Aircraft coordinate calculation method and related device

Abstract

The invention discloses an aircraft coordinate calculation method and a related device. The method comprises the following steps: acquiring a first coordinate of an initial position of an aircraft in a first coordinate system; in the second coordinate system, determining a first displacement vector of the aircraft moving from the initial position to the target position; and calculating a second coordinate of the target position of the aircraft in the first coordinate system based on the first coordinate and the first displacement vector. Due to the characteristics of the Cartesian coordinate system, the displacement vector between the two coordinate points can be obtained based on the coordinates of the two coordinate points, so that the displacement vector between the initial position of the aircraft and the target position of the aircraft can be obtained based on the vector principle, the first displacement vector between the initial position of the aircraft and the target position of the aircraft and the first coordinates of the initial position of the aircraft. And reversely calculating to obtain a second coordinate of the target position of the aircraft. Therefore, the calculation process of the aircraft coordinate is simplified, the calculation speed is improved, the calculation cost is reduced, and the application effect in a scene with low requirement on the precision of the aircraft coordinate is further improved.

Description

Technical Field

[0001] The present application relates to the field of aircraft navigation technology, and in particular to a method for calculating aircraft coordinates and related devices. Background Art

[0002] The calculation of aircraft coordinates is crucial for aircraft navigation. By calculating the aircraft coordinates, real-time position information can be provided for aircraft control, which helps to adjust the aircraft's heading, speed, etc. in real time so that the aircraft can navigate to the expected position.

[0003] At present, the calculation of aircraft coordinates relies on complex and precise navigation technology. However, in scenarios such as using simulation technology to test the reliability of aircraft flight control, these scenarios do not require high calculation accuracy for aircraft coordinates, but have requirements for calculation speed and cost. The current calculation method for aircraft coordinates is relatively complex, with slow calculation speed and high calculation cost, which can easily affect the application effect in these scenarios. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a method and related device for calculating aircraft coordinates, the purpose of which is to increase the calculation speed, reduce the calculation cost, and improve the application effect in scenarios where the requirements for the accuracy of aircraft coordinates are not high.

[0005] In a first aspect, an embodiment of the present application provides a method for calculating aircraft coordinates, the method comprising:

[0006] Obtain the first coordinate of the starting position of the aircraft in the first coordinate system;

[0007] In a second coordinate system, determining a first displacement vector of the aircraft moving from the starting position to the target position; the second coordinate system is a Cartesian coordinate system;

[0008] Based on the first coordinate and the first displacement vector, a second coordinate of the target position of the aircraft in the first coordinate system is calculated.

[0009] In a possible implementation manner, the calculating, based on the first coordinate and the first displacement vector, a second coordinate of the target position of the aircraft in the first coordinate system includes:

[0010] Calculate and obtain a third coordinate of the target position of the aircraft in the third coordinate system based on the first coordinate, the first displacement vector, the conversion relationship between the first coordinate system and the third coordinate system, and the conversion relationship between the second coordinate system and the third coordinate system;

[0011] Based on the conversion relationship between the first coordinate system and the third coordinate system, the third coordinate is converted into a second coordinate in the first coordinate system.

[0012] In a possible implementation, the first coordinate system is a latitude and longitude high coordinate system, the second coordinate system is a local coordinate system, and the third coordinate system is an earth coordinate system; the calculating based on the first coordinate, the first displacement vector, the conversion relationship between the first coordinate system and the third coordinate system, and the conversion relationship between the second coordinate system and the third coordinate system to obtain the third coordinate of the target position of the aircraft in the third coordinate system includes:

[0013] Based on the conversion relationship between the latitude and longitude high coordinate system and the earth coordinate system, convert the first coordinate into a fourth coordinate in the earth coordinate system;

[0014] Based on the conversion relationship between the local coordinate system and the earth coordinate system, converting the first displacement vector into a second displacement vector in the earth coordinate system;

[0015] The fourth coordinate is added to the second displacement vector to obtain a third coordinate of the target position of the aircraft in the earth coordinate system.

[0016] In a possible implementation, the first coordinate system is a latitude and longitude high coordinate system, the second coordinate system is a local coordinate system, and the third coordinate system is an earth coordinate system; the calculating based on the first coordinate, the first displacement vector, the conversion relationship between the first coordinate system and the third coordinate system, and the conversion relationship between the second coordinate system and the third coordinate system to obtain the third coordinate of the target position of the aircraft in the third coordinate system includes:

[0017] Based on the conversion relationship between the latitude and longitude high coordinate system and the earth coordinate system, convert the first coordinate into a fourth coordinate in the earth coordinate system;

[0018] Based on the conversion relationship between the local coordinate system and the earth coordinate system, converting the fourth coordinate into a fifth coordinate in the local coordinate system;

[0019] Adding the fifth coordinate to the first displacement vector to obtain a sixth coordinate of the target position of the aircraft in the local coordinate system;

[0020] Based on the conversion relationship between the local coordinate system and the earth coordinate system, the sixth coordinate is converted into a third coordinate in the earth coordinate system.

[0021] In a possible implementation, in the second coordinate system, a first displacement vector of the aircraft moving from the starting position to the target position is determined; the second coordinate system is a Cartesian coordinate system, including:

[0022] Acquire the moving time of the aircraft from the starting position to the target position, and acquire the moving speed of the aircraft from the starting position to the target position; the moving speed includes the moving speed of the aircraft on each coordinate axis in the second coordinate system;

[0023] The first displacement vector is obtained based on the product of the moving speed and the moving time.

[0024] In a possible implementation, the method for calculating the coordinates of the aircraft may further include:

[0025] Obtain the aircraft coordinate calculation model established in GCKontrol software;

[0026] The calculating, based on the first coordinate and the first displacement vector, a second coordinate of the target position of the aircraft in the first coordinate system includes:

[0027] The second coordinate of the target position of the aircraft in the first coordinate system is calculated by the aircraft coordinate calculation model based on the first coordinate and the first displacement vector.

[0028] In a second aspect, an embodiment of the present application provides a device for calculating aircraft coordinates, the device comprising:

[0029] A coordinate acquisition module, used to acquire a first coordinate of a starting position of the aircraft in a first coordinate system;

[0030] a displacement vector determination module, used to determine a first displacement vector of the aircraft moving from the starting position to the target position in a second coordinate system; the second coordinate system is a Cartesian coordinate system;

[0031] A coordinate calculation module is used to calculate a second coordinate of the target position of the aircraft in the first coordinate system based on the first coordinate and the first displacement vector.

[0032] In a possible implementation, the coordinate calculation module may include:

[0033] a coordinate calculation unit, configured to calculate a third coordinate of the target position of the aircraft in the third coordinate system based on the first coordinate, the first displacement vector, a conversion relationship between the first coordinate system and the third coordinate system, and a conversion relationship between the second coordinate system and the third coordinate system;

[0034] A coordinate conversion unit is used to convert the third coordinate into a second coordinate in the first coordinate system based on a conversion relationship between the first coordinate system and the third coordinate system.

[0035] In a third aspect, an embodiment of the present application provides a device for calculating aircraft coordinates, the device comprising a memory and a processor:

[0036] The memory is used to store a computer program and transmit the computer program to the processor;

[0037] The processor is used to execute the computer program so that the device executes the method for calculating the aircraft coordinates described in the first aspect.

[0038] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed, a device executing the computer program implements the method for calculating the aircraft coordinates described in the first aspect above.

[0039] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0040] An embodiment of the present application provides a method for calculating the coordinates of an aircraft and a related device. In the method, a first coordinate of the starting position of the aircraft in a first coordinate system is first obtained; then, in a second coordinate system, a first displacement vector of the aircraft moving from the starting position to the target position is determined, and the second coordinate system is a Cartesian coordinate system; then, based on the first coordinate and the first displacement vector, the second coordinate of the target position of the aircraft in the first coordinate system is calculated.

[0041] Due to the characteristics of the Cartesian coordinate system, the displacement vector between two coordinate points can be obtained based on the coordinates of the two coordinate points. Therefore, based on the vector principle, the first displacement vector between the starting position of the aircraft (one coordinate point) and the target position of the aircraft (another coordinate point), and the first coordinate of the starting position of the aircraft, the second coordinate of the target position of the aircraft can be obtained by reverse calculation. In this way, the calculation method of the aircraft coordinates provided in the embodiment of the present application can simplify the calculation process of the aircraft coordinates, improve the calculation speed, reduce the calculation cost, and thus improve the application effect in the scenario where the accuracy of the aircraft coordinates is not required. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 A flowchart of a method for calculating aircraft coordinates provided in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of a first displacement vector provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of calculating the third coordinate of a target position provided in an embodiment of the present application;

[0046] Figure 4 A schematic diagram of a method for calculating aircraft coordinates provided in an embodiment of the present application;

[0047] Figure 5 A schematic diagram of an aircraft coordinate calculation model provided in an embodiment of the present application;

[0048] Figure 6 A schematic diagram of the structure of a device for calculating aircraft coordinates provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution 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. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] First, several terms that may be involved in the embodiments of the present application are explained below.

[0051] Longitude and latitude coordinate system: It can be called WGS-84 coordinate system, which refers to the World Geodetic System 1984 Coordinate System, and can also be referred to as B system. In the embodiment of the present application, the longitude and latitude coordinate system can represent the longitude, latitude and altitude of the aircraft on the earth.

[0052] Earth coordinate system: It can be called the Earth-centered Earth-fixed coordinate system, or simply the E-system. The Earth coordinate system takes the center of mass of the Earth as the origin of the Earth coordinate system. In the embodiment of the present application, the Earth coordinate system can reflect the position of the aircraft relative to the Earth.

[0053] Local coordinate system: It can be called the local horizontal geographic coordinate system, or the g-system. For example, the local coordinate system can include the northeast celestial coordinate system and the north-east terrestrial coordinate system. In the embodiment of the present application, the local coordinate system can take the center of mass of the aircraft as the origin of the local coordinate system. The local coordinate system can reflect the position of the aircraft relative to itself.

[0054] Cartesian coordinate system: also known as a rectangular coordinate system, with x-axis, y-axis and z-axis perpendicular to each other. Cartesian coordinate system has a close relationship with vector. In Cartesian coordinate system, two coordinate points can be represented by vector, and vector can also be represented by two coordinate points. In the embodiment of the present application, the local coordinate system and the earth coordinate system are both Cartesian coordinate systems.

[0055] At present, the calculation of existing aircraft coordinates relies on complex and precise navigation technology, such as accelerometers, gyroscopes, and satellite signals. The calculated aircraft position has high accuracy, but the calculation speed is slow and the calculation cost is high. In some scenarios, the accuracy requirement for the aircraft position is low, such as testing the reliability of aircraft flight control through simulation technology. The existing calculation method of aircraft coordinates is still used, which is easy to affect the simulation efficiency, increase the simulation cost, and cause poor application effect.

[0056] Based on this, in order to solve the above problems, an embodiment of the present application provides a method for calculating the coordinates of an aircraft and a related device. In the method, a first coordinate of the starting position of the aircraft in a first coordinate system is first obtained; then, in a second coordinate system, a first displacement vector of the aircraft moving from the starting position to the target position is determined, and the second coordinate system is a Cartesian coordinate system; then, based on the first coordinate and the first displacement vector, the second coordinate of the target position of the aircraft in the first coordinate system is calculated.

[0057] Due to the characteristics of the Cartesian coordinate system, the displacement vector between two coordinate points can be obtained based on the coordinates of the two coordinate points. Therefore, based on the vector principle, the second coordinate of the target position of the aircraft can be obtained by reverse calculation based on the first displacement vector between the starting position of the aircraft and the target position of the aircraft, and the first coordinate of the starting position of the aircraft. In this way, the calculation method of the aircraft coordinates provided in the embodiment of the present application can simplify the calculation process of the aircraft coordinates, improve the calculation speed, reduce the calculation cost, and thus improve the application effect in the scenario where the accuracy of the aircraft coordinates is not required.

[0058] It should be noted that the embodiments of the present application may not limit the execution subject of the method for calculating the coordinates of the aircraft. For example, the method for calculating the coordinates of the aircraft in the embodiments of the present application may be applied to data processing devices such as terminal devices or servers. The terminal device may be an electronic device such as a smart phone, a computer, or a tablet computer. The server may be an independent server, a cluster server, or a cloud server. The present application does not specifically limit the terminal device or server mentioned above.

[0059] The specific implementation of the method for calculating the coordinates of the aircraft and the related devices in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0060] See also Figure 1 , which is a flow chart of a method for calculating aircraft coordinates provided in an embodiment of the present application, combined with Figure 1 As shown, it may specifically include:

[0061] S101: Obtain the first coordinate of the starting position of the aircraft in the first coordinate system.

[0062] The starting position of the aircraft refers to the position of the aircraft before it moves.

[0063] In some embodiments, an inertial navigation system, visual positioning or other methods may be used to obtain the coordinates of the starting position of the aircraft in the first coordinate system.

[0064] In some embodiments, the method provided in the embodiments of the present application can also be used to calculate the first coordinates of the starting position of the aircraft in the first coordinate system based on the coordinates of the previous position of the aircraft in the first coordinate system and the displacement vector of the aircraft moving from the previous position to the starting position.

[0065] In some embodiments, the position of the known coordinates can also be set as the initial position of the aircraft. When the aircraft is at this position, the coordinates of the position can be directly obtained. If the coordinates are coordinates of a first coordinate system, they are directly used as the first coordinates of the starting position of the aircraft in the first coordinate system. If the coordinates are coordinates of other coordinate systems, they are first converted into coordinates in the first coordinate system, and then the converted coordinates are used as the first coordinates of the starting position of the aircraft in the first coordinate system.

[0066] In a possible implementation, the first coordinate system may be a latitude and longitude coordinate system or an earth coordinate system, which is not limited in the present application.

[0067] S102: Determine a first displacement vector of the aircraft moving from the starting position to the target position in a second coordinate system.

[0068] In the embodiment of the present application, the second coordinate system is a Cartesian coordinate system.

[0069] Based on the above introduction, two coordinate points in the Cartesian coordinate system can be represented by a vector, and a vector can also be represented by two coordinate points.

[0070] Therefore, in an embodiment of the present application, in the second coordinate system which is a Cartesian coordinate system, the starting position is a point, the target position is another point, and the distance between the starting position and the target position is the displacement of the aircraft in this movement. Therefore, the distance between the two can be expressed as a vector, which is called the first displacement vector.

[0071] In some embodiments, if the first coordinate system is a latitude and longitude coordinate system, the second coordinate system may be an earth coordinate system or a local coordinate system; if the first coordinate system is an earth coordinate system, the second coordinate system may be a local coordinate system. This application does not limit this, and the second coordinate system may be a Cartesian coordinate system.

[0072] In a possible implementation, S202 may specifically include: first obtaining the moving time of the aircraft from the starting position to the target position, and obtaining the moving speed of the aircraft from the starting position to the target position; and then obtaining the first displacement vector based on the product of the moving speed and the moving time. The moving speed includes the moving speed of the aircraft on each coordinate axis in the second coordinate system.

[0073] In some embodiments, the aircraft can time itself to obtain the movement time from the starting position to the target position. The aircraft can determine its own movement speed on each coordinate axis in the second coordinate system by combining the data of the navigation system and the sensor. The second coordinate system is a Cartesian coordinate system. Therefore, the aircraft can determine its own movement speed on the x-axis, y-axis and z-axis in the second coordinate system respectively.

[0074] In some embodiments, taking the execution subject of the embodiment of the present application as a ground server as an example, the aircraft can communicate with the ground server and send the moving time and moving speed to the ground server. This application does not limit this.

[0075] Then, the moving time is multiplied by the moving speed on each coordinate axis in the second coordinate system to obtain the displacement of the aircraft on each coordinate axis. The displacement on each coordinate axis can be expressed as a first displacement vector with a direction from the starting position to the target position and a magnitude of the distance between the starting position and the target position.

[0076] As an example, Figure 2 As shown in FIG. 1 , this figure is a schematic diagram of a first displacement vector provided in an embodiment of the present application. Figure 2 As shown in the figure, point A indicates the starting position of the aircraft, point B indicates the target position of the aircraft, and xg ,y g and z g represents the local coordinate system with point A as the origin, the second coordinate system is the local coordinate system, x e ,y e and z e represents the earth coordinate system with O as the origin, Represents the first displacement vector.

[0077] S103: Based on the first coordinate and the first displacement vector, a second coordinate of the target position of the aircraft in the first coordinate system is calculated.

[0078] In the embodiment of the present application, based on the vector principle of the second coordinate system introduced above, after the first coordinate of the starting position and the first displacement vector between the starting position and the target position are clarified, the second coordinate of the target position can be reversely calculated.

[0079] In a possible implementation of the present application, S103 may specifically include: calculating the third coordinate of the target position of the aircraft in the third coordinate system based on the first coordinate, the first displacement vector, the conversion relationship between the first coordinate system and the third coordinate system, and the conversion relationship between the second coordinate system and the third coordinate system; and then converting the third coordinate into the second coordinate in the first coordinate system based on the conversion relationship between the first coordinate system and the third coordinate system.

[0080] In this way, considering that the first coordinate system and the second coordinate system may not be able to be directly converted, the third coordinate system that can be directly converted with both the first coordinate system and the second coordinate system can be used to achieve the unification of the coordinate system of the starting position and the coordinate system of the displacement vector between the starting position and the target position, and then calculate the second coordinate of the target position.

[0081] In the embodiment of the present application, there are multiple possible implementation methods for the above-mentioned "calculating the third coordinate of the target position of the aircraft in the third coordinate system based on the first coordinate, the first displacement vector, the conversion relationship between the first coordinate system and the third coordinate system, and the conversion relationship between the second coordinate system and the third coordinate system", which are introduced below. It should be noted that the implementation methods given in the following introduction are only exemplary descriptions and do not represent all the implementation methods of the embodiment of the present application.

[0082] For ease of understanding, the following text takes the first coordinate system as the latitude and longitude coordinate system and the second coordinate system as the local coordinate system as an example. The first coordinate system and the second coordinate system cannot be directly converted, so the third coordinate system is introduced and the third coordinate system is taken as the earth coordinate system as an example to continue the introduction.

[0083] A first possible implementation method is: first, based on the conversion relationship between the latitude and longitude high coordinate system and the earth coordinate system, convert the first coordinate into a fourth coordinate in the earth coordinate system; then, based on the conversion relationship between the local coordinate system and the earth coordinate system, convert the first displacement vector into a second displacement vector in the earth coordinate system; and then add the fourth coordinate and the second displacement vector to obtain the third coordinate of the target position of the aircraft in the earth coordinate system.

[0084] As an example, see Figure 3 As shown in FIG. 1 , this figure is a schematic diagram of calculating the third coordinate of a target position provided in an embodiment of the present application. Figure 3 As shown, x e ,y e and z e Represents the earth coordinate system with point O as the origin, point A as the starting position, point B as the target position, and the distance between A and B can be expressed as the first displacement vector At present, the first coordinate A of point A in the latitude and longitude coordinate system is known. B , and the first displacement vector in the local coordinate system Therefore, the third coordinate of the target position of the aircraft in the earth coordinate system can be calculated by the following formula:

[0085]

[0086] in, Indicates the third coordinate of the target position of the aircraft in the earth coordinate system. Indicates the fourth coordinate of the aircraft's starting position in the earth's coordinate system. Represents the transformation matrix from the latitude and longitude coordinate system to the earth coordinate system, which is used to describe the rotation and translation relationship between the two coordinate systems. B Indicates the first coordinate of the starting position of the aircraft in the earth coordinate system, so A B and Multiplying together gives A second displacement vector (in the earth coordinate system) representing the movement of the aircraft from the starting position to the target position, represents the first displacement vector in the local coordinate system, Represents the transformation matrix from the local coordinate system to the earth coordinate system, which is used to describe the rotation and translation relationship between the two coordinate systems. and Multiplication can get the second displacement vector in the earth coordinate system Then, using the vector principle, and Adding together we get That is to say, the third coordinate of the target position in the earth coordinate system is obtained

[0087] In some embodiments, the conversion matrix of the latitude and longitude coordinate system to the earth coordinate system can be expressed by the following formula:

[0088]

[0089] Among them, X, Y and Z represent the coordinate points in the earth coordinate system, B, L and H represent the latitude, longitude and altitude in the longitude and latitude coordinate system, N is the radius of curvature of the ellipse, a is the major axis of the earth ellipsoid, and b is the minor axis of the earth ellipsoid. Based on the above example, the first coordinate A can be B Substituting this into the formula, we get

[0090] In some embodiments, taking the local coordinate system as the northeast celestial coordinate system as an example, the transformation matrix of the earth coordinate system to the local coordinate system can be expressed by the following formula:

[0091]

[0092] In some embodiments, taking the local coordinate system as the north-east coordinate system as an example, the transformation matrix from the earth coordinate system to the local coordinate system can be expressed by the following formula:

[0093]

[0094] Among them, B represents latitude (expressed in radians) and L represents longitude (expressed in radians).

[0095] In the embodiment of the present application, the conversion matrix from the local coordinate system to the earth coordinate system is required to calculate the second displacement vector The above-mentioned Just transpose.

[0096] In addition, in the above-mentioned S103, "based on the conversion relationship between the first coordinate system and the third coordinate system, convert the third coordinate into a second coordinate in the first coordinate system", in the example where the first coordinate system is a latitude and longitude coordinate system and the third coordinate system is an earth coordinate system, it can be achieved by and Multiply to get the second coordinate B of the target position of the aircraft in the first coordinate system B (L B , B B , H B ),in, Represents the transformation matrix from the earth coordinate system to the latitude and longitude coordinate system, B B (L B , B B , HB ) represents the second coordinate of the target position of the aircraft in the latitude and longitude coordinate system.

[0097] In some embodiments, the conversion matrix of the earth coordinate system to the latitude and longitude coordinate system can be expressed by the following formula:

[0098] set up

[0099]

[0100] Among them, x, y and z represent the coordinate points in the earth coordinate system, B, L and H represent the latitude, longitude and altitude in the longitude and latitude coordinate system, N is the radius of curvature of the ellipse, a is the major semi-axis of the earth ellipsoid, and b is the minor semi-axis of the earth ellipsoid. z represents the value on the z axis in the earth coordinate system, p represents the polar diameter, and e represents the first eccentricity, for example, 0.0818191908426. Based on the above formula, the second coordinate of the target position of the aircraft in the longitude and latitude coordinate system can be calculated.

[0101] Among them, the equator (i.e., 0 degrees latitude) is the XOY plane, and the prime meridian (i.e., 0 degrees longitude) is the XOZ plane. The coordinate points X, Y, and Z in the earth coordinate system can be calculated based on B, L, and H in the longitude and latitude coordinate system.

[0102] The introduction is still continued with the example that the first coordinate system is the latitude and longitude coordinate system, the second coordinate system is the local coordinate system, and the third coordinate system is the earth coordinate system.

[0103] A second optional implementation method is: first, based on the conversion relationship between the latitude and longitude high coordinate system and the earth coordinate system, convert the first coordinate into a fourth coordinate in the earth coordinate system; then, based on the conversion relationship between the local coordinate system and the earth coordinate system, convert the fourth coordinate into a fifth coordinate in the local coordinate system; then, add the fifth coordinate to the first displacement vector to obtain a sixth coordinate of the target position of the aircraft in the local coordinate system; then, based on the conversion relationship between the local coordinate system and the earth coordinate system, convert the sixth coordinate into a third coordinate in the earth coordinate system.

[0104] As an example, combined with the above Figure 3 , the sixth coordinate of the target position of the aircraft in the local coordinate system can be calculated by the following formula:

[0105]

[0106] Among them, B g A represents the sixth coordinate of the target position of the aircraft in the local coordinate system. gIndicates the fifth coordinate of the starting position of the aircraft in the local coordinate system. Represents the transformation matrix from the earth coordinate system to the local coordinate system, which is used to describe the rotation and translation relationship between the two coordinate systems. The introduction of the remaining symbols in this formula can be found above and will not be repeated here. B and Multiplying together gives (also known as the fourth coordinate), and then and Multiply to get A g (also known as the fifth coordinate), then, using the vector principle, Reverse A g and Adding them together gives B g , that is, the sixth coordinate of the target position in the local coordinate system is obtained

[0107]

[0108] Finally, using the sixth coordinate and Multiplying them together can get the third coordinate of the target position of the aircraft in the earth coordinate system.

[0109] It should be noted that the remaining specific implementation methods of the second possible implementation method can refer to the introduction of the first possible implementation method, which will not be repeated here.

[0110] It should be noted that the situation in which the first coordinate system and the second coordinate system cannot be directly converted introduced in the above embodiment is only an example. When the first coordinate system and the second coordinate system have a direct conversion relationship, the first coordinate can be directly converted into the coordinate in the second coordinate system, and then the coordinate is added to the first displacement vector to obtain the coordinate of the target position in the second coordinate system, and then converted into the second coordinate of the target position in the first coordinate system without the help of a third coordinate system.

[0111] As an example, see Figure 4 , which is a schematic diagram of a method for calculating aircraft coordinates provided in an embodiment of the present application. It should be noted that, Figure 4 Taking the first possible implementation method introduced above as an example, the calculation method of the aircraft coordinates is introduced.

[0112] like Figure 4As shown, the aircraft motion model can output the original longitude and latitude coordinates (i.e., the first coordinates) of the starting position of the aircraft in the longitude and latitude high coordinate system, and it can also output the aircraft displacement (i.e., the first displacement vector of the aircraft moving from the starting position to the target position in the local coordinate system). Through the inertial system displacement conversion model (which is used to convert the coordinates in the local coordinate system into the coordinates in the earth coordinate system), the aircraft displacement can be converted into the second displacement vector in the earth coordinate system; through the inertial system coordinate conversion model (which is used to convert the coordinates in the longitude and latitude high coordinate system into the coordinates in the earth coordinate system), the original longitude and latitude coordinates can be converted into the fourth coordinates of the starting position in the earth coordinate system, and then the second displacement vector and the fourth coordinate are added by the vector principle to obtain the third coordinate of the target position of the aircraft in the earth coordinate system. Finally, through the longitude and latitude coordinate calculation model (which is used to convert the coordinates in the earth coordinate system into the coordinates in the longitude and latitude high coordinate system), the third coordinate can be converted into the second coordinate of the target position of the aircraft in the longitude and latitude high coordinate system, and finally the obtained second coordinate can be updated as the current coordinate of the aircraft to the aircraft motion model.

[0113] In a possible implementation, the method for calculating the aircraft coordinates may also include: obtaining an aircraft coordinate calculation model established in the GCKontrol software; accordingly, S103 may specifically include: using the aircraft coordinate calculation model, based on the first coordinate and the first displacement vector, calculating the second coordinate of the target position of the aircraft in the first coordinate system.

[0114] Among them, GCKontrol refers to simulation modeling engineering, which is used to build an aircraft coordinate calculation model for calculating aircraft coordinates.

[0115] As an example, see Figure 5 , which is a schematic diagram of an aircraft coordinate calculation model provided in an embodiment of the present application. Figure 5 As shown in the figure, the module corresponding to "Converting longitude and latitude coordinates to coordinates in the Earth's inertial system" is used to convert the coordinates in the longitude and latitude coordinate system to the coordinates in the Earth's coordinate system. Figure 4 The inertial coordinate conversion model introduced in this module has inputs B, L and H as the first coordinates, and outputs x, y and z as the fourth coordinates; the module corresponding to "Converting the aircraft displacement vector in the geographic system to the displacement vector in the earth's inertial system" is used to convert the coordinates in the local coordinate system to the coordinates in the earth's coordinate system, which can correspond to Figure 4The inertial system displacement conversion model introduced, its input F_deltaxyz is the first displacement vector, and its output F_xyz_g is the second displacement vector; the module corresponding to Add_Sub is used to add the two inputs, that is, the fourth coordinate and the second displacement vector, to obtain the third coordinate, that is, the output of this module is the third coordinate; the module corresponding to "Converting the coordinates in the earth inertial system to the longitude and latitude coordinates" is used to convert the coordinates in the earth coordinate system to the coordinates in the longitude and latitude coordinate system, which can correspond to Figure 4 The latitude and longitude coordinate calculation model introduced, the input of this module is the third coordinate of the target position of the aircraft in the earth coordinate system, and the output of this module is the second coordinate. In addition, considering that the longitude and latitude of the second coordinate of the target position output by this module in the latitude and longitude coordinate system are radians, it can be converted again through two radian to angle modules, and finally the second coordinate that can be expressed as an angle is obtained.

[0116] Among them, Decompositevector means decomposing the third coordinate into x, y and z, and compositevetor means combining B, L and H into the second coordinate.

[0117] In this way, a vehicle coordinate calculation model can be constructed through GCKontrol, in which each module is more integrated, the software architecture is clearer and simpler, and each module is easy to modify.

[0118] The above are some specific implementations of the method for calculating the coordinates of the aircraft provided in the embodiment of the present application. Based on this, the present application also provides a corresponding device for calculating the coordinates of the aircraft. The following will introduce the device for calculating the coordinates of the aircraft provided in the embodiment of the present application from the perspective of functional modularization.

[0119] See also Figure 6 , which is a schematic diagram of the structure of a device for calculating aircraft coordinates provided in an embodiment of the present application. The device 600 for calculating aircraft coordinates may include:

[0120] A coordinate acquisition module 610 is used to acquire a first coordinate of a starting position of the aircraft in a first coordinate system;

[0121] The displacement vector determination module 620 is used to determine a first displacement vector of the aircraft moving from the starting position to the target position in a second coordinate system; the second coordinate system is a Cartesian coordinate system;

[0122] The coordinate calculation module 630 is used to calculate the second coordinate of the target position of the aircraft in the first coordinate system based on the first coordinate and the first displacement vector.

[0123] As an implementation manner, the coordinate calculation module 630 may specifically include:

[0124] a coordinate calculation unit, configured to calculate a third coordinate of the target position of the aircraft in the third coordinate system based on the first coordinate, the first displacement vector, a conversion relationship between the first coordinate system and the third coordinate system, and a conversion relationship between the second coordinate system and the third coordinate system;

[0125] A coordinate conversion unit is used to convert the third coordinate into a second coordinate in the first coordinate system based on a conversion relationship between the first coordinate system and the third coordinate system.

[0126] As an implementation manner, the first coordinate system is a latitude and longitude high coordinate system, the second coordinate system is a local coordinate system, and the third coordinate system is an earth coordinate system; the coordinate calculation unit may specifically include:

[0127] A first coordinate conversion subunit, configured to convert the first coordinate into a fourth coordinate in the earth coordinate system based on a conversion relationship between the latitude and longitude high coordinate system and the earth coordinate system;

[0128] a displacement vector conversion subunit, configured to convert the first displacement vector into a second displacement vector in the earth coordinate system based on a conversion relationship between the local coordinate system and the earth coordinate system;

[0129] The first adding subunit is used to add the fourth coordinate and the second displacement vector to obtain a third coordinate of the target position of the aircraft in the earth coordinate system.

[0130] As an implementation manner, the first coordinate system is a latitude and longitude high coordinate system, the second coordinate system is a local coordinate system, and the third coordinate system is an earth coordinate system; the coordinate calculation unit may specifically include:

[0131] A second coordinate conversion subunit, configured to convert the first coordinate into a fourth coordinate in the earth coordinate system based on a conversion relationship between the latitude and longitude high coordinate system and the earth coordinate system;

[0132] A third coordinate conversion subunit, configured to convert the fourth coordinate into a fifth coordinate in the local coordinate system based on a conversion relationship between the local coordinate system and the earth coordinate system;

[0133] A second adding subunit, configured to add the fifth coordinate to the first displacement vector to obtain a sixth coordinate of the target position of the aircraft in the local coordinate system;

[0134] The fourth coordinate conversion subunit is used to convert the sixth coordinate into a third coordinate in the earth coordinate system based on the conversion relationship between the local coordinate system and the earth coordinate system.

[0135] As an implementation manner, the displacement vector determination module 620 may specifically include:

[0136] an acquisition unit, used to acquire a moving time of the aircraft from the starting position to the target position, and acquire a moving speed of the aircraft from the starting position to the target position; the moving speed includes a moving speed of the aircraft on each coordinate axis in the second coordinate system;

[0137] A displacement vector obtaining unit is used to obtain the first displacement vector based on the product of the moving speed and the moving time.

[0138] As an implementation manner, the aircraft coordinate calculation device 600 may further include:

[0139] Model acquisition module, used to obtain the aircraft coordinate calculation model established in GCKontrol software;

[0140] Accordingly, the coordinate calculation module 630 may be specifically used for:

[0141] The second coordinate of the target position of the aircraft in the first coordinate system is calculated by the aircraft coordinate calculation model based on the first coordinate and the first displacement vector.

[0142] The embodiments of the present application also provide a corresponding aircraft coordinate calculation device and a computer-readable storage medium for implementing the solution provided in the embodiments of the present application.

[0143] The aircraft coordinate calculation device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program so that the device executes the aircraft coordinate calculation method described in any embodiment of the present application.

[0144] The computer-readable storage medium stores a computer program. When the computer program is executed, a device executing the computer program implements the method for calculating the coordinates of the aircraft described in any embodiment of the present application.

[0145] The "first" and "second" in the names such as "first" and "second" (if any) mentioned in the embodiments of the present application are only used as name identifiers and do not represent the first or second in order.

[0146] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a readable storage medium, such as a read-only memory (ROM) / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment of the present application or some parts of the embodiments.

[0147] It should be noted that each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described above is merely schematic, in which the unit described as a separate component may or may not be physically separated, and the component prompted as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0148] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for calculating aircraft coordinates, characterized in that: include: Obtain the first coordinate of the starting position of the aircraft in the first coordinate system; In a second coordinate system, determining a first displacement vector of the aircraft moving from the starting position to the target position; the second coordinate system is a Cartesian coordinate system; Based on the first coordinate and the first displacement vector, a second coordinate of the target position of the aircraft in the first coordinate system is calculated.

2. The method according to claim 1, characterized in that The calculating, based on the first coordinate and the first displacement vector, a second coordinate of the target position of the aircraft in the first coordinate system includes: Calculate and obtain a third coordinate of the target position of the aircraft in the third coordinate system based on the first coordinate, the first displacement vector, the conversion relationship between the first coordinate system and the third coordinate system, and the conversion relationship between the second coordinate system and the third coordinate system; Based on the conversion relationship between the first coordinate system and the third coordinate system, the third coordinate is converted into a second coordinate in the first coordinate system.

3. The method according to claim 2, characterized in that The first coordinate system is a latitude and longitude high coordinate system, the second coordinate system is a local coordinate system, and the third coordinate system is an earth coordinate system; the third coordinate of the target position of the aircraft in the third coordinate system is calculated based on the first coordinate, the first displacement vector, the conversion relationship between the first coordinate system and the third coordinate system, and the conversion relationship between the second coordinate system and the third coordinate system, including: Based on the conversion relationship between the latitude and longitude high coordinate system and the earth coordinate system, convert the first coordinate into a fourth coordinate in the earth coordinate system; Based on the conversion relationship between the local coordinate system and the earth coordinate system, converting the first displacement vector into a second displacement vector in the earth coordinate system; The fourth coordinate is added to the second displacement vector to obtain a third coordinate of the target position of the aircraft in the earth coordinate system.

4. The method according to claim 2, characterized in that: The first coordinate system is a latitude and longitude high coordinate system, the second coordinate system is a local coordinate system, and the third coordinate system is an earth coordinate system; the third coordinate of the target position of the aircraft in the third coordinate system is calculated based on the first coordinate, the first displacement vector, the conversion relationship between the first coordinate system and the third coordinate system, and the conversion relationship between the second coordinate system and the third coordinate system, including: Based on the conversion relationship between the latitude and longitude high coordinate system and the earth coordinate system, convert the first coordinate into a fourth coordinate in the earth coordinate system; Based on the conversion relationship between the local coordinate system and the earth coordinate system, converting the fourth coordinate into a fifth coordinate in the local coordinate system; Adding the fifth coordinate to the first displacement vector to obtain a sixth coordinate of the target position of the aircraft in the local coordinate system; Based on the conversion relationship between the local coordinate system and the earth coordinate system, the sixth coordinate is converted into a third coordinate in the earth coordinate system.

5. The method according to any one of claims 1 to 4, characterized in that: In the second coordinate system, a first displacement vector of the aircraft moving from the starting position to the target position is determined; the second coordinate system is a Cartesian coordinate system, including: Acquire the moving time of the aircraft from the starting position to the target position, and acquire the moving speed of the aircraft from the starting position to the target position; the moving speed includes the moving speed of the aircraft on each coordinate axis in the second coordinate system; The first displacement vector is obtained based on the product of the moving speed and the moving time.

6. The method according to claim 1, characterized in that Also includes: Obtain the aircraft coordinate calculation model established in GCKontrol software; The calculating, based on the first coordinate and the first displacement vector, a second coordinate of the target position of the aircraft in the first coordinate system includes: The second coordinate of the target position of the aircraft in the first coordinate system is calculated by the aircraft coordinate calculation model based on the first coordinate and the first displacement vector.

7. A device for calculating aircraft coordinates, characterized in that: The device comprises: A coordinate acquisition module, used to acquire a first coordinate of a starting position of the aircraft in a first coordinate system; a displacement vector determination module, used to determine a first displacement vector of the aircraft moving from the starting position to the target position in a second coordinate system; the second coordinate system is a Cartesian coordinate system; A coordinate calculation module is used to calculate a second coordinate of the target position of the aircraft in the first coordinate system based on the first coordinate and the first displacement vector.

8. The device according to claim 7, characterized in that The coordinate calculation module may include: a coordinate calculation unit, configured to calculate a third coordinate of the target position of the aircraft in the third coordinate system based on the first coordinate, the first displacement vector, a conversion relationship between the first coordinate system and the third coordinate system, and a conversion relationship between the second coordinate system and the third coordinate system; A coordinate conversion unit is used to convert the third coordinate into a second coordinate in the first coordinate system based on a conversion relationship between the first coordinate system and the third coordinate system.

9. A device for calculating aircraft coordinates, characterized in that: The device comprises a memory and a processor: The memory is used to store a computer program and transmit the computer program to the processor; The processor is used to execute the computer program so that the device performs the steps of the method for calculating aircraft coordinates as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program. When the computer program is executed, a device executing the computer program implements the steps of the method for calculating the coordinates of an aircraft as described in any one of claims 1 to 6.

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