Aircraft taxiing trajectory determination method, electronic equipment and storage medium
By acquiring and analyzing the aircraft's historical trajectory points and the current trajectory points, combined with the trajectory of other aircraft, the problem of insufficient data on the aircraft's trajectory points is solved, and the accurate determination of the trajectory is achieved.
Patent Information
- Application Number
- CN202411889409.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-20
- Publication Date
- 2025-04-11
AI Technical Summary
When an aircraft taxies at an airport, the ADS-B system may not be turned on all the time, resulting in less trajectory point data being obtained, making it difficult to accurately determine the trajectory.
By obtaining the historical gliding trajectory points of the target airport, each historical gliding trajectory is generated; a candidate trajectory is determined from the historical gliding trajectory according to the gliding trajectory points of the target aircraft; a taxiing trajectory of the target aircraft is determined based on the gliding trajectory points of the first and second aircraft.
The trajectory of the target aircraft can be accurately determined, even if the trajectory point data is small, and the method is highly portable and does not rely on the map information of the airport.
Smart Images
Figure CN119803500A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of aircraft taxiing trajectory determination, and in particular to an aircraft taxiing trajectory determination method, electronic equipment and storage medium. Background Art
[0002] In the field of civil aviation, before taking off, an aircraft needs to taxi from the parking position to the runway and then take off; in order to accurately grasp the taxiing trajectory of the aircraft before takeoff, it is necessary to reproduce the actual taxiing trajectory of the aircraft before takeoff; to reproduce the taxiing trajectory of the aircraft before takeoff, it is necessary to obtain the positioning data of the aircraft during taxiing; however, when the aircraft is taxiing at the airport, the taxiing time is long and the ADS-B system may not be turned on all the time. Therefore, when the aircraft is taxiing, usually only a small amount of track point data is obtained; and there are several taxiing trajectories that the aircraft can taxi from the parking position to the take-off point. How to accurately determine the taxiing trajectory of the aircraft through fewer track points has become a technical problem that needs to be solved urgently. Summary of the invention
[0003] In view of the above technical problems, the technical solution adopted by the present invention is:
[0004] According to a first aspect of the present application, a method for determining an aircraft taxiing trajectory is provided, the method comprising the following steps:
[0005] S100, obtaining the historical taxiing track points corresponding to the target airport to obtain a historical taxiing track point list A=(A1, A2, ..., A i , …, A n ), i=1, 2,...,n; where, A i is the i-th historical taxiing trajectory point obtained, n is the number of historical taxiing trajectory points obtained; the target airport is any airport.
[0006] S200, based on A, generate each historical taxiing track corresponding to the target airport to obtain a historical taxiing track list B = (B1, B2, ..., B j , …, B m ), j = 1, 2, ..., m; where B j is the jth historical taxi trajectory corresponding to the target airport, and m is the number of historical taxi trajectories corresponding to the target airport.
[0007] S300, obtaining the taxiing trajectory points corresponding to the target aircraft at the target airport, so as to obtain a taxiing trajectory point list C corresponding to the target aircraft = (C1, C2, ..., C p , …, C q ), p = 1, 2, ..., q; where C pis the pth taxiing trajectory point corresponding to the target aircraft at the target airport, q is the number of taxiing trajectory points corresponding to the target aircraft at the target airport; C includes the starting point and the ending point of the taxiing of the target aircraft at the target airport.
[0008] S400, traverse B, if the sliding track point in C is consistent with B j If the vertical distance between them meets the preset conditions, then B j Determine as a candidate historical sliding trajectory to obtain a candidate historical sliding trajectory list D = (D1, D2, ..., D r , …, D s ), r = 1, 2, ..., s; where D r is the determined rth candidate historical sliding trajectory, and s is the number of determined candidate historical sliding trajectories.
[0009] S500: Acquire a first aircraft that taxis out before the target aircraft taxis and a second aircraft that taxis out after the target aircraft taxis.
[0010] S600: Determine a taxiing trajectory corresponding to the target aircraft according to D, the taxiing trajectory point corresponding to the first aircraft, and the taxiing trajectory point corresponding to the second aircraft.
[0011] According to another aspect of the present application, a non-transitory computer-readable storage medium is also 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 above-mentioned aircraft taxiing trajectory determination method.
[0012] According to another aspect of the present application, an electronic device is provided, including a processor and the above-mentioned non-transitory computer-readable storage medium.
[0013] The present invention has at least the following beneficial effects:
[0014] The method for determining the taxiing trajectory of an aircraft of the present invention generates each historical taxiing trajectory corresponding to the target airport according to the historical taxiing trajectory points corresponding to the target airport; determines the candidate historical taxiing trajectory corresponding to the target aircraft from the historical taxiing trajectory according to the taxiing trajectory points corresponding to the target aircraft at the target airport; obtains a first aircraft that taxis out before the target aircraft taxis and a second aircraft that taxis out after the target aircraft taxis; determines the taxiing trajectory corresponding to the target aircraft according to the determined candidate historical taxiing trajectories, the taxiing trajectory points corresponding to the first aircraft and the taxiing trajectory points corresponding to the second aircraft; the taxiing trajectory of the target aircraft at the target airport this time is in the candidate historical taxiing trajectories, and since the target aircraft is between the first aircraft and the second aircraft, the taxiing trajectory corresponding to the target aircraft can be accurately determined according to the taxiing trajectory points corresponding to the first aircraft and the second aircraft, as well as a small number of taxiing trajectory points corresponding to the target aircraft.
[0015] Furthermore, the historical taxiing trajectory corresponding to the target airport in the present invention is determined based on the historical taxiing trajectory points and does not need to rely on the map information of the target airport. Therefore, the method of the present invention has strong portability and can be applied to airports with different runway distributions. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0017] Figure 1 A flowchart of a method for determining an aircraft taxiing trajectory provided in an embodiment of the present invention. DETAILED DESCRIPTION
[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.
[0019] It should be noted that, based on the present disclosure, those skilled in the art should understand that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement a device and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.
[0020] The following will refer to Figure 1 The flowchart of the method for determining the taxiing trajectory of an aircraft is shown, which introduces a method for determining the taxiing trajectory of an aircraft.
[0021] The method for determining the aircraft taxiing trajectory may include the following steps:
[0022] S100, obtaining the historical taxiing track points corresponding to the target airport to obtain a historical taxiing track point list A=(A1, A2, ..., A i , …, A n ), i=1, 2,...,n; where, A i is the i-th historical taxiing trajectory point obtained, n is the number of historical taxiing trajectory points obtained; the target airport is any airport.
[0023] In this embodiment, the target airport can be any airport, and the aircraft can be understood as a civil aircraft; within a preset historical time period, for example: a historical time period of 3 months before the current moment; there will be several aircraft taking off at the target airport, and each aircraft taxis from a taxiing start point to a taxiing end point, and then takes off; for any aircraft, at least the time point and coordinates corresponding to the taxiing start point and the taxiing end point can be obtained during the taxiing process; during the taxiing process, several taxiing trajectory points of each aircraft will also be obtained through the ADS-B system, so that A can be obtained.
[0024] S200, based on A, generate each historical taxiing track corresponding to the target airport to obtain a historical taxiing track list B = (B1, B2, ..., B j , …, B m ), j = 1, 2, ..., m; where B j is the jth historical taxi trajectory corresponding to the target airport, and m is the number of historical taxi trajectories corresponding to the target airport.
[0025] In this embodiment, step S200 may include the following steps:
[0026] S210, using a preset clustering algorithm, clustering the historical sliding trajectory points in A to obtain a cluster list CA = (CA1, CA2, ..., CA u , …, C.A.w ), u=1, 2,...,w; among them, CA u is the uth cluster obtained by clustering the historical sliding trajectory points in A, and w is the number of clusters obtained by clustering the historical sliding trajectory points in A.
[0027] In this embodiment, it should be noted that when acquiring the taxi trajectory point information of the aircraft through the ADS-B system, ADS-B will be interfered by other signals. Therefore, there will be noise points in the acquired historical taxi trajectory points. After clustering the historical taxi trajectory points using the preset clustering algorithm, the noise points can be removed. The preset clustering algorithm can be the DBSCAN clustering algorithm or the K-means clustering algorithm. When clustering the historical taxi trajectory points, since there are errors in the coordinates of the historical taxi trajectory points, the clustering radius can be set to about 50m during clustering, so as to achieve a better clustering effect.
[0028] It should be noted that those skilled in the art can use existing clustering algorithms to cluster the historical sliding trajectory points in A according to actual needs, which will not be elaborated here.
[0029] S220, obtain the center point corresponding to each cluster in CA to obtain a center point list ZA=(ZA1, ZA2, ..., ZA u , …, ZA w ); among them, ZA u For CA u The corresponding center point.
[0030] In this embodiment, each historical glide trajectory point in each cluster in CA has corresponding coordinates, for example, corresponding longitude and latitude; the coordinates of the historical glide trajectory points in each cluster can be averaged to obtain the center point corresponding to each cluster, thereby obtaining ZA.
[0031] S230, connecting any two center points in ZA to obtain a plurality of sliding track segments.
[0032] In this embodiment, after obtaining a number of center points, any two center points can be connected to obtain a number of glide trajectory segments; it should be noted that since any two center points are connected, a portion of the glide trajectory segments obtained will not be the actual glide trajectory of the aircraft.
[0033] S240: Clustering and screening all taxiing trajectory segments to obtain each historical taxiing trajectory corresponding to the target airport.
[0034] In this embodiment, clustering conditions may be preset, such as the direction and length of the taxi trajectory segment. By clustering all the taxi trajectory segments, similar taxi trajectory segments may be clustered into one cluster, and taxi trajectory segments that are not clustered may be discarded, thereby achieving the purpose of selecting fewer historical taxi trajectory segments, clustering the real historical taxi trajectory segments into one cluster, and then obtaining each historical taxi trajectory corresponding to the target airport. It should be noted that those skilled in the art may use the existing line clustering method to cluster all the taxi trajectory segments according to actual needs to obtain each historical taxi trajectory, which will not be elaborated here.
[0035] S300, obtaining the taxiing trajectory points corresponding to the target aircraft at the target airport, so as to obtain a taxiing trajectory point list C corresponding to the target aircraft = (C1, C2, ..., C p , …, C q ), p = 1, 2, ..., q; where C p is the pth taxiing trajectory point corresponding to the target aircraft at the target airport, q is the number of taxiing trajectory points corresponding to the target aircraft at the target airport; C includes the starting point and the ending point of the taxiing of the target aircraft at the target airport.
[0036] In this embodiment, the target aircraft may be any aircraft taxiing in the target airport; during a taxiing process, the target aircraft will generate a number of taxiing trajectory points, such as the taxiing start point and end point, and three intermediate trajectory points; each taxiing trajectory point generated by the target aircraft can be obtained, thereby obtaining C; C p Including the corresponding time point coordinates.
[0037] S400, traverse B, if the sliding track point in C is consistent with B j If the vertical distance between them meets the preset conditions, then B j Determine as a candidate historical sliding trajectory to obtain a candidate historical sliding trajectory list D = (D1, D2, ..., D r , …, D s ), r = 1, 2, ..., s; where D r is the determined rth candidate historical sliding trajectory, and s is the number of determined candidate historical sliding trajectories.
[0038] In this embodiment, for B j , we can calculate the relationship between each sliding trajectory point in C and B j The vertical distance between each sliding track point in C and B j The vertical distance between them is less than the preset distance threshold, indicating that B j If it is possible that it is the actual glide path of the target aircraft, then B jThe candidate historical taxi trajectories corresponding to the target aircraft are determined; it is understandable that, since the number of taxi trajectory points corresponding to the target aircraft is small, there will be a portion of the candidate historical taxi trajectories that are not the actual taxi trajectories of the target aircraft.
[0039] S500: Acquire a first aircraft that taxis out before the target aircraft taxis and a second aircraft that taxis out after the target aircraft taxis.
[0040] In this embodiment, at the target airport, there may be other aircraft sliding out before the target aircraft slides out, and there may be other aircraft sliding out after the target aircraft slides out. It is possible to obtain the first aircraft sliding out before the target aircraft slides out and the second aircraft sliding out after the target aircraft slides out.
[0041] S600: Determine a taxiing trajectory corresponding to the target aircraft according to D, the taxiing trajectory point corresponding to the first aircraft, and the taxiing trajectory point corresponding to the second aircraft.
[0042] Further, step S600 may include the following steps:
[0043] S610, select a number of virtual track points on each historical sliding track in D in turn to obtain a virtual track point list set QD corresponding to D = (QD1, QD2, ..., QD r , …, QD s ), where QD r D r Corresponding virtual trajectory point list; QD r =(QD r，1 , QD r，2 , …, QD r，x , …, QD r，y ), x = 1, 2, ..., y; QD r，x D r The corresponding x-th virtual trajectory point, y is the number of virtual trajectory points selected on each historical sliding trajectory; the distance between two adjacent virtual trajectory points on the same historical sliding trajectory is equal.
[0044] In this embodiment, for D r , can be in D r Set several virtual trajectory points on the r Divide into several segments, for example: D r The historical sliding track is 1000m long, which is divided into 10 historical sliding track segments of 100m in length. r Set 9 virtual track points on D r The starting point and the end point of are also used as virtual trajectory points; the same operation is performed on each historical sliding trajectory to obtain QD.
[0045] S620, setting a virtual time point for each virtual track point in QD to obtain a virtual time point list set T corresponding to QD = (T1, T2, ..., T r ,…,T s ), where T r QD r The corresponding virtual time point list; T r =(T r，1 , T r，2 ,…,T r，x ,…,T r，y );T r，x QD r，x The corresponding virtual time point; T r，x Determined based on the start and end time of the target aircraft’s taxiing.
[0046] In this embodiment, in this embodiment, when D r After setting the virtual track points, it is also necessary to set the corresponding virtual time point for each virtual track point; specifically, T r，x This can be determined by the following steps:
[0047] S621, obtaining the start time point t1 and the end time point t2 of the taxiing of the target aircraft.
[0048] S622, determine T according to t1, t2 and y r，x =t1+(x-1)×(t2-t1) / (y-1).
[0049] Through the above steps, the start time point t1 and the end time point t2 of the taxiing of the target aircraft are mapped to each virtual trajectory point, and then verified at the taxiing trajectory points corresponding to the first aircraft and the second aircraft.
[0050] S630, obtaining the actual taxiing trajectory points corresponding to the first aircraft and the actual taxiing trajectory points corresponding to the second aircraft, so as to obtain an actual taxiing trajectory point list E=(E1, E2, . . . , E a ,…,E b ), a=1, 2, …, b; where E a is the ath actual sliding trajectory point obtained, and b is the number of actual sliding trajectory points obtained.
[0051] In this embodiment, the first aircraft has several actual taxiing trajectory points corresponding to the taxiing process, and the second aircraft also has several actual taxiing trajectory points corresponding to the taxiing process. The actual taxiing trajectory points corresponding to the first aircraft and the second aircraft can be obtained to obtain E.
[0052] S640: Determine the glide path corresponding to the target aircraft according to QD and E.
[0053] In this embodiment, it can be understood that the glide path corresponding to the target aircraft is in QD, and further determination needs to be performed based on E. Specifically, step S640 may include the following steps:
[0054] S641, according to QD and E, determine the weight corresponding to each historical sliding track in D to obtain the weight list Y corresponding to D = (Y1, Y2, ..., Y r , …, Y s ), where Y r D r The corresponding weight.
[0055] In this embodiment, the greater the weight corresponding to the historical glide trajectory is, the closer the historical glide trajectory is to the glide trajectory corresponding to the target aircraft.
[0056] Furthermore, Y r This can be determined by the following steps:
[0057] S61, Get QD r The actual distance between each virtual trajectory point in and each actual trajectory point in E is obtained by r The corresponding actual distance list set L r =(L r，1 , L r，2 , …, L r，x , …, L r，y ), where L r，x QD r，x The corresponding actual distance list; L r，x =(L r，x _E1,L r，x _E2,…,L r，x _E a , …, L r，x _E b );L r，x _E a QD r，x With E a The actual distance between.
[0058] In this embodiment, QD r Each virtual trajectory point in has a corresponding coordinate, and each actual trajectory point in E also has a corresponding coordinate. The coordinates of the two can be used to determine QD r，x With E a The actual distance between.
[0059] S62, Get QD rThe estimated distance between each virtual trajectory point in and each actual trajectory point in E is obtained by r The corresponding estimated distance list set G r =(G r，1 , G r，2 , …, G r，x , …, G r，y ), where G r，x QD r，x The corresponding estimated distance list; G r，x =(G r，x _E1, G r，x _E2,…,G r，x _E a , …, G r，x _E b );G r，x _E a QD r，x With E a The estimated distance between r，x _E a =ΔTG r，x _E a ×V p ; ΔTG r，x _E a QD r，x With E a The time interval between p is the average taxiing speed of the aircraft corresponding to the target airport.
[0060] In this embodiment, QD r，x Corresponding to the virtual time point, E a Corresponding to the actual time point, QD can be obtained r，x With E a The time interval between the two; through the statistical analysis of the taxiing speeds of a large number of aircraft at the target airport, the average taxiing speed of the aircraft corresponding to the target airport can be obtained, and then G r，x _E a .
[0061] S63, according to L r and G r , determine Y r =1 / ∑ y x＝1 (∑ b a＝1 |L r，x _E a -G r，x _E a | 2 ).
[0062] In this embodiment, if Dr is the glide path corresponding to the target aircraft. Since the target aircraft is between the first aircraft and the second aircraft, and the aircraft cannot change the glide position; then, QD r The difference between the actual distance and the estimated distance between each virtual trajectory point in E and the actual trajectory points corresponding to the first aircraft and the second aircraft should be small; y x＝1 (∑ b a＝1 |L r，x _E a -G r，x _E a | 2 ) is smaller, Y r The larger the value, the higher the D r The closer to the target aircraft the corresponding glide path.
[0063] S642, according to Y, determine the target weight Y max =MAX(Y); wherein MAX() is a preset maximum value function.
[0064] S643, Y max The corresponding historical glide path is determined as the glide path corresponding to the target aircraft.
[0065] In this embodiment, each candidate historical sliding trajectory has a corresponding weight, and the historical sliding trajectory with the largest weight is selected.
[0066] The aircraft taxiing trajectory determination method of the present embodiment generates each historical taxiing trajectory corresponding to the target airport according to the historical taxiing trajectory points corresponding to the target airport; determines the candidate historical taxiing trajectory corresponding to the target aircraft from the historical taxiing trajectories according to the taxiing trajectory points corresponding to the target aircraft at the target airport; obtains the first aircraft that taxied out before the target aircraft taxied and the second aircraft that taxied out after the target aircraft taxied; determines the taxiing trajectory corresponding to the target aircraft according to D, the taxiing trajectory points corresponding to the first aircraft and the taxiing trajectory points corresponding to the second aircraft; the taxiing trajectory of the target aircraft at the target airport this time is in the candidate historical taxiing trajectories, and since the target aircraft is between the first aircraft and the second aircraft, the taxiing trajectory corresponding to the target aircraft can be accurately determined according to the taxiing trajectory points corresponding to the first aircraft and the second aircraft, as well as a small number of taxiing trajectory points corresponding to the target aircraft.
[0067] Furthermore, the historical taxiing trajectory corresponding to the target airport in the present invention is determined based on the historical taxiing trajectory points and does not need to rely on the map information of the target airport. Therefore, the method of the present invention has strong portability and can be applied to airports with different runway distributions.
[0068] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.
[0069] An embodiment of the present invention also provides a non-transitory computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to implementing a method in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the method provided in the above embodiment.
[0070] 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 (non-exhaustive list) of readable storage media 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.
[0071] 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.
[0072] 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.
[0073] 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., using an Internet service provider to connect through the Internet).
[0074] An embodiment of the present invention further provides an electronic device, comprising a processor and the aforementioned non-transitory computer-readable storage medium.
[0075] The electronic device is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.
[0076] 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 memory mentioned above, and a bus connecting different system components (including the memory and the processor).
[0077] The memory stores program codes, which can be executed by the processor, so that the processor executes the steps in various embodiments described in this specification.
[0078] 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).
[0079] The memory 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 an implementation of a network environment.
[0080] 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.
[0081] The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may communicate with one or more devices that enable a user to interact with the electronic device, and / or may communicate with any device (e.g., routers, modems, etc.) that enables the electronic device to communicate with one or more other computing devices. Such communication may be performed through an input / output (I / O) interface. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter. 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 may 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.
[0082] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure 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, including 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 of the present disclosure.
[0083] An embodiment of the present invention further provides a computer program product, which includes program code. When the program product is run on an electronic device, the program code is used to enable the electronic device to execute the steps of the method according to various exemplary embodiments of the present invention described above in this specification.
[0084] Although some specific embodiments of the present invention have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are only for illustration, not for limiting the scope of the present invention. It should also be understood by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present invention.
Claims
1. A method for determining an aircraft taxiing trajectory, characterized in that: The method comprises the following steps: S100, obtaining the historical taxiing track points corresponding to the target airport to obtain a historical taxiing track point list A=(A1, A2, ..., A i , …, A n ), i=1, 2,...,n; where, A i is the i-th historical taxiing trajectory point obtained, n is the number of historical taxiing trajectory points obtained; the target airport is any airport; S200, based on A, generate each historical taxiing track corresponding to the target airport to obtain a historical taxiing track list B = (B1, B2, ..., B j , …, B m ), j = 1, 2, ..., m; where B j is the jth historical taxi trajectory corresponding to the target airport, and m is the number of historical taxi trajectories corresponding to the target airport; S300, obtaining the taxiing trajectory points corresponding to the target aircraft at the target airport, so as to obtain a taxiing trajectory point list C corresponding to the target aircraft = (C1, C2, ..., C p , …, C q ), p = 1, 2, ..., q; where C p is the pth taxiing trajectory point corresponding to the target aircraft at the target airport, q is the number of taxiing trajectory points corresponding to the target aircraft at the target airport; C includes the starting point and the ending point of the taxiing of the target aircraft at the target airport; S400, traverse B, if the sliding track point in C is consistent with B j If the vertical distance between them meets the preset conditions, then B j Determine as a candidate historical sliding trajectory to obtain a candidate historical sliding trajectory list D = (D1, D2, ..., D r , …, D s ), r = 1, 2, ..., s; where D r is the rth candidate historical sliding trajectory determined, s is the number of candidate historical sliding trajectories determined; S500, acquiring a first aircraft that taxis out before the target aircraft taxis and a second aircraft that taxis out after the target aircraft taxis; S600: Determine a taxiing trajectory corresponding to the target aircraft according to D, the taxiing trajectory point corresponding to the first aircraft, and the taxiing trajectory point corresponding to the second aircraft.
2. The method for determining an aircraft taxiing trajectory according to claim 1, characterized in that: Step S600 includes the following steps: S610, select a number of virtual track points on each historical sliding track in D in turn to obtain a virtual track point list set QD corresponding to D = (QD1, QD2, ..., QD r , …, QD s ), where QD r D r Corresponding virtual trajectory point list; QD r =(QD r，1 , QD r，2 , …, QD r，x , …, QD r，y ), x = 1, 2, ..., y; QD r，x D r The corresponding x-th virtual trajectory point, y is the number of virtual trajectory points selected on each historical sliding trajectory; the distance between two adjacent virtual trajectory points on the same historical sliding trajectory is equal; S620, setting a virtual time point for each virtual track point in QD to obtain a virtual time point list set T corresponding to QD = (T1, T2, ..., T r ,…,T s ), where T r QD r The corresponding virtual time point list; T r =(T r，1 , T r，2 ,…,T r，x ,…,T r，y );T r，x QD r，x The corresponding virtual time point; T r，x Determined based on the start and end time points of the taxiing of the target aircraft; S630, obtaining the actual taxiing trajectory points corresponding to the first aircraft and the actual taxiing trajectory points corresponding to the second aircraft, so as to obtain an actual taxiing trajectory point list E=(E1, E2, . . . , E a ,…,E b ), a=1, 2, …, b; where E a is the ath actual sliding trajectory point obtained, and b is the number of actual sliding trajectory points obtained; S640: Determine the glide path corresponding to the target aircraft according to QD and E.
3. The method for determining an aircraft taxiing trajectory according to claim 2, characterized in that: Step S640 includes the following steps: S641, according to QD and E, determine the weight corresponding to each historical sliding track in D to obtain the weight list Y corresponding to D = (Y1, Y2, ..., Y r , …, Y s ), where Y r D r The corresponding weights; S642, according to Y, determine the target weight Y max =MAX(Y); where MAX() is a preset maximum value function; S643, Y max The corresponding historical glide path is determined as the glide path corresponding to the target aircraft.
4. The method for determining an aircraft taxiing trajectory according to claim 3, characterized in that: Y r Determine by following these steps: S61, Get QD r The actual distance between each virtual trajectory point in and each actual trajectory point in E is obtained by r The corresponding actual distance list set L r =(L r，1 , L r，2 , …, L r，x , …, L r，y ), where L r，x QD r，x The corresponding actual distance list; L r，x =(L r，x _E1,L r，x _E2,…,L r，x _E a , …, L r，x _E b );L r，x _E a QD r，x With E a The actual distance between S62, Get QD r The estimated distance between each virtual trajectory point in and each actual trajectory point in E is obtained by r The corresponding estimated distance list set G r =(G r，1 , G r，2 , …, G r，x , …, G r，y ), where G r，x QD r，x The corresponding estimated distance list; G r，x =(G r，x _E1, G r，x _E2,…,G r，x _E a , …, G r，x _E b );G r，x _E a QD r，x With E a The estimated distance between r，x _E a =ΔTG r，x _E a ×V p ; ΔTG r，x _E a QD r，x With E a The time interval between p is the average taxiing speed of the aircraft corresponding to the target airport; S63, according to L r and G r , determine Y r =1 / ∑ y x＝1 (∑ b a＝1 |L r，x _E a -G r，x _E a | 2 ).
5. The method for determining an aircraft taxiing trajectory according to claim 2, characterized in that: T r，x Determine by following these steps: S621, obtaining the start time point t1 and the end time point t2 of the taxiing of the target aircraft; S622, determine T according to t1, t2 and y r，x =t1+(x-1)×(t2-t1) / (y-1).
6. The method for determining an aircraft taxiing trajectory according to claim 1, characterized in that: Step S200 includes the following steps: S210, using a preset clustering algorithm, clustering the historical sliding trajectory points in A to obtain a cluster list CA = (CA1, CA2, ..., CA u , …, C.A. w ), u=1, 2,...,w; among them, CA u is the uth cluster obtained by clustering the historical sliding trajectory points in A, and w is the number of clusters obtained by clustering the historical sliding trajectory points in A; S220, obtain the center point corresponding to each cluster in CA to obtain a center point list ZA=(ZA1, ZA2, ..., ZA u , …, ZA w ); among them, ZA u For CA u The corresponding center point; S230, connecting any two center points in ZA to obtain a plurality of sliding track segments; S240: Clustering and screening all taxiing trajectory segments to obtain each historical taxiing trajectory corresponding to the target airport.
7. The method for determining an aircraft taxiing trajectory according to claim 6, characterized in that: The preset clustering algorithms include the DBSCAN clustering algorithm.
8. A non-transitory computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, characterized in that: The at least one instruction or the at least one program is loaded and executed by the processor to implement the aircraft taxiing trajectory determination method as described in any one of claims 1 to 7.
9. An electronic device, characterized in that: Includes a processor and the non-transitory computer-readable storage medium of claim 8.