Method and apparatus for constructing an inter-segment transition track for a flight management system

Abstract

The present invention discloses a method and device for constructing a track of an inter-segment transition section for a flight management system. The method includes: determining the transition type from the current segment to the next segment according to the combination mode of the segment types of the current segment and the next segment; and calculating the track parameters of the transition section by using a corresponding track parameter algorithm according to the transition type, and storing them in a track parameter storage area. The present invention can generate the track parameters of the inter-segment transition section, which is convenient for the subsequent horizontal guidance module to calculate the yaw offset and yaw angle based on the track parameters and the aircraft position.

Description

Technical Field

[0001] The present invention relates to the technical field of flight track prediction, and particularly to a method and device for constructing a track of an inter-segment transition section for a flight management system. Background Art

[0002] As Figure 1 shown, the airborne area navigation (RNAV) system based on the flight management system (FMS) is the basis for supporting modern civil airliners to perform performance-based navigation (PBN). The track prediction function module is a crucial function module in the FMS. Its function is to generate the expected flight track of the aircraft according to the current flight plan, so that the horizontal guidance function module can compare it with the position of the aircraft calculated by the integrated navigation module to output the yaw offset and yaw angle of the aircraft.

[0003] However, the specific technical details of track prediction have not been disclosed, so the domestic technology in this field is still blank. Some existing academic papers discuss the basic principles of track construction for tangent transitions. However, there is a lack of specific guidance conducive to engineering practice, and there is also no detailed description in the literature about the calculation of track parameters for two fly-over transition sections (i.e., the transition of flying straight after fly-over and the transition of intercepting the route after fly-over). Summary of the Invention

[0004] In order to fill the domestic gap in flight track prediction technology, the present invention provides a method for constructing a track of an inter-segment transition section for a flight management system. The present invention can generate the track parameters of the inter-segment transition section, facilitating the subsequent horizontal guidance module to calculate the yaw offset and yaw angle based on the track parameters and the position of the aircraft.

[0005] The present invention is realized through the following technical solutions:

[0006] A method for constructing a track of an inter-segment transition section for a flight management system includes:

[0007] Determining the transition type from the current segment to the next segment according to the combination mode of the segment types of the current segment and the next segment;

[0008] According to the transition type, using the corresponding track parameter algorithm to calculate the track parameters of the transition section and storing them in the track parameter storage area.

[0009] The present invention first proposes to construct the expected flight track according to the flight plan (a sequence of segment type + termination waypoint information), calculate the track parameters of the transition section, and convert them into longitude and latitude, which has strong engineering practicability.

[0010] As a preferred embodiment, the present invention determines the transition type from the current segment to the next segment according to the combination mode of the segment types of the current segment and the next segment, specifically as:

[0011] According to the mapping relationship between the pre-set combination mode of flight segment types and the transition type, the corresponding transition type can be obtained according to the combination mode of the current flight segment and the next flight segment types.

[0012] As a preferred embodiment, according to the transition type, the flight track parameters of the transition segment are calculated and stored by using the corresponding flight track parameter algorithm, specifically:

[0013] If it is a tangent transition, the flight track parameters are calculated by using the tangent transition flight track parameter algorithm and stored in the flight track parameter storage area;

[0014] If it is a direct flight transition after overflight, the flight track parameters are calculated by using the flight track parameter algorithm of the direct flight transition after overflight and stored in the flight track parameter storage area;

[0015] If it is a route intercept transition after overflight, the flight track parameters are calculated by using the flight track parameter algorithm of the route intercept transition after overflight and stored in the flight track parameter storage area;

[0016] Otherwise, there is no need to calculate the flight track parameters of the transition segment.

[0017] As a preferred embodiment, the tangent transition flight track parameter algorithm of the present invention is specifically:

[0018] Obtain the longitude and latitude and turning radius of the end point of the previous transition segment, the termination waypoint of the current flight segment, and the termination waypoint of the next flight segment;

[0019] Based on the obtained data, calculate the end heading of the great circle route from the end point of the previous transition segment to the termination waypoint of the current flight segment as the starting heading of the transition segment;

[0020] Calculate the starting heading of the great circle route from the termination waypoint of the current flight segment to the termination waypoint of the next flight segment as the ending heading of the transition segment;

[0021] Calculate the change in the heading angle before and after the transition;

[0022] According to the change in the heading angle before and after the transition, calculate the distance from the turning starting point to the waypoint;

[0023] If the aircraft altitude and the distance from the turning starting point to the waypoint meet the preset conditions, update the turning radius;

[0024] Calculate the coordinates of the arc center, the turning starting point, and the turning ending point in the horizontal plane relative to the termination waypoint of the current flight segment respectively;

[0025] According to the longitude and latitude of the termination waypoint of the current flight segment, convert the calculated coordinates into the longitude and latitude of the arc center, the turning starting point, and the turning ending point;

[0026] Store the obtained flight track parameters in the flight track parameter storage area.

[0027] As a preferred embodiment, the track parameter algorithm for the straight flight after overflight transition of the present invention is specifically as follows:

[0028] Obtain the longitude and latitude and turning radius of the end point of the previous transition section, the termination waypoint of the current flight section, and the termination waypoint of the next flight section;

[0029] Calculate the end heading of the great circle route from the end point of the previous transition section to the termination waypoint of the current flight section as the starting heading of the transition section;

[0030] Calculate the starting heading of the great circle route from the termination waypoint of the current flight section to the termination waypoint of the next flight section;

[0031] Initialize the turning angle;

[0032] Calculate the arc center coordinates;

[0033] Perform iterative calculations to obtain the coordinates of the turning end point relative to the termination waypoint of the current flight section in the horizontal plane;

[0034] According to the longitude and latitude of the termination waypoint of the current flight section, convert the calculated coordinates into the longitude and latitude of the turning arc center and the end point of the transition section respectively;

[0035] Store the obtained track parameters in the track parameter storage area.

[0036] As a preferred embodiment, the iterative calculation process of the present invention is specifically as follows:

[0037] Calculate the position coordinates of the aircraft after turning through the turning angle;

[0038] Calculate the heading of the aircraft after turning through the turning angle;

[0039] Convert the position coordinates into longitude and latitude according to the longitude and latitude of the termination waypoint of the current flight section, and calculate the starting heading of the great circle route from this point to the termination waypoint of the next flight section;

[0040] Calculate the heading shear before and after the end point of the transition section;

[0041] If the absolute value of the heading shear is less than the angle threshold, exit the iteration; otherwise, update the turning angle and perform the next iterative calculation until the preset number of iterations is reached.

[0042] As a preferred embodiment, the track parameter algorithm for the intercepting route transition after overflight of the present invention is specifically as follows:

[0043] Obtain the longitude and latitude and turning radius of the end point of the previous transition section, the termination waypoint of the current flight section, and the termination waypoint of the next flight section;

[0044] Calculate the end course of the great circle route from the end point of the previous transition section to the termination waypoint of the current flight segment as the starting course of the transition section;

[0045] Calculate the starting course of the great circle route from the termination waypoint of the current flight segment to the termination waypoint of the next flight segment as the end course of the transition section;

[0046] Calculate the change in the course angle before and after the transition;

[0047] Calculate the turning angle of the two transition arcs;

[0048] Calculate the coordinates of the center of the first transition arc relative to the termination waypoint of the current flight segment;

[0049] Calculate the coordinates of the end point of the first transition arc relative to the termination waypoint of the current flight segment;

[0050] Calculate the coordinates of the center of the second transition arc relative to the termination waypoint of the current flight segment;

[0051] Calculate the coordinates of the end point of the second transition arc relative to the termination waypoint of the current flight segment;

[0052] According to the longitude and latitude of the termination waypoint of the current flight segment, convert the coordinates of the first transition arc into the longitude and latitude of the center and end point of the first turning arc of the transition section respectively, and convert the coordinates of the second transition arc into the longitude and latitude of the center and end point of the second turning arc of the transition section respectively;

[0053] Store the obtained track parameters in the track parameter storage area.

[0054] In a second aspect, the present invention proposes a horizontal track prediction method for a flight management system, and obtains the track parameters of the transition section between flight segments by using the construction method described in the present invention item.

[0055] In a third aspect, the present invention proposes a device for constructing the track of the transition section between flight segments for a flight management system, including:

[0056] A transition type determination unit that determines the transition type according to the combination mode of the flight segment types of the current flight segment and the next flight segment;

[0057] A track parameter calculation unit that calls the corresponding track parameter algorithm according to the transition type to calculate the track parameters of the transition section and stores them in the track parameter storage area.

[0058] In a fourth aspect, the present invention proposes a horizontal track prediction module for a flight management system, including the construction device described in the present invention;

[0059] The construction device is used to determine the track parameters of the transition section between flight segments.

[0060] Fifth aspect, the present invention provides a flight management system, including the horizontal track prediction module of the present invention.

[0061] Sixth aspect, the present invention provides a computer device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the steps of the construction method of the present invention are implemented.

[0062] Seventh aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the construction method of the present invention are implemented.

[0063] The present invention has the following advantages and beneficial effects:

[0064] The present invention breaks through the technical barriers and limitations in the relevant functional modules of the flight management system of civil airliners, realizes the construction of the track in the transition section of the horizontal track prediction functional module, and converts the track parameters in the transition section into longitude and latitude, with strong engineering practicability. Description of the Drawings

[0065] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of this application, and do not limit the embodiments of the present invention. In the drawings:

[0066] Figure 1 is the RNAV system based on FMS.

[0067] Figure 2 is a schematic diagram of the flight plan, expected flight track and track parameter storage area.

[0068] Figure 3 is the working flow chart of the horizontal track prediction functional module of the embodiment of the present invention.

[0069] Figure 4 is a schematic diagram of the construction process of the track in the transition section of the embodiment of the present invention.

[0070] Figure 5 is an example of the tangent transition of the embodiment of the present invention.

[0071] Figure 6 is an example of the transition of flying straight after a leap of the embodiment of the present invention.

[0072] Figure 7 is an example of the transition of intercepting the route after a leap of the embodiment of the present invention.

[0073] Figure 8 is a block diagram of the principle of the computer device.

[0074] Figure 9 is a block diagram of the principle of the device for constructing the track in the transition section of the embodiment of the present invention. Detailed implementation manners

[0075] To make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below in conjunction with embodiments and the accompanying drawings. The illustrative implementation manners of the present invention and their descriptions are only used to explain the present invention and do not limit the present invention.

[0076] Embodiment 1

[0077] This embodiment provides a method for constructing the track of the transition section between flight segments for a flight management system. The expected flight track of an aircraft can be divided into two parts: a horizontal flight profile and a vertical flight profile. The embodiments of the present invention mainly focus on the flight profile part, so it will be described as "horizontal track prediction" hereinafter.

[0078] The input of the horizontal track prediction function is a flight plan composed of several flight segments, and each flight segment is defined according to its termination waypoint and flight segment type. The flight segment types supported by PBN requirements include Initial Fix (IF), Track to a Fix (TF) between two waypoints, Direct to a Fix (DF), Course to a Fix (CF), and Constant Radius Arc (RF). According to the flight procedure design principle of PBN, the flight segment types that may appear in a Standard Instrument Departure (SID) or Standard Instrument Arrival (STAR) procedure are IF, TF, DF, CF, and RF; the waypoints on the high-altitude route are all connected by TF flight segments, and it is default that the aircraft makes a bypass transition at the waypoint, and a certain waypoint can be set as a fly-over point for fly-over transition according to the requirements of the flight procedure.

[0079] The output of the horizontal track prediction function is the parameters of the expected flight track, which should facilitate the horizontal guidance function module to calculate the cross-track distance and cross-track angle by comparing with the aircraft position. The expected flight track constructed by the horizontal track prediction function is composed of several straight sub-flight segments and arc sub-flight segments. Among them, the arc sub-flight segment is used to construct the RF flight segment or the transition section between flight segments; the straight sub-flight segment is used to construct the expected flight track within the flight segment (except for the RF flight segment), and finally realizes connecting the end point of the previous transition section (i.e., the transition section from the previous flight segment to the current flight segment) with the start point of the transition section from the current flight segment to the next flight segment. The parameters of the arc sub-flight segment include: the longitude and latitude of the start point, end point, and the center of the turning arc, the turning radius, and the end point heading. The parameters of the straight sub-flight segment include: the longitude and latitude of the start point and end point, the distance, and the end point heading.

[0080] As Figure 2Taking a certain flight plan as an example, the following figure shows a schematic diagram of the working process of the horizontal track prediction module generating an expected flight track according to the flight plan and saving the parameters of each sub-track segment in the track parameter storage area.

[0081] In this embodiment, the principle of horizontal track prediction is as follows: First, construct a transition track segment between adjacent track segments composed of one or two circular arc sub-track segments, and then fill in linear sub-track segments between the transition segments (the RF track segment is an exception and is changed to fill in a circular arc sub-track segment) to construct the track within each track segment.

[0082] The working process of horizontal track prediction is as Figure 3 shown. For each track segment in the flight plan in sequence, first determine the transition type from the current track segment to the next track segment according to the combination method of the track segment types of the current track segment and the next track segment; calculate and store the track parameters of the transition segment according to the transition type and other relevant information; then calculate and store the parameters of the linear sub-track segments within the current track segment according to the end point of the previous transition segment and the start point position of the current transition segment (that is, construct one or more linearly connected sub-track segments end to end between the end point of the previous transition segment and the previously calculated current transition segment to connect them).

[0083] The construction method of the transition track segment between track segments in this embodiment is mainly Figure 3 the part shown in the solid-line box in

[0084] that is, mainly determine the transition type according to the combination method of the track segment types of the current track segment and the next track segment, and calculate and store the track parameters of the transition segment according to the transition type in combination with other relevant information. Figure 4 As

[0085] shown, determine the transition type according to the combination method of the track segment types of the current track segment and the next track segment; if it is a tangent transition, calculate the track parameters using the tangent transition track parameter algorithm and store them in the track parameter storage area;

[0086] if it is a straight flight transition after overflight, calculate the track parameters using the track parameter algorithm for straight flight transition after overflight and store them in the track parameter storage area;

[0087] if it is a route interception transition after overflight, calculate the track parameters using the track parameter algorithm for route interception transition after overflight and store them in the track parameter storage area;

[0088] Otherwise, there is no need to calculate the track parameters of the transition segment.

[0089] Among them, the specific method for determining the transition segment type in this embodiment is as follows:

[0090] Table 1 Correspondence between Flight Segment Type Combinations and Transition Methods

[0091]

[0092] Meanings of the numerical identifiers in Table 1:

[0093] 0: No transition is required. When implementing the software, only the longitude and latitude information of the end point of the current flight segment needs to be saved to facilitate the calculation of the parameters of the straight sub-flight segment of the next flight segment.

[0094] 1: Tangent transition

[0095] 2: Transition of flying straight after overflying

[0096] 3: If the end point of the current TF flight segment is an overflying waypoint, construct a transition for intercepting the route after overflying; otherwise, construct a tangent transition.

[0097] N / A: A combination method that does not appear in the flight procedure.

[0098] Before calculating the parameters of the circular arc sub-flight segment, the turning radius should be determined first. If the flight procedure stipulates the turning radius of the aircraft during the transition between flight segments (such as performing a fixed radius transition), the turning radius is set according to the regulations of the flight procedure; otherwise, the turning radius needs to be determined based on the ground speed, altitude, and expected slope (tilt angle) of the aircraft. The method for calculating the turning radius belongs to the conventional technical means in this field and will not be described in detail here. In this embodiment, the turning radius can be directly obtained from other devices.

[0099] To ensure that a smooth and continuous flight track can be generated, the starting course and ending course of the transition segment should meet the following conditions: the starting course is equal to the ending course of the great circle route from the end point of the previous transition segment to the terminating waypoint of the current flight segment; the ending course is equal to the starting course of the great circle route from the end point to the terminating waypoint of the next flight segment.

[0100] In this embodiment, a transition segment that meets the above conditions is constructed for each transition type respectively:

[0101] (1) Tangent transition

[0102] The expected flight track of the tangent transition consists of a circular arc sub-flight segment, as shown by the thick solid line in Figure 5 .

[0103] In this embodiment, the tangent transition flight track parameter algorithm is used to calculate and store the flight track parameters of the transition segment. The specific tangent transition flight track parameter algorithm is as follows:

[0104] Obtain the longitude and latitude of the end point of the previous transition segment, the terminating waypoint of the current flight segment, and the terminating waypoint of the next flight segment, as well as the turning radius R;

[0105] Calculate the end course of the great circle route from the end point of the previous transition section to the termination waypoint of the current flight segment as the starting course β of the transition section. in ;

[0106] Calculate the starting course of the great circle route from the termination waypoint of the current flight segment to the termination waypoint of the next flight segment as the ending course β of the transition section. out ;

[0107] Calculate the change α in the course angle before and after the transition: α = β out - β in (valid range -180° to 180°); where if α is positive, the aircraft needs to turn right; if α is negative, the aircraft needs to turn left.

[0108] Calculate the distance D from the turning starting point to the waypoint: D = R × tan(0.5 × α);

[0109] If the aircraft altitude is not less than 19,500 feet and D > 20 nautical miles, then modify D = 20 nautical miles and R = D / tan(0.5 × α);

[0110] Calculate the coordinates of the center of the arc in the horizontal plane relative to the termination waypoint of the current flight segment:

[0111] X0 = R / tan(0.5 × α) × sin(β out + sgn(α) × 90° - 0.5 × α),

[0112] Y0 = R / tan(0.5 × α) × cos(β out + sgn(α) × 90° - 0.5 × α);

[0113] Calculate the coordinates of the turning starting point in the horizontal plane relative to the termination waypoint of the current flight segment:

[0114] X1 = - D × sin(β in ), Y1 = - D × cos(β in );

[0115] Calculate the coordinates of the turning end point in the horizontal plane relative to the termination waypoint of the current flight segment:

[0116] X2 = D × sin(β out ), Y2 = D × cos(β out );

[0117] According to the longitude and latitude of the termination waypoint of the current flight segment, convert (X0, Y0), (X1, Y1) and (X2, Y2) into the longitude and latitude of the center of the arc, the starting point and the end point respectively.

[0118] Store the track parameters of a turning sub-segment in the track parameter storage area, including: the longitude and latitude of the starting point, ending point and the center of the arc, as well as the turning radius R and the heading of the ending point.

[0119] (2) Transition to straight flight after overflight

[0120] The expected track of the transition to straight flight after overflight consists of a circular arc sub-segment, as shown by the thick solid line in Figure 6 .

[0121] In this embodiment, the track parameter algorithm for the transition track after overflight to straight flight is used to calculate and store the track parameters of the transition segment. The specific track parameter algorithm for the transition track after overflight to straight flight is as follows:

[0122] Obtain the longitude and latitude of the ending point of the previous transition segment, the terminating waypoint of the current segment, and the terminating waypoint of the next segment, as well as the turning radius R;

[0123] Calculate the heading of the great circle route from the ending point of the previous transition segment to the terminating waypoint of the current segment as the starting heading β of the transition segment in ;

[0124] Calculate the starting heading β2 of the great circle route from the terminating waypoint of the current segment to the terminating waypoint of the next segment;

[0125] Initialize the turning angle θ = β2 - β in (valid range -180° to 180°);

[0126] Calculate the coordinates of the center of the arc relative to the terminating waypoint of the current segment in the horizontal plane:

[0127] X0 = R × sin(β in + sgn(θ) × 90°),

[0128] Y0 = R × cos(β in + sgn(θ) × 90°);

[0129] Perform iterative calculation:

[0130] Calculate the coordinates of the position of the aircraft after turning θ relative to the terminating waypoint of the current segment in the horizontal plane:

[0131] X1 = X0 + R × sin(β in + θ - sgn(θ) × 90°),

[0132] Y1 = Y0 + R × cos(β in + θ - sgn(θ) × 90°);

[0133] Calculate the heading β of the aircraft after turning θ out = β in + θ (valid range -180° to 180°);

[0134] Convert (X1, Y1) into longitude and latitude according to the longitude and latitude of the termination waypoint of the current flight segment, and calculate the starting course β of the great circle route from this point to the termination waypoint of the next flight segment. 12 (Valid range -180° to 180°);

[0135] Calculate the course shear Δθ = β before and after the end of the transition segment 12 -β out (Valid range -180° to 180°);

[0136] If |Δθ| < the angle threshold, then exit;

[0137] Otherwise, update the turning angle θ = θ + Δθ; perform the next iteration calculation until the preset number of iterations is reached.

[0138] Among them, in this embodiment, the preset number of iterations is preferably 20, and in other preferred implementation schemes, it can also be set according to actual needs; the angle threshold in this embodiment is preferably 0.2°, and in other preferred implementation schemes, this angle threshold can also be set according to actual needs.

[0139] Convert (X0, Y0) and (X1, Y1) into the longitude and latitude of the turning arc center and the end point of the transition segment respectively according to the longitude and latitude of the termination waypoint of the current flight segment;

[0140] Store the track parameters of a turning sub-flight segment in the track parameter storage area, including: starting longitude and latitude, longitude and latitude of the end point and the arc center, turning radius, and end course.

[0141] (3) Transition of the post-overflight intercepting route

[0142] The expected track of the transition of the post-overflight intercepting route consists of two circular arc sub-flight segments, as Figure 7 shown by the thick solid line in.

[0143] In this embodiment, the track parameter algorithm for the transition of the post-overflight intercepting route is used to calculate and store the track parameters of the transition segment. The specific track parameter algorithm for the transition of the post-overflight intercepting route is as follows:

[0144] Obtain the longitude and latitude and turning radius R of the end point of the previous transition segment, the termination waypoint of the current flight segment, and the termination waypoint of the next flight segment;

[0145] Calculate the end course of the great circle route from the end point of the previous transition segment to the termination waypoint of the current flight segment as the starting course β of the transition segment in ;

[0146] Calculate the starting course of the great circle route from the termination waypoint of the current flight segment to the termination waypoint of the next flight segment as the end course β of the transition segmentout ;

[0147] Calculate the change in the heading angle before and after the transition α = β out -β in (Valid range -180° to 180°), where if α is positive, the aircraft needs to turn right; if α is negative, the aircraft needs to turn left;

[0148] Calculate the turning angle of the second transition arc:

[0149] θ2 = -sgn(α) × arccos[(1 + cosα) / 2],

[0150] θ1 = α - θ2;

[0151] Calculate the coordinates of the center of the first transition arc in the horizontal plane relative to the termination waypoint of the current leg:

[0152] X 01 = R × sin(β in + sgn(α) × 90°),

[0153] Y 01 = R × cos(β in + sgn(α) × 90°);

[0154] Calculate the coordinates of the end point of the first transition arc in the horizontal plane relative to the termination waypoint of the current leg:

[0155] X1 = X 01 + R × sin(β in + θ1 - sgn(α) × 90°),

[0156] Y1 = Y 01 + R × cos(β in + θ1 - sgn(α) × 90°);

[0157] Calculate the coordinates of the center of the second transition arc in the horizontal plane relative to the termination waypoint of the current leg:

[0158] X 02 = X1 + R × sin(β in + θ1 - sgn(α) × 90°),

[0159] Y 02 = Y1 + R × cos(β in + θ1 - sgn(α) × 90°);

[0160] Calculate the coordinates of the end point of the second transition arc in the horizontal plane relative to the termination waypoint of the current leg:

[0161] X2 = X 02+R×sin(β out +sgn(α)×90°),

[0162] Y2 = Y 02 +R×cos(β out +sgn(α)×90°);

[0163] Using the longitude and latitude of the termination route of the current flight segment, convert (X 01 , Y 01 ) and (X1, Y1) into the longitude and latitude of the center and the end point of the first turning arc of the transition segment respectively, and convert (X 02 , Y 02 ) and (X2, Y2) into the longitude and latitude of the center and the end point of the second turning arc of the transition segment respectively;

[0164] Store the track parameters of the two turning sub-segments in the track parameter storage area, including: the longitude and latitude of the center and the end point of the two turning sub-segments, the turning radius, the starting longitude and latitude and the end course of the first turning sub-segment, and the end longitude and latitude and the end course of the second turning sub-segment.

[0165] The above track parameter algorithms in this embodiment all adopt the following calculation method to convert coordinates into longitude and latitude:

[0166] According to the longitude λ A and latitude φ A (unit: radian) of position A, the conversion formula for converting the coordinates of another position B relative to position A in the horizontal plane (regarding the due east and due north directions as the positive directions of the X-axis and Y-axis respectively) into the longitude and latitude of position B is shown in Equation (1):

[0167]

[0168] where, λ B and φ B are the longitude and latitude of position B respectively, X and Y are the coordinates of position B relative to position A in the horizontal plane, and are the radii of curvature of the meridian and prime vertical circles of the WGS-84 geodetic reference ellipsoid at position A respectively, and:

[0169] 1) R e = 6378137 (m) is the semi-major axis length of the WGS-84 geodetic reference ellipsoid;

[0170] 2) e = 0.08181919084265 is the eccentricity of the WGS-84 geodetic reference ellipsoid. This embodiment also proposes a computer device for executing the above method of this embodiment.

[0171] Specifically as Figure 8As shown, a computer device includes a processor, an internal memory, and a system bus; various device components including the internal memory and the processor are connected to the system bus. The processor is a hardware component used to execute computer program instructions through basic arithmetic and logical operations in a computer system. The internal memory is a physical device for temporarily or permanently storing computing programs or data (e.g., program status information). The system bus can be any one of several types of bus structures, including a memory bus or memory controller, a peripheral bus, and a local bus. The processor and the internal memory can communicate data through the system bus. The internal memory includes a read-only memory (ROM) or flash memory (not shown in the figure), and a random access memory (RAM), which is usually the main memory loaded with the operating system and computer programs.

[0172] A computer device generally includes an external storage device. The external storage device can be selected from a variety of computer-readable media, which refers to any available medium that can be accessed by a computer device, including both removable and fixed media. For example, computer-readable media includes, but is not limited to, flash memory (micro SD card), CD-ROM, digital versatile disc (DVD), or other optical disc storage, magnetic tape cartridges, magnetic tape, magnetic disk storage, or any other magnetic storage device, or any other medium that can be used to store the required information and can be accessed by a computer device.

[0173] The computer device can be logically connected to one or more network terminals in a network environment. The network terminals can be personal computers, servers, routers, smart phones, tablets, or other public network nodes. The computer device is connected to the network terminals through a network interface (local area network LAN interface). A local area network (LAN) refers to a computer network interconnected within a limited area, such as a home, school, computer laboratory, or office building using network media. WiFi and twisted pair Ethernet are the two most commonly used technologies for constructing a local area network.

[0174] It should be noted that other computer systems including more or fewer subsystems than the computer device can also be applicable to the invention.

[0175] As described in detail above, the computer device applicable to this embodiment can perform the specified operations of the method for constructing the track of the transition section between flight segments. The computer device executes these operations in the form of software instructions running on the processor in the computer-readable medium. These software instructions can be read into the memory from a storage device or from another device through the local area network interface. The software instructions stored in the memory cause the processor to execute the above-mentioned method for processing group member information. In addition, the present invention can also be implemented by hardware circuits or a combination of hardware circuits and software instructions. Therefore, the implementation of this embodiment is not limited to any specific combination of hardware circuits and software.

[0176] Example 2

[0177] This embodiment proposes a device for constructing a transition segment trajectory between flight segments for a flight management system, such as Figure 9 As shown in the dotted line frame, the device of this embodiment includes:

[0178] The transition type determination unit determines the transition type according to the combination of the segment types of the current segment and the next segment. Specifically, the transition type determination unit of this embodiment determines the transition type according to the combination of the segment types of the current segment and the next segment based on the mapping relationship between the segment type combination and the transition type shown in Table 1 of the above-mentioned embodiment 1.

[0179] The track parameter calculation unit, according to the transition type, calls the corresponding track parameter algorithm to calculate the track parameters and stores them in the track parameter storage area. Specifically, the track parameter calculation unit of this embodiment can be based on different transition types. For example, if it is a flyby transition, the flyby transition track parameter algorithm is called to calculate the track parameters and store them in the track parameter storage area; if it is a flyover and direct transition, the track parameter algorithm of the flyover and direct transition is called to calculate the track parameters and store them in the track parameter storage area; if it is a flyover and intercept route transition, the track parameter algorithm of the flyover and intercept route transition is called to calculate the track parameters and store them in the track parameter storage area; otherwise, there is no need to calculate the transition segment track parameters.

[0180] The specific process of the track parameter algorithm used in this embodiment is the same as that of the above-mentioned embodiment 1, and will not be repeated here.

[0181] This embodiment also proposes a horizontal track prediction module, which uses the above-mentioned construction device to calculate the track parameters of the transition section between flight segments.

[0182] This embodiment also proposes a flight management system, which uses the above-mentioned horizontal track prediction module to perform horizontal track prediction.

[0183] The embodiment of the present invention can generate the track parameters of the transition section between flight segments, so that the subsequent horizontal guidance module can calculate the yaw distance and yaw angle based on the track parameters and the aircraft position.

[0184] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for constructing a track of an inter-segment transition section for a flight management system, characterized in that, Including: Determine the transition type from the current flight segment to the next flight segment according to the combination mode of the flight segment types of the current flight segment and the next flight segment; According to the transition type, adopt the corresponding track parameter algorithm to calculate the track parameters of the transition segment and store them in the track parameter storage area; According to the transition type, adopt the corresponding track parameter algorithm to calculate and store the track parameters of the transition segment, specifically: If it is a tangent transition, adopt the tangent transition track parameter algorithm to calculate the track parameters and store them in the track parameter storage area; If it is a straight flight transition after overflight, adopt the track parameter algorithm of straight flight transition after overflight to calculate the track parameters and store them in the track parameter storage area; If it is a route interception transition after overflight, adopt the track parameter algorithm of route interception transition after overflight to calculate the track parameters and store them in the track parameter storage area; Otherwise, there is no need to calculate the track parameters of the transition segment; The specific tangent transition track parameter algorithm is as follows: Obtain the longitude and latitude and turning radius of the end point of the previous transition segment, the termination waypoint of the current flight segment, and the termination waypoint of the next flight segment; Based on the obtained data, calculate the end point course of the great circle route from the end point of the previous transition segment to the termination waypoint of the current flight segment as the starting course of the transition segment; Calculate the starting course of the great circle route from the termination waypoint of the current flight segment to the termination waypoint of the next flight segment as the ending course of the transition segment; Calculate the change in the course angle before and after the transition; According to the change in the course angle before and after the transition, calculate the distance from the turning starting point to the waypoint; If the aircraft altitude and the distance from the turning starting point to the waypoint meet the preset conditions, update the turning radius; Calculate the coordinates of the arc center, turning starting point, and turning end point in the horizontal plane relative to the termination waypoint of the current flight segment respectively; According to the longitude and latitude of the termination waypoint of the current flight segment, convert the calculated coordinates into the longitude and latitude of the arc center, turning starting point, and turning end point; Store the obtained track parameters in the track parameter storage area.

2. The method for constructing the track of the transition section between flight segments for a flight management system according to claim 1, wherein Determine the transition type from the current flight segment to the next flight segment according to the combination mode of the flight segment types of the current flight segment and the next flight segment, specifically: According to the pre-set mapping relationship between the flight segment type combination mode and the transition type, the corresponding transition type can be obtained according to the combination mode of the flight segment types of the current flight segment and the next flight segment.

3. The method for constructing the track of the transition section between flight segments for a flight management system according to claim 1, characterized in that, The specific track parameter algorithm of the straight flight transition after overflight is as follows: Obtain the longitude and latitude and turning radius of the end point of the previous transition segment, the termination waypoint of the current flight segment, and the termination waypoint of the next flight segment; Calculate the end point course of the great circle route from the end point of the previous transition segment to the termination waypoint of the current flight segment as the starting course of the transition segment; Calculate the starting course of the great circle route from the termination waypoint of the current flight segment to the termination waypoint of the next flight segment; Initialize the turning angle; Calculate the arc center coordinates; Perform iterative calculation to obtain the coordinates of the turning end point in the horizontal plane relative to the termination waypoint of the current flight segment; According to the longitude and latitude of the termination waypoint of the current flight segment, convert the calculated coordinates into the longitude and latitude of the turning arc center and the end point of the transition segment respectively; Store the obtained track parameters in the track parameter storage area.

4. The method for constructing an inter-segment transition track for a flight management system according to claim 3, wherein, The iterative calculation process is specifically: Calculate the position coordinates of the aircraft after turning through the turning angle; Calculate the course of the aircraft after turning through the turning angle; Convert the position coordinates into longitude and latitude according to the longitude and latitude of the termination waypoint of the current flight segment, and calculate the starting course of the great circle route from this point to the termination waypoint of the next flight segment; Calculate the course shear before and after the end of the transition segment; If the absolute value of the course shear is less than the angle threshold, exit the iteration; otherwise, update the turning angle and perform the next iteration calculation until the preset number of iterations is reached.

5. The method for constructing the track of the transition section between flight segments for a flight management system according to claim 1, wherein The track parameter algorithm for the post-overflight intercept route transition is specifically as follows: Obtain the longitude, latitude and turning radius of the end point of the previous transition segment, the termination waypoint of the current flight segment and the termination waypoint of the next flight segment; Calculate the end course of the great circle route from the end point of the previous transition segment to the termination waypoint of the current flight segment as the starting course of the transition segment; Calculate the starting course of the great circle route from the termination waypoint of the current flight segment to the termination waypoint of the next flight segment as the end course of the transition segment; Calculate the change in the course angle before and after the transition; Calculate the steering angle of the two transition arcs; Calculate the coordinates of the center of the first transition arc relative to the termination waypoint of the current flight segment; Calculate the coordinates of the end point of the first transition arc relative to the termination waypoint of the current flight segment; Calculate the coordinates of the center of the second transition arc relative to the termination waypoint of the current flight segment; Calculate the coordinates of the end point of the second transition arc relative to the termination waypoint of the current flight segment; According to the longitude and latitude of the termination waypoint of the current flight segment, convert the coordinates of the first transition arc into the longitude and latitude of the center and end point of the first turning arc of the transition segment respectively, and convert the coordinates of the second transition arc into the longitude and latitude of the center and end point of the second turning arc of the transition segment respectively; Store the obtained track parameters in the track parameter storage area.

6. A horizontal track prediction method for a flight management system, characterized in that, Use the method described in any one of claims 1-5 to obtain the track parameters of the transition segment between flight segments.

7. An apparatus for constructing a track of an inter-segment transition section for a flight management system, characterized in that, Including: A transition type determination unit that determines the transition type according to the combination mode of the flight segment types of the current flight segment and the next flight segment; A track parameter calculation unit that calls the corresponding track parameter algorithm according to the transition type to calculate the track parameters of the transition segment and stores them in the track parameter storage area; According to the transition type, call the corresponding track parameter algorithm to calculate the track parameters of the transition segment and store them in the track parameter storage area. Specifically: If it is a side-cut transition, use the side-cut transition track parameter algorithm to calculate the track parameters and store them in the track parameter storage area; If it is a post-overflight direct flight transition, use the track parameter algorithm for the post-overflight direct flight transition to calculate the track parameters and store them in the track parameter storage area; If it is a post-overflight intercept route transition, use the track parameter algorithm for the post-overflight intercept route transition to calculate the track parameters and store them in the track parameter storage area; Otherwise, there is no need to calculate the track parameters of the transition segment; The specific side-cut transition track parameter algorithm is as follows: Obtain the longitude, latitude and turning radius of the end point of the previous transition segment, the termination waypoint of the current flight segment and the termination waypoint of the next flight segment; Based on the obtained data, calculate the end course of the great circle route from the end point of the previous transition segment to the termination waypoint of the current flight segment as the starting course of the transition segment; Calculate the starting course of the great circle route from the termination waypoint of the current flight segment to the termination waypoint of the next flight segment as the end course of the transition segment; Calculate the change in the course angle before and after the transition; Calculate the distance from the turning starting point to the waypoint according to the change in the heading angle before and after the transition; If the aircraft altitude and the distance from the turning starting point to the waypoint meet the preset conditions, update the turning radius; Calculate the coordinates of the arc center, the turning starting point, and the turning ending point in the horizontal plane relative to the current flight segment ending waypoint respectively; According to the longitude and latitude of the current flight segment ending waypoint, convert the calculated coordinates into the longitude and latitude of the arc center, the turning starting point, and the turning ending point; Store the obtained track parameters in the track parameter storage area.

8. A horizontal track prediction module for a flight management system, characterized in that, Include the construction device described in claim 7; The construction device is used to determine the track parameters of the transition segment between flight segments.

9. A flight management system, characterized in that, Include the horizontal track prediction module described in claim 8.

10. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1-5.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method described in any one of claims 1-5.

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