Flight trajectory coordinate and direction correction method and device based on airport flight area taxiway structure diagram, equipment and medium

Abstract

The application discloses a flight trajectory coordinate and direction correction method and device based on an airport flight area sliding structure diagram, equipment and a medium, and comprises the following steps: constructing a flight area sliding route structure diagram of a target airport, and obtaining an airport sliding line path segment data set; performing path matching and coordinate point matching on a current trajectory point and a historical trajectory point in a trajectory time sequence of a target aircraft, and obtaining a matching path and a matching coordinate point; determining an endpoint of a path segment in the advancing direction of the target aircraft on the current matching path according to the matching coordinate point; determining a travel point according to the matching coordinate point corresponding to the current trajectory point and the endpoint of the path segment; and determining a correction direction value of the target aircraft and a matching coordinate point corresponding to the travel point based on the matching coordinate point corresponding to the current trajectory point and the travel point. The application belongs to the field of aircraft travel trajectory correction. The application can realize accurate navigation of the aircraft on the ground.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft trajectory correction, and in particular to a flight trajectory coordinate and orientation correction method, device, equipment and medium based on an airport flight area taxiway structure diagram. BACKGROUND

[0002] In airport operation control and surface management, the real-time position and track direction of an aircraft mainly depend on the latitude and longitude coordinates and heading angle information provided by radar or ADS-B systems. However, due to factors such as equipment precision, signal environment, and coordinate system differences, the existing positioning data often has a certain degree of error. When the data is applied, it is difficult to directly match the latitude and longitude and the digital application in the spatial model of the airport operation area, making it difficult to determine the accurate position of the aircraft in the taxiway, runway or stand area; at the same time, the provided heading angle data is easily affected by jitter or deviation during the low-speed taxiing phase, resulting in inconsistency with the real orientation of the aircraft. These deviations not only cause difficulties in track monitoring and taxiing path prediction, but also accumulate uncertainty in conflict detection and path planning.

[0003] The existing technology mainly eliminates noise and error by fitting the trajectory points, trying to reconstruct a taxiing path closer to the truth. This kind of method can smooth the trajectory to some extent, but since the basic data constructed by it itself has deviation, the path generated finally is also difficult to accurately reflect the real state of the aircraft in the airport operation area. Another method relies on historical statistical models or expert experience rules to predict path conflicts, although it can provide some reference in common operation modes, but when facing real-time complex scenes and dynamic uncertainties, the prediction accuracy and adaptability are obviously insufficient. In addition, although the taxiing path optimization method based on graph search can obtain the theoretical optimal solution, since it fails to fully consider the positioning error and heading angle correction, the calculation result often deviates from the actual feasible path, and it is difficult to be directly used for actual scheduling. Therefore, the present application provides a flight trajectory coordinate and orientation correction method based on an airport flight area taxiway structure diagram to solve the above problems. SUMMARY

[0004] The present application provides a flight trajectory coordinate and orientation correction method based on an airport flight area taxiway structure diagram, device, equipment and medium, which solves the technical problem of inaccurate ground driving path feedback of the aircraft in the prior art, and achieves the technical effect of improving the ground driving path feedback accuracy.

[0005] In a first aspect, the present application provides a flight trajectory coordinate and orientation correction method based on an airport flight area taxiway structure diagram, comprising:

[0006] Construct a taxiway map structure of the target airport's flight area and obtain a set of airport taxiway path segments, where each path segment is divided according to a preset length threshold;

[0007] Path matching and coordinate point matching are performed on the current trajectory points and historical trajectory points in the trajectory time series of the target aircraft to obtain the matching path and matching coordinate points, where the matching coordinate points correspond one-to-one with the trajectory points.

[0008] Based on the matching coordinates, determine the endpoints of the path segment of the target aircraft in the forward direction of the current matching path;

[0009] Determine the travel point based on the matching coordinates of the current trajectory point and the endpoints of the path segment;

[0010] Based on the matching coordinates and travel point corresponding to the current trajectory point, determine the corrected direction value of the target aircraft and the matching coordinates corresponding to the travel point.

[0011] Furthermore, a taxiway route map structure of the target airport's flight area is constructed, and a set of airport taxiway path segment data is obtained. Each path segment is divided according to a preset length threshold, including:

[0012] The target airport map is preprocessed to obtain a flight area taxiway route structure map. Based on this structure map, a set of airport taxiway route segment data is constructed, including:

[0013]

[0014] in, This is a dataset of airport taxiway path segments. For the first any path segment , For path segment identifier, For path segment The starting point For path segment The end point For path segment Length, For path segment The set of all path points in the middle includes:

[0015]

[0016] in, for The first in Path points, For any path point, for identifier, for Two-dimensional coordinates on a map;

[0017] Path points are obtained by dividing the path into segments based on a preset length threshold, including:

[0018]

[0019] in, This is a preset length threshold.

[0020] Furthermore, path matching and coordinate point matching are performed on the current trajectory points and historical trajectory points in the trajectory time series of the target aircraft to obtain the matched path and matched coordinate points, including:

[0021] The trajectory points in the time sequence of the target aircraft's trajectory include:

[0022]

[0023] in, This is a set of trajectory points, arranged according to timestamps. For the current trajectory point, any trajectory point ,include:

[0024]

[0025] in, For trajectory points longitude, For trajectory points latitude, For trajectory points timestamp;

[0026] For any trajectory point ,Will The longitude and latitude are converted into a data set of airport taxiway path segments. The coordinates in the coordinate system are used to obtain the trajectory points. corresponding coordinates ;

[0027] After transforming the set of trajectory points, for any trajectory point... Determine the trajectory points set of path points The Euclidean distance between them includes:

[0028]

[0029] in, For trajectory points with path points The Euclidean distance between them;

[0030] Determine the trajectory points with the goal of minimizing the Euclidean distance. Corresponding matching coordinates and matching path ;

[0031] Determine the set of trajectory points The corresponding set of matching information ,include:

[0032]

[0033]

[0034] in, For any matching information in the matching information set, Corresponding trajectory points .

[0035] Furthermore, based on the matching coordinates, the endpoints of the path segment of the target aircraft in the forward direction of the current matching path are determined, including:

[0036] Extract matching information set Current matching information The corresponding current matching path and determine The starting point and the finish line ;

[0037] Determine the set of matching information any one , and the starting point and the finish line The Euclidean distance sequence includes:

[0038]

[0039]

[0040] in, For the Euclidean distance sequence from the starting point, The Euclidean distance sequence to the endpoint. It is a Euclidean distance function;

[0041] like The order is decreasing sequentially, and, If it is not a sequential decrease, then The endpoints of the path segment;

[0042] like In descending order, and If it is not a sequential decrease, then Let be the endpoint of the path segment, where the endpoint of the path segment is denoted as . .

[0043] Furthermore, based on the matching coordinates of the current trajectory point and the endpoints of the path segment, the travel point is determined, including:

[0044] Based on index functions Determine the current matching coordinates point respectively and exist set of path points The index position;

[0045]

[0046]

[0047] in, The matching point is in this path segment The number of index positions in the list, The endpoint of the forward direction is on this path segment The index position in the list;

[0048] like Then the travel point is:

[0049]

[0050] like Then the subsequent travel points are:

[0051]

[0052] like Then the subsequent travel points are:

[0053]

[0054] in, As a starting point, For path segment The next index position in the list, For path segment The previous index position in the list.

[0055] Furthermore, based on the matching coordinates and travel point corresponding to the current trajectory point, the corrected direction value of the target aircraft and the matching coordinates corresponding to the travel point are determined, including:

[0056] by Corresponding two-dimensional coordinates and Two-dimensional coordinates Determine the taxiing direction angle of the target aircraft ,include:

[0057]

[0058]

[0059] in, for and exist The difference in direction, for and exist The difference in direction;

[0060] by As the current trajectory point Matching coordinates, As a correction value for the target aircraft's direction.

[0061] Furthermore, the map of the target airport is preprocessed to obtain a taxiway route structure map of the flight area, including:

[0062] Get airport map;

[0063] Data conversion based on GIS for airport maps;

[0064] Using preset points on the airport map as nodes, and based on the topological relationships between the nodes, a taxiway structure diagram of the flight area is obtained.

[0065] Secondly, the present invention provides a flight trajectory coordinate and orientation correction device based on an airport flight area taxiway structure diagram, comprising:

[0066] The structure diagram construction module is used to construct the taxiway map structure diagram of the target airport's flight area and obtain the airport taxiway path segment data set, where each path segment is divided according to a preset length threshold.

[0067] The matching module is used to perform path matching and coordinate point matching between the current trajectory points and historical trajectory points in the trajectory time sequence of the target aircraft to obtain the matching path and matching coordinate points, wherein the matching coordinate points correspond one-to-one with the trajectory points.

[0068] The endpoint determination module is used to determine the endpoints of the path segments of the target aircraft in the forward direction of the current matching path based on the matching coordinate points;

[0069] The endpoint determination module is used to determine the travel point based on the matching coordinates of the current trajectory point and the endpoints of the path segment.

[0070] The correction driving module is used to determine the correction direction value of the target aircraft and the matching coordinate point corresponding to the current trajectory point based on the matching coordinate point and the travel point.

[0071] Thirdly, the present invention provides an electronic device, comprising:

[0072] processor;

[0073] Memory used to store processor-executable instructions;

[0074] The processor is configured to execute a method for correcting flight trajectory coordinates and orientation based on an airport flight area taxiway structure diagram, as provided in the first aspect.

[0075] Fourthly, the present invention provides a non-transitory computer-readable storage medium, wherein when the instructions in the non-transitory computer-readable storage medium are executed by a processor of an electronic device, the electronic device is able to execute a method for correcting flight trajectory coordinates and orientation based on an airport flight area taxiway structure diagram as provided in the first aspect.

[0076] One or more technical solutions provided in this invention have at least the following technical effects or advantages:

[0077] This invention effectively corrects the deviation of the original positioning data by constructing a standardized airport taxiway path structure map and performing precise path matching on the trajectory points. Based on this, the travel point is dynamically determined by combining the matched coordinate points and the direction of travel, realizing accurate estimation and continuous tracking of the aircraft's real-time position and orientation. Its advantages are that it not only improves the accuracy and consistency of flight ground trajectory data, but also enhances the ability to predict taxiway direction and future position, providing highly reliable data support for conflict early warning, taxiway guidance, and intelligent airport surface monitoring.

[0078] The flight trajectory correction method proposed in this invention relies solely on trajectory point data collected during flight operations to correct trajectory coordinates and orientation, without requiring additional radar, ADS-B, or other auxiliary positioning and attitude data. By constructing an airport flight area taxiway structure map and path segment set, and based on the nearest distance matching between trajectory points and path points, combined with index operations, it achieves travel point retrieval and direction calculation, thus realizing a low-cost trajectory correction method with low data dependence, significantly improving the method's scalability and engineering applicability.

[0079] This invention effectively eliminates heading angle instability caused by trajectory sampling noise, GPS accuracy errors, or instantaneous track fluctuations by determining the direction based on the combination of matching points and travel points of the flight area taxiing structure path segment and performing direction correction based on trend analysis of the trajectory point set. The method introduces path segment endpoint constraints during direction calculation, ensuring that the corrected direction value remains smooth and consistent across the continuous trajectory point sequence, thus possessing anti-track fluctuation capabilities and significantly improving the stability and robustness of aircraft trajectory correction. Attached Figure Description

[0080] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0081] Figure 1 This is a flowchart illustrating the method for correcting flight trajectory coordinates and orientation based on an airport flight area taxiway structure diagram provided by the present invention.

[0082] Figure 2 This is a schematic diagram of path point division provided by the present invention. Detailed Implementation

[0083] This invention provides a method for correcting flight trajectory coordinates and orientation based on an airport flight area taxiway structure diagram, thus solving the technical problem of inaccurate ground flight path feedback for aircraft in the prior art.

[0084] The technical solution of this invention is to solve the above-mentioned technical problems, and the overall idea is as follows:

[0085] A method for correcting flight trajectory coordinates and orientation based on an airport flight area taxiway structure map includes: constructing a flight area taxiway route map structure map of the target airport and obtaining a set of airport taxiway path segment data, wherein each path segment is divided according to a preset length threshold; performing path matching and coordinate point matching on the current trajectory point and historical trajectory points in the trajectory time series of the target aircraft to obtain a matched path and matched coordinate points, wherein the matched coordinate points correspond one-to-one with the trajectory points; determining the endpoints of the path segments of the target aircraft in the forward direction of the current matched path based on the matched coordinate points; determining the travel point based on the matched coordinate points corresponding to the current trajectory point and the endpoints of the path segments; and determining the corrected direction value of the target aircraft and the matched coordinate points corresponding to the travel point based on the matched coordinate points corresponding to the current trajectory point and the travel point.

[0086] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0087] First, it should be clarified that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0088] This invention provides, for example Figure 1 The method for correcting flight trajectory coordinates and orientation based on the airport flight area taxiway structure diagram shown includes steps S11-S15:

[0089] Step S11: Construct the taxiway map structure of the target airport's flight area and obtain the airport taxiway path segment data set, wherein the path segments are divided according to a preset length threshold.

[0090] Flight area: refers to the area within an airport where aircraft take off, land, and taxi. It mainly includes runways, taxiways, aprons (parking positions), and connecting passageways. In other words, this invention mainly focuses on the process of aircraft moving on the ground, and does not include the flight process such as takeoff and landing.

[0091] The target airport map is preprocessed to obtain the taxiway map structure diagram of the flight area, including: acquiring the airport map; performing data conversion on the airport map based on GIS; using preset points in the airport map as nodes, and obtaining the taxiway map structure diagram of the flight area according to the topological relationship between the nodes.

[0092] The original map data of the airport can be obtained and then converted into standardized spatial data under a unified coordinate system using Geographic Information System (GIS) technology. Next, the key locations of taxiways in the map (such as intersections, entrances, parking positions, etc.) are defined as nodes in the graph structure, and edges are established according to the actual connection relationship (i.e. topological relationship) between these nodes, ultimately forming a graph model that reflects the logical structure of the airport flight area taxiway network.

[0093] Construct a taxiway route map structure for the target airport's flight area and obtain a set of taxiway path segment data, where each path segment is divided according to a preset length threshold, including:

[0094] like Figure 2 , Figure 2 The path segment provided by the present invention A schematic diagram, This includes its corresponding startpoint and endpoint.

[0095] The target airport map is preprocessed to obtain a flight area taxiway route structure map. Based on this structure map, a set of airport taxiway route segment data is constructed, including:

[0096]

[0097] in, This is a dataset of airport taxiway path segments. For the first any path segment , For path segment identifier, For path segment The starting point For path segment The end point For path segment Length, For path segment The set of all path points in the middle includes:

[0098]

[0099] in, for The first in Path points, For any path point, for identifier, for Two-dimensional coordinates on a map;

[0100] Path points are obtained by dividing the path into segments based on a preset length threshold, including:

[0101]

[0102] in, This is a preset length threshold.

[0103] In other words, the number of path points is related to the path segment and the preset length threshold.

[0104] Step S12: Perform path matching and coordinate point matching on the current trajectory point and historical trajectory point in the trajectory time sequence of the target aircraft to obtain the matching path and matching coordinate point, wherein the matching coordinate point corresponds one-to-one with the trajectory point;

[0105] The purpose of step S12 is to accurately fit the original trajectory points recorded during the actual flight or taxiing of the aircraft onto the airport's known and precise taxiing route network. The trajectory time sequence refers to a series of timestamped data points recorded in chronological order of the aircraft's position coordinates (longitude and latitude) during its movement.

[0106] Path matching and coordinate point matching are performed on the current trajectory points and historical trajectory points in the trajectory time series of the target aircraft to obtain the matched path and matched coordinate points, including:

[0107] The trajectory points in the time sequence of the target aircraft's trajectory include:

[0108]

[0109] in, This is a set of trajectory points, arranged according to timestamps. For the current trajectory point, any trajectory point ,include:

[0110]

[0111] in, For trajectory points longitude, For trajectory points latitude, For trajectory points timestamp;

[0112] For any trajectory point ,Will The longitude and latitude are converted into a data set of airport taxiway path segments. The coordinates in the coordinate system are used to obtain the trajectory points. corresponding coordinates ;

[0113] Specifically, for the set of aircraft trajectory points Each trajectory point in ,Will latitude and longitude coordinates Convert to a set of gliding path segments Planar coordinates consistent with the coordinate system of the midpath point

[0114] After transforming the set of trajectory points, for any trajectory point... Determine the trajectory points set of path points The Euclidean distance between them includes: the transformed set of trajectory points Perform the traversal and for each trajectory point AND and path segment set All point sets Perform the traversal:

[0115]

[0116] in, For trajectory points with path points The Euclidean distance between them;

[0117] Determine the trajectory points with the goal of minimizing the Euclidean distance. Corresponding matching coordinates and matching path ;

[0118] The meaning of a matching coordinate point is the coordinate point corresponding to the trajectory point when the trajectory point is successfully matched with a path point on the map (i.e., the Euclidean distance is minimized). The matching path is the path where the matching coordinate point is located.

[0119] Determine the set of trajectory points The corresponding set of matching information ,include:

[0120]

[0121]

[0122] in, For any matching information in the matching information set, Corresponding trajectory points .

[0123] Step S13: Based on the matching coordinate points, determine the endpoints of the path segments of the target aircraft in the forward direction of the current matching path.

[0124] The purpose of step S13 is to determine the current direction of movement of the aircraft based on the matched aircraft position (i.e., the matched coordinate point) and to determine the endpoint (end point) of the next path segment that the aircraft is about to enter or is heading in that direction, thereby grasping the relative position and future direction of the aircraft in the taxi network.

[0125] It should be noted that step S13 is the first direction adjustment, which is a coarse direction adjustment step.

[0126] Based on the matching coordinates, determine the endpoints of the path segment of the target aircraft in the forward direction of the current matching path, including:

[0127] Extract matching information set Current matching information The corresponding current matching path and determine The starting point and the finish line ;

[0128] Determine the set of matching information any one , and the starting point and the finish line The Euclidean distance sequence includes:

[0129]

[0130]

[0131] in, For the Euclidean distance sequence from the starting point, The Euclidean distance sequence to the endpoint. It is a Euclidean distance function;

[0132] like The order is decreasing sequentially, and, If it is not a sequential decrease, then The endpoints of the path segment;

[0133] like In descending order, and If it is not a sequential decrease, then Let be the endpoint of the path segment, where the endpoint of the path segment is denoted as . .

[0134] Step S14: Determine the travel point based on the matching coordinates of the current trajectory point and the endpoints of the path segment.

[0135] The purpose of step S14 is to calculate a virtual reference point (travel point) along the flight path by combining the aircraft’s current precise position (matching coordinate point) on the standard path with the endpoints of the path segments in its direction of travel, in order to predict the short-term movement trend of the aircraft.

[0136] Step S14 is a secondary adjustment of the direction of travel. In actual travel, not all paths are straight. To more accurately adjust the direction of travel, a secondary fine-tuning is performed through step S14. The travel point is the point on the direction of travel. The next path point in the sequence.

[0137] Based on the matching coordinates of the current trajectory point and the endpoints of the path segment, determine the travel point, including:

[0138] Based on index functions Determine the current matching coordinates point respectively and exist set of path points The index position;

[0139]

[0140]

[0141] in, The matching point is in this path segment The number of index positions in the list, The endpoint of the forward direction is on this path segment The index position in the list;

[0142] like Then the travel point is:

[0143]

[0144] like Then the subsequent travel points are:

[0145]

[0146] like Then the subsequent travel points are:

[0147]

[0148] in, As a starting point, For path segment The next index position in the list, For path segment The previous index position in the list.

[0149] Step S15: Based on the matching coordinates and travel point corresponding to the current trajectory point, determine the corrected direction value of the target aircraft and the matching coordinates corresponding to the travel point.

[0150] Specifically, it includes:

[0151] by Corresponding two-dimensional coordinates and Two-dimensional coordinates Determine the taxiing direction angle of the target aircraft ,include:

[0152]

[0153]

[0154] in, for and exist The difference in direction, for and exist The difference in direction;

[0155] by As the current trajectory point Matching coordinates, As a correction value for the target aircraft's direction.

[0156] This invention effectively corrects the deviation of the original positioning data by constructing a standardized airport taxiway path structure map and performing precise path matching on the trajectory points. Based on this, the travel point is dynamically determined by combining the matched coordinate points and the direction of travel, realizing accurate estimation and continuous tracking of the aircraft's real-time position and orientation. Its advantages are that it not only improves the accuracy and consistency of flight ground trajectory data, but also enhances the ability to predict taxiway direction and future position, providing highly reliable data support for conflict early warning, taxiway guidance, and intelligent airport surface monitoring.

[0157] The flight trajectory correction method proposed in this invention relies solely on trajectory point data collected during flight operations to correct trajectory coordinates and orientation, without requiring additional radar, ADS-B, or other auxiliary positioning and attitude data. By constructing an airport flight area taxiway structure map and path segment set, and based on the nearest distance matching between trajectory points and path points, combined with index operations, it achieves travel point retrieval and direction calculation, thus realizing a low-cost trajectory correction method with low data dependence, significantly improving the method's scalability and engineering applicability.

[0158] This invention effectively eliminates heading angle instability caused by trajectory sampling noise, GPS accuracy errors, or instantaneous track fluctuations by determining the direction based on the combination of matching points and travel points of the flight area taxiing structure path segment and performing direction correction based on trend analysis of the trajectory point set. The method introduces path segment endpoint constraints during direction calculation, ensuring that the corrected direction value remains smooth and consistent across the continuous trajectory point sequence, thus possessing anti-track fluctuation capabilities and significantly improving the stability and robustness of aircraft trajectory correction.

[0159] Based on the same inventive concept, this invention provides a flight trajectory coordinate and orientation correction device based on an airport flight area taxiway structure diagram, comprising:

[0160] The structure diagram construction module is used to construct the taxiway map structure diagram of the target airport's flight area and obtain the airport taxiway path segment data set, where each path segment is divided according to a preset length threshold.

[0161] The matching module is used to perform path matching and coordinate point matching between the current trajectory points and historical trajectory points in the trajectory time sequence of the target aircraft to obtain the matching path and matching coordinate points, wherein the matching coordinate points correspond one-to-one with the trajectory points.

[0162] The endpoint determination module is used to determine the endpoints of the path segments of the target aircraft in the forward direction of the current matching path based on the matching coordinate points;

[0163] The endpoint determination module is used to determine the travel point based on the matching coordinates of the current trajectory point and the endpoints of the path segment.

[0164] The correction driving module is used to determine the correction direction value of the target aircraft and the matching coordinate point corresponding to the current trajectory point based on the matching coordinate point and the travel point.

[0165] Based on the same inventive concept, the present invention also provides an electronic device, comprising:

[0166] processor;

[0167] Memory used to store processor-executable instructions;

[0168] The processor is configured to execute a method for correcting flight trajectory coordinates and orientation based on an airport flight area taxiway structure map, as described above.

[0169] Based on the same inventive concept, the present invention also provides a non-transitory computer-readable storage medium, which, when the instructions in the storage medium are executed by the processor of an electronic device, enables the electronic device to execute the flight trajectory coordinate and orientation correction method based on the airport flight area taxiway structure diagram provided above.

[0170] Since the electronic device described in this embodiment is an electronic device used to implement the information processing method in the embodiments of the present invention, those skilled in the art can understand the specific implementation methods and various variations of the electronic device in this embodiment based on the information processing method described in the embodiments of the present invention. Therefore, how the electronic device implements the method in the embodiments of the present invention will not be described in detail here. Any electronic device used by those skilled in the art to implement the information processing method in the embodiments of the present invention falls within the scope of protection of the present invention.

[0171] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0172] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0173] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0174] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0175] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0176] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for correcting flight trajectory coordinates and orientation based on an airport flight area taxiway structure diagram, characterized in that, include: Construct a taxiway map structure of the target airport's flight area and obtain a set of airport taxiway path segments, where each path segment is divided according to a preset length threshold; Path matching and coordinate point matching are performed on the current trajectory point and historical trajectory point in the trajectory time sequence of the target aircraft to obtain the matching path and matching coordinate point. The matching coordinate point corresponds one-to-one with the trajectory point. The matching coordinate point is the coordinate point corresponding to the trajectory point when the trajectory point is successfully matched with the path point in the flight area taxi route map structure diagram. The matching path is the path where the matching coordinate point is located. Based on the matching coordinates, determine the endpoints of the path segment of the target aircraft in the forward direction of the current matching path, including: extracting the matching information set. Current matching information The corresponding current matching path and determine The starting point and the finish line Determine the set of matching information. Any matching coordinate point , and the starting point and the finish line The Euclidean distance sequence includes: in, For the Euclidean distance sequence from the starting point, The Euclidean distance sequence to the endpoint. It is a Euclidean distance function. For the first A trajectory point, The number of trajectory points; if In descending order, and If it is not a sequential decrease, then The endpoints of the path segment; if In descending order, and If it is not a sequential decrease, then Let be the endpoint of the path segment, where the endpoint of the path segment is denoted as . ; Determine the travel point based on the matching coordinates of the current trajectory point and the endpoints of the path segment, including: based on an index function. Determine the current matching coordinates point respectively endpoints of the path segment In matching path set of path points The index position; in, For the set of matching points on this path The number of index positions in the data. The set of endpoints in the forward direction at this path point The number of index positions in; like Then the travel point is: like Then the subsequent travel points are: like Then the subsequent travel points are: in, As a starting point, A set of path points The next index position number in A set of path points The previous index position in the array; Based on the matching coordinates and travel point corresponding to the current trajectory point, the corrected direction value of the target aircraft and the coordinates corresponding to the travel point are determined.

2. The method for correcting flight trajectory coordinates and orientation based on an airport flight area taxiway structure diagram as described in claim 1, characterized in that, Construct a taxiway route map structure for the target airport's flight area and obtain a set of taxiway path segment data, where each path segment is divided according to a preset length threshold, including: The target airport map is preprocessed to obtain a flight area taxiway route structure map. Based on this structure map, a set of airport taxiway route segment data is constructed, including: in, This is a dataset of airport taxiway path segments. For the first any path segment , For path segment identifier, For path segment The starting point For path segment The end point For path segment Length, For path segment The set of all path points in the middle includes: in, for The first in Path points, For any path point, for identifier, for Two-dimensional coordinates in the map; Path points are obtained by dividing the path into segments based on a preset length threshold, including: in, This is a preset length threshold.

3. The method for correcting flight trajectory coordinates and orientation based on an airport flight area taxiway structure diagram as described in claim 2, characterized in that, Path matching and coordinate point matching are performed on the current trajectory points and historical trajectory points in the trajectory time series of the target aircraft to obtain the matched path and matched coordinate points, including: The trajectory points in the time sequence of the target aircraft's trajectory include: in, This is a set of trajectory points, arranged according to timestamps. For the current trajectory point, any trajectory point ,include: in, For trajectory points longitude, For trajectory points latitude, For trajectory points timestamp; For any trajectory point ,Will The longitude and latitude are converted into a data set of airport taxiway path segments. The coordinates in the coordinate system are used to obtain the trajectory points. corresponding coordinates ; After transforming the set of trajectory points, for any trajectory point... Determine the trajectory points set of path points The Euclidean distance between them includes: in, For trajectory points with path points The Euclidean distance between them; Determine the trajectory points with the goal of minimizing the Euclidean distance. Corresponding matching coordinates and matching path ; Determine the set of trajectory points The corresponding set of matching information ,include: in, For any matching information in the matching information set, Corresponding trajectory points .

4. The method for correcting flight trajectory coordinates and orientation based on an airport flight area taxiway structure diagram as described in claim 3, characterized in that, Based on the matching coordinates and travel point corresponding to the current trajectory point, determine the corrected direction value of the target aircraft and the coordinates corresponding to the travel point, including: by Corresponding two-dimensional coordinates and Two-dimensional coordinates Determine the taxiing direction angle of the target aircraft ,include: in, for and exist The difference in direction, for and exist The difference in direction; by As the current trajectory point Matching coordinates, As a correction value for the target aircraft's direction.

5. The method for correcting flight trajectory coordinates and orientation based on an airport flight area taxiway structure diagram as described in claim 3, characterized in that, The target airport map is preprocessed to obtain a taxiway route structure map of the flight area, including: Get airport map; Data conversion based on GIS for airport maps; Using preset points on the airport map as nodes, and based on the topological relationships between the nodes, a taxiway structure diagram of the flight area is obtained.

6. A flight trajectory coordinate and orientation correction device based on an airport flight area taxiway structure diagram, characterized in that, The method for correcting flight trajectory coordinates and orientation based on an airport flight area taxiway structure diagram, as described in any one of claims 1-5, includes: The structure diagram construction module is used to construct the taxiway map structure diagram of the target airport's flight area and obtain the airport taxiway path segment data set, where each path segment is divided according to a preset length threshold. The matching module is used to perform path matching and coordinate point matching between the current trajectory points and historical trajectory points in the trajectory time sequence of the target aircraft to obtain the matching path and matching coordinate points, wherein the matching coordinate points correspond one-to-one with the trajectory points. The endpoint determination module is used to determine the endpoints of the path segments of the target aircraft in the forward direction of the current matching path based on the matching coordinate points; The endpoint determination module is used to determine the travel point based on the matching coordinates of the current trajectory point and the endpoints of the path segment. The correction driving module is used to determine the correction direction value of the target aircraft and the coordinate point corresponding to the current trajectory point based on the matching coordinate point and the travel point.

7. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute a method for correcting flight trajectory coordinates and orientation based on an airport flight area taxiway structure map as described in any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium, characterized in that, When the instructions in the non-transitory computer-readable storage medium are executed by the processor of the electronic device, the electronic device is able to perform the flight trajectory coordinate and orientation correction method based on the airport flight area taxiway structure diagram as described in any one of claims 1 to 5.

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