CN115657704B - Passive obstacle avoidance navigation method and device for aircraft and computer equipment - Google Patents
Passive obstacle avoidance navigation method and device for aircraft and computer equipment Download PDFInfo
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Abstract
The application discloses a passive obstacle avoidance navigation method, a device and computer equipment of an aircraft, wherein a passive obstacle avoidance navigation three-dimensional scene is created according to high-precision three-dimensional geographic information model data, positioning data information is acquired by satellite positioning to determine the position of the aircraft, the position and the direction of the aircraft are synchronously mapped to a virtual aircraft body in the passive obstacle avoidance navigation three-dimensional scene, the virtual aircraft body passively senses the azimuth and the distance of a dangerous obstacle in the passive obstacle avoidance navigation three-dimensional scene through a virtual collision ball algorithm in the passive obstacle avoidance navigation three-dimensional scene, and the aircraft acquires the obstacle avoidance information in a passive mode to realize vision and hearing to send an alarm so as to achieve the purpose of obstacle avoidance; and can be through the three-dimensional navigation guide line of formation three-dimensional navigation in the three-dimensional scene of passive obstacle avoidance navigation auxiliary vehicle navigation, can realize 360 degrees all-round driftage early warning, calculate relative navigation through virtual ray passageway promptly simultaneously, virtual variable collision body realizes the early warning to the ground, with vision, audible alarm come out and reach the navigation purpose.
Description
Technical Field
The application relates to the technical field of flight navigation, in particular to a passive obstacle avoidance navigation method, device and computer equipment for an aircraft.
Background
With the development of social, economic and life, various unmanned and unmanned aircraft and various overhead ground features and raised ground feature buildings are increased, and the low-altitude flight safety problem of the aerial aircraft has great hidden trouble.
The current situation is that: at present, a navigation system of a man-machine or an unmanned plane mainly aims at navigation based on a planar two-dimensional map or low-precision topographic navigation, and the two-dimensional map and the topographic map navigation have the problems that the situation of a real three-dimensional surface feature cannot be described, and particularly the situation of an overhead surface feature higher than the ground cannot be completely represented. In reality, the biggest potential safety hazard to the aircraft is that the overhead ground object exists above ground, and more than 90% of risks in actual flight operation are all caused by overhead ground objects with small discrimination (high-rise auxiliary facilities, high towers, high-voltage wires and the like), especially under the condition of bad weather (heavy rain, strong and weak light, haze, sand dust, cloud mist and the like) affecting visual distance, the existing ground navigation system cannot meet the requirements of the current aircraft on navigation safety of flying and avoiding the obstacle, lacks a yaw early warning function, and has no practical aircraft passive obstacle avoidance navigation platform even in the market.
Disclosure of Invention
In view of the above, the present application provides a passive obstacle avoidance navigation method, device and computer device for an aircraft.
The technical scheme of the application is realized as follows:
a passive obstacle avoidance navigation method of an aircraft specifically comprises the following steps:
acquiring three-dimensional geographic information model data, an obstacle avoidance navigation parameter model, an aircraft azimuth and navigation waypoint parameters;
creating a passive obstacle avoidance navigation three-dimensional scene based on the three-dimensional geographic information model data and the obstacle avoidance navigation parameter model;
synchronously creating a virtual aircraft body according to the aircraft azimuth;
creating a virtual collision ball and a collision early warning algorithm parameter model according to the obstacle avoidance parameter model;
creating a virtual ray channel monitoring real-time algorithm parameter model;
creating a three-dimensional navigation guide line based on the navigation waypoint parameters;
creating a three-dimensional navigation guide line yaw early warning algorithm parameter model;
and carrying out early warning and monitoring on the aircraft according to the passive obstacle avoidance navigation three-dimensional scene, the virtual aircraft body, the virtual collision ball and collision early warning algorithm parameter model, the virtual ray channel monitoring real-time algorithm parameter model, the three-dimensional navigation guide line and the three-dimensional navigation guide line yaw early warning algorithm parameter model, so that the passive obstacle avoidance navigation of the aircraft is realized.
As a further alternative of the passive obstacle avoidance navigation method of the aircraft, the three-dimensional geographic information model data includes three-dimensional point cloud data, three-dimensional inclination data, three-dimensional sand table data and fine modeling data.
As a further alternative of the passive obstacle avoidance navigation method of the aircraft, the parameter model of the virtual collision ball and collision early warning algorithm is used for passively sensing the azimuth and the distance of the dangerous obstacle of the virtual aircraft body in the passive obstacle avoidance navigation three-dimensional scene, and sending out early warning information, and specifically comprises the following steps:
the method comprises the steps that the azimuth and the distance of dangerous obstacles of a virtual aircraft body in a passive obstacle avoidance navigation three-dimensional scene are predicted and determined through a virtual collision ball;
and calculating whether the virtual collision ball and the dangerous obstacle are in collision overlapping or not through a collision early warning algorithm, and if so, sending out collision early warning information.
As a further alternative of the passive obstacle avoidance navigation method of an aircraft, the real-time algorithm parameter model for monitoring the virtual ray channel is used for calculating the relative altitude of the virtual aircraft body in real time, and the virtual variable collision body realizes the pre-warning on the ground, and specifically includes:
the relative navigational altitude of the virtual aircraft is calculated in real time through a channel of the virtual aircraft body self-position transmitting virtual ray collision passive obstacle avoidance navigation three-dimensional scene;
the virtual variable sensing collision body is used for sensing and triggering the passive obstacle avoidance navigation three-dimensional scene ground, so that the ground pre-warning is realized.
As a further alternative of the passive obstacle avoidance navigation method of the aircraft, the three-dimensional navigation guide line and the three-dimensional navigation guide line yaw early warning algorithm parameter model are used for realizing yaw calculation of the virtual aircraft body, and specifically include:
acquiring the yaw distance of the virtual aircraft body through a three-dimensional guide line;
and calculating whether the virtual aircraft body is yawed or not through a three-dimensional navigation guide line yawing early warning algorithm, and if yes, sending yawing early warning information.
As a further alternative of the passive obstacle avoidance navigation method of the aircraft, the obtained three-dimensional geographic information model data specifically includes three-dimensional geographic information model data obtained in an online manner and three-dimensional geographic information model data imported in an offline manner.
As a further alternative scheme of the passive obstacle avoidance navigation method of the aircraft, the collision early warning information and the yaw early warning information comprise voice early warning, whistling early warning, text information early warning and visual flicker early warning.
A passive obstacle avoidance navigation device for an aircraft, comprising:
the request module is used for sending a data acquisition request required by the passive obstacle avoidance navigation of the aircraft;
the server is used for returning three-dimensional geographic information model data, an obstacle avoidance navigation parameter model, an aircraft azimuth and navigation waypoint parameters aiming at the data acquisition request;
the creation module is used for creating a passive obstacle avoidance navigation three-dimensional scene, a virtual aircraft body, a virtual collision ball, a collision early warning algorithm parameter model, a virtual ray channel monitoring real-time algorithm parameter model, a three-dimensional navigation guide line and a three-dimensional navigation guide line yaw early warning algorithm parameter model.
As a further alternative to the passive obstacle avoidance navigation device of the aircraft, the data acquisition request comprises satellite real-time positioning location data of the aircraft.
A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of a passive obstacle avoidance navigation method for an aircraft as described in any of the preceding claims.
The beneficial effects of the application are as follows: the method comprises the steps that a passive obstacle avoidance navigation three-dimensional scene is created according to high-precision three-dimensional geographic information model data, positioning data information is acquired by satellite positioning to determine the position of an aircraft, the position and the direction of the aircraft are synchronously mapped to a virtual aircraft body in the passive obstacle avoidance navigation three-dimensional scene, the virtual aircraft body passively senses the azimuth and the distance of dangerous obstacles in the passive obstacle avoidance navigation three-dimensional scene through a virtual collision ball algorithm in the passive obstacle avoidance navigation three-dimensional scene, and the aircraft acquires obstacle avoidance information in a passive mode to realize vision and hearing to send an alarm so as to achieve the obstacle avoidance purpose; and can be through the three-dimensional navigation guide line of formation three-dimensional navigation in the three-dimensional scene of passive obstacle avoidance navigation auxiliary vehicle navigation, can realize 360 degrees all-round driftage early warning, calculate relative navigation through virtual ray passageway promptly simultaneously, virtual variable collision body realizes the early warning to the ground, with vision, audible alarm come out and reach the navigation purpose.
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In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram of an application environment for a passive obstacle avoidance navigation method for an aircraft in one embodiment;
FIG. 2 is a flow chart of a method of passive obstacle avoidance navigation of an aircraft according to one embodiment-1;
FIG. 3 is a flow chart of a method of passive obstacle avoidance navigation of an aircraft in one embodiment-2;
FIG. 4 is a flow chart of a passive obstacle avoidance navigation method for an aircraft in one embodiment-3;
FIG. 5 is a schematic diagram of a passive obstacle avoidance navigation method for an aircraft in one embodiment;
FIG. 6 is a schematic diagram of a passive obstacle avoidance acquisition of an aircraft relative altitude and altitude pre-warning in one embodiment;
FIG. 7 is a schematic illustration-1 of a passive obstacle avoidance process for an aircraft in one embodiment;
FIG. 8 is a schematic illustration-2 of a passive obstacle avoidance maneuver of an aircraft in one embodiment;
FIG. 9 is a schematic illustration-3 of a passive obstacle avoidance process for an aircraft in one embodiment;
FIG. 10 is a schematic illustration of steps of a passive navigational maneuver of an aircraft in one embodiment;
FIG. 11 is an internal block diagram of a computer device in one embodiment;
FIG. 12 is an internal block diagram of another computer device in one embodiment;
FIG. 13 is a flow chart of a passive obstacle avoidance navigation method for an aircraft in one embodiment-4.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The passive obstacle avoidance navigation method of the aircraft can be applied to an application environment shown in fig. 1. Specifically, the client may be installed in the terminal 102, and establish a network connection with the server 104 through the terminal 102 and perform communication.
Among other things, the terminal 102 may include, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices; the server 104 may be implemented by a stand-alone server or a server cluster formed by a plurality of servers.
In a specific implementation, the client may generate a data acquisition request in response to a user operation, and send the data acquisition request to the server 104. After receiving the data acquisition request, the server 104 may determine a three-dimensional scene corresponding to the request, acquire data of the constructed three-dimensional scene and related obstacle avoidance navigation parameters, and send the data to the client, so that the client may output, display or apply the data on the terminals 102, 106, 108 after receiving the data of the target constructed three-dimensional scene and related obstacle avoidance navigation parameters.
In an embodiment, in the application environment of the passive obstacle avoidance navigation method of an aircraft provided by the present application, the application environment may further include a mobile tablet 106 and/or a mobile notebook device 108 and/or a mobile handheld terminal 102 as shown in fig. 1, which may both communicate with a server, and apply for constructing a three-dimensional scene and loading relevant obstacle avoidance navigation parameter data to a server through a network.
In one embodiment, as shown in fig. 2, 3, 4 and 13, a passive obstacle avoidance navigation method for an aircraft is provided, and the method is applied to the server side and the client side in fig. 1 for illustration, and includes the following steps:
step 201, receiving a data acquisition request for a target sent by a client; the data acquisition request carries a target view angle and a target position for the three-dimensional scene;
in practical application, a user can acquire a target view angle and a target position through satellite positioning at a client. After the application data is generated, the client can send the application data to the server, so that the server receives a data application request aiming at the target area, and the server returns a permission connection port or a download link.
And in an offline state, the required three-dimensional scene data and obstacle avoidance navigation parameters can be imported and acquired through a file importing mode of the local storage device.
Step 202, after responding to the data acquisition request, creating a passive obstacle avoidance navigation three-dimensional scene, wherein generally, three-dimensional scene data including but not limited to a three-dimensional point cloud model, a three-dimensional inclined live-action model, a three-dimensional electronic sand table model, a fine modeling model and the like are created, and all the data need to have geographic information absolute coordinates.
Step 203, according to the azimuth direction information of the aircraft obtained by the satellite positioning device, synchronizing the obtained positioning and orientation information with the virtual flying body;
the virtual flying body is used as a virtual flying body in passive obstacle avoidance navigation by using the synchronous flying body.
And 204, creating a virtual collision ball and a collision early warning algorithm parameter model.
The virtual collision balls are the key points of passive obstacle avoidance, and are mainly placed at the distance position and the direction of an aircraft, which need to be pre-warned, the virtual collision balls exist in an invisible but perceptible form, and when the virtual collision balls and dangerous obstacles are in overlapping collision, pre-warning information is triggered after the collision pre-warning parameter algorithm model is evaluated.
In one embodiment, as shown in fig. 3, the creating a smooth schematic diagram of a guide line, a virtual ray and a yaw algorithm according to the passive sensing obstacle avoidance navigation method may include the following steps:
step 301, creating a virtual ray channel and monitoring a real-time algorithm parameter model;
implementation example, a vertical virtual ray channel is created, the purpose of which is to emit virtual rays perpendicular to the ground to detect the distance of the three-dimensional scene to the virtual flying body, thereby obtaining a relative altitude. The aircraft is required to be early-warned on the ground relative navigational height while being in the forward direction induction early-warning, and the purpose of the aircraft is to timely send the early-warning when the aircraft flies off the ground relative navigational height which is too low. The relative altitude is obtained by sending virtual rays through the virtual aircraft body vertical to the ground, and returning distance information when the virtual rays collide with the ground;
step 302, an example is implemented to create a three-dimensional guide wire by obtaining waypoint coordinates or importing the waypoint coordinates through a service.
The three-dimensional guide line aims at assisting the navigation and guidance of the flying operation and also serves as a reference for yaw calculation.
Step 303, creating a three-dimensional guide wire yaw algorithm parametric model.
The three-dimensional navigation guide line has the two functions of assisting in navigation and calculating yaw, the distance between the aircraft and the guide line in a 360-degree section range needs to be calculated in yaw early warning, and yaw early warning information needing to be alarmed is screened out by creating a yaw early warning algorithm model according to set yaw threshold parameters.
In one embodiment, as shown in fig. 4, the passive acquisition of the pre-warning information by the virtual pool ball passive induction, the vertical virtual rays, the guide wire, etc. may include the steps of:
step 401, obtaining the return position and the azimuth of the virtual collision ball passive sensing dangerous obstacle;
the virtual collision ball synchronously advances along with the induction advancing direction of the aircraft, and when the virtual collision ball collides and overlaps with the dangerous obstacle, the virtual collision ball can instantly return to the position and the direction of the obstacle to inform the system of the dangerous obstacle. The purpose of early safety precaution is achieved.
Step 402, obtaining a virtual ray vertical ground passive response return relative altitude;
in practical applications, the purpose of the virtual ray is to obtain the distance from the virtual aircraft body to the ground in the three-dimensional scene, i.e. the relative altitude. Since the virtual aircraft body position is a mapping of a real aircraft in a three-dimensional scene, the acquired relative track is the relative altitude of the real aircraft.
Specifically, through the virtual ray algorithm parameter model, the virtual ray needs to be emitted perpendicular to the ground, and when the virtual ray touches the ground, the virtual ray returns a distance and a coordinate of the virtual ray perpendicular to the ground.
Step 403, obtaining 360-degree yaw distance of the aircraft based on the guide wire;
real-time monitoring the distance of 360 degrees deviating from the guide line through a three-dimensional guide line yaw algorithm parameter model, wherein the parameter is a yaw threshold value; the guide line is used as an axis, and the circle with the threshold value as a radius is used as a safe yaw range.
Step 404, based on the position and direction of the dangerous obstacle obtained passively, the relative voyage is high, and the yaw distance responds to the set threshold value to send out visual and audible early warning;
specifically, the virtual aircraft synchronizes the real-time position and direction of the aircraft through satellite positioning. The method comprises the steps of obtaining the positions and directions of dangerous barriers in 11 o ' clock, 12 o ' clock and 1 o ' clock of an aircraft in a passive mode through a virtual collision ball; acquiring the relative navigational height of the aircraft vertical to the ground through a virtual ray algorithm parameter model; the yaw distance is calculated in real time through a yaw algorithm parameter model based on the guide wire. The alarm threshold value screen which is correspondingly set by the three passive acquired values displays alarm information (comprising image picture color flickering and text information), and synchronously gives out sound early warning (comprising voice early warning and whistling sound early warning).
Step 405, saving an early warning information record;
specifically, the virtual collision ball passively senses dangerous barriers to return early warning information; the relative voyage early warning returned by the virtual rays is information; the navigation guide line yaw early warning information and other early warning information records are stored in the local equipment, and can be synchronized to a server if the network is connected.
As shown in fig. 5, in one embodiment, a schematic diagram of a passive obstacle avoidance navigation method for an aircraft is provided.
The method comprises the following steps:
501 is a virtual pool ball in the twelve o' clock direction of the forward direction of the aircraft.
Because the twelve-o' clock direction is the main early warning direction, 8 virtual collision balls with preset radiuses are placed at different distances respectively, and the number, the radius and the distance of the specific virtual collision balls can be adjusted according to the needs. The method is mainly used for passively sensing dangerous obstacles in a three-dimensional scene.
502 is an eleven o' clock virtual pool ball for the forward direction of the aircraft.
The eleven-o' clock direction mainly considers the early warning of the forward direction of the aircraft in the left direction, 2 virtual collision balls are respectively placed, and the number, the radius and the distance of the specific virtual collision balls can be adjusted according to the needs. The method is mainly used for passively sensing dangerous obstacles in a three-dimensional scene.
503 is a one-clock direction virtual pool ball for the forward direction of the aircraft.
The one-point clock direction mainly considers the early warning of the forward direction of the aircraft in the right direction, 2 virtual collision balls are respectively placed, and the number, the radius and the distance of the specific virtual collision balls can be adjusted according to the needs. The method is mainly used for passively sensing dangerous obstacles in a three-dimensional scene.
And 504 is a virtual collision ball for the left rudder direction of the aircraft.
The left rudder direction mainly considers the early warning of the left direction of the aircraft, and 1 virtual collision balls are respectively placed, and the number, the radius and the distance of the specific virtual collision balls can be adjusted according to the needs. The method is mainly used for passively sensing dangerous obstacles in a three-dimensional scene.
And 505 is a virtual collision ball for the right rudder direction of the aircraft.
The right rudder direction mainly considers the early warning of the right direction of the aircraft, and 1 virtual collision balls are respectively placed, and the number, the radius and the distance of the specific virtual collision balls can be adjusted according to the needs. The method is mainly used for passively sensing dangerous obstacles in a three-dimensional scene.
506 is an aircraft virtual body.
The virtual aircraft volume may combine with the actual size to model a twin simulated real aircraft size.
FIG. 6 is a schematic diagram of a passive obstacle avoidance acquisition of a relative altitude of an aircraft in one embodiment;
the method comprises the following steps:
601 is an aircraft virtual body;
the virtual aircraft volume may combine with the actual size to model a twin simulated real aircraft size.
602 is a variable virtual collision detector;
the variable virtual collision detector can adjust the length according to the navigation height early warning threshold value and act on the navigation height early warning. The method is mainly used for passively sensing dangerous obstacles in a three-dimensional scene.
603 is a virtual vertical ray;
the virtual ray is vertical to the ground direction ray by taking the virtual body of the aircraft as the center, and the distance from the virtual body of the aircraft to the ground in the three-dimensional scene, namely the relative altitude, is obtained.
604 is a ground surface feature in a three-dimensional scene;
FIGS. 7, 8, and 9 are schematic diagrams illustrating steps of a passive obstacle avoidance operation of an aircraft, in accordance with one embodiment;
wherein FIG. 7 shows
Steps 701 and 702 are processes of introducing three-dimensional scene data and obstacle avoidance navigation data and parameters;
step 701, responding to the three-dimensional scene data acquisition request, generally creating three-dimensional scene data including, but not limited to, a three-dimensional point cloud model, a three-dimensional inclined live-action model, a three-dimensional electronic sand table model, a fine modeling model and the like, wherein all the data need to have geographic information absolute coordinates; or may be imported via a local file.
Step 702, responding to the request of calculation models and parameters required by obstacle avoidance and navigation, generally including calculation models and configuration threshold parameters of obstacle avoidance parameter models, navigation yaw parameter models, three-dimensional navigation guide line waypoints and the like; or may be imported by local files and settings.
Wherein FIG. 8 shows
Steps 801, 802, 803 are the process of creating a three-dimensional scene and obstacle avoidance navigation elements;
step 801 loads three-dimensional scene data, including a three-dimensional point cloud model, a three-dimensional inclination model, a fine modeling model, an electronic sand table model and the like, which are introduced from a server or locally into an engine through coordinate transformation engine coordinates.
Step 802, creating an obstacle avoidance parameter model and a three-dimensional navigation guide line based on the obstacle avoidance and navigation parameters;
step 803 creates an absolute coordinate (geographic coordinate) three-dimensional scene and element
Wherein FIG. 9 shows
Steps 901, 902, 903, 904, 905, 906, 907, 908 are a passive obstacle avoidance process of the aircraft in the embodiment;
step 901, placing virtual collision balls according to parameters, wherein the parameters comprise the radius of the virtual collision balls, the distance, the number, the direction, the position and the like of the sensing range of the virtual collision balls;
step 902, fixing the relative distance and direction of the virtual collision ball and the virtual aircraft, and obtaining positions, speeds and directions by obtaining satellite positioning, wherein the positions, speeds and directions are consistent with those of the aircraft;
step 903, triggering time when the virtual collision ball is sensed to be overlapped when the dangerous obstacle is invaded;
and step 904, after the virtual collision ball passively senses the dangerous obstacle, calculating the position and the azimuth of the obstacle through the obstacle avoidance parameter model.
Step 905 is to calculate the return relative altitude and the variable virtual collision detector in real time by the virtual rays vertical to the ground, so as to realize the dangerous early warning and the passive perception of the altitude early warning of the downward direction of the aircraft;
step 906 calculates and screens virtual collision balls and virtual rays returning information perpendicular to the ground through a parameter model, and aims to screen out information belonging to an early warning range.
Step 907, when the obstacle is passively sensed in the three-dimensional scene, the device will flash from the screen to prompt, and sound or whistle from the speaker to prompt and text message.
Step 908 records current obstacle avoidance pre-warning information, including information such as coordinates, azimuth, altitude, speed, etc. of the aircraft.
Wherein FIG. 10 shows
Steps 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008 are one type of aircraft passive navigation procedure in the embodiment; passive navigation is mainly performed by creating a guide line in a three-dimensional scene, and an aircraft performs homework flying by using the guide line.
Step 1001, downloading or locally inputting route node information through a server, wherein the route node information mainly comprises related information such as coordinate information, route names, waypoint names and the like;
step 1002 creating a guide wire in a three-dimensional scene according to the route node information;
step 1003 sets a yaw threshold, which refers to the maximum allowable distance of the aircraft from the guide wire during the flight maneuver.
Step 1004 synchronizes the coordinate position direction of the virtual flying body in the three-dimensional scene with the aircraft coordinate position direction by satellite positioning.
Step 1005 calculates a yaw distance around the 360 degree range of the navigation guide based on the satellite positioning information synchronization and the navigation guide line.
The calculation principle is as follows: the virtual aircraft f flies between the route nodes a and b, wherein the distance of ab is calculated to be Sab through coordinates; calculating the distance of af through coordinates to obtain Saf; the distance of bf can be calculated by coordinates; ss is yaw half cycle; yaw distance is Sph;
step 1006 calculates the screening return yaw information by the return parameter model.
Step 1007 the device will flash a reminder from the screen and sound a voice reminder or a whistle reminder from the speaker when the aircraft yaw value is greater than the yaw threshold.
Step 1008 records current yaw information, including information on yaw coordinates, relative altitude, speed, etc. of the aircraft.
In order that those skilled in the art may better understand the above steps, an embodiment of the present application will be described below by way of an example, but it should be understood that the embodiment of the present application is not limited thereto.
It should be understood that, although the steps in the flowcharts of fig. 1-12 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in FIGS. 1-12 may include multiple steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the steps or stages in other steps or other steps.
For specific limitation of a passive obstacle avoidance navigation device for an aircraft, reference may be made to the above limitation of a passive obstacle avoidance navigation method for an aircraft, and no further description is given here. The modules in the passive obstacle avoidance navigation device of the aircraft can be all or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing relevant data for generating passive obstacle avoidance navigation of the aircraft. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements the passive obstacle avoidance navigation method of the aircraft described above.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for communicating with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIF I, an operator network, NFC (near field communication) or other technologies. The computer program, when executed by the processor, implements a passive obstacle avoidance navigation method for an aircraft. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structures shown in fig. 11 or 12 are merely block diagrams of portions of structures associated with the present inventive arrangements and are not limiting of the computer device to which the present inventive arrangements may be implemented, and that a particular computer device may include more or fewer components than shown, or may be combined with certain components, or may have different arrangements of components.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
sending an obstacle avoidance navigation data acquisition request aiming at a target area to a server; the method comprises the steps that a target creates three-dimensional scene data and obstacle avoidance navigation model parameters;
receiving target area obstacle avoidance navigation data returned by the server side aiming at the data acquisition request;
the server side is used for responding to the data acquisition request, acquiring the three-dimensional scene data of the target area and according to the three-dimensional scene data and the obstacle avoidance navigation parameter data; the method is needed for realizing a passive obstacle avoidance navigation method of an aircraft.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the application.
Claims (9)
1. The passive obstacle avoidance navigation method for the aircraft is characterized by comprising the following steps of:
acquiring three-dimensional geographic information model data, an obstacle avoidance navigation parameter model, an aircraft azimuth and navigation waypoint parameters;
creating a passive obstacle avoidance navigation three-dimensional scene based on the three-dimensional geographic information model data and the obstacle avoidance navigation parameter model;
synchronously creating a virtual aircraft body according to the aircraft azimuth;
creating a virtual collision ball and a collision early warning algorithm parameter model according to the obstacle avoidance parameter model; the virtual collision ball is used for predicting and determining the azimuth and the distance of the dangerous obstacle of the virtual aircraft body in the passive obstacle avoidance navigation three-dimensional scene, the collision early warning algorithm parameter model is used for calculating whether the virtual collision ball and the dangerous obstacle are in collision overlapping or not, and if yes, collision early warning information is sent out;
creating a virtual ray channel monitoring real-time algorithm parameter model, wherein the virtual ray channel monitoring real-time algorithm parameter model is used for calculating the relative altitude of a virtual aircraft body in real time and realizing the earth pre-warning of a virtual variable collision body;
creating a three-dimensional navigation guide line based on the navigation waypoint parameters;
creating a three-dimensional navigation guide line yaw early warning algorithm parameter model;
and carrying out early warning and monitoring on the aircraft according to the passive obstacle avoidance navigation three-dimensional scene, the virtual aircraft body, the virtual collision ball and collision early warning algorithm parameter model, the virtual ray channel monitoring real-time algorithm parameter model, the three-dimensional navigation guide line and the three-dimensional navigation guide line yaw early warning algorithm parameter model, so that the passive obstacle avoidance navigation of the aircraft is realized.
2. The method of claim 1, wherein the three-dimensional geographic information model data comprises three-dimensional point cloud data, three-dimensional tilt data, three-dimensional sand table data and fine modeling data.
3. The method for passive obstacle avoidance navigation of an aircraft according to claim 2, wherein the real-time algorithm parameter model for monitoring the virtual ray channel is used for calculating the relative altitude of the virtual aircraft body in real time, and the virtual variable collision body realizes the pre-warning on the ground, and specifically comprises:
the relative navigational altitude of the virtual aircraft is calculated in real time through a channel of the virtual aircraft body self-position transmitting virtual ray collision passive obstacle avoidance navigation three-dimensional scene;
the virtual variable collision body is used for triggering the passive obstacle avoidance navigation three-dimensional scene ground, so that the ground pre-warning is realized.
4. A passive obstacle avoidance navigation method for an aircraft according to claim 3 wherein the three dimensional guide wire and three dimensional guide wire yaw warning algorithm parametric model are used to implement yaw calculations for a virtual aircraft body, comprising:
acquiring the yaw distance of the virtual aircraft body through a three-dimensional guide line;
and calculating whether the virtual aircraft body is yawed or not through a three-dimensional navigation guide line yawing early warning algorithm, and if yes, sending yawing early warning information.
5. The method for passive obstacle avoidance navigation of an aircraft according to claim 4 wherein the acquiring three-dimensional geographic information model data comprises in particular three-dimensional geographic information model data acquired in an on-line manner and three-dimensional geographic information model data imported in an off-line manner.
6. The method of claim 5, wherein the collision warning information and yaw warning information each comprise voice warning, whistle warning, text warning and visual flicker warning.
7. A passive obstacle avoidance navigation device for an aircraft, comprising:
the request module is used for sending a data acquisition request required by the passive obstacle avoidance navigation of the aircraft;
the server is used for returning three-dimensional geographic information model data, an obstacle avoidance navigation parameter model, an aircraft azimuth and navigation waypoint parameters aiming at the data acquisition request;
the creation module is used for creating a passive obstacle avoidance navigation three-dimensional scene, a virtual aircraft body, a virtual collision ball, a collision early warning algorithm parameter model, a virtual ray channel monitoring real-time algorithm parameter model, a three-dimensional navigation guide line and a three-dimensional navigation guide line yaw early warning algorithm parameter model;
the virtual collision ball is used for predicting and determining the azimuth and the distance of a dangerous obstacle of the virtual aircraft body in a passive obstacle avoidance navigation three-dimensional scene, the collision early warning algorithm parameter model is used for calculating whether the virtual collision ball and the dangerous obstacle are in collision overlapping or not, if yes, collision early warning information is sent out, the virtual ray channel monitoring real-time algorithm parameter model is used for timely calculating the relative navigational height of the virtual aircraft body, and the virtual variable collision body realizes ground early warning.
8. The passive obstacle avoidance navigation device of claim 7 wherein the data acquisition request comprises satellite real time positioning location data of the aircraft.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of a passive obstacle avoidance navigation method for an aircraft according to any of claims 1 to 6.
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