Self-adaptive projection transformation method of low-altitude aviation navigation system and related device

Abstract

The invention provides a low-altitude aviation navigation system adaptive projection transformation method and a related device, and the method comprises the steps: obtaining a decision factor used for projection mode switching, and the decision factor comprises a display scale and / or a precision main demand; determining a target projection mode according to the decision factor; and based on the target projection mode, converting the obtained actual geographic coordinates to obtain corresponding projection coordinates. According to the method, adaptive matching is carried out according to the decision factor to determine the target projection mode, so that the obtained actual geographic coordinates are transformed according to the target projection mode to obtain the corresponding projection coordinates, and the requirements of precision and real-time performance are guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of navigation, in particular to a low-altitude aviation navigation system adaptive projection transformation method and related device. BACKGROUND

[0002] With the rapid development of low-altitude traffic, especially the increasing popularity of the use of unmanned aerial vehicles, flying cars and electric vertical take-off and landing aircraft, the traffic of aircraft in low-altitude airspace is showing a significant growth trend, which has given rise to the demand for large-scale real-time flight conflict risk assessment and control in low-altitude airspace. How to ensure the accuracy and real-time requirements when conducting large-scale three-dimensional flight conflict risk detection has become a difficult problem for those skilled in the art. SUMMARY

[0003] The purpose of the present application is to provide a low-altitude aviation navigation system adaptive projection transformation method and related device to improve the above problems.

[0004] To achieve the above purpose, the technical solutions adopted by the embodiments of the present application are as follows: In a first aspect, the embodiments of the present application provide a low-altitude aviation navigation system adaptive projection transformation method, which comprises: obtaining a decision factor for projection mode switching, wherein the decision factor comprises a display scale and / or a precision main requirement; determining a target projection mode according to the decision factor; transforming the obtained actual geographic coordinates based on the target projection mode to obtain corresponding projection coordinates.

[0005] In a second aspect, the embodiments of the present application provide a low-altitude aviation navigation system adaptive projection transformation device, which comprises: a first processing unit for obtaining a decision factor for projection mode switching, wherein the decision factor comprises a display scale and / or a precision main requirement; the first processing unit is further configured to determine a target projection mode according to the decision factor; a second processing unit for transforming the obtained actual geographic coordinates based on the target projection mode to obtain corresponding projection coordinates.

[0006] In a third aspect, the embodiments of the present application provide a storage medium having a computer program stored thereon, which is executed by a processor to implement the above method.

[0007] In a fourth aspect, the embodiments of the present application provide an electronic device, which comprises a processor and a memory, the memory being configured to store one or more programs; when the one or more programs are executed by the processor, the above method is implemented.

[0008] Compared with the prior art, the low-altitude aviation navigation system adaptive projection conversion method and the related device provided by the embodiment of the application obtain a decision factor for projection mode switching, wherein the decision factor includes a display scale and / or a precision main demand; a target projection mode is determined according to the decision factor; and the actual geographic coordinates obtained are converted based on the target projection mode to obtain corresponding projection coordinates. The target projection mode is determined by adaptive matching according to the decision factor, so that the actual geographic coordinates obtained are converted according to the target projection mode to obtain corresponding projection coordinates, thereby guaranteeing the requirements of precision and real-time performance.

[0009] In order to make the above objectives, characteristics and advantages of the application more apparent, the following preferred embodiments are specifically described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be considered as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0011] Figure 1 The structure schematic diagram of the electronic device provided by the embodiment of the application.

[0012] Figure 2 The flowchart of the low-altitude aviation navigation system adaptive projection conversion method provided by the embodiment of the application.

[0013] Figure 3 The unit schematic diagram of the low-altitude aviation navigation system adaptive projection conversion device provided by the embodiment of the application.

[0014] In the figure: 10-processor; 11-memory; 12-bus; 13-communication interface; 501-first processing unit; 502-second processing unit. DETAILED DESCRIPTION

[0015] In order to make the objectives, technical solutions and advantages of the embodiments of the application more apparent, the following will combine the drawings in the embodiments of the application to clearly and completely describe the technical solutions in the embodiments of the application. Obviously, the described embodiments are some of the embodiments of the application, but not all the embodiments. The components of the embodiments of the application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0016] Therefore, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but merely represents selected embodiments of the application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the application without creative labor fall within the scope of protection of the application.

[0017] It should be noted that similar reference numbers and letters in the following drawings represent similar items, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings. Meanwhile, in the description of the application, the terms "first", "second", and the like are merely used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0018] It should be noted that, in this document, the relationship terms such as first and second are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0019] In the description of the application, it should be noted that the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed, and are merely for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0020] In the description of the application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided", "connected" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0021] Some embodiments of the present application will be described in detail with reference to the drawings. The following embodiments and features of the embodiments described below can be combined with each other in the case of no conflict.

[0022] The electronic device can be a central control device of an aircraft, a ground server device or a mobile terminal device. Please refer to Figure 1 , a schematic diagram of the structure of the electronic device. The electronic device includes a processor 10, a memory 11 and a bus 12. The processor 10 and the memory 11 are connected through the bus 12. The processor 10 is used to execute the executable modules stored in the memory 11, such as computer programs.

[0023] The processor 10 can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the low-altitude aviation navigation system adaptive projection transformation method can be completed by the integrated logic circuit of the hardware in the processor 10 or the instruction in the form of software. The processor 10 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0024] The memory 11 can contain a high-speed random access memory (RAM) and can also include a non-volatile memory, such as at least one disk memory.

[0025] The bus 12 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Figure 1 Only one bidirectional arrow is used to represent the bus 12, but it does not mean that there is only one bus 12 or only one type of bus 12.

[0026] The memory 11 is used to store programs, such as the program corresponding to the adaptive projection transformation device for a low-altitude air navigation system. The adaptive projection transformation device for a low-altitude air navigation system includes at least one software functional module that can be stored in the memory 11 in the form of software or firmware, or embedded in the operating system (OS) of the electronic device. Upon receiving an execution instruction, the processor 10 executes the program to implement the adaptive projection transformation method for the low-altitude air navigation system.

[0027] The electronic device provided in this embodiment of the invention may further include a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus.

[0028] It should be understood that, Figure 1 The structure shown is only a partial schematic diagram of the electronic device; the electronic device may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0029] The adaptive projection transformation method for low-altitude air navigation systems provided in this invention can be applied to, but is not limited to, [various applications]. Figure 1 For the specific process of the electronic devices shown, please refer to [link / reference]. Figure 2 The adaptive projection transformation methods for low-altitude air navigation systems include S10, S20, and S30, which are described in detail below.

[0030] S10, Obtain the decision factors used for projection mode switching.

[0031] Among these, decision factors include the main requirements for display scale and / or accuracy.

[0032] S20, determine the target projection pattern based on decision factors.

[0033] S30, based on the target projection mode, transforms the acquired actual geographic coordinates to obtain the corresponding projected coordinates.

[0034] The adaptive projection transformation method for low-altitude air navigation systems provided in this invention performs adaptive matching based on decision factors to determine the target projection mode, and then transforms the acquired actual geographic coordinates according to the target projection mode to obtain the corresponding projected coordinates, thus ensuring the requirements of accuracy and real-time performance.

[0035] Building upon the preceding text, this embodiment of the invention also provides an optional implementation method for the content in S20, as detailed below. S20, determining the target projection mode based on decision factors, includes S201 and S202, which are specifically described below.

[0036] S201, when the display scale is greater than the preset scale threshold, the Gaussian projection mode is determined as the target projection mode.

[0037] The preset ratio threshold can be set to 1:500000.

[0038] S202, when the display scale is less than or equal to a preset scale threshold, the Lambert projection mode is determined as the target projection mode.

[0039] Building upon the preceding text, this embodiment of the invention also provides an optional implementation method for the content in S20, as detailed below. S20, determining the target projection mode based on decision factors, includes S203 and S204, which are specifically described below.

[0040] S203, when the primary accuracy requirement is length accuracy (i.e., length accuracy takes priority), the Gaussian projection mode is determined as the target projection mode.

[0041] S204, when the primary accuracy requirement is angular accuracy (i.e., angular accuracy takes priority), the Lambert projection mode is determined as the target projection mode.

[0042] When the target projection mode is Gaussian projection mode, this embodiment of the invention also provides an optional implementation method for the content in S30, please refer to the following. S30, based on the target projection mode, transforms the obtained actual geographic coordinates to obtain the corresponding projected coordinates, including: S311, S312 and S313, which are described in detail below.

[0043] S311 determines the dynamic central meridian based on the user's center point and the set display area radius.

[0044] Optionally, the formula for the dynamic central meridian is:

[0045] in, Indicates the dynamic central meridian. This represents the central meridian within the area where the user's center point is located. This represents the longitude correction factor (typical value 0.0003, used to compensate for the effects of the Earth's curvature). This represents the change in longitude span corresponding to a unit distance change in a plane coordinate system based on the dynamic central meridian. Indicates the longitude span of the region. This represents the east-west plane coordinates after projection. Indicates the radius of the display area. Represents the Earth's radius. This represents the latitude of the user's center point.

[0046] Based on the central meridian within the area where the user's center point is located, dynamic corrections are made to obtain a dynamic central meridian that is closer to the user's center point.

[0047] S312, with the dynamic central meridian as the reference, constructs a Gaussian projection plane coordinate system.

[0048] S313, perform Gaussian projection transformation on the obtained actual geographic coordinates to obtain their corresponding projected coordinates in the Gaussian projection plane coordinate system.

[0049] Alternatively, the formula for Gaussian projection transformation is:

[0050] in, This represents the projected coordinates in the Gaussian projection plane coordinate system, where x is the projected coordinate in the east-west direction and y is the projected coordinate in the north-south direction. Represents actual geographic coordinates. Longitude coordinates Latitude coordinates This represents the arc length distance from the equator along the central meridian to the latitude of the point to be projected. Indicates the progress difference. This indicates the dynamic central meridian (i.e., the projection baseline, as mentioned above). same), Indicates the radius of curvature of the zonal loop. This represents the eccentricity correlation parameter. This indicates the second eccentricity.

[0051] It should be noted that the error characteristics of Gaussian projection are as follows: the projection length ratio at the dynamic central meridian is m=1, and the deformation increases with distance from the central meridian; the maximum scale deformation at the edge of the 6° zone reaches 1 / 1400 (approximately 0.071%). Using the dynamic central meridian as an axis, the Earth's ellipsoid is "unfolded," and the dynamic central meridian becomes a straight line (a straight line with x=0) after projection, while other meridians become curves. The farther away from the central meridian, the greater the projection error. Based on this, this embodiment of the invention also provides a dynamic correction implementation method, please refer to the following. S30, based on the target projection mode, transforms the obtained actual geographic coordinates to obtain the corresponding projected coordinates, and also includes: S314, S315, and S316, which are specifically described below.

[0052] S314, obtain the projected length ratio at the dynamic central meridian.

[0053] S315, when the deviation between the projection length ratio and the standard length ratio exceeds the deviation threshold, adjust the radius of the display area.

[0054] The standard length ratio can be, but is not limited to, 1, and the deviation threshold can be, but is not limited to, 0.0002.

[0055] S316 redetermines the dynamic central meridian based on the user's center point and the adjusted display area radius.

[0056] After S316, S312 and S313 are executed repeatedly.

[0057] Optionally, the projection length ratio m = the projected length of the target object / the actual length of the target object, that is, the projection length ratio m represents the ratio of the projected length to the actual length.

[0058] Ideal case: m = 1 (no deformation); Actual situation: The 100-meter track is displayed on the projection map as follows: - When m=1.0002: the display shows 100.02 meters (qualified); When m=1.0003: the display shows 100.03 meters (exceeding the limit, adjustment is required).

[0059] When the deviation between the projected length ratio and the standard length ratio exceeds the deviation threshold, it indicates that the projection deformation is too large; the current central meridian is not optimized enough, and the coordinate system needs to be re-optimized. This error control mechanism ensures that the Gaussian projection (DCG) algorithm can maintain high accuracy under any circumstances and meet the strict requirements of aviation safety.

[0060] In one alternative implementation, a 6th-order Taylor expansion is used to improve computational accuracy when performing Gaussian projection transformation.

[0061] When the longitude difference l = 3°: - 2nd order accuracy: error approximately ±2.5 meters; - 4th order accuracy: error approximately ±0.05 meters; - 6th order accuracy: error approximately ±0.001 meters.

[0062] Regarding the content in S30, this embodiment of the invention also provides an optional implementation method, please refer to the following. S30, based on the target projection mode, transforms the obtained actual geographic coordinates to obtain the corresponding projected coordinates, including: S321, S322 and S323, which are described in detail below.

[0063] S321 determines the standard latitude line based on the user's center point and the north-south span of the display area.

[0064] Alternatively, the formula for standard latitude is:

[0065] in, Indicates the first standard parallel of latitude. Indicates the second standard parallel of latitude. The dimension representing the user's center point. This indicates the north-south span of the displayed area.

[0066] Based on the latitude of the user's center point, dynamic corrections are made to obtain a standard latitude line that is closer to the user's center point.

[0067] S322, using the standard parallel of latitude as a reference, constructs the Lambert projection plane coordinate system.

[0068] S323. Perform Lambert projection transformation on the obtained actual geographic coordinates to obtain their corresponding projected coordinates in the Lambert projection plane coordinate system.

[0069] Alternatively, the formula for the Lambert projection transformation is:

[0070] in, This represents the corresponding projected coordinates in the Gaussian projection plane coordinate system. Represents actual geographic coordinates. Longitude coordinates Latitude coordinates Indicates the polar radius. Indicates the polar angle. Indicates the projection of Changshu. Represents the conic constant. This represents the reference polar radius (the polar radius value corresponding to the origin). This represents the central meridian within the area where the user's center point is located.

[0071] The error characteristics of the Lambert projection are: no distortion at standard parallels of latitude; minimal distortion in the region between two standard parallels of latitude, with increased distortion at higher latitudes. Based on this, this embodiment of the invention also provides a dynamic correction implementation method, please refer to the following. S30, based on the target projection mode, transforms the acquired actual geographic coordinates to obtain the corresponding projected coordinates, and also includes: S324, S325, and S326, which are specifically described below.

[0072] S324, obtain the deformation within the target range.

[0073] The target range is ( ).

[0074] S325: When the deformation exceeds the deformation threshold, adjust the north-south span of the display area.

[0075] The deformation threshold is 0.05%.

[0076] S326, based on the user's center point and the adjusted north-south span of the display area, redetermine the standard latitude line.

[0077] After S326, S322 and S323 are executed repeatedly.

[0078] If the user center point area is Nearby, - distance There is a 10-degree difference; - distance There is a 10-degree difference; - the deformation is larger at 35°N, with an angular distortion of about 0.12°.

[0079] Please see Figure 3 , Figure 3 An adaptive projection transformation device for a low-altitude air navigation system is provided as an embodiment of the present invention. Optionally, the adaptive projection transformation device for a low-altitude air navigation system is applied to the electronic device described above.

[0080] The adaptive projection transformation device for low-altitude aviation navigation system includes: a first processing unit 501 and a second processing unit 502.

[0081] The first processing unit 501 is used to obtain decision factors for projection mode switching, wherein the decision factors include display scale and / or accuracy requirements.

[0082] The first processing unit 501 is also used to determine the target projection mode based on the decision factors.

[0083] The second processing unit 502 is used to transform the acquired actual geographic coordinates based on the target projection mode to obtain the corresponding projected coordinates.

[0084] It should be noted that the adaptive projection transformation device for low-altitude air navigation systems provided in this embodiment can execute the method flow shown in the above-described method flow embodiment to achieve the corresponding technical effects. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above-described embodiments.

[0085] This invention also provides a storage medium storing computer instructions and programs that, when read and executed, perform the adaptive projection transformation method for low-altitude air navigation systems described above. The storage medium may include memory, flash memory, registers, or a combination thereof.

[0086] The following provides an electronic device, which can be an aircraft central control unit, a ground server device, or a mobile terminal device. This electronic device is as follows: Figure 1As shown, the adaptive projection transformation method for low-altitude air navigation systems described above can be implemented. Specifically, the electronic device includes: a processor 10, a memory 11, and a bus 12. The processor 10 may be a CPU. The memory 11 is used to store one or more programs, which, when executed by the processor 10, execute the adaptive projection transformation method for low-altitude air navigation systems described above.

[0087] In summary, the adaptive projection transformation method and related apparatus for a low-altitude air navigation system provided by this invention acquires decision factors for projection mode switching, wherein the decision factors include display scale and / or accuracy requirements; determines the target projection mode based on the decision factors; and transforms the acquired actual geographic coordinates based on the target projection mode to obtain the corresponding projected coordinates. Adaptive matching is performed based on the decision factors to determine the target projection mode, thereby transforming the acquired actual geographic coordinates according to the target projection mode to obtain the corresponding projected coordinates, ensuring both accuracy and real-time performance requirements.

[0088] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0089] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An adaptive projection transformation method for a low-altitude air navigation system, characterized in that, The method includes: Obtain decision factors for projection mode switching, wherein the decision factors include display scale and / or main accuracy requirements; The target projection pattern is determined based on the decision factors; Based on the target projection mode, the acquired actual geographic coordinates are transformed to obtain the corresponding projected coordinates.

2. The adaptive projection transformation method for low-altitude air navigation systems as described in claim 1, characterized in that, Determining the target projection pattern based on the decision factors includes: When the display scale is greater than a preset scale threshold, the Gaussian projection mode is determined as the target projection mode; When the display scale is less than or equal to a preset scale threshold, the Lambert projection mode is determined as the target projection mode.

3. The adaptive projection transformation method for low-altitude air navigation systems as described in claim 1, characterized in that, Determining the target projection pattern based on the decision factors includes: When the primary accuracy requirement is length accuracy, the Gaussian projection mode is determined as the target projection mode; When the primary accuracy requirement is angular accuracy, the Lambert projection mode is determined as the target projection mode.

4. The adaptive projection transformation method for low-altitude air navigation systems as described in claim 1, characterized in that, When the target projection mode is Gaussian projection mode, the step of transforming the acquired actual geographic coordinates based on the target projection mode to obtain the corresponding projected coordinates includes: The dynamic central meridian is determined based on the user's center point and the set display area radius; A Gaussian projection plane coordinate system is constructed based on the aforementioned dynamic central meridian; The obtained actual geographic coordinates are subjected to Gaussian projection transformation to obtain their corresponding projected coordinates in the Gaussian projection plane coordinate system.

5. The adaptive projection transformation method for low-altitude air navigation systems as described in claim 4, characterized in that, The step of transforming the acquired actual geographic coordinates based on the target projection mode to obtain the corresponding projected coordinates also includes: Obtain the projected length ratio at the dynamic central meridian; When the deviation between the projection length ratio and the standard length ratio exceeds a deviation threshold, the radius of the display area is adjusted. The dynamic central meridian is redefined based on the user's center point and the adjusted display area radius.

6. The adaptive projection transformation method for low-altitude air navigation systems as described in claim 1, characterized in that, When the target projection mode is the Lambert projection mode, the step of transforming the acquired actual geographic coordinates based on the target projection mode to obtain the corresponding projected coordinates includes: Determine the standard latitude line based on the user's center point and the north-south span of the display area; A Lambert projection plane coordinate system is constructed based on the aforementioned standard parallel of latitude. The obtained actual geographic coordinates are subjected to Lambert projection transformation to obtain their corresponding projected coordinates in the Lambert projection plane coordinate system.

7. The adaptive projection transformation method for low-altitude air navigation systems as described in claim 6, characterized in that, The step of transforming the acquired actual geographic coordinates based on the target projection mode to obtain the corresponding projected coordinates also includes: Obtain the deformation within the target range; When the deformation exceeds the deformation threshold, adjust the north-south span of the display area; The standard latitude line is redefined based on the user's center point and the adjusted north-south span of the display area.

8. An adaptive projection transformation device for a low-altitude aviation navigation system, characterized in that, The device includes: The first processing unit is used to obtain decision factors for projection mode switching, wherein the decision factors include display scale and / or main accuracy requirements. The first processing unit is further configured to determine the target projection pattern based on the decision factors; The second processing unit is used to transform the acquired actual geographic coordinates based on the target projection mode to obtain the corresponding projected coordinates.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method as described in any one of claims 1-7.

10. An electronic device, characterized in that, include: Processor and memory, the memory being used to store one or more programs; When the one or more programs are executed by the processor, the method as described in any one of claims 1-7 is implemented.

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