Automatic flight strip division method and system based on flight strip planning points
By projecting the three-dimensional trajectory data of the aircraft to a two-dimensional plane, identifying and matching the endpoints of the straight line segments, and extracting the time range of the aircraft belt, the problem that the existing technology cannot automatically divide the aircraft belt is solved, and efficient and accurate automatic partitioning of the aircraft belt is achieved, which is suitable for complex flight environments.
Patent Information
- Application Number
- CN202411991977.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-04-22
AI Technical Summary
The existing technology cannot automatically divide the aircraft belt, resulting in problems such as inefficiency, large errors and difficulty in dynamic adjustment in complex flight environments.
By retrieving the three-dimensional trajectory data of the aircraft, projecting it to a two-dimensional plane, filtering the takeoff and descent sections, using the Ramer-Douglas-Peucker algorithm and Hough transformation and other methods to identify the straight line segment, and matching the end points of the straight line segment as the start and end points of the navigation belt based on the planned point, the time range of each navigation belt is extracted.
It realizes automatic division of aircraft belts, improves the efficiency and accuracy of trajectory analysis, and can dynamically adjust the aircraft belts to adapt to complex flight environments.
Smart Images
Figure CN119863952A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of aviation technology, and more specifically, to a method and system for automatically dividing flight strips based on flight strip planning points. Background Art
[0002] With the continuous advancement of aviation technology and the popularization of aircraft such as drones, the acquisition and analysis of flight trajectory data has become particularly important. During the flight process, the air strip is a key area of the aircraft's flight path. Its reasonable division is of great significance for flight safety, path planning and subsequent data processing. In the prior art, air strip division mainly relies on manual settings or simple path planning based on preset route rules. However, this method may have problems such as inefficiency, large errors and difficulty in dynamic adjustment in complex flight environments.
[0003] In some track data processing, the track data is obtained through different measuring devices, and its accuracy is closely related to the performance of the equipment. When processing these data, it is often necessary to map the track to the ground plane and divide the flight path intelligently and automatically. Especially when there are multiple flight path planning points, how to automatically identify the range and boundary of the flight path through intelligent algorithms is a problem worth studying.
[0004] The prior art has a method for planning routes in strip areas for unmanned aerial vehicles. The method obtains the range of the strip area, calculates the route spacing according to preset conditions, generates waypoints according to the route spacing, and then generates the target route of the strip area according to the waypoints. The route planning is performed directly in the strip area, avoiding the problem of large errors in the strip area route planning in the prior art, which first generates routes in block areas and then deletes the strip routes. The efficiency and accuracy of strip area route planning are improved, the needs of unmanned aerial vehicles for patrolling strip areas such as roads, pipelines and high-speed railways are met, and the commuting efficiency of unmanned aerial vehicles is improved.
[0005] However, the existing technology has the problem of being unable to automatically divide flight zones. Therefore, how to invent an efficient and accurate method for automatically dividing flight zones is a technical problem that urgently needs to be solved in this technical field. Summary of the invention
[0006] In order to solve the problem that the prior art cannot automatically divide flight strips, the present invention provides a method and system for automatically dividing flight strips based on flight strip planning points, which has the characteristics of being able to improve the efficiency and accuracy of trajectory analysis.
[0007] In order to achieve the above-mentioned purpose of the present invention, the technical scheme adopted is as follows:
[0008] A method for automatically dividing flight strips based on flight strip planning points comprises the following specific steps:
[0009] Retrieve the three-dimensional trajectory data of the aircraft including the planning points and timestamps, and project the three-dimensional trajectory data into a two-dimensional plane coordinate system to obtain a two-dimensional trajectory;
[0010] Based on the planning points, the two-dimensional trajectory is simplified to obtain several flight paths including the starting point, the ending point, and the straight line segment, and the time range of each flight path is extracted;
[0011] The output includes the flight data of all flight strips and their corresponding time range.
[0012] Preferably, the three-dimensional trajectory data of the aircraft including the planning points and timestamps are retrieved, and the three-dimensional trajectory data is projected into a two-dimensional plane coordinate system to obtain a two-dimensional trajectory. The specific steps are as follows:
[0013] Retrieve the three-dimensional trajectory data including the aircraft's longitude, latitude, altitude, planning point, and timestamp;
[0014] The three-dimensional trajectory data is projected into the plane projection coordinate system using the geodetic coordinate system, the elevation is ignored, and the three-dimensional trajectory is converted into the two-dimensional plane coordinate system.
[0015] Furthermore, after projecting the trajectory into the two-dimensional plane coordinate system, the trajectories of the takeoff and descent segments in the two-dimensional trajectory are also filtered.
[0016] Furthermore, the take-off and descent segments of the two-dimensional trajectory are filtered. The specific steps are as follows: taking the take-off point and the end point as the center, setting a certain radius threshold, and filtering the trajectory points within the radius threshold.
[0017] Furthermore, the two-dimensional trajectory is simplified based on the planning points to obtain several flight paths including the starting point, the ending point, and the straight line segment, and the time range of each flight path is extracted. The specific steps are as follows:
[0018] Retrieve the direction and range of each pair of planning points, retain the data within the range, and then perform straight line search;
[0019] Obtain a number of straight line segments between each pair of planned points; obtain the endpoints of the straight line segments corresponding to each pair of planned points as the starting point and the ending point of the flight strip;
[0020] In each flight strip, the time range of the flight strip is determined based on the start point and the end point.
[0021] Furthermore, several straight line segments between each pair of planning points are obtained; the endpoints of the straight line segments corresponding to each pair of planning points are obtained as the starting point and the ending point of the flight strip. The specific steps are as follows:
[0022] The Ramer-Douglas-Peucker algorithm is used to simplify the two-dimensional trajectory between each pair of planning points, and any of the Hough transform, least squares method, and curvature analysis methods are used to identify the straight line segments therein;
[0023] The straight line segments are matched based on the planned points, and the endpoints of the straight line segments corresponding to the planned points are obtained as the starting point and the ending point of each flight strip.
[0024] Furthermore, the Ramer-Douglas-Peucker algorithm is used to simplify the two-dimensional trajectory between each pair of planning points. The specific steps are as follows:
[0025] S1: Set the tolerance value;
[0026] S2: Draw a straight line between a pair of planning points;
[0027] S3: For all the trajectory points in a segment of the trajectory, calculate their distances to the straight line; take the point with the largest distance on the two-dimensional trajectory as a candidate segmentation point; if the maximum distance is greater than the tolerance, use this point as the segmentation point, divide the trajectory into two parts, and execute step S4; if the maximum distance is less than or equal to the tolerance, simplify it to directly connect the start point and the end point, and end the segmentation of this segment;
[0028] S4: for each segmented trajectory, recursively apply the method of step S3 to further segment it until there is no intermediate point that can be further segmented;
[0029] S5: Output the simplified trajectory obtained after segmentation.
[0030] Furthermore, the straight line segments are matched based on the planned points, and the endpoints of the straight line segments corresponding to the planned points are obtained as the starting point and the ending point of each flight strip. The specific steps are as follows:
[0031] Retrieve the location information of each pair of planning points;
[0032] In each flight strip, the starting planning point and the ending planning point are confirmed based on the position and direction of the planning point; the endpoint of the straight line segment closest to the starting planning point is taken as the starting point, and the endpoint of the straight line segment closest to the ending planning point is taken as the ending point.
[0033] Furthermore, the time range of the flight strip is determined based on the start point and the end point. The specific steps are as follows:
[0034] Retrieve the timestamp information of the start and end points and calculate the start and end time range of each flight strip.
[0035] An automatic flight zone division system based on flight zone planning points, comprising a two-dimensional projection module, a flight zone construction module, and a data output module;
[0036] The two-dimensional projection module is used to retrieve the three-dimensional trajectory data of the aircraft including the planning points and time stamps, and project the three-dimensional trajectory data into a two-dimensional plane coordinate system to obtain a two-dimensional trajectory;
[0037] The flight strip construction module is used to simplify the two-dimensional trajectory based on the planning points, obtain a number of flight strips including a start point, an end point, and a straight line segment, and extract the time range of each flight strip;
[0038] The data output module is used to output flight zone data including all flight zones and their corresponding time ranges.
[0039] The beneficial effects of the present invention are as follows:
[0040] The present invention proposes an automatic flight strip division method based on flight strip planning points, which can automatically divide the flight strip through technical means such as trajectory projection, filtering flight segments, straight line segment identification and timestamp matching, thereby improving the efficiency and accuracy of trajectory analysis. BRIEF DESCRIPTION OF THE DRAWINGS
[0041] Figure 1 The present invention is a flowchart of a method for automatically dividing flight paths based on flight path planning points.
[0042] Figure 2 It is a correlation diagram of trajectory projection onto a two-dimensional plane in an automatic route division method based on route planning points of the present invention in Example 2.
[0043] Figure 3 This is a rendering of the effect of identifying all line segments in a trajectory using an automatic route division method based on route planning points in Example 2 of the present invention.
[0044] Figure 4 This is an effect diagram of automatic flight zone division according to an automatic flight zone division method based on flight zone planning points in Example 2 of the present invention.
[0045] Figure 5 It is a flow chart of simplifying the two-dimensional trajectory between each pair of planning points using the Ramer-Douglas-Peucker algorithm. DETAILED DESCRIPTION
[0046] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.
[0047] Example 1
[0048] like Figure 1 As shown, a method for automatically dividing flight paths based on flight path planning points includes the following specific steps:
[0049] Retrieve the three-dimensional trajectory data of the aircraft including the planning points and timestamps, and project the three-dimensional trajectory data into a two-dimensional plane coordinate system to obtain a two-dimensional trajectory;
[0050] Based on the planning points, the two-dimensional trajectory is simplified to obtain several flight paths including the starting point, the ending point, and the straight line segment, and the time range of each flight path is extracted;
[0051] The output includes the flight data of all flight strips and their corresponding time range.
[0052] In a specific embodiment, the three-dimensional trajectory data of the aircraft including the planning points and the timestamp is retrieved, and the three-dimensional trajectory data is projected into a two-dimensional plane coordinate system to obtain a two-dimensional trajectory. The specific steps are as follows:
[0053] Retrieve the three-dimensional trajectory data including the aircraft's longitude, latitude, altitude, planning point, and timestamp;
[0054] The three-dimensional trajectory data is projected into the plane projection coordinate system using the geodetic coordinate system, the elevation is ignored, and the three-dimensional trajectory is converted into the two-dimensional plane coordinate system.
[0055] In a specific embodiment, after the trajectory is projected into a two-dimensional plane coordinate system, the trajectories of the take-off and descent segments in the two-dimensional trajectory are also filtered.
[0056] In a specific embodiment, the take-off and descent segments of the two-dimensional trajectory are filtered, and the specific steps are: taking the take-off point and the end point as the center, setting a certain radius threshold, and filtering the trajectory points within the radius threshold.
[0057] In a specific embodiment, the two-dimensional trajectory is simplified based on the planning points to obtain a number of flight strips including a start point, an end point, and a straight line segment, and the time range of each flight strip is extracted. The specific steps are:
[0058] Retrieve the direction and range of each pair of planning points, retain the data within the range, and then perform straight line search;
[0059] Obtain a number of straight line segments between each pair of planned points; obtain the endpoints of the straight line segments corresponding to each pair of planned points as the starting point and the ending point of the flight strip;
[0060] In each flight strip, the time range of the flight strip is determined based on the start point and the end point.
[0061] Example 2
[0062] More specifically, in a specific embodiment, the trajectory is projected into a two-dimensional plane coordinate system such as Figure 2 As shown; the purple dots represent planning points.
[0063] In this embodiment, after the trajectory is projected into the two-dimensional plane coordinate system, the trajectories of the take-off and descent segments in the two-dimensional trajectory are also filtered.
[0064] In a specific embodiment, the take-off and descent segments of the two-dimensional trajectory are filtered, and the specific steps are: taking the take-off point and the end point as the center, setting a certain radius threshold, and filtering the trajectory points within the radius threshold.
[0065] In a specific embodiment, a plurality of straight line segments between each pair of planned points are obtained; and the endpoints of the straight line segments corresponding to each pair of planned points are obtained as the starting point and the ending point of the flight strip. The specific steps are as follows:
[0066] The Ramer-Douglas-Peucker algorithm is used to simplify the two-dimensional trajectory between each pair of planning points, and any of the Hough transform, least squares method, and curvature analysis methods are used to identify the straight line segments therein;
[0067] The straight line segments are matched based on the planned points, and the endpoints of the straight line segments corresponding to the planned points are obtained as the starting point and the ending point of each flight strip.
[0068] In this embodiment, the simplified two-dimensional trajectory is as follows: Figure 3 As shown, different colors represent different straight line segments.
[0069] like Figure 5 As shown, in a specific embodiment, the Ramer-Douglas-Peucker algorithm is used to simplify the two-dimensional trajectory between each pair of planning points. The specific steps are:
[0070] S1: Set the tolerance value;
[0071] S2: Draw a straight line between a pair of planning points;
[0072] S3: For all the trajectory points in a segment of the trajectory, calculate their distances to the straight line; take the point with the largest distance on the two-dimensional trajectory as a candidate segmentation point; if the maximum distance is greater than the tolerance, use this point as the segmentation point, divide the trajectory into two parts, and execute step S4; if the maximum distance is less than or equal to the tolerance, simplify it to directly connect the start point and the end point, and end the segmentation of this segment;
[0073] S4: for each segmented trajectory, recursively apply the method of step S3 to further segment it until there is no intermediate point that can be further segmented;
[0074] S5: Output the simplified trajectory obtained after segmentation.
[0075] In a specific embodiment, the straight line segments are matched based on the planned points, and the endpoints of the straight line segments corresponding to the planned points are obtained as the starting point and the ending point of each flight strip. The specific steps are:
[0076] Retrieve the location information of each pair of planning points;
[0077] In each flight strip, the starting planning point and the ending planning point are confirmed based on the position and direction of the planning point; the endpoint of the straight line segment closest to the starting planning point is taken as the starting point, and the endpoint of the straight line segment closest to the ending planning point is taken as the ending point.
[0078] In this embodiment, Hough transform is a classic algorithm for detecting straight lines from point clouds, and is particularly suitable for two-dimensional point clouds. The algorithm converts the straight line equation (such as (y=mx+b)) into points in parameter space to find the straight line that coincides with most points.
[0079] In this embodiment, the curvature analysis method determines whether a point is located near a straight line by calculating the curvature of each point in the point cloud. If the curvature of a point is close to zero, it may be on a straight line segment.
[0080] In this embodiment, the flight strip obtained is as follows: Figure 4 shown.
[0081] In a specific embodiment, the time range of the flight zone is determined based on the starting point and the ending point, and the specific steps are:
[0082] Retrieve the timestamp information of the start and end points and calculate the start and end time range of each flight strip.
[0083] Example 3
[0084] An automatic flight zone division system based on flight zone planning points, comprising a two-dimensional projection module, a flight zone construction module, and a data output module;
[0085] The two-dimensional projection module is used to retrieve the three-dimensional trajectory data of the aircraft including the planning points and time stamps, and project the three-dimensional trajectory data into a two-dimensional plane coordinate system to obtain a two-dimensional trajectory;
[0086] The flight strip construction module is used to simplify the two-dimensional trajectory based on the planning points, obtain a number of flight strips including a start point, an end point, and a straight line segment, and extract the time range of each flight strip;
[0087] The data output module is used to output flight zone data including all flight zones and their corresponding time ranges.
[0088] Obviously, the above embodiments of the present invention are only examples for clearly explaining the present invention, and are not intended to limit the implementation methods of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.
Claims
1. A method for automatically dividing flight paths based on flight path planning points, characterized in that: The specific steps include: Retrieve the three-dimensional trajectory data of the aircraft including the planning points and timestamps, and project the three-dimensional trajectory data into a two-dimensional plane coordinate system to obtain a two-dimensional trajectory; Based on the planning points, the two-dimensional trajectory is simplified to obtain several flight paths including the starting point, the ending point, and the straight line segment, and the time range of each flight path is extracted; The output includes the flight data of all flight strips and their corresponding time range.
2. The method for automatically dividing flight paths based on flight path planning points according to claim 1 is characterized by: Retrieve the 3D trajectory data of the aircraft including the planning points and timestamps, and project the 3D trajectory data into the 2D plane coordinate system to obtain the 2D trajectory. The specific steps are as follows: Retrieve the three-dimensional trajectory data including the aircraft's longitude, latitude, altitude, planning point, and timestamp; The three-dimensional trajectory data is projected into the plane projection coordinate system using the geodetic coordinate system, the elevation is ignored, and the three-dimensional trajectory is converted into the two-dimensional plane coordinate system.
3. The method for automatically dividing flight paths based on flight path planning points according to claim 1 is characterized by: After projecting the trajectory into the 2D plane coordinate system, the trajectories of the takeoff and descent segments in the 2D trajectory are also filtered.
4. The method for automatically dividing flight paths based on flight path planning points according to claim 3 is characterized by: The trajectories of the take-off and descent segments in the two-dimensional trajectory are filtered. The specific steps are as follows: taking the take-off point and the end point as the center, setting a certain radius threshold, and filtering the trajectory points within the radius threshold.
5. The method for automatically dividing flight paths based on flight path planning points according to claim 1, characterized in that: Based on the planning points, the two-dimensional trajectory is simplified to obtain several flight paths including the starting point, the ending point, and the straight line segment, and the time range of each flight path is extracted. The specific steps are as follows: Retrieve the direction and range of each pair of planning points, retain the data within the range, and then perform straight line search; Obtain a number of straight line segments between each pair of planned points; obtain the endpoints of the straight line segments corresponding to each pair of planned points as the starting point and the ending point of the flight strip; In each flight strip, the time range of the flight strip is determined based on the start point and the end point.
6. The method for automatically dividing flight paths based on flight path planning points according to claim 5 is characterized by: Get several straight line segments between each pair of planned points; get the endpoints of the straight line segments corresponding to each pair of planned points as the starting and ending points of the flight strip. The specific steps are: The Ramer-Douglas-Peucker algorithm is used to simplify the two-dimensional trajectory between each pair of planning points, and any of the Hough transform, least squares method, and curvature analysis methods are used to identify the straight line segments therein; The straight line segments are matched based on the planned points, and the endpoints of the straight line segments corresponding to the planned points are obtained as the starting point and the ending point of each flight strip.
7. The method for automatically dividing flight paths based on flight path planning points according to claim 6 is characterized by: The Ramer-Douglas-Peucker algorithm is used to simplify the two-dimensional trajectory between each pair of planning points. The specific steps are as follows: S1: Set the tolerance value; S2: Draw a straight line between a pair of planning points; S3: For all the trajectory points in a segment of the trajectory, calculate their distances to the straight line; take the point with the largest distance on the two-dimensional trajectory as a candidate segmentation point; if the maximum distance is greater than the tolerance, use this point as the segmentation point, divide the trajectory into two parts, and execute step S4; if the maximum distance is less than or equal to the tolerance, simplify it to directly connect the start point and the end point, and end the segmentation of this segment; S4: for each segmented trajectory, recursively apply the method of step S3 to further segment it until there is no intermediate point that can be further segmented; S5: Output the simplified trajectory obtained after segmentation.
8. The method for automatically dividing flight paths based on flight path planning points according to claim 6, characterized in that: Match the straight line segments based on the planned points, and obtain the endpoints of the straight line segments corresponding to the planned points as the starting and ending points of each flight strip. The specific steps are as follows: Retrieve the location information of each pair of planning points; In each flight strip, the starting planning point and the ending planning point are confirmed based on the position and direction of the planning point; the endpoint of the straight line segment closest to the starting planning point is taken as the starting point, and the endpoint of the straight line segment closest to the ending planning point is taken as the ending point.
9. The method for automatically dividing flight paths based on flight path planning points according to any one of claims 5 to 8, characterized in that: Determine the time range of the flight strip based on the start point and end point. The specific steps are: Retrieve the timestamp information of the start and end points and calculate the start and end time range of each flight strip.
10. An automatic flight zone division system based on flight zone planning points, characterized in that: It includes two-dimensional projection module, flight strip construction module and data output module; The two-dimensional projection module is used to retrieve the three-dimensional trajectory data of the aircraft including the planning points and time stamps, and project the three-dimensional trajectory data into a two-dimensional plane coordinate system to obtain a two-dimensional trajectory; The flight strip construction module is used to simplify the two-dimensional trajectory based on the planning points, obtain a number of flight strips including a start point, an end point, and a straight line segment, and extract the time range of each flight strip; The data output module is used to output flight zone data including all flight zones and their corresponding time ranges.