技术领域technical field
本申请属于无人机技术领域，特别涉及一种无人机通道描述方法及系统。The present application belongs to the technical field of unmanned aerial vehicles, and in particular relates to a method and system for describing passages of unmanned aerial vehicles.
背景技术Background technique
无人机地面滑行是机场管理的难点之一，其主要涉及两个方面：1)无人机对跑道、联络道、滑行道、停机坪的适应性；2)机场管制员临时调整上下跑道需要通过的联络道、到达的停机位，要求规划员能快速给出滑行的控制方案。考虑机场环境是相对固定的，长时间变化较小。本文提出了一种无人机滑行通道的描述方法，描述机场的所有停机坪、联络道、滑行道、跑道等的经纬度和联通性。在应用中，可根据飞机的当前位置及所描述的滑行通道，快速进行自动滑行规划，提高对任务的响应速度。Ground taxiing of drones is one of the difficulties in airport management, which mainly involves two aspects: 1) the adaptability of drones to runways, contact roads, taxiways, and aprons; The passing connection road and the arriving parking stand require the planner to quickly give a taxiing control plan. Consider that the airport environment is relatively fixed and changes little over a long period of time. This paper proposes a description method for UAV taxiways, which describes the longitude, latitude and connectivity of all aprons, contact roads, taxiways, runways, etc. of the airport. In the application, according to the current position of the aircraft and the described taxiing channel, automatic taxiing planning can be carried out quickly to improve the response speed to the task.
发明内容Contents of the invention
本申请的目的是提供了一种无人机滑行通道描述方法及系统，以解决或减轻背景技术中的至少一个问题。The purpose of the present application is to provide a method and system for describing taxiways of UAVs, so as to solve or alleviate at least one problem in the background technology.
在一方面，本申请提供的技术方案是：一种无人机滑行通道描述方法，所述方法包括：In one aspect, the technical solution provided by the present application is: a method for describing the taxiway of an unmanned aerial vehicle, the method comprising:
获取所述滑行通道内的所有节点及所述节点的属性，其中，所述属性包括当前节点标识、当前节点位置以及与当前节点相连的其他节点信息；Obtaining all nodes in the taxiing channel and the attributes of the nodes, wherein the attributes include the current node identifier, the current node position, and other node information connected to the current node;
根据所有节点及节点属性生成每个节点的描述信息。Generate description information for each node according to all nodes and node attributes.
在本申请一实施方式中，所述与当前节点相连的其他节点信息，包括：In an embodiment of the present application, the information about other nodes connected to the current node includes:
与当前节点相连的其他节点标识、当前节点与其他节点的联通方向以及当前节点与其他节点的相对位置参数。The identification of other nodes connected to the current node, the communication direction between the current node and other nodes, and the relative position parameters between the current node and other nodes.
在本申请一实施方式中，所述当前节点标识和/或其他节点标识通过数字、字母、符号、中文或至少两者以上的组合进行表示。In an embodiment of the present application, the current node identifier and/or other node identifiers are represented by numbers, letters, symbols, Chinese characters or a combination of at least two or more.
在本申请一实施方式中，所述相对位置参数包括用于表示当前节点与其他节点为直线时的第一类型表示和用于表示当前节点与其他节点为非直线时的第二类型表示。In an embodiment of the present application, the relative position parameters include a first type of representation used to indicate that the current node is in a straight line with other nodes and a second type of representation used to indicate that the current node is not in a straight line with other nodes.
在本申请一实施方式中，所述联通方向根据当前节点与其他节点或其他节点与其他节点能否连通标示为第一标识和第二标识。In an embodiment of the present application, the connection direction is marked as a first identifier and a second identifier according to whether the current node can communicate with other nodes or whether other nodes can communicate with other nodes.
在另一方面，本申请提供的技术方案是：一种无人机滑行通道描述系统，所述系统包括：In another aspect, the technical solution provided by this application is: a system for describing the taxiway of an unmanned aerial vehicle, the system comprising:
节点获取模块，用于获取所述滑行通道内的所有节点及所述节点的属性，其中，所述属性包括当前节点标识、当前节点位置以及与当前节点相连的其他节点信息；A node obtaining module, configured to obtain all nodes in the taxiing channel and the attributes of the nodes, wherein the attributes include the current node identifier, the current node location, and other node information connected to the current node;
节点生成模块，用于根据所有节点及节点属性生成每个节点的描述信息。The node generation module is used to generate description information of each node according to all nodes and node attributes.
在本申请一实施方式中，所述节点获取模块获取的与当前节点相连的其他节点信息，包括In an embodiment of the present application, the information of other nodes connected to the current node acquired by the node acquisition module includes
与当前节点相连的其他节点标识、当前节点与其他节点的联通方向以及当前节点与其他节点的相对位置参数。The identification of other nodes connected to the current node, the communication direction between the current node and other nodes, and the relative position parameters between the current node and other nodes.
在本申请一实施方式中，所述当前节点标识和/或其他节点标识通过数字、字母、符号、中文或至少两者以上的组合进行表示。In an embodiment of the present application, the current node identifier and/or other node identifiers are represented by numbers, letters, symbols, Chinese characters or a combination of at least two or more.
在本申请一实施方式中，所述相对位置参数包括用于表示当前节点与其他节点为直线时的第一类型表示和用于表示当前节点与其他节点为非直线时的第二类型表示。In an embodiment of the present application, the relative position parameters include a first type of representation used to indicate that the current node is in a straight line with other nodes and a second type of representation used to indicate that the current node is not in a straight line with other nodes.
在本申请一实施方式中，所述联通方向根据当前节点与其他节点或其他节点与其他节点能否连通标示为第一标识和第二标识。In an embodiment of the present application, the connection direction is marked as a first identifier and a second identifier according to whether the current node can communicate with other nodes or whether other nodes can communicate with other nodes.
通过本申请的无人机滑行通道描述方法及系统可以对机场跑道、滑行道、联络道等进行数字化描述，将自然语言转化为机器语言，可为无人机自动滑行规划奠定基础，而无人机实现自动滑行规划可缩短任务规划时间，进而提高任务响应速度。The UAV taxiway description method and system of the present application can digitally describe airport runways, taxiways, contact roads, etc., and convert natural language into machine language, which can lay the foundation for UAV automatic taxi planning, without unmanned The automatic taxi planning of the machine can shorten the mission planning time and improve the mission response speed.
附图说明Description of drawings
为了更清楚地说明本申请提供的技术方案，下面将对附图作简单地介绍。显而易见地，下面描述的附图仅仅是本申请的一些实施例。In order to illustrate the technical solutions provided by the present application more clearly, the accompanying drawings will be briefly introduced below. Apparently, the drawings described below are only some embodiments of the present application.
图1为本申请的无人机滑行通道描述方法流程图。Fig. 1 is a flow chart of the method for describing the taxiway of the drone in the present application.
图2为本申请一实施例的滑行通道示意图。Fig. 2 is a schematic diagram of a sliding passage according to an embodiment of the present application.
图3为本申请一实施例的联通矩阵形成示意图。FIG. 3 is a schematic diagram of forming a Unicom matrix according to an embodiment of the present application.
图4为本申请的无人机滑行通道描述系统组成图。FIG. 4 is a composition diagram of the UAV taxiway description system of the present application.
具体实施方式Detailed ways
为使本申请实施的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行更加详细的描述。In order to make the purpose, technical solution and advantages of the application more clear, the technical solution in the embodiment of the application will be described in more detail below in conjunction with the drawings in the embodiment of the application.
为了将无人机在机场的滑行通道进行数字化描述，由自然语言转化为机器语言，为无人机自动滑行规划奠定基础，本申请提供了一种无人机滑行通道描述方法及系统。In order to digitally describe the taxiway of the UAV at the airport, convert natural language into machine language, and lay the foundation for the automatic taxi planning of the UAV, this application provides a method and system for describing the taxiway of the UAV.
首先，如图1所示，本申请提供的无人机滑行通道描述方法10包括：First, as shown in FIG. 1 , the method 10 for describing the UAV taxiway provided by the present application includes:
S11：获取滑行通道内的所有节点及节点的属性，其中，属性包括当前节点标识、当前节点位置以及与当前节点相连的其他节点信息；S11: Obtain all nodes and attributes of nodes in the taxiway, wherein the attributes include current node identifier, current node position and other node information connected to the current node;
S12：根据所有节点及节点属性生成每个节点的描述信息。S12: Generate description information of each node according to all nodes and node attributes.
在本申请一实施方式中，与当前节点相连的其他节点信息可以包括：与当前节点相连的其他节点标识、当前节点与其他节点的联通方向以及当前节点与其他节点的相对位置参数。In an embodiment of the present application, the information of other nodes connected to the current node may include: identifiers of other nodes connected to the current node, communication directions between the current node and other nodes, and relative position parameters between the current node and other nodes.
在本申请一实施方式中，当前节点标识和/或其他节点标识通过数字、字母、符号、中文或至少两者以上的组合进行表示。In an embodiment of the present application, the current node identifier and/or other node identifiers are represented by numbers, letters, symbols, Chinese characters or a combination of at least two or more.
在本申请一实施方式中，相对位置参数包括用于表示当前节点与其他节点为直线时的第一类型表示和用于表示当前节点与其他节点为非直线时的第二类型表示。In an embodiment of the present application, the relative position parameter includes a first type of representation used to indicate that the current node and other nodes are in a straight line and a second type of representation used to indicate that the current node and other nodes are not in a straight line.
在本申请一实施方式中，联通方向根据当前节点与其他节点或其他节点与其他节点能否连通标示为第一标识和第二标识。In an embodiment of the present application, the connection direction is marked as a first identifier and a second identifier according to whether the current node can communicate with other nodes or whether other nodes can communicate with other nodes.
参考图2所示的某一段滑行通道，其包括节点2-7，其中节点6分别与节点2、4和7连接，节点7分别与节点6、4和5连接，节点4分别与节点6、7和3连接。对生成后的每个节点来说，其如表1所示的节点6。Referring to a section of taxiway shown in Figure 2, it includes nodes 2-7, wherein node 6 is connected to nodes 2, 4 and 7 respectively, node 7 is connected to nodes 6, 4 and 5 respectively, node 4 is connected to nodes 6, 7 and 3 are connected. For each generated node, it is node 6 shown in Table 1.
表1节点6描述示例Table 1 Node 6 description example
表1中，各标识代表的意义为：In Table 1, the meanings of the symbols are as follows:
1、本节点(或当前节点)O1. This node (or current node) O
1.1本节点号：要描述的节点。在本示例中采用数字6表示，即表示为节点6；1.1 The node number: the node to be described. In this example, the number 6 is used to represent it, which means it is represented as node 6;
1.2经度、纬度：描述本节点的具体位置；1.2 Longitude and latitude: describe the specific location of this node;
1.3联通点数量：与本节点相连的节点数量。在本示例中为3，即与节点6相连的节点有3个，分别为节点2、4、7。1.3 Number of connected nodes: the number of nodes connected to this node. In this example, it is 3, that is, there are 3 nodes connected to node 6, namely nodes 2, 4, and 7.
2、第一个联通节点A(其它连通节点描述方式相同)2. The first connected node A (other connected nodes are described in the same way)
2.1节点标识号：即为与本节点联通的第一个节点的描述。在本示例中为2，即与节点6相连的节点2；2.1 Node identification number: It is the description of the first node connected with this node. In this example 2, which is node 2 which is connected to node 6;
2.2联通方向：b4～b7为路质描述，其中0＝停机坪，1＝联络道，2＝滑行道，3～8描述不同等级宽度的跑道(依据目前民航定义分为A～F级，其中A级最窄，F级最宽)，其余保留；b0、b1、b2、b3表示本联通节点与其它联通节点的联通性，0表示不联通，1表示联通；2.2 Unicom direction: b4~b7 are descriptions of road quality, where 0=apron, 1=connecting road, 2=taxiway, 3~8 describe runways of different grades of width (according to the current definition of civil aviation, they are divided into grades A~F, of which Class A is the narrowest, Class F is the widest), and the rest are reserved; b0, b1, b2, and b3 indicate the connectivity between this Unicom node and other Unicom nodes, 0 means no Unicom, and 1 means Unicom;
2.3参考点相对经度、纬度：如果经度、纬度均为0，则表示A与O之间的路段为直线；如果经度、纬度分别为具体的经、纬度数值，则代表A与O之间的路段为圆弧路段，经、纬度表示圆弧的圆点位置。在本示例中，节点6与节点2之间的路段为直线，节点6与节点4之间的路段为圆弧路段。2.3 The relative longitude and latitude of the reference point: if the longitude and latitude are both 0, it means that the road section between A and O is a straight line; if the longitude and latitude are the specific longitude and latitude values respectively, it means the road section between A and O is an arc segment, and the latitude and longitude indicate the point position of the arc. In this example, the road segment between node 6 and node 2 is a straight line, and the road segment between node 6 and node 4 is a circular arc road segment.
对于本申请中的联通性，如图3所示，实线箭头表示可以通行，未标识则表示禁止通行。将图3中左侧的路段通行情况转化为数字描述，即右边的联通矩阵。在图示中，节点6向节点2方向均不能通行，节点6向节点4方向可由节点2来流方向通行，节点6向节点7方向可由节点2和节点4来流方向通行，而图示联通矩阵中，0表示不能通行，1表示可以通行，因此，填入联通矩阵可得图示所示内容。As for the connectivity in this application, as shown in Figure 3, the solid arrow indicates that it is possible to pass, and the unmarked means that it is forbidden to pass. Convert the road traffic situation on the left side of Figure 3 into a digital description, that is, the connectivity matrix on the right side. In the illustration, the direction from node 6 to node 2 cannot pass through, the direction from node 6 to node 4 can be passed through the direction from node 2, the direction from node 6 to node 7 can be passed through the direction from node 2 and node 4, and the diagram is connected In the matrix, 0 means it cannot pass, and 1 means it can pass. Therefore, fill in the China Unicom matrix to get the content shown in the diagram.
如图4所示，本申请提供了一种无人机滑行通道描述系统，系统包括：As shown in Figure 4, this application provides a UAV taxiway description system, the system includes:
节点获取模块21，用于获取滑行通道内的所有节点及节点的属性，其中，属性包括当前节点标识、当前节点位置以及与当前节点相连的其他节点信息；The node obtaining module 21 is used to obtain all nodes and attributes of nodes in the taxiway, wherein the attributes include current node identification, current node position and other node information connected to the current node;
节点生成模块22，用于根据所有节点及节点属性生成每个节点的描述信息。The node generating module 22 is configured to generate description information of each node according to all nodes and node attributes.
在本申请一实施方式中，节点获取模块21获取的与当前节点相连的其他节点信息，包括In one embodiment of the present application, the information of other nodes connected to the current node obtained by the node acquisition module 21 includes
与当前节点相连的其他节点标识、当前节点与其他节点的联通方向以及当前节点与其他节点的相对位置参数。The identification of other nodes connected to the current node, the communication direction between the current node and other nodes, and the relative position parameters between the current node and other nodes.
在本申请一实施方式中，当前节点标识和/或其他节点标识通过数字、字母、符号、中文或至少两者以上的组合进行表示。In an embodiment of the present application, the current node identifier and/or other node identifiers are represented by numbers, letters, symbols, Chinese characters or a combination of at least two or more.
在本申请一实施方式中，相对位置参数包括用于表示当前节点与其他节点为直线时的第一类型表示和用于表示当前节点与其他节点为非直线时的第二类型表示。In an embodiment of the present application, the relative position parameter includes a first type of representation used to indicate that the current node and other nodes are in a straight line and a second type of representation used to indicate that the current node and other nodes are not in a straight line.
在本申请一实施方式中，联通方向根据当前节点与其他节点或其他节点与其他节点能否连通标示为第一标识和第二标识。In an embodiment of the present application, the connection direction is marked as a first identifier and a second identifier according to whether the current node can communicate with other nodes or whether other nodes can communicate with other nodes.
本申请的无人机滑行通道描述方法及系统可以对机场跑道、滑行道、联络道等进行数字化描述，将自然语言转化为机器语言，可为无人机自动滑行规划奠定基础，而无人机实现自动滑行规划可缩短任务规划时间，进而提高任务响应速度。The UAV taxiway description method and system of the present application can digitally describe airport runways, taxiways, contact roads, etc., and convert natural language into machine language, which can lay the foundation for UAV automatic taxi planning, and UAV Implementing automated taxi planning reduces mission planning time, thereby improving mission responsiveness.
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。The above is only a specific embodiment of the application, but the scope of protection of the application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the application. All should be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be determined by the protection scope of the claims.
| Application Number | Priority Date | Filing Date | Title |
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| CN201910791898.1ACN110364034A (en) | 2019-08-26 | 2019-08-26 | Method and system for describing taxiway of unmanned aerial vehicles |
| Application Number | Priority Date | Filing Date | Title |
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| CN201910791898.1ACN110364034A (en) | 2019-08-26 | 2019-08-26 | Method and system for describing taxiway of unmanned aerial vehicles |
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| CN110364034Atrue CN110364034A (en) | 2019-10-22 |
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| CN201910791898.1APendingCN110364034A (en) | 2019-08-26 | 2019-08-26 | Method and system for describing taxiway of unmanned aerial vehicles |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20191022 |