A method and system for spatial mapping of an area of interest for an airborne mission payload

Abstract

This application discloses a spatial mapping method and system for areas of interest in airborne mission payloads. First, the azimuth and pitch angles of multiple region contour markers are calculated using the aircraft's coordinates as the origin. Then, it is determined whether the aircraft is outside or inside the region. If the aircraft is outside the region, it is determined whether the region is concave. If so, the azimuth and pitch angles are calculated using a computer system based on the heading angle. Finally, the extreme values ​​of the aircraft system's azimuth and pitch angles are statistically analyzed to obtain the aircraft's azimuth and pitch sector ranges. This converts the geographically marked key areas into azimuth and pitch sector ranges relative to the aircraft system, enabling the airborne mission payload to adaptively control the airborne electromagnetic beam coverage of the region through spatial mapping. This allows for exceeding the target quantity limit without changing the airborne electronic system's hardware resources, transforming the electromagnetic beam from a single direction to a large-angle sector or even an omnidirectional airspace.

Description

Technical Field

[0001] This application relates to the field of electronic information technology, and more specifically, to a spatial mapping method and system for regions of interest in airborne mission payloads. Background Technology

[0002] Airborne mission payloads refer to the equipment mounted on unmanned aerial vehicles (UAVs) to complete missions, including equipment required for tasks such as transportation, such as signal transmitters and sensors. Airborne mission payloads are a crucial component of tactical unmanned reconnaissance aircraft, not only accounting for a significant proportion of the UAV's total weight but also representing a large portion of its cost. The rapid development of UAV mission payloads has greatly expanded the application areas of UAVs. Depending on their functions and types, UAVs possess different airborne mission payloads.

[0003] Most UAV onboard payloads need to be mounted on various platforms to allow for horizontal and vertical rotation, ensuring that the payload can fully perform its intended function. The functional characteristics of the UAV gimbal guarantee that the payload can perform effective operations during flight.

[0004] Airborne mission payloads should guide the antenna array to radiate electromagnetic beams according to the battlefield electromagnetic situation. Generally, they radiate electromagnetic beams one by one according to a predetermined wave position to scan targets, or they station the radiated electromagnetic beams according to the angle of arrival of the target. However, this results in low energy utilization and low probability of correct pointing of the beam. Summary of the Invention

[0005] The purpose of this application is to overcome the shortcomings of existing technologies and provide a spatial mapping method and system for airborne mission payloads of interest, which converts the key areas marked by the geographic system into the azimuth and pitch sector range relative to the carrier aircraft system, so that the airborne mission payload can adaptively control the airborne electromagnetic beam to cover the area through the spatial mapping relationship.

[0006] The objective of this application is achieved through the following technical solution:

[0007] Firstly, this application proposes a spatial mapping method for regions of interest in airborne mission payloads, the method comprising:

[0008] The azimuth and pitch angles of multiple region contour markers are calculated using the aircraft coordinate points as the origin.

[0009] The location of the aircraft, whether outside or inside the area, is determined based on the azimuth angle.

[0010] Determine whether the area is concave when the aircraft is outside the area;

[0011] When the area is concave or the aircraft is inside the area, the azimuth and pitch angles of the area outline marking points are combined with the azimuth and pitch angles of the heading angle computer system.

[0012] The azimuth and pitch angles of the aircraft system are calculated separately to obtain the azimuth sector range and pitch sector range of the carrier aircraft.

[0013] In one possible implementation, the step of calculating the azimuth and pitch angles of the region contour marking points using the aircraft coordinate points as the origin includes:

[0014] The coordinates of the carrier aircraft (X) o ,Y o Z o Using ) as the origin, the region outline is labeled with points (X). j ,Y j Z j The coordinate transformation is performed to obtain the azimuth angle α and the elevation angle β, where the region contour markers (X) are... j ,Y j Z j ) represents the coordinates of the outer contours of a set of multiple disconnected regions, labeled clockwise.

[0015] In one possible implementation, the step of determining whether the aircraft is outside or inside the area based on the azimuth angle includes:

[0016] Calculate the azimuth difference between every two adjacent region outline markers to obtain the set of azimuth difference values;

[0017] Convert the dominant angles in the azimuth difference set into minor angles, and sum all the minor angles to obtain the difference minor angle sum;

[0018] If the difference in minor angles equals 360 degrees, then the aircraft is determined to be outside the area.

[0019] If the difference in minor angles equals 0 degrees, then the aircraft is determined to be inside the area.

[0020] In one possible implementation, the step of determining whether the region is concave when the carrier is outside the region includes:

[0021] Select three adjacent contour markers in the region to form a sub-region;

[0022] Iterate through all sub-regions of the region and determine whether the carrier aircraft is inside a sub-region.

[0023] If the carrier aircraft is inside the sub-region, is the region concave?

[0024] In one possible implementation, the step of combining the azimuth and pitch angles of the region contour marker points with the azimuth and pitch angles of the heading angle computer system includes:

[0025] The azimuth and pitch angles of the region's outline markers are summed with the heading angle, and the coordinates of the aircraft are transformed to obtain the azimuth and pitch angles of the aircraft system.

[0026] Firstly, this application also proposes a spatial mapping system for regions of interest in airborne mission payloads, the system comprising:

[0027] The first calculation module is used to calculate the azimuth and pitch angles of multiple region contour markers using the aircraft coordinate points as the origin.

[0028] The carrier aircraft determination module is used to determine whether the carrier aircraft is outside or inside the area based on the azimuth angle.

[0029] The region determination module is used to determine whether the region is concave when the carrier is outside the region.

[0030] The second calculation module is used to calculate the azimuth and pitch angles of the region outline marking points in combination with the azimuth and pitch angles of the heading angle computer system when the region is a concave region or the aircraft is inside the region.

[0031] The generation module is used to calculate the azimuth and pitch sector ranges of the carrier aircraft by separately calculating the maximum values ​​of the azimuth and pitch angles of the aircraft system.

[0032] In one possible implementation, the first computing module is further configured to:

[0033] The coordinates of the carrier aircraft (X) o ,Y i Z i Using ) as the origin, the region outline is labeled with points (X). j ,Y j Z j The coordinate transformation is performed to obtain the azimuth angle α and the elevation angle β, where the region contour markers (X) are... j ,Y j Z j ) represents the coordinates of the outer contours of a set of multiple disconnected regions, labeled clockwise.

[0034] In one possible implementation, the carrier determination module is further configured to:

[0035] Calculate the azimuth difference between every two adjacent region outline markers to obtain the set of azimuth difference values;

[0036] Convert the dominant angles in the azimuth difference set into minor angles, and sum all the minor angles to obtain the difference minor angle sum;

[0037] If the difference in minor angles equals 360 degrees, then the aircraft is determined to be outside the area.

[0038] If the difference in minor angles equals 0 degrees, then the aircraft is determined to be inside the area.

[0039] In one possible implementation, the region determination module is further configured to:

[0040] Select three adjacent contour markers in the region to form a sub-region;

[0041] Iterate through all sub-regions of the region and determine whether the carrier aircraft is inside a sub-region.

[0042] If the carrier aircraft is inside the sub-region, is the region concave?

[0043] In one possible implementation, the second computing module is further configured to:

[0044] The azimuth and pitch angles of the region's outline markers are summed with the heading angle, and the coordinates of the aircraft are transformed to obtain the azimuth and pitch angles of the aircraft system.

[0045] The main solution and its various further alternatives described above can be freely combined to form multiple solutions, all of which are solutions that can be adopted and are claimed in this application; furthermore, the (non-conflicting alternatives) can also be freely combined with each other and with other alternatives. Those skilled in the art, after understanding the solution of this application, will realize from the prior art and common general knowledge that there are many combinations, all of which are technical solutions to be protected by this application, and will not be exhaustively listed here.

[0046] This application discloses a spatial mapping method and system for areas of interest in airborne mission payloads. First, the azimuth and pitch angles of multiple region contour markers are calculated using the aircraft's coordinates as the origin. Then, it is determined whether the aircraft is outside or inside the region. If the aircraft is outside the region, it is determined whether the region is concave. If so, the azimuth and pitch angles are calculated using a computer system based on the heading angle. Finally, the extreme values ​​of the aircraft system's azimuth and pitch angles are statistically analyzed to obtain the aircraft's azimuth and pitch sector ranges. This converts the geographically marked key areas into azimuth and pitch sector ranges relative to the aircraft system, enabling the airborne mission payload to adaptively control the airborne electromagnetic beam coverage of the region through spatial mapping. This allows for exceeding the target quantity limit without changing the airborne electronic system's hardware resources, transforming the electromagnetic beam from a single direction to a large-angle sector or even an omnidirectional airspace. Attached Figure Description

[0047] Figure 1 A schematic flowchart of the spatial mapping method for the region of interest of airborne mission payloads proposed in an embodiment of this application is shown.

[0048] Figure 2 A schematic diagram of the carrier coordinate system proposed in an embodiment of this application is shown.

[0049] Figure 3 This diagram illustrates the relative relationship between the carrier and the region in an embodiment of this application.

[0050] Figure 4 A schematic diagram of the carrier aircraft provided in the embodiment of this application being located in a concave region is shown.

[0051] Figure 5 This diagram illustrates the intersection and inclusion relationships of multiple regions as proposed in an embodiment of this application.

[0052] Figure 6 A schematic diagram showing the relative position of the convex non-overlapping key area and the carrier aircraft proposed in the embodiments of this application is shown.

[0053] Figure 7 A schematic diagram showing the relative position of the concave overlapping key area and the carrier aircraft proposed in the embodiments of this application is shown. Detailed Implementation

[0054] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0055] Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] In existing technologies, because airborne mission payloads can guide the antenna array to radiate electromagnetic beams according to the battlefield electromagnetic situation, they generally radiate electromagnetic beams one by one to scan targets according to predetermined wave positions, or station the radiated electromagnetic beams according to the angle of arrival of the target. However, this results in low energy utilization and low probability of correct pointing.

[0057] Therefore, in order to solve the above problems, this application proposes a spatial mapping method and system for the area of ​​interest of airborne mission payloads. The key area marked by the geographic system is converted into the azimuth and pitch sector range relative to the carrier aircraft system, so that the airborne mission payload can adaptively control the airborne electromagnetic beam to cover the area through the spatial mapping relationship, thereby improving energy utilization and correct pointing probability. The following is a detailed description of the method.

[0058] Please refer to Figure 1 , Figure 1 The flowchart of the spatial mapping method for the region of interest of airborne mission payloads proposed in this application is shown, which includes the following steps:

[0059] Step S1: Calculate the azimuth and pitch angles of multiple region contour marking points using the aircraft coordinate points as the origin.

[0060] Step S1 includes: setting the aircraft coordinates (X... o Y o Z o Using ) as the origin, the region outline is labeled with points (X). j Y j Z j The coordinate transformation is performed to obtain the azimuth angle α and the elevation angle β, where the region contour markers (X) are... j Y j Z j ) represents the coordinates of the outer contours of a set of multiple disconnected regions, labeled clockwise.

[0061] First, a key region is established in the aircraft coordinate system. This key region is a set of multiple disconnected regions {A}. N} = {A1, A2, A3, ..., A n}, (n≥1), where n is the number of regions. The outline markers are multiple geographic coordinate points within each region, arranged clockwise to mark the outer outline, denoted as A. i ={P1, P2, P3, ..., P m}, (1≤i≤n, m≥3), where m is the number of marked points. Each coordinate point contains three-dimensional parameters: longitude, latitude, and altitude, denoted as P. j =(X j Y j Z j ), (1≤j≤m), where Xj represents the longitude of the marked point, Yj represents the latitude of the marked point, and Zj represents the altitude of the marked point.

[0062] Set the coordinates of your own spatial position (aircraft coordinates) in the aircraft's attitude data to P. o =(X o Y o Z o (where Xo represents the aircraft's longitude, Yo represents its latitude, and Zo represents its altitude. Using the aircraft's coordinate point Po as the origin of the coordinate system, the region's outline is marked with points P.) j (1≤j≤m) After coordinate system transformation, the relative azimuth α and relative elevation β of the geographic system are calculated. Figure 2A schematic diagram of the aircraft coordinate system proposed in this application embodiment is shown. In this system, azimuth is defined as 0 degrees with true north (y-axis), clockwise is positive, and counterclockwise is negative; pitch is defined as 0 degrees with the horizontal plane, upward is positive, and downward is negative. Region A i Each labeled point P in (1≤i≤n) j (1≤j≤m) and Po are used to calculate an azimuth angle value α. j (1≤j≤m) and a pitch angle value β j (1≤j≤m), denoted as {α M}={α1,α2,α3,…,α m} and {β M}={β1,β2,β3,…,β m}

[0063] Step S2: Determine whether the aircraft is outside or inside the area based on the azimuth angle.

[0064] Step S2, determining whether the aircraft is outside or inside the area based on the azimuth angle, includes:

[0065] Calculate the azimuth difference between every two adjacent region outline markers to obtain the set of azimuth difference values;

[0066] Convert the dominant angles in the azimuth difference set into minor angles, and sum all the minor angles to obtain the difference minor angle sum;

[0067] If the difference in minor angles equals 360 degrees, then the aircraft is determined to be outside the area.

[0068] If the difference in minor angles equals 0 degrees, then the aircraft is determined to be inside the area.

[0069] In multiple regions A i In (1≤i≤n), calculate the azimuth difference between two adjacent marker points: {Δα} M}={(α2-α1), (α3-α2), (α4-α3),…, (α m -α m-1 ), (α1-α m If the azimuth difference is a minor angle, no conversion is needed. If the azimuth difference is a major angle, the following formula is used to convert it to a minor angle:

[0070]

[0071] After converting the dominant angle to the minor angle, summing all the minor angles yields the sum of the difference in minor angles, denoted as ∑{Δα}. M If 1∑{Δα} M If | equals 360 degrees, then the aircraft is within the region. MIf | equals 0 degrees, then the aircraft is outside the area. Please refer to [reference needed]. Figure 3 , Figure 3 This diagram illustrates the relative relationship between the carrier and the region in an embodiment of this application.

[0072] If the carrier is inside the area, skip step S3 and proceed directly to step S4. If the carrier is outside the area, step S3 must be executed to determine the area's concavity / convexity type.

[0073] Step S3: Determine whether the area is concave when the carrier is outside the area;

[0074] The steps for determining whether a region is concave when the carrier aircraft is outside the region include:

[0075] Select three adjacent contour markers in the region to form a sub-region;

[0076] Iterate through all sub-regions of the region and determine whether the carrier aircraft is inside a sub-region.

[0077] If the carrier aircraft is inside the sub-region, is the region concave?

[0078] With region A i (1≤i≤n) marked point P j In the region (1≤j≤m), 3 to (m-1) adjacent points form a polygonal subregion. Traverse each subregion and determine if the aircraft is inside it. If the aircraft is inside any subregion, then that region is concave, and the aircraft is inside the concave subregion. Figure 4 The diagram shows a carrier aircraft located in a concave region according to an embodiment of this application. If the carrier aircraft is outside all sub-regions, then the region is equivalent to a convex region for the carrier aircraft.

[0079] Step S4: When the area is a concave area or the aircraft is inside the area, combine the azimuth and pitch angles of the area contour marking points with the azimuth and pitch angles of the heading angle computer system.

[0080] The steps for obtaining the azimuth and pitch angles of the computer system based on the azimuth and pitch angles of the region contour marking points, combined with the heading angle, are as follows: sum the azimuth and pitch angles of the region contour marking points with the heading angle, and transform the body coordinate system to obtain the azimuth and pitch angles of the aircraft system.

[0081] The aircraft's attitude includes three-dimensional parameters: heading angle, roll angle, and pitch angle. In this application embodiment, the heading angle is introduced for aircraft system conversion. In addition, the roll angle and pitch angle must also be considered during the aircraft's maneuver.

[0082] The azimuth angle of the aircraft system is defined with the direction of the aircraft's nose as 0 degrees, clockwise is positive and counterclockwise is negative. The pitch angle of the aircraft system is defined with the wingspan plane as 0 degrees, upward is positive and downward is negative. Assuming the aircraft's level flight heading angle is θ, then the azimuth angle of the aircraft system is α′. j =α j -θ,(α j ∈{α M}), thus obtaining {α′ M}

[0083] Step S5: Calculate the maximum values ​​of the azimuth and pitch angles of the aircraft system to obtain the azimuth sector range and pitch sector range of the carrier aircraft.

[0084] In different region sets {A N In}, according to {A N For each region in the statistical system, the minimum and maximum values ​​of azimuth and elevation angles are obtained, thus deriving A. i The maximum and minimum azimuth values ​​of the region (1≤i≤n) are (minα′). i，max α′ i The maximum pitch value is (minβ) i ,maxβ i If the aircraft is inside the region, the maximum azimuth range is 360 degrees; if the aircraft is inside the concave sub-region of the concave region, the maximum azimuth range is the dominant angle; if the aircraft is outside the convex or equivalent convex region, the maximum azimuth range is the minor angle.

[0085] The maximum and minimum values ​​of multiple regions may have intersections or containment relationships. Figure 5 This diagram illustrates the intersection and inclusion relationships of multiple regions according to an embodiment of this application. Therefore, it is necessary to iterate through and compare the maximum and minimum values ​​of each region, calculate the union, and then calculate the total number of regions {A}. N The segmented extreme values ​​of} are used to obtain the azimuth sector range and the elevation sector range.

[0086] Assuming the airborne electromagnetic beam pitch width is greater than the azimuth width, the narrow beam azimuth dimension is prioritized, and the azimuth segment maximum value is calculated, denoted as: The corresponding wide-beam elevation dimension is calculated, and the piecewise maximum / minimum value is denoted as:

[0087] In one possible implementation, please refer to Figure 6 , Figure 6 The diagram illustrates the relative position of the convex non-overlapping key region and the carrier aircraft according to an embodiment of this application. The key region is defined as two unconnected quadrilateral convex regions A1 and A2. The geographic coordinates (longitude, latitude, and altitude) of the four vertices in regions A1 and A2 are measured. Please refer to Table 1.

[0088] Table 1

[0089]

[0090]

[0091] To set the spatial position Po coordinates (longitude, latitude, and altitude) and flight attitude (heading angle, roll angle, and pitch angle) in the aircraft attitude data, please refer to Table 2:

[0092] Table 2

[0093]

[0094] Next, the spatial mapping method for the region of interest of airborne mission payloads proposed in the embodiments of this application will be implemented:

[0095] Step S1: Calculate the azimuth and pitch angles of multiple region contour marking points using the aircraft coordinate points as the origin.

[0096] Using the aircraft coordinate point Po as the origin of the coordinate system, and after coordinate system transformation, the relative azimuth angle α and relative pitch angle β of the geographic system shown in Table 3 are calculated as follows:

[0097] Table 3

[0098]

[0099] Step S2: Determine whether the aircraft is outside or inside the area based on the azimuth angle.

[0100] Table 4 shows the azimuth difference and the sum of the minor angles between two adjacent points. The sum of the minor angles is 0, indicating that the aircraft is outside the area.

[0101] Table 4

[0102]

[0103]

[0104] Step S3: Determine whether the area is concave when the carrier is outside the area.

[0105] Table 5 shows that when three adjacent points form a triangular sub-region, the sum of the minor angles is 0, indicating that the aircraft is outside all sub-regions. In other words, the region is equivalent to a convex region for the aircraft.

[0106] Table 5

[0107]

[0108] Step S4: When the area is a concave area or the aircraft is inside the area, the azimuth and pitch angles of the area contour marking points are combined with the azimuth and pitch angles of the heading angle computer system.

[0109] Given that the aircraft's level flight heading angle is θ = 30°, Table 6 shows the aircraft's azimuth angle α′ and pitch angle β:

[0110] Table 6

[0111]

[0112] Step S5: Calculate the maximum values ​​of the azimuth and pitch angles of the aircraft system to obtain the azimuth sector range and pitch sector range of the carrier aircraft.

[0113] Table 7 shows the minimum and maximum azimuth and elevation angles for each region:

[0114] Table 7

[0115] <![CDATA[A1]]> 301.9° 333.3° ﹣4.2° ﹣2.7° <![CDATA[A2]]> 10.1° 27.6° ﹣3.2° ﹣2.7°

[0116] From Table 7, we can conclude that the maximum value of the azimuth segment is: α K = (10.1°, 27.6°) ∪ (301.9°, 333.3°), the piecewise maximum and minimum values ​​of the pitch angle are: β L = (-3.2°, -2.7°)∪(-4.2°, -2.7°), the above azimuth segment maximum and minimum values ​​are the azimuth sector range, and the elevation segment maximum and minimum values ​​are the elevation sector range.

[0117] In another possible embodiment, please refer to Figure 7 , Figure 7 This diagram illustrates the relative position of the concave overlapping key region and the carrier aircraft according to an embodiment of this application. The key region is defined as two unconnected regions A1 and A2, where A1 is a pentagonal concave region and A2 is a triangular convex region. Table 8 shows the vertex geographic coordinates of each region:

[0118] Table 8

[0119]

[0120] Table 9 shows the spatial position Po coordinates and flight attitude in the aircraft's attitude data:

[0121]

[0122] Next, the spatial mapping method for the region of interest of airborne mission payloads proposed in the embodiments of this application will be implemented:

[0123] Step S1: Calculate the azimuth and pitch angles of multiple region contour marking points using the aircraft coordinate points as the origin.

[0124] With the aircraft Po as the origin of the coordinate system, Table 10 shows the relative azimuth angle α and relative pitch angle β of the geographic system at the regional apex:

[0125] Table 10

[0126]

[0127] Step S2: Determine whether the aircraft is outside or inside the area based on the azimuth angle.

[0128] Table 11 shows the azimuth difference between two adjacent points and the sum of the inferior angles. If the sum of the inferior angles is 0, the aircraft is outside the area.

[0129] Table 11

[0130]

[0131] Step S3: Determine whether the area is concave when the carrier is outside the area;

[0132] Table 12 shows that three adjacent points constitute a sub-region, and the carrier is located inside the concave region A1, which is recessed into the sub-regions P3P4P5.

[0133] Table 12

[0134]

[0135] Step S4: When the area is a concave area or the aircraft is inside the area, the azimuth and pitch angles of the area contour marking points are combined with the azimuth and pitch angles of the heading angle computer system.

[0136] The aircraft's level flight heading angle is θ = -30°. Table 13 shows the aircraft's azimuth angle α′ and pitch angle β:

[0137] Table 13

[0138]

[0139] Step S5: Calculate the maximum values ​​of the azimuth and pitch angles of the aircraft system to obtain the azimuth sector range and pitch sector range of the carrier aircraft.

[0140] Table 14 shows the minimum and maximum azimuth and elevation angles for each region:

[0141] Table 14

[0142]

[0143]

[0144] The piecewise maximum value of the azimuth angle is: α K= (-138.9°, 123°).

[0145] The maximum value of the pitch angle segment is: β L = (-3.4°, -1.8°).

[0146] Therefore, this application discloses a spatial mapping method for the area of ​​interest of an airborne mission payload, which can convert the key area marked by the geographic system into the azimuth and pitch sector range relative to the carrier aircraft system. In this way, the airborne mission payload can adaptively control the airborne electromagnetic beam to cover the area through this spatial mapping relationship. Under the condition that the installed hardware resources of the airborne electronic system remain unchanged, it can break through the upper limit of the number of targets and change the electromagnetic beam from a single direction to a large angle sector or even an omnidirectional airspace.

[0147] The following provides a possible implementation of a spatial mapping system for regions of interest of airborne mission payloads, which is used to perform the various execution steps and corresponding technical effects of the spatial mapping method for regions of interest of airborne mission payloads shown in the above embodiments and possible implementations. The system includes:

[0148] The first calculation module is used to calculate the azimuth and pitch angles of multiple region contour markers using the aircraft coordinate points as the origin.

[0149] The carrier aircraft determination module is used to determine whether the carrier aircraft is outside or inside the area based on the azimuth angle;

[0150] The region determination module is used to determine whether the region is concave when the carrier is outside the region.

[0151] The second calculation module is used to calculate the azimuth and pitch angles of the region outline marking points in combination with the azimuth and pitch angles of the heading angle computer system when the region is a concave region or the aircraft is inside the region.

[0152] The generation module is used to calculate the azimuth and pitch sector ranges of the carrier aircraft by separately calculating the maximum values ​​of the azimuth and pitch angles of the aircraft system.

[0153] In one possible implementation, the first computing module is further configured to:

[0154] The coordinates of the carrier aircraft (X) o ,Y o Z o Using ) as the origin, the region outline is labeled with points (X). j ,Y j Z j The coordinate transformation is performed to obtain the azimuth angle α and the elevation angle β, where the region contour markers (X) are... j ,Y j Z j) represents the coordinates of the outer contours of a set of multiple disconnected regions, labeled clockwise.

[0155] In one possible implementation, the carrier determination module is further configured to:

[0156] Calculate the azimuth difference between every two adjacent region outline markers to obtain the set of azimuth difference values;

[0157] Convert the dominant angles in the azimuth difference set into minor angles, and sum all the minor angles to obtain the difference minor angle sum;

[0158] If the difference in minor angles equals 360 degrees, then the aircraft is determined to be outside the area.

[0159] If the difference in minor angles equals 0 degrees, then the aircraft is determined to be inside the area.

[0160] In one possible implementation, the region determination module is further configured to:

[0161] Select three adjacent contour markers in the region to form a sub-region;

[0162] Iterate through all sub-regions of the region and determine whether the carrier aircraft is inside a sub-region.

[0163] If the carrier aircraft is inside the sub-region, is the region concave?

[0164] In one possible implementation, the second computing module is further configured to:

[0165] The azimuth and pitch angles of the region's outline markers are summed with the heading angle, and the coordinates of the aircraft are transformed to obtain the azimuth and pitch angles of the aircraft system.

[0166] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for spatial mapping of an area of interest for an airborne mission payload, characterized in that, The method includes: The azimuth and pitch angles of multiple region contour markers are calculated using the aircraft coordinate points as the origin. The location of the aircraft, whether outside or inside the area, is determined based on the azimuth angle. The steps for determining whether the aircraft is outside or inside the area based on the azimuth angle include: Calculate the azimuth difference between every two adjacent region outline markers to obtain the set of azimuth difference values; Convert the dominant angles in the azimuth difference set into minor angles, and sum all the minor angles to obtain the difference minor angle sum; If the difference in minor angles equals 360 degrees, then the aircraft is determined to be inside the area. If the difference in minor angles equals 0 degrees, then the aircraft is determined to be outside the area. Determine whether the area is concave when the aircraft is outside the area; The steps for determining whether a region is concave when the carrier aircraft is outside the region include: Select three adjacent contour markers in the region to form a sub-region; Iterate through all sub-regions of the region and determine whether the carrier aircraft is inside a sub-region. If the carrier aircraft is inside the sub-region, then the region is a concave region; When the area is concave or the aircraft is inside the area, the azimuth and pitch angles of the area outline marking points are combined with the azimuth and pitch angles of the heading angle computer system. The azimuth and pitch angles of the aircraft system are calculated separately to obtain the azimuth sector range and pitch sector range of the carrier aircraft. In different area sets , according to , the azimuth minimum and maximum values of each area are counted, and the azimuth minimum and maximum values of the area are obtained ; the minimum and maximum values of the azimuth are , and the minimum and maximum values of the pitch are ; wherein if the carrier is inside the area, the minimum and maximum values of the azimuth range are 360 degrees; if the carrier is inside the concave sub-area of the concave area, the minimum and maximum values of the azimuth range are the superior angle; if the carrier is outside the convex or equivalent convex area, the minimum and maximum values of the azimuth range are the inferior angle. The maximum value of each region is compared, and the union set is calculated to obtain the segmented maximum value of all regions , and the azimuth sector range and the pitch sector range are obtained.

2. The spatial mapping method of claim 1, wherein, The steps for calculating the azimuth and pitch angles of the region contour markers using the aircraft coordinate points as the origin include: The carrier coordinate point As the origin, mark the region contour points Carry out coordinate conversion to obtain the azimuth angle And the pitch angle Where the region contour points Are the coordinate points of the outer contour marked clockwise in the set of multiple unconnected regions.

3. The spatial mapping method as described in claim 1, characterized in that, The steps for combining the azimuth and pitch angles of the area contour markers with the heading angles of the computer system include: The azimuth and pitch angles of the region's outline markers are summed with the heading angle, and the coordinates of the aircraft are transformed to obtain the azimuth and pitch angles of the aircraft system.

4. A spatial mapping system for regions of interest in airborne mission payloads, characterized in that, The system includes: The first calculation module is used to calculate the azimuth and pitch angles of multiple region contour markers using the aircraft coordinate points as the origin. The carrier aircraft determination module is used to determine whether the carrier aircraft is outside or inside the area based on the azimuth angle. The carrier judgment module is also used to: calculate the azimuth difference between every two adjacent area contour marking points to obtain the azimuth difference value set; Convert the dominant angles in the azimuth difference set into minor angles, and sum all the minor angles to obtain the difference minor angle sum; If the difference in minor angles equals 360 degrees, then the aircraft is determined to be inside the area. If the difference in minor angles equals 0 degrees, then the aircraft is determined to be outside the area. The region determination module is used to determine whether the region is concave when the carrier is outside the region. The region determination module is also used to: select three adjacent contour annotation points in a region to form a sub-region; Iterate through all sub-regions of the region and determine whether the carrier aircraft is inside a sub-region. If the carrier aircraft is inside the sub-region, then the region is a concave region; The second calculation module is used to calculate the azimuth and pitch angles of the region outline marking points in combination with the azimuth and pitch angles of the heading angle computer system when the region is a concave region or the aircraft is inside the region. The generation module is used to calculate the extreme values ​​of the azimuth and pitch angles of the aircraft system, and then aggregate them in different regions to obtain the azimuth and pitch sector ranges of the carrier aircraft. In China, according to For each region, the minimum and maximum values ​​of the azimuth and elevation angles of the statistical system are obtained. The maximum value of the orientation of the region is The maximum value of pitch If the aircraft is inside the region, the maximum azimuth range is 360 degrees; if the aircraft is inside the concave sub-region of the concave region, the maximum azimuth range is the dominant angle; if the aircraft is outside the convex or equivalent convex region, the maximum azimuth range is the subdominant angle. By iterating through and comparing the maximum and minimum values ​​of each region, and taking the union of the results, all regions can be calculated. The segmented maximum and minimum values ​​are used to obtain the azimuth sector range and the elevation sector range.

5. The spatial mapping system as described in claim 4, characterized in that, The first calculation module is also used for: Aircraft coordinates As the origin, the region outline is marked with points. Perform coordinate transformation to obtain the azimuth angle and pitch angle Among them, the region outline marking points To label the coordinates of the outer contour of a set of multiple disconnected regions in a clockwise direction.

6. The spatial mapping system as described in claim 4, characterized in that, The second calculation module is also used for: The azimuth and pitch angles of the region's outline markers are summed with the heading angle, and the coordinates of the aircraft are transformed to obtain the azimuth and pitch angles of the aircraft system.

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