A method, device and medium for accurately drawing the trajectory of a low-altitude manned aircraft

Abstract

The present invention relates to a method, device, and medium for accurately plotting the trajectory of a low-altitude manned aircraft. The method first calculates invalid positioning points during flight based on a threshold, then discards the invalid positioning points to obtain all valid positioning points. Finally, the flight trajectory is plotted based on the obtained valid positioning points. Compared with existing technologies, the present invention significantly improves the safety of intelligent low-altitude manned aircraft.

Description

Technical Field

[0001] The present invention relates to a train signal control system, and in particular to a method, device and medium for accurately drawing the trajectory of a low-altitude manned aircraft. Background Art

[0002] In order to alleviate traffic congestion and improve people's travel efficiency, low-altitude intelligent manned aircraft came into being. For example, Chinese patent publication No. CN109250082A discloses a multi-axis low-altitude manned aircraft, which includes a fuselage and a cockpit. The fuselage has four arms, each of which is equipped with a motor. The manned flight device is controlled by a wireless remote control device and a self-contained program. A single passenger cabin is provided on the aircraft, which can be sent to a designated location by ground remote control or by passengers setting the route through the cabin screen.

[0003] At the same time, for human safety, low-altitude intelligent manned aircraft must be positioned at a high frequency. The aircraft's trajectory is then recorded in real time based on the aircraft's positioning data. However, this positioning data can sometimes be erroneous, leading to errors in trajectory drawing. However, identifying these errors within the massive amount of aircraft positioning data, thereby improving the accuracy of trajectory drawing, has become a technical challenge that needs to be addressed. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a method, device and medium for accurately drawing the trajectory of a low-altitude manned aircraft.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] According to a first aspect of the present invention, a method for accurately drawing the trajectory of a low-altitude manned aircraft is provided. The method first calculates the invalid positioning points of the low-altitude manned aircraft during flight based on a threshold, then discards the invalid positioning points to obtain all valid positioning points, and finally draws the flight trajectory based on the obtained valid positioning points.

[0007] As a preferred technical solution, the determination of the effective positioning point is specifically as follows:

[0008] First, the first positioning point is judged based on the displacement validity and angle validity between the three positioning points. After the first valid positioning point is determined, the validity of subsequent positioning points is determined in turn based on the displacement validity and angle validity between the two adjacent positioning points.

[0009] As a preferred technical solution, the displacement validity judgment between the three positioning points is specifically as follows:

[0010] A1) Extract the sampling data between three adjacent points, S j = {latj , lng j , s j ,θ j}, S j+1 = {lat j+1 , lng j+1 , s j+1 ,θ j+1}, S j+2 = {lat j+2 , lng j+2 , s j+2 ,θ j+2}, where S represents the set of aircraft, lat represents the current latitude of the aircraft, lng represents the current longitude of the aircraft, s represents the displacement of the aircraft between the previous sampling moment and the current sampling moment, and θ represents the direction of movement between the previous sampling moment and the current sampling moment;

[0011] B1) Calculate the displacement difference S between the first and third points j,j+2 , if |S j,j+2 -s j+2 -s j+1 | / s j+2 +s j+1 )<2S, where S is the threshold for determining whether the displacement is reasonable, then the displacement between the three sampling points is judged to be valid.

[0012] As a preferred technical solution, the displacement difference S j,j+2 The specific calculation is as follows:

[0013]

[0014] As a preferred technical solution, the validity of the angle between the three positioning points is determined as follows:

[0015] A2) Extract the sampling data between three adjacent points, S j = {lat j , lng j , s j ,θ j}, S j+1 = {lat j+1 , lng j+1 , s j+1 ,θ j+1}, S j+2 = {lat j+2 , lng j+2 , s j+2 ,θ j+2}, where S represents the set of aircraft, lat represents the current latitude of the aircraft, lng represents the current longitude of the aircraft, s represents the displacement of the aircraft between the previous sampling moment and the current sampling moment, and θ represents the direction of movement between the previous sampling moment and the current sampling moment;

[0016] B2) The calculated angle difference γ between the first and third points j,j+2 ,|γ j,j+2 -θ j+2 -θ j+1 | / (θ j+2 +θ j+1 )<2β, where β is the threshold for determining whether the orientation is reasonable, the angle between the three sampling points is considered valid, otherwise it is considered invalid.

[0017] As a preferred technical solution, the angle difference γ j,j+2 The specific calculation is as follows:

[0018]

[0019] B21) If lat j+2 =lat j , and lng j+2 >lng j , then γ j,j+2 =0;

[0020] B22) If lat j+2 >lat j , and lng j+2 >lng j ,but

[0021] B23) If lat j+2 >lat j , and lng j+2 =lng j ,but

[0022] B24) If lat j+2 >lat j , and lng j+2 <lng j ,but

[0023] B25) If lat j+2 =lat j , and lng j+2 <lng j , then γ j,j+2 =π;

[0024] B26) If lat j+2<lat j , and lng j+2 <lng j , then

[0025] B27) If lat j+2 <lat j , and lng j+2 = lng j , then

[0026] B28) If lat j+2 <lat j , and lng j+2 > lng j , then

[0027] As a preferred technical solution, the determination of the displacement validity between two adjacent positioning points is specifically as follows:

[0028] A3) Extract the sampling data between two adjacent points, S j = {lat j , lng<00​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​j = {lat j , lng j , s j ,θ j}, S j+1 = {lat j+1 , lng j+1 , s j+1 ,θ j+1}, where S represents the set of aircraft, lat represents the current latitude of the aircraft, lng represents the current longitude of the aircraft, s represents the displacement of the aircraft between the previous sampling moment and the current sampling moment, and θ represents the direction of movement between the previous sampling moment and the current sampling moment;

[0034] B4) The calculated angle difference γ between two adjacent points j,j+1 , such as |γ j,j+1 -θ j+1 | / θ j+1 <β, where β is the threshold for determining whether the orientation is reasonable, then the angle between time j and time j+1 is considered valid; otherwise, it is considered invalid.

[0035] As a preferred technical solution, the angle difference γ j,j+1 The specific calculation is as follows:

[0036]

[0037] B41) If lat j+1 =lat j , and lng j+1 >lng j , then γ j,j+1 =0;

[0038] B42) If lat j+1 >lat j , and lng j+1 >lng j ,but

[0039] B43) If lat j+1 >lat j , and lng j+1 =lng j ,but

[0040] B44) If lat j+1 >lat j , and lng j+1 <lng j ,but

[0041] B45) If latj+1 =lat j , and lng j+1 <lng j , then γ j,j+1 =π;

[0042] B46) If lat j+1 <lat j , and lng j+1 <lng j ,but

[0043] B47) If lat j+1 <lat j , and lng j+1 =lng j ,but

[0044] B48) If lat j+1 <lat j , and lng j+1 >lng j ,but

[0045] As a preferred technical solution, the first positioning point is determined based on the displacement validity and angle validity between the three positioning points. The specific process is as follows:

[0046] Step S101, take the sample data S at the i-th moment i = {lat i , lng i , s i ,θ i}, the sampling data S at the i+1th moment i+1 = {lat i+1 , lng i+1 , s i+1 ,θ i+1}, the sampling data S at the i+2th moment i+2 = {lat i+2 , lng i+2 , s i+2 ,θ i+2};

[0047] Step S102, determining whether the displacement between the i-th moment and the i+1-th moment is valid;

[0048] Step S103, determining whether the displacement between the i-th moment, the i+1-th moment and the i+2-th moment is valid;

[0049] Step S104, determining whether the angle between the i-th moment and the i+1-th moment is valid;

[0050] Step S105, determining whether the angle between the i-th moment, the i+1-th moment and the i+2-th moment is valid;

[0051] Step S106: The minimum i that satisfies the above four conditions is the first accurate positioning moment, and the corresponding first accurate positioning point is S i = {lat i , lng i , s i ,θ i}, i must be greater than 1.

[0052] As a preferred technical solution, the validity of subsequent positioning points is determined in sequence according to the displacement validity and angle validity between two adjacent positioning points. The specific process is as follows:

[0053] Step S201: Set the i-th point as the accurately positioned point, and the corresponding moment is the first accurately positioned moment, and the corresponding positioning point is S i = {lat i , lng i , s i ,θ i}, judge whether the i+1th point is an accurate positioning point, the corresponding positioning point is S i+1 = {lat i+1 , lng i+1 , s i+1 ,θ i+1};

[0054] Step S202, determining whether the displacement between the i-th moment and the i+1-th moment is valid;

[0055] Step S203, determining whether the angle between the i-th moment and the i+1-th moment is valid;

[0056] Step S204: If the above two conditions are met, the i+1th point is an accurately positioned point, and then based on the i+1th point, subsequent points are determined to be accurately positioned points; otherwise, the i+1th point is an inaccurately positioned point;

[0057] Step S205: When the i+1th point is an inaccurately positioned point, i+1 and θ i+1 Calculate the theoretical positioning point P at the i+1th moment i+1 ={Lat i+1 , Lng i+1 , s i+1 ,θ i+1},at this time

[0058] Lat i+1 =s i+1 sin(θi+1 )+lat i ;

[0059] Lng i+1 =s i+1 cos(θ i+1 )+lng i ;

[0060] Step S206, with P i+1 ={Lat i+1 , Lng i+1 , s i+1 ,θ i+1} is used as the basis to determine whether the subsequent positioning points are accurately positioned points, that is, repeat steps (S201), (S202), (S203), and (S204) to determine whether the i+2th point is an accurately positioned point. If it is accurate, the i+2th point is the accurately positioned point. If it is not accurate, calculate the theoretical positioning point at the i+2th moment; and so on, until all accurately positioned points are found.

[0061] According to a second aspect of the present invention, there is provided a device for accurately drawing a trajectory of a low-altitude manned aircraft, comprising:

[0062] A positioning point calculation module is used to calculate invalid positioning points of a low-altitude manned aircraft during flight based on a threshold;

[0063] The valid positioning point acquisition module is used to discard invalid positioning points and obtain all valid positioning points;

[0064] The trajectory drawing module is used to draw the flight trajectory based on the valid positioning points obtained.

[0065] According to a third aspect of the present invention, there is provided a device for accurately drawing the trajectory of a low-altitude manned aircraft, comprising a memory and one or more processors, wherein the memory stores executable code, and when the one or more processors execute the executable code, they are used to implement the method for accurately drawing the trajectory of a low-altitude manned aircraft.

[0066] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, characterized in that a program is stored thereon, and when the program is executed by a processor, the method for accurately drawing the trajectory of a low-altitude manned aircraft is implemented.

[0067] Compared with the existing technology, the present invention calculates the points with incorrect positioning based on information such as the aircraft's orientation and displacement, then "discards" them, and finally draws the flight trajectory based on the correctly positioned points, greatly improving the safety of intelligent low-altitude manned aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1is a flow chart of the method of the present invention;

[0069] Figure 2 It is a functional module diagram of the device of the present invention;

[0070] Figure 3 This is a flow chart of information preprocessing of the present invention;

[0071] Figure 4 Schematic diagram of constructing a coordinate system for the present invention. DETAILED DESCRIPTION

[0072] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0073] Example 1

[0074] like Figure 1 As shown, the present invention provides a method for accurately drawing the trajectory of a low-altitude manned aircraft, the method comprising the following steps:

[0075] Step S1, calculating invalid positioning points of a low-altitude manned aircraft during flight based on a threshold;

[0076] Step S2, discarding invalid positioning points to obtain all valid positioning points;

[0077] Step S3: Draw the flight trajectory based on the obtained valid positioning points.

[0078] The specific judgment of the valid positioning point is:

[0079] First, the first positioning point is judged based on the displacement validity and angle validity between the three positioning points. After the first valid positioning point is determined, the validity of subsequent positioning points is determined in turn based on the displacement validity and angle validity between the two adjacent positioning points.

[0080] The specific process of the method of the present invention is described in detail below:

[0081] 1. The information preprocessing process of the method of the present invention is as follows: Figure 3 As shown:

[0082] (1) Although the earth is a sphere, the sampling frequency is extremely high, so it can be simplified to the aircraft moving on a plane;

[0083] (2) Construct a coordinate system with the first accurately located point as the origin, east and west as the x-axis, due east as the positive direction of the x-axis, north and south as the y-axis, due north as the positive direction of the y-axis, such as Figure 4 As shown;

[0084] (3) The positioning module continuously sends the aircraft's location information lat, lng, where lat represents the aircraft's current latitude and lng represents the aircraft's current longitude.

[0085] (4) The motion module sends the aircraft displacement s and the orientation θ during the sampling period. θ is defined as follows:

[0086] a. The aircraft faces due east, θ = 0;

[0087] b. The aircraft faces northeast.

[0088] c. The aircraft faces due north.

[0089] d. The aircraft is heading northwest.

[0090] e. The aircraft faces due west, θ = π;

[0091] f. The aircraft faces southwest.

[0092] g. The aircraft faces due south.

[0093] h. The aircraft faces southeast,

[0094] (5) The above information constructs a set representing the aircraft S = {lat, lng, s, θ}, where s represents the displacement of the aircraft from the previous sampling time to the current sampling time, and θ represents the direction of motion from the previous sampling time to the current sampling time;

[0095] (6) The time frequency of collecting the above information is f, that is, the total amount of information generated within 1 second;

[0096] (7) The time for drawing the trajectory is T, that is, the trajectory of the aircraft within the time T is drawn. Therefore, a total of Tf sets S representing the aircraft are sampled, which can be expressed as a set E = {S1, S2, ..., S Tf};

[0097] (8) The threshold S (percentage) for whether the displacement is reasonable;

[0098] (9) The threshold β (percentage) for whether the orientation is reasonable.

[0099] 2. Determine the validity of the displacement between adjacent sampling points, specifically as follows:

[0100] (1) Take the sampling data S at adjacent times in set E j ={lat j , lng j , s j , θ j}; S j+1 ={lat j+1 , lng j+1 , s j+1 , θ j+1};

[0101] (2) The displacement between two adjacent times is

[0102]

[0103] (3) If |S j, - s j+1 | / s j+1 < S, then judge that the displacement between the j-th and (j + 1)-th times is valid. <000062​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​

[0110] (1) Take the sample data S at adjacent moments in the set E j = {lat j , lng j , s j ,θ j}, S j+1 = {lat j+1 , lng j+1 , s j+1 ,θ j+1};

[0111] (2) Let the angle between the two adjacent sampling points be γ j, ,but

[0112] a. If lat j+1 =lat j , and lng j+1 >lng j , then γ j, =0;

[0113] b. If lat j+1 >lat j , and lng j+1 >lng j ,but

[0114] c. If lat j+1 >lat j , and lng j+1 =lng j ,but

[0115] d. If lat j+1 >lat j , and lng j+1 <lng j ,but

[0116] e. If lat j+1 =lat j , and lng j+1 <lng j , then γ j, =π;

[0117] f. If lat j+1 <lat j , and lng j+1 <lng j ,but

[0118] g. If latj+1 <lat j , and lng j+1 =lng j ,but

[0119] h. If lat j+1 <lat j , and lng j+1 >lng j ,but

[0120] (3) If |γ j, -θ j+1 | / θ j+1 <β, the angle between time j and time j+1 is considered valid, otherwise it is considered invalid.

[0121] 5. Determine the validity of the angle between the three sampling points, specifically:

[0122] (1) Take the sample data S of three consecutive sampling moments in the set E j = {lat j , lng j , s j ,θ j}, S j+1 = {lat j+1 , lng j+1 , s j+1 ,θ j+1}, S j+2 = {lat j+2 , lng j+2 , s j+2 ,θ j+2};

[0123] (2) Let the angle between the two adjacent sampling points be γ j, ,but

[0124] a. If lat j+2 =lat j , and lng j+2 >lng j , then γ j, =0;

[0125] b. If lat j+2 >lat j , and lng j+2 >lng j ,but

[0126] c. If lat j+2 >lat j, and lng j+2 =lng j ,but

[0127] d. If lat j+2 >lat j , and lng j+2 <lng j ,but

[0128] e. If lat j+2 =lat j , and lng j+2 <lng j , then γ j, =π;

[0129] f. If lat j+2 <lat j , and lng j+2 <lng j ,but

[0130] g. If lat j+2 <lat j , and lng j+2 =lng j ,but

[0131] h. If lat j+2 <lat j , and lng j+2 >lng j ,but

[0132] (3) If |γ j, -θ j+2 -θ j+1 | / (θ j+2 +θ j+1 )<2β, the angle between the three sampling points is considered valid, otherwise it is considered invalid.

[0133] 6. Determine the first correct positioning moment, specifically:

[0134] (1) Take the sample data S at the i-th moment (i>1) in the set E i = {lat i , lng i , s i ,θ i}, the sampling data S at the i+1th moment i+1 = {lat i+1 , lng i+1 , si+1 ,θ i+1}, the sampling data S at the i+2th moment i+2 = {lat i+2 , lng i+2 , s i+2 ,θ i+2};

[0135] (2) Determine whether the displacement between time i and time i+1 is valid;

[0136] (3) Determine whether the displacement between the i-th moment, the i+1-th moment, and the i+2-th moment is valid;

[0137] (4) Determine whether the angle between the i-th moment and the i+1-th moment is valid;

[0138] (5) Determine whether the angle between the i-th moment, the i+1-th moment, and the i+2-th moment is valid;

[0139] (6) The minimum i that satisfies the above four conditions is the first accurate positioning moment, and the corresponding first accurate positioning point is S i = {lat i , lng i , s i ,θ i}, i must be greater than 1.

[0140] 7. Determine whether the subsequent positioning points are correct, specifically:

[0141] (1) Let the i-th point be the accurately positioned point, and the corresponding moment be the first accurately positioned moment, and the corresponding S i = {lat i , lng i , s i ,θ i}, it is necessary to determine whether the i+1th point is an accurate positioning point, the corresponding S i+1 = {lat i+1 , lng i+1 , s i+1 ,θ i+1};

[0142] (2) Determine whether the displacement between time i and time i+1 is valid;

[0143] (3) Determine whether the angle between the i-th moment and the i+1-th moment is valid;

[0144] (4) If the above two conditions are met, the i+1th point is the accurately positioned point, and then the subsequent points are judged as accurately positioned points based on the i+1th point; otherwise, the i+1th point is an inaccurately positioned point;

[0145] (5) When the i+1th point is an inaccurately positioned point, according to s i+1 and θ i+1 Calculate the theoretical positioning point P at the i+1th moment i+1 ={Lat i+1 , Lng i+1 , s i+1 ,θ i+1},at this time

[0146] Lat i+1 =s i+1 sin(θ i+1 )+lat i ;

[0147] Lng i+1 =s i+1 cos(θ i+1 )+lng i ;

[0148] (6) P i+1 ={Lat i+1 , Lng i+1 , s i+1 ,θ i+1} as the basis to determine whether the subsequent positioning points are accurate positioning points, that is, repeat steps (1), (2), (3), (4) to determine whether the i+2th point is an accurate positioning point. If it is accurate, the i+2th point is the accurate positioning point. If it is not accurate, calculate the theoretical positioning point at the i+2th moment; and so on, until all accurate positioning points are found;

[0149] (7) After finding all the points with accurate positioning, discard the points with incorrect positioning and the theoretical positioning points calculated, and connect all the points with accurate positioning to obtain the motion trajectory of the aircraft.

[0150] Example 2

[0151] like Figure 2 As shown, the second embodiment of the present invention provides a low-altitude manned aircraft accurate trajectory drawing device, comprising:

[0152] A positioning point calculation module 100 is used to calculate invalid positioning points of a low-altitude manned aircraft during flight based on a threshold;

[0153] The valid positioning point acquisition module 200 is used to obtain all valid positioning points after discarding invalid positioning points;

[0154] The trajectory drawing module 300 is used to draw the flight trajectory according to the obtained valid positioning points.

[0155] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0156] Example 3

[0157] The present invention also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 1 A method for accurately drawing the trajectory of a low-altitude manned aircraft is provided.

[0158] The present invention also provides a corresponding Figure 1 The low-altitude manned aircraft accurate trajectory drawing device, at the hardware level, the robot control device includes a processor, internal bus, network interface, memory and non-volatile memory, of course, it may also include other hardware required for business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 Of course, in addition to software implementation, the present invention does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0159] Improvements to a technology can be clearly distinguished as either hardware improvements (for example, improvements to circuit structures such as diodes, transistors, and switches) or software improvements (improvements to process flows). However, with technological advancements, many process flow improvements today can now be considered direct improvements to hardware circuit structures. Designers almost always program the improved process flow into the hardware circuit to obtain the corresponding hardware circuit structure. Therefore, it cannot be said that a process flow improvement cannot be implemented using a hardware module. For example, a programmable logic device (PLD), such as a field programmable gate array (FPGA), is an integrated circuit whose logical function is determined by user programming. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to hire a chip manufacturer to design and manufacture a dedicated integrated circuit chip. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly done using "logic compiler" software. This is similar to the software compiler used when developing programs. Before compilation, the original code must also be written in a specific programming language, called a hardware description language (HDL). There is not just one HDL, but many, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art will also understand that by simply programming the method flow in one of these hardware description languages ​​and then programming it into an integrated circuit, a hardware circuit that implements the logic method flow can be easily obtained.

[0160] The controller can be implemented in any suitable manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to implementing the controller in a purely computer-readable program code format, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules that implement the method and structures within the hardware component.

[0161] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0162] For the convenience of description, the above device is described as being divided into various units according to their functions. Of course, when implementing the present invention, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0163] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0164] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0165] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0166] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0167] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0168] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0169] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0170] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0171] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0172] The present invention may be described in the general context of computer-executable instructions, such as program modules, executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. The present invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media, including storage devices.

[0173] The various embodiments of the present invention are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so its description is relatively simple. For relevant portions, refer to the description of the method embodiment.

[0174] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A method for accurately drawing the trajectory of a low-altitude manned aircraft, characterized in that: This method first calculates the invalid positioning points of a low-altitude manned aircraft during flight based on a threshold, then discards the invalid positioning points to obtain all valid positioning points, and finally draws the flight trajectory based on the obtained valid positioning points. The determination of the effective positioning point is specifically as follows: First, the first positioning point is determined based on the displacement validity and angle validity between the three positioning points. After the first valid positioning point is determined, the validity of subsequent positioning points is determined in turn based on the displacement validity and angle validity between the two adjacent positioning points. The validity judgment of the displacement between the three positioning points is specifically as follows: A1) Extract the sampling data between three adjacent points, S j = {lat j , lng j , s j ,θ j }, S j+1 = {lat j+1 , 0 j+1 , s j+1 ,θ j+1 }, S j+2 = {lat j+2 , lng j+2 , s j+2 ,θ j+2 }, where S represents the set of aircraft, lat represents the current latitude of the aircraft, lng represents the current longitude of the aircraft, s represents the displacement of the aircraft between the previous sampling moment and the current sampling moment, and θ represents the direction of movement between the previous sampling moment and the current sampling moment; B1) Calculate the displacement difference S between the first and third points j,j+2 , if |S j,j+2 -s j+2 -s j+1 | / (s j+2 +s j+1 )<2S, where S is the threshold for determining whether the displacement is reasonable, then the displacement between the three sampling points is judged to be valid.

2. The method for accurately drawing the trajectory of a low-altitude manned aircraft according to claim 1, characterized in that: The difference in displacement S j,j+2 The specific calculation is as follows:

3. The method for accurately drawing the trajectory of a low-altitude manned aircraft according to claim 1, characterized in that: The validity judgment of the angle between the three positioning points is specifically as follows: A2) Extract the sampling data between three adjacent points, S j = {lat j , lng j , s j ,θ j }, S j+1 = {lat j+1 , lng j+1 , s j+1 ,θ j+1 }, S j+2 = {lat j+2 , lng j+2 , s j+2 ,θ j+2 }, where S represents the set of aircraft, lat represents the current latitude of the aircraft, lng represents the current longitude of the aircraft, s represents the displacement of the aircraft between the previous sampling moment and the current sampling moment, and θ represents the direction of movement between the previous sampling moment and the current sampling moment; B2) The calculated angle difference γ between the first and third points j,j+2 ,|γ j,j+2 -θ j+2 -θ j+1 | / (θ j+2 +θ j+1 )<2β, where β is the threshold for determining whether the orientation is reasonable, the angle between the three sampling points is considered valid, otherwise it is considered invalid.

4. The method for accurately drawing the trajectory of a low-altitude manned aircraft according to claim 3, characterized in that: The difference in angle γ j,j+2 The specific calculation is as follows: B21) If lat j+2 =lat j , and lng j+2 >lng j , then γ j,j+2 =0; B22) If lat j+2 >lat j , and lng j+2 >lng j ,but B23) If lat j+2 >lat j , and lng j+2 =lng j ,but B24) If lat j+2 >lat j , and lng j+2 <lng j ,but B25) If lat j+2 =lat j , and lng j+2 <lng j , then γ j,j+2 =π; B26) If lat j+2 <lat j , and lng j+2 <lng j ,but B27) If lat j+2 <lat j , and lng j+2 =lng j ,but B28) If lat j+2 <lat j , and lng j+2 >lng j ,but 5. The method for accurately drawing the trajectory of a low-altitude manned aircraft according to claim 1, characterized in that: The determination of the validity of the displacement between two adjacent positioning points is specifically as follows: A3) Extract the sampling data between two adjacent points, S j = {lat j , lng j , s j ,θ j }, S j+1 = {lat j+1 , lng j+1 , s j+1 ,θ j+1 }, where S represents the set of aircraft, lat represents the current latitude of the aircraft, lng represents the current longitude of the aircraft, s represents the displacement of the aircraft between the previous sampling moment and the current sampling moment, and θ represents the direction of movement between the previous sampling moment and the current sampling moment; B3) The displacement difference S between two adjacent points obtained by calculation j,j+1 , such as |S j,j+1 -s j+1 | / s j+1 <S, where S is the threshold for determining whether the displacement is reasonable, then the displacement between the j-th moment and the (j + 1)-th moment is valid.

6. The method for accurately drawing the trajectory of a low-altitude manned aircraft according to claim 5, characterized in that: The difference in displacement S j,j+1 The specific calculation is as follows:

7. The method for accurately drawing the trajectory of a low-altitude manned aircraft according to claim 1, characterized in that: The validity judgment of the angle between two adjacent positioning points is specifically as follows: A4) Extract the sampling data between two adjacent points, S j = {lat j , lng j , s j ,θ j }, S j+1 = {lat j+1 , lng j+1 , s j+1 ,θ j+1 }, where S represents the set of aircraft, lat represents the current latitude of the aircraft, lng represents the current longitude of the aircraft, s represents the displacement of the aircraft between the previous sampling moment and the current sampling moment, and θ represents the direction of movement between the previous sampling moment and the current sampling moment; B4) The calculated angle difference γ between two adjacent points j,j+1 , such as |γ j,j+1 -θ j+1 | / θ j+1 <β, where β is the threshold for determining whether the orientation is reasonable, then the angle between time j and time j+1 is considered valid; otherwise, it is considered invalid.

8. The method for accurately drawing the trajectory of a low-altitude manned aircraft according to claim 7, characterized in that: The difference in angle γ j,j+1 The specific calculation is as follows: B41) If lat j+1 =lat j , and lng j+1 >lng j , then γ j,j+1 =0; B42) If lat j+1 >lat j , and lng j+1 >lng j ,but B43) If lat j+1 >lat j , and lng j+1 =lng j ,but B44) If lat j+1 >lat j , and lng j+1 <lng j ,but B45) If lat j+1 =lat j , and lng j+1 <lng j , then γ j,j+1 =π; B46) If lat j+1 <lat j , and lng j+1 <lng j ,but B47) If lat j+1 <lat j , and lng j+1 =lng j ,but B48) If lat j+1 <lat j , and lng j+1 >lng j ,but 9. The method for accurately drawing the trajectory of a low-altitude manned aircraft according to claim 1, characterized in that: The specific process of determining the first positioning point based on the displacement validity and angle validity between the three positioning points is as follows: Step S101, take the sample data S at the i-th moment i = {lat i , lng i , s i ,θ i }, the sampling data S at the i+1th moment i+1 = {lat i+1 , lng i+1 , s i+1 ,θ i+1 }, the sampling data S at the i+2th moment i+2 = {lat i+2 , lng i+2 , s i+2 ,θ i+2 }; Step S102, determining whether the displacement between the i-th moment and the i+1-th moment is valid; Step S103, determining whether the displacement between the i-th moment, the i+1-th moment and the i+2-th moment is valid; Step S104, determining whether the angle between the i-th moment and the i+1-th moment is valid; Step S105, determining whether the angle between the i-th moment, the i+1-th moment and the i+2-th moment is valid; Step S106: The minimum i that satisfies the above four conditions is the first accurate positioning moment, and the corresponding first accurate positioning point is S i = {lat i , lng i , s i ,θ i }, i must be greater than 1.

10. The method for accurately drawing the trajectory of a low-altitude manned aircraft according to claim 1, characterized in that: The validity of subsequent positioning points is determined in sequence according to the displacement validity and angle validity between two adjacent positioning points. The specific process is as follows: Step S201: Set the i-th point as the accurately positioned point, and the corresponding moment is the first accurately positioned moment, and the corresponding positioning point is S i = {lat i , lng i , s i ,θ i }, judge whether the i+1th point is an accurate positioning point, the corresponding positioning point is S i+1 = {lat i+1 , lng i+1 , s i+1 ,θ i+1 }; Step S202, determining whether the displacement between the i-th moment and the i+1-th moment is valid; Step S203, determining whether the angle between the i-th moment and the i+1-th moment is valid; Step S204: If the above two conditions are met, the i+1th point is an accurately positioned point, and then based on the i+1th point, subsequent points are determined to be accurately positioned points; otherwise, the i+1th point is an inaccurately positioned point; Step S205: When the i+1th point is an inaccurately positioned point, i+1 and θ i+1 Calculate the theoretical positioning point P at the i+1th moment i+1 ={Lat i+1 , Lng i+1 , s i+1 ,θ i+1 },at this time Years i+1 =s i+1 sin(θ i+1 )+years i ; Lng i+1 =s i+1 cos(θ i+1 )+lng i ; Step S206, with P i+1 ={Lat i+1 , Lng i+1 , s i+1 ,θ i+1 } is used as the basis to determine whether the subsequent positioning points are accurately positioned points, that is, repeat steps (S201), (S202), (S203), and (S204) to determine whether the i+2th point is an accurately positioned point. If it is accurate, the i+2th point is the accurately positioned point. If it is not accurate, calculate the theoretical positioning point at the i+2th moment; and so on, until all accurately positioned points are found.

11. A device for accurately drawing the trajectory of a low-altitude manned aircraft, characterized in that: include: A positioning point calculation module is used to calculate invalid positioning points of a low-altitude manned aircraft during flight based on a threshold; The valid positioning point acquisition module is used to discard invalid positioning points and obtain all valid positioning points; The trajectory drawing module is used to draw the flight trajectory according to the valid positioning points obtained; The determination of the effective positioning point is specifically as follows: First, the first positioning point is determined based on the displacement validity and angle validity between the three positioning points. After the first valid positioning point is determined, the validity of subsequent positioning points is determined in turn based on the displacement validity and angle validity between the two adjacent positioning points. The validity judgment of the displacement between the three positioning points is specifically as follows: A1) Extract the sampling data between three adjacent points, S j = {lat j , lng j , s j ,θ j }, S j+1 = {lat j+1 , lng j+1 , s j+1 ,θ j+1 }, S j+2 = {lat j+2 , lng j+2 , s j+2 ,θ j+2 }, where S represents the set of aircraft, lat represents the current latitude of the aircraft, lng represents the current longitude of the aircraft, s represents the displacement of the aircraft between the previous sampling moment and the current sampling moment, and θ represents the direction of movement between the previous sampling moment and the current sampling moment; B1) Calculate the displacement difference S between the first and third points j,j+2 , if |S j,j+2 -s j+2 -s j+1 | / (s j+2 +s j+1 )<2S, where S is the threshold for determining whether the displacement is reasonable, then the displacement between the three sampling points is judged to be valid.

12. A device for accurately drawing the trajectory of a low-altitude manned aircraft, characterized in that: The invention comprises a memory and one or more processors, wherein the memory stores executable code, and when the one or more processors execute the executable code, they are used to implement the method for accurately drawing the trajectory of a low-altitude manned aircraft according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that A program is stored thereon, and when the program is executed by a processor, the method for accurately drawing the trajectory of a low-altitude manned aircraft according to any one of claims 1 to 10 is implemented.

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