Method and device for processing yaw data of aircraft and electronic equipment

Abstract

The invention provides a method and device for processing yaw data of an aircraft, electronic equipment and a non-instantaneous computer readable storage medium, and the method comprises the steps: building a unified data model through employing the yaw data, the data model comprises alarm object information, a yaw data real-time analysis result, aircraft information and / or sensing equipment information; and generating a yaw data message based on the data model. According to the embodiment of the invention, the yaw data of the aircraft is constructed into the unified data model, and the yaw data message is generated based on the data model, so that the problem of low management efficiency of the airborne aircraft caused by non-unified aircraft yaw data issuing mechanism standards in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of low-altitude flight management, in particular to a method and device for processing yaw data of an aircraft, electronic equipment and a non-transitory computer-readable storage medium. BACKGROUND

[0002] With the normalization of low-altitude flight activities, the execution and deviation of flight plans have become important factors affecting flight safety and management efficiency. During the execution of tasks, due to meteorological, communication, operation, etc., the aircraft may have flight behaviors inconsistent with the original plan (such as deviating from the established route, time period, etc.). If such behaviors are not identified and processed in a timely manner, it may cause conflict risks and regulatory blind spots. However, the existing system still has the following shortcomings in flight plan deviation detection: Lack of real-time and automation: the existing technology cannot perform real-time analysis of yaw data based on real-time flight data of the aircraft, making it difficult to meet the needs of timely monitoring and rapid warning of deviation behavior.

[0003] Low standardization of problem abstraction and result description: the existing system lacks a unified description and representation method for yaw problems, making it difficult for systems to be compatible and share data, affecting the feasibility of monitoring the execution of global flight plans and the efficiency of deviation warning and processing.

[0004] Lack of flexibility in representation method: the existing technology cannot meet the differentiated needs of different business parties for deviation event types, alarm sensitivity, etc., cannot flexibly support the configuration of parameters such as event range, deviation judgment space-time threshold, and continuous event judgment rules, and cannot well compatible with the consistent delivery of plan deviation warning data under different business needs and configuration requirements, limiting the adaptability and scalability of the flight plan execution monitoring system.

[0005] Lack of flexible and compatible four-dimensional space-time representation method: traditional data representation often relies on two-dimensional or three-dimensional models and cannot support different coordinate reference systems, making the representation method of the analysis results often not contain the dynamic changes of the time dimension. In addition, it can only support a single reference system and cannot be understood and used between different aircraft, control platforms and application systems using different conventional reference systems. SUMMARY

[0006] The present application proposes a method and device for tracking and monitoring low-altitude flying objects using a perception device, electronic equipment and a non-transitory computer-readable storage medium to solve the problem of low management efficiency of in-flight aircraft caused by the non-uniformity of the yaw data delivery mechanism standard in the prior art.

[0007] According to an aspect of the present application, a method for processing yaw data of an aircraft is provided, comprising: construct a unified data model using the deviation data, the data model containing alert object information, real-time analysis results of the deviation data, aircraft information, and / or perception device information; generate a deviation data message based on the data model.

[0008] According to some embodiments, the deviation data includes real-time trajectory points of the aircraft, Before constructing the unified data model using the identification data, the method further includes: normatively describing the real-time trajectory points of the aircraft according to a preset reference system and height reference; The preset reference system and height reference system include WGS84, CGCS2000, or PZ90 coordinate systems and MSL, HAE, or AGL height systems.

[0009] According to some embodiments, before constructing the unified data model using the deviation data, the method further includes: determining whether the aircraft deviates according to a preset flight plan, the flight plan including a preset occupied time period and / or spatial block.

[0010] According to some embodiments, before constructing the unified data model using the deviation data, the method further includes: When the aircraft is determined to deviate, calculating a deviation distance, a deviation time difference, a deviation angle, and / or an associated flight plan identifier according to the preset occupied time period and / or spatial block.

[0011] According to some embodiments, before constructing the unified data model using the deviation data, the method further includes: When the aircraft is determined to deviate, continuously tracking the aircraft from the first time when the aircraft is identified to deviate until the aircraft is no longer identified to deviate for a preset duration.

[0012] According to some embodiments, constructing the unified data model using the deviation data includes: adding the normatively described real-time trajectory points, the deviation distance, the deviation time difference, the deviation angle, the associated flight plan identifier, and / or the continuous tracking event to the real-time analysis results of the deviation data.

[0013] According to some embodiments, constructing the unified data model using the deviation data includes: constructing the unified data model using the deviation data according to a subscription instruction of a user.

[0014] According to some embodiments, the yaw data message is generated based on the data model, including: The yaw data message is generated based on the data model, according to the reference frame and the height reference of the message receiving party of the aircraft.

[0015] According to some embodiments, a unified data model is constructed based on the yaw data, including: The product information and / or operation information of the aircraft is added to the aircraft information.

[0016] According to an aspect of the present application, an apparatus for processing yaw data of an aircraft is provided, including: A data model construction unit is configured to construct a unified data model based on the yaw data, the data model containing alarm object information, yaw data analysis result information, aircraft information and / or perception device information. A yaw data message generation unit is configured to generate a yaw data message based on the data model.

[0017] According to an aspect of the present application, an electronic device is provided, including: a processor; a memory configured to store a computer program; and when the computer program is executed by the processor, the processor implements the method according to any one of the preceding embodiments.

[0018] According to an aspect of the present application, a non-transitory computer readable storage medium is provided, which stores computer readable instructions, and when the instructions are executed by a processor, the processor executes the method according to any one of the preceding embodiments.

[0019] According to the example embodiments of the present application, by constructing the yaw data of the aircraft into a unified data model and generating a yaw data message based on the data model, the problem of low management efficiency of the in-flight aircraft caused by the non-uniform yaw data delivery mechanism standard in the prior art is solved. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced.

[0021] Figure 1 A flow chart of a method for processing yaw data of an aircraft according to an example embodiment of the present application is shown.

[0022] Figure 2 A block diagram of an apparatus for processing yaw data of an aircraft according to an example embodiment of the present application is shown.

[0023] Figure 3An electronic device according to an example embodiment of the present application is shown. DETAILED DESCRIPTION

[0024] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and descriptions of the same or similar elements may be incorporated throughout the specification by reference.

[0025] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the aspects described herein can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In some instances, well-known structures, methods, devices, implementations, materials, and operations are not shown or described in detail.

[0026] The flow diagrams shown in the figures are examples only and are not necessarily meant to include all of the contents and operations / steps, nor are they necessarily meant to be performed in the order described. For example, some operations / steps can be broken down further, while some operations / steps can be combined or partially combined, and thus the actual order of performance can vary depending on the actual situation.

[0027] The terms "first", "second", and the like, in the description and in the claims of the present specification, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the descriptive terms "first", "second", etc., are to be interpreted, by those skilled in the art, as a structural or functional pertinence rather than a chronological or sequential precedence. Further, the terms "comprises", "comprising", "includes", "including", and the like, are to be construed open- ended, meaning that they include the listed elements, but not excluding other elements. For example, a process, method, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements, but can include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

[0028] Specific embodiments according to the present application will be described hereinafter with reference to the accompanying drawings.

[0029] Figure 1 A flow chart of a method of processing yaw data of an aircraft according to an example embodiment of the present application is shown, the method comprising steps S101 and S103. In the present application, yaw refers to the aircraft deviating from a flight plan.

[0030] Hereinafter, a method of processing yaw data of an aircraft according to an example embodiment of the present application will be described in detail, taking Figure 1 an aircraft as an example.

[0031] As shown in FIG. 1, at step S101, a unified data model is constructed using the yaw data, the data model including alert object information, real-time analysis results of the yaw data, aircraft information, and / or perception device information. The alert object information includes real-time trajectory points of the aircraft and is described by four attributes of longitude, latitude, altitude, and time. Figure 1 According to an embodiment of the present application, the yaw data is continuously and actively reported flight dynamic data from the aircraft or flight dynamic data uploaded by different perception devices.

[0032] In order to facilitate the unified standard processing of yaw data from different data sources, according to an embodiment of the present application, at step S101, the yaw data in four-dimensional digital space-time needs to be unified. The yaw data includes an associated aircraft plan identifier, real-time trajectory points, aircraft speed, flight direction, aircraft information, and / or perception device information.

[0033] In a specific embodiment, the yaw data includes real-time trajectory points of the aircraft, and before the unified data model is constructed using the identification data, the real-time trajectory points of the aircraft are described in a normalized manner according to a preset reference system and altitude reference. The preset reference system and altitude reference include WGS84, CGCS2000, or PZ90 coordinate systems and MSL, HAE, or AGL elevation systems. WGS84 corresponds to a reference ellipsoid WGS84 ellipsoid, CGCS2000 corresponds to a reference ellipsoid CGCS2000 ellipsoid, and PZ90 corresponds to a reference ellipsoid PZ90 ellipsoid. HAE is ellipsoid height / height above sea level, and the elevation obtained directly based on GNSS is usually HAE, with the reference ellipsoid corresponding to the coordinate system identified by CRS as the reference. MSL is the altitude or average altitude, and the reference surface (approximately replaced by the geodetic datum) for calculating MSL is based on the geodetic datum model. In order to avoid obstacles on the ground and ensure safe takeoff and landing of traditional civil aircraft during the takeoff and stable flight stages. In some embodiments, MSL can be obtained by converting geodetic height through a model of the Earth's gravitational field, and AGL is the height above the ground, which is suitable for avoiding obstacles on the ground and ensuring safe takeoff and landing of traditional civil aircraft during the takeoff and stable flight stages.

[0034]

[0035] ​In specific embodiments, the real-time trajectory point of the aircraft is represented in a 4D trajectory point representation, i.e., including three-dimensional spatial coordinates (x, y, z) and time (t). Each trajectory point information includes longitude, latitude, altitude, and the arrival time of the corresponding trajectory point. In this application, the real-time trajectory point of the aircraft is described by a unified standard, thereby realizing the unified processing of multi-source heterogeneous identification data, thereby providing a data basis for analyzing the deviation data of the aircraft.

[0036] According to embodiments of the present application, before step S101, the method further comprises determining whether the aircraft deviates according to a preset flight plan, the flight plan comprising a preset deviation time determination duration and a preset occupied time period and / or space block.

[0037] For example, if the current flight deviates from the preset flight plan by more than the preset deviation time determination duration, it is considered that the aircraft currently deviates from the flight.

[0038] For example, for each flight dynamic data of the aircraft, it is determined whether the aircraft deviates from the flight plan in the time and / or space dimensions or whether the situation where the preset time-space range exceeds the preset threshold. If so, the aircraft is marked as deviating, and deviation data is calculated. That is, when the aircraft is determined to deviate, the deviation distance, deviation time difference, deviation angle, and / or associated flight plan identifier are calculated according to the preset occupied time period and / or space block. The deviation distance is the distance difference between the current trajectory point and the nearest trajectory point of the flight plan; the deviation time difference is the time difference between the current trajectory point and the preset time of the nearest trajectory point of the flight plan; the deviation angle is the difference between the navigation angle of the current trajectory point and the preset angle; and the associated flight plan identifier is the flight plan trajectory associated with the aircraft.

[0039] In specific embodiments, whether the aircraft deviates can be determined based on a space-time calculation algorithm according to a preset flight plan.

[0040] It should be noted that the present application does not limit the specific implementation of whether the aircraft deviates, as long as the processing process of the real-time deviation data of the aircraft is applicable to the present application.

[0041] In other embodiments, in order to realize continuous tracking of the deviating aircraft, when the aircraft is determined to deviate, the first identification of the aircraft deviating is taken as the start of the continuous tracking event, and the aircraft is continuously tracked until the aircraft is no longer identified to deviate for a preset duration. At the same time, in order to represent the continuous tracking process of the aircraft, a unified deviation event identifier is configured for the current deviation event of the aircraft.

[0042] In order to output the deviation detection result and the continuous tracking event identification result according to a standardized identification specification, according to an embodiment of the present application, when the deviation data is used to construct a unified data model, the real-time trajectory point, the deviation distance, the deviation time difference, the deviation angle, the associated flight plan identification and / or the continuous tracking event are added in the real-time analysis result of the deviation data.

[0043] In order to meet the personalized time subscription needs of the user, according to an embodiment of the present application, after the user issues the subscription instruction for the deviation analysis, step S101 is executed.

[0044] According to an embodiment of the present application, when the deviation data is used to construct a unified data model, the product information and / or the operation information of the aircraft are also added in the aircraft information.

[0045] In step S103, the deviation data message is generated based on the data model.

[0046] In the embodiment of the present application, based on the update of the flight dynamic data each time, it is automatically judged whether the deviation alarm needs to be triggered. If it is identified as an effective deviation event, the alarm data is real-time issued to the operation party to which the aircraft belongs and / or the unified supervision platform, and a batch, directional and hierarchical pushing strategy is supported, so as to meet the differentiated alarm needs of the management and control party and the operation party.

[0047] In order to meet the personalized needs of the conventional reference system in different message receiving parties, according to an embodiment of the present application, in step S103, the aircraft message is generated by using the data model according to the conventional reference system of the message receiving party corresponding to the aircraft, so as to real-time issue the deviation data of the aircraft, thereby ensuring that even if the deviation data is a multi-source heterogeneous data structure, the deviation data can be understood, calculated and utilized by different receiving parties, thereby realizing effective global real-time awareness capability, so that the message receiving party can real-time master the flight situation of the actual in-flight aircraft, thereby meeting the flight plan execution detection and risk prompt requirements of the operation and management party.

[0048] According to Figure 1 According to the embodiment shown in the figure, by constructing the deviation data of the aircraft into a unified data model and generating the deviation data message based on the data model, the problem of low management efficiency of the in-flight aircraft caused by the non-uniformity of the deviation data issuing mechanism standard in the prior art is solved.

[0049] According to an embodiment of the present application, the received deviation data is real-time dynamic data of the aircraft, and based on the real-time dynamic data, the deviation data of the aircraft is uniformly described according to a preset standard, and meanwhile, the deviation analysis result data is issued according to the conventional reference system and the conventional height reference of different data receiving parties.

[0050] The above description primarily focuses on the methodological aspects of the embodiments of this application. Those skilled in the art should readily recognize that, based on the operations or steps described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Those skilled in the art can implement the described functionality in different ways for each specific operation or method, and such implementations should not be considered beyond the scope of this application.

[0051] The apparatus embodiments of this application are described below. For details not described in the apparatus embodiments of this application, please refer to the method embodiments of this application.

[0052] Figure 2 A block diagram of an apparatus for processing yaw data of an aircraft according to an example embodiment of this application is shown, such as Figure 2 The apparatus shown includes a data model building unit 201 and a yaw data message generation unit 203. The data model building unit 201 is used to build a unified data model using the yaw data, the data model including alarm object information, yaw data analysis result information, aircraft information, and / or sensing device information; the yaw data message generation unit 203 is used to generate yaw data messages based on the data model.

[0053] Figure 3 An electronic device according to an exemplary embodiment of this application is shown. Reference is made below. Figure 3 To describe an electronic device 200 according to this embodiment of the present application. Figure 3 The electronic device 200 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0054] like Figure 3 As shown, the electronic device 200 is presented in the form of a general-purpose computing device. The components of the electronic device 200 may include, but are not limited to: at least one processing unit 210, at least one storage unit 220, a bus 230 connecting different system components (including storage unit 220 and processing unit 210), a display unit 240, etc.

[0055] The storage unit stores program code that can be executed by the processing unit 210, causing the processing unit 210 to perform the methods described in this specification according to various exemplary embodiments of this application. For example, the processing unit 210 can perform the methods described above.

[0056] Storage unit 220 may include readable media in the form of volatile storage units, such as random access memory (RAM) 2201 and / or cache memory 2202, and may further include read-only memory (ROM) 2203.

[0057] Storage 220 can also include a number of program modules 2205 that are stored in memory 2204, including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or a combination thereof, can include implementation of a network environment.

[0058] Bus 230 can represent one or more of several types of bus structures, including a storage bus or bus controller, a peripheral bus, a graphics acceleration port, a processor or local bus using any of a variety of bus structures, and the like.

[0059] Electronic device 200 can also communicate with one or more external devices 300 such as a keyboard or pointing device, a Bluetooth device, etc.; other devices that enable a user to interact with electronic device 200; and / or one or more devices that enable electronic device 200 to communicate with one or more other computing devices. Such communication can occur via input / output (I / O) interface 250. Still yet, electronic device 200 can communicate with one or more networks, such as a local area network (LAN), a wide area network (WAN), and / or the Internet, through network adapter 260. Network adapter 260 can communicate with the other components of electronic device 200 via bus 230. It should be understood that although not shown, other hardware and / or software components could be used in conjunction with electronic device 200. These include, but are not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0060] Those skilled in the art will readily understand that the example embodiments described herein can be implemented by software and / or by software in combination with the necessary hardware. The technical solutions according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash disk, a mobile hard disk, etc.) or a network, and includes a number of instructions to enable a computing device (which can be a personal computer, a server, or a network device, etc.) to perform the above-mentioned methods according to the embodiments of the present application.

[0061] The software product can employ any combination of one or more computer readable media. The computer readable media can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can, for example, be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0062] The computer readable storage medium can include a computer-readable medium in the form of a data signal embodied in a carrier wave, wherein the data signal modulates an electromagnetic wave, a magnetic field, or other transport mechanism. The computer readable storage medium can also include any computer-readable medium excluding propagated signals per se.

[0063] The program code can be executed by one or more programmable processors, which can be hardware, software, firmware, or any combination thereof. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0064] The computer readable medium carrying the one or more programs is linked to one of the devices, and causes the device to implement the functions described above when the one or more programs are executed by the device.

[0065] Those skilled in the art can understand that each module described above can be distributed in the device according to the description of the embodiment, and can also be changed in one or more devices different from the embodiment. The modules of the above embodiment can be combined into one module, or further split into multiple sub-modules.

[0066] According to the embodiment of the present application, a computer program is provided, comprising computer programs or instructions, which can execute the above-described method when executed by a processor.

[0067] The above describes the embodiments of the present application in detail, and the principles and implementation manners of the present application are described by applying specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea. Meanwhile, the changes or deformations made by the skilled in the art according to the idea of the present application, based on the specific implementation manners and application scope of the present application, all belong to the scope of protection of the present application. In summary, the content of the specification should not be understood as a limitation of the present application.

[0068] Those skilled in the art can understand that each module described above can be distributed in the device according to the description of the embodiment, and can also be changed in one or more devices different from the embodiment. The modules of the above embodiment can be combined into one module, or further split into multiple sub-modules.

[0069] The above describes the embodiments of the present application in detail, and the principles and implementation manners of the present application are described by applying specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea. Meanwhile, the changes or deformations made by the skilled in the art according to the idea of the present application, based on the specific implementation manners and application scope of the present application, all belong to the scope of protection of the present application. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A method of processing yaw data for an aircraft, characterized by, The method comprises: constructing a unified data model using the drift data, the data model containing alert object information, real-time analysis results of the drift data, aircraft information, and / or sensing device information; generating a drift data message based on the data model.

2. The method of claim 1, wherein, The drift data includes real-time trajectory points of the aircraft, Before constructing the unified data model using the drift data, the method further comprises: standardizing the description of the real-time trajectory points of the aircraft according to a preset reference system and height reference; The preset reference system and height reference include WGS84, CGCS2000, or PZ90 coordinate systems and MSL, HAE, or AGL height systems.

3. The method of claim 2, wherein, Before constructing the unified data model using the drift data, the method further comprises: determining whether the aircraft has deviated according to a preset flight plan, the flight plan including a preset occupied time period and / or spatial block.

4. The method of claim 3, wherein, Before constructing the unified data model using the drift data, the method further comprises: When the aircraft is determined to have deviated, calculating the deviation distance, deviation time difference, deviation angle, and / or associated flight plan identifier according to the preset occupied time period and / or spatial block.

5. The method of claim 4, wherein, Before constructing the unified data model using the drift data, the method further comprises: When the aircraft is determined to have deviated, continuously tracking the aircraft from the first time the aircraft is identified to have deviated as the start of a continuous tracking event until the aircraft is no longer identified to have deviated for a preset duration.

6. The method of claim 5, wherein, Constructing the unified data model using the drift data comprises: adding the standardized real-time trajectory points, deviation distance, deviation time difference, deviation angle, associated flight plan identifier, and / or continuous tracking event to the real-time analysis results of the drift data.

7. The method of claim 1, wherein, Constructing the unified data model using the drift data comprises: constructing the unified data model using the drift data according to a user's subscription instruction.

8. An apparatus for processing yaw data for an aircraft, the apparatus comprising: The method comprises: a data model construction unit configured to construct a unified data model using the drift data, the data model containing alert object information, real-time analysis results of the drift data, aircraft information, and / or sensing device information; a drift data message generation unit configured to generate a drift data message based on the data model.

9. An electronic device, comprising: The method comprises: a processor; a memory configured to store a computer program; When the computer program is executed by the processor, the processor implements the method of any one of claims 1-7.

10. A non-transitory computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a processor, cause the processor to perform the method of any one of claims 1-7.

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