent edges.

2. The method for constructing an airport taxiway model based on auxiliary points according to claim 1, characterized in that: The execution steps of S10 include: S11. When selecting waypoints based on the electronic map, starting from any taxiway endpoint, add waypoints in sequence and mark them as vertices. S12. Add edges between the corresponding vertices of adjacent waypoints connected by taxiways, and mark them in the order of appearance. S13, using a dictionary data type, taking an edge as a key and two vertices corresponding to the edge as values, recording the correspondence between the edge and the vertex, and forming an edge-vertex dictionary; S14. Use the dictionary data type, take the vertex as the key, take the edge connected to the vertex as the value, record the correspondence between the vertex and the edge, and form a vertex-edge dictionary.

3. The method for constructing an airport taxiway model based on auxiliary points according to claim 2, characterized in that: The execution of S20 includes the following steps: S21, according to the vertex-edge dictionary, examine each vertex in turn, and the corresponding edges are adjacent to each other; S22, represent the adjacency relationship between edges as an N2×N2 dimensional adjacency matrix M nei , if edge e i and e j connected, then M nei [i,j]=M nei [j,i[=1; Otherwise, M nei [i,j]=M nei [j,i]=0.

4. The method for constructing an airport taxiway model based on auxiliary points according to claim 1, characterized in that: In S30, for multiple edges connected to the same vertex, if the corresponding taxiway centerline is a curve segment and the tangent directions at the vertex are consistent, they share one auxiliary point.

5. The method for constructing an airport taxiway model based on auxiliary points according to claim 2, characterized in that: In S40, based on the edge-vertex dictionary, a new edge-auxiliary point dictionary is created with the edge as the key and the auxiliary point as the value, and the auxiliary point corresponding to each edge corresponds to the vertex one by one.

6. The method for constructing an airport taxiway model based on auxiliary points according to claim 5, characterized in that: The method for determining the corresponding auxiliary point according to the edge and the vertex is to first determine the index of the vertex according to the edge-vertex dictionary, and then use the index to find the auxiliary point in the edge-auxiliary point dictionary.

7. The method for constructing an airport taxiway model based on auxiliary points according to claim 2, characterized in that: The execution of S50 includes the following steps: S51. For two adjacent edges e r and e l , if e r The two endpoints are n i and n j , e l The two endpoints are n j and n k , edge r and e l Corresponding to n j The auxiliary points are a i and a k , and a i 、n j 、a k The coordinates of are (x i ,y i )、(x j ,y j )、(x k ,y k ), where the horizontal axis represents latitude and the vertical axis represents longitude, then e is determined according to the coordinates of the endpoints. r With e l The corresponding azimuth: Where rad means converting the angle into radians; S52, according to e r With e l The corresponding azimuth and Calculate e r and e l Angle of:

8. The method for constructing an airport taxiway model based on auxiliary points according to claim 7, characterized in that: The specific implementation of S60 includes the following steps: S61, record adjacent edges e i 、e j The common vertex of c , two edges and n c The relevant auxiliary points are a r 、a l , according to a r 、n c 、a l Calculate the angle according to the angle calculation formula provided in step S50; S62. According to the calculated angle, if the angle is greater than π / 2, then e i With e j Mutually accessible.

9. The method for constructing an airport taxiway model based on auxiliary points according to claim 8, characterized in that: The execution steps of S70 include: S71. Based on the adjacency matrix M nei Construct the reachability matrix M r ; S72. Check each non-zero element in the matrix in turn. If M r [i,j]=1, and e i 、e j If they are mutually reachable, then keep M r [i,j]=M r [j,i]=1 remains unchanged; otherwise, let M r [i,j]=M r [j,i]=0.

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