A novel trajectory circling circle calculation method and system based on winding number

Abstract

The present invention discloses a novel trajectory circling circle calculation method and system based on the wrap-around number. The circling circle calculation method comprises the following steps: S1, obtaining the trajectory data of ADS-B; S2, determining the center point of the circling circle; S3, calculating the number of circling circles of the center point of the circling circle. The circling circle calculation system comprises: an acquisition module, used for obtaining the trajectory data of ADS-B; a processing module, used for determining the center point of the circling circle; and a calculation module, used for calculating the number of circling circles of the center point of the circling circle. The total number of circling circles of an aircraft during flight can be calculated, and the number of circling circles of an aircraft around a certain point can also be calculated.

Description

Technical Field

[0001] The present invention relates to the field of aviation information technology, and in particular to a novel trajectory circling circle number calculation method and system based on a wrap-around number. Background Art

[0002] During flight, aircraft often encounter bad weather, short intervals between multiple flights, airspace saturation, high altitude, aircraft failures and other situations that affect the normal flight of the aircraft. In response to this, the aircraft will implement a period of circling waiting or use circling to create climbing and descending altitude. The circling segment of the aircraft's flight trajectory is very important for the fuel consumption analysis of the entire flight process and the pilot's operation analysis. According to the circling duration, number of circling circles and other information of the circling segment, the aircraft's fuel consumption, flight distance and duration deviation are estimated, and the analysis of the aircraft's maneuverability is coordinated to ensure the safety of the aircraft's flight process. Among them, the number of aircraft circling circles is an important feature of the circling segment. If civil aircraft have multiple consecutive circlings, it may cause flight accidents. Statistical analysis of this parameter combined with aircraft performance can make safety warnings in advance, which is conducive to discovering problems and guiding the crew to correct them in time.

[0003] Among the existing methods for calculating the number of circling circles, the intersection method is not applicable to complex trajectories of multiple circling circles at the same location, and the accuracy of circling number calculation is low; the method using the sum of heading angle changes has a great influence on the results due to the pre-set parameters such as window length and threshold; the method using complex function integration cannot correctly judge the number of circling circles for irregular and complex circling trajectory shapes. Summary of the invention

[0004] To address the deficiencies in the prior art, the present invention provides a novel trajectory circling circle calculation method and system based on the wrap-around number, which can calculate the total number of circling circles of an aircraft during flight, and can also calculate the number of circling circles of an aircraft around a certain point. The method and system are suitable for scenarios with strong noise, low-quality trajectories, circling in multiple locations, and complex circling shapes.

[0005] In order to achieve the purpose of the present invention, the following scheme is proposed:

[0006] A novel method for calculating the number of orbital circles based on the winding number comprises the following steps:

[0007] S1. Obtain ADS-B trajectory data;

[0008] S2, determining the center point of the circling circle, comprising the following steps:

[0009] S21, using the intersection points of the trajectories to obtain the intersection time periods, taking the intersection of the intersection time periods that have a containment relationship, and obtaining the start time and end time of the trajectory circling circle;

[0010] S22, using the trajectory spiral circle to calculate the center point of the spiral circle, performing unsupervised clustering on the center points of the spiral circle to obtain the class corresponding to the center point of the spiral circle, calculating the mean of each class, and obtaining the center point of the spiral circle of each class;

[0011] S3, calculating the number of circles of the center point of the circle, comprising the following steps:

[0012] S31, using sampling intervals to select points on the known trajectory to obtain a number of candidate center points;

[0013] S32, draw a ray from the candidate center point in the clockwise direction of 0° upward to intersect the trajectory. If the line segment intersecting with the ray of the candidate center point moves in the counterclockwise direction, it is marked as -1; if it moves in the clockwise direction, it is marked as +1. Sum all the intersecting marks, and the absolute value of the sum represents the number of circles of the candidate center point in the 0° direction.

[0014] S33, according to the method of step S32, calculate the number of circles of the candidate center point in several directions in the 360° average, and then take the minimum value of the number of circles in several directions as the number of circles of the candidate center point;

[0015] S34, classify all candidate center points according to the principle of the closest distance to the circling circle center point calculated in step S22, and find the maximum number of circling circles of several candidate center points corresponding to each circling circle center point, that is, the number of circling circles of the trajectory at the circling circle center point.

[0016] Furthermore, in step S31: after sampling the points at the interval, the points are offset a little in the X and Y directions so that the candidate center point is exactly within the circle.

[0017] Furthermore, in step S33: rays in directions of 0°, 90°, 180° and 270° are drawn respectively, and the number of circles of the candidate center point in the four directions is calculated.

[0018] Further, in step S34: when the trajectory has only one circling center point, the maximum number of circles of the candidate center points is the number of circles of the trajectory at the circling center point;

[0019] Furthermore, if the trajectory has multiple circling center points, the total number of circling circles of the trajectory is the sum of the number of circling circles of each circling center point.

[0020] A novel trajectory circling circle number calculation system based on winding number, used in the novel trajectory circling circle number calculation method based on winding number, the calculation system comprises:

[0021] Acquisition module, used to obtain ADS-B trajectory data;

[0022] A processing module, used for determining the center point of the circling circle;

[0023] The calculation module is used to calculate the number of circles of the center point of the circle.

[0024] Furthermore, the processing module is first used to use the intersection points of the trajectories to obtain the intersection time period, take the intersection of the intersection time periods with inclusion relationship, and obtain the start time and end time of the trajectory circle; then use the trajectory circle to calculate the center point of the circle, perform unsupervised clustering on multiple circle center points, obtain the class corresponding to the circle center point, calculate the mean of each class, and obtain the circle center point of each class.

[0025] Furthermore, the calculation module is first used to take points of the known trajectory using a sampling interval, and the points are offset a little in the X and Y directions so that the candidate center point is just within the circle, thereby obtaining a number of candidate center points;

[0026] Then use it to make rays intersecting the trajectory in the clockwise directions of 0°, 90°, 180° and 270° from the candidate center point directly upward. If the line segment intersecting with the ray of the candidate center point moves in the counterclockwise direction, it is marked as -1. If it moves in the clockwise direction, it is marked as +1. Sum all the intersecting marks in the same direction, and the absolute value of the sum represents the number of circles of the candidate center point in that direction.

[0027] Finally, all candidate center points are classified according to the principle of the closest distance to the circling circle center point calculated by the processing module, the maximum number of circling circles of several candidate center points corresponding to each circling circle center point is calculated, and the total number of circling circles of all circling circle center points is calculated.

[0028] A computer-readable storage medium stores a computer program, which controls a storage medium device to execute the above-mentioned novel trajectory circling circle calculation method based on the winding number when the computer program is executed by a processor.

[0029] An electronic device includes: at least one processor and a memory; wherein the memory stores computer execution instructions, and at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor executes the novel trajectory circling circle calculation method based on the wrapping number.

[0030] The beneficial effects of the present invention are: it is not completely dependent on the number of intersections, changes in heading angles, trajectory shapes, etc., is applicable to situations with strong noise and low-quality data in the trajectory, is highly robust, and is also applicable to situations with complex circling trajectories, overcoming the defects of existing methods and improving recognition accuracy; the total number of circling circles of an aircraft during flight can be calculated, and the number of circling circles of an aircraft around a certain point can also be calculated. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 The candidate center point of the embodiment that falls within the circle after the shift;

[0032] Figure 2 The counterclockwise direction marks where the ray and the trajectory of the embodiment intersect;

[0033] Figure 3 The clockwise direction marks where the ray and the trajectory of the embodiment intersect;

[0034] Figure 4 is the number of circles at three different deviation points of the trajectory of the embodiment;

[0035] Figure 5 is an example trajectory diagram of an embodiment;

[0036] Figure 6 is the center point of the spiral of the example trajectory of the embodiment;

[0037] Figure 7 is a candidate center point of an example trajectory of an embodiment;

[0038] Figure 8 is the number of circles of example candidate center points of the embodiment;

[0039] Fig. 9 A diagram of classifying candidate center points according to the hovering center points in an embodiment;

[0040] Fig.10 It is a flow chart of the method for calculating the number of revolutions in the embodiment;

[0041] Fig.11 FIG. 4 is a diagram of a system for calculating the number of revolutions of an embodiment. DETAILED DESCRIPTION

[0042] Example 1

[0043] like Fig.10 As shown, this embodiment provides a new method for calculating the number of orbital circles based on the wrap-around number, comprising the following steps:

[0044] S1. Obtain ADS-B trajectory data;

[0045] S2, determining the center point of the circling circle, comprising the following steps:

[0046] S21, using the intersection points of the trajectories to obtain the intersection time period, taking the intersection of the intersection time periods that have a containment relationship, and obtaining the start time and end time of the trajectory circling circle, that is, obtaining the trajectory segment of the circling circle;

[0047] S22, using the trajectory segments of the circling circles to calculate the center points of the circling circles, performing unsupervised clustering on the center points of the circling circles to obtain the classes corresponding to the center points of the circling circles, calculating the means of the classes, and obtaining the center points of the circling circles of each class;

[0048] S3, calculating the number of circles of the center point of the circle, comprising the following steps:

[0049] S31, such as Figure 1 As shown, the sampling interval is used to select points of the known trajectory, and the X and Y directions of the points are offset a little so that the candidate center point is just within the circle, and several candidate center points are obtained;

[0050] S32, draw a ray from the candidate center point to the top in the 0° clockwise direction and intersect the trajectory, such as Figure 2 As shown in , if the line segment intersecting the ray of the candidate center point moves counterclockwise, it is marked as -1, such as Figure 3 As shown, if it moves in the clockwise direction, it is marked as +1, and all intersecting marks are summed up. The absolute value of the sum represents the number of circles of the candidate center point in the 0° direction;

[0051] S33, according to the method of step S32, calculate the number of circles of the candidate center point in several directions of the average 360°, for example, take four average points, calculate the rays in the directions of 0°, 90°, 180° and 270° respectively, and obtain the number of circles of the candidate center point in different directions (more average directions can be taken to make the calculation more accurate), and then take the minimum value of the number of circles in multiple directions as the number of circles of the candidate center point;

[0052] S34, classify all candidate center points according to the principle of the closest distance to the circling circle center point calculated in step S22, and find the maximum number of circling circles of several candidate center points corresponding to each circling circle center point, that is, the number of circling circles of the trajectory at the circling circle center point.

[0053] When the trajectory has only one circling center point, the maximum number of circles of several candidate center points is the number of circles the trajectory circles around the circling center point; if the trajectory has multiple circling center points, the total number of circles of the trajectory is the sum of the number of circles of each circling center point.

[0054] like Figure 4As shown, assuming a trajectory, the number of circles of the upper candidate center point of the trajectory is min(|-1|,|-2|,|-3|,|-1|)=1, the number of circles of the candidate center point in the lower left corner is: min(|-2|,|-1|,|-1|,|-1|)=1, and the number of circles of the candidate center point in the lower right corner is: min(|-2|,|-3|,|-3|,|-3|)=2; the trajectory has only one circling center point, and the maximum number of circles of the candidate center points for this circling center point is: max(1,1,2)=2, then the number of circles of the trajectory near the circling center point is 2.

[0055] As one of the specific embodiments:

[0056] S1. Obtain ADS-B trajectory data. The trajectory is as follows: Figure 5 As shown, the data source is the aircraft flight trajectory data;

[0057] S2. Use the intersection of the intersection time period to obtain multiple circling circle center points; perform unsupervised clustering on the circling circle center points; calculate the average of the points in each class to obtain the circling circle center point of each class. The circling circle center point is as follows: Figure 6 As shown;

[0058] S3, sampling deviation to find candidate center points, candidate center points such as Figure 7 As shown;

[0059] Use the improved closed figure winding number to find the number of circles of the candidate center point, such as Figure 8 As shown in the figure, at the first candidate center point, the number of orbit circles is: min(|(-1)+(-1)|, |(-1)+(-1)|, |(-1)+(-1)+(-1)|, |(-1)+(-1)+(-1)|, |(-1)+(-1)+(-1)+(+1)| )=2 circles. Similarly, the number of circles of all other candidate center points can be calculated.

[0060] like Fig. 9 As shown, all candidate center points with calculated circles are classified according to the closest distance to the circling center point. In the classification on the left, the maximum number of circles of the corresponding candidate center points in this class is 2, and in the classification on the right, the maximum number of circles of the corresponding candidate center points in this class is 1, that is, the number of circling circles of this example trajectory is 2+1=3.

[0061] Example 2

[0062] like Fig. 9 As shown, this embodiment provides a new trajectory circling circle number calculation system based on the winding number, which is used in the new trajectory circling circle number calculation method based on the winding number in Example 1. The calculation system includes:

[0063] Acquisition module, used to obtain ADS-B trajectory data;

[0064] The processing module is first used to obtain the intersection time period using the intersection points of the trajectories, and to obtain the intersection of the intersection time periods with inclusion relations to obtain the start time and end time of the trajectory spiral circle; then the spiral circle is used to calculate the center point of the spiral circle, and multiple spiral circle center points are clustered unsupervisedly to obtain the class corresponding to the spiral circle center point, and the mean of each class is calculated to obtain the spiral circle center point of each class;

[0065] The calculation module is first used to take points of the known trajectory using the sampling interval, and then offset the points in the X and Y directions so that the candidate center point is exactly within the circle, and obtain several candidate center points;

[0066] Then use it to make rays intersecting the trajectory in the clockwise directions of 0°, 90°, 180° and 270° from the candidate center point directly upward. If the line segment intersecting with the ray of the candidate center point moves in the counterclockwise direction, it is marked as -1. If it moves in the clockwise direction, it is marked as +1. Sum all the intersecting marks in the same direction, and the absolute value of the sum represents the number of circles of the candidate center point in that direction.

[0067] Finally, all candidate center points are classified according to the principle of the closest distance to the circling circle center point calculated by the processing module, the maximum number of circling circles of several candidate center points corresponding to each circling circle center point is calculated, and the total number of circling circles of all circling circle center points is calculated.

[0068] Example 3

[0069] A computer-readable storage medium stores a computer program, which controls a storage medium device to execute the above-mentioned novel trajectory circling circle calculation method based on the winding number when the computer program is executed by a processor.

[0070] Example 4

[0071] An electronic device includes: at least one processor and a memory; wherein the memory stores computer execution instructions, and at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor executes the novel trajectory circling circle calculation method based on the wrapping number.

[0072] The above embodiments are only used to illustrate the technical ideas and features of the present invention, and are not intended to be the only or limit the present invention. It should be understood by those skilled in the art that various changes or equivalent substitutions made to the present invention without departing from the scope of the present invention all fall within the scope of protection of the present invention.

Claims

1. A new method for calculating the number of orbital circles based on the winding number, characterized in that: The following steps are involved: S1. Obtain ADS-B trajectory data; S2, determining the center point of the circling circle, comprising the following steps: S21, using the intersection points of the trajectories to obtain the intersection time periods, taking the intersection of the intersection time periods that have a containment relationship, and obtaining the start time and end time of the trajectory circling circle; S22, using the trajectory spiral circle to calculate the center point of the spiral circle, performing unsupervised clustering on the center points of the spiral circle to obtain the class corresponding to the center point of the spiral circle, calculating the mean of each class, and obtaining the center point of the spiral circle of each class; S3, calculating the number of circles of the center point of the circle, comprising the following steps: S31, using sampling intervals to select points on the known trajectory to obtain a number of candidate center points; S32, draw a ray from the candidate center point in the clockwise direction of 0° upward to intersect the trajectory. If the line segment intersecting with the ray of the candidate center point moves in the counterclockwise direction, it is marked as -1; if it moves in the clockwise direction, it is marked as +1. Sum all the intersecting marks, and the absolute value of the sum represents the number of circles of the candidate center point in the 0° direction. S33, according to the method of step S32, calculate the number of circles of the candidate center point in several directions in the 360° average, and then take the minimum value of the number of circles in several directions as the number of circles of the candidate center point; S34, classify all candidate center points according to the principle of the closest distance to the circling circle center point calculated in step S22, and find the maximum number of circling circles of several candidate center points corresponding to each circling circle center point, that is, the number of circling circles of the trajectory at the circling circle center point.

2. The novel trajectory circling number calculation method based on the winding number according to claim 1 is characterized in that: In step S31: after sampling the points at the interval, the points are offset a little in the X and Y directions so that the candidate center point is exactly within the circle.

3. The novel trajectory circling number calculation method based on the winding number according to claim 1 is characterized in that: In step S33: rays in directions of 0°, 90°, 180° and 270° are drawn respectively, and the number of circles of the candidate center point in the four directions is calculated.

4. The novel trajectory circling number calculation method based on the winding number according to claim 3 is characterized in that: In step S34: when the trajectory has only one circling center point, the maximum number of circles of the candidate center points is the number of circles of the trajectory at the circling center point; If the trajectory has multiple circling center points, the total number of circling circles of the trajectory is the sum of the number of circling circles of each circling center point.

5. A novel trajectory circling circle number calculation system based on winding number, used to implement the novel trajectory circling circle number calculation method based on winding number as claimed in claim 4, characterized in that: The computing system includes: Acquisition module, used to obtain ADS-B trajectory data; A processing module, used for determining the center point of the circling circle; The calculation module is used to calculate the number of circles of the center point of the circle.

6. The novel trajectory circling number calculation system based on the winding number according to claim 5 is characterized in that: The processing module is first used to obtain the intersection time period using the intersection points of the trajectories, and to take the intersection of the intersection time periods with inclusion relations to obtain the start time and end time of the trajectory circle; then the trajectory circle is used to calculate the center point of the circle, and multiple circle center points are clustered unsupervisedly to obtain the class corresponding to the circle center point, and the mean of each class is calculated to obtain the circle center point of each class.

7. The novel trajectory circling number calculation system based on the winding number according to claim 6 is characterized in that: The calculation module is first used to take points of the known trajectory using the sampling interval, and then offset the points in the X and Y directions so that the candidate center point is exactly within the circle, and obtain several candidate center points; Then use it to make rays intersecting the trajectory in the clockwise directions of 0°, 90°, 180° and 270° from the candidate center point directly upward. If the line segment intersecting with the ray of the candidate center point moves in the counterclockwise direction, it is marked as -1. If it moves in the clockwise direction, it is marked as +1. Sum all the intersecting marks in the same direction, and the absolute value of the sum represents the number of circles of the candidate center point in that direction. Finally, all candidate center points are classified according to the principle of the closest distance to the circling circle center point calculated by the processing module, the maximum number of circling circles of several candidate center points corresponding to each circling circle center point is calculated, and the total number of circling circles of all circling circle center points is calculated.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the storage medium device is controlled to execute the new trajectory circling circle calculation method based on the winding number as described in any one of claims 1 to 4.

9. An electronic device, comprising: At least one processor and a memory; wherein the memory stores computer-executable instructions, characterized in that the computer-executable instructions stored in the memory are executed by at least one processor, so that at least one processor executes the new trajectory circling circle calculation method based on the winding number as described in any one of claims 1 to 4.

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