航段导航计算机 (Segment_Navigator) 设计与实现

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1. 引言

航段导航计算机是现代航空电子系统中的关键组件，负责根据飞机当前位置和激活航段信息计算导航指令。本文将详细介绍一个基于Python实现的航段导航计算机(Segment_Navigator)系统，该系统能够处理TF(直线)和RF(圆弧)两种航段类型，提供精确的导航指引。

2. 系统概述

2.1 功能需求

航段导航计算机需要实现以下核心功能：

根据激活航段类型(TF或RF)计算导航参数
实时计算飞机与航段终点的水平和垂直距离
为TF航段提供期望航向角
为RF航段提供期望转弯半径和方向
判断飞机是否到达当前航段终点

2.2 输入输出定义

输入参数：

Active_Segment: 总线信号，包含当前激活航段信息
Position_Current: 结构体，表示飞机当前位置(经度、纬度、高度)
Velocity_Current: 结构体，表示飞机当前速度向量(可选)

输出参数：

Horizontal_Distance: 双精度，距终点水平距离(米)
Vertical_Distance: 双精度，距终点高度差(米)
Desired_Heading: 双精度，期望航向角(度，TF航段有效)
Desired_TurnRadius: 双精度，期望转弯半径(米，RF航段有效)
Desired_TurnDirection: 枚举(左转=1/右转=2，RF有效)
Reached_Waypoint: 布尔，到达当前航段终点标志

3. 核心算法设计

3.1 地理空间计算基础

3.1.1 Haversine公式

Haversine公式用于计算两个经纬度点之间的大圆距离：

import mathdef haversine(lat1, lon1, lat2, lon2):"""计算两个经纬度点之间的水平距离(米)参数:lat1, lon1: 点1的纬度和经度(度)lat2, lon2: 点2的纬度和经度(度)返回:两点间距离(米)"""# 将角度转换为弧度lat1, lon1, lat2, lon2 = map(math.radians, [lat1, lon1, lat2, lon2])# Haversine公式dlat = lat2 - lat1dlon = lon2 - lon1a = math.sin(dlat/2)**2 + math.cos(lat1) * math.cos(lat2) * math.sin(dlon/2)**2c = 2 * math.asin(math.sqrt(a))# 地球半径(米)r = 6371000return c * r

3.1.2 航向角计算

对于TF航段，我们需要计算从当前位置到终点的航向角：

def calculate_bearing(lat1, lon1, lat2, lon2):"""计算从点1到点2的初始航向角(度)参数:lat1, lon1: 起点纬度和经度(度)lat2, lon2: 终点纬度和经度(度)返回:航向角(度)，0-360，正北为0，顺时针增加"""lat1, lon1, lat2, lon2 = map(math.radians, [lat1, lon1, lat2, lon2])dlon = lon2 - lon1x = math.sin(dlon) * math.cos(lat2)y = math.cos(lat1) * math.sin(lat2) - math.sin(lat1) * math.cos(lat2) * math.cos(dlon)initial_bearing = math.atan2(x, y)initial_bearing = math.degrees(initial_bearing)compass_bearing = (initial_bearing + 360) % 360return compass_bearing

3.2 TF航段处理

TF航段(Track to Fix)是直线航段，飞机需要沿两点之间的直线飞行。

3.2.1 TF航段导航计算

def process_tf_segment(current_pos, segment_end):"""处理TF航段计算参数:current_pos: 当前位置(lat, lon, alt)segment_end: 航段终点(lat, lon, alt)返回:导航指令字典"""# 计算水平距离horizontal_dist = haversine(current_pos.lat, current_pos.lon,segment_end.lat, segment_end.lon)# 计算垂直距离vertical_dist = abs(segment_end.alt - current_pos.alt)# 计算期望航向desired_heading = calculate_bearing(current_pos.lat, current_pos.lon,segment_end.lat, segment_end.lon)# 检查是否到达航点reached = (horizontal_dist < 100) and (vertical_dist < 10)return {'Horizontal_Distance': horizontal_dist,'Vertical_Distance': vertical_dist,'Desired_Heading': desired_heading,'Reached_Waypoint': reached}

3.3 RF航段处理

RF航段(Radius to Fix)是圆弧航段，飞机需要沿指定半径的圆弧飞行。

3.3.1 RF航段几何计算

def process_rf_segment(current_pos, segment_end, center_pos, turn_radius):"""处理RF航段计算参数:current_pos: 当前位置(lat, lon, alt)segment_end: 航段终点(lat, lon, alt)center_pos: 圆心位置(lat, lon)turn_radius: 转弯半径(米)返回:导航指令字典"""# 计算飞机到终点的水平距离horizontal_dist_to_end = haversine(current_pos.lat, current_pos.lon,segment_end.lat, segment_end.lon)# 计算垂直距离vertical_dist = abs(segment_end.alt - current_pos.alt)# 计算飞机到圆心的距离dist_to_center = haversine(current_pos.lat, current_pos.lon,center_pos.lat, center_pos.lon)# 计算期望转弯半径(实际就是给定的转弯半径)desired_radius = turn_radius# 确定转弯方向# 通过计算当前点到圆心和终点到圆心的向量叉积确定方向bearing_to_center = calculate_bearing(current_pos.lat, current_pos.lon,center_pos.lat, center_pos.lon)bearing_end_to_center = calculate_bearing(segment_end.lat, segment_end.lon,center_pos.lat, center_pos.lon)# 计算角度差angle_diff = (bearing_end_to_center - bearing_to_center) % 360# 如果角度差小于180度，是顺时针(右转)，否则逆时针(左转)turn_direction = 2 if angle_diff < 180 else 1  # 2=右转, 1=左转# 检查是否到达航点reached = horizontal_dist_to_end < 150return {'Horizontal_Distance': horizontal_dist_to_end,'Vertical_Distance': vertical_dist,'Desired_TurnRadius': desired_radius,'Desired_TurnDirection': turn_direction,'Reached_Waypoint': reached}

4. 系统架构设计

4.1 类结构设计

from enum import Enum
import mathclass TurnDirection(Enum):LEFT = 1RIGHT = 2class Position:def __init__(self, lat=0.0, lon=0.0, alt=0.0):self.lat = lat  # 纬度(度)self.lon = lon  # 经度(度)self.alt = alt  # 高度(米)class Velocity:def __init__(self, vx=0.0, vy=0.0, vz=0.0):self.vx = vx  # x方向速度(米/秒)self.vy = vy  # y方向速度(米/秒)self.vz = vz  # z方向速度(米/秒)class SegmentType(Enum):TF = 1  # 直线航段RF = 2  # 圆弧航段class ActiveSegment:def __init__(self):self.segment_type = None  # SegmentType枚举self.end_point = Position()  # 航段终点self.center_point = Position()  # RF航段专用，圆心位置self.turn_radius = 0.0  # RF航段专用，转弯半径(米)self.required_altitude = 0.0  # 要求高度(米)class SegmentNavigator:def __init__(self):self.active_segment = Noneself.current_position = Position()self.current_velocity = Velocity()def update_inputs(self, active_segment, current_position, current_velocity=None):"""更新输入数据"""self.active_segment = active_segmentself.current_position = current_positionif current_velocity is not None:self.current_velocity = current_velocitydef calculate_navigation(self):"""主计算函数"""if self.active_segment is None:raise ValueError("No active segment defined")if self.active_segment.segment_type == SegmentType.TF:return self._calculate_tf_navigation()elif self.active_segment.segment_type == SegmentType.RF:return self._calculate_rf_navigation()else:raise ValueError(f"Unknown segment type: {self.active_segment.segment_type}")def _calculate_tf_navigation(self):"""TF航段计算"""result = process_tf_segment(self.current_position, self.active_segment.end_point)# 转换为标准输出格式output = {'Horizontal_Distance': result['Horizontal_Distance'],'Vertical_Distance': result['Vertical_Distance'],'Desired_Heading': result['Desired_Heading'],'Desired_TurnRadius': 0.0,  # TF航段无转弯半径'Desired_TurnDirection': None,  # TF航段无转弯方向'Reached_Waypoint': result['Reached_Waypoint']}return outputdef _calculate_rf_navigation(self):"""RF航段计算"""if not hasattr(self.active_segment, 'center_point') or not hasattr(self.active_segment, 'turn_radius'):raise ValueError("RF segment requires center point and turn radius")result = process_rf_segment(self.current_position, self.active_segment.end_point,self.active_segment.center_point,self.active_segment.turn_radius)# 转换为标准输出格式output = {'Horizontal_Distance': result['Horizontal_Distance'],'Vertical_Distance': result['Vertical_Distance'],'Desired_Heading': 0.0,  # RF航段无期望航向角'Desired_TurnRadius': result['Desired_TurnRadius'],'Desired_TurnDirection': TurnDirection.LEFT if result['Desired_TurnDirection'] == 1 else TurnDirection.RIGHT,'Reached_Waypoint': result['Reached_Waypoint']}return output

4.2 系统初始化与配置

系统初始化时需要设置地球参数和导航参数：

class EarthParameters:"""地球参数配置"""def __init__(self):self.radius = 6371000  # 地球平均半径(米)self.flattening = 1/298.257223563  # 地球扁率self.eccentricity_squared = 2*self.flattening - self.flattening**2  # 第一偏心率的平方class NavigationParameters:"""导航参数配置"""def __init__(self):self.tf_arrival_threshold = 100  # TF航段到达阈值(米)self.tf_altitude_threshold = 10  # TF航段高度阈值(米)self.rf_arrival_threshold = 150  # RF航段到达阈值(米)self.min_turn_radius = 500  # 最小转弯半径(米)self.max_turn_radius = 20000  # 最大转弯半径(米)

5. 高级功能实现

5.1 航段过渡处理

在实际飞行中，飞机需要在航段间平滑过渡。我们实现一个过渡状态管理器：

class TransitionManager:"""处理航段间过渡"""def __init__(self):self.current_segment = Noneself.next_segment = Noneself.transition_state = 'NONE'  # NONE, APPROACHING, IN_TRANSITION, COMPLETEDself.transition_start_time = 0self.transition_duration = 10  # 默认过渡时间(秒)def update_segments(self, current, next_seg):"""更新当前和下一航段"""if current != self.current_segment:self.current_segment = currentself.next_segment = next_segself.transition_state = 'NONE'def check_transition(self, nav_output):"""检查是否需要开始过渡"""if self.transition_state != 'NONE':returnif nav_output['Reached_Waypoint']:self.transition_state = 'APPROACHING'def get_transition_output(self, current_nav, next_nav, current_time):"""获取过渡期间的导航输出"""if self.transition_state == 'NONE':return current_navelif self.transition_state == 'APPROACHING':# 准备过渡但尚未开始混合输出return current_navelif self.transition_state == 'IN_TRANSITION':# 线性混合当前和下一航段的导航输出elapsed = current_time - self.transition_start_timeblend_factor = min(elapsed / self.transition_duration, 1.0)blended = {}for key in current_nav:if key in next_nav and next_nav[key] is not None:if isinstance(current_nav[key], (int, float)):blended[key] = (1-blend_factor)*current_nav[key] + blend_factor*next_nav[key]else:# 非数值类型，在过渡后期切换到下一航段的值blended[key] = next_nav[key] if blend_factor > 0.5 else current_nav[key]else:blended[key] = current_nav[key]if blend_factor >= 1.0:self.transition_state = 'COMPLETED'return blendedelse:  # COMPLETEDreturn next_nav

5.2 性能优化技术

5.2.1 地理计算优化

对于高频更新的导航系统，我们需要优化Haversine计算：

# 使用预计算的正弦/余弦值优化
class GeoCalculator:_earth_radius = 6371000  # 米@staticmethoddef fast_haversine(lat1, lon1, lat2, lon2):"""优化的Haversine公式实现"""# 转换为弧度lat1 = math.radians(lat1)lon1 = math.radians(lon1)lat2 = math.radians(lat2)lon2 = math.radians(lon2)# 预先计算正弦和余弦sin_dlat = math.sin(0.5 * (lat2 - lat1))sin_dlon = math.sin(0.5 * (lon2 - lon1))cos_lat1 = math.cos(lat1)cos_lat2 = math.cos(lat2)# 计算距离a = sin_dlat * sin_dlat + cos_lat1 * cos_lat2 * sin_dlon * sin_dlonc = 2.0 * math.atan2(math.sqrt(a), math.sqrt(1.0 - a))return GeoCalculator._earth_radius * c@staticmethoddef fast_bearing(lat1, lon1, lat2, lon2):"""优化的航向角计算"""lat1 = math.radians(lat1)lon1 = math.radians(lon1)lat2 = math.radians(lat2)lon2 = math.radians(lon2)dlon = lon2 - lon1x = math.sin(dlon) * math.cos(lat2)y = math.cos(lat1) * math.sin(lat2) - math.sin(lat1) * math.cos(lat2) * math.cos(dlon)initial_bearing = math.atan2(x, y)return (math.degrees(initial_bearing) + 360.0) % 360.0

5.2.2 缓存机制

对于静态航段数据，实现缓存机制：

class SegmentCache:"""航段数据缓存"""def __init__(self):self._cache = {}self._hit_count = 0self._miss_count = 0def get_segment_data(self, segment_id):"""获取缓存的航段数据"""if segment_id in self._cache:self._hit_count += 1return self._cache[segment_id]else:self._miss_count += 1return Nonedef add_segment_data(self, segment_id, data):"""添加航段数据到缓存"""if segment_id not in self._cache:self._cache[segment_id] = datadef cache_stats(self):"""获取缓存统计"""return {'total': len(self._cache),'hits': self._hit_count,'misses': self._miss_count,'hit_rate': self._hit_count / (self._hit_count + self._miss_count) if (self._hit_count + self._miss_count) > 0 else 0}

6. 测试与验证

6.1 单元测试

import unittestclass TestSegmentNavigator(unittest.TestCase):def setUp(self):self.nav = SegmentNavigator()self.tf_segment = ActiveSegment()self.tf_segment.segment_type = SegmentType.TFself.tf_segment.end_point = Position(34.0522, -118.2437, 1000)  # 洛杉矶self.rf_segment = ActiveSegment()self.rf_segment.segment_type = SegmentType.RFself.rf_segment.end_point = Position(34.0522, -118.2437, 1000)self.rf_segment.center_point = Position(34.045, -118.250, 0)self.rf_segment.turn_radius = 5000self.current_pos = Position(34.050, -118.245, 900)def test_tf_navigation(self):"""测试TF航段导航计算"""self.nav.update_inputs(self.tf_segment, self.current_pos)result = self.nav.calculate_navigation()self.assertIn('Horizontal_Distance', result)self.assertIn('Vertical_Distance', result)self.assertIn('Desired_Heading', result)self.assertIn('Reached_Waypoint', result)self.assertGreater(result['Horizontal_Distance'], 0)self.assertAlmostEqual(result['Vertical_Distance'], 100, delta=0.1)self.assertFalse(result['Reached_Waypoint'])def test_rf_navigation(self):"""测试RF航段导航计算"""self.nav.update_inputs(self.rf_segment, self.current_pos)result = self.nav.calculate_navigation()self.assertIn('Horizontal_Distance', result)self.assertIn('Vertical_Distance', result)self.assertIn('Desired_TurnRadius', result)self.assertIn('Desired_TurnDirection', result)self.assertIn('Reached_Waypoint', result)self.assertEqual(result['Desired_TurnRadius'], 5000)self.assertIn(result['Desired_TurnDirection'], [TurnDirection.LEFT, TurnDirection.RIGHT])self.assertFalse(result['Reached_Waypoint'])def test_waypoint_arrival(self):"""测试航点到达检测"""# 设置当前位置接近终点close_pos = Position(34.0521, -118.2436, 1005)self.nav.update_inputs(self.tf_segment, close_pos)result = self.nav.calculate_navigation()self.assertTrue(result['Reached_Waypoint'])# RF航段测试close_pos = Position(34.0521, -118.2436, 1005)self.nav.update_inputs(self.rf_segment, close_pos)result = self.nav.calculate_navigation()self.assertTrue(result['Reached_Waypoint'])if __name__ == '__main__':unittest.main()

6.2 集成测试

class IntegrationTest:"""集成测试航段导航系统"""@staticmethoddef run_test_sequence():# 创建导航计算机navigator = SegmentNavigator()# 创建测试航段序列segments = [{'type': SegmentType.TF,'end': Position(34.0522, -118.2437, 1000),'desc': "TF to Los Angeles"},{'type': SegmentType.RF,'end': Position(34.0600, -118.2500, 1200),'center': Position(34.0550, -118.2450, 0),'radius': 3000,'desc': "RF turn to next waypoint"}]# 模拟飞行轨迹trajectory = [Position(34.0500, -118.2450, 900),  # 起始点Position(34.0510, -118.2440, 950),  # 接近TF终点Position(34.0522, -118.2437, 1000),  # 到达TF终点Position(34.0530, -118.2440, 1050),  # 开始RF航段Position(34.0560, -118.2470, 1150),  # RF航段中间点Position(34.0600, -118.2500, 1200)   # RF航段终点]# 执行模拟current_segment_idx = 0active_segment = ActiveSegment()for i, pos in enumerate(trajectory):print(f"\n--- 位置 {i+1}: lat={pos.lat}, lon={pos.lon}, alt={pos.alt} ---")# 设置当前航段seg_data = segments[current_segment_idx]active_segment.segment_type = seg_data['type']active_segment.end_point = seg_data['end']if seg_data['type'] == SegmentType.RF:active_segment.center_point = seg_data['center']active_segment.turn_radius = seg_data['radius']# 更新导航计算机navigator.update_inputs(active_segment, pos)try:# 计算导航输出nav_output = navigator.calculate_navigation()# 显示结果print(f"航段: {seg_data['desc']}")print(f"水平距离: {nav_output['Horizontal_Distance']:.1f} 米")print(f"垂直距离: {nav_output['Vertical_Distance']:.1f} 米")if seg_data['type'] == SegmentType.TF:print(f"期望航向: {nav_output['Desired_Heading']:.1f}°")else:print(f"转弯半径: {nav_output['Desired_TurnRadius']} 米")print(f"转弯方向: {nav_output['Desired_TurnDirection'].name}")print(f"到达标志: {nav_output['Reached_Waypoint']}")# 检查是否到达航点，切换到下一航段if nav_output['Reached_Waypoint'] and current_segment_idx < len(segments)-1:current_segment_idx += 1print(f"\n切换到下一航段: {segments[current_segment_idx]['desc']}")except Exception as e:print(f"导航计算错误: {str(e)}")# 运行集成测试
IntegrationTest.run_test_sequence()

7. 性能分析与优化

7.1 计算复杂度分析

Haversine距离计算:
- 时间复杂度: O(1)
- 包含6次三角函数计算，2次平方根运算
航向角计算:
- 时间复杂度: O(1)
- 包含4次三角函数计算，1次反正切运算
RF航段处理:
- 时间复杂度: O(1)
- 需要2次Haversine计算和1次航向角计算

7.2 实时性保证措施

为确保系统实时性，采取以下措施：

计算时间预算分配:
- Haversine计算: ≤50μs
- 航向角计算: ≤30μs
- 完整导航周期: ≤200μs

最坏情况执行时间(WCET)分析:

import timeit# 性能基准测试
def benchmark():lat1, lon1 = 34.0500, -118.2450lat2, lon2 = 34.0522, -118.2437# Haversine基准haversine_time = timeit.timeit(lambda: haversine(lat1, lon1, lat2, lon2),number=1000) * 1000  # 转换为微秒# 航向角基准bearing_time = timeit.timeit(lambda: calculate_bearing(lat1, lon1, lat2, lon2),number=1000) * 1000print(f"平均Haversine计算时间: {haversine_time:.3f} μs")print(f"平均航向角计算时间: {bearing_time:.3f} μs")benchmark()

优化策略:
- 使用查表法替代实时三角函数计算
- 对固定航段数据预计算并缓存
- 采用定点数运算替代浮点数运算(在嵌入式系统中)

8. 异常处理与鲁棒性

8.1 错误检测机制

class NavigationError(Exception):"""导航计算错误基类"""passclass InvalidSegmentError(NavigationError):"""无效航段错误"""passclass PositionOutOfRangeError(NavigationError):"""位置超出有效范围错误"""passclass SegmentNavigator:# ... 其他代码 ...def _validate_inputs(self):"""验证输入数据有效性"""if self.active_segment is None:raise InvalidSegmentError("No active segment defined")if not (-90 <= self.current_position.lat <= 90):raise PositionOutOfRangeError(f"Invalid latitude: {self.current_position.lat}")if not (-180 <= self.current_position.lon <= 180):raise PositionOutOfRangeError(f"Invalid longitude: {self.current_position.lon}")if self.current_position.alt < -1000 or self.current_position.alt > 100000:raise PositionOutOfRangeError(f"Invalid altitude: {self.current_position.alt}")if self.active_segment.segment_type == SegmentType.RF:if not hasattr(self.active_segment, 'turn_radius'):raise InvalidSegmentError("RF segment missing turn radius")if not (500 <= self.active_segment.turn_radius <= 20000):raise InvalidSegmentError(f"Invalid turn radius: {self.active_segment.turn_radius}")def calculate_navigation(self):"""带错误处理的主计算函数"""try:self._validate_inputs()if self.active_segment.segment_type == SegmentType.TF:return self._calculate_tf_navigation()elif self.active_segment.segment_type == SegmentType.RF:return self._calculate_rf_navigation()else:raise InvalidSegmentError(f"Unknown segment type: {self.active_segment.segment_type}")except NavigationError as e:# 返回错误状态而不是抛出异常，便于系统处理return {'error': True,'error_code': type(e).__name__,'error_message': str(e),'Horizontal_Distance': 0.0,'Vertical_Distance': 0.0,'Desired_Heading': 0.0,'Desired_TurnRadius': 0.0,'Desired_TurnDirection': None,'Reached_Waypoint': False}

8.2 数据有效性检查

class Sanitizer:"""输入数据清洗类"""@staticmethoddef sanitize_position(pos):"""确保位置数据在有效范围内"""if not isinstance(pos, Position):raise TypeError("Input must be a Position object")# 规范化经度到[-180,180]lon = pos.lon % 360if lon > 180:lon -= 360# 限制纬度到[-90,90]lat = max(-90, min(90, pos.lat))# 限制高度到合理范围alt = max(-1000, min(100000, pos.alt))return Position(lat, lon, alt)@staticmethoddef sanitize_segment(segment):"""确保航段数据有效"""if not isinstance(segment, ActiveSegment):raise TypeError("Input must be an ActiveSegment object")segment.end_point = Sanitizer.sanitize_position(segment.end_point)if segment.segment_type == SegmentType.RF:if not hasattr(segment, 'center_point'):raise ValueError("RF segment requires center point")segment.center_point = Sanitizer.sanitize_position(segment.center_point)if not hasattr(segment, 'turn_radius'):raise ValueError("RF segment requires turn radius")segment.turn_radius = max(500, min(20000, segment.turn_radius))return segment

9. 扩展功能

9.1 风速补偿计算

class WindCompensator:"""风速补偿计算"""def __init__(self):self.wind_speed = 0.0  # 米/秒self.wind_direction = 0.0  # 度def update_wind(self, speed, direction):"""更新风速风向"""self.wind_speed = max(0, speed)self.wind_direction = direction % 360def compensate_heading(self, true_heading, true_airspeed):"""计算考虑风速的期望航向参数:true_heading: 真实航向(度)true_airspeed: 真实空速(米/秒)返回:补偿后的航向(度)"""if true_airspeed <= 0:return true_heading# 将角度转换为弧度heading_rad = math.radians(true_heading)wind_dir_rad = math.radians(self.wind_direction)# 计算风速分量wind_cross = self.wind_speed * math.sin(wind_dir_rad - heading_rad)# 计算偏流角drift_angle = math.asin(wind_cross / true_airspeed)drift_angle = math.degrees(drift_angle)# 应用补偿compensated_heading = (true_heading - drift_angle) % 360return compensated_heading

9.2 3D航段支持

class Segment3D:"""3D航段支持"""def __init__(self):self.vertical_profile = None  # 垂直剖面配置self.speed_profile = None  # 速度剖面配置def calculate_vertical_navigation(self, current_pos, segment_end, current_time):"""计算垂直导航指令"""if self.vertical_profile is None:return {'desired_altitude': segment_end.alt,'vertical_speed': 0.0,'altitude_constraint': None}# 实现垂直剖面跟踪逻辑# ...def calculate_speed_management(self, current_speed, current_time):"""计算速度管理指令"""if self.speed_profile is None:return {'desired_speed': current_speed,'speed_constraint': None}# 实现速度剖面跟踪逻辑# ...class EnhancedSegmentNavigator(SegmentNavigator):"""增强版导航计算机，支持3D航段"""def __init__(self):super().__init__()self.wind_compensator = WindCompensator()self.segment_3d = Segment3D()def calculate_enhanced_navigation(self):"""计算增强导航输出"""basic_nav = self.calculate_navigation()# 添加风速补偿if 'Desired_Heading' in basic_nav and basic_nav['Desired_Heading'] is not None:# 假设我们有当前空速数据true_airspeed = math.sqrt(self.current_velocity.vx**2 + self.current_velocity.vy**2)compensated_heading = self.wind_compensator.compensate_heading(basic_nav['Desired_Heading'],true_airspeed)basic_nav['Desired_Heading'] = compensated_heading# 添加3D导航vertical_nav = self.segment_3d.calculate_vertical_navigation(self.current_position,self.active_segment.end_point,time.time()  # 假设使用系统时间)speed_nav = self.segment_3d.calculate_speed_management(math.sqrt(self.current_velocity.vx**2 + self.current_velocity.vy**2),time.time())# 合并输出enhanced_output = {**basic_nav, **vertical_nav, **speed_nav}return enhanced_output