阅读说明：本技术 一种基于北斗系统的高精度导航定位定向系统 (High-precision navigation positioning and orientation system based on Beidou system ) 是由 王韬 景贵飞 曹红杰 于 2021-09-29 设计创作，主要内容包括：本发明涉及救援直升机的导航定位技术领域,具体涉及一种基于北斗系统的高精度导航定位定向系统,以解决救援直升机的路线规划以及降落地点规划的问题。本发明基于北斗系统的高精度导航定位定向系统,包括机载端和地面端,地面端包括降落地点分析模块、路线规划模块和GIS矢量模块,降落地点分析模块若未搜索到GIS矢量地图,则根据救援地点属性生成若干个虚拟降落地点,路线规划模块用于根据定位信息和若干虚拟降落地点进行路线规划,救援直升机根据虚拟路线飞行时采集地面信息,GIS矢量模块根据实时采集的地面信息实时的生成当前GIS矢量地图,降落地点分析模块根据当前GIS矢量地图实时的分析救援直升机的实际降落地点。(The invention relates to the technical field of navigation and positioning of rescue helicopters, in particular to a high-precision navigation, positioning and orientation system based on a Beidou system, and aims to solve the problems of route planning and landing point planning of the rescue helicopters. The invention discloses a high-precision navigation positioning and orientation system based on a Beidou system, which comprises an airborne end and a ground end, wherein the ground end comprises a landing point analysis module, a route planning module and a GIS vector module, if a GIS vector map is not searched by the landing point analysis module, a plurality of virtual landing points are generated according to attributes of rescue places, the route planning module is used for planning routes according to positioning information and the virtual landing points, the rescue helicopter acquires ground information when flying according to a virtual route, the GIS vector module generates a current GIS vector map in real time according to the real-time acquired ground information, and the landing point analysis module analyzes an actual landing point of the rescue helicopter in real time according to the current GIS vector map.)

1. The utility model provides a high accuracy navigation positioning orientation system based on beidou system, includes machine year end and ground end, machine year end includes big dipper user machine and ground information acquisition module, big dipper user machine communicates with ground end intercommunication through big dipper short message communication of big dipper satellite, big dipper user machine is used for sending the locating information of rescuing the helicopter to ground end in real time, its characterized in that: the ground end comprises a landing point analysis module, a route planning module and a GIS vector module, wherein the landing point analysis module is used for searching a GIS vector map related to a rescue place according to the received rescue place, if the GIS vector map is searched, an actual landing point of the rescue helicopter is analyzed according to the GIS vector map, and the route planning module is used for planning a route according to positioning information of the rescue helicopter and the actual landing point and sending the planned route to the airborne end;

if the GIS vector map is not searched, the landing point analysis module generates a plurality of virtual landing points according to the attributes of the rescue places, the route planning module is used for planning a route according to the positioning information of the rescue helicopter and a plurality of virtual landing points, and the planned virtual route is sent to the airborne terminal, the rescue helicopter starts a ground information acquisition module to acquire ground information when flying according to the virtual route, and transmits the collected ground information to a GIS vector module, the GIS vector module generates a current GIS vector map in real time according to the real-time collected ground information, the landing point analysis module analyzes the actual landing point of the rescue helicopter in real time according to the current GIS vector map until the actual landing point is analyzed, and the route planning module generates a new planned route according to the positioning information and the actual landing point and transmits the new planned route to the airborne terminal.

2. The Beidou system based high precision navigation, positioning and orientation system according to claim 1, characterized in that: the route planning module is further used for calculating the distance between the rescue place and the actual landing place, if the distance is larger than or equal to a threshold value, the route planning is carried out according to the positioning information of the current rescue helicopter, the rescue place and the actual landing place, and the planned route passes through the rescue place.

3. The Beidou system based high precision navigation, positioning and orientation system according to claim 2, characterized in that: the rescue helicopter starts a ground information acquisition module after passing through the rescue place to acquire ground information between the rescue place and an actual landing place, and the route planning module is also used for generating a walking planning route according to the acquired ground information and transmitting the walking planning route to a terminal of a person to be rescued and an airborne terminal.

4. The Beidou system based high precision navigation, positioning and orientation system according to claim 2, characterized in that: the route planning module is also used for generating a walking planning route according to a GIS vector map between the rescue place and the actual landing place.

5. The Beidou system based high precision navigation, positioning and orientation system according to claim 2, characterized in that: the route planning module is further used for calculating the distance between the rescue place and the actual landing place, and if the distance is smaller than a threshold value, the shortest route planning is carried out according to the positioning information of the current rescue helicopter and the actual landing place.

6. The Beidou system based high precision navigation, positioning and orientation system according to claim 1, characterized in that: the Beidou user machine adopts real-time centimeter-level navigation positioning.

7. The Beidou system based high precision navigation, positioning and orientation system according to claim 1, characterized in that: the system further comprises a database, historical rescue places and landing places corresponding to the historical rescue places are stored in the database, the historical rescue places comprise rescue place attribute information, the landing places comprise landing place attribute information, and the rescue place attributes and the landing place attributes are stored in a mapping mode.

Technical Field

The invention relates to the technical field of navigation positioning of rescue helicopters, in particular to a high-precision navigation positioning and orienting system based on a Beidou system.

Background

The aviation rescue has the advantages of rapidness, high efficiency, strong maneuverability and the like, is an important means for emergency rescue, and is particularly suitable for regions which are inconvenient for motor vehicles to run, remote mountain areas or special ground conditions. Although GIS vector maps are established in many areas at present and play a significant role in route planning and landing point analysis of rescue helicopters, one problem of aviation rescue is that: the system does not store GIS vector maps of all regions, and in the regions where the GIS vector maps are not stored in advance, planning a flight route and a landing point for the rescue helicopter becomes a very troublesome problem.

Disclosure of Invention

The invention aims to provide a high-precision navigation positioning and orientation system based on a Beidou system, so as to solve the problems of route planning and landing point planning of a rescue helicopter under the condition that a GIS (geographic information System) vector map of a rescue place is not stored in the system.

The invention relates to a high-precision navigation, positioning and orientation system based on a Beidou system, which comprises an airborne end and a ground end, wherein the airborne end comprises a Beidou user machine and a ground information acquisition module, the Beidou user machine is mutually communicated with the ground end through Beidou short message communication of a Beidou satellite, and the Beidou user machine is used for sending positioning information of a rescue helicopter to the ground end in real time, wherein: the ground end comprises a landing point analysis module, a route planning module and a GIS vector module, wherein the landing point analysis module is used for searching a GIS vector map related to a rescue place according to the received rescue place, if the GIS vector map is searched, an actual landing point of the rescue helicopter is analyzed according to the GIS vector map, and the route planning module is used for planning a route according to positioning information of the rescue helicopter and the actual landing point and sending the planned route to the airborne end;

if the GIS vector map is not searched, the landing point analysis module generates a plurality of virtual landing points according to the attributes of the rescue places, the route planning module is used for planning a route according to the positioning information of the rescue helicopter and a plurality of virtual landing points, and the planned virtual route is sent to the airborne terminal, the rescue helicopter starts a ground information acquisition module to acquire ground information when flying according to the virtual route, and transmits the collected ground information to a GIS vector module, the GIS vector module generates a current GIS vector map in real time according to the real-time collected ground information, the landing point analysis module analyzes the actual landing point of the rescue helicopter in real time according to the current GIS vector map until the actual landing point is analyzed, and the route planning module generates a new planned route according to the positioning information and the actual landing point and transmits the new planned route to the airborne terminal.

The invention has the beneficial effects that: 1. the ground end comprises a landing point analysis module, a route planning module and a GIS vector module, the actual landing point of the rescue helicopter can be directly analyzed according to the GIS vector map under the condition that the GIS vector map is searched through the landing point analysis module, and then the route planning is carried out through the route planning module, so that the rescue helicopter can fly to the landing point according to the planned route in time, and the rescue opportunity is prevented from being delayed;

2. the invention further solves the problem of planning actual landing points and routes for the rescue helicopter under the condition that the GIS vector map of the rescue place is not stored in the system, namely, the landing point analysis module generates a plurality of virtual landing points according to the attributes of the rescue place, the route planning module is used for planning the routes according to the positioning information of the rescue helicopter and the virtual landing points, the rescue helicopter starts the ground information acquisition module to acquire the ground information when flying according to the virtual route, the GIS vector module generates the current GIS vector map in real time according to the real-time acquired ground information, and the landing point analysis module analyzes the actual landing points of the rescue helicopter in real time according to the current GIS vector map until the actual landing points are analyzed, and generates a new planned route for the rescue helicopter again so as to solve the problem.

In the invention, it is noted that the GIS vector module generates the current GIS vector map in real time, and the landing point analysis module analyzes the actual landing points of the rescue helicopter in real time, that is, if the number of the generated virtual landing points is 3, the rescue helicopter does not need to fly at all the three virtual landing points to finally generate the actual landing points, but during the flight, as long as the collected ground information and the generated current GIS vector map are enough to support the landing point analysis module to analyze the landing points, the rescue helicopter can stop flying by the route of the virtual landing points and fly by a new planning route, so that the flight time of the rescue helicopter is reduced as much as possible, and the rescue time is prevented from being delayed too much.

Further: the route planning module is further used for calculating the distance between the rescue place and the actual landing place, if the distance is larger than or equal to a threshold value, the route planning is carried out according to the positioning information of the current rescue helicopter, the rescue place and the actual landing place, and the planned route passes through the rescue place.

The threshold value can be set by a system, if the actual landing place is far away from the rescue place, the injury condition and the insistence time of the person to be rescued must be considered, and if rescue cannot be achieved or self rescue cannot be achieved due to lack of medical supplies during the period, rescue fails, so that the planned route passes through the rescue place, the rescue helicopter can firstly shed the rescue medical supplies and the like to the rescue place, and the person to be rescued can conveniently conduct self rescue firstly.

Further: the rescue helicopter starts a ground information acquisition module after passing through the rescue place to acquire ground information between the rescue place and an actual landing place, and the route planning module is also used for generating a walking planning route according to the acquired ground information and transmitting the walking planning route to a terminal of a person to be rescued and an airborne terminal.

After the rescue helicopter falls, both the rescue personnel and the personnel to be rescued must walk between the rescue place and the landing place, and because the ground conditions are unknown, the rescue helicopter probably takes a long time to find a route and even walks a lot of curved roads, so that when the rescue helicopter flies through the space between the rescue place and the landing place, the walking route is planned for the rescue helicopter and the landing place.

Further: the route planning module is also used for generating a walking planning route according to a GIS vector map between the rescue place and the actual landing place. If the system stores GIS vector maps near the rescue place, the walking planning route between the rescue place and the actual landing place can be directly generated, so that the rescue is facilitated.

Further: the route planning module is further used for calculating the distance between the rescue place and the actual landing place, and if the distance is smaller than a threshold value, the shortest route planning is carried out according to the positioning information of the current rescue helicopter and the actual landing place.

If the distance between the rescue place and the actual landing place is short, the rescue helicopter lands, and then the rescue personnel can find the personnel to be rescued quickly, so that the rescue helicopter can fly without passing through the rescue place, but a shortest flight route is planned for the rescue helicopter, and the rescue is implemented by landing quickly.

Further: in order to improve the positioning accuracy, the Beidou user machine adopts real-time centimeter-level navigation positioning.

Further: the system further comprises a database, historical rescue places and landing places corresponding to the historical rescue places are stored in the database, the historical rescue places comprise rescue place attribute information, the landing places comprise landing place attribute information, and the rescue place attributes and the landing place attributes are stored in a mapping mode. Therefore, technical support is provided for the landing place analysis module to generate a plurality of virtual landing places according to the attributes of the rescue places.

Drawings

FIG. 1 is a schematic block diagram of an embodiment of a high-precision navigation positioning and orientation system based on a Beidou system.

Detailed Description

The following is further detailed by way of specific embodiments:

as shown in the attached drawing 1, the high-precision navigation, positioning and orientation system based on the Beidou system comprises an airborne end and a ground end, wherein the airborne end comprises a Beidou user machine, a ground information acquisition module and a sign data monitor, the Beidou user machine is communicated with the ground end through Beidou short message communication of a Beidou satellite, and the Beidou user machine is used for sending positioning information (including information such as longitude, latitude and height) of a rescue helicopter to the ground end in real time. The Beidou user machine adopts real-time centimeter-level navigation positioning, the positioning accuracy is high, in order to achieve centimeter-level navigation positioning, a Beidou third RDSS short message channel is adopted to transmit high-accuracy correction numbers of a wide area differential system so as to obtain a high-accuracy real-time centimeter-level navigation positioning result, which is the prior art, and the contents disclosed by the publication No. CN112711048A entitled SSR transmission method and high-accuracy positioning system based on the Beidou third RDSS short message are not repeated here. The physical sign data monitor in the embodiment is used for monitoring physical signs of rescuers after the rescuers to be rescued are rescued, and returning monitoring data to the ground.

In this embodiment, the ground end includes a landing point analysis module, a route planning module, and a GIS vector module, where the landing point analysis module is configured to search a GIS vector map related to a rescue location according to the received rescue location, and if the GIS vector map is found, analyze an actual landing point of the rescue helicopter according to the GIS vector map, and the route planning module is configured to perform route planning according to positioning information of the rescue helicopter and the actual landing point, and send a planned route to the airborne end.

If the GIS vector map is not searched, the landing point analysis module generates a plurality of virtual landing points according to the attributes of the rescue places, the route planning module is used for planning a route according to the positioning information of the rescue helicopter and a plurality of virtual landing points, and the planned virtual route is sent to the airborne terminal, the rescue helicopter starts a ground information acquisition module to acquire ground information when flying according to the virtual route, and transmits the collected ground information to a GIS vector module, the GIS vector module generates a current GIS vector map in real time according to the real-time collected ground information, the landing point analysis module analyzes the actual landing point of the rescue helicopter in real time according to the current GIS vector map until the actual landing point is analyzed, and the route planning module generates a new planned route according to the positioning information and the actual landing point and transmits the new planned route to the airborne terminal.

The system of this embodiment specifically includes a database, where the database stores historical rescue places and landing points corresponding to the historical rescue places, the historical rescue places include rescue place attribute information, the landing points include landing point attribute information, and the rescue place attributes and the landing point attributes are stored in a mapping manner. The touchdown point attributes include a site area, a site slope, and an air barrier. Such as a flat, hard ground with a landing site slope of no more than 3 degrees. Although the specific terrain and ground conditions of the rescue site may not be clear in some cases, the general ground conditions of the rescue site are generally known, so that the historical rescue sites similar to the ground conditions are traversed in the system database according to the general ground conditions, and the landing points corresponding to the historical rescue sites are stored according to the mapping by matching to the similar historical rescue sites, so that a plurality of virtual landing points are generated according to the landing points corresponding to the historical rescue sites.

In this embodiment, in the flight process, as long as the collected ground information and the generated current GIS vector map sufficiently support the landing point analysis module to analyze the landing point, the rescue helicopter may stop to continue flying by the route of the virtual landing point, and fly by the new planned route, so as to reduce the flight time of the rescue helicopter as much as possible.

The route planning module is further used for calculating the distance between the rescue place and the actual landing place, if the distance is larger than or equal to a threshold value, the route planning is carried out according to the positioning information of the current rescue helicopter, the rescue place and the actual landing place, and the planned route passes through the rescue place. In this embodiment, the route planning module is further configured to generate a walking planned route according to a GIS vector map between the rescue location and the actual landing location. The rescue helicopter starts a ground information acquisition module after passing through the rescue place to acquire ground information between the rescue place and an actual landing place, and the route planning module is also used for generating a walking planning route according to the acquired ground information and transmitting the walking planning route to a terminal of a person to be rescued and an airborne terminal. In this embodiment, if there is a signal in the rescue place, the walking planned route may also be synchronously transmitted to the terminal of the person to be rescued.

The route planning module is further used for calculating the distance between the rescue place and the actual landing place, if the distance is smaller than the threshold value, namely the distance is short, the rescue personnel and the personnel to be rescued can easily find each other, the route of the rescue helicopter does not need to be planned to pass through the rescue place, and the shortest route planning can be carried out according to the positioning information of the current rescue helicopter and the actual landing place. In this embodiment, the threshold may be specifically set as required, and different thresholds, such as 100m or 300m, are set for different terrains and rescue scenes.

The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.