Aircraft information matching method, electronic device and storage medium

Abstract

The present invention provides an aircraft information matching method, electronic equipment and storage medium, which relate to the field of aircraft information matching. The method comprises: determining the aircraft identification of each aircraft that is not bound to standard aircraft information from the current target area panoramic view of the target area; m The corresponding aircraft image is mapped to the preset target area top view corresponding to the target area; according to B m,1 With A m The pixel distance of the central pixel of the corresponding aircraft image, B m,2 With A m The pixel distance of the central pixel of the corresponding aircraft image and B m,1 and B m,2 The corresponding real position coordinates, determine A m The estimated position coordinates of the corresponding aircraft; obtain the standard aircraft information list Wt corresponding to the current time point t; m The standard aircraft information that meets the preset first matching condition and A m Binding is performed to achieve aircraft information matching.

Description

Technical Field

[0001] The present invention relates to the field of aircraft information matching, and in particular to an aircraft information matching method, electronic equipment and storage medium. Background Art

[0002] At present, with the rapid development of video technology, all airports in the civil aviation field are equipped with cameras for real-time monitoring of the status of aircraft in the airport. As long as the aircraft appears in the airport camera monitoring screen, the monitoring personnel can clearly see the operating status of each aircraft; however, when there are many aircraft in the airport, the monitoring personnel can see the status of each aircraft in the airport, but cannot see the detailed information corresponding to each aircraft in the video monitoring screen, such as the aircraft's flight number, scheduled take-off time and other information; resulting in the monitoring personnel being unable to confirm the identity information of each aircraft. Summary of the invention

[0003] In view of the above technical problems, the technical solution adopted by the present invention is:

[0004] According to a first aspect of the present application, there is provided an aircraft information matching method, comprising the following steps:

[0005] S100, determining the aircraft identification of each unbound standard aircraft information from the current target area panoramic view of the target area, so as to obtain a first aircraft identification set A=(A1, A2, ..., A m ,…,A n ), m=1,2,…,n; where A m is the mth aircraft identifier that is not bound to standard aircraft information in the current target area panorama of the target area, and n is the number of aircraft identifiers that are not bound to standard aircraft information in the current target area panorama of the target area;

[0006] S200, through the preset mapping algorithm, A m The corresponding aircraft image is mapped to a preset target area overhead view corresponding to the target area; wherein a plurality of reference points are set in the preset target area overhead view, and each reference point corresponds to a real position coordinate;

[0007] S300, in a coordinate system corresponding to the top view of the target area, obtaining m The first pixel B that is closest to the central pixel of the corresponding aircraft image in the top view of the target area m,1 location information, and m The pixel distance between the center pixel point of the corresponding aircraft image in the top view of the target area and the second pixel point B that is closest to the center pixel point m,2 location information;

[0008] S400, according to B m,1 With A m The pixel distance of the central pixel of the corresponding aircraft image, B m,2 With A m The pixel distance of the central pixel of the corresponding aircraft image and B m,1 and B m,2 The corresponding real position coordinates, determine A m The estimated position coordinates of the corresponding aircraft; to obtain the estimated position coordinate set WA = (WA1, WA2, ..., WA m ,…,WA n ), among which, WA m A m The estimated position coordinates of the corresponding aircraft;

[0009] S500, obtain the standard aircraft information list Wt corresponding to the current time point t = (Wt1, Wt2, ..., Wt i ,…,Wt f(t) ), i = 1, 2, ... f (t); where Wt i is the i-th standard aircraft information in the standard aircraft information list corresponding to t, f(t) is the number of standard aircraft information corresponding to t; Wt i Including the real position coordinates corresponding to the i-th aircraft;

[0010] S600, Wt and WA m The standard aircraft information that meets the preset first matching condition and A m Bind.

[0011] According to another aspect of the present application, a non-transitory computer-readable storage medium is provided, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the above-mentioned aircraft matching method.

[0012] According to another aspect of the present application, an electronic device is provided, including a processor and the above-mentioned non-transitory computer-readable storage medium.

[0013] The present invention has at least the following beneficial effects:

[0014] The aircraft information matching method of the present invention obtains the aircraft identification of each unbound standard aircraft information in the target area panoramic image, and m The corresponding aircraft image is mapped to the preset target area top view. In the target area top view, several reference points are preset, and each reference point corresponds to the real position coordinates. mThe first reference point B that is closest to the central pixel point of the corresponding aircraft image in the top view of the target area m,1 location information, and m The center pixel of the corresponding aircraft image in the top view of the target area is the second closest reference point B. m,2 Thus, it is possible to m,1 and B m,2 The corresponding real position coordinates, determine A m The estimated position coordinates of the corresponding aircraft; m The estimated position coordinates of the corresponding aircraft are matched with the real position coordinates contained in each standard aircraft information in the standard aircraft information list, and the coordinates of the aircraft in Wt and WA are matched. m The standard aircraft information that meets the preset first matching condition and A m Binding is performed to achieve aircraft information matching.

[0015] Furthermore, the present invention only converts the panoramic image of the target area once to obtain a bird's-eye view of the target area. In the subsequent conversion process, only the aircraft image corresponding to the aircraft identification that is not bound to the standard aircraft information is converted. The aircraft image has a smaller image area than the entire panoramic image of the target area. Therefore, the present invention can greatly reduce the computing power occupied during image conversion and improve the efficiency of aircraft information matching. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A flowchart of an aircraft information matching method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0019] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement a device and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0020] The following will refer to Figure 1 The flowchart of the aircraft information matching method introduces an aircraft information matching method.

[0021] The aircraft information matching method comprises the following steps:

[0022] S100, determining the aircraft identification of each unbound standard aircraft information from the current target area panoramic view of the target area, so as to obtain a first aircraft identification set A=(A1, A2, ..., A m ,…,A n ), m=1,2,…,n; where A m is the mth aircraft identifier that is not bound to standard aircraft information in the current target area panoramic view of the target area, and n is the number of aircraft identifiers that are not bound to standard aircraft information in the current target area panoramic view of the target area.

[0023] In this embodiment, the target area can be understood as an airport, and the panoramic view of the target area is a panoramic view of the airport. Since the airport is large in area, it is usually difficult for a single camera to completely cover the entire airport; therefore, in this application, the panoramic view of the target area is stitched together based on the monitoring images of multiple cameras, and those skilled in the art can use existing image stitching technology to stitch multiple video images as needed to obtain a panoramic view of the target area.

[0024] In the current target area panoramic map of the target area, there will be aircraft images corresponding to several aircraft. Those skilled in the art can use existing image recognition technology to identify each aircraft as needed, and set an identification for each aircraft in the target area panoramic map. It can be understood that the aircraft identification is used to distinguish each aircraft, and the aircraft identifications corresponding to any two aircraft images are different; it should be noted that in the current target area panoramic map of the target area, some aircraft identifications are bound to standard aircraft information, while other aircraft identifications are not bound to standard aircraft information. By obtaining each aircraft identification that is not bound to standard aircraft information, A can be obtained.

[0025] S200, through the preset mapping algorithm, A m The corresponding aircraft image is mapped to a preset target area overhead view corresponding to the target area; wherein a plurality of reference points are set in the preset target area overhead view, and each reference point corresponds to a real position coordinate.

[0026] In this embodiment, for the panoramic view of the target area, the panoramic view of the target area can be converted into a bird's-eye view of the target area according to a preset mapping algorithm, for example, a perspective transformation matrix; a number of reference points are evenly set in the bird's-eye view of the target area, and each reference point is a pixel point; for example, the bird's-eye view of the target area is a bird's-eye view of an airport, and in the bird's-eye view of the airport, a number of reference points are evenly set on the runway and outside the parking space; each reference point is set at a preset position in the bird's-eye view of the target area, and the bird's-eye view of the target area is compared with an existing map, for example, with a Google map; each reference point in the bird's-eye view of the target area can be obtained. The real position coordinates of the test point, that is, the longitude and latitude of each reference point; it should be noted that, in the present embodiment, the panoramic image of the target area is converted only once to obtain a bird's-eye view of the target area. In the subsequent conversion process, only the aircraft image is converted. For example, in the subsequent video monitoring process, when an aircraft enters the panoramic image of the target area, only the aircraft image is mapped to the bird's-eye view of the target area. The aircraft image has a smaller image area than the entire panoramic image of the target area. Therefore, the present invention can greatly reduce the computing power occupied during image conversion and improve the efficiency of aircraft information matching.

[0027] Then, the aircraft image corresponding to each aircraft identification in A is mapped to the overhead view of the target area through the same preset mapping algorithm to facilitate the subsequent estimation of the aircraft position.

[0028] S300, in a coordinate system corresponding to the top view of the target area, obtaining m The first pixel B that is closest to the central pixel of the corresponding aircraft image in the top view of the target area m,1 location information, and mThe pixel distance between the center pixel point of the corresponding aircraft image in the top view of the target area and the second pixel point B that is closest to the center pixel point m,2 location information.

[0029] In this embodiment, a coordinate system corresponding to the top view of the target area can be established, and within this coordinate system, the coordinate system corresponding to A can be obtained. m The first pixel B that is closest to the central pixel of the corresponding aircraft image in the top view of the target area m,1 location information, and m The pixel distance between the center pixel point of the corresponding aircraft image in the top view of the target area and the second pixel point B that is closest to the center pixel point m,2 Location information; A m The central pixel point of the corresponding aircraft image can be determined in the following way: First, set A m The corresponding rectangular box makes A m The corresponding aircraft image is completely in A m The corresponding rectangular frame, and the edge pixel points of the aircraft image are in contact with the rectangular frame, then the pixel coordinates of the four vertices of the rectangular frame are obtained to determine A m The position coordinates of the center pixel of the corresponding aircraft image.

[0030] S400, according to B m,1 With A m The pixel distance of the central pixel of the corresponding aircraft image, B m,2 With A m The pixel distance of the central pixel of the corresponding aircraft image and B m,1 and B m,2 The corresponding real position coordinates, determine A m The estimated position coordinates of the corresponding aircraft; to obtain the estimated position coordinate set WA = (WA1, WA2, ..., WA m ,…,WA n ), among which, WA m A m The estimated position coordinates of the corresponding aircraft.

[0031] In this embodiment, in the top view of the target area, for A m Corresponding to the aircraft image, it can be based on B m,1 With A m The pixel distance of the central pixel of the corresponding aircraft image, B m,2 With A m The pixel distance of the central pixel point of the corresponding aircraft image is determined by A m The corresponding center pixel of the aircraft image and B m,1 and B m,2The relative position relationship of B is set according to the relative position relationship. m,1 and B m,2 The corresponding weights, and then combined with B m,1 and B m,2 The corresponding real position coordinate estimate A m The estimated position coordinates of the corresponding aircraft; it can be understood that A m The estimated position coordinates of the corresponding aircraft are position coordinates estimated based on the real position coordinates of the two reference points in the overhead view of the target area, and are not the real position coordinates.

[0032] S500, obtain the standard aircraft information list Wt corresponding to the current time point t = (Wt1, Wt2, ..., Wt i ,…,Wt f(t) ), i = 1, 2, ... f (t); where Wt i is the i-th standard aircraft information in the standard aircraft information list corresponding to t, f(t) is the number of standard aircraft information corresponding to t; Wt i Includes the real position coordinates corresponding to the i-th aircraft.

[0033] In this embodiment, in a specific airport scenario, before the aircraft enters the airport, its flight information, that is, standard aircraft information, has been sent to the airport's corresponding background management system. For example, the flight information of the incoming aircraft received based on the ADS-B system is the standard aircraft information. It should be noted that the standard aircraft information includes the real position coordinates of the corresponding aircraft, and the real position coordinates include the longitude and latitude of the corresponding aircraft. Each aircraft information corresponding to the current time point t can be obtained to obtain Wt.

[0034] S600, Wt and WA m The standard aircraft information that meets the preset first matching condition and A m Bind.

[0035] The real position coordinates corresponding to each aircraft information in Wt and WA m If the real position coordinates of a standard aircraft information in Wt are the same as WA m Meets the preset first matching condition, for example, the real position coordinates corresponding to a certain standard aircraft information in Wt and WA m The distance difference is within the preset range; it means that the standard aircraft information is A m The standard aircraft information of the corresponding aircraft is compared with the standard aircraft information of A m Bind to complete A m Matching of corresponding standard aircraft information.

[0036] The aircraft information matching method of this embodiment obtains the aircraft identification of each aircraft in the target area panoramic image that is not bound to standard aircraft information. m The corresponding aircraft image is mapped to the preset target area top view. In the target area top view, several reference points are preset, and each reference point corresponds to the real position coordinates. m The first reference point B that is closest to the central pixel point of the corresponding aircraft image in the top view of the target area m,1 location information, and m The center pixel of the corresponding aircraft image in the top view of the target area is the second closest reference point B. m,2 Thus, it is possible to m,1 and B m,2 The corresponding real position coordinates, determine A m The estimated position coordinates of the corresponding aircraft; m The estimated position coordinates of the corresponding aircraft are matched with the real position coordinates contained in each standard aircraft information in the standard aircraft information list, and the coordinates of the aircraft in Wt and WA are matched. m The standard aircraft information that meets the preset first matching condition and A m Binding is performed to achieve aircraft information matching.

[0037] Furthermore, the present invention only converts the panoramic image of the target area once to obtain a bird's-eye view of the target area. In the subsequent conversion process, only the aircraft image corresponding to the aircraft identification that is not bound to the standard aircraft information is converted. The aircraft image has a smaller image area than the entire panoramic image of the target area. Therefore, the present invention can greatly reduce the computing power occupied during image conversion and improve the efficiency of aircraft information matching.

[0038] Optionally, the real location coordinates include latitude and longitude, WA m Determine by following these steps:

[0039] S410, obtain B m,1 With A m The first pixel distance d1 and B of the center pixel point of the corresponding aircraft m,2 With A m The second pixel distance d2 of the central pixel point of the corresponding aircraft.

[0040] S420 , determining a first weight α1=d2 / (d1+d2) and a second weight α2=d1 / (d1+d2) according to d1 and d2.

[0041] In this embodiment, after the target area panoramic image is converted into the target area top view, the image in the target area top view will be distorted to a certain extent and is not a standard top view. At this time, if A is determined by referring to a certain reference point in the target area top view, m The first position coordinates of the corresponding aircraft will lead to the determination of A m The error of the estimated position coordinates of the corresponding aircraft is relatively large; therefore, in this embodiment, B is selected m,1 and B m,2 Two reference points, and determine the weights corresponding to the two reference points, according to A m The corresponding weight is determined by the proportional relationship between the pixel distances between the central pixel point of the corresponding aircraft and the pixel points corresponding to the two reference points. The weight corresponding to the reference point that is closer is larger, and the weight corresponding to the reference point that is farther is smaller.

[0042] S430, according to α1, α2, B m,1 The corresponding latitude latB m,1 and longitude lonB m,1 and B m,2 The corresponding latitude latB m,2 and longitude lonB m,2 , determine WA m =(latA m ,lonA m ), latA m =α1×latB m,1 +α2×latB m,2 ,lonA m =α1×lonB m,1 +α2×lonB m,2 ; Among them, latA m for WA m The corresponding latitude, lonA m for WA m The corresponding longitude.

[0043] In this embodiment, WA is calculated by weighting m The corresponding latitude and longitude, the latitude and longitude corresponding to the reference point that is closer have a larger weight, and the latitude and longitude corresponding to the reference point that is farther away have a smaller weight; thus, the distortion effect of the top view of the target area can be weakened, and WA m Determine the accuracy.

[0044] Optionally, step S600 includes the following steps:

[0045] S610, obtain Wt i The corresponding latitude latWt i and longitude lonWt i .

[0046] S620, if |latA m -latWt i |<η1 and |lonA m -lonWt i |<η2, then Wt i As A m The corresponding first position coordinates; wherein η1 is a preset latitude difference threshold, and η2 is a preset longitude difference threshold.

[0047] In this embodiment, if |latA m -latWt i |<η1 and |lonA m -lonWt i |<η2, indicating Wt i The corresponding real position coordinates are m The estimated position coordinates of the corresponding aircraft are close to each other, and are basically the same position coordinates. It can be determined that Wt i The corresponding real position coordinates are A m The corresponding real position coordinates of the aircraft; due to A m The estimated position coordinates of the corresponding aircraft are the estimated position coordinates, which may have a certain error with the corresponding real position coordinates. Based on this, setting η1 and η2 in this embodiment can weaken A m The corresponding error of the estimated position coordinates makes the generalization ability stronger during position coordinate matching, and it is easier to match the standard aircraft information; in this embodiment, the value range of η1 is 0.0003-0.0005, and the value range of η2 is 0.0002-0.004.

[0048] Optional, A m The center pixel of the corresponding aircraft image is obtained by the following steps:

[0049] S310, setting A in the target area panorama m The corresponding bounding box makes A m The corresponding aircraft image is at A m within the corresponding bounding box.

[0050] In this embodiment, the bounding box may be a rectangular box, so that the outermost pixels of the aircraft image are in contact with the four sides of the rectangular box.

[0051] S320, obtaining A in the panoramic image of the target area m The corresponding center pixel of the bounding box is QA m .

[0052] In this embodiment, those skilled in the art can obtain the center pixel point of A in the target area panoramic image according to the existing method for determining the center pixel point of the bounding box. m The corresponding center pixel of the bounding box is QA m , which will not be elaborated here.

[0053] S330, through the preset perspective transformation matrix, QA m Map to the top view of the target area to obtain the QA m The corresponding mapping pixel.

[0054] It should be noted that those skilled in the art can use the existing perspective transformation matrix to transform QA m Map to the top view of the target area to obtain the QA m The corresponding mapping pixels are not described here.

[0055] S340, the target top view and QA m The corresponding mapping pixel point is taken as A m The center pixel of the corresponding aircraft image.

[0056] In this embodiment, it should be noted that only QA m The entire aircraft image is mapped into the target area overhead view without mapping the entire aircraft image into the target area overhead view, thereby greatly reducing the amount of calculation and improving execution efficiency.

[0057] In an exemplary embodiment, before step S100, the method further includes the following steps:

[0058] S010, obtaining a plurality of aircraft identifications bound to standard aircraft information from the current target area panoramic view of the target area, so as to obtain a second aircraft identification set A'=(A'1, A'2, ..., A' m1 ,…,A' n1 ), m1=1,2,…,n1; where A' m1 is the m1th aircraft identifier bound to standard aircraft information in the current target area panoramic view of the target area, and n1 is the number of aircraft identifiers bound to standard aircraft information in the current target area panoramic view of the target area.

[0059] In this embodiment, in the current target area panorama of the target area, some aircraft identifications are bound to standard aircraft information, while other aircraft identifications are not bound to standard aircraft information. By acquiring each aircraft identification bound to standard aircraft information, A' can be obtained.

[0060] S020, obtaining the aircraft identification corresponding to each aircraft in a stationary state from A' and determining it as the stationary aircraft identification, so as to obtain the stationary aircraft identification set Z = (Z1, Z2, ..., Z j1 ,...,Z k1 ), j1=1,2,…,k1; where Z j1 is the j1th stationary aircraft identifier in the target area data, and k1 is the number of stationary aircraft identifiers in Z.

[0061] In this embodiment, part of the aircraft corresponding to each aircraft identification in A' is in motion, while the other part is in a stationary state; by obtaining the aircraft identification corresponding to each stationary aircraft, Z can be obtained; in this embodiment, the current target area panoramic view of the target area and the target area panoramic view of the previous moment can be compared to determine the aircraft identification in the stationary state in the current target area panoramic view of the target area.

[0062] S030, Get Z j1 The sub-area data KZ corresponding to the sub-area where the corresponding aircraft is parked in the target area j1 ; Among them, the sub-area is an area of ​​preset size within the target area.

[0063] In this embodiment, the sub-area is a preset parking space in the airport, each sub-area is provided with a unique identifier for distinguishing each sub-area, and the sub-area data includes the identifier corresponding to the sub-area.

[0064] S040, according to KZ j1 , determine KZ from the standard aircraft information list corresponding to the current time point t j1 Corresponding standard aircraft information.

[0065] In this embodiment, each parking space at the current time corresponds to an aircraft that is planned to be parked, that is, each sub-area where an aircraft is planned to be parked at the current time corresponds to a piece of standard aircraft information in the background; j1 Obtain the standard aircraft information list corresponding to the current time point t from the background to determine KZ j1 Corresponding standard aircraft information.

[0066] S050, if KZ j1 Corresponding standard aircraft information and Z j1 If the currently bound standard aircraft information does not meet the preset second matching condition, Z j1 Unbind the currently bound standard aircraft information.

[0067] In this embodiment, Z j1 There is a standard aircraft information bundled in the target area panorama, Zj1 The corresponding sub-area where the aircraft is parked also has a corresponding standard aircraft information in the background. Usually, Z j1 The corresponding aircraft parking sub-area is correct, so if Z j1 If the bound standard aircraft information is correct, then Z j1 Binding standard aircraft information and KZ j1 The corresponding standard aircraft information should be the same, otherwise, it can be judged that Z j1 The currently bound standard aircraft information is incorrect. You need to change Z j1 The currently bound standard aircraft information is unbound to re-bind the correct standard aircraft information.

[0068] In this embodiment, the standard aircraft information corresponding to the sub-area where the aircraft corresponding to the aircraft identifier is parked is used to verify whether the aircraft information currently bound to the aircraft identifier is correct. Since the standard aircraft information corresponding to the sub-area is correct, the accuracy of the verification result of the aircraft information currently bound to the aircraft identifier can be guaranteed.

[0069] Optionally, between step S100 and step S200, the method further includes the following steps:

[0070] S110, get A m The corresponding first flag bit is lab1_A m The state of lab1_A m For recording A m Whether the previously bound standard aircraft information has been unbound.

[0071] In this embodiment, the position coordinates of any aircraft in the target area are obtained by estimating the position of the corresponding aircraft image in the overhead view of the target area. When estimating the position coordinates of the aircraft in the target area, a static panoramic view of the target area is used as a basis. In the static panoramic view of the target area, it is possible that an aircraft has passed through a sub-area instead of being parked in the sub-area, and is mistakenly bound to a standard aircraft information.

[0072] Based on the above scenario, the standard aircraft information bound to the aircraft identification in a stationary state in the current target area panoramic view of the target area can be verified through the method in the above steps S010-S050. Therefore, there will be aircraft identifications that are not bound to standard aircraft information and have been unbound to the standard aircraft information that has been bound; for each aircraft identification, a corresponding first flag is set to record whether the corresponding aircraft identification has been unbound to the standard aircraft information that has been bound.

[0073] S120, if lab1_A mThe status is unbound, and A m The corresponding aircraft is in a stationary state, then obtain A m The sub-area data KA corresponding to the sub-area where the corresponding aircraft is parked in the target area m ; Otherwise, execute step S200.

[0074] In this embodiment, if lab1_A m If it is in the unbound state, it means A m The standard aircraft information that has been bound has been unbound; in this case, due to A m The corresponding aircraft is in a stationary state, that is, parked in the corresponding sub-area, and can obtain A m The sub-area data KA corresponding to the sub-area where the corresponding aircraft is parked in the target area m .

[0075] It is understandable that if lab1_A m The status is not unbound, or A m If the corresponding aircraft is in a non-stationary state, then the method in steps S200-S600 is used to m Bind the corresponding standard aircraft information.

[0076] S130, according to KA m , determine KA from the standard aircraft information list corresponding to the current time point t m Corresponding standard aircraft information.

[0077] S140, KA m Corresponding standard aircraft information and A m Bind.

[0078] In this embodiment, since the standard aircraft information corresponding to the sub-area is correct, KA m Corresponding standard aircraft information and A m Binding can ensure A m The currently bound aircraft information is correct, thereby further improving the accuracy of aircraft information matching.

[0079] In an exemplary embodiment, a method for determining the position of an aircraft is provided, the method comprising the following steps:

[0080] S710, obtaining the sub-region frame identifier of the sub-region frame corresponding to each preset sub-region in the target region panorama, so as to obtain a sub-region frame identifier set E=(E1, E2, . . . , E a ,…,E b ), a=1,2,…,b; where E ais the ath sub-region frame identifier in the target panoramic image, and b is the number of sub-region frame identifiers corresponding to the target panoramic image; an auxiliary pixel point is set at a preset position of the sub-region frame corresponding to the identifier in each sub-region frame.

[0081] In this embodiment, the target area can be understood as an airport, the sub-area can be understood as a preset parking space in the airport, and the aircraft can be understood as an aircraft parked in the airport; the sub-area frame corresponding to the sub-area can be obtained by the following two methods:

[0082] The first method is to set a sub-region frame of a preset color at a position corresponding to each sub-region in the target region, for example, a red or yellow sub-region frame; and then obtain the sub-region frame corresponding to each sub-region in the target region in the target panoramic image.

[0083] The second method is: firstly, a panorama of the target area is obtained, and then each sub-area image is surrounded by adding line segments in the panorama of the target area, so as to obtain a sub-area frame corresponding to each sub-area.

[0084] It should be noted that the auxiliary pixel points in each sub-region frame can also be obtained by the above two methods; the auxiliary pixel points in each sub-region frame can be set at the position where the nose of the aircraft is parked in the corresponding sub-region frame.

[0085] S720, obtaining the aircraft identification corresponding to each stationary aircraft in the panoramic view of the target area, so as to obtain a stationary aircraft identification set C = (C1, C2, ..., C p ,…,C q ), p=1,2,…,q; where C p is the pth stationary aircraft identification in the panoramic view of the target area, and q is the number of stationary aircraft identifications in the panoramic view of the target area.

[0086] In this embodiment, in the panoramic view of the target area, there will be aircraft images corresponding to several stationary aircraft. Those skilled in the art can use existing image recognition technology to identify each aircraft as needed, and set an identification for each stationary aircraft in the panoramic view of the target area. It can be understood that the aircraft image identification is used to distinguish each aircraft, and the aircraft image identification corresponding to any two aircraft images is different.

[0087] S730, obtaining the bounding box corresponding to each stationary aircraft identifier in C, so as to obtain the bounding box identifier set LC corresponding to C = (LC1, LC2, ..., LC p ,…,LC q ), where LC p C p The bounding box identifier of the corresponding bounding box, C pThe corresponding aircraft image is completely in LC p Inside.

[0088] In this embodiment, the panoramic view of the target area is presented on the display screen as a plane map, and a corresponding enclosing frame, for example, a rectangular frame, can be automatically set on the panoramic view of the target area so that each aircraft image is completely within the corresponding enclosing frame; thereby, the aircraft image is converted to be represented by the corresponding enclosing frame.

[0089] S740, obtained from E and LC p Each sub-region box with overlapping areas is used as the middle sub-region box to obtain LC p The corresponding middle sub-region box identification set EC p =(EC p,1 ,EC p,2 ,…,EC p,x ,…,EC p,y(p) ), x=1,2,…,y(p); where EC p,x For EC p The xth one and LC p The middle sub-region box label corresponding to the middle sub-region box of the overlapping area, y(p) is EC p The number of inner middle sub-region box markers.

[0090] In this embodiment, for each sub-region in the target area, there may be a situation where several sub-regions are adjacently arranged. When the aircraft is in a stationary state, since the target panoramic view angle is not a vertical view angle, when visually viewing the target panoramic view, there may be a situation where the bounding box corresponding to the stationary aircraft image overlaps with multiple sub-region frames. The sub-regions corresponding to the sub-region frames that have overlapping areas with the bounding box corresponding to the stationary aircraft image may be the sub-regions where the aircraft corresponding to the aircraft image is parked, while the sub-region frames that do not have overlapping areas cannot be the sub-regions where the aircraft corresponding to the aircraft image is parked; therefore, it is necessary to perform EC p It is sufficient to analyze and process the corresponding intermediate sub-region frame of each intermediate sub-region frame identifier in the target area panorama without analyzing and processing each sub-region frame, thereby improving the efficiency of determining the aircraft position.

[0091] S750, Get LC p The corresponding center pixel of the bounding box WC p .

[0092] In this embodiment, if LC p For a rectangular frame, LC p The intersection of the two diagonals of p ; If LC pFor an irregularly shaped bounding box, the LC can be obtained by presetting the central pixel point. p The corresponding center pixel WC p .

[0093] S760, if WC p Located in EC p,x The corresponding middle sub-region box or EC p,x The corresponding auxiliary pixel point of the middle sub-region box is located at LC p The corresponding bounding box, then judge C p The corresponding aircraft is located in the target area EC p,x corresponding sub-region.

[0094] In this embodiment, in most cases, the position deviation of the aircraft parked in the corresponding sub-area will not be very large. Based on this, in this embodiment, the judgment condition of or is used to determine whether the aircraft is located in the corresponding sub-area; this method can improve the generalization ability of aircraft position judgment, and can quickly determine whether the aircraft is located in the corresponding sub-area.

[0095] It should be noted that in order to improve the accuracy of the judgment, the judgment condition of and can also be adopted, that is, if WC p Located in EC p,x The corresponding middle sub-region box and EC p,x The corresponding auxiliary pixel point of the middle sub-region box is located at LC p The corresponding bounding box, then judge C p The corresponding aircraft is located in the target area EC p,x The aircraft position is within the corresponding sub-area; when the two judgment conditions are met at the same time, the aircraft position is judged to be within the sub-area corresponding to the aircraft position, thereby improving the accuracy of aircraft position judgment.

[0096] The aircraft judgment method of the present embodiment obtains the sub-region frame identifier of the sub-region frame corresponding to each sub-region in the target area panoramic view, and sets auxiliary pixel points at the preset position of each sub-region frame; at the same time, sets a corresponding bounding frame for each static aircraft image in the target panoramic view, so that the static aircraft image is completely within the corresponding bounding frame; for any aircraft image, obtain each intermediate sub-region frame that has an overlapping area with the bounding frame of the aircraft image, thereby obtaining each sub-region where the aircraft corresponding to the aircraft image may be parked; based on this, obtain the central pixel point of the bounding frame corresponding to the aircraft image, and when the central pixel point of the bounding frame corresponding to the aircraft image is located in a certain intermediate sub-region frame, it is judged that the aircraft is located in the sub-region corresponding to the intermediate sub-region frame; and when the auxiliary pixel point corresponding to a certain intermediate sub-region frame is located in the bounding frame corresponding to the aircraft image, it is also judged that the aircraft is located in the sub-region corresponding to the sub-region frame; thereby realizing the judgment of the aircraft position.

[0097] Furthermore, since the camera shooting angle is not a vertical angle, the sub-region frame has a certain degree of distortion in the target panoramic image; and the enclosing frame corresponding to the aircraft is an enclosing frame set under a planar perspective. Therefore, the perspective latitudes of the two are different, and the position of the aircraft cannot be determined solely by comparing the sub-region frame and the enclosing frame; the auxiliary pixel points set at the preset position of the sub-region frame of the present invention will be in the corresponding sub-region frame in the target panoramic image no matter under which perspective, and the center pixel point of the enclosing frame corresponding to the aircraft is always in the corresponding enclosing frame, which can indicate the position of the corresponding aircraft image in the target panoramic image; by judging whether the center pixel point of the enclosing frame is in a certain sub-region frame or whether the auxiliary pixel point of a certain sub-region frame is in the enclosing frame, it is determined whether the aircraft is in the corresponding sub-region; the influence of the distortion of the sub-region frame in the target panoramic image can be eliminated, and the accuracy of judging the aircraft position can be improved.

[0098] Optionally, the enclosing frame is a rectangular frame, and step S760 includes the following steps:

[0099] S761, Get WC P Pixel position information TWC in the coordinate system corresponding to the panorama of the target area P =(TWC P,1 ,TWC P,2 );TWC P,1 For WC P The X-axis coordinate parameter in the coordinate system corresponding to the panorama of the target area, TWC P,2 For WC P The Y-axis coordinate parameter in the coordinate system corresponding to the panoramic image of the target area.

[0100] In this embodiment, a coordinate system corresponding to the panoramic view of the target area is established, and within this coordinate system, TWC P Corresponding X-axis coordinate parameters and Y-axis coordinate parameters to obtain TWC P .

[0101] S762, Get EC p,x The corresponding bounding box has a minimum X-axis coordinate parameter SX1, a maximum X-axis coordinate parameter SX2, a minimum Y-axis coordinate parameter SY1, and a maximum Y-axis coordinate parameter SY2 in the coordinate system corresponding to the panoramic image of the target area.

[0102] In this embodiment, EC p,x The corresponding bounding box is a rectangle, which can obtain EC p,x The coordinates of the pixels corresponding to the four vertices of the corresponding bounding box are obtained, thus obtaining EC p,x The corresponding bounding box has a minimum X-axis coordinate parameter SX1, a maximum X-axis coordinate parameter SX2, a minimum Y-axis coordinate parameter SY1, and a maximum Y-axis coordinate parameter SY2 in the coordinate system corresponding to the panoramic image of the target area.

[0103] S763, if SX1≤TWC P,1 ≤SX2, and SY1≤TWC P,2 ≤SY2, then judge WC p Located in EC p,x Optionally, step S760 further includes the following steps:

[0104] S764, Get EC p,x The pixel position information TEC of the auxiliary pixel point of the corresponding middle sub-region frame in the coordinate system corresponding to the panorama of the target region p,x =(TEC p,x,1 ,TEC p,x,2 ), where TEC p,x,1 For EC p,x The X-axis coordinate parameter of the auxiliary pixel point of the corresponding middle sub-region frame in the coordinate system corresponding to the panorama of the target region, TEC p,x,2 For EC p,x The Y-axis coordinate parameter of the auxiliary pixel point of the corresponding middle sub-region frame in the coordinate system corresponding to the panoramic image of the target region.

[0105] S765, Get LC p The corresponding bounding box has a minimum X-axis coordinate parameter SX'1, a maximum X-axis coordinate parameter SX'2, a minimum Y-axis coordinate parameter SY'1, and a maximum Y-axis coordinate parameter SY'2 in the coordinate system corresponding to the panoramic image of the target area.

[0106] S766, if SX'1≤TEC p,x,1≤SX'2, and SY'1≤TEC p,x,2 ≤SY'2, then judge EC p,x The corresponding auxiliary pixel point of the middle sub-region box is located at LC p In this embodiment, by judging whether the central pixel of the bounding box is located in a sub-region frame or whether the auxiliary pixel of a sub-region frame is located in the bounding box, it is determined whether the aircraft is in the corresponding sub-region; the influence of the distortion of the sub-region frame in the target panorama can be eliminated, and the accuracy of judging the position of the aircraft can be improved.

[0107] Optional, EC p,x It has two opposite first sides and two opposite second sides; any first side and any second side are perpendicular to each other; EC p,x The distances from the auxiliary pixels of the corresponding middle sub-region frame to the two first sides are the same, and EC p,x The distances from the auxiliary pixel points of the corresponding middle sub-region frame to the two second sides are different.

[0108] In this embodiment, EC p,x The corresponding auxiliary pixel points of the middle sub-region frame are set on EC p,x The non-central position of the corresponding middle sub-region frame is preferably set at the position where the nose of the aircraft is parked in the corresponding middle sub-region frame; thus, the WC can be satisfied only when the aircraft is basically completely parked in the sub-region corresponding to the corresponding middle sub-region frame. p Located in EC p,x The corresponding middle sub-region box or EC p,x The corresponding auxiliary pixel point of the middle sub-region box is located at LC p The corresponding bounding box is then used to improve the accuracy of position judgment.

[0109] Optionally, step S730 includes the following steps:

[0110] S731, Get C p The corresponding aircraft image has two outermost first and second pixel points that are opposite to each other in the horizontal direction, and two outermost third and fourth pixel points that are opposite to each other in the vertical direction.

[0111] In this embodiment, after the aircraft image is determined, those skilled in the art can use the existing image boundary pixel determination method to determine C p The two outermost first pixel points and the second pixel points in the horizontal direction and the two outermost third pixel points and the fourth pixel points in the vertical direction of the corresponding aircraft image are not described in detail here.

[0112] S732, taking the first pixel point and the second pixel point as reference points, respectively set the first straight line corresponding to the first pixel point and the second straight line corresponding to the second pixel point in the vertical direction; and taking the third pixel point and the fourth pixel point as reference points, respectively set the third straight line corresponding to the third pixel point and the fourth straight line corresponding to the fourth pixel point in the vertical direction.

[0113] S733, a rectangular frame formed by the intersection of the first straight line, the second straight line, the third straight line and the fourth straight line is used as LC p .

[0114] In this embodiment, the above steps can make C p The corresponding aircraft image is completely in LC p Inside, and C p The corresponding boundary pixels of the aircraft image and LC p Contact, LC p Can cover C more accurately p Corresponding aircraft image.

[0115] Optional, WC p Obtained through the following steps:

[0116] S751, get the location of C p The fifth pixel point in the middle of the head of the corresponding aircraft image and the pixel point at C p The sixth pixel point in the middle of the tail of the corresponding aircraft image.

[0117] S752, get the location of C p The corresponding seventh and eighth pixel points of the wing vertices of the aircraft image.

[0118] S753, connecting the fifth pixel point and the sixth pixel point to obtain a first line segment, and connecting the seventh pixel point and the eighth pixel point to obtain a second line segment.

[0119] S754: Take the pixel point corresponding to the intersection of the first line segment and the second line segment as WC p .

[0120] In this embodiment, WC p It is based on C p The first line segment corresponding to the fuselage and the second line segment corresponding to the wing in the corresponding aircraft image are obtained; it can be understood that when the angle of the aircraft corresponding to the panoramic image of the target area changes, the angles of the first line segment and the second line segment relative to the camera will change accordingly, and the WC obtained by the intersection of the first line segment and the second line segment p Can always more accurately characterize C pThe central pixel point of the corresponding aircraft image; thereby, the accuracy of aircraft position judgment is further improved.

[0121] In an exemplary embodiment, a method for unbinding information of an aircraft in motion is provided, the method comprising the following steps:

[0122] S810, obtaining the aircraft identification corresponding to each aircraft in motion in the target area data of the target area, so as to obtain a moving aircraft identification set G = (G1, G2, ..., G j ,…,G k ), j = 1, 2, ..., k; where G j is the j-th moving aircraft identification in the target area data of the target area, and k is the number of moving aircraft identifications in the target area data of the target area.

[0123] In this embodiment, the target area can be understood as an airport, and the target area data is a panoramic view of the target area. Since the airport is large in area, it is usually difficult for a single camera to completely cover the entire airport; therefore, in this application, the panoramic view of the target area is stitched together based on the monitoring images of multiple cameras, and those skilled in the art can use existing image stitching technology to stitch multiple video images as needed to obtain a panoramic view of the target area.

[0124] In the target area data of the target area, there will be aircraft images corresponding to several aircraft. Those skilled in the art can use existing image recognition technology to identify each aircraft as needed, and set an identification for each aircraft in the target area panoramic view. It can be understood that the aircraft identification is used to distinguish each aircraft, and the aircraft identifications corresponding to any two aircraft images are different.

[0125] Among the aircraft corresponding to all the aircraft identifications in the target area data of the target area, there are aircraft in a stationary state and aircraft in a moving state. It can be determined whether the aircraft image corresponding to the aircraft identification corresponding to each aircraft is within a pre-set first area in the target area panoramic view, for example, the first area is the airport runway area; to determine whether the aircraft corresponding to each aircraft image is a moving aircraft, thereby obtaining G.

[0126] S820, obtain G in the sliding time window T j The corresponding historical estimated position information is obtained to obtain G j The corresponding historical estimated position information set MG j =(MG j,1 ,MG j,2 ,…,MG j,i ,…,MG j,r ), i = 1, 2, ..., r; where MGj,i G in T j The corresponding i-th historical estimated location information, r is the G in T j The number of corresponding historical estimated position information; MG j,i =(WG j,i ,tG j,i ), WG j,i To generate MG j,i Time j The estimated position coordinates of the corresponding aircraft, tG j,i To generate MG j,i Time; WG j,i According to tG j,i The corresponding historical target area data is obtained; the end time of T is the current time.

[0127] In this embodiment, when G j When the corresponding aircraft image appears in the target area panorama, G can be determined according to the preset position estimation algorithm. j The estimated position information corresponding to the corresponding aircraft image; where G j The time interval between the generation times of two adjacent estimated position information corresponding to the corresponding aircraft images is a preset time length; the estimated position coordinates include longitude and latitude.

[0128] S830, according to MG j , determine G j The corresponding estimated speed curve SL of the aircraft j,1 .

[0129] In this embodiment, according to MG j The estimated distance between the estimated positions corresponding to two adjacent historical estimated position information can be obtained, and the time interval between the times corresponding to the generation of the two adjacent historical estimated position information can also be obtained, so as to determine the estimated speed corresponding to the two adjacent historical estimated position information, and then generate G j The corresponding estimated speed curve of the aircraft.

[0130] S840, get G in T j The historical standard aircraft information corresponding to each historical target area data is obtained to obtain G j Corresponding historical standard aircraft information set LG j =(LG j,1 ,LG j,2 ,…,LG j,i1 ,…,LG j,r1 ), i1=1,2,…,r1; where LG j,i1 G in T j The corresponding i1th historical standard aircraft information, r1 is T within G jThe number of corresponding historical standard aircraft information; LG j,i1 =(W'G j,i1 ,t'G j,i1 ), W'G j,i1 To generate LG j,i1 Time j The corresponding real position coordinates of the aircraft, t'G j,i1 To generate LG j,i1 time.

[0131] In this embodiment, each aircraft image is matched with corresponding standard aircraft information in the target area panorama, and the standard aircraft information is updated once every preset time interval; j Each piece of standard aircraft information bound to the corresponding aircraft image is obtained to obtain G j Corresponding historical standard aircraft information set LG j It should be noted that the standard aircraft information is the flight information corresponding to the aircraft obtained through the ADS-B system. Therefore, the standard aircraft information is the real flight information of the corresponding aircraft.

[0132] S850, according to LG j , determine G j The corresponding aircraft's true speed curve SL j,2 .

[0133] In this embodiment, according to LG j The real distance between the real position coordinates corresponding to two adjacent standard aircraft information can be obtained, and the time interval between the times corresponding to the generation of two adjacent standard aircraft information can also be obtained, so as to determine the real speed corresponding to the two adjacent standard aircraft information, and then generate G j The corresponding true speed curve of the aircraft.

[0134] S860, if βSL j <βSL0, then the current and G j Unbind the bound standard aircraft information; among them, βSL j For SL j,1 With SL j,2 similarity, βSL0 is the preset similarity threshold.

[0135] In this embodiment, if βSL j <βSL0, indicating that the current j The standard aircraft information bound to the corresponding aircraft image is the same as G j The aircraft corresponding to the corresponding aircraft image does not match and needs to be untied in order to subsequently re-determine the correct standard aircraft information.

[0136] The method for unbinding the information of the aircraft in motion in this embodiment is based on G j Each piece of historical estimated position information of the corresponding aircraft image in the target area panorama determines the estimated speed curve SL of each aircraft in motion j,1 At the same time, according to G j Each piece of historical standard aircraft information bound to the corresponding aircraft image determines G j The corresponding aircraft's true speed curve SL j,2 , by comparing SL j,1 With SL j,2 to determine the similarity of G j Whether the standard aircraft information currently bound to the corresponding aircraft image is correct, so as to unbind the erroneous standard aircraft information bound to the moving aircraft image.

[0137] Furthermore, there are two motion states of an aircraft in the target area, one is a take-off motion state, in which the speed of the aircraft gradually increases; the other is a landing motion state, in which the speed of the aircraft gradually decreases; the estimated speed curve can determine whether the aircraft is in a take-off motion state or a landing motion state in the target area, and the true speed curve can determine whether the aircraft corresponding to the standard aircraft information bound to the aircraft image is in a take-off state or a landing state; therefore, even if the estimated speed is equal to the true speed at a certain moment, if the motion states determined by the estimated speed curve and the true speed curve are different, the standard aircraft information currently bound to the aircraft image will not be judged as the correct standard aircraft information, thereby improving the accuracy of judging the standard aircraft information of the aircraft in motion.

[0138] Optionally, step S810 includes the following steps:

[0139] S811, according to a preset condition, determining a first area in the target area; wherein the aircraft located in the first area is in a moving state.

[0140] In this embodiment, the target area is any airport, and a runway area and a parking area are pre-set in any airport. The area corresponding to the first area frame is the non-parking area in the airport; it can be understood that when the aircraft is not at the parking position, it is theoretically in motion.

[0141] S812, obtain the target position information set HG corresponding to each aircraft identification = (HG1, HG2, ..., HG j ,…,HG k ), among which, HG j G j The corresponding target position information of the corresponding aircraft in the target area data.

[0142] In this embodiment, the target position information corresponding to the aircraft identification is the central pixel position information of the aircraft image corresponding to the aircraft identification. The central pixel position information of the aircraft image can be obtained by the following method:

[0143] S8121, obtaining the bounding box identifier of the bounding box corresponding to the aircraft image corresponding to each aircraft identifier in the target area panoramic image corresponding to the target area data.

[0144] In this embodiment, a bounding box corresponding to each aircraft image can be set in the panoramic view of the target area. For example, a rectangular box corresponding to each aircraft image is set so that the corresponding aircraft image is within the rectangular box. It can be understood that each bounding box can represent the corresponding aircraft image.

[0145] S8122, obtain the central pixel point of the bounding box of each aircraft image.

[0146] In this embodiment, if the enclosing frame is a rectangular frame, the intersection of two diagonals of the rectangular frame may be used as the central pixel point of the enclosing frame; if the enclosing frame is an irregular shape, the central pixel point may be preset for each enclosing frame.

[0147] S813, if HG j The corresponding position is in the first area, then HG j The corresponding aircraft identification is determined as a sports aircraft identification.

[0148] In this embodiment, when the central pixel point of any bounding box is located in the first area frame, it means that the aircraft corresponding to the bounding box is located in the first area, that is, the aircraft is in motion.

[0149] In this embodiment, since the area occupied by the aircraft image in the panoramic view of the target area is relatively large, the aircraft image may be in the first area frame and outside the first area frame at the same time. In this case, it is difficult to determine the state of the aircraft corresponding to the aircraft image. The motion state of the aircraft corresponding to the aircraft image is determined by determining whether the central pixel point of the enclosing frame is in the first area frame, which makes it relatively simple to determine the motion state of the aircraft corresponding to the aircraft image.

[0150] Optionally, step S830 includes the following steps:

[0151] S831, Get MG j The estimated distance between the estimated position coordinates corresponding to any two adjacent historical estimated position information in order to obtain the estimated distance list BG j =(BG j,1 ,BG j,2 ,…,BG j,i2,…,BG j,r-1 ), i2=1,2,…,r-1; where BG j,i2 For WG j,i2 With WG j,i2+1 The estimated distance between .

[0152] In this embodiment, the estimated position coordinates include longitude and latitude, which can be based on WG j,i2 With WG j,i2+1 Corresponding longitude and latitude, determine BG j,i2 It should be noted that those skilled in the art can determine WG according to actual needs by using the existing method of determining the estimated distance between two points based on the longitude and latitude corresponding to the two points. j,i2 With WG j,i2+1 The estimated distance between them is not elaborated here.

[0153] S832, Get MG j Generate the time interval between any two adjacent historical estimated position information to obtain the time interval list TG j =(TG j,1 ,TG j,2 ,…,TG j,i2 ,…,TG j,r-1 ), where TG j,i2 For tG j,i2 With tG j,i2+1 The time interval between.

[0154] In this embodiment, when the estimated position information is generated, there is a corresponding generation time; it should be noted that TG j Any two time intervals within a time interval can be equal or unequal.

[0155] S833, according to BG j and TG j Determine MG j The corresponding estimated speed list VG j =(VG j,1 ,VG j,2 ,…,VG j,i2 ,…,VG j,r-1 ); VG j,i2 For TG j,i2 The corresponding estimated speed, VG j,i2 =BG j,i2 / TG j,i2 .

[0156] S834, according to VG j and MG j , determine G j The corresponding estimated speed curve SL of the aircraftj,1 ; Among them, SL j,1 The horizontal axis is the generated MG j The time corresponding to each historical estimated position information, the vertical axis is TG j The estimated speed for each time interval.

[0157] In this embodiment, the aircraft will have two motion states in the panoramic view of the target area, one is the take-off state, in which the speed of the aircraft gradually increases; the other is the landing state, in which the speed of the aircraft gradually decreases; the estimated speed curve can determine the estimated speed of the aircraft at a certain moment, and can also determine whether the aircraft is in a take-off state or a landing state in the target area, thereby improving the accuracy of determining the aircraft information in motion.

[0158] Optionally, the method further comprises the following steps:

[0159] S01, obtain the standard aircraft information list Lt corresponding to the current time point t that is not bound to the aircraft = (Lt1, Lt2, ..., Lt i3 ,…,Lt y(t) ), i3=1,2,…y(t); where Lt i3 is the i3th standard aircraft information not bound to an aircraft in Lt, y(t) is the number of standard aircraft information not bound to an aircraft corresponding to t; Lt i3 Includes the actual position coordinates of the corresponding aircraft.

[0160] In this embodiment, in a specific airport scenario, before the aircraft enters the airport, its flight information has been sent to the airport's corresponding background management system. For example, the flight information of the incoming aircraft is received based on the ADS-B system, and this information is the standard aircraft information. After any standard aircraft information is bound to the corresponding aircraft identification, the corresponding second flag bit will be set to a bound state. By obtaining the standard aircraft information whose second flag bit is in a bound state, Lt can be obtained.

[0161] It should be noted that the standard aircraft information includes the real position coordinates of the corresponding aircraft, and the real position coordinates include the longitude and latitude of the corresponding aircraft.

[0162] S02, obtaining the motion state judgment vector corresponding to each standard aircraft information not bound to an aircraft in Lt, so as to obtain the motion state judgment vector set FLt corresponding to Lt = (FLt1, FLt2, ..., FLt i3 ,…,FLt y(t) );wherein, FLt i3 Lt i3The corresponding motion state judgment vector; FLt i3 =(FLt i3,1 ,FLt i3,2 ,FLt i3,3 ), FLt i3,1 is the position change indicator, FLt i3,2 is the status change mark of the open space, FLt i3,3 It is the horizontal speed mark.

[0163] In this embodiment, each standard aircraft information in Lt is updated at a certain time interval, for example, an update is requested from the ADS-B system every 3 seconds, and the newly acquired data is used to overwrite the original data; the real position coordinates and horizontal speed of an aircraft in motion will theoretically change, and the air-ground status may change; while the real position coordinates, horizontal speed and air-ground status of an aircraft in a stationary state will not change; based on this, a third vector corresponding to a standard aircraft information is established, and the status of the position identifier is used to indicate whether the real position coordinates have changed, the status of the air-ground identifier is used to indicate whether the air-ground status has changed, and the horizontal speed identifier is used to indicate whether the horizontal speed is zero.

[0164] It should be noted that the position change and horizontal speed can be obtained through the real position coordinates corresponding to the standard aircraft information obtained twice consecutively, and the air-ground status can be directly obtained through the ADS-B system.

[0165] S03, if FLt i3 Internal FLt i3,1 , FLt i3,2 and FLt i3,3 The states of are all in the first state, then Lt i3 Determine the stationary standard aircraft information corresponding to the stationary aircraft; otherwise, Lt i3 The motion standard aircraft information corresponding to the aircraft determined to be in motion state.

[0166] In this embodiment, FLt i3 Internal FLt i3,1 The state is the first state, FLt i3,2 The state is the first state and FLt i3,3 The states are all in the first state, indicating that FLt i3 The corresponding real position coordinates have not changed, the empty ground state has not changed and the horizontal speed is zero, that is, FLt i3 It corresponds to a stationary aircraft; if FLt i3 Internal FLt i3,1 , FLt i3,2 and FLt i3,3 If the state of is not all the first state, then judge FLti3 The corresponding aircraft is in motion.

[0167] S04, obtaining the information of each motion standard aircraft in Lt to obtain a motion standard aircraft information list.

[0168] In this embodiment, all the moving standard aircraft information is acquired, and when the first target information is matched with the moving aircraft image, it is only necessary to match within the moving standard aircraft information list; on the one hand, it can reduce the amount of calculation during matching, and on the other hand, it can avoid matching the static standard aircraft information to the moving aircraft image, thereby improving the accuracy of the moving aircraft information matching.

[0169] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0170] An embodiment of the present invention also provides a non-transitory computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to implementing a method in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the method provided in the above embodiment.

[0171] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0172] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0173] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0174] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0175] An embodiment of the present invention further provides an electronic device, comprising a processor and the aforementioned non-transitory computer-readable storage medium.

[0176] The electronic device according to this embodiment of the present application is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0177] The electronic device is presented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: the at least one processor mentioned above, the at least one storage device mentioned above, and a bus connecting different system components (including storage devices and processors).

[0178] The storage stores program codes, which can be executed by the processor, so that the processor executes the steps described in the above “exemplary method” section of this specification according to various exemplary embodiments of the present application.

[0179] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read only memory (ROM).

[0180] The storage may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include the implementation of a network environment.

[0181] The bus may represent one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0182] The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may communicate with one or more devices that enable a user to interact with the electronic device, and / or may communicate with any device (e.g., routers, modems, etc.) that enables the electronic device to communicate with one or more other computing devices. Such communication may be performed through an input / output (I / O) interface. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter. The network adapter communicates with other modules of the electronic device through a bus. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0183] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0184] An embodiment of the present invention further provides a computer program product, which includes program code. When the program product is run on an electronic device, the program code is used to enable the electronic device to execute the steps of the method according to various exemplary embodiments of the present invention described above in this specification.

[0185] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will also be appreciated by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. An aircraft information matching method, characterized in that: The method comprises the following steps: S100, determining the aircraft identification of each aircraft that is not bound to standard aircraft information from the current target area panoramic view of the target area, so as to obtain a first aircraft identification set A=(A1, A2, ..., A m ,…,A n ), m=1,2,…,n; where A m is the mth aircraft identifier that is not bound to standard aircraft information in the current target area panorama of the target area, and n is the number of aircraft identifiers that are not bound to standard aircraft information in the current target area panorama of the target area; S200, through the preset mapping algorithm, A m The corresponding aircraft image is mapped to a preset target area overhead view corresponding to the target area; wherein a plurality of reference points are set in the preset target area overhead view, and each reference point corresponds to a real position coordinate; S300, obtaining a coordinate system corresponding to the top view of the target area m The first reference point B that is closest to the central pixel point of the corresponding aircraft image in the top view of the target area m,1 location information, and m The pixel distance of the center pixel of the corresponding aircraft image in the top view of the target area is the second closest reference point B m,2 location information; S400, according to B m,1 With A m The pixel distance of the central pixel of the corresponding aircraft image, B m,2 With A m The pixel distance of the central pixel of the corresponding aircraft image and B m,1 and B m,2 The corresponding real position coordinates, determine A m The estimated position coordinates of the corresponding aircraft; to obtain the estimated position coordinate set WA=(WA1, WA2,…, WA m ,…,WA n ), among which, WA m A m The estimated position coordinates of the corresponding aircraft; S500, obtain the standard aircraft information list Wt=(Wt1, Wt2, …, Wt i ,…,Wt f(t) ), i=1,2,…f(t); where Wt i is the i-th standard aircraft information in the standard aircraft information list corresponding to t, f(t) is the number of standard aircraft information corresponding to t; Wt i Including the real position coordinates corresponding to the i-th aircraft; S600, Wt and WA m The standard aircraft information that meets the preset first matching condition and A m Binding is performed; Before step S100, the method further includes the following steps: S010, obtaining a plurality of aircraft identifications bound to standard aircraft information from the current target area panoramic view of the target area, so as to obtain a second aircraft identification set A'=(A'1, A'2, ..., A' m1 ,…,A' n1 ), m1=1,2,…,n1; where A' m1 is the m1th aircraft identifier bound to standard aircraft information in the current target area panorama of the target area, and n1 is the number of aircraft identifiers bound to standard aircraft information in the current target area panorama of the target area; S020, obtain the aircraft identification corresponding to each aircraft in a stationary state from A' and determine it as the stationary aircraft identification, so as to obtain the stationary aircraft identification set Z=(Z1, Z2, ..., Z j1 ,...,Z k1 ), j1=1,2,…,k1; where Z j1 is the j1th stationary aircraft identification in the target area data, k1 is the number of stationary aircraft identifications in Z; S030, Get Z j1 The sub-area data KZ corresponding to the sub-area where the corresponding aircraft is parked in the target area j1 ; Wherein, the sub-region is a region of preset size within the target region; S040, according to KZ j1 , determine KZ from the standard aircraft information list corresponding to the current time point t j1 Corresponding standard aircraft information; S050, if KZ j1 Corresponding standard aircraft information and Z j1 If the currently bound standard aircraft information does not meet the preset second matching condition, Z j1 Unbind the currently bound standard aircraft information; Between step S100 and step S200, the method further includes the following steps: S110, get A m The corresponding first flag bit is lab1_A m The state of lab1_A m For recording A m Whether the previously bound standard aircraft information has been unbound; S120, if lab1_A m The status is unbound, and A m The corresponding aircraft is in a stationary state, then obtain A m The sub-area data KA corresponding to the sub-area where the corresponding aircraft is parked in the target area m ; Otherwise, execute step S200; S130, according to KA m , determine KA from the standard aircraft information list corresponding to the current time point t m Corresponding standard aircraft information; S140, KA m Corresponding standard aircraft information and A m Bind.

2. The aircraft information matching method according to claim 1, wherein the real position coordinates include latitude and longitude, WA m Determine by following these steps: S410, obtain B m,1 With A m The first pixel distance d1 and B of the center pixel point of the corresponding aircraft m,2 With A m The second pixel distance d2 of the center pixel point of the corresponding aircraft; S420, determining a first weight α1=d2 / (d1+d2) and a second weight α2=d1 / (d1+d2) according to d1 and d2; S430, according to α1, α2, B m,1 The corresponding latitude latB m,1 and longitude lonB m,1 and B m,2 The corresponding latitude latB m,2 and longitude lonB m,2 , determine WA m =(latA m ,lonA m ), latA m =α1×latB m,1 +α2×latB m,2 ,lonA m =α1×lonB m,1 +α2×lonB m,2 ;in, latA m for WA m The corresponding latitude, lonA m for WA m The corresponding longitude.

3. The aircraft information matching method according to claim 2, characterized in that: Step S600 includes the following steps: S610, obtain Wt i The corresponding latitude latWt i and longitude lonWt i ; S620, if |latA m -latWt i |<η1 and |lonA m -lonWt i |<η2, then Wt i With A m Binding is performed; wherein η1 is a preset latitude difference threshold, and η2 is a preset longitude difference threshold.

4. The aircraft information matching method according to claim 1, characterized in that: A m The center pixel of the corresponding aircraft image is obtained by the following steps: S310, setting A in the target area panorama m The corresponding bounding box makes A m The corresponding aircraft image is in A m The corresponding bounding box; S320, obtaining A in the panoramic image of the target area m The corresponding center pixel of the bounding box QA m ; S330, through the preset perspective transformation matrix, QA m Map to the top view of the target area to obtain the QA m The corresponding mapping pixel point; S340, the target top view and QA m The corresponding mapping pixel point is taken as A m The center pixel of the corresponding aircraft image.

5. The aircraft information matching method according to claim 3, characterized in that: The value range of η1 is 0.0003-0.0005, and the value range of η2 is 0.0002-0.

004.

6. A non-transitory computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, characterized in that: The at least one instruction or the at least one program is loaded and executed by the processor to implement the aircraft information matching method according to any one of claims 1 to 5.

7. An electronic device, characterized in that: The invention comprises a processor and the non-transitory computer-readable storage medium as claimed in claim 6.

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