Flight navigation processing method for multiple navigation devices, electronic device and storage medium

Abstract

The invention provides a flight navigation processing method for multiple navigation devices, an electronic device and a storage medium, and the method comprises the following steps: receiving first navigation information sent by at least one navigation device at the current moment, and obtaining second navigation information of the current navigation device at the current moment; according to the identifier of each navigation device and the identifier of the current navigation device, determining whether to switch the navigation device; if yes, determining a target navigation difference value and target navigation equipment according to the first navigation information and the second navigation information, determining target navigation information according to the target navigation difference value and the second navigation information, and switching the current navigation equipment to the target navigation equipment. Transition switching can be performed according to the target navigation information determined according to the target navigation difference value, and the navigation information is subjected to transition processing, so that the navigation information of the aircraft can be subjected to smooth transition switching, and the aircraft is controlled to fly stably.

Description

Technical Field

[0001] The present application relates to the technical field of aircraft navigation control, and in particular to a flight navigation processing method for multiple navigation devices, an electronic device, and a storage medium. Background Art

[0002] During the flight of an aircraft, due to interference from the external environment or the reasons of the navigation equipment itself, the working state of the navigation equipment will change and the navigation accuracy will decrease. Usually, in order to ensure the safety of the flight process, multiple sets of navigation equipment redundancy methods are used to ensure the continuity and reliability of navigation information during the flight.

[0003] In the prior art, when the navigation information of an aircraft is switched between different navigation devices, a direct switching method is usually adopted. Since there are differences in the navigation information of different navigation devices at the same time, the use of the direct switching method will cause the aircraft to become unstable or even out of control when the navigation information is switched. Summary of the invention

[0004] The purpose of the present application is to provide a flight navigation processing method, electronic device and storage medium for multiple navigation devices in order to address the deficiencies in the above-mentioned prior art, so that multiple navigation devices can be switched smoothly.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a flight navigation processing method for multiple navigation devices, the method comprising:

[0007] Receiving first navigation information sent by at least one navigation device at a current moment, and acquiring second navigation information of a current navigation device at the current moment;

[0008] Determining whether to switch navigation devices according to identifiers of each of the navigation devices and an identifier of the current navigation device;

[0009] If so, a target navigation difference and a target navigation device are determined according to each of the first navigation information and the second navigation information, and target navigation information is determined according to the target navigation difference and the second navigation information, and the current navigation device is switched to the target navigation device.

[0010] Optionally, the determining whether to switch the navigation device according to the identifiers of each of the navigation devices and the identifier of the current navigation device includes:

[0011] Determine whether the identifier of the current navigation device is one of the identifiers of the at least one navigation device;

[0012] If so, it is determined not to switch the navigation device; if not, it is determined to switch the navigation device.

[0013] Optionally, determining a target navigation difference and a target navigation device according to each of the first navigation information and the second navigation information includes:

[0014] Determine valid parameters in the second navigation information, where the valid parameters include at least one of the following: position, attitude, and speed;

[0015] obtaining each of the navigation differences according to a valid parameter in the second navigation information and a parameter corresponding to the valid parameter in each of the first navigation information;

[0016] A navigation difference with the smallest difference is selected from each of the navigation differences as the target navigation difference, and a navigation device corresponding to the first navigation information with the smallest difference with the second navigation information is selected as the target navigation device.

[0017] Optionally, obtaining each of the navigation differences according to a valid parameter in the second navigation information and a parameter in each of the second navigation information corresponding to the valid parameter includes:

[0018] If the valid parameters include a position, determining a position change amount according to the position in the first navigation information, the position in the second navigation information, and a preset transition time, and using the position change amount as the navigation difference;

[0019] If the valid parameters include speed, determining a speed change according to the speed in the first navigation information, the speed in the second navigation information, and a preset transition time, and using the position change as the navigation difference;

[0020] If the valid parameters include attitude, the attitude change is determined according to the attitude in the first navigation information and the attitude in the second navigation information, and the position change is used as the navigation difference.

[0021] Optionally, determining the position change amount according to the position in the first navigation information, the position in the second navigation information, and the preset transition time includes:

[0022] Subtracting a position in the second navigation information from a position in the first navigation information to obtain a position difference;

[0023] The position difference is divided by the preset transition time to obtain the position change.

[0024] Optionally, determining the amount of change in posture according to the posture in the first navigation information and the posture in the second navigation information includes:

[0025] Converting the posture in the first navigation information into a quaternion to obtain a first quaternion matrix, and converting the posture in the second navigation information into a quaternion to obtain a second quaternion matrix;

[0026] Taking the product of the first quaternion matrix and the inverse of the second quaternion matrix as the quaternion difference of the posture;

[0027] The quaternion difference is converted into an Euler angle difference to obtain the attitude change.

[0028] Optionally, converting the posture in the first navigation information into a quaternion to obtain a first quaternion matrix includes:

[0029] Subtract the product of half the sine of the pitch angle, half the sine of the roll angle and half the sine of the heading angle from the product of half the cosine of the heading angle, half the cosine of the pitch angle and half the cosine of the roll angle in the first navigation information to obtain a first quaternion;

[0030] Subtract the product of half the cosine of the pitch angle, half the sine of the roll angle and half the sine of the heading angle from the product of half the cosine of the roll angle, half the cosine of the heading angle and half the sine of the pitch angle in the first navigation information to obtain a second quaternion;

[0031] Subtract the product of half the cosine of the rolling angle, half the sine of the heading angle, and half the sine of the pitch angle from the product of half the cosine of the heading angle, half the cosine of the pitch angle, and half the sine of the rolling angle in the first navigation information to obtain a third quaternion;

[0032] Subtracting the cosine of the heading angle, the sine of the pitch angle, and the sine of the roll angle from the product of the cosine of the half pitch angle, the cosine of the half roll angle, and the sine of the half heading angle in the first navigation information to obtain a fourth quaternion;

[0033] The first quaternion matrix is ​​obtained according to the first quaternion, the second quaternion, the third quaternion and the fourth quaternion.

[0034] Optionally, determining target navigation information according to the target navigation difference and the second navigation information includes:

[0035] If the valid parameters in the second navigation information include attitude, then adding the attitude in the second navigation information and the attitude change amount in the target navigation difference to obtain the target attitude in the target navigation information;

[0036] If the valid parameters in the second navigation information include a position, adding the position in the second navigation information and the position change in the target navigation difference to obtain the target position in the target navigation information;

[0037] If the valid parameters in the second navigation information include speed, the speed in the second navigation information is added to the speed change in the target navigation difference to obtain the target speed in the target navigation information.

[0038] In a second aspect, an embodiment of the present application further provides a flight navigation processing device for multiple navigation devices, the device comprising:

[0039] An acquisition module, configured to receive first navigation information sent by at least one navigation device at a current moment, and acquire second navigation information of a current navigation device at the current moment;

[0040] A determination module, used for determining whether to switch navigation devices according to each of the navigation devices and the current navigation device;

[0041] A determination module is used to determine a target navigation difference and a target navigation device according to each of the first navigation information and the second navigation information, and determine the target navigation information according to the target navigation difference and the second navigation information, and switch the current navigation device to the target navigation device.

[0042] Optionally, the determining module is specifically used to:

[0043] Determine whether the identifier of the current navigation device is one of the identifiers of the at least one navigation device;

[0044] If so, it is determined not to switch the navigation device; if not, it is determined to switch the navigation device.

[0045] Optionally, the determining module is specifically used to:

[0046] Determine valid parameters in the second navigation information, where the valid parameters include at least one of the following: position, attitude, and speed;

[0047] obtaining each of the navigation differences according to a valid parameter in the second navigation information and a parameter corresponding to the valid parameter in each of the first navigation information;

[0048] A navigation difference with the smallest difference is selected from each of the navigation differences as the target navigation difference, and a navigation device corresponding to the first navigation information with the smallest difference with the second navigation information is selected as the target navigation device.

[0049] Optionally, the determining module is specifically used to:

[0050] If the valid parameters include a position, determining a position change amount according to the position in the first navigation information, the position in the second navigation information, and a preset transition time, and using the position change amount as the navigation difference;

[0051] If the valid parameters include speed, determining a speed change according to the speed in the first navigation information, the speed in the second navigation information, and a preset transition time, and using the position change as the navigation difference;

[0052] If the valid parameters include attitude, the attitude change is determined according to the attitude in the first navigation information and the attitude in the second navigation information, and the position change is used as the navigation difference.

[0053] Optionally, the determining module is specifically used to:

[0054] Subtracting a position in the second navigation information from a position in the first navigation information to obtain a position difference;

[0055] The position difference is divided by the preset transition time to obtain the position change.

[0056] Optionally, the determining module is specifically used to:

[0057] Converting the posture in the first navigation information into a quaternion to obtain a first quaternion matrix, and converting the posture in the second navigation information into a quaternion to obtain a second quaternion matrix;

[0058] Taking the product of the first quaternion matrix and the inverse of the second quaternion matrix as the quaternion difference of the posture;

[0059] The quaternion difference is converted into an Euler angle difference to obtain the attitude change.

[0060] Optionally, the determining module is specifically used to:

[0061] Subtract the product of half the sine of the pitch angle, half the sine of the roll angle and half the sine of the heading angle from the product of half the cosine of the heading angle, half the cosine of the pitch angle and half the cosine of the roll angle in the first navigation information to obtain a first quaternion;

[0062] Subtract the product of half the cosine of the pitch angle, half the sine of the roll angle and half the sine of the heading angle from the product of half the cosine of the roll angle, half the cosine of the heading angle and half the sine of the pitch angle in the first navigation information to obtain a second quaternion;

[0063] Subtract the product of half the cosine of the rolling angle, half the sine of the heading angle, and half the sine of the pitch angle from the product of half the cosine of the heading angle, half the cosine of the pitch angle, and half the sine of the rolling angle in the first navigation information to obtain a third quaternion;

[0064] Subtracting the cosine of the heading angle, the sine of the pitch angle, and the sine of the roll angle from the product of the cosine of the half pitch angle, the cosine of the half roll angle, and the sine of the half heading angle in the first navigation information to obtain a fourth quaternion;

[0065] The first quaternion matrix is ​​obtained according to the first quaternion, the second quaternion, the third quaternion and the fourth quaternion.

[0066] Optionally, the determining module is specifically used to:

[0067] If the valid parameters in the second navigation information include attitude, then adding the attitude in the second navigation information and the attitude change amount in the target navigation difference to obtain the target attitude in the target navigation information;

[0068] If the valid parameters in the second navigation information include a position, adding the position in the second navigation information and the position change in the target navigation difference to obtain the target position in the target navigation information;

[0069] If the valid parameters in the second navigation information include speed, the speed in the second navigation information is added to the speed change in the target navigation difference to obtain the target speed in the target navigation information.

[0070] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, and when an application is running, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to execute the steps of the flight navigation processing method of multiple navigation devices described in the first aspect above.

[0071] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is read and executes the steps of the flight navigation processing method for multiple navigation devices described in the first aspect above.

[0072] The beneficial effects of this application are:

[0073] The present application provides a flight navigation processing method, electronic device and storage medium for multiple navigation devices, which determines whether to switch navigation devices according to the identifiers of each navigation device that sends the first navigation information at the current moment and the identifier of the current navigation device. If so, the target navigation difference and target navigation information are determined according to each first navigation information and the second navigation information, and the target navigation information is determined according to the target navigation difference and the second navigation information, and the current navigation device is switched to the target navigation device. Transition switching can be performed according to the target navigation information determined according to the target navigation difference. By performing transition processing on the navigation information, abnormal or drastic changes in the aircraft due to the sharp change in navigation information before and after the switching of the navigation device can be avoided, so that the navigation information of the aircraft can be smoothly transitioned and switched, thereby controlling the aircraft to fly smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0075] Figure 1 A schematic diagram of a flow chart of a flight navigation processing method for multiple navigation devices provided in an embodiment of the present application;

[0076] Figure 2 A flowchart of another flight navigation processing method for multiple navigation devices provided in an embodiment of the present application;

[0077] Figure 3 A flowchart of another flight navigation processing method for multiple navigation devices provided in an embodiment of the present application;

[0078] Figure 4 A flowchart of a method for determining a posture change amount provided in an embodiment of the present application;

[0079] Figure 5 A schematic diagram of a flow chart of a method for determining a quaternion matrix provided in an embodiment of the present application;

[0080] Figure 6 A schematic diagram of a device for a flight navigation processing method for multiple navigation devices provided in an embodiment of the present application;

[0081] Figure 7 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0082] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0083] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0084] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0085] Optionally, the flight navigation processing method for multiple navigation devices provided in the embodiment of the present application is applied to an electronic device, which may be a terminal device with computing and display capabilities, such as a mobile phone, a tablet computer, a laptop computer, a PDA, a desktop computer, or a server. Specifically, it may be applied to an application in a terminal device, such as an APP (application, mobile phone software) of a mobile phone, an application system on a computer, etc.

[0086] The specific implementation process of the flight navigation processing of multiple navigation devices provided in the embodiments of the present application is explained in detail below.

[0087] Figure 1 The present invention provides a flowchart of a multi-navigation device flight navigation processing method, the execution subject of the method is the aforementioned electronic device. Figure 1 As shown, the method includes:

[0088] S101. Receive first navigation information sent by at least one navigation device at a current moment, and obtain second navigation information of a current navigation device being used at the current moment.

[0089] Optionally, multiple navigation devices can be installed in the aircraft, and each navigation device can send navigation information measured by each navigation device to an electronic device in the aircraft. The electronic device can control the flight of the aircraft based on the navigation information of one of the multiple navigation devices, and can also control the switching between navigation devices.

[0090] The second navigation information refers to the navigation information currently being used by the aircraft, the first navigation information refers to the navigation information received at the current moment, and both the first navigation information and the second navigation information may include position, attitude, and speed. At least one navigation device refers to one or more navigation devices installed in the aircraft, that is, at the same time, the first navigation information of one or more navigation devices can be received, and the current navigation device refers to the device that uses the navigation information of the current navigation device to control the aircraft at the current moment.

[0091] Exemplarily, for an aircraft equipped with navigation device A, navigation device B and navigation device C, at the current moment 1 and the time before the current moment 1, the navigation information of navigation device A is used to control the flight of the aircraft, and at the current moment 1, the first navigation information of navigation device A, the first navigation information of navigation device B and the first navigation information of navigation device C can be received. Then the current navigation device is navigation device A, and at least one navigation device at the current moment is navigation device A, navigation device B and navigation device C.

[0092] Exemplarily, the navigation information used at the current moment 2 is the navigation information of navigation device C, then the current navigation device is navigation device C. If navigation device C fails and cannot send navigation information at the current moment 2, then the first navigation information of navigation device A and the first navigation information of navigation device B can be received at the current moment 2.

[0093] S102: Determine whether to switch navigation devices according to the identifiers of each navigation device and the identifier of the current navigation device.

[0094] Optionally, if it is determined to switch the navigation device, the following S103 is executed; if it is determined not to switch the navigation device, the following S104 is executed.

[0095] Specifically, whether to switch navigation devices may be determined using a preset method based on the identification of each navigation device that sends the first navigation information to the electronic device in the aircraft at the current moment and the identification of the current navigation device that is currently using the second navigation information.

[0096] Exemplarily, if the current navigation device is navigation device A, and each navigation device is navigation device A, navigation device B, and navigation device C, then a preset method can be used to determine whether to switch the navigation device based on the current navigation device A, navigation device A, navigation device B, and navigation device C among the navigation devices.

[0097] Exemplarily, if the current navigation device is navigation device C, and each navigation device is navigation device A and navigation device B, a preset method can be used to determine whether to switch the navigation device based on the current navigation device C, navigation device A and navigation device B among the navigation devices.

[0098] S103: Determine a target navigation difference and a target navigation device according to the difference between each of the first navigation information and the second navigation information, determine the target navigation information according to the target navigation difference and the second navigation information, and switch the current navigation device to the target navigation device.

[0099] Optionally, each navigation difference may be obtained using a preset method according to each first navigation information and the second navigation information, and then a target navigation difference and a target navigation device may be determined from each navigation difference. Each navigation difference refers to a navigation difference transitioned from the second navigation information to each first navigation information.

[0100] Exemplarily, the current navigation device is navigation device C, and each navigation device is navigation device A and navigation device B. Navigation difference 1 is determined based on the second navigation information of navigation device C and the first navigation information of navigation device A. Navigation difference 2 can be determined based on the second navigation information of navigation device C and the first navigation information of navigation device B. The target navigation difference can be determined from navigation difference 1 and navigation difference 2. If the determined target navigation difference is navigation difference 1, the target navigation information is navigation device A.

[0101] S104: Continue to use the current navigation device as the target navigation device.

[0102] Optionally, if it is determined not to switch the navigation device, it means to continue to use the same navigation device as the current moment as the target navigation device.

[0103] Exemplarily, if the current navigation device is navigation device A, and it is determined not to switch the navigation device, navigation device A continues to be used as the target navigation device.

[0104] In this embodiment, whether to switch the navigation device is determined based on the identifiers of each navigation device that sends the first navigation information at the current moment and the identifier of the current navigation device. If so, the target navigation difference and the target navigation information are determined based on each first navigation information and the second navigation information, and the target navigation information is determined based on the target navigation difference and the second navigation information, and the current navigation device is switched to the target navigation device. Transition switching can be performed according to the target navigation information determined based on the target navigation difference. By performing transition processing on the navigation information, abnormal or drastic changes in the aircraft due to the drastic changes in the navigation information before and after the switching of the navigation device can be avoided, so that the navigation information of the aircraft can be smoothly transitioned and switched, thereby controlling the aircraft to fly smoothly.

[0105] Optionally, determining whether to switch the navigation device according to the identifiers of each navigation device and the identifier of the current navigation device in S102 may include:

[0106] Optionally, it may be determined whether the identifier of the current navigation device is one of the identifiers of at least one navigation device. If so, that is, at the current moment, the first navigation information sent by the current navigation device is received, it is determined not to switch the navigation device, and the first navigation information sent by the current navigation device is used to control the flight of the aircraft; if not, that is, at the current moment, the first navigation information sent by the current navigation device is not received, it is determined to switch the navigation device.

[0107] Exemplarily, if the current navigation device is navigation device A, and each navigation device is navigation device A, navigation device B, and navigation device C, it means that the first navigation information sent by navigation device A can still be received at the current moment, and the navigation information of navigation device A can continue to be used to control the flight of the aircraft, that is, the second navigation information of navigation device A at the current moment is modified to the first navigation information of navigation device A, and the flight of the aircraft is controlled based on the first navigation information of navigation device A.

[0108] Figure 2 A flowchart of another flight navigation processing method for multiple navigation devices provided in an embodiment of the present application, wherein the above S103 determines the target navigation difference and the target navigation device according to the difference between each first navigation information and the second navigation information, which may include:

[0109] S201: Determine valid parameters in the second navigation information.

[0110] The valid parameters may include at least one of the following: position, posture and speed.

[0111] Optionally, the position, attitude and speed in the second navigation information of the current navigation device may be invalid at the current moment. In this case, when determining the target navigation difference, it is necessary to first determine whether the position, attitude and speed in the second navigation information are all valid, and determine the valid parameters, so that when determining the navigation difference subsequently, only the navigation difference of the valid parameters needs to be calculated, and there is no need to calculate the navigation difference of the invalid parameters.

[0112] S202: Obtain navigation differences according to valid parameters in the second navigation information and parameters corresponding to the valid parameters in each first navigation information.

[0113] Exemplarily, if only the position and attitude are valid in the second navigation information of the current navigation device at the current moment, then the navigation differences can be obtained based on the position and attitude in the second navigation information and the position and attitude in each first navigation information using a preset method. At this time, there is no need to calculate the navigation differences based on the speed. Each navigation difference refers to the navigation difference between the current navigation device and each navigation device.

[0114] Exemplarily, if the current navigation device is navigation device C, and each navigation device is navigation device A and navigation device B, the navigation difference between navigation device C and navigation device A can be obtained based on the position and attitude in the second navigation information of navigation device C and the position and attitude in the first navigation information of navigation device A; the navigation difference between navigation device C and navigation device B can be obtained based on the position and attitude in the second navigation information of navigation device C and the position and attitude in the first navigation information of navigation device B.

[0115] S203: Select the navigation difference with the smallest difference from each navigation difference as the target navigation difference, and select the navigation device corresponding to the first navigation information with the smallest difference with the second navigation information as the target navigation device.

[0116] Exemplarily, if the navigation difference between navigation device C and navigation device A is smaller than the navigation difference between navigation device C and navigation device B, then the target navigation difference is the navigation difference between navigation device C and navigation device A, and the target navigation device is navigation device A, and since the speed in navigation device C is an invalid parameter, the speed in navigation device A is directly used as the navigation information at this time.

[0117] Figure 3 A flowchart of another method for processing flight navigation of multiple navigation devices provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, in the above S202, obtaining each navigation difference according to the valid parameter in the second navigation information and the parameter corresponding to the valid parameter in each first navigation information may include:

[0118] S301: If the valid parameters include a position, determine a position change according to the position in the first navigation information, the position in the second navigation information, and a preset transition time, and use the position change as a navigation difference.

[0119] The preset transition time may be set according to actual conditions and may be represented by T. The preset transition time refers to the time required to complete switching from the second navigation information to the target navigation information within the preset transition time.

[0120] Optionally, the obtained position change is a change between a position in the first navigation information and a position in the second navigation information.

[0121] S302: If the valid parameters include speed, determine a speed change according to the speed in the first navigation information, the speed in the second navigation information, and a preset transition time, and use the speed change as a navigation difference.

[0122] Optionally, the obtained speed change is a change between a speed in the first navigation information and a speed in the second navigation information.

[0123] S303: If the valid parameters include the posture, determine the posture change amount according to the posture in the first navigation information and the posture in the second navigation information, and use the posture change amount as the navigation difference.

[0124] Optionally, the obtained posture change amount is a change amount between a posture in the first navigation information and a posture in the second navigation information.

[0125] Optionally, if the valid parameters include position, speed and attitude, the navigation difference includes the position change, speed change and attitude change; if the valid parameters include position and attitude, the navigation difference includes the position change and attitude change; if the valid parameters include position and speed, the navigation difference includes the position change and speed change; if the valid parameters include speed and attitude, the navigation difference includes the speed change and attitude change.

[0126] In the above S301, determining the position change amount according to the position in the first navigation information, the position in the second navigation information and the preset transition time may include:

[0127] Optionally, the position in the first navigation information may be subtracted from the position in the second navigation information to obtain a position difference, and the position difference is divided by a preset transition time value as the position change amount, which may be obtained by the following formula (I).

[0128] ΔP=(P1-P2) / T Formula (I)

[0129] Among them, P1 is the position in the first navigation information, P2 is the position in the second navigation information, and T is the preset transition time.

[0130] Optionally, the speed change can also be obtained using the above formula (1), that is, the speed in the first navigation information and the speed in the second navigation information are substituted into the above formula (1), the speed in the first navigation information is subtracted from the speed in the second navigation information to obtain the speed difference, and the speed difference is divided by the preset transition time value as the speed change.

[0131] Optionally, since each navigation difference includes one or more of a position change, a speed change and a posture change, the position change, speed change and posture change in each navigation difference can be used to determine the difference between the second navigation information and each first navigation information using a weighted approach, and then the difference between the second navigation information and each first navigation information with the smallest difference is selected as the target navigation difference, and the navigation device of the first navigation information with the smallest difference with the second navigation information is selected as the target navigation device.

[0132] Figure 4 A flow chart of a method for determining a posture change amount provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, in the above S303, determining the amount of change of the posture according to the posture in the first navigation information and the posture in the second navigation information may include:

[0133] S401, converting the posture in the first navigation information into a quaternion to obtain a first quaternion matrix, and converting the posture in the second navigation information into a quaternion to obtain a second quaternion matrix.

[0134] Optionally, the posture in the received navigation information is in the form of Euler angles. In this embodiment, the Euler angles in the navigation information are converted into quaternion form to calculate the posture change. The first quaternion matrix can be represented by Q1, for example, and the second quaternion matrix can be represented by Q2, for example.

[0135] S402: taking the product of the first quaternion matrix and the reciprocal of the second quaternion matrix as the quaternion difference of the posture.

[0136] Specifically, the quaternion difference of the obtained attitude is Q 12 =Q2 -1 *Q1, where Q1 is the first quaternion matrix, Q2 is the second quaternion matrix, Q 12 is the quaternion difference.

[0137] S403: Convert the quaternion difference into the Euler angle difference to obtain the attitude change.

[0138] Specifically, the following formula (2) can be used to convert the quaternion difference into the Euler angle difference.

[0139]

[0140] Among them, s, x, k, z are quaternion differences, r, p, y are Euler angle differences, and are also attitude changes.

[0141] In this embodiment, by using quaternions to calculate the posture change amount, the problem of inaccuracy in calculating the posture change amount using Euler angles is solved, and the obtained posture change amount can be made more accurate.

[0142] Figure 5 A flow chart of a method for determining a quaternion matrix provided in an embodiment of the present application is shown as follows: Figure 5 As shown, in the above S401, converting the posture in the first navigation information into a quaternion to obtain a first quaternion matrix may include:

[0143] S501. Subtract the product of half the sine of the pitch angle, half the sine of the roll angle and half the sine of the heading angle from the product of half the cosine of the heading angle, half the cosine of the pitch angle and half the cosine of the roll angle in the first navigation information to obtain a first quaternion.

[0144] Specifically, the first quaternion can be obtained by the following formula (III).

[0145] s1=cos(p / 2)cos(r / 2)cos(y / 2)-sin(p / 2)sin(r / 2)sin(y / 2) formula (3)

[0146] Among them, s1 is the first quaternion, p is the pitch angle, r is the roll angle, and y is the heading angle.

[0147] S502: Subtract the product of half the cosine of the pitch angle, half the sine of the roll angle and half the sine of the heading angle from the product of half the cosine of the roll angle, half the cosine of the heading angle and half the sine of the pitch angle in the first navigation information to obtain a second quaternion.

[0148] Specifically, the second quaternion can be obtained by the following formula (IV).

[0149] x1=cos(r / 2)cos(y / 2)sin(p / 2)-cos(p / 2)sin(r / 2)sin(y / 2) formula (4)

[0150] Among them, x1 is the second quaternion, p is the pitch angle, r is the roll angle, and y is the heading angle.

[0151] S503: Subtract the product of the cosine of the rolling angle, the sine of the heading angle and the sine of the pitch angle from the product of the cosine of the heading angle, the cosine of the pitch angle and the sine of the roll angle in the first navigation information to obtain a third quaternion.

[0152] Specifically, the third quaternion can be obtained by the following formula (5).

[0153] k1=cos(p / 2)cos(y / 2)sin(r / 2)-cos(r / 2)sin(p / 2)sin(y / 2) formula (5)

[0154] Among them, k1 is the third quaternion, p is the pitch angle, r is the roll angle, and y is the heading angle.

[0155] S504: Subtract half the cosine of the heading angle, half the sine of the pitch angle, and half the sine of the roll angle from the product of half the cosine of the pitch angle, half the cosine of the roll angle, and half the sine of the heading angle in the first navigation information to obtain a fourth quaternion.

[0156] Specifically, the second quaternion can be obtained by the following formula (six).

[0157] z1=cos(p / 2)cos(r / 2)sin(y / 2)-cos(y / 2)sin(p / 2)sin(r / 2) Formula (VI)

[0158] Among them, z1 is the fourth quaternion, p is the pitch angle, r is the roll angle, and y is the heading angle.

[0159] S505 . Obtain a first quaternion matrix according to the first quaternion, the second quaternion, the third quaternion, and the fourth quaternion.

[0160] Optionally, the first quaternion matrix is ​​Q1=[s1,x1,k1,z1].

[0161] Optionally, the process of determining the second quaternion matrix is ​​the same as the process of determining the first quaternion matrix. The roll angle, heading angle and pitch angle in the second navigation information are respectively substituted into the above formulas (three) to (six) to obtain the second quaternion matrix Q1 = [s2, x2, k2, z2].

[0162] Optionally, determining the target navigation information according to the target navigation difference and the second navigation information in S103 may include:

[0163] Optionally, if the valid parameters in the second navigation information include attitude, the attitude in the second navigation information and the attitude change in the target navigation difference may be added to obtain the target attitude in the target navigation information. If the valid parameters in the second navigation information include position, the position in the second navigation information and the position change in the target navigation difference may be added to obtain the target position in the target navigation information. If the valid parameters in the second navigation information include speed, the speed in the second navigation information and the speed change in the target navigation difference may be added to obtain the target speed in the target navigation information.

[0164] Optionally, if the valid parameters in the second navigation information do not include a posture, the posture in the first navigation information of the target navigation device is directly used as the posture in the target navigation information. If the valid parameters in the second navigation information do not include a speed, the speed in the first navigation information of the target navigation device is directly used as the speed in the target navigation information. If the valid parameters in the second navigation information do not include a position, the position in the first navigation information of the target navigation device is directly used as the position in the target navigation information.

[0165] Figure 6 A schematic diagram of a flight navigation processing method for multiple navigation devices provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the device comprises:

[0166] The acquisition module 601 is used to receive first navigation information sent by at least one navigation device at the current moment, and acquire second navigation information of the current navigation device being used at the current moment;

[0167] A determination module 602, configured to determine whether to switch navigation devices according to the identifiers of the navigation devices and the identifier of the current navigation device;

[0168] The determination module 602 is used to determine the target navigation difference and the target navigation device according to the first navigation information and the second navigation information, and determine the target navigation information according to the target navigation difference and the second navigation information, and switch the current navigation device to the target navigation device.

[0169] Optionally, the determining module 602 is specifically configured to:

[0170] Determine whether the identifier of the current navigation device is one of the identifiers of the at least one navigation device;

[0171] If so, it is determined not to switch the navigation device; if not, it is determined to switch the navigation device.

[0172] Optionally, the determining module 602 is specifically configured to:

[0173] Determine valid parameters in the second navigation information, where the valid parameters include at least one of the following: position, attitude, and speed;

[0174] obtaining each of the navigation differences according to a valid parameter in the second navigation information and a parameter corresponding to the valid parameter in each of the first navigation information;

[0175] A navigation difference with the smallest difference is selected from each of the navigation differences as the target navigation difference, and a navigation device corresponding to the first navigation information with the smallest difference with the second navigation information is selected as the target navigation device.

[0176] Optionally, the determining module 602 is specifically configured to:

[0177] If the valid parameters include a position, determining a position change amount according to the position in the first navigation information, the position in the second navigation information, and a preset transition time, and using the position change amount as the navigation difference;

[0178] If the valid parameters include speed, determining a speed change according to the speed in the first navigation information, the speed in the second navigation information, and a preset transition time, and using the position change as the navigation difference;

[0179] If the valid parameters include attitude, the attitude change is determined according to the attitude in the first navigation information and the attitude in the second navigation information, and the position change is used as the navigation difference.

[0180] Optionally, the determining module 602 is specifically configured to:

[0181] Subtracting the position in the first navigation information from the position in the second navigation information to obtain a position difference;

[0182] The position difference is divided by the value of the preset transition time as the position change amount.

[0183] Optionally, the determining module 602 is specifically configured to:

[0184] Converting the posture in the first navigation information into a quaternion to obtain a first quaternion matrix, and converting the posture in the second navigation information into a quaternion to obtain a second quaternion matrix;

[0185] Taking the product of the first quaternion matrix and the inverse of the second quaternion matrix as the quaternion difference of the posture;

[0186] The quaternion difference is converted into an Euler angle difference to obtain the attitude change.

[0187] Optionally, the determining module 602 is specifically configured to:

[0188] Subtract the product of half the sine of the pitch angle, half the sine of the roll angle and half the sine of the heading angle from the product of half the cosine of the heading angle, half the cosine of the pitch angle and half the cosine of the roll angle in the first navigation information to obtain a first quaternion;

[0189] Subtract the product of half the cosine of the pitch angle, half the sine of the roll angle and half the sine of the heading angle from the product of half the cosine of the roll angle, half the cosine of the heading angle and half the sine of the pitch angle in the first navigation information to obtain a second quaternion;

[0190] Subtract the product of half the cosine of the rolling angle, half the sine of the heading angle, and half the sine of the pitch angle from the product of half the cosine of the heading angle, half the cosine of the pitch angle, and half the sine of the rolling angle in the first navigation information to obtain a third quaternion;

[0191] Subtracting the cosine of the heading angle, the sine of the pitch angle, and the sine of the roll angle from the product of the cosine of the half pitch angle, the cosine of the half roll angle, and the sine of the half heading angle in the first navigation information to obtain a fourth quaternion;

[0192] The first quaternion matrix is ​​obtained according to the first quaternion, the second quaternion, the third quaternion and the fourth quaternion.

[0193] Optionally, the determining module 602 is specifically configured to:

[0194] If the valid parameters in the second navigation information include attitude, then adding the attitude in the second navigation information and the attitude change amount in the target navigation difference to obtain the target attitude in the target navigation information;

[0195] If the valid parameters in the second navigation information include a position, adding the position in the second navigation information and the position change in the target navigation difference to obtain the target position in the target navigation information;

[0196] If the valid parameters in the second navigation information include speed, the speed in the second navigation information is added to the speed change in the target navigation difference to obtain the target speed in the target navigation information.

[0197] Figure 7 FIG. 7 is a structural block diagram of an electronic device 700 provided in an embodiment of the present application. Figure 7As shown, the electronic device may include: a processor 701 and a memory 702 .

[0198] Optionally, a bus 703 may also be included, wherein the memory 702 is used to store machine-readable instructions executable by the processor 701. When the electronic device 700 is running, the processor 701 communicates with the memory 702 through the bus 703. When the machine-readable instructions are executed by the processor 701, the method steps in the above method embodiment are performed.

[0199] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method steps in the embodiment of the flight navigation processing method for multiple navigation devices are executed.

[0200] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0201] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0202] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A flight navigation processing method for multiple navigation devices, characterized in that: The method comprises: Receiving first navigation information sent by at least one navigation device at a current moment, and acquiring second navigation information of a current navigation device being used at the current moment; Determining whether to switch navigation devices according to identifiers of each of the navigation devices and an identifier of the current navigation device; If so, a target navigation difference and a target navigation device are determined according to the difference between each of the first navigation information and the second navigation information, and target navigation information is determined according to the target navigation difference and the second navigation information, and the current navigation device is switched to the target navigation device.

2. The flight navigation processing method of multiple navigation devices according to claim 1, characterized in that: The determining whether to switch the navigation device according to the identifiers of the navigation devices and the identifier of the current navigation device includes: Determine whether the identifier of the current navigation device is one of the identifiers of the at least one navigation device; If so, it is determined not to switch the navigation device; if not, it is determined to switch the navigation device.

3. The flight navigation processing method of multiple navigation devices according to claim 1, characterized in that: The determining a target navigation difference and a target navigation device according to a difference between each of the first navigation information and the second navigation information includes: Determine valid parameters in the second navigation information, where the valid parameters include at least one of the following: position, attitude, and speed; Obtaining navigation differences according to valid parameters in the second navigation information and parameters corresponding to the valid parameters in each of the first navigation information; A navigation difference with the smallest difference is selected from each of the navigation differences as the target navigation difference, and a navigation device corresponding to the first navigation information with the smallest difference with the second navigation information is selected as the target navigation device.

4. The flight navigation processing method of multiple navigation devices according to claim 3, characterized in that: The obtaining each navigation difference according to the valid parameter in the second navigation information and the parameter corresponding to the valid parameter in each of the second navigation information includes: If the valid parameters include a position, determining a position change amount according to the position in the first navigation information, the position in the second navigation information, and a preset transition time, and using the position change amount as the navigation difference; If the valid parameters include speed, determining a speed change according to the speed in the first navigation information, the speed in the second navigation information, and a preset transition time, and using the position change as the navigation difference; If the valid parameters include attitude, the attitude change is determined according to the attitude in the first navigation information and the attitude in the second navigation information, and the position change is used as the navigation difference.

5. The flight navigation processing method of multiple navigation devices according to claim 4, characterized in that: The determining the position change amount according to the position in the first navigation information, the position in the second navigation information, and the preset transition time includes: Subtracting the position in the first navigation information from the position in the second navigation information to obtain a position difference; The position difference is divided by the value of the preset transition time as the position change amount.

6. The flight navigation processing method of multiple navigation devices according to claim 4, characterized in that: The step of determining the amount of change of the posture according to the posture in the first navigation information and the posture in the second navigation information includes: Converting the posture in the first navigation information into a quaternion to obtain a first quaternion matrix, and converting the posture in the second navigation information into a quaternion to obtain a second quaternion matrix; Taking the product of the first quaternion matrix and the inverse of the second quaternion matrix as the quaternion difference of the posture; The quaternion difference is converted into an Euler angle difference to obtain the attitude change.

7. The flight navigation processing method of multiple navigation devices according to claim 6, characterized in that: The step of converting the posture in the first navigation information into a quaternion to obtain a first quaternion matrix includes: Subtract the product of half the sine of the pitch angle, half the sine of the roll angle and half the sine of the heading angle from the product of half the cosine of the heading angle, half the cosine of the pitch angle and half the cosine of the roll angle in the first navigation information to obtain a first quaternion; Subtract the product of half the cosine of the pitch angle, half the sine of the roll angle and half the sine of the heading angle from the product of half the cosine of the roll angle, half the cosine of the heading angle and half the sine of the pitch angle in the first navigation information to obtain a second quaternion; Subtract the product of half the cosine of the rolling angle, half the sine of the heading angle, and half the sine of the pitch angle from the product of half the cosine of the heading angle, half the cosine of the pitch angle, and half the sine of the rolling angle in the first navigation information to obtain a third quaternion; Subtracting the cosine of the heading angle, the sine of the pitch angle, and the sine of the roll angle from the product of the cosine of the half pitch angle, the cosine of the half roll angle, and the sine of the half heading angle in the first navigation information to obtain a fourth quaternion; The first quaternion matrix is ​​obtained according to the first quaternion, the second quaternion, the third quaternion and the fourth quaternion.

8. The flight navigation processing method of multiple navigation devices according to claim 1, characterized in that: The determining target navigation information according to the target navigation difference and the second navigation information includes: If the valid parameters in the second navigation information include attitude, then adding the attitude in the second navigation information and the attitude change amount in the target navigation difference to obtain the target attitude in the target navigation information; If the valid parameters in the second navigation information include a position, adding the position in the second navigation information and the position change in the target navigation difference to obtain the target position in the target navigation information; If the valid parameters in the second navigation information include speed, the speed in the second navigation information is added to the speed change in the target navigation difference to obtain the target speed in the target navigation information.

9. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, the steps of the flight navigation processing method of the multi-navigation device described in any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the flight navigation processing method for a multi-navigation device as described in any one of claims 1 to 8.

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