Method and device for evaluating positioning credibility of aircraft

Abstract

The invention relates to the technical field of flight positioning, and discloses an aircraft positioning credibility evaluation method and device, and the method comprises the steps: calculating a weighted positioning weight according to a TA value and RSRP data, calculating a calculation coordinate of an aircraft according to the weighted positioning weight and a base station coordinate, and calculating the positioning credibility of the aircraft according to positioning data and the base station data. Determining an actual base station switching sequence of the aircraft, determining a sequence similarity according to a preset base station switching sequence, generating deviation alarm information when the sequence similarity is greater than a threshold value, and calculating a positioning credibility score according to calculation coordinates and a base station matching number when the sequence similarity is less than or equal to the threshold value; and generating a safety supervision strategy according to the positioning credibility score and executing safety supervision operation. It can be seen that the GNSS positioning data and the 5G base station data can be combined to achieve positioning credibility evaluation, the accuracy and reliability of positioning credibility evaluation are improved, positioning dynamic verification is achieved through base station sequence comparison, the accuracy of flight path deviation detection is improved, and then the flight safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flight positioning, in particular to a method and device for evaluating the positioning credibility of an aircraft. BACKGROUND

[0002] With the rapid development of low-altitude economy, low-altitude aircraft are increasingly widely used in the fields of logistics transportation, emergency rescue, etc., and the positioning credibility thereof is directly related to flight safety and regulatory compliance, becoming the core problem of the industry. The current verification of the positioning credibility of low-altitude aircraft faces two key pain points: first, the positioning accuracy is insufficient, and traditional technologies are difficult to detect positioning deviation of hundreds of meters, thus failing to meet the demand for refined regulation; second, the dynamic verification capability is missing, and there is a lack of real-time comparison mechanism for flight paths and base station switching sequences, making it difficult to deal with positioning abnormalities in the dynamic flight process.

[0003] In the prior art, the verification of the positioning credibility of low-altitude aircraft mainly relies on two schemes: one is GNSS single-source verification, which realizes positioning credibility testing through cross-verification of multiple satellite signals; the other is base station coarse positioning verification, which judges the position of a terminal based on the ID of a main service cell. However, both of these two schemes have obvious defects: GNSS single-source verification cannot resist systematic spoofing attacks and is prone to positioning failure; the accuracy of base station coarse positioning verification can only reach the level of the coverage radius of a base station, and thus cannot meet the demand for hundreds of meters of accurate verification. Therefore, it is particularly important to propose a technical scheme capable of realizing dynamic verification of positioning through multi-source data fusion and improving the accuracy and reliability of positioning credibility evaluation. SUMMARY

[0004] The present application provides a method and device for evaluating the positioning credibility of an aircraft, which can realize dynamic verification of positioning through multi-source data fusion and improve the accuracy and reliability of positioning credibility evaluation.

[0005] To solve the above technical problems, the present application discloses, in a first aspect, a method for evaluating the positioning credibility of an aircraft, which comprises: obtaining positioning data and base station data of the aircraft flying along a target flight path, wherein the base station data comprises the base station coordinates of each base station, the time advance of the aircraft relative to each base station, and reference signal data; calculating a weighted positioning weight according to the time advance of the aircraft relative to each base station and the reference signal data, and calculating the calculated coordinates of the aircraft according to the weighted positioning weight and the base station coordinates of each base station; determining the actual base station switching sequence of the aircraft flying along the target flight path according to the positioning data and the base station data, and determining the preset base station switching sequence corresponding to the target flight path in a preset path planning database; determine a sequence similarity between the actual base station switching sequence and the preset base station switching sequence, and determine whether the sequence similarity is greater than a preset similarity threshold value, when the sequence similarity is greater than the similarity threshold value, generate deviation alarm information for the aircraft, and perform an alarm operation based on the deviation alarm information; when the sequence similarity is less than or equal to the similarity threshold value, determine a number of base station matches between the actual base station switching sequence and the preset base station switching sequence, and calculate a positioning credibility score of the aircraft according to the calculated coordinates and the number of base station matches; generate a safety supervision strategy for the aircraft according to the positioning credibility score, and perform a corresponding safety supervision operation according to the safety supervision strategy.

[0006] The second aspect of the application discloses an aircraft positioning credibility evaluation device, which comprises: An acquisition module is configured to acquire positioning data and base station data of an aircraft flying along a target flight path, wherein the base station data comprises base station coordinates of each base station, time advance of the aircraft relative to each base station, and reference signal data. A calculation module is configured to calculate a weighted positioning weight according to the time advance of the aircraft relative to each base station and the reference signal data, and calculate calculated coordinates of the aircraft according to the weighted positioning weight and the base station coordinates of each base station. A determination module is configured to determine an actual base station switching sequence of the aircraft flying along the target flight path according to the positioning data and the base station data, and determine a preset base station switching sequence corresponding to the target flight path in a preset path planning database. The determination module is further configured to determine a sequence similarity between the actual base station switching sequence and the preset base station switching sequence, and determine whether the sequence similarity is greater than a preset similarity threshold value, when the sequence similarity is greater than the similarity threshold value, generate deviation alarm information for the aircraft, and perform an alarm operation based on the deviation alarm information. The determination module is further configured to determine a number of base station matches between the actual base station switching sequence and the preset base station switching sequence when the sequence similarity is less than or equal to the similarity threshold value. The calculation module is further configured to calculate a positioning credibility score of the aircraft according to the calculated coordinates and the number of base station matches. A generation module is configured to generate a safety supervision strategy for the aircraft according to the positioning credibility score, and perform a corresponding safety supervision operation according to the safety supervision strategy.

[0007] As an optional implementation form, in the second aspect, the base station data further comprises an antenna installation height of each base station, and the reference signal data comprises a signal transmitting power, a signal receiving power, an antenna gain and a signal frequency of the aircraft relative to each base station; The manner in which the calculation module calculates the weighted positioning weight according to the time advance of the aircraft relative to each base station and the reference signal data specifically comprises: For each base station, a target distance between the aircraft and the base station is calculated according to the time advance of the aircraft relative to the base station. A flight height of the aircraft is determined, and the target distance between the aircraft and each base station is corrected according to the flight height and the antenna installation height of each base station to obtain a corrected distance between the aircraft and each base station. For each base station, a standard path loss of the aircraft relative to the base station is calculated according to the corrected distance between the aircraft and the base station, the signal frequency, the antenna installation height of the base station and a preset standard path loss model. For each base station, an actual path loss of the aircraft relative to the base station is calculated according to the signal transmitting power, the signal receiving power and the antenna gain of the aircraft relative to the base station. For each base station, a weighted positioning weight corresponding to the base station is calculated according to the standard path loss and the actual path loss of the aircraft relative to the base station.

[0008] As an optional implementation form, in the second aspect, the manner in which the calculation module calculates the calculated coordinates of the aircraft according to the weighted positioning weight and the base station coordinates of each base station specifically comprises: An initial coordinate of the aircraft is calculated based on a preset weighted calculation formula according to the weighted positioning weight corresponding to each base station, the base station coordinates of each base station and the corrected distance between the aircraft and each base station. The initial coordinate is input into a preset iterative model for iterative solution to obtain a current coordinate result, a gradient vector of the current coordinate result is calculated according to a preset gradient vector calculation formula, and a target norm corresponding to the gradient vector is calculated. It is judged whether the target norm is less than a preset allowable error, and when the target norm is less than the allowable error, the current coordinate result is determined as the calculated coordinate of the aircraft. When the target norm is greater than or equal to the allowable error, the current coordinate result is iteratively updated according to the current coordinate result, the gradient vector and a preset step size, to obtain an updated coordinate result, until a gradient vector of the updated coordinate result has a target norm less than the allowable error.

[0009] As an optional implementation form, in the second aspect, the positioning data comprises a positioning coordinate of the aircraft. The calculation module calculates the positioning confidence score of the aircraft according to the calculated coordinate and the number of matched base stations. The calculation module calculates a spatial offset of the aircraft according to the positioning coordinate of the aircraft and the calculated coordinate. The calculation module calculates a sequence matching degree of the aircraft according to the number of matched base stations and a preset number-of-matched-base-stations threshold. The calculation module calculates an ECID enhanced positioning confidence of the aircraft according to a preset time-advance-distance calculation model and a preset adjacent-cell signal attenuation model. The calculation module calculates the positioning confidence score of the aircraft according to the spatial offset, the sequence matching degree and the ECID enhanced positioning confidence.

[0010] As an optional implementation form, in the second aspect, the acquisition module is further configured to acquire historical flight records and base station switching networks, and analyze flight switching probabilities between base stations according to the historical flight records and the base station switching networks. The device further comprises: A model training module configured to train a base station switching model according to the historical flight records, the base station switching networks and the flight switching probabilities. A prediction module configured to, when a preset base station switching sequence corresponding to the target flight path does not exist in the path planning database, input the target flight path into the base station switching model, and predict a predicted base station switching sequence corresponding to the target flight path by using the base station switching model. The determination module is further configured to determine a sequence similarity between the predicted base station switching sequence and the preset base station switching sequence, and store the predicted base station switching sequence into the path planning database.

[0011] As an optional implementation form, in the second aspect, the calculation module calculates the sequence matching degree of the aircraft according to the number of matched base stations and a preset number-of-matched-base-stations threshold. The calculation module acquires a preset adjustment coefficient, and calculates the sequence matching degree of the aircraft according to the adjustment coefficient, the number of matched base stations, a preset number-of-matched-base-stations threshold and a preset matching degree calculation formula. The matching degree calculation formula comprises:

[0012] The matching degree calculation formula comprises: The sequence matching degree of the aircraft, k represents the adjustment coefficient, The base station matching quantity, The matching quantity threshold value; The calculation module calculates the positioning credibility score of the aircraft according to the spatial offset, the sequence matching degree, and the ECID enhanced positioning credibility in the following manner: The preset weight set and the maximum allowable deviation tolerance are obtained, and the positioning credibility score of the aircraft is calculated according to the weight set, the maximum allowable deviation tolerance, the spatial offset, the sequence matching degree, the ECID enhanced positioning credibility, and a preset credibility calculation formula. The credibility calculation formula comprises:

[0013] The weight set comprises , And , The first weight corresponding to the spatial offset, The second weight corresponding to the sequence matching degree, The third weight corresponding to the ECID enhanced positioning credibility, The spatial offset, The maximum allowable deviation tolerance, The sequence matching degree, The ECID enhanced positioning credibility.

[0014] As an optional implementation, in the second aspect of the present application, the weighted calculation formula comprises:

[0015] The weighted calculation formula comprises: The initial coordinates of the aircraft, The coordinates of base station i, The corrected distance from the aircraft to base station i, The weighted positioning weight corresponding to base station i; The gradient vector calculation formula comprises:

[0016] The gradient vector calculation formula comprises: representing a computed coordinate of the aircraft.

[0017] The third aspect of the present application discloses another device for evaluating the positioning credibility of an aircraft, the device comprising: a memory storing executable program codes; a processor coupled with the memory; The processor invokes the executable program codes stored in the memory to perform part or all of the steps of the method for evaluating the positioning credibility of an aircraft according to any one of the first aspect of the present application.

[0018] The fourth aspect of the present application discloses a computer storage medium storing computer instructions, which, when invoked, are used to perform part or all of the steps of the method for evaluating the positioning credibility of an aircraft according to any one of the first aspect of the present application.

[0019] Compared with the prior art, the present application has the following beneficial effects: In the embodiments of the present application, the weighted positioning weight is calculated according to the time advance and the reference signal data, the computed coordinate of the aircraft is calculated according to the weighted positioning weight and the base station coordinates, the actual base station switching sequence of the aircraft flying along the target flight path is determined according to the positioning data and the base station data, the preset base station switching sequence corresponding to the target flight path is determined in the preset path planning database, the sequence similarity between the actual base station switching sequence and the preset base station switching sequence is determined, it is judged whether the sequence similarity is greater than the similarity threshold, when it is greater than, the deviation alarm information for the aircraft is generated and the alarm operation is performed, when it is less than or equal to, the number of base station matches between the actual base station switching sequence and the preset base station switching sequence is determined, the positioning credibility score of the aircraft is calculated according to the computed coordinate and the number of base station matches, the safety supervision strategy is generated according to the positioning credibility score and the safety supervision operation is performed. It can be seen that by implementing the present application, the positioning credibility evaluation can be realized by multi-source data fusion, combining GNSS positioning data and 5G base station data, the accuracy and reliability of the positioning credibility evaluation are improved, the positioning dynamic verification is realized through the comparison of the base station switching sequence, the accuracy of detecting the deviation of the flight path and the timeliness of the response can be improved, the safety supervision operation is flexibly performed through the credibility score, and the flight safety is improved. 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 as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1 is a flowchart of a method for evaluating the positioning credibility of an aircraft according to an embodiment of the present application; Figure 2 is an architecture diagram of a system for evaluating the positioning credibility of an aircraft according to an embodiment of the present application; Figure 3 is an architecture diagram of a double verification mechanism according to an embodiment of the present application; Figure 4 is a flowchart of another method for evaluating the positioning credibility of an aircraft according to an embodiment of the present application; Figure 5 is a structural diagram of an apparatus for evaluating the positioning credibility of an aircraft according to an embodiment of the present application; Figure 6 is a structural diagram of another apparatus for evaluating the positioning credibility of an aircraft according to an embodiment of the present application; Figure 7 is a structural diagram of still another apparatus for evaluating the positioning credibility of an aircraft according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the technical personnel in the technical field better understand the present application scheme, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0023] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, not to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or end.

[0024] In this paper, the phrase "embodiment" means that the specific features, structures or characteristics described in conjunction with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it independent or alternative to other embodiments. The skilled person in the art explicitly and implicitly understands that the embodiments described herein can be combined with other embodiments.

[0025] This invention discloses a method and apparatus for evaluating the reliability of aircraft positioning. It can achieve positioning reliability assessment through multi-source data fusion, combining GNSS positioning data and 5G base station data, thereby improving the accuracy and reliability of positioning reliability assessment. Dynamic verification of positioning is achieved through base station handover sequence comparison, which can improve the accuracy and timeliness of detecting flight path deviations. Furthermore, the reliability score allows for flexible execution of safety supervision operations, enhancing flight safety. These are described in detail below.

[0026] Example 1 Please see Figure 1 , Figure 1 This is a flowchart illustrating a method for evaluating the reliability of aircraft positioning, as disclosed in an embodiment of the present invention. Figure 1 The described method for evaluating the reliability of aircraft positioning can be applied to an apparatus for evaluating the reliability of aircraft positioning. This apparatus can be used within an aircraft, and the evaluation of aircraft positioning reliability can include an intelligent server or platform for generating a positioning reliability score for the aircraft. The intelligent server can be a local server or a cloud server; this embodiment of the invention does not impose limitations. Figure 1 As shown, the method for evaluating the reliability of the aircraft's positioning can include the following operations: 101. Obtain the positioning data and base station data of the aircraft as it flies along the target flight path.

[0027] In this embodiment of the invention, optionally, please refer to [the relevant documentation / reference]. Figure 2 , Figure 2 This is an architecture diagram of an aircraft positioning reliability evaluation system disclosed in an embodiment of the present invention. Figure 2 As shown, the low-altitude aircraft terminal connects to the base station network via the 5G air interface, accesses the base station database and path database through the base station network, and then determines the positioning reliability score of the low-altitude aircraft terminal through the reliability engine. The positioning reliability score is then sent to the monitoring platform to perform related operations. This invention does not limit the scope of the invention.

[0028] In this embodiment of the invention, optionally, when the aircraft is flying along the target flight path, the GNSS positioning data and base station data of the aircraft can be collected in real time through a lightweight SDK. The positioning data may include positioning coordinates, latitude and longitude data and timestamps. The base station data may include the base station identifier (i.e., serving cell ID), base station coordinates, the time advance (TA value) of the aircraft relative to each base station and reference signal data of each base station. This invention does not limit the scope of the invention.

[0029] 102. Calculate the weighted positioning weights based on the time advance of the aircraft relative to each base station and the reference signal data, and calculate the calculated coordinates of the aircraft based on the weighted positioning weights and the base station coordinates of each base station.

[0030] In the embodiments of the present application, as shown in Figure 3 , Figure 3 is an architecture diagram of a double verification mechanism disclosed by the embodiments of the present application. As shown in Figure 3 , the positioning credibility of the flying machine can be evaluated through the double verification mechanism, which can include a static verification process and a dynamic verification process. The static verification process can be realized by comparing the geographic fence, and specifically, the weighted positioning weight can be calculated according to the TA value and the reference signal data of the flying machine relative to each base station, and the calculation coordinates of the flying machine can be calculated by using the weighted least square method and the gradient method iteration according to the weighted positioning weight and the base station coordinates of each base station.

[0031] 103. According to the positioning data and the base station data, the actual base station switching sequence of the flying machine when flying according to the target flight path is determined, and the preset base station switching sequence corresponding to the target flight path is determined in the preset path planning database.

[0032] In the embodiments of the present application, as shown in Figure 3 , the dynamic verification process can be realized by comparing the service cell sequence, and specifically, the actual base station switching sequence of the flying machine when flying according to the target flight path can be determined according to the positioning data and the base station data, and the preset base station switching sequence corresponding to the target flight path can be determined in the preset path planning database as a reference sequence.

[0033] 104. The sequence similarity between the actual base station switching sequence and the preset base station switching sequence is determined, and it is judged whether the sequence similarity is greater than a preset similarity threshold. When the sequence similarity is greater than the similarity threshold, the deviation alarm information for the flying machine is generated, and the alarm operation is executed based on the deviation alarm information.

[0034] In the embodiments of the present application, optionally, the dynamic time warping algorithm (DTW) can be used to determine the sequence similarity between the actual base station switching sequence and the preset base station switching sequence by setting a sliding window, and it is judged whether the sequence similarity is greater than a preset similarity threshold. When the sequence similarity is greater than the similarity threshold, it indicates that the flight route of the flying machine deviates from the predetermined flight route seriously, at which time the alarm mechanism can be triggered to generate the deviation alarm information for the flying machine. The deviation alarm information can be used to prompt the user that the flying machine may have positioning abnormalities or flight path deviation, and the alarm operation is executed based on the deviation alarm information. The alarm operation can include a reminding operation for the user or the management personnel and a flight path adjustment operation or an emergency landing operation for the flying machine, which is not limited by the present application.

[0035] It should be noted that the execution sequence of step 102 and step 103 in the embodiment of the present application has no priority, and can be executed in sequence or simultaneously. When step 102 and step 103 are executed simultaneously, the positioning reliability evaluation efficiency of the flying machine is higher.

[0036] 105. When the sequence similarity is less than or equal to the similarity threshold, the number of base station matches between the actual base station switching sequence and the preset base station switching sequence is determined, and the positioning reliability score of the aircraft is calculated according to the calculated coordinates and the number of base station matches.

[0037] 106. A safety supervision strategy for the aircraft is generated according to the positioning reliability score, and corresponding safety supervision operations are performed according to the safety supervision strategy.

[0038] In the embodiment of the present application, optionally, a safety supervision strategy for the aircraft can be generated according to the positioning reliability score. For example, when the positioning reliability score is less than 60% of the standard score, a level three alarm (serious alarm) can be issued, and a forced landing instruction can be issued to the aircraft; when the positioning reliability score is greater than or equal to 60% of the standard score and less than 80% of the standard score, a level two alarm (medium alarm) can be issued, and the aircraft can be repositioned and calibrated; and when the positioning reliability score is greater than or equal to 80% of the standard score, the safety state of the aircraft can be updated, which is not limited by the present application.

[0039] It can be seen that the implementation Figure 1 The described aircraft positioning reliability evaluation method can calculate a weighted positioning weight according to the time advance and the reference signal data, calculate the calculated coordinates of the aircraft according to the weighted positioning weight and the base station coordinates, determine the actual base station switching sequence of the aircraft flying along the target flight path according to the positioning data and the base station data, determine the preset base station switching sequence corresponding to the target flight path in the preset path planning database, determine the sequence similarity between the actual base station switching sequence and the preset base station switching sequence, judge whether the sequence similarity is greater than the similarity threshold, when it is greater, generate a deviation alarm information for the aircraft and perform an alarm operation, when it is less than or equal to, determine the number of base station matches between the actual base station switching sequence and the preset base station switching sequence, calculate the positioning reliability score of the aircraft according to the calculated coordinates and the number of base station matches, generate a safety supervision strategy according to the positioning reliability score and perform a safety supervision operation, can realize positioning reliability evaluation through multi-source data fusion, combine GNSS positioning data and 5G base station data, improve the accuracy and reliability of positioning reliability evaluation, realize positioning dynamic verification through base station switching sequence comparison, can improve the accuracy of detecting flight path deviation and the timeliness of response, and can improve flight safety through flexible safety supervision operation according to the reliability score.

[0040] In an optional embodiment, the positioning data comprises positioning coordinates of the aircraft. According to the calculated coordinates and the number of matched base stations, the calculation of the positioning confidence score of the aircraft can comprise the following operations: According to the positioning coordinates of the aircraft and the calculated coordinates, the spatial offset of the aircraft is calculated. According to the number of matched base stations and the preset number of matched base stations threshold, the sequence matching degree of the aircraft is calculated. According to the preset time advance distance calculation model and the preset adjacent cell signal attenuation model, the ECID enhanced positioning confidence of the aircraft is calculated. According to the spatial offset, the sequence matching degree, and the ECID enhanced positioning confidence, the positioning confidence score of the aircraft is calculated.

[0041] In the optional embodiment, optionally, the positioning data can comprise positioning coordinates of the aircraft, and the spatial offset of the aircraft can be calculated according to the positioning coordinates of the aircraft and the calculated coordinates. When the coordinates of the aircraft are two-dimensional coordinates, the spatial offset of the aircraft is a two-dimensional spatial offset. When the coordinates of the aircraft are three-dimensional coordinates including height, the spatial offset of the aircraft is a three-dimensional spatial offset. Taking the three-dimensional spatial offset as an example, the calculation formula of the three-dimensional spatial offset of the aircraft according to the positioning coordinates of the aircraft and the calculated coordinates comprises:

[0042] In the optional embodiment, optionally, the sequence matching degree of the aircraft can be calculated according to the number of matched base stations and the preset number of matched base stations threshold, and the ECID enhanced positioning confidence of the aircraft can be calculated according to the preset time advance distance calculation model and the preset adjacent cell signal attenuation model. The time advance distance calculation model is a TA distance calculation model. Specifically, the ECID enhanced positioning confidence of the aircraft can be comprehensively evaluated according to the TA distance calculation model, the adjacent cell signal attenuation model, and the multi-base station weighted positioning result, and then the positioning confidence score of the aircraft can be calculated according to the spatial offset, the sequence matching degree, and the ECID enhanced positioning confidence. This embodiment is not limited.

[0043] It can be seen that, by implementing the optional embodiment, the spatial offset can be calculated according to the aircraft positioning coordinates and the calculated coordinates, the sequence matching degree can be calculated by the sigmoid function based on the number of base station matches and the number of match thresholds and the adjustment coefficient, the ECID enhanced positioning reliability can be obtained by combining the TA distance calculation and the adjacent area signal attenuation model, and the positioning reliability score can be obtained by the preset weight set and the maximum allowed deviation tolerance based on the reliability calculation formula, so that the positioning reliability can be comprehensively evaluated from the three dimensions of spatial deviation, sequence matching and enhanced positioning, the sigmoid function is used to realize the smooth output of the sequence matching degree, the score mutation is avoided, the weight set is flexibly adjusted to adapt to different flight scenes, and the universality and practicability of the method are improved.

[0044] In another optional embodiment, the method for evaluating the flight vehicle positioning reliability can further include the following operations: obtaining historical flight records and a base station switching network, analyzing the flight switching probability between base stations according to the historical flight records and the base station switching network, and training a base station switching model according to the historical flight records, the base station switching network and the flight switching probability; when the preset base station switching sequence corresponding to the target flight path does not exist in the path planning database, inputting the target flight path into the base station switching model to predict the predicted base station switching sequence corresponding to the target flight path through the base station switching model; determining the sequence similarity between the predicted base station switching sequence and the preset base station switching sequence, and storing the predicted base station switching sequence in the path planning database.

[0045] In the optional embodiment, optionally, the historical flight records can include the historical flight records of the current flight vehicle, or the historical flight records of all flight vehicles in the system, the historical flight records can include historical base station switching sequences, the base station switching network can include base station information of each base station, switching relationship between base stations and the like, the flight switching probability between base stations can be analyzed according to the historical flight records and the base station switching network, and the base station switching model can be trained according to the historical flight records, the base station switching network and the flight switching probability, the base station switching model can be a hidden Markov model (HMM), which is used to learn and predict the transition probability between base stations, and in the actual flight process, the HMM model can be used to predict the base station to which the low-altitude flight vehicle can switch at the next moment, and the present embodiment is not limited.

[0046] In the optional embodiment, optionally, in the process of determining the preset base station switching sequence corresponding to the target flight path in the preset path planning database, when the preset base station switching sequence corresponding to the target flight path does not exist in the path planning database, the target flight path can be input into the base station switching model, the predicted base station switching sequence corresponding to the target flight path is predicted through the base station switching model, the predicted base station switching sequence is taken as a reference sequence, the sequence similarity between the predicted base station switching sequence and the preset base station switching sequence is determined, and the predicted base station switching sequence is stored in the path planning database. By comparing the prediction with the actual switching, potential positioning abnormalities or path deviation conditions can be discovered and reported in a timely manner, and the verification accuracy and dynamic response capability of the positioning credibility can be further improved. The present embodiment is not limited.

[0047] It can be seen that by implementing the optional embodiment, the historical flight records and the base station switching network can be obtained, the flight switching probability between base stations can be analyzed, the base station switching model can be trained, when there is no preset base station switching sequence corresponding to the target flight path in the path planning database, the predicted base station switching sequence is obtained through model prediction, the similarity between the predicted sequence and the actual sequence is compared, and the predicted sequence is stored in the database. The problem of missing preset base station switching sequences can be solved, the application range of the evaluation method can be expanded, the model trained based on historical data makes the predicted sequence more consistent with the actual flight base station switching rule, ensures the effectiveness of sequence comparison, dynamically supplements database resources, and improves the long-term adaptation capability of the method.

[0048] In yet another optional embodiment, calculating the sequence matching degree of the aircraft according to the number of matched base stations and the preset number of matched base stations threshold can include the following operations: obtaining a preset adjustment coefficient, and calculating the sequence matching degree of the aircraft according to the adjustment coefficient, the number of matched base stations, the preset number of matched base stations threshold, and a preset matching degree calculation formula; wherein the matching degree calculation formula comprises:

[0049] wherein, the sequence matching degree of the aircraft, k represents the adjustment coefficient, the number of matched base stations, the number of matched base stations threshold; and calculating the positioning credibility score of the aircraft according to the spatial offset, the sequence matching degree, and the ECID enhanced positioning credibility can include the following operations: obtaining a preset weight set and a maximum allowed deviation tolerance, and calculating the positioning credibility score of the aircraft according to the weight set, the maximum allowed deviation tolerance, the spatial offset, the sequence matching degree, the ECID enhanced positioning credibility, and a preset credibility calculation formula; wherein the credibility calculation formula comprises:

[0050] wherein the weight set comprises , and , the first weight corresponding to the spatial offset, the second weight corresponding to the sequence matching degree, the third weight corresponding to the ECID enhanced positioning credibility, the spatial offset, the maximum allowable deviation tolerance, the sequence matching degree, the ECID enhanced positioning credibility.

[0051] In the optional embodiment, optionally, the sequence matching degree of the aircraft can be calculated according to the adjustment coefficient, the base station matching number, the preset matching number threshold, and the preset matching degree calculation formula, wherein in the matching degree calculation formula, the sequence matching degree of the aircraft, and k represents the adjustment coefficient, the base station matching number, the matching number threshold, wherein the matching degree calculation formula is a sequence matching degree sigmoid function, and the output characteristics of the sigmoid function can smoothly reflect the sequence matching degree. When the base station matching number exceeds the matching number threshold , the sequence matching degree tends to 1, indicating a high matching degree; otherwise, it tends to 0, indicating a low matching degree. The adjustment coefficient k is used to control the slope of the sigmoid function and affects the sensitivity of the matching degree to the change in the base station number. This embodiment is not limited.

[0052] In the optional embodiment, optionally, the weight set can comprise the first weight corresponding to the spatial offset, the second weight corresponding to the sequence matching degree, and the third weight corresponding to the ECID enhanced positioning credibility. The maximum allowable deviation tolerance can be adjusted and set according to specific conditions. The positioning credibility score of the aircraft can be calculated based on the preset credibility calculation formula, wherein in the credibility calculation formula, the first weight corresponding to the spatial offset, the second weight corresponding to the sequence matching degree, the third weight corresponding to the ECID enhanced positioning credibility. The weight set can be set according to the needs of the actual application scene to ensure the comprehensiveness and accuracy of the credibility score. This embodiment is not limited.

[0053] It can be seen that implementing the optional embodiment can clearly define the sigmoid calculation formula of the sequence matching degree, define the parameter effect of the adjustment coefficient, the base station matching number and the matching number threshold, clearly define the weighted calculation formula of the positioning confidence score, define the meaning and value logic of the core parameters such as the weight set and the maximum allowed deviation tolerance, can standardize and normalize the calculation process of the sequence matching degree and the positioning confidence score, at the same time, through parameter flexible adjustment, adapt to different base station distribution density and flight scene demand, improve the adaptability of the method, make the scoring result more objectively and accurately reflect the positioning confidence, and provide a reliable basis for safety supervision decision.

[0054] Embodiment two Please refer to Figure 4 , Figure 4 is a flowchart of a flight vehicle positioning confidence evaluation method disclosed by an embodiment of the application. Wherein, Figure 4 The flight vehicle positioning confidence evaluation method described can be applied to a flight vehicle positioning confidence evaluation device, which can be applied to a flight vehicle. The flight vehicle positioning confidence evaluation can include an intelligent server or an intelligent platform for generating a positioning confidence score for the flight vehicle. The intelligent server includes a local server or a cloud server, and the embodiments of the application are not limited. As shown in Figure 4 The flight vehicle positioning confidence evaluation method can include the following operations: 201. Obtain positioning data and base station data when the flight vehicle flies according to a target flight path.

[0055] 202. For each base station, calculate the target distance between the flight vehicle and the base station according to the time advance of the flight vehicle relative to the base station.

[0056] In the embodiments of the application, optionally, for each base station, the target distance between the flight vehicle and the base station can be calculated according to the TA value of the flight vehicle relative to the base station. The calculation formula of the target distance includes:

[0057] Among them, denotes the target distance between the flight vehicle and base station i, denotes the time advance of the flight vehicle relative to base station i, and c denotes the speed of light.

[0058] 203. Determine the flight height of the flight vehicle, and correct the target distance between the flight vehicle and each base station according to the flight height and the antenna installation height of each base station to obtain the corrected distance between the flight vehicle and each base station.

[0059] Optionally, the base station data further includes an antenna installation height of each base station, since the aircraft is flying in a low-altitude environment, the three-dimensional spatial distance caused by the height of the aircraft needs to be considered for correction, and therefore the target distance between the aircraft and each base station can be corrected according to the flight height and the antenna installation height of each base station, to obtain a corrected distance between the aircraft and each base station, specifically, a vertical height difference between the flight height and the antenna installation height of each base station can be calculated, and then the two-dimensional planar distance converted by the TA value is corrected by using the vertical height difference, and is projected to a horizontal distance in a two-dimensional plane, specifically:

[0060] wherein, represents the corrected distance between the aircraft and the base station i, H represents the flight height of the aircraft, represents the antenna installation height of the base station i.

[0061] 204. For each base station, a standard path loss of the aircraft relative to the base station is calculated according to the corrected distance between the aircraft and the base station, a signal frequency, the antenna installation height of the base station, and a preset standard path loss model.

[0062] Optionally, in the embodiment of the application, the reference signal data includes a signal frequency, and the environment information of the environment where the base station is located can be determined, the environment information can include a street width and an average building height, for each base station, a standard path loss of the aircraft relative to the base station is calculated according to the environment information, the corrected distance between the aircraft and the base station, the signal frequency, the antenna installation height of the base station, and a preset standard path loss model, wherein the preset standard path loss model includes:

[0063] wherein, represents the standard path loss, W represents the street width, represents the average building height, represents the antenna installation height of the base station i, represents the corrected distance between the aircraft and the base station i, represents the signal frequency.

[0064] 205. For each base station, an actual path loss of the aircraft relative to the base station is calculated according to a signal transmission power of the aircraft relative to the base station, a signal reception power, and an antenna gain.

[0065] Optionally, the reference signal data further includes signal transmission power, signal reception power and antenna gain of the aircraft relative to each base station, and for each base station, the actual path loss of the aircraft relative to the base station can be calculated according to the signal transmission power, the signal reception power and the antenna gain of the aircraft relative to the base station, and the calculation formula of the actual path loss includes:

[0066] wherein, the actual path loss is represented by RSP, the signal transmission power (dBm) is represented by RSRP, the signal reception power (dBm) is represented by G, and the antenna gain is represented by G.

[0067] 206. For each base station, the weighted positioning weight corresponding to the base station is calculated according to the standard path loss and the actual path loss of the aircraft relative to the base station.

[0068] Optionally, for each base station, the weighted positioning weight corresponding to the base station can be calculated according to the standard path loss and the actual path loss of the aircraft relative to the base station, specifically, the path loss difference between the standard path loss and the actual path loss of the aircraft relative to the base station can be calculated, and the weighted positioning weight corresponding to the base station can be calculated according to the path loss difference, the path loss difference and the weighted positioning weight are negatively correlated, the greater the difference, the lower the weight.

[0069] 207. The calculation coordinates of the aircraft are calculated according to the weighted positioning weight and the base station coordinates of each base station.

[0070] 208. According to the positioning data and the base station data, the actual base station switching sequence passed by the aircraft when flying according to the target flight path is determined, and the preset base station switching sequence corresponding to the target flight path is determined in the preset path planning database.

[0071] 209. The sequence similarity between the actual base station switching sequence and the preset base station switching sequence is determined, and it is judged whether the sequence similarity is greater than a preset similarity threshold, when the sequence similarity is greater than the similarity threshold, the deviation alarm information for the aircraft is generated, and the alarm operation is executed based on the deviation alarm information.

[0072] 210. When the sequence similarity is less than or equal to the similarity threshold, the number of base station matches between the actual base station switching sequence and the preset base station switching sequence is determined, and the positioning credibility score of the aircraft is calculated according to the calculation coordinates and the number of base station matches.

[0073] 211. The safety supervision strategy for the aircraft is generated according to the positioning credibility score, and the corresponding safety supervision operation is executed according to the safety supervision strategy.

[0074] For steps 201 and 207-211, please refer to the detailed description of steps 101-106 in Embodiment One of the present application, which will not be repeated here.

[0075] It can be seen that the implementation Figure 4 The described aircraft positioning credibility evaluation method can obtain positioning data and base station data when the aircraft flies according to the target flight path, calculate the target distance according to the time advance of the aircraft relative to each base station, combine the flight height of the aircraft and the installation height of the base station antenna to correct the corrected distance, calculate the standard path loss through the preset standard path loss model, calculate the actual path loss according to the signal transmission power, signal reception power and antenna gain, and determine the weighted positioning weight based on the standard path loss and the actual path loss. The three-dimensional distance correction can eliminate the measurement error caused by the height factor, improve the accuracy of the distance data, improve the accuracy and reliability of the evaluation base station signal through the path loss comparison, avoid the one-sidedness of single parameter judgment, make the weighted positioning weight distribution more suitable for the real propagation environment, and improve the accuracy and reliability of the subsequent aircraft coordinate calculation; according to the weighted positioning weight and the base station coordinates, the calculation coordinates of the aircraft are calculated, the actual base station switching sequence of the aircraft flying according to the target flight path is determined according to the positioning data and the base station data, the preset base station switching sequence corresponding to the target flight path is determined in the preset path planning database, the sequence similarity between the actual base station switching sequence and the preset base station switching sequence is determined, and it is judged whether the sequence similarity is greater than the similarity threshold. When it is greater, the deviation alarm information for the aircraft is generated and the alarm operation is performed, and when it is less than or equal to, the base station matching number of the actual base station switching sequence and the preset base station switching sequence is determined, the positioning credibility score of the aircraft is calculated according to the calculation coordinates and the base station matching number, the safety supervision strategy is generated according to the positioning credibility score, and the safety supervision operation is performed. Through multi-source data fusion, combined with GNSS positioning data and 5G base station data, positioning credibility evaluation can be realized, the accuracy and reliability of positioning credibility evaluation can be improved, positioning dynamic verification can be realized through base station switching sequence comparison, the accuracy of detecting flight path deviation and the response timeliness can be improved, safety supervision operation can be flexibly performed through credibility score, and flight safety can be improved.

[0076] In an optional embodiment, calculating the calculation coordinates of the aircraft according to the weighted positioning weight and the base station coordinates of each base station can include the following operations: According to the weighted positioning weight corresponding to each base station, the base station coordinates of each base station, and the corrected distance between the aircraft and each base station, the initial coordinates of the aircraft are calculated based on a preset weighted calculation formula. The initial coordinates are input into the preset iterative model for iterative solution to obtain the current coordinate result. The gradient vector of the current coordinate result is calculated according to the preset gradient vector calculation formula, and the target norm corresponding to the gradient vector is calculated. Determine whether the target norm is less than the preset tolerance. If the target norm is less than the tolerance, determine the current coordinate result as the calculated coordinate of the aircraft. When the target norm is greater than or equal to the allowable error, the current coordinate result is iteratively updated based on the current coordinate result, gradient vector and preset step size to obtain the updated coordinate result, until the target norm of the gradient vector of the updated coordinate result is less than the allowable error.

[0077] In this optional embodiment, the initial coordinates of the aircraft can be calculated based on a preset weighted calculation formula according to the weighted positioning weight corresponding to each base station, the base station coordinates of each base station, and the corrected distance between the aircraft and each base station. Specifically, the weighted least squares method can be used to calculate the initial coordinates of the aircraft. The preset weighted calculation formula is to minimize the sum of squared errors between the distance estimate and the measured value. This embodiment does not limit this.

[0078] In this optional embodiment, the initial coordinates can be input into a preset iterative model. Starting from the initial coordinates, the gradient method is used for iterative solution until the convergence condition is met. Specifically, the gradient method is used for each iteration to obtain the current coordinate result. Then, the gradient vector of the current coordinate result is calculated according to the preset gradient vector calculation formula, and the target norm corresponding to the gradient vector is calculated. Specifically, the L2 norm of the gradient vector can be calculated, and then the L2 norm of the gradient vector is determined. Whether it is less than the preset tolerance error ε. The tolerance error can be set according to the actual situation, for example, 1m. When the L2 norm of the gradient vector is less than the tolerance error, that is... This indicates that the current point is close to its minimum value. At this point, iteration stops, and the current coordinates are determined as the calculated coordinates of the spacecraft, i.e., the output is... This embodiment does not limit the final positioning result.

[0079] In this optional embodiment, optionally, when the L2 norm of the gradient vector is greater than or equal to the allowable error, i.e. At this point, the update proceeds along the negative gradient, that is, the current coordinate result is iteratively updated based on the gradient vector, the coordinates corresponding to the gradient vector, and the preset step size to obtain the updated coordinate result. Specifically:

[0080] in, This represents the updated coordinate result. This indicates the current coordinate result, where c represents the step size. The gradient vector is represented, and then the search is continued based on the updated coordinate result until the target norm of the gradient vector of the updated coordinate result is less than the allowable error, and the final positioning result is output. The final positioning result can include the longitude and latitude coordinates of the aircraft, and the embodiment is not limited in this regard.

[0081] It can be seen that by implementing the optional embodiment, the initial coordinates of the aircraft can be obtained by the weighting calculation formula according to the weighting positioning weight, the base station coordinates and the corrected distance, the initial coordinates are input into the iterative model, the gradient vector and the target norm are calculated, and it is judged whether to terminate iteration by comparing the target norm with the allowable error. If the condition is not met, the gradient vector is updated and the iteration is continued until convergence, and the aircraft coordinate is determined. The advantages of the weight difference of each base station can be fully utilized by the weighted least squares method to improve the rationality of the initial coordinates, the positioning error is gradually reduced by gradient iteration optimization, the accuracy requirement of refined positioning is met, the balance between positioning accuracy and calculation efficiency is achieved by setting the allowable error, and resource consumption caused by invalid iteration is avoided.

[0082] In another optional embodiment, the weighting calculation formula includes:

[0083] wherein, represents the initial coordinates of the aircraft, represents the coordinates of the base station i, represents the corrected distance from the aircraft to the base station i, represents the weighting positioning weight corresponding to the base station i; and the gradient vector calculation formula includes:

[0084] wherein, represents the calculated coordinates of the aircraft.

[0085] In the optional embodiment, optionally, in the weighting calculation formula, represents the initial coordinates of the aircraft, represents the coordinates of the base station i, represents the corrected distance from the aircraft to the base station i, represents the weighting positioning weight corresponding to the base station i, and the coordinates of the aircraft are optimized by the weighted least squares method to find the coordinates that minimize the function value .

[0086] In the optional embodiment, optionally, in the gradient vector calculation formula, A gradient vector of the aircraft, each component representing a rate of change of a weighted residual sum of squares when the aircraft moves relative to the i-th base station, the vector direction pointing to the direction in which the residual increases fastest, so the negative gradient direction is the correction direction in which the residual decreases fastest.

[0087] It can be seen that implementing the optional embodiment can clearly define the weighted calculation formula of the initial coordinate calculation, define the correlation logic of the aircraft initial coordinate, base station coordinate, correction distance, and weighted positioning weight, clearly define the gradient vector calculation formula, define the operation relationship of the calculated coordinate, base station distance, and weight, provide rigorous mathematical theory support for the aircraft initial coordinate calculation and iterative optimization, ensure the scientificity and accuracy of the coordinate calculation, clearly define the coordinate correction direction through the gradient vector, accelerate the iterative convergence speed, and improve the operation efficiency of the overall evaluation method.

[0088] Embodiment three Please refer to Figure 5 , Figure 5 is a structural schematic diagram of an aircraft positioning credibility evaluation device disclosed by the embodiment of the application. Wherein, Figure 5 The aircraft positioning credibility evaluation device described can be applied to an aircraft, and the aircraft positioning credibility evaluation can include an intelligent server or an intelligent platform for generating a positioning credibility score for the aircraft. The intelligent server includes a local server or a cloud server, and the embodiment of the application is not limited. As shown in the figure, Figure 5 The aircraft positioning credibility evaluation device can include: The acquisition module 301 is configured to acquire positioning data and base station data when the aircraft flies according to a target flight path, and the base station data includes base station coordinates of each base station, a time advance of the aircraft relative to each base station, and reference signal data; The calculation module 302 is configured to calculate a weighted positioning weight according to the time advance of the aircraft relative to each base station and the reference signal data, and calculate a calculated coordinate of the aircraft according to the weighted positioning weight and the base station coordinates of each base station; The determination module 303 is configured to determine an actual base station switching sequence when the aircraft flies according to the target flight path according to the positioning data and the base station data, and determine a preset base station switching sequence corresponding to the target flight path in a preset path planning database; The determination module 303 is further configured to determine a sequence similarity between the actual base station switching sequence and the preset base station switching sequence, and determine whether the sequence similarity is greater than a preset similarity threshold. When the sequence similarity is greater than the similarity threshold, a deviation alarm information for the aircraft is generated, and an alarm operation is performed based on the deviation alarm information; The determining module 303 is further configured to determine a number of base stations that are matched between the actual base station switching sequence and the preset base station switching sequence when the sequence similarity is less than or equal to the similarity threshold value. The calculating module 302 is further configured to calculate a positioning credibility score of the aircraft according to the calculated coordinates and the number of matched base stations. The generating module 304 is configured to generate a safety supervision policy for the aircraft according to the positioning credibility score, and perform a corresponding safety supervision operation according to the safety supervision policy.

[0089] It can be seen that the implementation Figure 5 The described aircraft positioning credibility evaluation device can calculate a weighted positioning weight according to the time advance and the reference signal data, calculate the calculated coordinates of the aircraft according to the weighted positioning weight and the base station coordinates, determine the actual base station switching sequence of the aircraft flying along the target flight path according to the positioning data and the base station data, determine the preset base station switching sequence corresponding to the target flight path in the preset path planning database, determine the sequence similarity between the actual base station switching sequence and the preset base station switching sequence, judge whether the sequence similarity is greater than the similarity threshold value, when greater than, generate a deviation alarm information for the aircraft and perform an alarm operation, when less than or equal to, determine the number of base stations that are matched between the actual base station switching sequence and the preset base station switching sequence, calculate the positioning credibility score of the aircraft according to the calculated coordinates and the number of matched base stations, generate a safety supervision policy according to the positioning credibility score and perform a safety supervision operation, can realize positioning credibility evaluation through multi-source data fusion, combine GNSS positioning data and 5G base station data, improve the accuracy and reliability of positioning credibility evaluation, realize dynamic verification of positioning through base station switching sequence comparison, can improve the accuracy of detecting flight path deviation and response timeliness, flexibly perform safety supervision operation through credibility score, and improve flight safety.

[0090] In an optional embodiment, as Figure 6 shown, the base station data further includes an antenna installation height of each base station, and the reference signal data includes signal transmission power, signal reception power, antenna gain and signal frequency of the aircraft relative to each base station; The specific manner in which the calculating module 302 calculates the weighted positioning weight according to the time advance of the aircraft relative to each base station and the reference signal data includes: For each base station, the target distance between the aircraft and the base station is calculated according to the time advance of the aircraft relative to the base station; The flight height of the aircraft is determined, and the target distance between the aircraft and each base station is corrected according to the flight height and the antenna installation height of each base station to obtain a corrected distance between the aircraft and each base station; For each base station, the standard path loss of the aircraft relative to the base station is calculated based on the corrected distance between the aircraft and the base station, the signal frequency, the antenna installation height of the base station, and the preset standard path loss model. For each base station, the actual path loss of the aircraft relative to that base station is calculated based on the aircraft's signal transmit power, signal receive power, and antenna gain relative to that base station. For each base station, the weighted positioning weight corresponding to that base station is calculated based on the standard path loss and the actual path loss of the aircraft relative to that base station.

[0091] It is evident that implementation Figure 6 The described aircraft positioning reliability assessment device can acquire positioning data and base station data when the aircraft flies along the target flight path. It calculates the target distance based on the aircraft's time lead relative to each base station, corrects the distance by combining the aircraft's flight altitude and the base station antenna installation height, calculates the standard path loss using a preset standard path loss model, and calculates the actual path loss based on signal transmit power, signal receive power, and antenna gain. Then, it determines the weighted positioning weights based on the standard path loss and the actual path loss. This device can eliminate measurement errors caused by altitude factors through three-dimensional distance correction, improving the accuracy of distance data. Path loss comparison improves the accuracy and reliability of base station signal evaluation, avoiding the bias of single-parameter judgments, and making the weighted positioning weight allocation more closely reflect the real propagation environment, thus improving the accuracy and reliability of subsequent aircraft coordinate calculations. Based on the weighted positioning weights and base station coordinates, it calculates the aircraft's coordinates and determines the aircraft's target flight path based on the positioning data and base station data. The actual base station handover sequence for flight is determined from a pre-defined path planning database, which identifies the pre-defined base station handover sequence corresponding to the target flight path. The sequence similarity between the actual and pre-defined base station handover sequences is then determined, and it is judged whether the sequence similarity exceeds a similarity threshold. If it does, a deviation alarm is generated for the aircraft and alarm operations are executed. If it is less than or equal to the threshold, the number of base station matches between the actual and pre-defined base station handover sequences is determined. Based on the calculated coordinates and the number of base station matches, the aircraft's positioning reliability score is calculated. A safety monitoring strategy is generated and executed based on the positioning reliability score. This system can achieve positioning reliability assessment through multi-source data fusion, combining GNSS positioning data and 5G base station data, improving the accuracy and reliability of positioning reliability assessment. Dynamic positioning verification is achieved through base station handover sequence comparison, improving the accuracy and timeliness of flight path deviation detection. Flexible execution of safety monitoring operations through reliability scores enhances flight safety.

[0092] In another alternative embodiment, such as Figure 6As shown, the specific manner in which the calculation module 302 calculates the calculated coordinates of the aircraft according to the weighted positioning weights and the base station coordinates of each base station includes: According to the corresponding weighted positioning weight of each base station, the base station coordinates of each base station, and the corrected distance between the aircraft and each base station, the initial coordinates of the aircraft are calculated based on a preset weighted calculation formula; The initial coordinates are input into a preset iterative model for iterative solution to obtain a current coordinate result, and a gradient vector of the current coordinate result is calculated according to a preset gradient vector calculation formula, and a target norm corresponding to the gradient vector is calculated; It is determined whether the target norm is less than a preset allowable error. When the target norm is less than the allowable error, the current coordinate result is determined as the calculated coordinates of the aircraft. When the target norm is greater than or equal to the allowable error, the current coordinate result is iteratively updated according to the current coordinate result, the gradient vector, and a preset step size to obtain an updated coordinate result, until the target norm of the gradient vector of the updated coordinate result is less than the allowable error.

[0093] It can be seen that the implementation Figure 6 The described aircraft positioning credibility evaluation device can obtain the initial coordinates of the aircraft through the weighted calculation formula according to the weighted positioning weights, the base station coordinates, and the corrected distance, input the initial coordinates into the iterative model, calculate the gradient vector and the target norm, determine whether to terminate the iteration through the comparison between the target norm and the allowable error, update the gradient vector and continue the iteration until convergence when the condition is not met, and determine the calculated coordinates of the aircraft. The weighted least squares method can fully utilize the weight difference advantages of each base station, improve the rationality of the initial coordinates, gradually reduce the positioning error through gradient iteration optimization, meet the precision requirements of refined positioning, balance the positioning precision and calculation efficiency by setting the allowable error, and avoid wasting resources on invalid iterations.

[0094] In yet another optional embodiment, as Figure 6 The positioning data includes positioning coordinates of the aircraft. The specific manner in which the calculation module 302 calculates the positioning credibility score of the aircraft according to the calculated coordinates and the number of matched base stations includes: According to the positioning coordinates and the calculated coordinates of the aircraft, the spatial offset of the aircraft is calculated. According to the number of matched base stations and a preset matched number threshold, the sequence matching degree of the aircraft is calculated. According to a preset time advance distance calculation model and a preset adjacent area signal attenuation model, the ECID enhanced positioning credibility of the aircraft is calculated. According to the spatial offset, the sequence matching degree, and the ECID enhanced positioning credibility, the positioning credibility score of the aircraft is calculated.

[0095] It can be seen that the implementation Figure 6 The described aircraft positioning credibility evaluation device can calculate the spatial offset according to the aircraft positioning coordinates and the calculated coordinates, calculate the sequence matching degree based on the base station matching number and the matching number threshold and the adjustment coefficient through the sigmoid function, obtain the ECID enhanced positioning credibility by combining the TA distance calculation and the adjacent area signal attenuation model, and obtain the positioning credibility score based on the credibility calculation formula through the preset weight set and the maximum allowed deviation tolerance. The positioning credibility evaluation device can comprehensively evaluate the positioning reliability from the spatial deviation, the sequence matching, and the enhanced positioning, realizes the smooth output of the sequence matching degree through the sigmoid function, avoids the score mutation, adjusts the weight set flexibly to adapt to different flight scenes, and improves the universality and practicality of the method.

[0096] In yet another optional embodiment, as Figure 6 The acquisition module 301 is further configured to acquire historical flight records and base station switching networks, and analyze flight switching probabilities between base stations according to the historical flight records and the base station switching networks. The aircraft positioning credibility evaluation device can further include: The model training module 305 is configured to train a base station switching model according to the historical flight records, the base station switching networks, and the flight switching probabilities. The prediction module 306 is configured to input a target flight path into the base station switching model when there is no preset base station switching sequence corresponding to the target flight path in the path planning database, and predict a predicted base station switching sequence corresponding to the target flight path through the base station switching model. The determination module 303 is further configured to determine a sequence similarity between the predicted base station switching sequence and the preset base station switching sequence, and store the predicted base station switching sequence into the path planning database.

[0097] It can be seen that the implementation Figure 6 The described aircraft positioning credibility evaluation device can acquire historical flight records and base station switching networks, analyze flight switching probabilities between base stations, train a base station switching model, predict a predicted base station switching sequence when there is no preset base station switching sequence corresponding to a target flight path in a path planning database, compare the similarity between the predicted sequence and the actual sequence, and store the predicted sequence into the database. The aircraft positioning credibility evaluation device can solve the problem of missing preset base station switching sequences, expand the application range of the evaluation method, make the predicted sequence more consistent with the actual base station switching rules based on the model trained based on historical data, ensure the effectiveness of sequence comparison, and improve the long-term adaptation ability of the method by dynamically supplementing database resources.

[0098] In yet another optional embodiment, as Figure 6As shown, the specific manner in which the calculation module 302 calculates the sequence matching degree of the aircraft according to the base station matching quantity and the preset matching quantity threshold value includes: obtaining a preset adjustment coefficient, and calculating the sequence matching degree of the aircraft according to the adjustment coefficient, the base station matching quantity, the preset matching quantity threshold value, and a preset matching degree calculation formula; The matching degree calculation formula includes:

[0099] wherein, represents the sequence matching degree of the aircraft, k represents the adjustment coefficient, represents the base station matching quantity, represents the matching quantity threshold value; and the specific manner in which the calculation module 302 calculates the positioning confidence score of the aircraft according to the spatial offset, the sequence matching degree, and the ECID enhanced positioning confidence includes: obtaining a preset weight set and a maximum allowed deviation tolerance, and calculating the positioning confidence score of the aircraft according to the weight set, the maximum allowed deviation tolerance, the spatial offset, the sequence matching degree, the ECID enhanced positioning confidence, and a preset confidence calculation formula; The confidence calculation formula includes:

[0100] wherein, the weight set includes , and , represents the first weight corresponding to the spatial offset, represents the second weight corresponding to the sequence matching degree, represents the third weight corresponding to the ECID enhanced positioning confidence, represents the spatial offset, represents the maximum allowed deviation tolerance, represents the sequence matching degree, represents the ECID enhanced positioning confidence.

[0101] It can be seen that the implementation Figure 6The described aircraft positioning reliability assessment device clarifies the sigmoid calculation formula for sequence matching degree, defines the roles of parameters such as adjustment coefficient, base station matching number, and matching number threshold, clarifies the weighted calculation formula for positioning reliability score, and defines the meaning and value logic of core parameters such as weight set and maximum allowable deviation tolerance. This enables the calculation process of sequence matching degree and reliability score to be standardized and regulated. At the same time, by flexibly adjusting parameters to adapt to different base station distribution densities and flight scenario requirements, the adaptability of the method is improved, and the scoring results more objectively and accurately reflect positioning reliability, providing a reliable basis for safety supervision decisions.

[0102] In yet another alternative embodiment, such as Figure 6 As shown, the weighted calculation formula includes:

[0103] in, Indicates the initial coordinates of the aircraft. This represents the coordinates of base station i. This represents the corrected distance from the aircraft to base station i. This represents the weighted positioning weight corresponding to base station i; Furthermore, the formula for calculating the gradient vector includes:

[0104] in, This represents the calculated coordinates of the aircraft.

[0105] It is evident that implementation Figure 7 The described aircraft positioning reliability assessment device can clearly define the weighted calculation formula for initial coordinate calculation, define the correlation logic of parameters such as initial aircraft coordinates, base station coordinates, correction distance, and weighted positioning weights, clarify the gradient vector calculation formula, and define the operational relationship of parameters such as calculation coordinates, base station distance, and weights. It can provide rigorous mathematical theoretical support for the initial coordinate calculation and iterative optimization of the aircraft, ensure the scientificity and accuracy of coordinate calculation, clarify the coordinate correction direction through gradient vectors, accelerate the iterative convergence speed, and improve the computational efficiency of the overall assessment method.

[0106] Example 4 Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of another aircraft positioning reliability evaluation device disclosed in an embodiment of the present invention. ​ As shown, the device for evaluating the reliability of the aircraft's positioning may include: Memory 401 storing executable program code; Processor 402 coupled to memory 401; The processor 402 invokes the executable program code stored in the memory 401 to execute the steps of the method for evaluating the positioning credibility of the aircraft according to the first embodiment or the second embodiment of the present application.

[0107] Embodiment five The embodiment of the present application discloses a computer storage medium, which stores computer instructions, and when the computer instructions are invoked, part or all of the steps of any one of the methods for evaluating the positioning credibility of the aircraft according to the first embodiment of the present application are executed.

[0108] Embodiment six The embodiment of the present application discloses a computer program product, which comprises a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the steps of the method for evaluating the positioning credibility of the aircraft according to the first embodiment or the second embodiment.

[0109] The above-described apparatus embodiments are only illustrative, wherein the modules described as separate components can or can not be physically separated, and the components displayed as modules can or can not be physical modules, that is, can be located in one place, or can be distributed on multiple network modules. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0110] Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and the necessary general hardware platform through the above specific description of the embodiments, and of course, the embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage, a magnetic tape storage, or any other computer readable medium that can be used to carry or store data.

[0111] Finally, it should be noted that: the aircraft positioning credibility evaluation method and device disclosed by the embodiments of the present application are only the preferred embodiments of the present application, and are used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of assessing the trustworthiness of an aircraft position, characterized in that, The method comprises: obtaining positioning data and base station data when the aircraft flies along a target flight path, the base station data comprising base station coordinates of each base station, time advance of the aircraft relative to each base station, and reference signal data; calculating a weighted positioning weight according to the time advance of the aircraft relative to each base station and the reference signal data, and calculating calculated coordinates of the aircraft according to the weighted positioning weight and the base station coordinates of each base station; determining an actual base station switching sequence when the aircraft flies along the target flight path according to the positioning data and the base station data, and determining a preset base station switching sequence corresponding to the target flight path in a preset path planning database; determining a sequence similarity between the actual base station switching sequence and the preset base station switching sequence, and determining whether the sequence similarity is greater than a preset similarity threshold; when the sequence similarity is greater than the similarity threshold, generating deviation alarm information for the aircraft, and performing an alarm operation based on the deviation alarm information; when the sequence similarity is less than or equal to the similarity threshold, determining a base station matching number of the actual base station switching sequence and the preset base station switching sequence, and calculating a positioning credibility score of the aircraft according to the calculated coordinates and the base station matching number; generating a safety supervision strategy for the aircraft according to the positioning credibility score, and performing a corresponding safety supervision operation according to the safety supervision strategy.

2. The method of claim 1, wherein, The base station data further comprises an antenna installation height of each base station, and the reference signal data comprises signal transmission power, signal reception power, antenna gain, and signal frequency of the aircraft relative to each base station; The calculation of the weighted positioning weight according to the time advance of the aircraft relative to each base station and the reference signal data comprises: for each base station, calculating a target distance between the aircraft and the base station according to the time advance of the aircraft relative to the base station; determining a flight height of the aircraft, and correcting the target distance between the aircraft and each base station according to the flight height and the antenna installation height of each base station to obtain a corrected distance between the aircraft and each base station; for each base station, calculating a standard path loss of the aircraft relative to the base station according to the corrected distance between the aircraft and the base station, the signal frequency, the antenna installation height of the base station, and a preset standard path loss model; for each base station, calculating an actual path loss of the aircraft relative to the base station according to the signal transmission power, the signal reception power, and the antenna gain of the aircraft relative to the base station; for each base station, calculating a weighted positioning weight corresponding to the base station according to the standard path loss and the actual path loss of the aircraft relative to the base station.

3. The method of claim 2, wherein, The calculation of the calculated coordinates of the aircraft according to the weighted positioning weight and the base station coordinates of each base station comprises: According to the weighted positioning weight corresponding to each base station, the base station coordinates of each base station, and the corrected distance between the aircraft and each base station, the initial coordinates of the aircraft are calculated based on a preset weighted calculation formula; The initial coordinates are input into a preset iteration model for iterative solution to obtain a current coordinate result, and a gradient vector of the current coordinate result is calculated according to a preset gradient vector calculation formula, and a target norm corresponding to the gradient vector is calculated; It is judged whether the target norm is less than a preset allowable error, and when the target norm is less than the allowable error, the current coordinate result is determined as the calculated coordinates of the aircraft; When the target norm is greater than or equal to the allowable error, the current coordinate result is iteratively updated according to the current coordinate result, the gradient vector, and a preset step size to obtain an updated coordinate result, until the target norm of the gradient vector of the updated coordinate result is less than the allowable error.

4. The method of claim 1-3, wherein, The positioning data includes the positioning coordinates of the aircraft; The calculation of the positioning confidence score of the aircraft according to the calculated coordinates and the number of matched base stations includes: According to the positioning coordinates of the aircraft and the calculated coordinates, the spatial offset of the aircraft is calculated; According to the number of matched base stations and a preset number of matched base stations threshold, the sequence matching degree of the aircraft is calculated; According to a preset time advance distance calculation model and a preset adjacent area signal attenuation model, the ECID enhanced positioning confidence of the aircraft is calculated; According to the spatial offset, the sequence matching degree, and the ECID enhanced positioning confidence, the positioning confidence score of the aircraft is calculated.

5. The method of claim 1-3, wherein, The method further includes: Obtaining historical flight records and base station switching networks, analyzing the flight switching probability between base stations according to the historical flight records and the base station switching networks, and training a base station switching model according to the historical flight records, the base station switching networks, and the flight switching probability; When the preset base station switching sequence corresponding to the target flight path does not exist in the path planning database, the target flight path is input into the base station switching model, and the predicted base station switching sequence corresponding to the target flight path is predicted by the base station switching model; The sequence similarity between the predicted base station switching sequence and the preset base station switching sequence is determined, and the predicted base station switching sequence is stored in the path planning database.

6. The method of claim 4, wherein: The calculation of the sequence matching degree of the aircraft according to the number of matched base stations and a preset number of matched base stations threshold includes: A preset adjustment coefficient is obtained, and the sequence matching degree of the aircraft is calculated according to the adjustment coefficient, the number of matched base stations, a preset number of matched base stations threshold, and a preset matching degree calculation formula; The matching degree calculation formula includes: wherein, represents the sequence matching degree of the aircraft, k represents the adjustment coefficient, represents the base station matching number, represents the matching number threshold; And the calculation of the positioning confidence score of the aircraft according to the spatial offset, the sequence matching degree, and the ECID enhanced positioning confidence includes: obtain a preset weight set and a maximum allowed deviation tolerance, and calculate a positioning credibility score of the aircraft according to the weight set, the maximum allowed deviation tolerance, the spatial deviation, the sequence matching degree, the ECID enhanced positioning credibility, and a preset credibility calculation formula; The credibility calculation formula includes: The weight set includes , and , denotes a first weight corresponding to the spatial offset, denotes a second weight corresponding to the sequence matching degree, denotes a third weight corresponding to the ECID enhanced positioning reliability, denotes the spatial offset, denotes the maximum allowed deviation tolerance, denotes the sequence matching degree, denotes the ECID enhanced positioning reliability.

7. The method of claim 3, wherein: The weighted calculation formula includes: wherein, denotes an initial coordinate of the aircraft, denotes a coordinate of the base station i, denotes a corrected distance of the aircraft to the base station i, denotes a weighting positioning weight corresponding to the base station i; And the gradient vector calculation formula includes: wherein, represents the calculated coordinates of the aircraft.

8. An apparatus for evaluating the reliability of an aircraft position, characterized in that it comprises: The device includes: An obtaining module is configured to obtain positioning data and base station data of an aircraft flying along a target flight path, the base station data including base station coordinates of each base station, time advance of the aircraft relative to each base station, and reference signal data of each base station; A calculating module is configured to calculate a weighted positioning weight according to the time advance of the aircraft relative to each base station and the reference signal data of each base station, and calculate a calculated coordinate of the aircraft according to the weighted positioning weight and the base station coordinates of each base station; A determining module is configured to determine an actual base station switching sequence of the aircraft flying along the target flight path according to the positioning data and the base station data, and determine a preset base station switching sequence corresponding to the target flight path in a preset path planning database; The determining module is further configured to determine a sequence similarity between the actual base station switching sequence and the preset base station switching sequence, and determine whether the sequence similarity is greater than a preset similarity threshold; when the sequence similarity is greater than the similarity threshold, generate deviation alarm information for the aircraft, and perform an alarm operation based on the deviation alarm information; The determining module is further configured to determine a base station matching number of the actual base station switching sequence and the preset base station switching sequence when the sequence similarity is less than or equal to the similarity threshold; The calculating module is further configured to calculate a positioning credibility score of the aircraft according to the calculated coordinate and the base station matching number; A generating module is configured to generate a safety supervision strategy for the aircraft according to the positioning credibility score, and perform a corresponding safety supervision operation according to the safety supervision strategy.

9. An apparatus for evaluating the reliability of an aircraft position, characterized in that it comprises: The device includes: A memory storing executable program codes; A processor coupled with the memory; The processor invokes the executable program codes stored in the memory to execute the aircraft positioning credibility evaluation method of any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which are invoked to execute the aircraft positioning credibility evaluation method of any one of claims 1-7.

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