Multi-data source fusion flight path determination method and device, medium and equipment
The multi-data source fusion method addresses ADS-B system data loss by using GPS data points and the A-star algorithm to reconstruct flight trajectories, ensuring accurate and complete flight path records.
Patent Information
- Application Number
- CN202411889412.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-20
- Publication Date
- 2025-03-25
AI Technical Summary
ADS-B systems face data loss or anomalies due to transmission distance, leading to incomplete flight trajectory records, as they struggle to maintain accurate flight path information.
A method and device for multi-data source fusion to reconstruct flight trajectories by identifying ADS-B interruption intervals, determining target sectors, collecting relevant GPS data points within these sectors, and using the A-star algorithm to generate supplementary paths and complete the flight trajectory.
This approach ensures real-time completion of flight trajectory records by filling data gaps and providing accurate flight speed and height data, ensuring a complete and reliable flight path record.
Smart Images
Figure CN119689509A_ABST
Abstract
Description
Background Art
[0002] The ADS-B system (Automatic Dependent Surveillance Broadcast) is the main technical means to implement air-to-air surveillance and provide aircraft position information. The main information includes the aircraft's four-dimensional position information and other possible additional information. However, due to the long data transmission distance, interference during the process, missing or abnormal data, the complete flight trajectory of the flight may not be obtained. Summary of the invention
[0003] In response to the above technical problems, the present application provides a flight trajectory determination method, device, medium and equipment by fusing multiple data sources, which at least partially solve the problems existing in the prior art.
[0004] In a first aspect of the present application, a method for determining a flight trajectory by fusing multiple data sources is provided, the method comprising:
[0005] S100, obtaining an ADS-B interruption interval corresponding to a flight trajectory of a target aircraft that has completed a target flight mission, wherein the flight trajectory is obtained according to ADS-B; and the ADS-B interruption interval has corresponding interruption points and continuation points;
[0006] S200, determining a target sector area according to an interruption point and a continuation point corresponding to the ADS-B interruption interval; wherein the target sector area has a line between the interruption point and the continuation point as a radius, a preset angle as a central angle, and a line between the interruption point and the continuation point as an angle bisector of the central angle corresponding to the target sector area;
[0007] S300, obtaining a target track point whose corresponding latitude and longitude position is within the target sector area and whose corresponding collection time is within the target time period; each target track point has a corresponding target device; the target device is a device that collects track points when the target aircraft performs the target flight mission, and starts the target application after the target aircraft completes the target flight mission; the target time period is the time period between the interruption time corresponding to the interruption point and the continuation time corresponding to the continuation point;
[0008] S400, obtaining a target supplementary path corresponding to the ADS-B interruption interval according to each target track point and the A-star algorithm;
[0009] S500, supplementing the ADS-B interruption interval corresponding to the flight trajectory of the target aircraft according to the target supplement path, so as to obtain the target flight trajectory of the target aircraft.
[0010] In a second aspect of the present application, a flight trajectory determination device based on fusion of multiple data sources is provided, the device comprising:
[0011] An interval acquisition unit is used to acquire an ADS-B interruption interval corresponding to a flight trajectory of a target aircraft that has completed a target flight mission, wherein the flight trajectory is obtained according to ADS-B; and the ADS-B interruption interval has a corresponding interruption point and a continuation point;
[0012] An area determination unit is used to determine a target sector area according to an interruption point and a continuation point corresponding to the ADS-B interruption interval; wherein the target sector area has a line between the interruption point and the continuation point as a radius, a preset angle as a central angle, and a line between the interruption point and the continuation point as an angle bisector of the central angle corresponding to the target sector area;
[0013] A track point determination unit is used to obtain a target track point whose corresponding latitude and longitude position is within the target sector area and whose corresponding collection time is within the target time period; each target track point has a corresponding target device; the target device is a device that collects track points when the target aircraft performs the target flight mission, and starts the target application after the target aircraft completes the target flight mission; the target time period is the time period between the interruption time corresponding to the interruption point and the continuation time corresponding to the continuation point;
[0014] A supplementary path determination unit, used to obtain a target supplementary path corresponding to the ADS-B outage interval according to each target track point and the A-star algorithm;
[0015] The trajectory determination unit is used to supplement the ADS-B interruption interval corresponding to the flight trajectory of the target aircraft according to the target supplement path to obtain the target flight trajectory of the target aircraft.
[0016] In a third aspect of the present application, a non-transitory computer-readable storage medium is provided, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the aforementioned flight trajectory determination method by fusing multiple data sources.
[0017] In a fourth aspect of the present application, an electronic device is provided, comprising a processor and the above-mentioned non-transitory computer-readable storage medium.
[0018] This application has at least the following beneficial effects:
[0019] The flight trajectory determination method of multi-data source fusion provided in the present application first obtains the ADS-B interruption interval corresponding to the flight trajectory of the target aircraft that has completed the target flight mission; then, the target sector area is determined according to the interruption point and continuation point corresponding to the ADS-B interruption interval; then, the target track point whose corresponding longitude and latitude position is within the target sector area and whose corresponding acquisition time is within the target time period is obtained, and then the target supplementary path corresponding to the ADS-B interruption interval is obtained according to each target track point and the A-star algorithm. Finally, the ADS-B interruption interval corresponding to the flight trajectory of the target aircraft is supplemented according to the target supplementary path to obtain the target flight trajectory of the target aircraft. The present application supplements the real-time trajectory, flight speed and flight altitude of the flight with missing or interrupted data based on the GPS data obtained by the target device on board, and completes the complete record of the flight trajectory of the flight. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0021] Figure 1 A flowchart of a method for determining a flight trajectory by fusing multiple data sources provided in an embodiment of the present application;
[0022] Figure 2 A structural block diagram of a flight trajectory determination device for fusing multiple data sources provided in an embodiment of the present application. DETAILED DESCRIPTION
[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.
[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0025] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.
[0026] Please refer to Figure 1 As shown, an embodiment of the present application provides a flight trajectory determination method by fusing multiple data sources, the method comprising:
[0027] S100, obtaining an ADS-B interruption interval corresponding to a flight trajectory of a target aircraft that has completed a target flight mission, wherein the flight trajectory is obtained according to ADS-B; and the ADS-B interruption interval has corresponding interruption points and continuation points.
[0028] Specifically, the interruption point is the point where the ADS-B signal is not received at the beginning, and the continuation point is the point where the ADS-B signal is received again after the interruption. In one embodiment, if the ADS-B signal is not received again from the beginning of the ADS-B signal not being received to the landing, the continuation point is the point corresponding to the destination airport.
[0029] S200, determining a target sector area according to an interruption point and a continuation point corresponding to the ADS-B interruption interval; wherein the target sector area has a line connecting the interruption point and the continuation point as a radius, a preset angle as a center angle, and a line connecting the interruption point and the continuation point as an angle bisector of the center angle corresponding to the target sector area.
[0030] Specifically, a line segment is used to connect the interruption point and the continuation point, and the connecting line is used as the radius and the preset angle is used as the center angle to obtain the target sector area. Preferably, the preset angle of the center angle is 150°.
[0031] S300, obtain the target track points whose corresponding longitude and latitude positions are within the target sector area and whose corresponding collection time is within the target time period; each target track point has a corresponding target device; the target device is the device that collects track points when the target aircraft performs the target flight mission, and starts the target application after the target aircraft completes the target flight mission; the target time period is the time period between the interruption time corresponding to the interruption point and the continuation time corresponding to the continuation point.
[0032] Specifically, the target track point can be GPS data. Here, it should be noted that when the target aircraft is performing the target flight mission, a number of devices are installed in the target aircraft. When any device starts the target application, the corresponding device will be switched to a state where GPS data needs to be collected. In flight mode, the target application can display estimated data such as the estimated remaining flight time, estimated flight altitude, and estimated flight speed based on the collected GPS data. When any device starts the target application, GPS data is obtained once every time a preset time point is reached. The corresponding target application displays estimated data such as the estimated remaining flight time, estimated flight altitude, and estimated flight speed based on the acquired GPS data. The estimated data is updated based on the latest GPS data at regular intervals.
[0033] In this embodiment, the target track points within the target sector area corresponding to the ADS-B interruption interval and whose corresponding collection time is within the target time period are obtained. The flight trajectory of the target aircraft is obtained by fitting based on these target track points.
[0034] In an exemplary embodiment of the present application, the i-th target device has a corresponding number of target track points; the number of target track points corresponding to the i-th target device is selected from the track point list G corresponding to the i-th target device. i According to the target sector area and target time period, G i Follow these steps to determine:
[0035] S310, in response to the target aircraft performing the target flight mission, each time a preset time point is reached, the track point of the i-th target device and each device that is Bluetooth networked with the i-th target device is obtained to obtain an initial track point list set C corresponding to the i-th target device i =(C i，1 , C i，2 , …, C i，j , …, C i，m);j=1,2,…,m;wherein m is the number of preset time points during the target aircraft performs the target flight mission; C i，j A list of track points of each Bluetooth networking device corresponding to the ith target device obtained at the jth preset time point during the target aircraft performing the target flight mission; C i，j =(C i，j，1 , C i，j，2 , …, C i，j，a , …, C i，j，f(j) ); a = 1, 2, ..., f(j); f(j) is the number of track points corresponding to the i-th target device obtained at the j-th preset time point during the target aircraft performing the target flight mission; C i，j，a The track point of the a-th Bluetooth networking device that starts the target application corresponding to the ith target device obtained at the j-th preset time point during the target aircraft performing the target flight mission.
[0036] Specifically, the target aircraft carries several passengers during the flight, and the passengers may carry various devices. If any device opens the target application during the flight, GPS data will be collected every time the preset time point is reached. Since the GPS signal of the aircraft is unstable during the flight and is affected by many factors, as an example: the GPS signal obtained by the device in the window seat is more accurate than that of the device far away from the window seat. Therefore, in order to enable each passenger to obtain a more accurate GPS signal, Bluetooth networking is performed on the devices with Bluetooth turned on. That is, in the cockpit, a small local area network is constructed through Bluetooth to share flight information. In one embodiment, the specific steps of Bluetooth networking are as follows:
[0037] Step a1, the mobile phone that obtains GPS data starts to scan surrounding devices via Bluetooth, establishes a device information table and manages broadcast device information;
[0038] Step a3, other mobile phones open the APP and start broadcasting the device. When the mobile phone that obtains GPS data receives the connected device information, it manages the connected device;
[0039] Step a4, the mobile phone that obtains GPS data successfully connects to other mobile phones through Bluetooth, and the mobile phone that obtains GPS data sends a device connection information packet to the successfully connected mobile phone to establish a connected device information table;
[0040] Step a5, the mobile phone that obtains GPS data sends a heartbeat packet, and other mobile phones respond to the heartbeat packet. The two manage the connected devices through the heartbeat mechanism;
[0041] Step a6: When no heartbeat packet is received, the device is determined to be offline and the network node information is updated.
[0042] In this embodiment, through Bluetooth networking, the i-th target device obtains the GPS signal collected by each device in the corresponding local area network.
[0043] S320, according to C i and water flow model, and obtain the key track point list G i =(G i，1 , G i，2 , …, G i，j , …, G i，m );G i，j The target device is calculated from C according to the water flow model at the jth preset time point during the target aircraft performing the target flight mission. i，j The track points adopted in the.
[0044] Specifically, for each preset time point, there may be GPS signals from multiple devices, and due to the different locations of each device and the hardware of the device itself, the accuracy of each GPS signal is different. At this time, each device selects a GPS signal with the highest accuracy for acceptance based on all GPS signals in the local area network of its corresponding Bluetooth network. The priority order of acceptance corresponding to the water flow model is: the first priority is the signal strength and reference of the track point; the second priority is the distance between the device corresponding to the track point and the target reference object; the third priority is the device hardware acceptance confidence of the corresponding device; wherein, the device hardware acceptance confidence is determined based on the corresponding historical signal strength.
[0045] It should be noted that each GPS signal has a corresponding signal strength and reference degree. When collecting signals, signals that are not within the preset reference degree range will be shielded, and the greater the signal strength, the higher the corresponding confidence. In this embodiment, the preset signal strength range and the preset reference degree range are used as the first priority. First, some GPS signals are screened out. If there are still multiple GPS signals that belong to the preset signal strength range and the preset reference degree range, the distance from the device location corresponding to each GPS signal to the target reference object is obtained. The target reference object here can be a window, that is, the closer to the window, the better the received GPS signal. The third priority is the device hardware confidence of the corresponding device. The device hardware confidence here is determined according to the model corresponding to the device and the signal strength of the device corresponding to each model in the historical data. Therefore, for each preset time point, the GPS signals received by each device from multiple devices and the GPS signals collected by the device itself are trusted to obtain the track points trusted by each device at each preset time point.
[0046] S400, obtaining a target supplementary path corresponding to the ADS-B outage interval according to each target track point and the A-star algorithm.
[0047] Specifically, the A-star algorithm (usually written as the A* algorithm) is a heuristic search algorithm widely used in the field of computer science. It is often used to solve path planning problems, such as the movement path planning of characters in games, the navigation path finding of robots, and the calculation of the best route between two points in geographic information systems (GIS). It combines the advantages of breadth-first search (Breadth-First Search, BFS) and best-first search (Best-First Search). It can traverse the search space in an orderly manner like breadth-first search to ensure the possibility of finding the optimal solution, and it can rely on heuristic information to quickly focus the search in the target direction like best-first search, effectively improving the search efficiency and reducing unnecessary search nodes, so as to find the optimal path faster (under certain constraints).
[0048] In an exemplary embodiment of the present application, step S400 includes:
[0049] S410, according to a plurality of target track points, obtaining a target track point corresponding to each preset time point in a target time period, so as to obtain a target track point group list M = (M1, M2, ..., M g , …, M h ); g = 1, 2, ..., h; where h is the number of preset time points included in the target time period; M g is the target track point group corresponding to the g-th preset time point contained in the target time period; M g =(M g，1 , M g，2 , …, M g，b , …, M g，f(g) ); b = 1, 2, ..., f(g); f(g) is the number of target devices using the target application at the g-th preset time point included in the target time period; M g，b The track point adopted by the bth target device using the target application at the gth preset time point included in the target time period.
[0050] Specifically, after the target aircraft lands, each target device (the target device is a device that has collected track points when the target aircraft performs the target flight mission and has started the target application after the target aircraft completes the target flight mission) will upload the flight trajectory obtained on the aircraft based on the GPS data. The flight trajectory here may be incomplete because at a certain point in time or a certain period of time, each device carried by the target aircraft may not have started the target application, that is, no GPS data was obtained.
[0051] It should be noted that the flight trajectory obtained by each target device on the aircraft based on the GPS data is obtained based on the GPS data collected at each preset time point of the target device. Due to the different locations and device hardware parameters of each target device, the GPS data collected by each target device at the same preset time point may be the same or different. Therefore, the flight trajectories corresponding to different target devices may be different or the same, and each flight trajectory includes several GPS data.
[0052] S420, according to M, obtain the consistency corresponding to each target track point group to obtain a consistency ratio list Y = (Y1, Y2, ..., Y g , …, Y h );Y g M g Corresponding consistency ratio; Y g =S g / f(g); where S g M g The number of identical track points in .
[0053] Specifically, the target track point group corresponding to each preset time point may contain multiple target track points, and these track points may be the same or different. If most of the target track points contained in any target track point group are the same, it means that the same target track point has a higher confidence level, and more devices trust the track point (GPS data).
[0054] S430, according to Y, obtain the first necessary track point group list N = (N1, N2, ..., N x ,…,N y ); x = 1, 2, ..., y; y < h; where y is the number of the first must-go track point group; N x is the xth first necessary track point group; Y x ≥ZX;Y x N x Corresponding consistency ratio; ZX is a preset consistency ratio threshold, ZX>0.5; each first necessary track point group has a corresponding first necessary point; the first necessary point is the same track point in the corresponding first necessary track point group.
[0055] Specifically, in one embodiment, if the number of identical track points in any target track point group reaches more than half of the total number, it is determined as the first must-pass track point group, and the identical track point is the first must-pass point. Here, the first must-pass point has a higher confidence level than other track points at the same preset time point, and more devices use the data, indicating that the GPS signal is stronger and more accurate.
[0056] S440, according to Y and N, obtain the second necessary track point group list; E = (E1, E2, ..., E r ,…,E s ); r = 1, 2, ..., s; h = y + s; where s is the number of the second necessary track point group; E r It is the rth second necessary track point group.
[0057] Specifically, a target track point group without a large number of identical track points is determined as the second necessary track point group.
[0058] S450, obtaining a target supplementary path corresponding to the ADS-B outage interval according to N, E and A-star algorithms.
[0059] Specifically, step S450 further includes:
[0060] S451, abstracting the target sector area into a network structure composed of multiple nodes, wherein each node represents a specific position in the target sector area.
[0061] S452, determining a node where a corresponding interruption point of the ADS-B interruption interval is located as a starting node, and determining a corresponding continuation point of the DSS interruption interval as a target node.
[0062] S453, marking each node where the first necessary track point in N is located as a first necessary node, and marking each node where the target track point in N is located except each first necessary track point as a non-travelable node.
[0063] Here, the node where the first must-go track point is located is marked as the first must-go node, and the node where each target track point in N is located except each first must-go track point is marked as a non-travelable node. That is, since the first must-go track point has a higher confidence than other track points at the same preset time point, and more devices use this data, it means that the GPS signal is stronger and more accurate. Therefore, it is more likely that the target aircraft passes through this point. Therefore, it is determined as the first must-go node.
[0064] S454, marking the nodes corresponding to each second necessary track point group in E as second traversable nodes, so as to obtain the second necessary node group corresponding to each second necessary track point group.
[0065] Here, each node in each second must-go track point group is also GPS data adopted by different devices on board, and its corresponding signal strength and accuracy may be lower than that of the first must-go track point. Therefore, at each preset time point, the target aircraft is almost likely to pass through any node in the second must-go track point group, and must pass through a node in the second must-go track point group. Therefore, in this embodiment, first mark the node corresponding to each second must-go track point group as a second traversable node, and combine each second traversable node to obtain a second must-go node group. That is, the flight trajectory corresponding to the target aircraft passes through a node in the second must-go track point group. But the probability of which second traversable node is the passed node is almost the same.
[0066] S455, obtain the target supplementary path according to the starting node, the target node, the first must-go node, the non-traversable node, the second must-go node group and the A-star algorithm; wherein the constraint condition corresponding to the A-star algorithm is: the target supplementary path passes through each first must-go node and any second traversable node in each second must-go node group.
[0067] Here, the target supplementary path is obtained according to the above-defined starting node, target node, first must-go node, non-travelable node, second must-go node group and A-star algorithm. Among them, the constraint conditions corresponding to the A-star algorithm are set, that is, the target supplementary path passes through each first must-go node and each second must-go node group, and when passing through each second must-go node group, it can only pass through one of the second travelable nodes. Based on this constraint condition, the path planning is carried out according to the A-star algorithm to obtain the target supplementary path corresponding to the ADS-B interruption interval.
[0068] S500, supplementing the ADS-B interruption interval corresponding to the flight trajectory of the target aircraft according to the target supplement path, so as to obtain the target flight trajectory of the target aircraft.
[0069] This application supplements the real-time trajectory, flight speed and flight altitude of flights with missing or interrupted data based on the GPS data obtained by the target device on board, completing the complete record of the flight trajectory of the flight.
[0070] Please refer to Figure 2 As shown, an embodiment of the present application provides a flight trajectory determination device 100 by fusing multiple data sources, and the device includes:
[0071] The interval acquisition unit 110 is used to acquire an ADS-B interruption interval corresponding to a flight trajectory of a target aircraft that has completed a target flight mission, wherein the flight trajectory is obtained based on ADS-B; and the ADS-B interruption interval has corresponding interruption points and continuation points.
[0072] The area determination unit 120 is used to determine a target sector area according to the interruption point and the continuation point corresponding to the ADS-B interruption interval; wherein the target sector area has a line between the interruption point and the continuation point as a radius, a preset angle as a center angle, and the line between the interruption point and the continuation point as an angle bisector of the center angle corresponding to the target sector area.
[0073] The track point determination unit 130 is used to obtain the target track point whose corresponding latitude and longitude position is within the target fan-shaped area and whose corresponding collection time is within the target time period; each target track point has a corresponding target device; the target device is a device that collects track points when the target aircraft performs the target flight mission, and starts the target application after the target aircraft completes the target flight mission; the target time period is the time period between the interruption time corresponding to the interruption point and the continuation time corresponding to the continuation point.
[0074] The supplementary path determination unit 140 is used to obtain a target supplementary path corresponding to the ADS-B outage section according to each target track point and the A-star algorithm.
[0075] The trajectory determination unit 150 is used to supplement the ADS-B interruption interval corresponding to the flight trajectory of the target aircraft according to the target supplement path to obtain a target flight trajectory of the target aircraft.
[0076] In an exemplary embodiment of the present application, an electronic device capable of implementing the above method is also provided.
[0077] Those skilled in the art will appreciate that various aspects of the present application may be implemented as a system, method or program product. Therefore, various aspects of the present application may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to as "circuit", "module" or "system" herein.
[0078] The electronic device according to this embodiment of the present application is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.
[0079] The electronic device is presented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: the at least one processor mentioned above, the at least one storage device mentioned above, and a bus connecting different system components (including storage devices and processors).
[0080] The storage stores program codes, which can be executed by the processor, so that the processor executes the steps described in the above “Exemplary Method” section of this specification according to various exemplary embodiments of the present application.
[0081] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read only memory (ROM).
[0082] The storage may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include the implementation of a network environment.
[0083] The bus may represent one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.
[0084] The electronic device can also communicate with one or more external devices (such as keyboards, pointing devices, Bluetooth devices, etc.), and can also communicate with one or more devices that enable users to interact with the electronic device, and / or communicate with any device (such as routers, modems, etc.) that enables the electronic device to communicate with one or more other computing devices. This communication can be carried out through an input / output (I / O) interface. In addition, the electronic device can also communicate with one or more networks (such as local area networks (LANs), wide area networks (WANs) and / or public networks, such as the Internet) through a network adapter. As shown in the figure, the network adapter communicates with other modules of the electronic device through a bus. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.
[0085] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation methods of the present application.
[0086] In an exemplary embodiment of the present application, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present application can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present application described in the above "Exemplary Method" section of the present specification.
[0087] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.
[0088] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.
[0089] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.
[0090] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).
[0091] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present application, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.
[0092] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.
[0093] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.
Claims
1. A flight trajectory determination method based on fusion of multiple data sources, characterized in that: The method comprises: S100, obtaining an ADS-B interruption interval corresponding to a flight trajectory of a target aircraft that has completed a target flight mission, wherein the flight trajectory is obtained according to ADS-B; and the ADS-B interruption interval has corresponding interruption points and continuation points; S200, determining a target sector area according to an interruption point and a continuation point corresponding to the ADS-B interruption interval; wherein the target sector area has a line between the interruption point and the continuation point as a radius, a preset angle as a central angle, and a line between the interruption point and the continuation point as an angle bisector of the central angle corresponding to the target sector area; S300, obtaining a target track point whose corresponding latitude and longitude position is within the target sector area and whose corresponding collection time is within the target time period; each target track point has a corresponding target device; the target device is a device that collects track points when the target aircraft performs the target flight mission, and starts the target application after the target aircraft completes the target flight mission; the target time period is the time period between the interruption time corresponding to the interruption point and the continuation time corresponding to the continuation point; S400, obtaining a target supplementary path corresponding to the ADS-B interruption interval according to each target track point and the A-star algorithm; S500, supplementing the ADS-B interruption interval corresponding to the flight trajectory of the target aircraft according to the target supplement path, so as to obtain the target flight trajectory of the target aircraft.
2. The flight trajectory determination method based on multi-data source fusion according to claim 1, characterized in that: The i-th target device has a corresponding number of target track points; the target track points corresponding to the i-th target device are selected from the track point list G corresponding to the i-th target device. i According to the target sector area and target time period, G i Follow these steps to determine: S310, in response to the target aircraft performing the target flight mission, each time a preset time point is reached, the track point of the i-th target device and each device that is Bluetooth networked with the i-th target device is obtained to obtain an initial track point list set C corresponding to the i-th target device i =(C i，1 , C i，2 , …, C i，j , …, C i，m );j=1,2,…,m;wherein, m is the number of preset time points during the target aircraft performs the target flight mission; C i，j A list of track points of each Bluetooth networking device corresponding to the ith target device obtained at the jth preset time point during the target aircraft performing the target flight mission; C i，j =(C i，j，1 , C i，j，2 , …, C i，j，a , …, C i，j，f(j) ); a = 1, 2, ..., f(j); f(j) is the number of track points corresponding to the i-th target device obtained at the j-th preset time point during the target aircraft performing the target flight mission; C i，j，a The track point of the ath Bluetooth networking device that starts the target application corresponding to the ith target device obtained at the jth preset time point during the target aircraft performing the target flight mission; S320, according to C i and water flow model, and obtain the key track point list G i =(G i，1 , G i，2 , …, G i，j , …, G i，m );G i，j The target device is calculated from C according to the water flow model at the jth preset time point during the target aircraft performing the target flight mission. i，j The track points adopted in the.
3. The flight trajectory determination method based on multi-data source fusion according to claim 2, characterized in that: The priority order of acceptance is: the first priority is the signal strength and reference degree of the track point; the second priority is the distance between the device corresponding to the track point and the target reference object; the third priority is the device hardware acceptance degree of the corresponding device; wherein, the device hardware acceptance degree is determined based on the corresponding historical signal strength.
4. The flight trajectory determination method based on multi-data source fusion according to claim 3 is characterized in that: Step S400 includes: S410, according to a plurality of target track points, obtaining the target track point corresponding to each preset time point in the target time period, so as to obtain a target track point group list M = (M1, M2, ..., M g , …, M h ); g = 1, 2, ..., h; where h is the number of preset time points included in the target time period; M g is the target track point group corresponding to the g-th preset time point contained in the target time period; M g =(M g，1 , M g，2 , …, M g，b , …, M g，f(g) ); b = 1, 2, ..., f(g); f(g) is the number of target devices using the target application at the g-th preset time point included in the target time period; M g，b The track point adopted by the bth target device using the target application at the gth preset time point included in the target time period; S420, according to M, obtain the consistency corresponding to each target track point group to obtain a consistency ratio list Y = (Y1, Y2, ..., Y g , …, Y h );Y g M g Corresponding consistency ratio; Y g =S g / f(g); where S g M g The number of identical track points in ; S430, according to Y, obtain the first necessary track point group list N = (N1, N2, ..., N x ,…,N y ); x = 1, 2, ..., y; y < h; where y is the number of the first must-go track point group; N x is the xth first necessary track point group; Y x ≥ZX;Y x N x Corresponding consistency ratio; ZX is a preset consistency ratio threshold, ZX>0.5; each first necessary track point group has a corresponding first necessary point; the first necessary point is the same track point in the corresponding first necessary track point group; S440, according to Y and N, obtain the second necessary track point group list; E = (E1, E2, ..., E r ,…,E s ); r = 1, 2, ..., s; h = y + s; where s is the number of the second necessary track point group; E r is the rth second must-go track point group; S450, obtaining a target supplementary path corresponding to the ADS-B outage interval according to N, E and A-star algorithms.
5. The flight trajectory determination method based on multi-data source fusion according to claim 4 is characterized in that: Step S450 also includes: S451, abstracting the target sector area into a network structure composed of multiple nodes, wherein each node represents a specific position in the target sector area; S452, determining a node where a corresponding interruption point of the ADS-B interruption interval is located as a starting node, and determining a corresponding continuation point of the DSS interruption interval as a target node; S453, marking each node where the first necessary track point in N is located as a first necessary node, and marking each node where the target track point in N is located except each first necessary track point as a non-travelable node; S454, marking the nodes corresponding to each second necessary track point group in E as second traversable nodes, so as to obtain the second necessary node group corresponding to each second necessary track point group; S455, obtain the target supplementary path according to the starting node, the target node, the first must-go node, the non-traversable node, the second must-go node group and the A-star algorithm; wherein the constraint condition corresponding to the A-star algorithm is: the target supplementary path passes through each first must-go node and any second traversable node in each second must-go node group.
6. A flight trajectory determination device based on fusion of multiple data sources, characterized in that: The device comprises: An interval acquisition unit is used to acquire an ADS-B interruption interval corresponding to a flight trajectory of a target aircraft that has completed a target flight mission, wherein the flight trajectory is obtained according to ADS-B; and the ADS-B interruption interval has a corresponding interruption point and a continuation point; An area determination unit is used to determine a target sector area according to an interruption point and a continuation point corresponding to the ADS-B interruption interval; wherein the target sector area has a line between the interruption point and the continuation point as a radius, a preset angle as a central angle, and a line between the interruption point and the continuation point as an angle bisector of the central angle corresponding to the target sector area; A track point determination unit is used to obtain a target track point whose corresponding latitude and longitude position is within the target sector area and whose corresponding collection time is within the target time period; each target track point has a corresponding target device; the target device is a device that collects track points when the target aircraft performs the target flight mission, and starts the target application after the target aircraft completes the target flight mission; the target time period is the time period between the interruption time corresponding to the interruption point and the continuation time corresponding to the continuation point; A supplementary path determination unit, used to obtain a target supplementary path corresponding to the ADS-B outage interval according to each target track point and the A-star algorithm; The trajectory determination unit is used to supplement the ADS-B interruption interval corresponding to the flight trajectory of the target aircraft according to the target supplement path to obtain the target flight trajectory of the target aircraft.
7. A non-transitory computer-readable storage medium, characterized in that: The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the method as claimed in any one of claims 1 to 5.
8. An electronic device, characterized in that: The invention comprises a processor and the non-transitory computer-readable storage medium as claimed in claim 7.