一种结合R树索引和海伦公式的偏航算法

A yaw algorithm combining R-tree indexes with Helen formula

针对卫星导航系统中嵌入式终端常用偏航算法(欧氏距离度量法和缓冲区近似法)的局限性,提出了一种结合R树索引和海伦公式的改进偏航算法。该算法采用R树索引筛选法缩小目标点所在航线范围,结合海伦公式快速计算出目标点到航线的距离,进而做出偏航判断。理论分析和实验结果表明,改进算法实现零误差快速偏航判断,显著提高导航定位终端偏航报警的实时性和准确性,从而降低了对终端计算能力的要求,满足了上万个航路点的快速偏航计算要求。

I Concerning the limitations for the common terminal yaw algorithm（Euclidean distance metric method and buffer approximation）in satellite navigation systems,an improved yaw algorithm combining R-tree indexes with Helen formula is proposed.The algorithm uses the R-tree index screening method to narrow the scope of the target′s possible route,then quickly calculates the distance to the target point from the route by using Helen formula.Theoretical analysis and experimental results show that,the algorithm achieving the aim of rapid yaw judgment in the condition of zero error,and improving the real timing and precision of the yaw alarm on navigation and positioning terminals.This optimized algorithm reduces the requirements of computing capability for the terminal computer,and meets the needs of rapid yaw calculation of tens of thousands of route points.