Ground clothing support vehicle running track determination method and device, electronic equipment and medium

Abstract

The invention provides a method and a device for determining a running track of a ground clothing support vehicle, electronic equipment and a medium, and the method comprises the following steps: determining the running track of the ground clothing support vehicle according to the position information of a current satellite positioning point, the position information of the last historical satellite positioning point and the target probability on each station road; a target station level road where the current satellite positioning point is located and a target station level road where the last historical satellite positioning point is located are determined from all station level roads; according to an initial station level road where a previous historical satellite positioning point corresponding to the current traversal historical satellite positioning point is located when the current traversal historical satellite positioning point is located on each station level road, and a target station level road where the current traversal historical satellite positioning point is located; determining a target station level road where a previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located; and generating a running track of the ground clothing guarantee vehicle based on the target station road where each satellite positioning point is located. According to the method, the accurate ground clothing guarantee vehicle running track can be generated, and extreme errors are avoided.

Description

Technical Field

[0001] The present invention relates to the field of airport operation control, and in particular to a method, device, electronic equipment and medium for determining the operation trajectory of a ground service support vehicle. Background Art

[0002] The apron usually refers to the parking area related to airports and airlines, which is mainly set up to meet the needs of crew members, maintenance personnel, related service personnel and passengers. The matching of ground service support vehicle operation trajectory and apron road refers to the association between the route formed by the position passed by the support vehicle from the start of the mission to the current moment and the apron road, which is used to accurately indicate the current position of the vehicle on the road and the route it has passed. The conventional method of matching the operation trajectory of the support vehicle with the apron road is to connect the satellite positioning points that have been corrected to a certain extent in chronological order and display them in the apron road network to obtain the operation trajectory of the ground service support vehicle.

[0003] However, due to the obstruction and reflection of satellite signals by buildings such as airport terminals and jet bridges, there are large errors in the satellite positioning data of the support vehicles, resulting in inaccurate operation trajectories of ground service support vehicles, and even extreme errors such as the operation trajectories of support vehicles crossing terminals or aircraft. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a method, device, electronic device and medium for determining the operating trajectory of a ground service support vehicle, which can associate the current satellite positioning point with the last historical satellite positioning point to determine the target apron road where the current satellite positioning point is located, and determine the target apron road based on each historical satellite positioning point for the target apron road of the previous historical satellite positioning point, thereby solving the problem of inaccurate operating trajectory of ground service support vehicles generated due to large errors in satellite positioning data, and avoiding extreme errors such as the operating trajectory of the support vehicle crossing the terminal or crossing the aircraft.

[0005] In a first aspect, an embodiment of the present application provides a method for determining a running trajectory of a ground service support vehicle, the method comprising:

[0006] Obtain the location information of the current satellite positioning point of the ground service support vehicle, the initial apron road where the previous historical satellite positioning point corresponding to each historical satellite positioning point other than the first historical satellite positioning point is located on each apron road, and the location information of the last historical satellite positioning point and the target probability on each apron road;

[0007] According to the location information of the current satellite positioning point, the location information of the last historical satellite positioning point and the target probability on each apron road, the target apron road where the current satellite positioning point is located and the target apron road where the last historical satellite positioning point is located are determined from all apron roads;

[0008] Traverse all historical satellite positioning points except the first historical satellite positioning point in order of positioning time from the last to the first, and determine the target apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located according to the initial apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located and the target apron road where the currently traversed historical satellite positioning point is located;

[0009] The target apron road where the current satellite positioning point is located and the target apron road where each of the historical satellite positioning points is located are sorted in order from the previous positioning time to obtain the operation track of the ground service support vehicle.

[0010] In a possible implementation, according to the location information of the current satellite positioning point, the location information of the last historical satellite positioning point, and the target probability on each apron road, determining the target apron road where the current satellite positioning point is located and the target apron road where the last historical satellite positioning point is located from all apron roads includes:

[0011] Calculate the first probability of the current satellite positioning point on each apron road;

[0012] According to the position information of the current satellite positioning point and the position information of the last historical satellite positioning point, a second probability of transferring from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road is calculated;

[0013] According to the target probability of the last historical satellite positioning point on each apron road, the first probability of the current satellite positioning point on each apron road, and the second probability of the last historical satellite positioning point on each apron road and the current satellite positioning point on each apron road, the third probability of the last historical satellite positioning point on each apron road and the current satellite positioning point on each apron road is calculated;

[0014] The apron road where the current satellite positioning point with the third largest probability is located is determined as the target apron road where the current satellite positioning point is located;

[0015] The apron road where the last historical satellite positioning point with the third largest calculated probability is located is used as the target apron road where the last historical satellite positioning point is located.

[0016] In a possible implementation, based on the position information of the current satellite positioning point and the position information of the last historical satellite positioning point, calculating the second probability of transferring from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road includes:

[0017] According to the location information of the current satellite positioning point and the location information of the last historical satellite positioning point, the distance difference probability, direction angle probability and speed limit probability from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road are calculated respectively;

[0018] Based on the distance difference probability, direction angle probability and speed limit probability of the transfer from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road, the second probability of the transfer from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road is calculated.

[0019] In a possible implementation, the method further includes:

[0020] For each apron road, the maximum third probability of the transfer from the last historical satellite positioning point on each apron road to the current satellite positioning point on the apron road is determined as the target probability of the current satellite positioning point on the apron road;

[0021] The apron road where the last historical satellite positioning point corresponding to the largest third probability is located among all third probabilities transferred from the last historical satellite positioning point on each apron road to the current satellite positioning point on the apron road is determined as the initial apron road where the previous historical satellite positioning point corresponding to the current satellite positioning point is located when the apron road is located.

[0022] In a possible implementation, determining the target apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located, based on the initial apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located when the historical satellite positioning point is on each apron road, includes:

[0023] The initial apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located when it is on the target apron road is determined as the target apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located.

[0024] In a possible implementation, the method further includes:

[0025] Obtain the planned path of the ground service vehicle;

[0026] If the running track of the ground service support vehicle is included in the planned path, the ground service support vehicle has not deviated;

[0027] If the running trajectory of the ground service support vehicle is not included in the planned path, the ground service support vehicle will deviate and issue a deviation warning.

[0028] In a possible implementation, obtaining a planned path of a ground service support vehicle includes:

[0029] Get the task start node and task end node of the current task of the ground service support vehicle in the apron, as well as the weights of all apron roads in the apron; any two nodes in the apron form an apron road, and the two nodes that form each apron road are the endpoints of each apron road;

[0030] The apron road with the mission start node and mission end node as endpoints is determined as the initial planning path for the ground service support vehicle;

[0031] According to the weights of all apron roads in all aprons, the initial planned path is refined to obtain the target planned path of the ground service support vehicle.

[0032] In a second aspect, an embodiment of the present application further provides a device for determining a running trajectory of a ground service support vehicle, the device comprising:

[0033] An acquisition module is used to obtain the location information of the current satellite positioning point of the ground service support vehicle, the initial apron road where the previous historical satellite positioning point corresponding to each historical satellite positioning point other than the first historical satellite positioning point is located on each apron road, and the location information of the last historical satellite positioning point and the target probability on each apron road;

[0034] A determination module is used to determine the target apron road where the current satellite positioning point is located and the target apron road where the last historical satellite positioning point is located from all apron roads according to the location information of the current satellite positioning point, the location information of the last historical satellite positioning point and the target probability on each apron road;

[0035] The determination module is further used to traverse each historical satellite positioning point except the first historical satellite positioning point in the order of positioning time from the back to the front, and determine the target apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located according to the initial apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located when the historical satellite positioning point is on each apron road and the target apron road where the currently traversed historical satellite positioning point is located;

[0036] The sorting module is used to sort the target apron road where the current satellite positioning point is located and the target apron road where each historical satellite positioning point is located in the order of positioning time from the front to the back, so as to obtain the operation track of the ground service support vehicle.

[0037] In the third aspect, an embodiment of the present application also provides an electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, when the electronic device is running, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to perform the steps of the method for determining the running trajectory of a ground service guarantee vehicle as described in any one of the first aspects.

[0038] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for determining the running trajectory of a ground service support vehicle as described in any one of the first aspects are executed.

[0039] An embodiment of the present application provides a method, device, electronic device and medium for determining the running trajectory of a ground service support vehicle. The method includes: determining the target apron road where the current satellite positioning point is located and the target apron road where the last historical satellite positioning point is located from all apron roads according to the position information of the current satellite positioning point, the position information of the last historical satellite positioning point and the target probability on each apron road; traversing each historical satellite positioning point except the first historical satellite positioning point in order from back to front in positioning time, and determining the target apron road where the last historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located according to the initial apron road where the last historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located when on each apron road and the target apron road where the currently traversed historical satellite positioning point is located; and sorting the target apron road where the current satellite positioning point is located and the target apron road where each historical satellite positioning point is located in order from front to back in positioning time to obtain the running trajectory of the ground service support vehicle. The present application can associate the current satellite positioning point with the last historical satellite positioning point to determine the target apron road where the current satellite positioning point is located, and determine the target apron road of the previous historical satellite positioning point based on the target apron road of each historical satellite positioning point, thereby solving the problem of inaccurate operation trajectory of ground service support vehicles generated due to large errors in satellite positioning data, and avoiding extreme errors such as the operation trajectory of the support vehicle crossing the terminal or crossing the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 A flow chart of a method for determining a running trajectory of a ground service support vehicle provided in an embodiment of the present application is shown;

[0042] Figure 2 The station road network structure diagram of the U-shaped slot bridge platform provided in the embodiment of the present application is shown;

[0043] Figure 3 A flowchart of another method for determining the running trajectory of a ground service support vehicle provided in an embodiment of the present application is shown;

[0044] Figure 4 A schematic diagram of the structure of a device for determining the running trajectory of a ground service support vehicle provided in an embodiment of the present application is shown;

[0045] Figure 5 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0046] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0047] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0048] In order to enable those skilled in the art to use the content of this application, the following implementation is provided in conjunction with a specific application scenario "field of airport operation control". For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application. Although this application is mainly described around the "field of airport operation control", it should be understood that this is only an exemplary embodiment.

[0049] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0050] The following is a detailed description of a method for determining the running trajectory of a ground service support vehicle provided in an embodiment of the present application.

[0051] Reference Figure 1 As shown, it is a flow chart of a method for determining the running trajectory of a ground service support vehicle provided in an embodiment of the present application. The specific execution process of the method for determining the running trajectory of a ground service support vehicle is as follows:

[0052] S101. Obtain the location information of the current satellite positioning point of the ground service support vehicle, the initial apron road where the previous historical satellite positioning point corresponding to each historical satellite positioning point except the first historical satellite positioning point was located on each apron road, and the location information of the last historical satellite positioning point and the target probability on each apron road.

[0053] In the implementation mode of the present application, GIS data in the Shapefile file format containing the geometric shape information, index information and attribute information of geographic elements is exported in advance from the airport geographic information modeling system to construct a directed graph of the apron road structure, such as Figure 2 As shown in the figure, it is a station apron road network structure diagram of the U-shaped slot corridor bridge provided in the embodiment of the present application; the station apron road network structure includes multiple station apron nodes {v1, v2, v3, v4, v5, ..., v i ,...,v n}, and the apron road composed of any two nodes {e1, e2, e3, e4, ..., e i ,...,e n}; Among them, the two nodes that make up each apron road are the endpoints of each apron road.

[0054] Specifically, the location information of the current satellite positioning point of the ground service support vehicle (consisting of longitude and latitude), the initial apron road where the previous historical satellite positioning point corresponding to each historical satellite positioning point except the first historical satellite positioning point when the ground service support vehicle performs the current mission is obtained, as well as the location information of the last historical satellite positioning point and the target probability on each apron road.

[0055] The location information of the historical satellite positioning point and the location information of the current satellite positioning point are both obtained by satellite positioning. The initial apron road is the only apron road determined from all apron roads. The target probability of the last historical satellite positioning point on each apron road refers to the maximum probability of the last historical satellite positioning point on each apron road. The greater the target probability, the greater the possibility that the last historical satellite positioning point is on each apron road.

[0056] In the scenario example, all historical satellite positioning points are historical satellite positioning point a, historical satellite positioning point b, and historical satellite positioning point c in the order of positioning time from the earliest to the latest, and the apron roads include apron road 1 and apron road 2.

[0057] Taking the above scenario as an example, the historical satellite positioning points of the ground service support vehicle except the first historical satellite positioning point correspond to the initial apron road where the previous historical satellite positioning point is located when they are on each apron road, including: the initial apron road where the previous historical satellite positioning point a is located when the historical satellite positioning point b is on apron road 1, the initial apron road where the previous historical satellite positioning point a is located when the historical satellite positioning point b is on apron road 2, the initial apron road where the previous historical satellite positioning point b is located when the historical satellite positioning point c is on apron road 1, and the initial apron road where the previous historical satellite positioning point b is located when the historical satellite positioning point c is on apron road 2.

[0058] Taking the above scenario as an example, the location information of the last historical satellite positioning point and the target probability on each apron road include: the location information of historical satellite positioning point c, the target probability of historical satellite positioning point c on apron road 1, and the target probability of historical satellite positioning point c on apron road 2.

[0059] Furthermore, the embodiment of the present application uses normal distribution to distribute all satellite positioning points {q1, q2, ..., q t} to express:

[0060] Among them, q t is the current satellite positioning point (also the t-th satellite positioning point), q1 is the first historical satellite positioning point, q2 is the second historical satellite positioning point, f(qt ; μ, σ 2 ) is the probability density function of the normal distribution, μ is the standard deviation of the position information of all satellite positioning points (the current satellite positioning point and all historical satellite positioning points) of the ground service support vehicle, and σ is the average value of the position information of all satellite positioning points (the current satellite positioning point and all historical satellite positioning points) of the ground service support vehicle.

[0061] S102. Determine the target apron road where the current satellite positioning point is located and the target apron road where the last historical satellite positioning point is located from all apron roads based on the location information of the current satellite positioning point, the location information of the last historical satellite positioning point and the target probability on each apron road.

[0062] In the implementation manner of the present application, the target apron road where the current satellite positioning point is located is the target apron road of the current satellite positioning point in the ground service support vehicle's operating trajectory; the target apron road where the last historical satellite positioning point is located is the target apron road of the last historical satellite positioning point in the ground service support vehicle's operating trajectory.

[0063] Specifically, the target apron road where the current satellite positioning point is located and the target apron road where the last historical satellite positioning point is located are determined from all apron roads through the following steps:

[0064] Step 1: Calculate the first probability of the current satellite positioning point on each apron road.

[0065] The first probability of the current satellite positioning point on each apron road is calculated by the following formula;

[0066]

[0067] Among them, P(q t ∣r t ) is the current satellite positioning point q t On the i-th apron road r i The first probability of σ is the standard deviation of the position information of all satellite positioning points (current satellite positioning point and all historical satellite positioning points) of the ground service support vehicle, d t,i is the current satellite positioning point q t Road to the station i The minimum distance (which can be calculated using point projection method and Haversine algorithm), u is the average value of the position information of all satellite positioning points (current satellite positioning point and all historical satellite positioning points) of the ground service support vehicle.

[0068] Step 2: Calculate the second probability of transferring from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road based on the position information of the current satellite positioning point and the position information of the last historical satellite positioning point.

[0069] In an embodiment of the present application, the second probability includes a distance difference probability, a direction angle probability and a speed limit probability; wherein the distance difference probability combines the difference between the first distance between the last historical satellite positioning point and the current satellite positioning point and the second distance between each apron road where the last historical satellite positioning point is located and each apron road where the current satellite positioning point is located; the direction angle probability combines the angle between the projection point of the last historical satellite positioning point on each apron road and the projection point of the current satellite positioning point on each apron road; the speed limit probability combines the speed limit of the current satellite positioning point on each apron road.

[0070] Taking the above scenario as an example, the second probability of transferring from the last historical satellite positioning point on each apron road to the current satellite positioning point on each apron road includes: the second probability of transferring from the historical satellite positioning point c on apron road 1 to the current satellite positioning point on apron road 1, the second probability of transferring from the historical satellite positioning point c on apron road 2 to the current satellite positioning point on apron road 1, the second probability of transferring from the historical satellite positioning point c on apron road 1 to the current satellite positioning point on apron road 2, and the second probability of transferring from the historical satellite positioning point c on apron road 2 to the current satellite positioning point on apron road 2.

[0071] Furthermore, the second probability of transferring from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road is calculated by the following steps:

[0072] a. Based on the location information of the current satellite positioning point and the location information of the last historical satellite positioning point, the distance difference probability, direction angle probability and speed limit probability of the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road are calculated respectively.

[0073] The following steps are used to calculate the distance difference probability from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road:

[0074]

[0075] d t =||q t-1 -q t || great_circle -||r j -r i || route ;

[0076]

[0077] Among them, p(d t ) refers to the time from the last historical satellite positioning point q t-1 Transfer to the current satellite positioning point q at each station road t The distance difference probability at each station road, d t The last historical satellite positioning point q t-1 and the current satellite positioning point q t The first distance between ||q t-1 -q t || great_circle With the last historical satellite positioning point q t-1 The jth apron road r j With the current satellite positioning point q t The i-th apron road r i The second distance between ||r j -r i || route The difference between the two, R is the radius of the earth, x t-1 The last historical satellite positioning point q t-1 The longitude in the location information, x t is the current satellite positioning point q t The longitude in the location information, y t-1 The last historical satellite positioning point q t-1 The latitude in the location information, y t is the current satellite positioning point q t The latitude in the location information, median t (D t ) is the median of all differences between the first distance between the last historical satellite positioning point and the current satellite positioning point and the second distance between each apron road where the last historical satellite positioning point is located and each apron road where the current satellite positioning point is located.

[0078] Taking the above scenario as an example, the difference between the first distance between the last historical satellite positioning point c and the current satellite positioning point and the second distance between the apron road 1 where the last historical satellite positioning point c is located and the apron road 1 where the current satellite positioning point is located is d1, the difference between the first distance between the last historical satellite positioning point c and the current satellite positioning point and the second distance between the apron road 1 where the last historical satellite positioning point c is located and the apron road 2 where the current satellite positioning point is located is d2, the difference between the first distance between the last historical satellite positioning point c and the current satellite positioning point and the second distance between the apron road 2 where the last historical satellite positioning point c is located and the apron road 1 where the current satellite positioning point is located is d3, the difference between the first distance between the last historical satellite positioning point c and the current satellite positioning point and the second distance between the apron road 2 where the last historical satellite positioning point c is located and the apron road 2 where the current satellite positioning point is located is d4, and the median of d1, d2, d3, and d4 is taken as the median t (D t ).

[0079] The probability of the direction angle from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road is calculated by the following formula:

[0080]

[0081] Among them, p(θ t ) is the position from the last historical satellite positioning point q t-1 Transfer to the current satellite positioning point q at the jth station road t The probability of the direction angle at the i-th apron road, θ t The last historical satellite positioning point q t-1 Transfer to the current satellite positioning point q at the jth station road t The direction angle on the i-th apron road.

[0082] The speed limit probability of transferring from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road is calculated by the following formula:

[0083]

[0084] Among them, p(v t ) is the position from the last historical satellite positioning point q t-1 Transfer to the current satellite positioning point q at the jth station road t The speed limit probability at the i-th station road, T t is the current satellite positioning point q t Positioning time, T t-1The last historical satellite positioning point q t-1 Positioning time, SL t is the current satellite positioning point q t The speed limit on the i-th apron road.

[0085] b. Calculate the second probability of transferring from the last historical satellite positioning point on each apron road to the current satellite positioning point on each apron road based on the distance difference probability, direction angle probability and speed limit probability from the last historical satellite positioning point on each apron road to the current satellite positioning point on each apron road.

[0086] In the implementation mode of the present application, the distance difference probability, direction angle probability and speed limit probability from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road are further weighted and summed to obtain the second probability from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road. The sum of the weight corresponding to the distance difference probability, the weight corresponding to the direction angle probability and the weight corresponding to the speed limit probability is 1.

[0087] Step 3. Calculate the third probability of transferring from the last historical satellite positioning point on each apron road to the current satellite positioning point on each apron road based on the target probability of the last historical satellite positioning point on each apron road, the first probability of the current satellite positioning point on each apron road, and the second probability of transferring from the last historical satellite positioning point on each apron road to the current satellite positioning point on each apron road.

[0088] The third probability of transferring from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road is calculated by the following formula:

[0089] p i,j =p0 j ×p1 i ×p2 i,j ;

[0090] Among them, p i,j is the third probability of transferring from the last historical satellite positioning point at the jth apron road to the current satellite positioning point at the i-th apron road, p0 j is the target probability of the last historical satellite positioning point on the jth apron road, p1 i is the first probability of the current satellite positioning point on the i-th apron road, p2 i,j is the second probability of transferring from the last historical satellite positioning point at the jth apron road to the current satellite positioning point at the ith apron road.

[0091] Step 4: Determine the apron road where the current satellite positioning point with the third largest calculated probability is located as the target apron road where the current satellite positioning point is located.

[0092] In the implementation manner of the present application, the greater the third probability of transferring from the apron road where the last historical satellite positioning point is located to the apron road where the current satellite positioning point is located, the greater the possibility of transferring from the apron road where the last historical satellite positioning point is located to the apron road where the current satellite positioning point is located. Therefore, the apron road where the current satellite positioning point with the highest third probability is located is determined as the target apron road where the current satellite positioning point is located.

[0093] Step 5: The apron road where the last historical satellite positioning point with the third highest calculated probability is located is used as the target apron road where the last historical satellite positioning point is located.

[0094] In the implementation manner of the present application, the greater the third probability of transferring from the apron road where the last historical satellite positioning point is located to the apron road where the current satellite positioning point is located, the greater the possibility of transferring from the apron road where the last historical satellite positioning point is located to the apron road where the current satellite positioning point is located. Therefore, the apron road where the last historical satellite positioning point with the highest third probability is located is used as the target apron road where the last historical satellite positioning point is located.

[0095] Furthermore, the method also includes: for each apron road, determining the maximum third probability of transferring from the last historical satellite positioning point on each apron road to the current satellite positioning point on the apron road as the target probability of the current satellite positioning point on the apron road; and determining the apron road where the last historical satellite positioning point corresponding to the maximum third probability is located among all third probabilities of transferring from the last historical satellite positioning point on each apron road to the current satellite positioning point on the apron road as the initial apron road where the previous historical satellite positioning point corresponding to the current satellite positioning point on the apron road is located.

[0096] Here, after determining the target probability of the current satellite positioning point on the apron road and the initial apron road where the previous historical satellite positioning point corresponding to the current satellite positioning point is located when the current satellite positioning point is on the apron road, they are saved so that when a new satellite positioning point is received, the current satellite positioning point will be used as the last historical satellite positioning point to continue to determine the operating trajectory of the ground service support vehicle.

[0097] S103. Traverse all historical satellite positioning points except the first historical satellite positioning point in order from the last positioning time, and determine the initial apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point was located when it was on the target apron road as the target apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point was located.

[0098] In an implementation manner of the present application, the initial apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located when it is on the target apron road is determined as the target apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located.

[0099] S104. Sort the target apron road where the current satellite positioning point is located and the target apron road where each historical satellite positioning point is located in order of positioning time from the beginning to the end, and obtain the operation track of the ground service support vehicle.

[0100] The present application provides a method for determining the running trajectory of a ground service support vehicle. The method can associate a current satellite positioning point with the last historical satellite positioning point to determine the target apron road where the current satellite positioning point is located, and determine the target apron road of the previous historical satellite positioning point based on the target apron road of each historical satellite positioning point, thereby solving the problem of inaccurate running trajectory of ground service support vehicles generated due to large errors in satellite positioning data, and avoiding extreme errors such as the running trajectory of the support vehicle crossing a terminal or an aircraft.

[0101] Reference Figure 3 As shown, it is a flow chart of another method for determining the running trajectory of a ground service support vehicle provided in an embodiment of the present application. The specific execution process of the method for determining the running trajectory of a ground service support vehicle is as follows:

[0102] S301. Obtain a planned path for a ground service vehicle.

[0103] In the implementation manner of the present application, the planned path is planned before the ground service support vehicle performs the current task.

[0104] Obtain the planned path of the ground service vehicle through the following steps:

[0105] Step 1: Obtain the task start node and task end node of the ground service vehicle's current task in the apron, as well as the weights of all apron roads in the apron; any two nodes in the apron constitute an apron road, and the two nodes constituting each apron road are the endpoints of each apron road; according to the driving direction of each apron road, the two nodes are respectively determined as the road start node and the road end node.

[0106] Step 2: Use the mission start node and the mission end node as the apron road with endpoints to determine the initial planned path for the ground service support vehicle.

[0107] Step 3: According to the weights of all apron roads in all aprons, the initial planned path is refined to obtain the target planned path for the ground service support vehicle.

[0108] Specifically, a. For each apron road in the current initial planned path, calculate the sum of the weight of the first apron road composed of the road start node and the road end node in the apron road and the nodes in the apron except the road start node and the road end node in the apron, and obtain the updated road weight; if the weight of the apron road is greater than or equal to the minimum updated road weight, replace the apron road in the initial planned path with the first apron road and the second apron road corresponding to the minimum updated road weight; if the weight of the apron road is less than the updated road weight, do not replace the apron road.

[0109] For example, the apron includes nodes 1, 2, 3, and 4. For the apron road a in the current initial planning path, the apron road a is composed of nodes 1 and 4. The weight of the first apron road composed of node 1 and node 2 in the apron and the weight of the second apron road composed of node 4 and node 2 in the apron are calculated to obtain updated road weight 1; the weight of the first apron road composed of node 1 and node 3 in the apron and the weight of the second apron road composed of node 4 and node 3 in the apron are calculated to obtain updated road weight 2; if the updated road weight 1 is greater than the updated road weight 2, it is determined whether the weight of the apron road a is greater than or equal to the updated road weight 2; if the weight of the apron road a is greater than or equal to the updated road weight 2, the apron road a is replaced with the first apron road composed of node 1 and node 3 in the apron and the second apron road composed of node 4 and node 3 in the apron.

[0110] Furthermore, the weight of each apron road is calculated by the following formula:

[0111]

[0112] Among them, w i,j It refers to the weight of the apron road composed of node i and node j, α is the preset distance coefficient, d i,j The path distance between node i and node j, β is the preset node degree coefficient, de(i) is the degree of node i, de(j) is the degree of node j, γ is the preset speed limit coefficient, SL i,j is the speed limit between node i and node j.

[0113] Here, the degree of a node refers to the number of apron roads connected to the node in the apron.

[0114] b. If all the apron roads in the initial planning path in the current initial planning path have not been replaced, the initial planning path is determined as the target planning path.

[0115] c. If there is a replaced apron road in the current initial planning path, jump to each apron road in the current initial planning path, calculate the sum of the weight of the first apron road composed of the road start node in the apron road, the road end node in the apron road and the nodes in the apron, and the weight of the second apron road, get the updated road weight, and continue execution.

[0116] S302: If the running track of the ground service support vehicle is included in the planned path, the ground service support vehicle has not deviated.

[0117] S303: If the running track of the ground service support vehicle is not included in the planned path, the ground service support vehicle deviates and issues a deviation warning.

[0118] An embodiment of the present application provides another method for determining the running trajectory of a ground service support vehicle. This method can issue a deviation warning when the running trajectory of the ground service support vehicle deviates from the planned path, thereby avoiding the problem of disrupting normal support operations due to triggering erroneous deviation warnings.

[0119] Based on the same inventive concept, an embodiment of the present application also provides a device for determining the running trajectory of a ground service support vehicle corresponding to the method for determining the running trajectory of a ground service support vehicle. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the method for determining the running trajectory of a ground service support vehicle in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0120] Reference Figure 4 FIG. 1 is a schematic diagram of a device for determining a running track of a ground service support vehicle provided in an embodiment of the present application. The device for determining a running track of a ground service support vehicle includes:

[0121] The acquisition module 401 is used to acquire the position information of the current satellite positioning point of the ground service support vehicle, the initial apron road where the previous historical satellite positioning point corresponding to each historical satellite positioning point other than the first historical satellite positioning point is located on each apron road, and the position information of the last historical satellite positioning point and the target probability on each apron road;

[0122] The determination module 402 is used to determine the target apron road where the current satellite positioning point is located and the target apron road where the last historical satellite positioning point is located from all apron roads according to the position information of the current satellite positioning point, the position information of the last historical satellite positioning point and the target probability on each apron road;

[0123] The determination module 402 is further used to traverse each historical satellite positioning point except the first historical satellite positioning point in the order of positioning time from the back to the front, and determine the target apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located according to the initial apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located when the historical satellite positioning point is on each apron road and the target apron road where the currently traversed historical satellite positioning point is located;

[0124] The sorting module 403 is used to sort the target apron road where the current satellite positioning point is located and the target apron road where each historical satellite positioning point is located in the order of positioning time from the beginning to the end, so as to obtain the operation track of the ground service support vehicle.

[0125] In one possible implementation, the determination module 402 is specifically used to calculate a first probability that the current satellite positioning point is on each apron road; calculate a second probability of transferring from the last historical satellite positioning point on each apron road to the current satellite positioning point on each apron road based on the position information of the current satellite positioning point and the position information of the last historical satellite positioning point; calculate a third probability of transferring from the last historical satellite positioning point on each apron road to the current satellite positioning point on each apron road based on the target probability of the last historical satellite positioning point on each apron road, the first probability of the current satellite positioning point on each apron road, and the second probability of transferring from the last historical satellite positioning point on each apron road to the current satellite positioning point on each apron road; determine the apron road where the current satellite positioning point with the largest calculated third probability is located as the target apron road where the current satellite positioning point is located; and determine the apron road where the last historical satellite positioning point with the largest calculated third probability is located as the target apron road where the last historical satellite positioning point is located.

[0126] In a possible implementation, the determination module 402 is further configured to:

[0127] According to the location information of the current satellite positioning point and the location information of the last historical satellite positioning point, the distance difference probability, direction angle probability and speed limit probability from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road are calculated respectively;

[0128] Based on the distance difference probability, direction angle probability and speed limit probability of the transfer from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road, the second probability of the transfer from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road is calculated.

[0129] In a possible implementation, the determination module 402 is further configured to determine, for each apron road, a maximum third probability of transferring from the last historical satellite positioning point on each apron road to the current satellite positioning point on the apron road as a target probability of the current satellite positioning point on the apron road;

[0130] The determination module 402 is also used to determine the apron road where the last historical satellite positioning point corresponding to the largest third probability is located among all third probabilities of transferring from the last historical satellite positioning point on each apron road to the current satellite positioning point on the apron road, as the initial apron road where the previous historical satellite positioning point corresponding to the current satellite positioning point is located.

[0131] In one possible implementation, the determination module 402 is specifically used to determine the initial apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point was located when it was on the target apron road as the target apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point was located.

[0132] In a possible implementation, the device further includes: a determination module 404;

[0133] The acquisition module 401 is also used to obtain the planned path of the ground service support vehicle;

[0134] A judgment module 404 is used to determine if the running track of the ground service support vehicle is included in the planned path, and the ground service support vehicle has not deviated;

[0135] The judgment module 404 is also used to determine that the ground service vehicle deviates if the running track of the ground service vehicle is not included in the planned path, and issue a deviation warning.

[0136] In a possible implementation, the acquisition module 401 is specifically used to obtain the task start node and the task end node of the current task of the ground service support vehicle in the apron, and the weights of all apron roads in the apron; wherein, any two nodes in the apron constitute an apron road, and the two nodes constituting each apron road are the endpoints of each apron road; the apron road with the task start node and the task end node as endpoints is determined as the initial planned path of the ground service support vehicle; according to the weights of all apron roads in all aprons, the initial planned path is refined to obtain the target planned path of the ground service support vehicle.

[0137] The embodiment of the present application provides a device for determining the running trajectory of a ground service support vehicle, which includes: an acquisition module 401, which is used to obtain the position information of the current satellite positioning point of the ground service support vehicle, the initial apron road where the previous historical satellite positioning point corresponding to each historical satellite positioning point other than the first historical satellite positioning point is located when on each apron road, and the position information of the last historical satellite positioning point and the target probability on each apron road; a determination module 402, which is used to determine the target apron road where the current satellite positioning point is located, the position information of the last historical satellite positioning point and the target probability on each apron road from all apron roads according to the position information of the current satellite positioning point, the position information of the last historical satellite positioning point and the target probability on each apron road The target apron road where the point is located; the determination module 402 is also used to traverse each historical satellite positioning point except the first historical satellite positioning point in the order of positioning time from back to front, and determine the target apron road where the previous historical satellite positioning point corresponding to the current traversed historical satellite positioning point is located according to the initial apron road where the previous historical satellite positioning point is located when the current traversed historical satellite positioning point is on each apron road and the target apron road where the current traversed historical satellite positioning point is located; the sorting module 403 is used to sort the target apron road where the current satellite positioning point is located and the target apron road where each historical satellite positioning point is located in the order of positioning time from front to back, and obtain the running track of the ground service support vehicle. The present application can associate the current satellite positioning point with the last historical satellite positioning point to determine the target apron road where the current satellite positioning point is located, and determine the target apron road based on each historical satellite positioning point for the target apron road of the previous historical satellite positioning point, which solves the problem of inaccurate running track of the ground service support vehicle generated due to large errors in satellite positioning data, and avoids extreme errors such as the running track of the support vehicle crossing the terminal or crossing the aircraft.

[0138] like Figure 5 As shown, an electronic device 500 provided in an embodiment of the present application includes: a processor 501, a memory 502 and a bus, the memory 502 stores machine-readable instructions executable by the processor 501, when the electronic device is running, the processor 501 and the memory 502 communicate through the bus, and the processor 501 executes the machine-readable instructions to perform the steps of the method for determining the running trajectory of the ground service support vehicle as described above.

[0139] Specifically, the above-mentioned memory 502 and processor 501 can be general-purpose memory and processor, which are not specifically limited here. When the processor 501 runs the computer program stored in the memory 502, it can execute the above-mentioned method for determining the running trajectory of the ground service support vehicle.

[0140] Corresponding to the above-mentioned method for determining the running trajectory of a ground service support vehicle, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for determining the running trajectory of a ground service support vehicle are executed.

[0141] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0142] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0143] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0144] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the information processing method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0145] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for determining the running trajectory of a ground service vehicle, characterized in that: The method comprises: Obtain the location information of the current satellite positioning point of the ground service support vehicle, the initial apron road where the previous historical satellite positioning point corresponding to each historical satellite positioning point other than the first historical satellite positioning point is located on each apron road, and the location information of the last historical satellite positioning point and the target probability on each apron road; According to the position information of the current satellite positioning point, the position information of the last historical satellite positioning point and the target probability on each apron road, determine the target apron road where the current satellite positioning point is located and the target apron road where the last historical satellite positioning point is located from all apron roads; Traverse each historical satellite positioning point except the first historical satellite positioning point in order of positioning time from the last to the first, and determine the target apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located according to the initial apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located when the historical satellite positioning point is on each apron road and the target apron road where the currently traversed historical satellite positioning point is located; The target apron road where the current satellite positioning point is located and the target apron road where each of the historical satellite positioning points is located are sorted in order from the front to the back of the positioning time to obtain the operation track of the ground service support vehicle.

2. The method for determining the running trajectory of a ground service vehicle according to claim 1, characterized in that: The method of determining the target apron road where the current satellite positioning point is located and the target apron road where the last historical satellite positioning point is located from all apron roads according to the position information of the current satellite positioning point, the position information of the last historical satellite positioning point and the target probability on each apron road comprises: Calculating the first probability of the current satellite positioning point being on each apron road; Calculate, based on the position information of the current satellite positioning point and the position information of the last historical satellite positioning point, a second probability of transferring from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road; Calculate a third probability when the last historical satellite positioning point is transferred to the current satellite positioning point on each apron road based on the target probability of the last historical satellite positioning point on each apron road, the first probability of the current satellite positioning point on each apron road, and the second probability when the last historical satellite positioning point is transferred to the current satellite positioning point on each apron road; The apron road where the current satellite positioning point is located having the largest calculated third probability is determined as the target apron road where the current satellite positioning point is located; The apron road where the last historical satellite positioning point with the largest third probability is located is used as the target apron road where the last historical satellite positioning point is located.

3. The method for determining the running trajectory of a ground service vehicle according to claim 2, characterized in that: The calculating, based on the position information of the current satellite positioning point and the position information of the last historical satellite positioning point, a second probability of transferring from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road comprises: According to the position information of the current satellite positioning point and the position information of the last historical satellite positioning point, respectively calculate the distance difference probability, direction angle probability and speed limit probability from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road; A second probability of transferring from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road is calculated based on the distance difference probability, direction angle probability and speed limit probability of transferring from the last historical satellite positioning point at each apron road to the current satellite positioning point at each apron road.

4. The method for determining the running trajectory of a ground service vehicle according to claim 2, characterized in that: The method further comprises: For each apron road, the maximum third probability of transferring from the last historical satellite positioning point on each apron road to the current satellite positioning point on the apron road is determined as the target probability of the current satellite positioning point on the apron road; The apron road where the last historical satellite positioning point corresponding to the largest third probability is located among all third probabilities of transferring from the last historical satellite positioning point on each apron road to the current satellite positioning point on the apron road is determined as the initial apron road where the previous historical satellite positioning point corresponding to the current satellite positioning point on the apron road is located.

5. The method for determining the running trajectory of a ground service vehicle according to claim 1, characterized in that: The method of determining the target apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located according to the initial apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located and the target apron road where the currently traversed historical satellite positioning point is located comprises: The initial apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located when the target apron road is determined as the target apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located.

6. The method for determining the running trajectory of a ground service vehicle according to any one of claims 1 to 5, characterized in that: The method further comprises: Obtaining the planned path of the ground service support vehicle; If the running track of the ground service support vehicle is included in the planned path, then the ground service support vehicle has not deviated; If the running track of the ground service support vehicle is not included in the planned path, the ground service support vehicle deviates and issues a deviation warning.

7. The method for determining the running trajectory of a ground service vehicle according to claim 6, characterized in that: The obtaining of the planned path of the ground service support vehicle includes: Obtain the task start node and task end node of the current task of the ground service support vehicle in the apron, as well as the weights of all apron roads in the apron; wherein any two nodes in the apron constitute an apron road, and the two nodes constituting each apron road are the endpoints of each apron road; The apron road with the mission start node and the mission end node as endpoints is determined as the initial planned path of the ground service support vehicle; The initial planned path is refined according to the weights of all apron roads in all aprons to obtain a target planned path for the ground service support vehicle.

8. A device for determining the running trajectory of a ground service vehicle, characterized in that: The device comprises: An acquisition module is used to obtain the location information of the current satellite positioning point of the ground service support vehicle, the initial apron road where the previous historical satellite positioning point corresponding to each historical satellite positioning point other than the first historical satellite positioning point is located on each apron road, and the location information of the last historical satellite positioning point and the target probability on each apron road; A determination module, for determining a target apron road where the current satellite positioning point is located and a target apron road where the last historical satellite positioning point is located from all apron roads according to the position information of the current satellite positioning point, the position information of the last historical satellite positioning point and the target probability on each apron road; The determination module is further used to traverse each historical satellite positioning point except the first historical satellite positioning point in order from the last to the first positioning time, and determine the target apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located according to the initial apron road where the previous historical satellite positioning point corresponding to the currently traversed historical satellite positioning point is located when the historical satellite positioning point is on each apron road, and the target apron road where the currently traversed historical satellite positioning point is located; The sorting module is used to sort the target apron road where the current satellite positioning point is located and the target apron road where each historical satellite positioning point is located in order from the previous positioning time to obtain the operation track of the ground service support vehicle.

9. An electronic device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the method for determining the running trajectory of a ground service support vehicle as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for determining the running trajectory of a ground service support vehicle as described in any one of claims 1 to 7 are executed.

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