Airborne geophysical prospecting plane track measuring line guiding method and system

Abstract

The invention provides an aviation geophysical prospecting plane track measuring line guiding method and system, and relates to the field of aviation geophysical prospecting, and the system comprises a main activity module, an editing module, a setting module, a data resolving module and a display module. The data resolving module converts latitude and longitude coordinates under the geocentric geodetic coordinate system into an east distance and a north distance under a plane rectangular coordinate system according to the central longitude, and calculates a measuring line direction, a distance between two points and a course angle under the plane rectangular coordinate system; the display module searches and compares the input line number information according to the measuring line number input by the editing module, the central longitude line received by the setting module and the resolving result of the data resolving module, calculates the yaw distance and the distance to fly between the current position of the aircraft and the designed measuring line in real time, and visually displays the yaw distance and the distance to fly; a pilot can quickly judge the deviation between the position of an aircraft and a designed measuring line, accurately correct the yaw distance, perform no measurement limitation on any measurement number, any measuring line direction and any measuring line length, and update and display the measuring line information in real time.

Description

Technical Field

[0001] The invention relates to the field of aerial geophysical exploration, and in particular to an aerial geophysical exploration plane track survey line guidance method and system. Background Art

[0002] In the field of aerial geophysical exploration, an aircraft equipped with measuring instruments must fly all the survey lines in the survey network at least once to complete the survey task. These survey lines have information such as direction, length, and position. When the aircraft flies over the survey area, it is necessary to find the location of the endpoint of the target survey line and adjust the aircraft attitude. The aircraft starts from the starting point or end point, or enters the survey line from any position and flies along the survey line. The pilot needs to control the position of the aircraft at all times. While ensuring the flight direction, the yaw must also be controlled to minimize it. For example, after the aircraft deviates from the survey line to the left by tens of meters, the pilot should turn right to bring the aircraft back to the survey line. In actual flight, due to airflow disturbances and mechanical inertia, it is difficult for the aircraft to stay on the survey line, and the pilot must constantly correct the yaw.

[0003] In the era without satellite positioning technology, it was very difficult to make the aircraft fly along the survey line in early aerial geophysical exploration operations. The most primitive method was to use the ground objects as a reference before the flight, draw the survey line on the map of the survey area, and the navigator visually observed the ground objects and compared the map with the survey line to guide the pilot's flight. This method cannot accurately control the yaw, and it depends entirely on the navigator's visual judgment. This method is greatly affected by ground objects, and the navigation accuracy is extremely low in open areas.

[0004] With the development of satellite positioning technology, the track keeping work of aerogeophysical exploration has undergone a qualitative change. However, the current aerogeophysical plane track line guidance still has the following defects:

[0005] (1) Visual navigation is highly dependent on and limited by ground objects: In early technical solutions, the visual navigator relied on maps and ground objects to correct the flight path. However, in the absence of ground objects or poor visibility, the accuracy and efficiency were low.

[0006] (2) The equipment is bulky, the accuracy is insufficient, and the operation is complicated: Early satellite positioning systems (such as the TANS system and the GPS system) were large in size, complex in functions, and low in accuracy. They also required specialized operators to input survey line information, which was cumbersome to operate and could not accurately display the deviation distance.

[0007] (3) Pilots cannot obtain key information intuitively: Existing technologies (such as How Ruidong’s GPS aerogeophysical navigation system) cannot directly display the yaw distance between the aircraft and the survey line, and the operation is cumbersome and the display method is not intuitive.

[0008] (4) Low work efficiency and large errors: Early technologies often had large errors during the measurement process due to equipment limitations, operational complexity, etc., and operators relied heavily on experience, making it difficult to achieve quantitative corrections.

[0009] Therefore, it is necessary to propose a method of track measurement line guidance to display the deviation between the aircraft position and the designed measurement line in real time, so that the pilot can quantify the correction amount, thereby greatly improving the coincidence between the flight track and the designed measurement line, and facilitating the pilot to have an intuitive understanding of the measurement status. Summary of the invention

[0010] In view of this, in order to solve the problems of track keeping, yaw correction and flight status display in the existing aerial geophysical survey, the present invention proposes an aerial geophysical plane track survey line guidance method and system, which intuitively displays the yaw distance and the distance to be flown (the distance flown), so that the pilot can quickly judge the deviation between the aircraft position and the designed survey line, accurately correct the yaw distance, and measure any measurement quantity, any survey line direction, and any survey line length without restriction. The survey line information is updated and displayed in real time, which is convenient for the pilot to grasp the measurement information, and the position, altitude, heading and speed information is updated and displayed in real time, which is convenient for the pilot to grasp the flight status. The distance flown and the distance to be flown are updated and displayed in real time, which is convenient for the pilot to grasp the measurement progress. The survey network data is directly read in batches and applied to aerial geophysical track guidance, and the survey line number and the latitude and longitude altitude information of the starting point of the survey line are automatically distinguished.

[0011] The present invention is implemented by the following technical solutions:

[0012] In a first aspect, the present invention provides an aerial geophysical exploration plane track measurement line guidance system, which is composed of the following modules:

[0013] The main activity module is used to set and manage the functional modules and interfaces of the application and control the switching of various functional modules;

[0014] The editing module is used to receive and verify the externally inputted survey line number and transmit the valid survey line number to the display module;

[0015] A setting module is used for receiving the inputted central meridian, storing the central meridian in a hard disk, and transmitting the central meridian to a data solving module and a display module;

[0016] The data solution module is used to convert the longitude and latitude coordinates in the geocentric coordinate system into the easting distance and northing distance in the plane rectangular coordinate system according to the central meridian, and calculate the survey line direction, the distance between two points, and the heading angle in the plane rectangular coordinate system;

[0017] The display module is used to find and compare the input line number information according to the survey line number input by the editing module, the central meridian received by the setting module and the solution result of the data solution module, calculate the yaw distance between the current position of the aircraft and the designed survey line and the distance to be flown or the distance already flown in real time, and display the yaw distance between the current position of the aircraft and the designed survey line in real time, and display the distance to be flown or the distance already flown in real time.

[0018] As a further solution of the present invention, the main activity module realizes switching between display, editing and setting function modules through the ViewPager component, and realizes switching by clicking the corresponding tab through the TabLayout component.

[0019] As a further solution of the present invention, the main activity module adopts a relative layout when displaying the layout, which is composed of a system title, an information display area composed of ViewPager components, and a function selection area composed of TabLayout components from top to bottom.

[0020] As a further solution of the present invention, the editing module uses a custom numeric keyboard to input the survey line number and performs a validity check on the input survey line number; the layout display of the editing module adopts a vertical linear layout, from top to bottom: prompt and line number input bar; simulated keyboard and confirm button; cancel and clear buttons.

[0021] As a further solution of the present invention, the setting module allows the user to input the central meridian, and the central meridian will be stored in the hard disk of the device. If the user does not actively input the central meridian, the system uses a default central meridian value.

[0022] As a further solution of the present invention, the data solution module includes the following method:

[0023] Convert the longitude and latitude coordinates in the geocentric coordinate system to the easting and northing in the plane rectangular coordinate system;

[0024] Calculate the deviation between the current position of the aircraft and the target measurement line;

[0025] Calculate the direction of the survey line in the plane rectangular coordinate system;

[0026] Calculate the distance between two points in a plane rectangular coordinate system;

[0027] Calculate the heading angle in a rectangular coordinate system.

[0028] As a further solution of the present invention, the display module calculates and displays the aircraft's off-track distance relative to the designed survey line in real time based on the coordinate conversion, survey line direction, two-point distance, and heading angle calculation method provided by the data solution module, and provides corresponding track correction suggestions, and calculates and displays the distance to be flown (distance already flown) in real time.

[0029] In a second aspect, the present invention provides a method for guiding a plane track survey line in an aerial geophysical exploration, the method comprising the following steps:

[0030] Input track data to obtain target track data including survey line number, survey line start and end points, and central meridian;

[0031] The latitude and longitude information of the aircraft is obtained in real time through the GPS positioning system, and converted into the easting distance and northing distance in the plane rectangular coordinate system;

[0032] According to the target track data and the real-time position of the aircraft, the track deviation angle and yaw distance between the current position of the aircraft and the designed track line are calculated;

[0033] According to the calculated track deviation angle and yaw distance, track correction information is provided in real time to adjust the heading and keep the aircraft flying along the designed track;

[0034] After each survey line information update, the deviation between the current position of the aircraft and the target survey line is calculated in real time, and the track correction guidance is performed according to the new deviation value, and the correction instructions are updated in real time.

[0035] As a further solution of the present invention, the aerial geophysical plane track survey line guidance method also includes using the GPS positioning system in the Android device to obtain the speed and altitude information of the aircraft in real time, combining the GPS positioning system to obtain the longitude and latitude information of the aircraft in real time, and obtaining the current aircraft position data through the GPS positioning system.

[0036] As a further solution of the present invention, the track deviation angle and the yaw distance are calculated by a display module, the longitude and latitude coordinates are converted into a plane coordinate system using a coordinate conversion algorithm, and the deviation is calculated according to the designed survey line.

[0037] As a further solution of the present invention, in the method for guiding the plane track survey line of aerial geophysical exploration, the geocentric coordinates are converted into plane rectangular coordinates by a data solution module through a Gaussian plane rectangular coordinate projection method, including the following steps:

[0038] Input: longitude and latitude of geocentric coordinates;

[0039] Use the ellipsoid parameters of the selected coordinate system;

[0040] The plane rectangular coordinate easting distance (x) and northing distance (y) in the 84 coordinate system are calculated by the Gauss projection algorithm;

[0041] Output: Returns an array of easting and northing coordinates.

[0042] As a further solution of the present invention, in the coordinate conversion method, the conversion of latitude and longitude is: converting the input longitude and latitude into radians; the definition of ellipsoid parameters includes the major semiaxis (a), minor semiaxis (b), eccentricity (e1) and second eccentricity (e2) of the ellipsoid; the setting of Gaussian projection parameters includes the arc form of the central meridian (L0), the westward shift of the horizontal coordinate (FE), the arc form of the latitude (B), and the arc form of the longitude (L); the calculation of intermediate variables includes the radius of curvature of the ellipse (N), the scale factor (K0), the arc length (M), and the arc length coefficient (C0, C2, C4, C6), so as to subsequently calculate the easting distance (x) and the northing distance (y) in the plane rectangular coordinate system; the output coordinates are the easting distance (x) and the northing distance (y), which are stored in an array and returned.

[0043] As a further solution of the present invention, the method for guiding the plane track survey line of the airborne geophysical exploration also includes a survey line direction calculation, which is used to calculate the survey line direction angle between two points in the Gaussian plane coordinate system, and the survey line direction angle is calculated according to the plane coordinates of the starting point and the end point of the survey line, including the following steps:

[0044] Input: Plane rectangular coordinate arrays of two coordinate points (x1, y1) and (x2, y2);

[0045] Calculate the direction angle based on the coordinate difference (x2-x1, y2-y1), and discuss the signs of x and y in different situations to finally get the direction angle result;

[0046] Output: Returns the direction angle of the survey line in degrees.

[0047] As a further solution of the present invention, when calculating the direction of the survey line in the plane rectangular coordinate system, if x2-x1>=0, the direction of the survey line is the positive direction, that is, between 0° (inclusive) and 180° (inclusive);

[0048] When y2-y1>0, the survey line direction = arctg((x2-x1) / (y2-y1)) / π*180;

[0049] When y2-y1<0, the survey line direction = arctg((x2-x1) / (y2-y1)) / π*180+180;

[0050] When y2-y1=0, the direction of the survey line=90;

[0051] If x2-x1<0, the direction of the survey line is negative, that is, between 0° (not included) and -180° (not included);

[0052] When y2-y1>0, the survey line direction = arctg((x2-x1) / (y2-y1)) / π*180;

[0053] When y2-y1<0, the survey line direction = arctg((x2-x1) / (y2-y1)) / π*180-180;

[0054] When y2-y1=0, the survey line direction=-90.

[0055] Store the direction of the survey line into a double variable and return the variable.

[0056] As a further solution of the present invention, the aerial geophysical plane track survey line guidance method also includes two-point distance calculation, which is used to calculate the distance between the two points in the Gaussian plane coordinate system, and calculates the straight-line distance between the two points according to the easting distance and the northing distance of the two points, including the following steps:

[0057] Input: Plane rectangular coordinate arrays of two coordinate points (x1, y1) and (x2, y2);

[0058] Calculates and returns the straight-line distance between two points in meters;

[0059]

[0060] Output: Returns the calculated distance between two points.

[0061] As a further solution of the present invention, the method for guiding the plane track survey line of aerial geophysical exploration also includes a heading angle calculation, which is used to calculate the heading angle of the aircraft in the plane rectangular coordinate system, and the heading angle is calculated according to the coordinate difference between the current and previous positions of the aircraft. The calculation of the heading angle includes the following steps:

[0062] Input: The plane rectangular coordinate arrays (x1, y1) and (x2, y2) of the current position and the previous position of the aircraft;

[0063] Calculate the heading angle based on the coordinate difference (x2-x1, y2-y1), and discuss the signs of x and y in different situations to finally get the heading angle;

[0064] Output: Returns the calculated heading angle in degrees;

[0065] When y2-y1>0, heading angle = arctg((x2-x1) / (y2-y1)) / π*180;

[0066] When y2-y1<0, heading angle = arctg((x2-x1) / (y2-y1)) / π*180+180;

[0067] When y2-y1=0, heading angle=90;

[0068] When x2-x1<0, the heading angle is between 180° (exclusive) and 360° (exclusive);

[0069] When y2-y1<0, heading angle = arctg((x2-x1) / (y2-y1)) / π*180+180;

[0070] When y2-y1>0, heading angle = arctg((x2-x1) / (y2-y1)) / π+360;

[0071] When y2-y1=0, heading angle=270 degrees;

[0072] When x2-x1=0, when y2-y1>=0, the heading angle=0; when y2-y1<0, the heading angle=180.

[0073] Compared with the prior art, the method and system for guiding the plane track survey line of aerial geophysical exploration provided by the present invention have the following beneficial effects:

[0074] 1. Accurate track guidance is achieved through Gaussian projection. The present invention can accurately convert the latitude and longitude information of the aircraft into the easting distance and northing distance in a plane rectangular coordinate system, and can accurately calculate the yaw distance between the current position of the aircraft and the designed survey line and the distance to be flown (distance flown), so that the aircraft can stably fly along the designed survey line, and maintain flight accuracy even in complex terrain or without ground markings, thereby effectively ensuring the accuracy of aerial geophysical data. By applying Gaussian projection technology, the present invention ensures that the aircraft can maintain plane straight-line flight regardless of any survey area, any survey line direction, any number of survey lines or any survey line length. This feature makes the system suitable for a variety of different aerial geophysical tasks, with strong applicability and flexibility.

[0075] 2. Real-time track correction is achieved. The present invention can calculate and provide track correction information in real time according to the deviation between the real-time position of the aircraft and the designed survey line, ensuring that the aircraft can adjust its heading according to the correction result and keep the flight trajectory consistent with the designed survey line. This process is dynamic, and each update of the aircraft's position will trigger a new track correction instruction, thereby ensuring that the entire measurement process is efficient and accurate.

[0076] 3. The survey network file format is simplified, and the incoming line direction can be automatically identified. By adopting a simple survey network file format, the present invention reduces the complexity of aerial survey planning and simplifies the operation process. The simplification of the survey network file format not only improves the user's operating efficiency, but also reduces the difficulty of using the system, so that pilots or operators can complete the measurement tasks more efficiently and conveniently in actual applications. The system of the present invention can also automatically identify the incoming line direction, avoiding the problem of misoperation caused by manual operation errors. Misoperation usually may result in the scrapping of measurement data, but the present invention greatly reduces this risk and improves work safety and measurement efficiency through intelligent incoming line direction identification.

[0077] 4. Track guidance is achieved without relying on ground markers. The track guidance method of the present invention does not rely on ground markers and can perform track guidance without ground markers. As long as the aircraft can receive satellite signals, it can perform accurate aerial surveys in various complex terrains. Even in areas with complex terrain or lack of ground facilities, the system can still ensure that the aircraft flies accurately along the predetermined track.

[0078] 5. Improve pilot work efficiency and reduce labor intensity. The system of the present invention has a high degree of automation, and the pilot can focus on flight operations without too much intervention in the track correction process. Not only does it greatly reduce the pilot's labor intensity, but it also improves work efficiency. In complex measurement tasks, the pilot can grasp the flight status in real time through an intuitive interface and make necessary adjustments, which improves flight accuracy and measurement results.

[0079] In summary, an aerial geophysical plane track survey line guidance system and method of the present invention processes the latitude and longitude information of the aircraft through the Gaussian projection algorithm, thereby ensuring that the aircraft can accurately fly in a plane rectangular coordinate system, and perform track correction in real time, so that the aerial survey data can be unaffected by complex terrain and external interference, and always maintain high precision. By automatically identifying the track deviation and correcting it according to real-time data, the pilot's operating burden is reduced and human errors are avoided. At the same time, the automatic identification of the incoming line direction function effectively avoids the failure of aerial survey caused by misoperation, and improves the safety and reliability of measurement. High-precision guidance that does not rely on ground markings can be accurately controlled by satellite signals and automated guidance systems, which enables efficient aerial geophysical exploration without ground markings. An aerial geophysical plane track survey line guidance system and method provided by the present invention have the characteristics of high precision, high efficiency, low difficulty, and wide applicability. It can not only help pilots accurately control the flight trajectory and ensure the quality of aerial geophysical data, but also greatly improve the automation of aerial survey, reduce the labor intensity of pilots, and improve work efficiency. This makes the present invention have broad application prospects and significant practical value in modern aerogeophysical exploration. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following briefly introduces the drawings required for use in the exemplary embodiments or related technical descriptions. The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0081] Figure 1 It is a structural block diagram of an aerial geophysical plane track survey line guidance system according to an embodiment of the present invention.

[0082] Figure 2 This is a schematic diagram of the survey network projection in aerial geophysical exploration.

[0083] Figure 3 This is a display page diagram of the main activity module in the aerial geophysical plane track measurement line guidance system according to an embodiment of the present invention.

[0084] Figure 4 This is a diagram of the editing module page in the aerial geophysical plane track survey line guidance system according to an embodiment of the present invention.

[0085] Figure 5 This is a schematic diagram of inputting a survey line number into an editing module in the aerial geophysical plane track survey line guidance system according to an embodiment of the present invention.

[0086] Figure 6 This is a diagram of a display module page in the aerial geophysical plane track survey line guidance system according to an embodiment of the present invention.

[0087] Figure 7 This is a schematic diagram of the positioning of the display module page in the aerial geophysical plane track measurement line guidance system according to an embodiment of the present invention.

[0088] Figure 8 It is a schematic diagram of continuous arrows pointing to the right in the aerial geophysical plane track survey line guidance system according to an embodiment of the present invention.

[0089] Fig. 9 It is an ImageView schematic diagram of a continuous arrow pointing to the left in the aerial geophysical plane track survey line guidance system according to an embodiment of the present invention.

[0090] Fig.10 It is a schematic diagram of solving the off-track distance in the aerial geophysical plane track measurement line guidance system according to an embodiment of the present invention.

[0091] Fig.11 This is a schematic diagram of a module page setting in the aerial geophysical plane track measurement line guidance system according to an embodiment of the present invention.

[0092] Fig.12This is a schematic diagram of inputting the central meridian in a module in the aerial geophysical plane track survey line guidance system according to an embodiment of the present invention.

[0093] Fig.13 It is a schematic diagram of the measurement state of entering the measurement line 1040 in the aerogeophysical plane track measurement line guidance system according to an embodiment of the present invention.

[0094] Fig.14 It is a schematic diagram of the measurement status of the reverse flight completion of the 1040 line test in the aerial geophysical plane track measurement line guidance system according to an embodiment of the present invention.

[0095] Fig.15 It is a schematic diagram showing the measurement status of the forward flight 1050 line in the aerial geophysical plane track measurement line guidance system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0096] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0097] As a method of mineral resource exploration, airborne geophysical prospecting uses special geophysical instruments equipped on aircraft to detect changes in various geophysical fields during flight, and to study and find geological structures and minerals. The target area to be explored is called the survey area. Before conducting airborne geophysical prospecting, it is necessary to arrange a survey network according to the characteristics of the survey area. The so-called survey network is a virtual plane network covering the survey area. The plane network is composed of a series of longitudinal and transverse line segments. The projections of these longitudinal and transverse line segments on the Gaussian / UTM coordinate plane are perpendicular to each other, see Figure 2 As shown, the outer frame is the target area, i.e., the survey area. The mutually perpendicular horizontal and vertical lines are called survey lines, which have a fixed direction, measured in degrees (°), and a fixed length, measured in kilometers (km).

[0098] Each survey line is numbered, and the number is called the line number of the survey line. Each survey line has one and only one line number that is different from other survey lines. Among them, the survey line in one direction is roughly perpendicular to the geological body in the survey area, while the survey line in the other direction is roughly parallel to the geological body in the survey area. In order to distinguish them, the survey line perpendicular to the geological body is usually called the survey line, and the survey line parallel to the geological body is called the cutting line. The flight track is the flight path of the aircraft in the air. During the entire operation, the pilot needs to control the aircraft and fly strictly according to the designed survey line to ensure that the flight track is always consistent with the survey line.

[0099] In the field of airborne geophysical prospecting, when the flight track and the survey line are simultaneously projected onto the Gaussian / UTM coordinate plane, the vertical distance from the flight track to the survey line is the so-called off-track distance, in meters (m). In actual work, there are generally two situations: "left yaw" and "right yaw". When the flight track coincides with the survey line projection, the off-track distance is 0 meters.

[0100] During flight measurement, due to various reasons, it is difficult for the aircraft track to be consistent with the designed survey line, and there will always be a deviation to the left or right. At this time, the present invention will prompt the pilot in real time the deviation distance between the aircraft and the designed survey line in the form of animation + numbers, and guide the pilot to make the aircraft's flight track coincide with the designed survey line as much as possible, which is the so-called plane track guidance.

[0101] When an aircraft flies along any survey line, the aircraft position and the survey line are projected onto the Gaussian / UTM coordinate plane. The distance from the current position of the aircraft to the endpoint of the survey line opposite to the flight direction is called the distance flown, or simply the distance flown; the distance from the current position of the aircraft to the endpoint of the survey line in the same direction as the flight is called the distance to be flown, or simply the distance to be flown.

[0102] Set the north direction as 0 degrees, the south direction as ±180 degrees, and the angle between the line segment formed by the starting point of the survey line and the end point of the survey line and the 0 degree direction is the survey line direction. If the survey line turns clockwise from the north direction to the south direction, the survey line direction is 0 degrees to 180 degrees; if the survey line turns counterclockwise from the north direction to the south direction, the survey line direction is 0 degrees to -180 degrees.

[0103] Forward flight: When the aircraft flies along the direction from the starting point of the survey line to the end point of the survey line, it is considered as forward flight.

[0104] Reverse flight: When the aircraft flies in the direction from the end point of the survey line to the starting point of the survey line, it is considered as reverse flight.

[0105] Left yaw: When the pilot flies the aircraft along the survey line, if the survey line is on the right side of the aircraft, it is considered as left yaw.

[0106] Right yaw: When the pilot flies the aircraft along the survey line, if the survey line is on the left side of the aircraft, it is considered as right yaw.

[0107] In the field of aerogeophysical prospecting, the current aerogeophysical plane track survey line guidance still has the defects of heavy reliance on visual navigation, limitation by ground objects, bulky equipment, insufficient precision, complicated operation, pilots cannot intuitively obtain key information, low work efficiency and large errors. The present invention provides an aerogeophysical plane track survey line guidance method and system, which intuitively displays the off-track distance and the distance to be flown (the distance flown), so that the pilot can quickly judge the deviation between the aircraft position and the designed survey line, accurately correct the off-track distance, measure any measurement quantity, any survey line direction, and any survey line length without measurement restrictions, update and display the survey line information in real time, and facilitate the pilot to grasp the measurement information, update and display the position altitude heading speed information in real time, and facilitate the pilot to grasp the flight status, update and display the distance flown and the distance to be flown in real time, and facilitate the pilot to grasp the measurement progress, directly batch read the survey network data and apply it to the aerogeophysical prospecting track guidance, and automatically distinguish the survey line number and the latitude and longitude altitude information of the starting point of the survey line.

[0108] The technical solution of the present invention is further described below in conjunction with specific embodiments:

[0109] See also Figure 1 As shown, Figure 1 The structural block diagram of an airborne geophysical plane track survey line guidance system provided by the present invention. An airborne geophysical plane track survey line guidance system provided in one embodiment of the present invention includes a main activity module, an editing module, a setting module, a data solution module and a display module. The main activity module is used to set and manage the functional modules and interfaces of the application program, and control the switching of each functional module; the editing module is used to receive and verify the survey line number input from the outside, and pass the valid survey line number to the display module; the setting module is used to receive the input central meridian, store the central meridian to the hard disk, and transmit it to the data solution module and the display module; the data solution module is used to convert the longitude and latitude coordinates in the geocentric geodetic coordinate system into the easting distance and northing distance in the plane rectangular coordinate system according to the central meridian, and calculate the survey line direction, the distance between two points, and the heading angle in the plane rectangular coordinate system; the display module is used to search and compare the input line number information according to the survey line number input by the editing module, the central meridian received by the setting module and the solution result of the data solution module, and calculate the yaw distance and the distance to be flown (the distance flown) between the current position of the aircraft and the designed survey line in real time.

[0110] In the aerogeophysical plane track survey line guidance system of the present invention, the functional modules and appearance display of the system part are set through the main activity; the editing module obtains the external input survey line number and transmits it to the display module; the setting module reads or writes the central meridian, a key parameter of coordinate conversion, from the computer hard disk, and transmits the parameter to the data solution module and the display module; the data solution module converts the longitude and latitude in the geocentric coordinate system into the easting distance and northing distance in the plane rectangular coordinate system according to the central meridian; when the display module is called by the main activity, according to the line number input by the editing module, the central meridian of the setting module, and the conversion result of the data solution module, the input line number information is searched and compared, the yaw distance of the current position of the aircraft relative to the designed survey line is comprehensively calculated and displayed, and the distance to be flown (the distance flown) is calculated and displayed. In the manifests.xml file, set screenOrientation="landscape", that is, the system is displayed in horizontal screen when running.

[0111] The aerogeophysical plane track survey line guidance system of the present invention intuitively displays the off-track distance and the distance to be flown (the distance flown), so that the pilot can quickly judge the deviation between the aircraft position and the designed survey line, accurately correct the off-track distance, and measure any measurement quantity, any survey line direction, and any survey line length without restriction. The survey line information is updated and displayed in real time, which is convenient for the pilot to grasp the measurement information, and the position, altitude, heading, and speed information are updated and displayed in real time, which is convenient for the pilot to grasp the flight status. The distance flown and the distance to be flown are updated and displayed in real time, which is convenient for the pilot to grasp the measurement progress. The survey network data is directly read in batches and applied to the aerogeophysical track guidance, and the survey line number and the latitude, longitude, and altitude information of the starting point of the survey line are automatically distinguished.

[0112] In this embodiment, before the operation of the aerial geophysical plane track survey line guidance system, it is necessary to store the survey network file in .txt format on the hard disk in advance, open the "positioning" and "read and write memory" permissions for the system in the "settings" of the computer, and turn on the computer positioning switch. After starting the system, the LocationManager class will automatically update the location information, display the positioning information area, update the speed, heading, altitude, longitude and latitude information in real time, and update the survey area time information in the survey area information area. In the editing module, enter the valid survey line number, and in the setting module, enter the central meridian. In the display module, click the "click to start" button, the system will query the survey line information in the survey network, call the corresponding method of the data solution module according to the central meridian, calculate the survey line length and survey line angle, and display the line number, length, and direction information on the screen. At this point, you can start measuring.

[0113] In this embodiment, see Figure 3As shown, the main activity module adopts a relative layout when it is laid out and displayed, which is composed of the system title, the information display area composed of the ViewPager component, and the function selection area composed of the TabLayout component from top to bottom. The ViewPager class allows each module to be switched by sliding, and the TabLayout class allows each module to be switched by clicking the corresponding label. Among them, when setting the ViewPager component, customize an adapter class that inherits the FragmentStatePageAdapter, override the Fragment getItem(){} method, and when the position of the Fragment is between 0 and 2, instantiate the "xianshi", "bianji", and "mingling" classes respectively, instantiate the adapter class in the main activity, set the above adapter for the ViewPager component, and add a page change listening event. When sliding the ViewPager component on the screen, you can switch any function page, that is, realize the "display", "edit", and "set" functions.

[0114] When setting up the TabLayout component, add three labels, "Display", "Edit", and "Settings", to the component, and add label selection monitoring events to the component. When you click the corresponding label, you can switch to the corresponding function page.

[0115] See also Figure 4 and Figure 5 As shown in the figure, the editing module uses a custom numeric keyboard to input the survey line number and performs a validity check on the input survey line number; the layout display of the editing module adopts a vertical linear layout, from top to bottom: prompt and line number input bar; simulated keyboard and confirm button; cancel and clear buttons. Figure 4 As shown, the main function is to use the custom keyboard to input the measurement line number and determine whether the line number is legal. Figure 5 As shown, it shows the input of the survey line number in the editing module. When the editing module layout is displayed, the editing module layout is displayed using a vertical linear layout, from top to bottom, they are the prompt and line number input bar; simulated keyboard and OK button; Cancel and Clear buttons. First, a horizontal linear layout is nested in the root layout to set the prompt mark "Please enter the line number:" and the line number input bar. Because the survey network survey line numbers used in this system are all 4 digits, to prevent incorrect input, the line number uses the maxLength="4" statement to set the maximum input to 4 digits. A horizontal linear layout is nested in the root layout to set the simulated keyboard. The TableLayout layout is used on the left to set two rows of buttons with a total of ten buttons. Ten number buttons 1-9 and 0 are added in sequence, and the "OK" button is set on the right. A horizontal linear layout is nested in the root layout to set the Cancel\Clear button.

[0116] When designing the source file of this editing module, click monitoring events are added for the "OK", "Cancel", "Clear" buttons and ten number buttons. When clicking a number button, enter the corresponding number in the edit bar; when clicking OK, save the input information and jump to the display module; when clicking the Clear button, clear the line number input bar; when clicking the Cancel button, return to the display page. For different buttons, use switch statements in the click event to take different actions according to the clicked object.

[0117] The Android system comes with an input keyboard. In the editing module, there is no need for complex input content, only the line number consisting of 4 digits needs to be entered. Therefore, a keyboard with only 0 to 9 numbers and three buttons is customized to ensure that the pilot can enter the line number intuitively and clearly. When the ten digit buttons 0 to 9 are clicked, different numbers will be displayed in the line number input field.

[0118] When you click the OK button, if the number is less than four digits, an error message will pop up, otherwise it will jump to the display module, assign the line number information to the specified string variable, and clear the line number input field.

[0119] In this embodiment, the data solution module includes the following methods:

[0120] Convert the longitude and latitude coordinates in the geocentric coordinate system to the easting and northing in the plane rectangular coordinate system;

[0121] Calculate the deviation between the current position of the aircraft and the target measurement line;

[0122] Calculate the direction of the survey line in the plane rectangular coordinate system;

[0123] Calculate the distance between two points in a plane rectangular coordinate system;

[0124] Calculate the heading angle in a rectangular coordinate system.

[0125] In this embodiment, four custom methods are provided in the data solution module, which are respectively used for converting geocentric coordinates into Gaussian plane rectangular coordinates, calculating the direction angle of the survey line in the Gaussian plane coordinate system, calculating the distance between two points in the Gaussian plane coordinate system, and calculating the heading angle of the aircraft in the Gaussian plane coordinate system. Among them, the four custom methods are respectively a coordinate conversion method, a method for calculating the direction of the survey line in the plane rectangular coordinate system, a method for calculating the distance between two points in the plane rectangular coordinate system, and a method for calculating the heading angle in the plane rectangular coordinate system.

[0126] Among them, the coordinate conversion method, in the process of airborne geophysical survey, needs to project the geocentric coordinates into plane rectangular coordinates. Before conversion, different ellipsoid parameters need to be selected according to different coordinate systems. For example, WGS84 coordinate system, CGCS2000 coordinate system, Beijing 54 coordinate system, different coordinate systems use different ellipsoid parameters, and finally Gauss projection method is used to project into corresponding plane rectangular coordinates. Taking the GPS of the United States as an example, the GPS satellite signal data uses the geocentric coordinates in the 84 coordinate system, a = 6378137.0, b = 6356752.314245179. To use these data normally, the Gauss projection method needs to be used to convert the longitude and latitude of the geocentric coordinates in the 84 coordinate system into the plane rectangular coordinates easting distance x and northing distance y in the 84 coordinate system. Write a method in the form of "double[] method name (double, double) {}", that is, double[] DdZhuanPm (doublewei, doublejing) {}, where the first parameter stores the latitude data and the second parameter stores the longitude data.

[0127] Among them, some double variables need to be declared to store the parameters required for Gaussian projection:

[0128] B: Latitude in radians;

[0129] L: longitude in radians;

[0130] L0: The arc form of the central meridian, which is obtained by transforming the central meridian value entered in the "Setting Module".

[0131] FE: The number of kilometers of westward movement of the horizontal coordinate, which is 500000m;

[0132] C0, C2, C4, C6: arc length coefficient;

[0133] M: arc length;

[0134] e1: first eccentricity, e2: second eccentricity;

[0135] N: radius of curvature of the camber circle;

[0136] k0: ratio, therefore, takes the value of 1.

[0137] Set the following intermediate variables to facilitate calculation:

[0138] T=tg(B) 2

[0139] C=e2 2 *cos(B) 2 ;

[0140] A = (L-L0)*cos(B);

[0141]

[0142] M=a*[C0*B-C2*sin(2B)+C4*sin(4B)-C6*sin(6B)]

[0143] Northing distance

[0144]

[0145] Easting distance

[0146]

[0147] The units of x and y are both meters. Store the easting distance x and the northing distance y into a double array and return the array.

[0148] In this embodiment, the method for calculating the direction of the survey line in the plane rectangular coordinate system is: set a method in the form of "double file name (double [], double []) {}", that is, double bearing To DB (double [] Qishidian, double [] Jieshudian) {}, the first parameter is the double array composed of the easting distance x1 and the northing distance y1 projected from the starting point of the survey line, and the second parameter is the double array composed of the easting distance x2 and the northing distance y2 projected from the end point of the survey line. In java, the result range of the Math.atan () method is between -90 ° and 90 °, so the calculation method of the survey line direction needs to be discussed in the following two cases:

[0149] (1) If x2-x1>=0, the direction of the survey line is positive, that is, between 0° (inclusive) and 180° (inclusive).

[0150] When y2-y1>0, the survey line direction = arctg((x2-x1) / (y2-y1)) / π*180;

[0151] When y2-y1<0, the survey line direction = arctg((x2-x1) / (y2-y1)) / π*180+180;

[0152] When y2-y1=0, the survey line direction=90.

[0153] (2) If x2-x1<0, the direction of the survey line is negative, that is, between 0° (not included) and -180° (not included).

[0154] When y2-y1>0, the survey line direction = arctg((x2-x1) / (y2-y1)) / π*180;

[0155] When y2-y1<0, the survey line direction = arctg((x2-x1) / (y2-y1)) / π*180-180;

[0156] When y2-y1=0, the survey line direction=-90;

[0157] The survey line direction discussed above is ultimately expressed in angle form, with the unit being degree.

[0158] Store the direction of the survey line into a double variable and return the variable.

[0159] In this embodiment, the method for calculating the distance between two points in a plane rectangular coordinate system is: setting a method in the form of "double file name (double [], double []) {}", that is, doubledistanceToDB (double [] Qiishidian, double [] Jieshudian) {}, the first parameter is a double array composed of the projection parameters of the starting point of the distance to be measured, the easting distance x1 and the northing distance y1, and the second parameter is a double array composed of the projection parameters of the end point of the distance to be measured, the easting distance x2 and the northing distance y2.

[0160]

[0161] Store the calculation result in a double variable and return the variable in meters.

[0162] In this embodiment, the method for calculating the heading angle in the plane rectangular coordinate system is:

[0163] The heading range specified in this system is: 0° to 360° from due north in a clockwise direction and then back to due north, with due north as 0°, and the angle between the line connecting the previous position point and the current position point of the aircraft to be tested and the 0° direction is the heading angle.

[0164] Android's Location class has a heading calculation method Location.getBearing(). This method uses parameters without projection transformation and cannot be used directly, so it is necessary to write a separate heading angle calculation method suitable for aerial geophysical exploration.

[0165] Set a method of the form of "double filename (double[], double[]) {}", that is, doublegetBearingDB (double[] ShouZuoBiao, double[] WeiZuoBiao) {}, the first parameter is the longitude and latitude of a certain point on the aircraft projected into a double array consisting of easting distance x1 and northing distance y1, and the second parameter is the longitude and latitude of the current position of the aircraft projected into a double array consisting of easting distance x2 and northing distance y2. The following three cases are discussed:

[0166] (1) When x2-x1>0, the heading angle is between 0° (not included) and 180° (not included).

[0167] When y2-y1>0, heading angle = arctg((x2-x1) / (y2-y1)) / π*180;

[0168] When y2-y1<0, heading angle = arctg((x2-x1) / (y2-y1)) / π*180+180;

[0169] When y2-y1=0, the heading angle=90.

[0170] (2) When x2-x1<0, the heading angle is between 180° (exclusive) and 360° (exclusive).

[0171] When y2-y1<0, heading angle = arctg((x2-x1) / (y2-y1)) / π*180+180;

[0172] When y2-y1>0, heading angle = arctg((x2-x1) / (y2-y1)) / π+360;

[0173] When y2-y1=0, the heading angle=270 degrees.

[0174] (3) When x2-x1=0, when y2-y1>=0, the heading angle=0; when y2-y1<0, the heading angle=180;

[0175] The survey line direction discussed above is ultimately expressed in the form of an angle.

[0176] Store the direction of the survey line into a double variable and return the variable in degrees.

[0177] At this point, the code for the data solution module has been written. When other modules need to perform corresponding calculations, they can directly call the corresponding methods of this module.

[0178] See also Figure 6 and Figure 7As shown, the display module calculates and displays the deviation of the aircraft relative to the designed survey line in real time according to the coordinate conversion, survey line direction, two-point distance, and heading angle calculation method provided by the data solution module, and provides corresponding track correction suggestions, and calculates and displays the distance to be flown (distance flown) in real time. The display module integrates most of the functions of the system. Query and display the survey line information and survey area information input by the editing module, update and display the positioning information in real time, and update and display the track information in real time. Display the deviation of the track and the distance flown (distance to be flown) in a dynamic form in real time. Click the start button to start measuring, and the previous line / next line is used to update to the previous survey line or the next survey line.

[0179] The appearance of the display module is as follows Figure 6 As shown, it adopts a horizontal linear layout. It is divided into three parts: the left E area is the progress display area, the middle ABCDG area is the measurement information area, and the right F area is the button area. Figure 7 As shown, the system automatically completes real-time positioning without entering any line number.

[0180] The leftmost area is the flight progress display area E, which is 1 / 8 of the screen wide and the same height as the screen height. The middle of the progress display area is a long strip area, where an ImageView is set to display the distance flown. The image src is set to a custom clip, and the clip attributes are:

[0181] clipOrientation="vertical"

[0182] gravity = "bottom"

[0183] The drawable is set to a gray image.

[0184] This setting ensures that the gray image starts from the bottom and is displayed in proportion in the vertical direction.

[0185] Set a "process status" prompt below the progress bar.

[0186] The measurement information display area composed of ABCDG occupies 6 / 8 of the screen width and is the height of the screen. The area is divided into five parts. The central part is the horizontal ruler G area, with a white background and green scales. There is a green dot in the center of the ruler as the central crosshair.

[0187] A continuous arrow ImageView pointing to the right is placed on the left side of the crosshair, and the image src is set to the custom clip.clip attribute:

[0188] clipOrientation="horizontal";

[0189] gravity = "right";

[0190] The drawable is set to a continuous arrow pointing to the right, such as Figure 8 shown.

[0191] This arrangement ensures that the continuous arrow image pointing to the right is displayed in the horizontal direction proportionally starting from the crosshair to the left.

[0192] Similarly, a continuous arrow ImageView pointing to the left is placed on the right side of the crosshair, and its clip

[0193] clipOrientation="horizontal"

[0194] gravity = "left"

[0195] The drawable is set to a continuous arrow pointing to the left, such as Fig. 9 shown.

[0196] The remaining four parts of the measurement information display area are the survey line information area A, the survey area information area B, the positioning information area C, and the track information area D. The information in Area A includes survey line information (survey line number), entry direction (forward entry or reverse entry into the survey line), status (whether the survey line has been entered), length (total length of the survey line), and direction (survey line direction); the information in Area B includes survey area information (project name or number, no information by default), projection method (projection method of geocentric geodetic coordinates into plane rectangular coordinates, Gaussian projection by default), central meridian, height attribute (height above the ground or altitude, altitude by default), survey area time (real-time time of the area where the survey area is located); the information in Area C includes positioning information (whether positioning is completed), speed (real-time speed of the aircraft), heading (real-time heading of the aircraft), altitude (altitude of the current position of the aircraft), latitude (latitude of the current position of the aircraft), and longitude (longitude of the current position of the aircraft); the information in Area D includes track information (deviation evaluation), completion status (whether the survey line is completed), deviation distance (deviation distance), distance to be flown (distance to be flown), and distance flown (distance flown).

[0197] Button area F occupies 1 / 8 of the screen width and is equal to the screen height. There are three buttons. The main function is to start measurement and update the line number. After entering the correct line number on the editing page, click "Click to Start" to start the measurement. When the pilot completes the current measurement, click the "Previous Line" button, and the line number information is updated to the previous line that is 10 less than the current line number; when clicking "Next Line", the line number information is updated to the next line that is 10 greater than the current line number.

[0198] In this embodiment, when the source file of the display module is designed, the source file specifies the format and path of the measurement network file. Two LocationManager classes are set, one for providing positioning information for the positioning area; the other is used to calculate and evaluate the deviation distance, calculate the distance flown and the distance to be flown, and determine the direction of the line, whether to enter the measurement line, and whether the measurement line is completed. Add click monitoring events for the three buttons. In the "Click to Start" button monitoring event, the measurement line information is read from the measurement network, the measurement line length and measurement line direction are calculated, and the central meridian information is read. In the "Previous Line" button monitoring event, it is necessary to determine whether the current line number is the first line, and the rest of the content is the same as the "Click to Start" button. In the "Next Line" button monitoring event, it is necessary to determine whether the current line number is the last line, and the rest of the content is the same as the "Click to Start" button.

[0199] The range of the deviation is set to 50 meters and stored in the specified int variable. If you need to change the range, just reassign the variable. Create a new network file in the format of "filename.txt" on the hard disk. The file format is:

[0200] File header line break;

[0201] Identifier Line Number Latitude Longitude Altitude Latitude Longitude Altitude Space Newline

[0202] Identifier Line Number Latitude Longitude Altitude Latitude Longitude Altitude Space Newline

[0203] For example:

[0204] AGRS 1 1010 39.983755 116.293730 5.00000 39.968651 116.269560 1563.8

[0206] 1 1020 39.968651 116.269560 90.0000 39.883798 116.268412 -9300.00000 2 9010 34.063089 109.806606 1425.1564 34.063193 109.817435 1413.96

[0208] The header file has no actual data and is only used as a file identifier. There are two types of identifiers, usually 1 and 2. 1 represents the survey line and 2 represents the cutting line. The survey line number is represented by four digits, usually starting from 1010, and the survey line number plus 10 is the next survey line number. A survey line has two positioning points, the start point and the end point. The survey network file is stored on the computer hard disk.

[0209] Check whether this activity has the permission to read external storage. Create a file object with the file name set previously as .txt file and store it in the root directory. Use the file input stream FileInputStream variable to read the measurement network file and store it in the string variable s3DWYPTTAB00. Use the string segmentation method split() to split s3DWYPTTAB00 with blank characters + line breaks as delimiters, and store the results in the string array s3DWYPTTABs01. Through the above method, each measurement line in the measurement network file is stored as an element in the string array s3DWYPTTABs01. The 0th character of the element is the identifier, the 2nd to 5th are the line numbers, and the 7th and following characters are the latitude, longitude and altitude information.

[0210] Add a monitoring event for the "Click to Start" button. Click this button to start measuring. The main functions of the monitoring event are: check whether the input line number exists, calculate the angle and length of the measuring line, and obtain the central meridian. The monitoring events are as follows:

[0211] Override the onClick() method.

[0212] Retrieve the string variable storing the line number in the editing module and assign it to the string variable sCeXianHao in this activity. This variable stores the survey line number entered by the user.

[0213] Query and obtain measurement line information:

[0214] Call (1) If / else statement to determine whether the input line number is four digits. If the input is incorrect, it will prompt "The number of digits in the survey line number is incorrect!". If the input digits are correct, use the for statement in the if statement to query and retrieve the survey line information in the survey network. Starting from the first element, traverse the second to fifth digits of each element in the string array s3DWYPTTABs01. Call the if statement. If the survey line number of the i-th element is the same as the input survey line number, it means that the input line number exists in the survey network. Set the string to the survey line number in the corresponding TextView in the survey line information area. And assign the boolean variable CeXianHaoKS, which is declared false in advance, to true, indicating that the survey line is detected. Use space as the delimiter to split the element, and store the split results in the string array s3DWYPTTABs02. The 0th element of the array is the identifier, the 1st element is the survey line number, the 2nd element is the starting longitude, the 3rd element is the starting latitude, the 4th element is the starting altitude, the 5th is the end point longitude, the 6th is the end point latitude, and the 7th is the end point altitude. The starting point is stored as an element in the string array s3DWYPTTABs04, which only contains two elements: the starting point and the end point.

[0215] The starting point information is read from the string array s3DWYPTTABs04 and stored in the string array s3DWYPTTABs05 and string array s3DWYPTTABs06. The .DdZhuanPm(double, double){} method of the data solution module is called to convert the latitude and longitude coordinates of the starting point into easting distance and northing distance.

[0216] Calculate the survey line direction:

[0217] Call the data solution module.bearingToDB(double[],double[]){} method to calculate the direction of the survey line in the plane rectangular coordinate system. Set the string to the survey line direction in the corresponding TextView in the survey line information area.

[0218] Calculate the length of the survey line:

[0219] Call the data solution module .distanceToDB()(double[],double[]){} method to calculate the length of the survey line in the plane rectangular coordinate system. Set the string to the survey line length in the corresponding TextView in the survey line information area.

[0220] At this point, the for statement ends.

[0221] Call (2) if / else statement to prompt that the input line number does not exist. Determine whether the boolean variable CeXianHaoKS is true. If it is true, set the variable to false. Otherwise, prompt "The measurement line was not found!". The (2) if / else ends.

[0222] The if statement ends, (1) if / else ends.

[0223] Set the central meridian:

[0224] Call (3) if / else statement to set the central meridian. Call the static variable storing the central meridian in the setting module and check the value of the variable. If the central meridian is 0, it is possible that the operator has not entered the central meridian data. In this case, the corresponding TextView setting string in the survey area information area is highlighted in red font as 0. If the central meridian is not 0, the corresponding TextView setting string in the survey area information area is set to the central meridian. This is the end of (3) if / else.

[0225] The rewriting method ends. At this point, the "Click to Start" button event monitoring ends.

[0226] "Previous Line" button "Next Line" button. The functions of these two buttons are similar to "Click to Start", but they are different.

[0227] Add a monitoring event for the "Next Line" button. Click this button to update the line number to the next adjacent line, that is, the line number increases by 10. The main functions of the monitoring event are: update to the next line, check whether the line number is valid, calculate the line angle and line length, and obtain the central meridian.

[0228] Override the onClick() method.

[0229] Call (1) if / else statement to check whether sCeXianHao has been assigned a value. If sCeXianHao has not been assigned a value, it means that the "Start Measurement" button has not been clicked. At this time, it cannot be updated, and the prompt "No valid information has been entered, and it is impossible to update to the next line" is displayed.

[0230] If sCeXianHao has been assigned a value, then nest (2) if / else statements. Determine whether the measurement line number is less than the line number of the last measurement line in the measurement network. If it is the last line, then a prompt "It is the last line and cannot be updated to the next line!" will be displayed. If it is not the last line, then the measurement line number is increased by 10, and the for statement is called to traverse the measurement network. The code in the for statement here is basically the same as the code in the for statement in the "Click to Start" monitoring event, except that the boolean variable CeXianHaoXTX is used to determine whether the measurement line is detected.

[0231] Call (3) if / else statement to prompt that the line number does not exist after the update. Determine whether the boolean variable CeXianHaoXTX is true. If it is true, set the variable to false. Otherwise, prompt "The line was not found!". The (3) if / else ends.

[0232] (2) if / else ends. (1) if / else ends.

[0233] Call (4) if / else statement to set the central meridian. Call the static variable storing the central meridian in the setting module and check the value of the variable. If the central meridian is 0, it is possible that the operator has not entered the central meridian data. In this case, the corresponding TextView setting string in the survey area information area is highlighted in red font as 0. If the central meridian is not 0, the corresponding TextView setting string in the survey area information area is set to the central meridian. This is the end of (4) if / else.

[0234] The rewriting method ends. At this point, the "Next Line" button event monitoring ends.

[0235] Add a monitoring event for the "Previous Line" button. Click this button to update the line number to the previous adjacent line, that is, the line number is reduced by 10. The main functions of the monitoring event are: update to the previous line, query whether the line number is valid, calculate the line angle and line length, and obtain the central meridian.

[0236] Override the onClick() method.

[0237] Call (1) if / else statement to check whether sCeXianHao has been assigned a value. If sCeXianHao has not been assigned a value, it means that the "Start Measurement" button has not been clicked. At this time, it cannot be updated, and the prompt "No valid information has been entered, and it is impossible to update to the previous line" is displayed.

[0238] If sCeXianHao has been assigned a value, then nest (2) if / else statements. Determine whether the measurement line number is greater than the line number of the first measurement line in the measurement network. If it is the first line, then prompt "It is already the first line, and cannot update to the previous line!". If it is not the first line, then the measurement line number is reduced by 10, and the for statement is called to traverse the measurement network. The code in the for statement here is basically the same as the code in the for statement in the "Click to Start" monitoring event, except that the boolean variable CeXianHaoSTX is used to determine whether the measurement line is detected.

[0239] Call (3) if / else statement to prompt that the line number does not exist after the update. Determine whether the boolean variable CeXianHaoSTX is true. If it is true, set the variable to false. Otherwise, prompt "The line was not found!". The (3) if / else ends.

[0240] (2) if / else ends. (1) if / else ends.

[0241] Call (4) if / else statement to set the central meridian. Call the static variable storing the central meridian in the setting module and check the value of the variable. If the central meridian is 0, it is possible that the operator has not entered the central meridian data. In this case, the corresponding TextView setting string in the survey area information area is highlighted in red font as 0. If the central meridian is not 0, the corresponding TextView setting string in the survey area information area is set to the central meridian. This is the end of (4) if / else.

[0242] The rewriting method is finished. At this point, the "Previous Line" button event monitoring is finished.

[0243] Set up two LocationManager classes lm01 and lm02.

[0244] The first LocationManager class lm01 is used to obtain the corresponding information required for the location area. Before using this class, check whether this activity has obtained the location permission. When calling the requestLocationUpdates() method of this class, the custom method void 1updates(Locationl00){} is finally called in onLocationChanged(Location location){}. In the custom method, speed, longitude, latitude, altitude, and time can be directly obtained through the system-provided methods in the Location class, and displayed in different units through simple changes. When calculating the heading angle, the getBearing() method that comes with the Location class cannot be used directly. The positioning data needs to be Gaussian transformed to calculate the heading angle in the plane rectangular coordinate system.

[0245] The heading angle and the survey line direction can be compared to determine the forward and reverse flight, so the heading angle and the survey line direction must be unified in the plane rectangular coordinate system. Define two Location classes l01 and l02. l01 obtains the last known location through the getLastKnowLocation() method of the LocationManager class, and l02 is initialized. l01 obtains longitude and latitude in real time, and converts the longitude and latitude of l01 and l02 into easting distance and northing distance through the coordinate conversion method of the data solution module, and then calls the "calculation of heading angle in plane rectangular coordinate system" method of the data solution module.getBearingDB(double[]ShouZuoBiao,double[]WeiZuoBiao){}, calculates the angle from l02 to l01, and after the calculation is completed, assigns l01 to l02, so that an initial angle is obtained. When l01 is updated, the value of l02 is the last positioning information, and the angle is calculated again to obtain the true heading angle. After that, as the position is updated, the heading angle is continuously updated. Finally, the speed, longitude and latitude, altitude, and heading angle are displayed in the positioning information area in the form of a string. The time information is displayed in the measurement area information area in the form of a string. The custom method ends.

[0246] The second LocationManager class lm02 is used to calculate and evaluate the deviation in real time, determine the direction of the line, whether to enter the survey line, whether to complete the survey line, and calculate the distance flown and the distance to be flown. Before using this class, check whether the positioning permission is obtained. When calling the requestLocationUpdates() method of this class, the custom method voidlupdates01(Location l01){} is finally called in onLocationChanged(Locationlocation){}.

[0247] In the custom method, call the (1) if statement. If the parameter Location is not empty, it means that the location data has been obtained, and the corresponding TextView string in the location information area is updated to "Location Already located!".

[0248] In this embodiment, if Fig.10 As shown in the figure, when calculating the off-track distance, it is assumed that the aircraft flies from the starting point of the survey line to the end point of the survey line, and the aircraft and the survey line are projected vertically downward onto the plane. O is the starting point of the survey line, OM is the direction of the survey line, P is the position of the aircraft, OP is the direction of the aircraft, MP is perpendicular to OM, OP is the distance between the aircraft and the starting point of the survey line on the plane, MP is the off-track distance, and ∠MOP is the difference between the heading angle and the direction angle of the survey line.

[0249] In this regulation, when looking from the starting point of the survey line to the end point of the survey line, the left side is the "left side of the survey line" and the right side is the "right side of the survey line". When the user looks directly at the horizontal ruler in the measurement information display area of ​​the screen, the left side is the "left side of the horizontal ruler" and the right side is the "right side of the horizontal ruler". Through analysis, it can be seen that when flying forward, the left yaw of the aircraft shows an arrow pointing to the right on the left side, and the right yaw shows an arrow pointing to the left on the right side; when flying in reverse, the left yaw of the aircraft shows an arrow pointing to the left on the right side, and the right yaw of the aircraft shows an arrow pointing to the right on the left side.

[0250] OM=OP*COS∠MOP;

[0251] MP=OP*SIN∠MOP;

[0252] The specific implementation method is as follows:

[0253] Use the Location methods .getLatitude(), .getLongitude(), and getAltitude() to obtain the latitude, longitude, and altitude information of the aircraft's current location. According to the projection coordinates of the latitude and longitude and the projection coordinates of the endpoints of the survey line, first calculate the heading angle, and then subtract the direction angle of the survey line to find ∠MOP. Call the corresponding method of the data solution module to find OP, and then use simple trigonometric functions to find OM (distance flown) and MP (distance off course).

[0254] When evaluating the yaw distance, a positive MP indicates right yaw, and a negative MP indicates left yaw. Different prompts are given in the track information area for the size of the yaw value: call (1) if / else statement, if the absolute value of MP is less than 50 meters, the prompt "Yaw is good". Otherwise, call (2) if / else statement, if the absolute value of MP is between 50 meters and 80 meters, the prompt "Watch out for yaw!"; otherwise, the prompt "Yaw exceeds the limit!" is in red font, and (2) if / else ends. (1) if / else ends.

[0255] Determine the direction of the line, calculate the distance flown / to be flown, whether to enter the survey line, whether the survey line is completed, and calculate the elevation angle of the survey line:

[0256] After the deviation is calculated, the corresponding deviation TextView string display content and the central horizontal ruler display mode in the track information area cannot be set directly. The approach direction must be determined first.

[0257] analyze Fig.10 It can be seen that if the difference between the heading angle and the survey line direction angle is between -90° and 90°, it is forward flight; if the difference is greater than 90° and less than 180° or less than -90° and greater than -180°, it is reverse flight. To do this, it is necessary to compare the difference between the two.

[0258] Because the heading angle and the survey line direction are not expressed in the same form, for the convenience of comparison, the heading angle must be transformed to make it consistent with the survey line direction. For the projected heading angle, set the restriction condition: if it is greater than 180°, the heading angle = heading angle - 360°, so that the range of the heading angle is consistent with the survey line direction range, both between -180° and 180°. By determining the flight direction, it can be determined whether the OM has flown the distance or the distance to be flown. When the aircraft is not within the survey line range, it can also be confirmed whether the aircraft has not started measuring or the measurement has been completed.

[0259] Use code to implement the above process: calculate the difference between the heading angle and the survey line direction, and set the float variable fHxCxCha = heading angle - survey line direction angle.

[0260] When the direction of the measurement line is greater than 90° or less than -90°, the difference between the two may be greater than 180° or less than -180°. In order to limit the difference between the two to between -180° and 180°, a restriction condition is set here to call the if statement: If fHxCxCha>180||fHxCxCha<-180, then fHxCxCha=360-the absolute value of fHxCxCha. The processing of fHxCxCha ends.

[0261] Call (2) if / else statement to judge fHxCxCha.

[0262] If fHxCxCha is between -90° and 90°, it is forward flight, and the corresponding status TextView string in the survey line information area is updated to "forward flight".

[0263] Call (3) if / else statement. If OM is greater than 0 and less than the survey line length, that is, the aircraft is within the survey line range, then set the corresponding status TextView string in the survey line information area to "entered the survey line", set the corresponding distance flown TextView string in the track information area to OM, and the distance to be flown TextView string to the difference between the survey line length and OM.

[0264] If the aircraft is not within the survey line range, there are two cases for discussion: (1) If OM is greater than the survey line length, the measurement is considered to have been completed, and the corresponding status TextView string in the survey line information area is "Leaving the survey line!". The completion status TextView string in the track information area is "Completed!"; the distance flown TextView string is set to the survey line length; the distance to be flown TextView string is set to "0 km". (2) If OM is less than 0, that is, a negative value, the measurement is considered to have not yet started. The corresponding status TextView string in the survey line information area is "Not entering the survey line!". The completion status TextView string in the track information area is "Not started!"; the distance flown TextView string is set to "0 km"; the distance to be flown TextView string is set to the survey line length. (3) End of if / else.

[0265] Call (4) if / else statement to accurately evaluate the deviation. If MP = 0, the corresponding string of the deviation TextView in the track information area displays "Excellent deviation". Otherwise, call (5) if / else statement. If MP < 0, the corresponding string of the deviation TextView in the track information area displays "left deviation + MP value"; if MP > 0, the corresponding string of the deviation TextView in the track information area displays "right deviation + MP value". (5) if / else ends. (4) if / else ends.

[0266] If fHxCxCha is greater than 90° or less than -90°, update the corresponding status TextView string in the survey line information area to "reverse flight".

[0267] Call (6) if / else statement. If OM is greater than 0 and less than the survey line length, that is, the aircraft is within the survey line range, then set the corresponding status TextView string in the survey line information area to "entered the survey line", set the corresponding distance flown TextView string in the track information area to the difference between the survey line length and OM, and the distance to be flown TextView string to OM.

[0268] If the aircraft is not within the survey line range, there are two cases for discussion: (1) If OM is greater than the survey line length, it is considered that the measurement has not yet started, and the corresponding status TextView string in the survey line information area is "Not entered the survey line!". The completion status TextView string in the track information area is "Not started!"; the distance flown TextView string is set to "0 kilometers"; the distance to be flown TextView string is set to the survey line length. (2) If OM is less than 0, that is, a negative value, it is considered that the measurement has been completed. The corresponding status TextView string in the survey line information area is "Leaved the survey line!". The completion status TextView string in the track information area is "Completed!"; the distance flown TextView string is set to the survey line length; the distance to be flown TextView string is set to "0 kilometers". (6) End of if / else.

[0269] Call (7) if / else statement to accurately evaluate the deviation. If MP = 0, the corresponding string of the deviation TextView in the track information area displays "Excellent deviation". Otherwise, call (8) if / else statement. If MP < 0, the corresponding string of the deviation TextView in the track information area displays "Right deviation + MP value"; if MP > 0, the corresponding string of the deviation TextView in the track information area displays "Left deviation + MP value". (8) if / else ends. (7) if / else ends.

[0270] (2) The if / else statement ends. The custom method ends.

[0271] In this embodiment, when the deviation and progress are displayed in real time, in order to update the deviation and progress status in real time, three Handlers and Runnables are set using multi-threading technology, two of which are used to update the deviation and one is used to update the flight progress. All Handlers start to update when the program starts.

[0272] Among them, the Handler used to display the flight progress is updated every 100 milliseconds in the corresponding Runnable class. The display ratio of the gray ImageView in the progress display area is set every 100ms according to the percentage of the distance flown in the survey line. Before measurement, the percentage is 0, and the gray image is not displayed. Only the blue background is displayed. After the measurement, the percentage is 100%, the gray ImageView is fully displayed, and the blue background is not displayed. The two Handlers and Runnables used to display the deviation are named h01, r01, h02, and r02, respectively, and are used to display left and right yaw. When displaying left and right yaw, the direction of the approach must be determined first. There are two display modes for yaw: forward and reverse:

[0273] When flying forward, the aircraft deviates to the "left side of the measuring line" and a red arrow pointing to the right begins to appear on the "left side of the horizontal ruler", indicating that Figure 8 , prompting the pilot to correct the yaw to the right; the aircraft deviates to the "right side of the survey line", and a red arrow pointing to the left begins to appear on the "right side of the horizontal ruler", indicating that Fig. 9 , prompting the pilot to correct the yaw to the left.

[0274] When flying in the reverse direction, the aircraft deviates to the "left side of the measuring line" and a red arrow pointing to the left begins to appear on the "right side of the horizontal scale", i.e. Fig. 9 , prompting the pilot to correct the yaw to the left; the aircraft deviates to the "right side of the survey line", and a red arrow pointing to the right begins to appear on the "left side of the horizontal ruler", that is, Figure 8 , prompting the pilot to correct the yaw to the right.

[0275] In this embodiment, the setting module allows the user to input the central meridian, and the central meridian will be stored in the hard disk of the device. If the user does not actively input the central meridian, the system uses the default central meridian value. The function of the setting module is to obtain and save the input central meridian, and at the same time pass the central meridian to the display module and the data settlement module. As long as the user actively inputs the central meridian once, the system will store the central meridian on the hard disk for use next time the system is used, otherwise the central meridian defaults to 0.

[0276] The parent class layout of the module is set to use a vertical linear layout, the TextView text box component is set as the prompt, the text value is set to "Set Central Meridian", the EditText edit box component is set as the central meridian input box, the horizontal linear layout is set, the gravity value is set to "center", and two buttons are set here, with the text values ​​of "Clear" and "OK" respectively. Fig.11 As shown, Fig.12 Shown is entering the central meridian in the settings module.

[0277] Among them, when setting the source file design of the module, if the central meridian is not manually entered when the system is running, the central meridian data stored in the previous run will be read. If there is no central meridian data from the previous run, the central meridian defaults to 0. When manually input, click the "OK" button to read the input value and save the value on the hard disk. When you click "Cancel", the data entered in the edit box will be cleared.

[0278] Declare a static double variable zyjx1 to store the central meridian and assign it a value of 0. Instantiate the file object fZYJX01. If the central meridian is not manually entered when the system is running, the central meridian data stored in the previous run is used. Call the if statement. If fZYJX01 exists, call the try / catch statement to read the file information and assign the information to zyjx1. End the if statement.

[0279] Add a click listener event for the "OK" button. Rewrite the onClick(){} method. Call (1) if / else statement. If the edit box string is empty, prompt "Please enter valid data!"; if it is not empty, read the edit box content and call (2) if / else statement again. If the input value is greater than or equal to 0 and less than or equal to 180, jump to the main page and assign zyjx1 to the input value. If the input value is not between 0 and 180, prompt "Input is incorrect, please re-enter", (2) if / else ends. Call the try / catch statement to store the data on the hard disk. (1) if / else ends. Add a click listener event for the "Cancel" button. Rewrite the onClick(){} method. Set the edit box content to empty.

[0280] Exemplarily, this system is installed on an industrial machine with an Android system, and a new measurement network file is created in the root directory of the hard disk. In the "Settings" of the industrial machine, open the "Positioning" and "Read, Write, and Store" permissions for this system. Install the industrial machine on the front windshield of the front cabin of the aircraft. The specific location can be determined on site, but it must be convenient for the pilot to observe and operate, and the impact on the pilot's line of sight must be minimized. After the industrial machine is powered on, turn on the positioning switch of the industrial machine. If you observe that there is longitude, latitude, and altitude information in the positioning information area, it means that the system has been positioned. Click "Settings", enter the central meridian according to the location of the survey area and confirm. Click Edit, enter the specified survey line number according to the flight mission and confirm. The system automatically jumps to the display page and checks whether there is information such as the length and direction of the survey line in the survey line information area. After confirmation, flight measurement can be performed. The system automatically determines whether it is forward or reverse flight based on the heading and survey line direction, and then selects the yaw display mode. Such as Fig.13 As shown, the aircraft is entering the survey line 1040 in the forward direction. The survey line information, positioning information, survey area information, and track information are all displayed in real time. The distance flown is displayed as 0.38 kilometers, the distance to be flown is 0.5 kilometers, the survey line length is 0.88 kilometers, and the left process status is displayed normally; the aircraft position is 29.2 meters on the "right side of the survey line", and "right yaw" occurs. The track information area prompts "Yaw is good! The completion status is indicated in red letters as "Not completed!", and the "right side of the horizontal ruler" displays an arrow pointing to the left at a percentage of yaw distance / 50, prompting the pilot to turn left. Fig.14In the display, the reverse flight completed the test of the 1040 line, the line length was 0.88 kilometers, and the flight distance was 0.50 kilometers; the aircraft position was 30.2 meters "to the right of the line", and "left yaw" occurred. The track information area prompted "Yaw is good!", and the completion status was prompted in red letters "Not completed!". The "left side of the horizontal ruler" displayed a certain proportion of arrows pointing to the right according to the percentage of yaw / 50, prompting the pilot to turn right. Fig.15 In the display, the forward flight 1050 line is displayed, the line length is 4.12 kilometers, the distance flown is 0 kilometers, the distance to be flown is 4.12 kilometers, the aircraft position is 38.7 meters "left side of the line", and "left yaw" occurs. The track information area prompts "Yaw is good!", and the completion status prompts "Not started!". "Left side of the horizontal ruler" displays a certain proportion of arrows pointing to the right according to the percentage of yaw / 50, prompting the pilot to turn right. During the flight, the pilot observes the direction of the arrow in the horizontal ruler in the center of the screen, constantly corrects the aircraft position, keeps the aircraft around the line, ensures that the track is consistent with the designed line, and finally completes the measurement flight.

[0281] The present invention provides an accurate survey line guidance method for aerial geophysical exploration. In aerial geophysical exploration, the flight track should be consistent with the designed survey line to obtain effective measurement data. When in use, the present invention can maintain flight along the survey line without being affected by ground markings. As long as there is a satellite signal, measurement can be carried out in various complex terrains. By applying Gaussian projection, it is guaranteed that any survey area, any survey line direction, any number of survey lines, and any survey line length can maintain plane straight line flight. The survey network file format is simple, which reduces the difficulty of survey network planning. Automatically identify the direction of the line to avoid measurement scrapping caused by misoperation, while reducing the difficulty of use. The present invention makes it easier and more intuitive to maintain the track, improves the measurement effect, reduces the labor intensity of the pilot, and improves work efficiency.

[0282] In one embodiment, the present invention provides an airborne geophysical plane track measurement line guidance method, which is performed based on the above-mentioned airborne geophysical plane track measurement line guidance system. The airborne geophysical plane track measurement line guidance method includes the following steps:

[0283] Input track data to obtain target track data including survey line number, survey line start and end points, and central meridian;

[0284] The latitude and longitude information of the aircraft is obtained in real time through the GPS positioning system, and converted into the easting distance and northing distance in the plane rectangular coordinate system;

[0285] According to the target track data and the real-time position of the aircraft, the track deviation angle and yaw distance between the current position of the aircraft and the designed track line are calculated;

[0286] According to the calculated track deviation angle and yaw distance, track correction information is provided in real time to adjust the heading and keep the aircraft flying along the designed track;

[0287] After each survey line information update, the deviation between the current position of the aircraft and the target survey line is calculated in real time, and the track correction guidance is performed according to the new deviation value, and the correction instructions are updated in real time.

[0288] The method for guiding the plane track survey line of the airborne geophysical prospecting also includes using the GPS positioning system in the Android device to obtain the speed and altitude information of the aircraft in real time, combining the GPS positioning system to obtain the latitude and longitude information of the aircraft in real time, and obtaining the current position data of the aircraft through the GPS positioning system. The track deviation angle and the yaw distance are calculated by the display module, and the longitude and latitude coordinates are converted into a plane coordinate system by using a coordinate conversion algorithm, and the deviation is calculated according to the designed survey line.

[0289] In the method for guiding the plane track survey line of airborne geophysical exploration, the geocentric coordinates are converted into plane rectangular coordinates by a data solution module through a Gaussian plane rectangular coordinate projection method, including the following steps:

[0290] Input: longitude and latitude of geocentric coordinates;

[0291] Use the ellipsoid parameters of the selected coordinate system;

[0292] The plane rectangular coordinate easting distance (x) and northing distance (y) in the 84 coordinate system are calculated by the Gauss projection algorithm;

[0293] Output: Returns an array of easting and northing coordinates.

[0294] Among them, in the coordinate conversion method, the conversion of latitude and longitude is: converting the input longitude and latitude into radians; the definition of ellipsoid parameters includes the ellipsoid major semiaxis (a), minor semiaxis (b), eccentricity (e1) and second eccentricity (e2); the setting of Gauss projection parameters includes the arc form of the central meridian (L0), the westward shift of the horizontal coordinate (FE), the arc form of latitude (B), and the arc form of longitude (L); the calculation of intermediate variables includes the radius of curvature of the angular circle (N), the scale factor (K0), the arc length (M), and the arc length coefficient (C0, C2, C4, C6), so as to calculate the easting distance (x) and the northing distance (y) in the plane rectangular coordinate system later; the output coordinates are the easting distance (x) and the northing distance (y), which are stored in an array and returned.

[0295] In this embodiment, the method for guiding the plane track survey line of the airborne geophysical exploration further includes a survey line direction calculation, which is used to calculate the survey line direction angle between two points in the Gaussian plane coordinate system, and the survey line direction angle is calculated according to the plane coordinates of the starting point and the end point of the survey line, including the following steps:

[0296] Input: Plane rectangular coordinate arrays of two coordinate points (x1, y1) and (x2, y2);

[0297] Calculate the direction angle based on the coordinate difference (x2-x1, y2-y1), and discuss the signs of x and y in different situations to finally get the direction angle result;

[0298] Output: Returns the direction angle of the survey line in degrees.

[0299] When calculating the direction of the survey line in a plane rectangular coordinate system, if x2-x1>=0, the direction of the survey line is the positive direction, that is, between 0° (inclusive) and 180° (inclusive);

[0300] When y2-y1>0, the survey line direction = arctg((x2-x1) / (y2-y1)) / π*180;

[0301] When y2-y1<0, the survey line direction = arctg((x2-x1) / (y2-y1)) / π*180+180;

[0302] When y2-y1=0, the direction of the survey line=90;

[0303] If x2-x1<0, the direction of the survey line is negative, that is, between 0° (not included) and -180° (not included);

[0304] When y2-y1>0, the survey line direction = arctg((x2-x1) / (y2-y1)) / π*180;

[0305] When y2-y1<0, the survey line direction = arctg((x2-x1) / (y2-y1)) / π*180-180;

[0306] When y2-y1=0, the survey line direction=-90.

[0307] Store the direction of the survey line into a double variable and return the variable.

[0308] In this embodiment, the method for guiding the plane track survey line of the airborne geophysical exploration further includes two-point distance calculation, which is used to calculate the distance between the two points in the Gaussian plane coordinate system, and calculates the straight-line distance between the two points according to the easting distance and the northing distance of the two points, including the following steps:

[0309] Input: Plane rectangular coordinate arrays of two coordinate points (x1, y1) and (x2, y2);

[0310] Calculates and returns the straight-line distance between two points in meters;

[0311]

[0312] Output: Returns the calculated distance between two points.

[0313] The method for guiding the plane track survey line of aerial geophysical exploration also includes a heading angle calculation, which is used to calculate the heading angle of the aircraft in the plane rectangular coordinate system. The heading angle is calculated according to the coordinate difference between the current position and the previous position of the aircraft. The calculation of the heading angle includes the following steps:

[0314] Input: The plane rectangular coordinate arrays (x1, y1) and (x2, y2) of the current position and the previous position of the aircraft;

[0315] Calculate the heading angle based on the coordinate difference (x2-x1, y2-y1), and discuss the signs of x and y in different situations to finally get the heading angle;

[0316] Output: Returns the calculated heading angle in degrees;

[0317] When x2-x1>0, the heading angle is between 0° (not included) and 180° (not included).

[0318] When y2-y1>0, heading angle = arctg((x2-x1) / (y2-y1)) / π*180;

[0319] When y2-y1<0, heading angle = arctg((x2-x1) / (y2-y1)) / π*180+180;

[0320] When y2-y1=0, heading angle=90;

[0321] When x2-x1<0, the heading angle is between 180° (exclusive) and 360° (exclusive);

[0322] When y2-y1<0, heading angle = arctg((x2-x1) / (y2-y1)) / π*180+180;

[0323] When y2-y1>0, heading angle = arctg((x2-x1) / (y2-y1)) / π+360;

[0324] When y2-y1=0, heading angle=270 degrees;

[0325] When x2-x1=0, when y2-y1>=0, the heading angle=0; when y2-y1<0, the heading angle=180.

[0326] It should be understood that, although described in a certain order, these steps are not necessarily performed in sequence in the above order. Unless there is clear explanation in this article, the execution of these steps does not have strict order restriction, and these steps can be performed in other orders. Moreover, a part of the steps of the present embodiment may include a plurality of steps or a plurality of stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a part of the steps or stages in other steps or other steps.

[0327] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for guiding the plane track survey line of aerial geophysical exploration, characterized in that: The method comprises the following steps: Input track data to obtain target track data including survey line number, survey line start and end points, and central meridian; The latitude and longitude information of the aircraft is obtained in real time through the GPS positioning system, and converted into the easting distance and northing distance in the plane rectangular coordinate system; According to the target track data and the real-time position of the aircraft, the track deviation angle and yaw distance between the current position of the aircraft and the designed track line are calculated; According to the calculated track deviation angle and yaw distance, track correction information is provided in real time to adjust the heading and keep the aircraft flying along the designed track; After each survey line information update, the deviation between the current position of the aircraft and the target survey line is calculated in real time, and the track correction guidance is performed according to the new deviation value, and the correction instructions are updated in real time.

2. The method for guiding the plane track survey line of aerial geophysical exploration according to claim 1, characterized in that: The aerial geophysical plane track survey line guidance method also includes using the GPS positioning system in the Android device to obtain the speed and altitude information of the aircraft in real time, combining the GPS positioning system to obtain the longitude and latitude information of the aircraft in real time, and obtaining the current position data of the aircraft through the GPS positioning system.

3. The method for guiding the plane track survey line of aerial geophysical exploration according to claim 2, characterized in that: The track deviation angle and the yaw distance are calculated by the display module, the longitude and latitude coordinates are converted into a plane coordinate system using a coordinate conversion algorithm, and the deviation is calculated according to the designed survey line.

4. The method for guiding the plane track survey line of aerial geophysical exploration according to claim 1, characterized in that: In the method for guiding the plane track survey line of airborne geophysical exploration, the geocentric coordinates are converted into plane rectangular coordinates by a data solution module through a Gaussian plane rectangular coordinate projection method, including the following steps: Input: longitude and latitude of geocentric coordinates; Use the ellipsoid parameters of the selected coordinate system; Calculate the plane rectangular coordinate easting and northing in the 84 coordinate system by using the Gauss projection algorithm; Output: Returns an array of easting and northing coordinates.

5. The method for guiding the plane track survey line of aerial geophysical exploration according to claim 4, characterized in that: In the coordinate conversion method, the conversion of latitude and longitude is: converting the input longitude and latitude into radians; the definition of ellipsoid parameters includes the major semiaxis a, the minor semiaxis b, the eccentricity e1 and the second eccentricity e2 of the ellipsoid; the setting of Gauss projection parameters includes the arc form L0 of the central meridian, the westward shift FE of the horizontal coordinate, the arc form B of the latitude, and the arc form L of the longitude; the calculation of intermediate variables includes the radius of curvature N of the angular circle, the scale factor K0, the arc length M, the arc length coefficients C0, C2, C4, and C6, which are used to calculate the easting distance x and the northing distance y in the plane rectangular coordinate system; the output coordinates are to store the calculated easting distance x and northing distance y into an array and return it.

6. The method for guiding the plane track survey line of aerial geophysical exploration according to claim 5, characterized in that: The method for guiding the plane track survey line of airborne geophysical exploration also includes a survey line direction calculation for calculating the survey line direction angle between two points in a Gaussian plane coordinate system, and the survey line direction angle is calculated according to the plane coordinates of the starting point and the end point of the survey line, including the following steps: Input: Plane rectangular coordinate arrays of two coordinate points x1, y1 and x2, y2; Calculate the direction angle based on the coordinate differences x2-x1 and y2-y1, and discuss the signs of the easting distance x and the northing distance y in different situations, and finally get the direction angle result; Output: Returns the direction angle of the survey line in degrees.

7. The method for guiding the plane track survey line of aerial geophysical exploration according to claim 6, characterized in that: The method for guiding the plane track survey line of the airborne geophysical exploration also includes two-point distance calculation, which is used to calculate the distance between the two points in the Gaussian plane coordinate system, and calculate the straight-line distance between the two points according to the easting distance and the northing distance of the two points. The following steps are involved: Input: Plane rectangular coordinate arrays of two coordinate points x1, y1 and x2, y2; Calculates and returns the straight-line distance between two points in meters; Output: Returns the calculated distance between two points.

8. The method for guiding the plane track survey line of aerial geophysical exploration according to claim 7, characterized in that: The method for guiding the plane track survey line of aerial geophysical exploration also includes a heading angle calculation, which is used to calculate the heading angle of the aircraft in the plane rectangular coordinate system. The heading angle is calculated according to the coordinate difference between the current position and the previous position of the aircraft. The calculation of the heading angle includes the following steps: Input: The plane rectangular coordinate arrays x1, y1 and x2, y2 of the current position and the previous position of the aircraft; Calculate the heading angle based on the coordinate differences x2-x1, y2-y1, and discuss the signs of x and y in different situations to finally get the heading angle; Output: Returns the calculated heading angle in degrees; When x2-x1>0, the heading angle is between 0° and 180°, excluding 0° and 180°; When y2-y1>0, heading angle = arctg((x2-x1) / (y2-y1)) / π*180; When y2-y1<0, heading angle = arctg((x2-x1) / (y2-y1)) / π*180+180; When y2-y1=0, heading angle=90; When x2-x1<0, the heading angle is between 180° and 360°, excluding 180° and 360°; When y2-y1<0, heading angle = arctg((x2-x1) / (y2-y1)) / π*180+180; When y2-y1>0, heading angle = arctg((x2-x1) / (y2-y1)) / π+360; When y2-y1=0, heading angle=270 degrees; When x2-x1=0, when y2-y1>=0, the heading angle=0; when y2-y1<0, the heading angle=180.

9. An aerial geophysical exploration plane track survey line guidance system, characterized in that: Used to execute the aerial geophysical exploration plane track survey line guidance method according to any one of claims 1 to 8, the system comprises: The main activity module is used to set and manage the functional modules and interfaces of the application and control the switching of various functional modules; The editing module is used to receive and verify the externally inputted survey line number and transmit the valid survey line number to the display module; A setting module is used for receiving the inputted central meridian, storing the central meridian in a hard disk, and transmitting the central meridian to a data solving module and a display module; The data solution module is used to convert the longitude and latitude coordinates in the geocentric coordinate system into the easting distance and northing distance in the plane rectangular coordinate system according to the central meridian, and calculate the survey line direction, the distance between two points, and the heading angle in the plane rectangular coordinate system; The display module is used to find and compare the input line number information according to the survey line number input by the editing module, the central meridian received by the setting module and the solution result of the data solution module, and calculate the yaw distance between the current position of the aircraft and the designed survey line and the distance to be flown in real time, and display the yaw distance between the current position of the aircraft and the designed survey line in real time, and display the distance to be flown in real time.

10. The aerial geophysical plane track survey line guidance system according to claim 9, characterized in that: The main activity module uses the ViewPager component to switch between the functional modules of display, editing and setting, and uses the TabLayout component to switch by clicking the corresponding tab.

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