Telemetry relay station arrangement position determination method, apparatus, device, and medium

Abstract

The application discloses a telemetry relay station arrangement position determination method, device, equipment and medium. According to the far boundary point of the flight test airspace, the actual receiving distance is calculated, and whether the telemetry relay station needs to be arranged is determined; if yes, the telemetry relay station arrangement simulation is carried out according to the telemetry airspace digital map, the flight test route and the receiving capacity of the telemetry relay station, and a plurality of alternative positions are determined; the current position is obtained in sequence; the first azimuth angle, the first pitch angle, the second azimuth angle and the second pitch angle are calculated; when the first azimuth angle and the second azimuth angle are the same, if the first pitch angle is greater than the second pitch angle, the target arrangement position is determined; otherwise, the current position is obtained, and the processing of all alternative positions is completed. The problems that whether the telemetry relay station needs to be arranged and how to determine the target arrangement position of the telemetry relay station cannot be accurately judged are solved, the telemetry relay station is quickly and flexibly arranged, and the reliability of the aircraft flight test is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to telemetry receiving technology for civil aircraft test flights, and particularly to a method, apparatus, equipment and medium for determining the location of a telemetry relay station. Background Technology

[0002] Civil aircraft flight tests need to be conducted under complex climatic and geographical conditions, including high temperature, extreme cold, high humidity, high altitude, and strong crosswinds. Therefore, in addition to dedicated main flight test bases, there are also temporary flight test bases. Consequently, civil aircraft flight test telemetry needs to be able to be conducted in complex terrain conditions in multiple locations. Since the dedicated telemetry frequency band for civil aircraft flight tests is 2.2GHz to 2.4GHz, line-of-sight transmission conditions must be guaranteed. Therefore, when there are buildings or mountains obstructing the airspace near the flight test site, relay telemetry stations need to be deployed within the flight test airspace.

[0003] During the invention process, the inventors discovered a deficiency in the existing technology: currently, within the test flight airspace, it is impossible to accurately determine the need to deploy telemetry relay stations and how to determine the target deployment location of these relay stations. This can easily lead to relatively low reliability of civil aircraft test flights and fail to adequately provide support for them. Summary of the Invention

[0004] This invention provides a method, apparatus, equipment, and medium for determining the location of telemetry relay stations, which can be applied to scenarios where telemetry relay stations need to be deployed for civil aircraft test flights, so as to achieve rapid and flexible deployment of telemetry relay stations and improve the reliability of aircraft test flights.

[0005] In a first aspect, embodiments of the present invention provide a method for determining the location of a telemetry relay station, comprising:

[0006] The actual receiving distance is calculated based on the far boundary point of the obtained test flight airspace, and then...

[0007] The actual receiving distance determines whether a telemetry relay station needs to be deployed within the test flight airspace.

[0008] If so, then based on the telemetry airspace digital map corresponding to the test flight airspace, the test flight route, and the receiving capability of the telemetry relay station, the layout simulation of the telemetry relay station is carried out to determine multiple alternative locations for the telemetry relay station.

[0009] Each candidate position is selected sequentially as the current position;

[0010] Calculate the first azimuth and first elevation angles corresponding to the telemetry relay station and the far boundary point when the telemetry relay station is deployed at the current location, and the second azimuth and second elevation angles corresponding to the obstruction associated with the telemetry airspace digital map.

[0011] When the first azimuth angle and the second azimuth angle are the same, determine whether the first pitch angle is greater than the second pitch angle;

[0012] If so, the current location is determined as the target location for the telemetry relay station; otherwise, return to the previous step and obtain one alternative location as the current location in turn, until all alternative locations have been processed.

[0013] Secondly, embodiments of the present invention also provide a device for determining the location of a telemetry relay station, the device comprising:

[0014] A telemetry relay station deployment judgment module is used to calculate the actual receiving distance based on the far boundary point of the acquired test flight airspace, and determine whether a telemetry relay station needs to be deployed in the test flight airspace based on the actual receiving distance.

[0015] The alternative location determination module is used to determine multiple alternative locations for telemetry relay stations if a telemetry relay station needs to be deployed in the test flight airspace, based on the telemetry airspace digital map corresponding to the test flight airspace, the test flight route, and the receiving capability of the telemetry relay station.

[0016] The current location acquisition module is used to sequentially acquire one candidate location as the current location;

[0017] The azimuth and elevation angle calculation module is used to calculate the first azimuth and first elevation angles corresponding to the telemetry relay station and the far boundary point when the telemetry relay station is arranged at the current position, as well as the second azimuth and second elevation angles corresponding to the obstruction associated with the telemetry airspace digital map.

[0018] The judgment module is used to determine whether the first pitch angle is greater than the second pitch angle when the first azimuth angle and the second azimuth angle are the same;

[0019] The target deployment location determination module is used to determine the current location as the target deployment location of the telemetry relay station if the first pitch angle is greater than the second pitch angle; otherwise, it returns to the previous step to obtain a candidate location as the current location in turn, until all candidate locations have been processed.

[0020] Thirdly, embodiments of the present invention also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for determining the location of telemetry relay stations as described in any embodiment of the present invention.

[0021] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method for determining the location of a telemetry relay station as described in any embodiment of the present invention.

[0022] The technical solution provided by this invention calculates the actual receiving distance based on the far boundary point of the acquired test flight airspace, and determines whether a telemetry relay station needs to be deployed within the test flight airspace based on the actual receiving distance. If so, a telemetry relay station deployment simulation is performed based on the telemetry airspace digital map corresponding to the test flight airspace, the test flight route, and the receiving capability of the telemetry relay station to determine multiple candidate locations for the telemetry relay station. One candidate location is sequentially acquired as the current location. The first azimuth and first pitch angles corresponding to the telemetry relay station and the far boundary point, and the second azimuth and second pitch angles corresponding to the obstruction associated with the telemetry relay station and the telemetry airspace digital map are calculated when the telemetry relay station is deployed at the current location. When the first azimuth and second azimuth are the same, it is determined whether the first pitch angle is greater than the second pitch angle. If so, the current location is determined as the target deployment location for the telemetry relay station. Otherwise, the process returns to sequentially acquire one candidate location as the current location until all candidate locations are processed. This solves the problems of not being able to accurately determine the need to deploy telemetry relay stations and how to determine the target deployment location of telemetry relay stations, enabling rapid and flexible deployment of telemetry relay stations, thereby improving the reliability of aircraft test flights. Attached Figure Description

[0023] Figure 1 A flowchart illustrating a method for determining the location of a telemetry relay station according to Embodiment 1 of the present invention;

[0024] Figure 2 A flowchart illustrating another method for determining the location of a telemetry relay station according to Embodiment 2 of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of a telemetry relay station layout location determination device provided in Embodiment 3 of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0028] Example 1

[0029] Figure 1 This is a flowchart illustrating a method for determining the location of a telemetry relay station according to Embodiment 1 of the present invention. This embodiment is applicable to scenarios where telemetry relay stations need to be deployed during civil aircraft test flights. The method of this embodiment can be executed by a telemetry relay station location determination device, which can be implemented by software and / or hardware, and can be configured in computer equipment such as servers or terminal devices.

[0030] Accordingly, the method specifically includes the following steps:

[0031] S110. Calculate the actual receiving distance based on the far boundary point of the obtained test flight airspace, and determine whether a telemetry relay station needs to be deployed in the test flight airspace based on the actual receiving distance.

[0032] The farthest point can be information describing the test flight airspace, and can include high farthest points and low farthest points. The actual receiving distance can describe the distance between the farthest point and the airport telemetry master station.

[0033] In this embodiment, the actual receiving distance is calculated based on the acquired far-boundary point, which specifically includes longitude, latitude, and altitude. Furthermore, the actual receiving distance is compared with the theoretical receiving distance. If the actual receiving distance is greater than the theoretical receiving distance, it can be determined that a telemetry relay station needs to be deployed within the test flight airspace; if the actual receiving distance is less than or equal to the theoretical receiving distance, it can be determined that no telemetry relay station needs to be deployed within the test flight airspace.

[0034] S120. If so, then based on the telemetry airspace digital map corresponding to the test flight airspace, the test flight route, and the receiving capability of the telemetry relay station, perform a simulation of the telemetry relay station layout to determine multiple alternative locations for the telemetry relay station.

[0035] Among them, the alternative locations can be those that meet the receiving capability requirements of telemetry airspace digital maps, test flight routes, and telemetry relay stations.

[0036] In this embodiment, based on the telemetry airspace digital map corresponding to the test flight airspace, parameters such as the location and altitude of buildings and mountains on the map can be obtained. The test flight route corresponding to the test flight airspace can be determined, thereby allowing the determination of obstruction parameters based on the route and the telemetry airspace digital map. The receiving capability of the telemetry relay station refers to its ability to receive signals from the civil aircraft test flight; it must ensure that the telemetry relay station can receive signals from both the airport telemetry master station and the remote boundary point.

[0037] Furthermore, by simulating the deployment of telemetry relay stations based on the digital map of the telemetry airspace corresponding to the test flight airspace, the test flight route, and the receiving capabilities of the telemetry relay stations, multiple alternative locations can be identified for the deployment of telemetry relay stations.

[0038] S130. Sequentially obtain one alternative position as the current position.

[0039] The current location can be the location of a target selected from the candidate locations. In this embodiment, assuming there are A candidate locations, it is necessary to select one candidate location from the A candidate locations in turn and determine the candidate location as the current location, until the judgment of A locations is completed in turn.

[0040] S140. Calculate the first azimuth and first elevation angles corresponding to the telemetry relay station and the far boundary point when the telemetry relay station is arranged at the current location, and the second azimuth and second elevation angles corresponding to the obstruction associated with the telemetry airspace digital map.

[0041] The first azimuth angle can describe the azimuth angle between the telemetry relay station and the far boundary point. The first elevation angle can describe the elevation angle between the telemetry relay station and the far boundary point. The second azimuth angle can describe the azimuth angle between the telemetry relay station and any obstructions associated with the telemetry airspace digital map. The second elevation angle can describe the elevation angle between the telemetry relay station and any obstructions associated with the telemetry airspace digital map.

[0042] Optionally, the calculation of the first azimuth and first elevation angles corresponding to the telemetry relay station and the far boundary point when the telemetry relay station is deployed at the current location includes: according to the formula Calculate the first azimuth angle FW1; where L O B is the longitude of the telemetry relay station. O The latitude of the telemetry relay station; FW X1 In a rectangular coordinate system centered at the Earth, the first azimuth angle value of the far boundary point on the X-axis; FW Y1 In a rectangular coordinate system centered on the Earth, the first azimuth angle value of the far boundary point on the Y-axis is given.

[0043] According to the formula Calculate the first pitch angle FY1; where X O The longitude value of the telemetry relay station on the X-axis is given by a rectangular coordinate system centered on the Earth; the Y-axis value is given by the longitude value of the telemetry relay station on the X-axis. O Z represents the latitude of the telemetry relay station on the Y-axis in a rectangular coordinate system centered on the Earth; O R represents the altitude of the telemetry relay station on the Z-axis in a rectangular coordinate system centered on the Earth.OB1 R is the distance between the telemetry relay station and the distant boundary point; O1 R is the distance of the telemetry relay station relative to the center of the Earth. B1 The distance of the farthest point relative to the center of the Earth.

[0044] In this embodiment, based on the longitude L of the telemetry relay station A Latitude B of the telemetry relay station A The altitude H of the telemetry relay station A Longitude L of the outermost point B Latitude B of the outermost point B And the altitude H of the farthest point B To determine the first azimuth angle.

[0045] Furthermore, based on the longitude value X of the telemetry relay station on the X-axis in a rectangular coordinate system centered on the Earth, A The longitude value X of the outermost point on the X-axis B The latitude value Y of the telemetry relay station on the Y-axis A The latitude value of the outermost point on the Y-axis, Y B The altitude value of the telemetry relay station on the Z-axis Z A And the altitude value Z of the far boundary point on the Z-axis. B This is used to calculate the distances between the telemetry relay station and the far boundary point, the distance of the telemetry relay station relative to the Earth's center, and the distance of the far boundary point relative to the Earth's center. Therefore, the first pitch angle can be calculated.

[0046] Optionally, the second azimuth and second elevation angles corresponding to the obstructions associated with the telemetry relay station and the telemetry airspace digital map include:

[0047] According to the formula Calculate the second azimuth angle FW2; where L C B is the longitude of the obstruction; C The latitude of the obstruction; FW X2 In a Cartesian coordinate system centered on the Earth, the second azimuth angle of the obstruction on the X-axis is given by FW. Y2 The second azimuth angle value of the obstruction on the Y-axis is given by a rectangular coordinate system with the Earth as the center.

[0048] According to the formula Calculate the second pitch angle FY2; where R OC2 R is the distance between the telemetry relay station and the obstruction. C2 X is the distance of the obstruction relative to the center of the Earth. C Let X be the longitude value of the obstruction on the X-axis in a rectangular coordinate system centered on the Earth; Y is the longitude value of the obstruction on the X-axis.C Let Z be the latitude value of the obstruction on the Y-axis in a rectangular coordinate system centered at the Earth; C The elevation of the obstruction on the Z-axis is the value in a rectangular coordinate system centered on the Earth.

[0049] In this embodiment, based on the longitude L of the telemetry relay station O Latitude B of the telemetry relay station O Longitude L of the obstruction C And the latitude B of the obstruction. C To determine the second azimuth angle.

[0050] Furthermore, based on the longitude value X of the telemetry relay station on the X-axis in a rectangular coordinate system centered on the Earth, O The longitude value X of the obstruction on the X-axis C The latitude value Y of the telemetry relay station on the Y-axis O The latitude value of the obstruction on the Y-axis, Y C The altitude value of the telemetry relay station on the Z-axis Z O And the altitude value Z of the obstruction on the Z-axis. C This is used to calculate the distance between the telemetry relay station and the obstruction, the distance between the telemetry relay station and the Earth's center, and the distance between the obstruction and the Earth's center. This allows for the further calculation of the second pitch angle.

[0051] The advantage of this setup is that the calculated azimuth and elevation angles are more accurate, based on the first azimuth and first elevation angles corresponding to the telemetry relay station and the far boundary point, as well as the second azimuth and second elevation angles corresponding to the obstructions associated with the telemetry relay station and the telemetry airspace digital map.

[0052] S150. When the first azimuth angle and the second azimuth angle are the same, determine whether the first pitch angle is greater than the second pitch angle.

[0053] In this embodiment, when the first azimuth angle and the second azimuth angle are the same, it is necessary to determine the magnitudes of the first pitch angle and the second pitch angle. If the first pitch angle is greater than the second pitch angle, it indicates that the aircraft will not be affected by obstructions during the test flight; therefore, the current position can be determined as the target location for the telemetry relay station. If the first pitch angle is less than or equal to the second pitch angle, it indicates that the aircraft will be affected by obstructions during the test flight; therefore, the current position cannot be determined as the target location for the telemetry relay station.

[0054] S160. If yes, then the current location is determined as the target location for the telemetry relay station; otherwise, return to the previous step and sequentially obtain one alternative location as the current location until all alternative locations have been processed.

[0055] The target location can be a location where a telemetry relay station can be deployed.

[0056] In this embodiment, if it is determined that the current location cannot be the target deployment location for the telemetry relay station, the current location is discarded. Then, one alternative location is obtained as the current location, and it is determined whether the current location can be used as the target deployment location, until all alternative locations have been processed.

[0057] The technical solution provided by this invention calculates the actual receiving distance based on the far boundary point of the acquired test flight airspace, and determines whether a telemetry relay station needs to be deployed within the test flight airspace based on the actual receiving distance. If so, a telemetry relay station deployment simulation is performed based on the telemetry airspace digital map corresponding to the test flight airspace, the test flight route, and the receiving capability of the telemetry relay station to determine multiple candidate locations for the telemetry relay station. One candidate location is sequentially acquired as the current location. The first azimuth and first pitch angles corresponding to the telemetry relay station and the far boundary point, and the second azimuth and second pitch angles corresponding to the obstruction associated with the telemetry relay station and the telemetry airspace digital map are calculated when the telemetry relay station is deployed at the current location. When the first azimuth and second azimuth are the same, it is determined whether the first pitch angle is greater than the second pitch angle. If so, the current location is determined as the target deployment location for the telemetry relay station. Otherwise, the process returns to sequentially acquire one candidate location as the current location until all candidate locations are processed. This solves the problems of not being able to accurately determine the need to deploy telemetry relay stations and how to determine the target deployment location of telemetry relay stations, enabling rapid and flexible deployment of telemetry relay stations, thereby improving the reliability of aircraft test flights.

[0058] Example 2

[0059] Figure 2 This is a flowchart illustrating another method for determining the location of a telemetry relay station according to Embodiment 2 of the present invention. This embodiment refines the above embodiments, further detailing the process of calculating the actual receiving distance based on the far boundary point of the acquired test flight airspace, and determining whether a telemetry relay station needs to be deployed within the test flight airspace based on the actual receiving distance.

[0060] Accordingly, the method specifically includes the following steps:

[0061] S210. Obtain the far boundary point of the test flight airspace, and obtain the longitude, latitude and altitude associated with the far boundary point.

[0062] In this embodiment, the far boundary point is described using parameters such as longitude, latitude, and altitude, and the distance between it and the airport telemetry master station is calculated using these parameters.

[0063] S220. Calculate the actual receiving distance between the far boundary point and the airport telemetry master station based on the longitude, latitude, and altitude.

[0064] The actual receiving distance can be the distance that is actually needed for signal transmission between the far boundary point and the airport telemetry master station.

[0065] Optionally, calculating the actual receiving distance between the far boundary point and the airport telemetry master station based on the longitude, latitude, and altitude includes:

[0066] According to the formula Calculate the actual receiving distance R between the far boundary point and the airport telemetry master station; where, L A L is the longitude of the airport telemetry master station. B B is the longitude of the distant boundary point; A B is the latitude of the airport telemetry master station; B H represents the latitude of the distant boundary point. A H represents the altitude of the airport telemetry master station. B The altitude of the farthest point is N; the radius of the Earth's circumference is e; 2 X is the square of the first flattening of the Earth; A The longitude value of the airport telemetry master station on the X-axis in a rectangular coordinate system centered on the Earth; X B In a rectangular coordinate system centered at the Earth, the longitude value of the distant boundary point on the X-axis; Y... A The latitude value of the airport telemetry master station on the Y-axis is given by a rectangular coordinate system centered on the Earth. B Z represents the latitude of the farthest point on the Y-axis in a rectangular coordinate system centered on the Earth; A The altitude of the airport telemetry master station on the Z-axis is the value in a rectangular coordinate system centered on the Earth; Z B The elevation value of the distant boundary point on the Z-axis is given by a rectangular coordinate system with the Earth as the center.

[0067] In this embodiment, the actual receiving distance between the far boundary point and the airport telemetry master station is calculated based on the longitude, latitude, and altitude of the airport telemetry master station, the longitude, latitude, and altitude of the far boundary point, the radius of the Earth's zonal circle, and the square of the first flattening of the Earth. This calculation result is more accurate, thus enabling a better assessment of whether a telemetry relay station needs to be deployed.

[0068] S230. Obtain the theoretical receiving distance and determine whether the theoretical receiving distance is less than or equal to the actual receiving distance. If yes, execute S240; otherwise, execute S2100.

[0069] Optionally, obtaining the theoretical receiving distance includes: according to the formula The theoretical receiving distance R is obtained. L Among them, P T Power of the airborne telemetry transmitter; G T For the gain of the airborne telemetry transmitting antenna; G R For the gain of the receiving antenna of the telemetry ground station; P R For the receiver sensitivity of the telemetry ground station; L F For telemetry system feeder loss; S F This is a safety margin for the telemetry system.

[0070] Optionally, after determining whether the theoretical receiving distance is less than or equal to the actual receiving distance, the method further includes: if not, then according to the formula... Obtain the line-of-sight transmission distance R LOS Where K is the atmospheric refractive index; H T For the altitude of the aircraft's telemetry transmitting antenna; H R The altitude of the telemetry ground station receiving antenna is determined; it is determined whether the line-of-sight transmission distance is less than or equal to the actual receiving distance. If so, it is determined that a telemetry relay station needs to be deployed in the test flight airspace.

[0071] In this embodiment, if the theoretical receiving distance is greater than the actual receiving distance, the line-of-sight transmission distance needs to be calculated. The relationship between the line-of-sight transmission distance and the actual receiving distance is used to further determine the telemetry relay station that needs to be deployed in the test flight airspace.

[0072] Specifically, if the line-of-sight transmission distance is less than or equal to the actual receiving distance, then a telemetry relay station needs to be deployed in the test flight airspace; if the line-of-sight transmission distance is greater than the actual receiving distance, then a telemetry relay station does not need to be deployed in the test flight airspace.

[0073] Understandably, if the theoretical receiving distance is greater than the actual receiving distance, it does not necessarily mean that a telemetry relay station is not needed in the test flight airspace. It is also necessary to determine whether the line-of-sight transmission distance is less than or equal to the actual receiving distance. If so, then a telemetry relay station is needed in the test flight airspace. Conversely, if not, then a telemetry relay station is not needed.

[0074] S240. Determine that a telemetry relay station needs to be deployed within the test flight airspace, and conduct a deployment simulation of the telemetry relay station based on the telemetry airspace digital map corresponding to the test flight airspace, the test flight route, and the receiving capability of the telemetry relay station, to determine multiple alternative locations for the telemetry relay station.

[0075] S250, sequentially obtain one alternative position as the current position.

[0076] S260. Calculate the first azimuth and first elevation angles corresponding to the telemetry relay station and the far boundary point when the telemetry relay station is arranged at the current location, and the second azimuth and second elevation angles corresponding to the obstruction associated with the telemetry airspace digital map.

[0077] S270. When the first azimuth angle and the second azimuth angle are the same, determine whether the first pitch angle is greater than the second pitch angle. If yes, execute S280; if no, execute S290.

[0078] S280. Determine the current location as the target location for the telemetry relay station.

[0079] S290, return to execute S250, until all alternative positions have been processed.

[0080] S2100. It is determined that no telemetry relay station needs to be deployed within the test flight airspace.

[0081] In addition, after determining the need to deploy telemetry relay stations and the target deployment location, it is necessary to obtain the required transmission telemetry ground station configuration and monitoring data, digital guidance and tracking data, and telemetry data transmission bandwidth and latency requirements based on the flight test telemetry mission.

[0082] Furthermore, based on transmission bandwidth and latency requirements, the 5G network operator at the target deployment location will be requested to subscribe to 5G+ cloud networking services and lease 5G terminals and cloud networking gateway equipment. When applying for 5G air interface and cloud networking transmission bandwidth and latency requirements, a safety margin coefficient calculation needs to be introduced.

[0083] Specifically, 5G transmission bandwidth = telemetry data transmission bandwidth * (1.3~1.5); 5G transmission latency = (telemetry data transmission latency - cloud network transmission latency) * (0.5~0.7); cloud network transmission bandwidth = telemetry data transmission bandwidth * (1.2~1.5); cloud network transmission latency = telemetry data transmission latency * (0.1~0.3).

[0084] Based on the operator's network capability assessment, telemetry relay sites that meet the requirements for 5G network signal coverage quality and cloud network access are selected from the calculated target deployment locations as the official telemetry relay site locations for 5G+cloud network connectivity. Furthermore, the digital guidance and telemetry data transmission relay services of the telemetry relay station based on 5G+cloud network connectivity are activated and simulated for testing, and the network telemetry test flight test is officially launched.

[0085] Accordingly, during the flight test, the telemetry signal reception power, demodulation signal-to-noise ratio, and frame rate of the airport telemetry master station and telemetry relay stations, along with flight route information, were used to make handover decisions for the telemetry relay stations. After the flight test, it is necessary to cancel the 5G+cloud networking service.

[0086] The technical solution provided in this invention involves obtaining the far boundary point of the test flight airspace and acquiring the longitude, latitude, and altitude associated with that far boundary point; calculating the actual receiving distance between the far boundary point and the airport telemetry master station based on the longitude, latitude, and altitude; obtaining the theoretical receiving distance and determining whether the theoretical receiving distance is less than or equal to the actual receiving distance; if so, determining that a telemetry relay station needs to be deployed within the test flight airspace; if so, performing a telemetry relay station deployment simulation based on the digital map of the telemetry airspace corresponding to the test flight airspace, the test flight route, and the receiving capability of the telemetry relay station, and determining multiple candidate telemetry relay stations. The process involves: 1) Sequentially acquiring one alternative location as the current location; 2) Calculating the first azimuth and first pitch angles corresponding to the telemetry relay station and the far boundary point, and the second azimuth and second pitch angles corresponding to the obstructions associated with the telemetry airspace digital map, when the telemetry relay station is positioned at the current location; 3) When the first azimuth and second azimuth are the same, determining whether the first pitch angle is greater than the second pitch angle; 4) If so, determining the current location as the target deployment location for the telemetry relay station; 5) Otherwise, returning to sequentially acquire one alternative location as the current location, until all alternative locations have been processed. This method solves the problems of accurately determining the need to deploy a telemetry relay station and how to determine the target deployment location, enabling rapid and flexible deployment of telemetry relay stations, thereby improving the reliability of aircraft test flights.

[0087] Example 3

[0088] Figure 3 This is a schematic diagram of a telemetry relay station location determination device provided in Embodiment 3 of the present invention. The telemetry relay station location determination device provided in this embodiment can be implemented by software and / or hardware, and can be configured in a server or terminal device to implement a telemetry relay station location determination method according to an embodiment of the present invention. Figure 3 As shown, the device may specifically include: a telemetry relay station deployment judgment module 310, a candidate location determination module 320, a current location acquisition module 330, an azimuth and elevation angle calculation module 340, a judgment module 350, and a target deployment location determination module 360.

[0089] The telemetry relay station deployment judgment module 310 is used to calculate the actual receiving distance based on the far boundary point of the acquired test flight airspace, and determine whether a telemetry relay station needs to be deployed in the test flight airspace based on the actual receiving distance.

[0090] The alternative location determination module 320 is used to determine multiple alternative locations for telemetry relay stations if a telemetry relay station needs to be deployed in the test flight airspace, based on the telemetry airspace digital map corresponding to the test flight airspace, the test flight route and the receiving capability of the telemetry relay station.

[0091] The current position acquisition module 330 is used to sequentially acquire one candidate position as the current position;

[0092] The azimuth and elevation angle calculation module 340 is used to calculate the first azimuth and first elevation angles corresponding to the telemetry relay station and the far boundary point when the telemetry relay station is arranged at the current position, as well as the second azimuth and second elevation angles corresponding to the obstruction associated with the telemetry airspace digital map.

[0093] The judgment module 350 is used to determine whether the first pitch angle is greater than the second pitch angle when the first azimuth angle and the second azimuth angle are the same.

[0094] The target placement location determination module 360 ​​is used to determine the current location as the target placement location of the telemetry relay station if the first pitch angle is greater than the second pitch angle; otherwise, it returns to the previous step to obtain a candidate location as the current location in turn, until all candidate locations have been processed.

[0095] The technical solution provided by this invention calculates the actual receiving distance based on the far boundary point of the acquired test flight airspace, and determines whether a telemetry relay station needs to be deployed within the test flight airspace based on the actual receiving distance. If so, a telemetry relay station deployment simulation is performed based on the telemetry airspace digital map corresponding to the test flight airspace, the test flight route, and the receiving capability of the telemetry relay station to determine multiple candidate locations for the telemetry relay station. One candidate location is sequentially acquired as the current location. The first azimuth and first pitch angles corresponding to the telemetry relay station and the far boundary point, and the second azimuth and second pitch angles corresponding to the obstruction associated with the telemetry relay station and the telemetry airspace digital map are calculated when the telemetry relay station is deployed at the current location. When the first azimuth and second azimuth are the same, it is determined whether the first pitch angle is greater than the second pitch angle. If so, the current location is determined as the target deployment location for the telemetry relay station. Otherwise, the process returns to sequentially acquire one candidate location as the current location until all candidate locations are processed. This solves the problems of not being able to accurately determine the need to deploy telemetry relay stations and how to determine the target deployment location of telemetry relay stations, enabling rapid and flexible deployment of telemetry relay stations, thereby improving the reliability of aircraft test flights.

[0096] Based on the above embodiments, the telemetry relay station determination module 310 may specifically include: a far-boundary point acquisition unit, used to acquire the far-boundary point of the test flight airspace and acquire the longitude, latitude, and altitude associated with the far-boundary point; an actual receiving distance calculation unit, used to calculate the actual receiving distance between the far-boundary point and the airport telemetry master station based on the longitude, latitude, and altitude; and a telemetry relay station determination unit, used to acquire the theoretical receiving distance and determine whether the theoretical receiving distance is less than or equal to the actual receiving distance. If so, it is determined that a telemetry relay station needs to be deployed in the test flight airspace.

[0097] Based on the above embodiments, the actual receiving distance calculation unit can be specifically used to: calculate the distance according to the formula. Calculate the actual receiving distance R between the far boundary point and the airport telemetry master station; where, L A L is the longitude of the airport telemetry master station. B B is the longitude of the distant boundary point; A B is the latitude of the airport telemetry master station; B H represents the latitude of the distant boundary point. A H represents the altitude of the airport telemetry master station. B The altitude of the farthest point is N; the radius of the Earth's circumference is e; 2 X is the square of the first flattening of the Earth; A The longitude value of the airport telemetry master station on the X-axis in a rectangular coordinate system centered on the Earth; X B In a rectangular coordinate system centered at the Earth, the longitude value of the distant boundary point on the X-axis; Y... A The latitude value of the airport telemetry master station on the Y-axis is given by a rectangular coordinate system centered on the Earth. B Z represents the latitude of the farthest point on the Y-axis in a rectangular coordinate system centered on the Earth; A The altitude of the airport telemetry master station on the Z-axis is the value in a rectangular coordinate system centered on the Earth; Z B The elevation value of the distant boundary point on the Z-axis is given by a rectangular coordinate system with the Earth as the center.

[0098] Based on the above embodiments, the telemetry relay station determination unit can be specifically used for: according to the formula The theoretical receiving distance R is obtained. L Among them, P T Power of the airborne telemetry transmitter; G T For the gain of the airborne telemetry transmitting antenna; G R For the gain of the receiving antenna of the telemetry ground station; P R For the receiver sensitivity of the telemetry ground station; L FFor telemetry system feeder loss; S F This is a safety margin for the telemetry system.

[0099] Based on the above embodiments, a line-of-sight transmission distance determination unit is further included, which can be specifically used to: after determining whether the theoretical receiving distance is less than or equal to the actual receiving distance, if the theoretical receiving distance is greater than the actual receiving distance, then according to the formula... Obtain the line-of-sight transmission distance R LOS Where K is the atmospheric refractive index; H T For the altitude of the aircraft's telemetry transmitting antenna; H R The altitude of the telemetry ground station receiving antenna is determined; it is determined whether the line-of-sight transmission distance is less than or equal to the actual receiving distance. If so, it is determined that a telemetry relay station needs to be deployed in the test flight airspace.

[0100] Based on the above embodiments, the azimuth and elevation angle calculation module 340 can be specifically used to: calculate according to the formula Calculate the first azimuth angle FW1; where L O B is the longitude of the telemetry relay station. O The latitude of the telemetry relay station; FW X1 In a rectangular coordinate system centered at the Earth, the first azimuth angle value of the far boundary point on the X-axis; FW Y1 Let be the first azimuth angle value of the distant boundary point on the Y-axis in a rectangular coordinate system centered on the Earth; according to the formula Calculate the first pitch angle FY1; where X O The longitude value of the telemetry relay station on the X-axis is given by a rectangular coordinate system centered on the Earth; the Y-axis value is given by the longitude value of the telemetry relay station on the X-axis. O Z represents the latitude of the telemetry relay station on the Y-axis in a rectangular coordinate system centered on the Earth; O R represents the altitude of the telemetry relay station on the Z-axis in a rectangular coordinate system centered on the Earth. OB1 R is the distance between the telemetry relay station and the distant boundary point; O1 R is the distance of the telemetry relay station relative to the center of the Earth. B1 The distance of the farthest point relative to the center of the Earth.

[0101] Based on the above embodiments, the azimuth and elevation angle calculation module 340 can be specifically used to: calculate according to the formula Calculate the second azimuth angle FW2; where L C B is the longitude of the obstruction; C The latitude of the obstruction; FW X2 In a Cartesian coordinate system centered on the Earth, the second azimuth angle of the obstruction on the X-axis is given by FW.Y2 Let be the second azimuth angle value of the obstruction on the Y-axis in a rectangular coordinate system centered on the Earth; according to the formula Calculate the second pitch angle FY2; where R OC2 R is the distance between the telemetry relay station and the obstruction. C2 X is the distance of the obstruction relative to the center of the Earth. C Let X be the longitude value of the obstruction on the X-axis in a rectangular coordinate system centered on the Earth; Y is the longitude value of the obstruction on the X-axis. C Let Z be the latitude value of the obstruction on the Y-axis in a rectangular coordinate system centered at the Earth; C The elevation of the obstruction on the Z-axis is the value in a rectangular coordinate system centered on the Earth.

[0102] The above-mentioned telemetry relay station location determination device can execute the telemetry relay station location determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0103] Example 4

[0104] Figure 4 This is a structural diagram of an electronic device provided in Embodiment 4 of the present invention. Figure 4 As shown, the device includes a processor 410, a memory 420, an input device 430, and an output device 440; the number of processors 410 in the device can be one or more. Figure 4 Taking a processor 410 as an example; the processor 410, memory 420, input device 430, and output device 440 in the device can be connected via a bus or other means. Figure 4 Taking the example of a connection between China and Israel via a bus.

[0105] The memory 420, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the method for determining the location of telemetry relay stations in this embodiment of the invention (e.g., telemetry relay station placement judgment module 310, alternative location determination module 320, current location acquisition module 330, azimuth and pitch angle calculation module 340, judgment module 350, and target placement location determination module 360). The processor 410 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 420, thereby implementing the aforementioned method for determining the location of telemetry relay stations. This method includes: calculating the actual receiving distance based on the far boundary point of the acquired test flight airspace, and determining whether a telemetry relay station needs to be placed within the test flight airspace based on the actual receiving distance; if so, performing a telemetry relay station placement simulation based on the telemetry airspace digital map corresponding to the test flight airspace, the test flight route, and the receiving capability of the telemetry relay station, and determining multiple alternative locations for the telemetry relay station; sequentially obtaining... Select an alternative location as the current location; calculate the first azimuth and first elevation angles corresponding to the telemetry relay station and the far boundary point when the telemetry relay station is deployed at the current location, as well as the second azimuth and second elevation angles corresponding to the obstruction associated with the telemetry airspace digital map; when the first azimuth and second azimuth are the same, determine whether the first elevation angle is greater than the second elevation angle; if so, determine the current location as the target deployment location of the telemetry relay station; otherwise, return to the previous step and sequentially obtain an alternative location as the current location until all alternative locations have been processed.

[0106] The memory 420 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 420 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 420 may further include memory remotely located relative to the processor 410, which can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0107] Input device 430 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the device. Output device 440 may include display devices such as a display screen.

[0108] Example 5

[0109] Embodiment 5 of the present invention also provides a computer-readable storage medium, wherein the computer-executable instructions, when executed by a computer processor, are used to perform a method for determining the location of a telemetry relay station. The method includes: calculating the actual receiving distance based on the far boundary point of the acquired test flight airspace, and determining whether a telemetry relay station needs to be deployed within the test flight airspace based on the actual receiving distance; if so, performing a deployment simulation of the telemetry relay station based on the digital map of the telemetry airspace corresponding to the test flight airspace, the test flight route, and the receiving capability of the telemetry relay station, and determining multiple candidate locations for the telemetry relay station; sequentially acquiring one candidate location... Select a location as the current location; calculate the first azimuth and first elevation angles corresponding to the telemetry relay station and the far boundary point when the telemetry relay station is placed at the current location, as well as the second azimuth and second elevation angles corresponding to the obstructions associated with the telemetry airspace digital map; when the first azimuth and second azimuth are the same, determine whether the first elevation angle is greater than the second elevation angle; if so, determine the current location as the target placement location of the telemetry relay station; otherwise, return to the previous step and sequentially obtain an alternative location as the current location until all alternative locations have been processed.

[0110] Of course, the computer-executable instructions provided in the embodiments of the present invention, which include a computer-readable storage medium, are not limited to the method operations described above, but can also perform related operations in the method for determining the location of telemetry relay stations provided in any embodiment of the present invention.

[0111] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0112] It is worth noting that in the embodiments of the telemetry relay station location determination device described above, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0113] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for determining the location of a telemetry relay station, characterized in that, include: The actual receiving distance is calculated based on the far boundary point of the obtained test flight airspace, and whether a telemetry relay station needs to be deployed in the test flight airspace is determined based on the actual receiving distance. If so, then based on the telemetry airspace digital map corresponding to the test flight airspace, the test flight route, and the receiving capability of the telemetry relay station, the layout simulation of the telemetry relay station is carried out to determine multiple alternative locations for the telemetry relay station. Each candidate position is selected sequentially as the current position; Calculate the first azimuth and first elevation angles corresponding to the telemetry relay station and the far boundary point when the telemetry relay station is deployed at the current location, and the second azimuth and second elevation angles corresponding to the obstruction associated with the telemetry airspace digital map. When the first azimuth angle and the second azimuth angle are the same, determine whether the first pitch angle is greater than the second pitch angle; If so, then the current location will be determined as the target location for the telemetry relay station; Otherwise, return to the previous step and obtain one alternative position as the current position in turn, until all alternative positions have been processed.

2. The method according to claim 1, characterized in that, The actual receiving distance is calculated based on the far boundary point of the acquired test flight airspace, and the need to determine whether a telemetry relay station needs to be deployed within the test flight airspace is determined based on the actual receiving distance, including: Obtain the far boundary point of the test flight airspace, and obtain the longitude, latitude and altitude associated with the far boundary point; Based on the longitude, latitude, and altitude, the actual receiving distance between the far boundary point and the airport telemetry master station is calculated. Obtain the theoretical receiving distance and determine whether the theoretical receiving distance is less than or equal to the actual receiving distance. If so, determine that a telemetry relay station needs to be deployed in the test flight airspace.

3. The method according to claim 2, characterized in that, The calculation of the actual receiving distance between the far boundary point and the airport telemetry master station based on the longitude, latitude, and altitude includes: According to the formula Calculate the actual receiving distance R between the far boundary point and the airport telemetry master station; Among them, L A L is the longitude of the airport telemetry master station. B B is the longitude of the distant boundary point; A B is the latitude of the airport telemetry master station; B H represents the latitude of the distant boundary point. A H represents the altitude of the airport telemetry master station. B The altitude of the farthest point is N; the radius of the Earth's circumference is e; 2 X is the square of the first flattening of the Earth; A The longitude value of the airport telemetry master station on the X-axis in a rectangular coordinate system centered on the Earth; X B In a rectangular coordinate system centered at the Earth, the longitude value of the distant boundary point on the X-axis; Y... A The latitude value of the airport telemetry master station on the Y-axis is given by a rectangular coordinate system centered on the Earth. B Z represents the latitude of the farthest point on the Y-axis in a rectangular coordinate system centered on the Earth; A The altitude of the airport telemetry master station on the Z-axis is the value in a rectangular coordinate system centered on the Earth; Z B The elevation value of the distant boundary point on the Z-axis is given by a rectangular coordinate system with the Earth as the center.

4. The method according to claim 2, characterized in that, The acquisition of the theoretical receiving distance includes: According to the formula The theoretical receiving distance R is obtained. L ; Among them, P T Power of the airborne telemetry transmitter; G T For the gain of the airborne telemetry transmitting antenna; G R For the gain of the receiving antenna of the telemetry ground station; P R For the receiver sensitivity of the telemetry ground station; L F For telemetry system feeder loss; S F This is a safety margin for the telemetry system.

5. The method according to claim 2, characterized in that, After determining whether the theoretical receiving distance is less than or equal to the actual receiving distance, the method further includes: If not, then according to the formula Obtain the line-of-sight transmission distance R LOS ; Where K is the atmospheric refractive index; H T For the altitude of the aircraft's telemetry transmitting antenna; H R The altitude of the receiving antenna at the telemetry ground station; Determine whether the line-of-sight transmission distance is less than or equal to the actual receiving distance. If so, determine that a telemetry relay station needs to be deployed in the test flight airspace.

6. The method according to claim 3, characterized in that, The calculation of the first azimuth and first elevation angles corresponding to the telemetry relay station and the far boundary point when the telemetry relay station is deployed at the current location includes: According to the formula Calculate the first azimuth angle FW1; Among them, L O B is the longitude of the telemetry relay station; O The latitude of the telemetry relay station; FW X1 In a rectangular coordinate system centered at the Earth, the first azimuth angle value of the far boundary point on the X-axis; FW Y1 In a rectangular coordinate system centered on the Earth, the first azimuth angle value of the far boundary point on the Y-axis is given. According to the formula Calculate the first pitch angle FY1; Among them, X O The longitude value of the telemetry relay station on the X-axis is given by a rectangular coordinate system centered on the Earth; the Y-axis value is given by the longitude value of the telemetry relay station on the X-axis. O Z represents the latitude of the telemetry relay station on the Y-axis in a rectangular coordinate system centered on the Earth; O R represents the altitude of the telemetry relay station on the Z-axis in a rectangular coordinate system centered on the Earth. OB1 R is the distance between the telemetry relay station and the distant boundary point; O1 R is the distance of the telemetry relay station relative to the center of the Earth. B1 The distance of the farthest point relative to the center of the Earth.

7. The method according to claim 3, characterized in that, The second azimuth and second elevation angles corresponding to the obstructions associated with the telemetry relay station and the telemetry airspace digital map include: According to the formula Calculate the second azimuth angle FW2; Among them, L C B is the longitude of the obstruction; C The latitude of the obstruction; FW X2 In a Cartesian coordinate system centered on the Earth, the second azimuth angle of the obstruction on the X-axis is given by FW. Y2 The second azimuth angle value of the obstruction on the Y-axis is given by a rectangular coordinate system with the Earth as the center. According to the formula Calculate the second pitch angle FY2; Among them, R OC2 R is the distance between the telemetry relay station and the obstruction. C2 X is the distance of the obstruction relative to the center of the Earth. C Let X be the longitude value of the obstruction on the X-axis in a rectangular coordinate system centered on the Earth; Y is the longitude value of the obstruction on the X-axis. C Let Z be the latitude value of the obstruction on the Y-axis in a rectangular coordinate system centered at the Earth; C The elevation of the obstruction on the Z-axis is the value in a rectangular coordinate system centered on the Earth.

8. A device for determining the location of a telemetry relay station, characterized in that, include: A telemetry relay station deployment judgment module is used to calculate the actual receiving distance based on the far boundary point of the acquired test flight airspace, and determine whether a telemetry relay station needs to be deployed in the test flight airspace based on the actual receiving distance. The alternative location determination module is used to determine multiple alternative locations for telemetry relay stations if a telemetry relay station needs to be deployed in the test flight airspace, based on the telemetry airspace digital map corresponding to the test flight airspace, the test flight route, and the receiving capability of the telemetry relay station. The current location acquisition module is used to sequentially acquire one candidate location as the current location; The azimuth and elevation angle calculation module is used to calculate the first azimuth and first elevation angles corresponding to the telemetry relay station and the far boundary point when the telemetry relay station is arranged at the current position, as well as the second azimuth and second elevation angles corresponding to the obstruction associated with the telemetry airspace digital map. The judgment module is used to determine whether the first pitch angle is greater than the second pitch angle when the first azimuth angle and the second azimuth angle are the same; The target placement location determination module is used to determine the current location as the target placement location of the telemetry relay station if the first pitch angle is greater than the second pitch angle. Otherwise, return to the previous step and obtain one alternative position as the current position in turn, until all alternative positions have been processed.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for determining the location of the telemetry relay station as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the method for determining the location of telemetry relay stations as described in any one of claims 1-7.

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