CN113406566B - Method and device for positioning aircraft - Google Patents
Method and device for positioning aircraft Download PDFInfo
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- CN113406566B CN113406566B CN202110626876.7A CN202110626876A CN113406566B CN 113406566 B CN113406566 B CN 113406566B CN 202110626876 A CN202110626876 A CN 202110626876A CN 113406566 B CN113406566 B CN 113406566B
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- 238000000034 method Methods 0.000 title claims abstract description 66
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- 238000004590 computer program Methods 0.000 claims description 14
- 238000012937 correction Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 238000013507 mapping Methods 0.000 description 5
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- 238000012876 topography Methods 0.000 description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
The embodiment of the invention provides a method and a device for positioning an aircraft, wherein the method comprises the following steps: acquiring first position information acquired in real time in the flight process of an aircraft; acquiring first topographic data acquired in real time, and performing topographic matching on the first topographic data in preset map data to obtain second topographic data; determining second position information according to the second topographic data; and correcting the first position information according to the second position information to obtain the positioning information of the aircraft. By the embodiment of the invention, the high-precision positioning of the aircraft is realized.
Description
Technical Field
The invention relates to the technical field of aircraft positioning, in particular to a method and a device for positioning an aircraft.
Background
Currently, the low-altitude aircraft is positioned by a differential receiver through a combined navigation algorithm formed by a GNSS system (GlobalNavigation Satellite System ) and a high-precision inertial measurement unit.
However, since the GNSS signals are broadcast signals, the frequency band and the communication characteristics of the GNSS signals are disclosed, and shielding and interference to related signals exist in a part of regions, high-precision positioning cannot be achieved in the flight process of the aircraft, and the problems of high cost and insufficient precision of the high-precision inertial measurement unit also exist.
Disclosure of Invention
In view of the above, a method and apparatus for aircraft positioning is proposed to overcome or at least partially solve the above problems, comprising:
a method of aircraft positioning, the method comprising:
acquiring first position information acquired in real time in the flight process of an aircraft;
acquiring first topographic data acquired in real time, and performing topographic matching on the first topographic data in preset map data to obtain second topographic data;
determining second position information according to the second topographic data;
and correcting the first position information according to the second position information to obtain the positioning information of the aircraft.
Optionally, the determining second position information according to the second topographic data includes:
acquiring first image data acquired in real time;
according to the second topographic data, in preset map data, performing image matching on the first image data to obtain second image data;
and determining the position information corresponding to the second image data as second position information.
Optionally, the performing image matching on the first image data in preset map data according to the second topographic data to obtain second image data includes:
determining a second area range according to the second topographic data;
and in a second area range of the preset map data, performing image matching on the first image data to obtain second image data.
Optionally, the acquiring the first topographic data acquired in real time includes:
acquiring first altitude information of the aircraft relative to the ground surface;
acquiring second altitude information of the aircraft relative to a reference plane;
and determining first terrain data according to the first altitude information and the second altitude information.
Optionally, in the preset map data, performing terrain matching on the first terrain data to obtain second terrain data, including:
determining a first area range according to the first position information;
and carrying out terrain matching on the first terrain data in a first area range in the preset map data to obtain second terrain data.
Optionally, before the correcting the first position information according to the second position information, the method further includes:
judging whether the flight distance of the aircraft is greater than a preset distance;
and when the flying distance is larger than a preset distance, executing the correction of the first position information according to the second position information.
Optionally, the first location information is location information determined based on a base station positioning system.
An apparatus for aircraft positioning, the apparatus comprising:
the first position information acquisition module is used for acquiring first position information acquired in real time in the flight process of the aircraft;
the second topographic data determining module is used for acquiring first topographic data acquired in real time, and carrying out topographic matching on the first topographic data in preset map data to obtain second topographic data;
the second position information determining module is used for determining second position information according to the second topographic data;
and the first position information correction module is used for correcting the first position information according to the second position information to obtain the positioning information of the aircraft.
An aircraft comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor, implements a method of aircraft positioning as described above.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements a method of aircraft positioning as described above.
The embodiment of the invention has the following advantages:
according to the embodiment of the invention, the first position information acquired in real time is acquired in the flight process of the aircraft, the first topographic data acquired in real time is acquired, the first topographic data is subjected to topographic matching in the preset map data to obtain the second topographic data, the second position information is determined according to the second topographic data, the first position information is corrected according to the second position information to obtain the positioning information of the aircraft, and the high-precision positioning of the aircraft is realized.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1a is a flow chart of steps of a method for aircraft positioning according to an embodiment of the present invention;
FIG. 1b is a flowchart illustrating steps of a method for positioning a base station according to an embodiment of the present invention;
FIG. 2a is a flow chart of steps of another method for aircraft positioning provided by an embodiment of the present invention;
FIG. 2b is a schematic illustration of an aircraft positioning system according to an embodiment of the present invention;
fig. 3 is a schematic structural view of an apparatus for positioning an aircraft according to an embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1a, a flowchart illustrating steps of a method for positioning an aircraft according to an embodiment of the present invention may specifically include the following steps:
step 101, acquiring first position information acquired in real time in the flight process of an aircraft;
in an embodiment of the invention, the first location information is location information based on a base station positioning system and/or a determined inertial navigation positioning system.
In practical applications, the aircraft may enable monitoring of the position of the air as well as the ground. In addition, a positioning system can be deployed in the aircraft, and the aircraft can acquire the positioning information of the aircraft in real time through the positioning system, so that autonomous navigation is performed through the positioning information.
However, in the actual working process of the aircraft, electromagnetic interference is often received, or when some low-altitude aircraft (about 300m-500 m) fly in some mountainous areas with complex topography or urban areas densely distributed in high buildings, the complex topography environment also has an influence on the positioning of the aircraft, so that the high-precision positioning of the aircraft cannot be realized.
In the flight process of the aircraft, the aircraft can acquire first position information acquired in real time, wherein when no interference or less interference exists in the flight environment of the aircraft, the first position information can be directly used as positioning information of the aircraft and directly used for navigation of the aircraft.
When serious interference exists in the flying environment of the aircraft, the first position information can be used as the basic position of the aircraft, and the aircraft positioning is corrected on the basis of the first position information, so that more accurate aircraft positioning information can be obtained.
The positioning system in the aircraft can be a base station positioning system, a combined navigation system formed by the base station positioning system and an inertial navigation system, or other positioning navigation systems.
When the positioning system in the aircraft is a base station positioning system, a plurality of base stations can be in wireless communication with the aircraft, so that ground monitoring personnel can monitor the real-time working state of the aircraft and give specific control instructions, and the ground personnel can remotely control the aircraft.
In an example, in a base station positioning system, a base station may calculate a yaw angle of the base station and the aircraft through a beamforming technique, so that the aircraft may calculate first position information of the aircraft through a radio ranging technique in combination with the yaw angle.
Based on the above principle, the method can be implemented according to the steps shown in fig. 1b, and the method can specifically include the following steps:
and step 111, the aircraft transmits frame guiding information to at least two base stations in a downlink mode.
In step 112, the base station records the accurate time of receiving the pilot frame information after receiving the pilot frame information from the aircraft.
In step 113, the base station transmits the time information and yaw angle to the aircraft via an uplink data packet.
In step 114, the aircraft determines the time when the frame guiding information is received by the plurality of base stations, and calculates the receiving time and the receiving time difference of the corresponding base stations, so that the possible position of the aircraft can be calculated according to the geographic position data of the base stations, and the actual position information (i.e. the first position information) of the aircraft can be determined through the yaw angle.
In step 114, the aircraft may calculate a distance between the base station and the aircraft based on the time difference, thereby rounding the base station with the distance as a radius, and thereby determining the aircraft position (i.e., the first position information) based on the intersection point and the yaw angle information.
In an example, when the positioning system in the aircraft is a combined navigation system of a base station positioning system and an inertial navigation system, the initial position information may be corrected by the inertial navigation system on the basis of the initial position information obtained by the base station positioning, so as to obtain the first position information finally.
Because the integrated navigation system has autonomous navigation characteristics, under extreme conditions, when a wireless channel part or all frequency points are interfered, the base station positioning can not meet the communication requirement, so that the autonomous navigation of the aircraft can be completed according to the cooperation of the inertial navigation system in the aircraft and the terrain matching and the image matching, and the aircraft can leave an interfered area autonomously.
Because the base station and the aircraft can communicate with each other, in the base station, the position information of the aircraft can be determined based on the wireless communication with the aircraft, and the position information calculated by the aircraft can be fitted, so that more accurate position information of the aircraft can be obtained.
102, acquiring first topographic data acquired in real time, and performing topographic matching on the first topographic data in preset map data to obtain second topographic data;
in the flight process of the aircraft, the aircraft can acquire mapping data on a flight route of the aircraft in real time through high-precision mapping equipment, and generate first terrain data through a plurality of mapping data, wherein the first terrain data can be a real-time surface feature image on the flight route.
Meanwhile, map data can be preset in the aircraft, or the aircraft can acquire the associated map data through a base station or other ground communication equipment in real time, wherein the preset map data is digital map data which can be high-precision, and the digital map data can comprise terrain data and/or image data.
In one example, the map data preset in the aircraft may be updated in real time based on the first location information or the corrected location information of the aircraft.
In practical application, the high-precision map data may be directly stored in the aircraft, but the map data is large in amount, time delay may occur during matching, in order to reduce the map searching amount, the time delay is reduced, so that the high-precision map data may be preset in a base station or other ground communication equipment, after the aircraft acquires the first position information, the base station or other communication equipment may determine the position information of the aircraft through real-time positioning with the aircraft, so that part of map data near the current position of the aircraft is sent to the aircraft.
In the flight process of the aircraft, the base station or other communication equipment can continuously send the latest map data to the aircraft according to the real-time position (the first position information or the corrected positioning information) of the aircraft so as to replace the map data received before the aircraft, thereby facilitating the terrain matching and the image matching of the aircraft.
In one example, the terrain features of the area through which the aircraft is projected may be pre-made into high-precision digitized maps by geometries, astrophotography, satellite photography, or existing earth's surface terrain data, etc., and stored in a ground communication device or in an aircraft on-board device.
When there is interference in the flight environment of the aircraft (for example, the base station positioning system may be interfered by complex terrain to cause inaccurate positioning), the accuracy of the first position information of the aircraft is not high enough, and the first terrain data can be matched in the preset map data to obtain the second terrain data.
By performing terrain matching on terrain data acquired by the aircraft, terrain disturbances can be removed, thereby enabling the aircraft to remain positioned with high accuracy in complex terrain environments.
In an embodiment of the present invention, the acquiring the first topographic data acquired in real time includes:
sub-step 121, obtaining first altitude information of the aircraft relative to the ground surface.
Sub-step 122, obtaining second altitude information of the aircraft relative to a reference plane.
In practical application, when the aircraft is in the flight process, for each position on the aircraft route, the altitude information corresponding to the position can be acquired in real time through a surveying instrument (such as an altimeter, an barometric altimeter and the like), and the altitude information can comprise first altitude information and second altitude information.
Specifically, the aircraft can acquire first altitude information of the aircraft relative to the ground surface through surveying instruments such as altimeters and the like, the first altitude information is absolute altitude information of the aircraft, and meanwhile, the aircraft can also acquire second altitude information of the aircraft relative to a reference plane (for example, a standard sea level) through surveying instruments such as barometer altimeters and the like, and the second altitude information is relative altitude information of the aircraft.
A substep 123 of determining first terrain data based on the first altitude information and the second altitude information.
After the altitude information is acquired, when the aircraft is at a certain real-time position, the absolute altitude and the relative altitude can be subtracted to obtain the actual altitude data of the ground surface projected by the position (the ground surface topography of the position), and after the aircraft flies for a period of time, the ground surface altitude curves, namely the first topography data, can be drawn by the obtained ground surface altitude data on the flight route of the aircraft.
In an embodiment of the present invention, in the preset map data, performing terrain matching on the first terrain data to obtain second terrain data, including:
a substep 131 determines a first area range according to the first location information.
In practical applications, the first position information of the aircraft may correspond to an area range, where the area range may be a circular area with the first position information as a center point and a preset distance as a radius, and the area range may be determined according to the degree of interference of the aircraft. When the aircraft is severely interfered, the preset distance is larger, and the area range is wider; when the aircraft is disturbed little, the preset distance is smaller, and the area range is narrower.
And a sub-step 132, performing terrain matching on the first terrain data in a first area range in the preset map data to obtain second terrain data.
After the first area range is determined, the first topographic data can be subjected to topographic matching in the first area range of the preset map data, so that matched topographic data, namely second topographic data, is obtained in the preset map data.
In the embodiment of the present invention, the steps 101 and 102 may be performed simultaneously or sequentially, and the order of the steps 101 and 102 is not limited too much.
And step 103, determining second position information according to the second topographic data.
After the second terrain data is determined, track information of the aircraft over a period of time can be determined from the first terrain data, so that current second position information of the aircraft can be determined from the track information.
In an example, the projection point of the aircraft at the current position, namely longitude and latitude coordinate information, can be determined through the track information, and then the three-dimensional space position information of the aircraft can be determined through the altitude information.
And 104, correcting the first position information according to the second position information to obtain the positioning information of the aircraft.
After the second position information is determined, the second position information is determined from the high-precision digital map, so that the first position information can be corrected according to the second position information, and the positioning information with higher precision is obtained.
In an embodiment of the present invention, before step 104, the method further includes:
step S141, judging whether the flight distance of the aircraft is greater than a preset distance.
In practical application, the aircraft usually has less interference in the take-off stage, the positioning information obtained through the base station or the integrated navigation system is more accurate, no correction is needed, and the positioning information can be corrected after the aircraft flies to a certain height, so that after the aircraft is started, whether the flight distance of the aircraft is larger than a preset distance can be judged.
Step S142, executing step 104 when the flight distance is greater than the preset distance.
When the flight distance is greater than the preset distance and the interference suffered by the aircraft is serious, the first position information can be corrected according to the second position information, so that more accurate positioning information can be obtained.
In the embodiment of the invention, in the flying process of the aircraft, the first position information acquired in real time is acquired, the first topographic data acquired in real time is acquired, in the preset map data, the first topographic data is subjected to topographic matching to obtain the second topographic data, the second position information is determined according to the second topographic data, and the first position information is corrected according to the second position information to obtain the positioning information of the aircraft, so that the high-precision positioning of the aircraft is realized.
Referring to fig. 2a, a flowchart illustrating steps of another method for positioning an aircraft according to an embodiment of the present invention may specifically include the following steps:
step 201, acquiring first position information acquired in real time in the flight process of an aircraft;
step 202, acquiring first topographic data acquired in real time, and performing topographic matching on the first topographic data in preset map data to obtain second topographic data;
step 203, acquiring first image data acquired in real time;
in the flight process of the aircraft, the high-definition wide-angle camera carried by the aircraft can be used for shooting the surrounding of the flight track and the vicinity of the projection area of the aircraft, so that first image data related to the landform features is obtained.
In the embodiment of the present invention, the steps 201, 202, and 203 may be performed simultaneously or sequentially, and the order of the steps 201, 202, and 203 is not limited.
Step 204, performing image matching on the first image data in preset map data according to the second topographic data to obtain second image data;
after the first image data is acquired, the first image data can be initially positioned in the preset map data according to the second topographic data, further, the first image data can be subjected to image matching in the preset map data, and the second image data is obtained in the preset map according to a matching result.
In one embodiment of the present invention, step 204 may include:
substep S241, determining a second area range from said second topographic data.
In practical applications, the second terrain data may determine route information of the aircraft, so that a second area range of the preset map data may be determined according to the route information of the second terrain data in the preset map data.
And step S242, performing image matching on the first image data within a second area range of the preset map data to obtain second image data.
After the second area range is determined, the first image data acquired in advance can contain the image characteristic information, and the preset map data can also have the image data, so that the second image data corresponding to the image characteristic information can be obtained by matching the image characteristic information of the first image data in the second area range.
The second area range may be an area associated with the current position of the aircraft in the preset map data, and the second area range is smaller than the first area range.
The terrain matching can be applied to the flight environment with complex terrain, and the image matching can be applied to various flight environments of the aircraft. Positioning of the aircraft is achieved through terrain matching and image matching, and positioning accuracy can be improved.
Step 205, determining the position information corresponding to the second image data as second position information.
After the second image data is obtained, specific position information corresponding to the second image data can be determined, and the position information is determined as second position information.
And step 206, correcting the first position information according to the second position information.
In the embodiment of the invention, in the flying process of the aircraft, the first position information acquired in real time is acquired, the first topographic data is subjected to topographic matching in preset map data to obtain second topographic data, the first image data acquired in real time is acquired according to the second topographic data, the first image data is subjected to image matching in the preset map data to obtain second image data, the position information corresponding to the second image data is determined to be the second position information, the first position information is corrected to obtain the positioning information of the aircraft according to the second position information, the purpose that the aircraft is positioned in a high-precision manner through topographic matching and image matching is realized, and the method is suitable for positioning the aircraft in an area with complex topography and large surface height difference, and meanwhile, the influence of electromagnetic interference on the positioning of the aircraft can be reduced.
The following describes an exemplary procedure for correcting the positioning navigation of an aircraft according to an embodiment of the present invention with reference to fig. 2 b:
as shown in fig. 2b, in the aircraft, the base station positioning system and the inertial navigation system form an integrated navigation system of the aircraft, and in the aircraft, mapping devices such as an air pressure altitude measuring instrument, an altimeter radar, an belly-to-ground camera and the like can be further arranged. The real-time correction of positioning information during flight of the aircraft may comprise the steps of:
step 210, in the flight process of the aircraft, the integrated navigation system performs positioning navigation on the aircraft, and the aircraft acquires the first position information acquired in real time.
In step 220, the barometric altimeter, the altimeter radar, and the belly-to-ground camera collect real-time mapping data, such as relative altitude (i.e., second altitude data), absolute altitude (i.e., first altitude data), and image data (i.e., first image data), during the flight of the aircraft. The integrated navigation system can preprocess data (namely second height data) measured by the air pressure height measuring instrument, and the preprocessing can adopt an air pressure inertial filtering technology.
At step 230, the absolute altitude is subtracted from the relative altitude to obtain the actual terrain profile altitude for the projected point of the aircraft at the current location. After a period of flight, the plurality of terrain profile heights may form a surface height profile (i.e., first terrain data) of the projected area of the aircraft.
In step 240, the ground communication base station may store a high-precision data map, and may send the high-precision map of the current positioning position to the aircraft according to the aircraft positioning information (for example, the wireless communication system transmits the high-precision digital map with a radius of 5 km by using the ground base station to the upstream communication link of the aircraft as the center).
And step 250, performing terrain matching on the surface height change curve in the high-precision map through a terrain matching algorithm to obtain second terrain data.
In step 260, the image information is subjected to image matching by the image matching algorithm to obtain second image data, and after comprehensive matching, a relevant matching position (i.e. second position information) can be obtained.
Step 270, after performing kalman filtering processing on the matched position, correcting the navigation state of the integrated navigation system to obtain the positioning information of the aircraft, and outputting the positioning information, thereby updating the navigation information with the positioning information.
Step 280, feeding back the corrected navigation state to the terrain matching process, and correcting the current terrain data (i.e. updating the first terrain data) so as to perform the next terrain matching.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 3, a schematic structural diagram of an apparatus for positioning an aircraft according to an embodiment of the present invention may specifically include the following modules:
the first position information obtaining module 301 is configured to obtain first position information collected in real time during a flight of the aircraft;
the second topographic data determining module 302 is configured to obtain first topographic data collected in real time, and perform topographic matching on the first topographic data in the preset map data to obtain second topographic data;
a second location information determining module 303, configured to determine second location information according to the second topographic data;
and the first position information correction module 304 is configured to correct the first position information according to the second position information to obtain positioning information of the aircraft.
In an embodiment of the present invention, the second location information determining module 303 may include:
the first image data acquisition sub-module is used for acquiring first image data acquired in real time;
the second image data determining sub-module is used for carrying out image matching on the first image data in preset map data according to the second topographic data to obtain second image data;
and the second position information determining submodule is used for determining that the position information corresponding to the second image data is second position information.
In an embodiment of the present invention, the second topographic data determining module 302 may include:
the first altitude information acquisition sub-module is used for acquiring first altitude information of the aircraft relative to the ground surface;
the second altitude information acquisition sub-module is used for acquiring second altitude information of the aircraft relative to a reference plane;
and the first topographic data determining submodule is used for determining first topographic data according to the first altitude information and the second altitude information.
In an embodiment of the present invention, the second topographic data determining module 302 may include:
the first regional scope determining submodule is used for determining a first regional scope according to the first position information;
and the second topographic data determining submodule is used for carrying out topographic matching on the first topographic data in the range of the first area in the preset map data to obtain second topographic data.
In an embodiment of the present invention, the second image data determining sub-module may include:
a second area range determining unit configured to determine a second area range according to the second topographic data;
and the second image data determining unit is used for carrying out image matching on the first image data in a second area range of the preset map data to obtain second image data.
In an embodiment of the present invention, the apparatus may include:
the flight distance judging module is used for judging whether the flight distance of the aircraft is greater than a preset distance;
and the correction execution module is used for executing the correction of the first position information according to the second position information when the flight distance is larger than a preset distance.
In one embodiment of the present invention, the first location information is location information determined based on a base station positioning system.
In the embodiment of the invention, in the flying process of the aircraft, the first position information acquired in real time is acquired, the first topographic data acquired in real time is acquired, in the preset map data, the first topographic data is subjected to topographic matching to obtain the second topographic data, the second position information is determined according to the second topographic data, and the first position information is corrected according to the second position information to obtain the positioning information of the aircraft, so that the high-precision positioning of the aircraft in the complex electromagnetic environment with electromagnetic interference is realized.
An embodiment of the present invention also provides an aircraft that may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program when executed by the processor implementing a method of aircraft positioning as above.
An embodiment of the invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for aircraft positioning as above.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The foregoing has outlined rather broadly the principles and embodiments of the present invention in order that the detailed description of the method and apparatus for locating an aircraft may be better understood, and in order that the present invention may be better understood; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (8)
1. A method of aircraft positioning, the method comprising:
acquiring first position information acquired in real time in the flight process of an aircraft;
acquiring first topographic data acquired in real time, and performing topographic matching on the first topographic data in preset map data to obtain second topographic data;
acquiring first image data acquired in real time;
determining a second area range according to the second topographic data;
performing image matching on the first image data in a second area range of preset map data to obtain second image data;
determining the position information corresponding to the second image data as second position information;
and correcting the first position information according to the second position information to obtain the positioning information of the aircraft.
2. The method of claim 1, wherein the acquiring the first terrain data acquired in real-time comprises:
acquiring first altitude information of the aircraft relative to the ground surface;
acquiring second altitude information of the aircraft relative to a reference plane;
and determining first terrain data according to the first altitude information and the second altitude information.
3. The method according to claim 1, wherein performing terrain matching on the first terrain data in the preset map data to obtain second terrain data includes:
determining a first area range according to the first position information;
and carrying out terrain matching on the first terrain data in a first area range in the preset map data to obtain second terrain data.
4. The method of claim 1, further comprising, prior to said modifying said first location information in accordance with said second location information:
judging whether the flight distance of the aircraft is greater than a preset distance;
and when the flying distance is larger than a preset distance, executing the correction of the first position information according to the second position information.
5. The method of claim 1, wherein the first location information is location information determined based on a base station positioning system.
6. An apparatus for positioning an aircraft, the apparatus comprising:
the first position information acquisition module is used for acquiring first position information acquired in real time in the flight process of the aircraft;
the second topographic data determining module is used for acquiring first topographic data acquired in real time, and carrying out topographic matching on the first topographic data in preset map data to obtain second topographic data;
the second position information determining module is used for determining second position information according to the second topographic data;
the first position information correction module is used for correcting the first position information according to the second position information to obtain positioning information of the aircraft;
wherein the second position information determining module includes:
the first image data acquisition sub-module is used for acquiring first image data acquired in real time;
the second image data determining sub-module is used for carrying out image matching on the first image data in preset map data according to the second topographic data to obtain second image data;
the second position information determining submodule is used for determining that the position information corresponding to the second image data is second position information;
wherein the second image data determination submodule includes:
a second area range determining unit configured to determine a second area range according to the second topographic data;
and the second image data determining unit is used for carrying out image matching on the first image data in a second area range of the preset map data to obtain second image data.
7. An aircraft comprising a processor, a memory and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the method of positioning an aircraft according to any one of claims 1 to 5.
8. A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements a method of positioning an aircraft according to any one of claims 1 to 5.
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| CN113900444B (en) * | 2021-10-09 | 2024-02-23 | 广东汇天航空航天科技有限公司 | Control method and device for aircraft |
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