KR101274172B1 - Collision avoidance device and collision avoidance method - Google Patents

Abstract

It is an object of the present invention to provide a collision avoidance apparatus and a collision avoidance method capable of preventing a collision with the ground by recognizing not only the terrain below, but also the front or side of the aircraft in the direction of travel.
In order to achieve the above object, the collision avoidance apparatus according to the present invention, after receiving the data from the EGI (Embedded GPS / INS), radio wave altimeter (RALT), and the map database, respectively, by performing accurate navigation calculation through correction, And a collision avoidance module for generating a warning about ground collision and obstacle collision of the aircraft using the corrected data, the three-dimensional terrain database, and the obstacle database. The collision avoidance module includes a maximum output from the flight control module. Aircraft predicted trajectory generation module into which allowable load factor information is input, high-resolution satellite image terrain data stored in a digital moving map (DMM) module, a myopia terrain generation module into which information of an obstacle database, and an air threat database are input; Latitude, longitude, altitude, aircraft coordinate velocity, and aircraft attitude of the aircraft output from the navigation system After the information is input and the search range is set, the search range setting module for outputting the information to the myopia topography generating module or the aircraft predicted trajectory generating module, and outputted from the myopia topography generating module and the aircraft predicted trajectory generating module And a terrain and trajectory comparison module configured to receive and analyze the contents of the various databases and the status of the aircraft, and a situation recognition module configured to output various warnings according to the contents of the analyzed various databases and the status of the aircraft. do.

Description

Collision Avoidance and Collision Avoidance {COLLISION AVOIDANCE DEVICE AND COLLISION AVOIDANCE METHOD}

The present invention relates to a collision avoidance apparatus and a collision avoidance method, and more particularly to predict the future position of the aircraft by using the front and side of the aircraft as well as the terrain, so that the pilot can avoid collision with the ground The present invention relates to a collision avoidance device and a collision avoidance method.

The majority of aircraft accidents worldwide are caused by human factors from aviation workers. Among these accidents, 70% of accidents are caused by human factors of pilots. More than half of these accidents are called Controlled Flight Into Terrain (CFIT).

A CFIT is a terrain collision in a maneuvering condition, in which the aircraft is inadvertently colliding with the ground or the sea while the aircraft is operating normally due to an accident caused by the flight of the aircraft to the ground or an obstacle or surface without the crew's knowledge. Is defined as

Ground Proximity Warning System (GPWS), which can be used as one of the devices to prevent such ground collisions, was developed by Bateman in the early 1970s and operated by the Federal Aviation Administration (FAA) since 1975. It is mandatory to mount on all airliners, making it popular worldwide.

However, since the conventional land approach warning device measures the distance between the aircraft and the ground, the radio altimeter can check only the following terrain, and thus does not recognize any terrain or obstacles ahead or in the direction of the aircraft.

Accordingly, an object of the present invention is to provide a collision avoidance apparatus and a collision avoidance method capable of preventing a collision with the ground by recognizing not only the terrain below, but also the forward or side direction of the aircraft. do.

In order to achieve the above object, the collision avoidance apparatus according to the present invention, after receiving the data from the EGI (Embedded GPS / INS), radio wave altimeter (RALT), and the map database, respectively, by performing accurate navigation calculation through correction, And a collision avoidance module for generating a warning about ground collision and obstacle collision of the aircraft using the corrected data, the three-dimensional terrain database, and the obstacle database. The collision avoidance module includes a maximum output from the flight control module. Aircraft predicted trajectory generation module into which allowable load factor information is input, high-resolution satellite image terrain data stored in a digital moving map (DMM) module, a myopia terrain generation module into which information of an obstacle database, and an air threat database are input; Latitude, longitude, altitude, aircraft coordinate velocity, and aircraft attitude of the aircraft output from the navigation system After the information is input and the search range is set, the search range setting module for outputting the information to the myopia topography generating module or the aircraft predicted trajectory generating module, and outputted from the myopia topography generating module and the aircraft predicted trajectory generating module And a terrain and trajectory comparison module configured to receive and analyze the contents of the various databases and the status of the aircraft, and a situation recognition module configured to output various warnings according to the contents of the analyzed various databases and the status of the aircraft. do.

In addition, the collision avoidance apparatus according to the present invention, the situation awareness module, when the collision with the terrain due to excessive fall rate is output Sinkrate Pull-Up warning, and output if there is a threat of collision with the front terrain Pull-Up warning, Terrain warning output when the terrain is close to the direction of the aircraft speed vector or terrain below the direction of travel, Sinkrate warning output by the excessive descent rate, and aircraft in the forward navigation area. Obstacle warning that is output when there is an obstacle that may collide with the air, and anti-air threat warning that is output by reading the air threat data to determine the threat to the aircraft.

In addition, the collision avoidance device according to the present invention, when the pull-up warning is output, characterized in that it further comprises a turning warning that is output when turning to the side, without vertically starting forward.

In addition, the collision avoidance apparatus according to the present invention is characterized in that the anti-air threat warning is a proximity warning output when the aircraft is close to the threat area, and a threat warning output when the aircraft is in the threat area.

In addition, the collision avoidance method according to the present invention, by obtaining the terrain altitude comparing the aircraft altitude and terrain altitude of the expected point according to the current state and maneuverability of the aircraft, by comparing the collision criteria for each condition with each other Warning terrain collisions to warn the pilot of terrain collisions; and warning obstacle collision avoidances to warn of access by an obstacle located in the direction of the aircraft or an anti-aircraft threat existing in the previous direction. Characterized in that.

In addition, the collision avoidance method according to the present invention, the step of obtaining the terrain altitude, the step of obtaining the navigation data (S100), the step of calculating the NED speed (S110), and calculating the direction angle by the rule Step S120, calculating a delay time (S130), obtaining a distance plane position (S140), rotating a position by azimuth (S150), and converting distance into latitude and longitude It is characterized in that step (S160) and the step (S170) of obtaining a maximum altitude of four points around.

In addition, the collision avoidance method according to the present invention, the warning of the terrain collision, the step of generating an expected trajectory of the aircraft (S200), the step of determining the trajectory of the aircraft over time (S210), Determining whether it is within the proximity determination time (S220); comparing the estimated trajectory and the terrain altitude of the aircraft when within the proximity determination time (S230); and when not within the proximity determination time, the aircraft Comparing the estimated avoidance trajectory and the terrain altitude of the vehicle (S240), determining whether the estimated trajectory of the aircraft is smaller than the terrain altitude (S250), and when the estimated trajectory of the aircraft is smaller than the terrain altitude, Terrain Outputting a warning (S260) and, if the estimated trajectory of the aircraft is greater than the terrain altitude, increasing the time and determining the trajectory of the aircraft according to the progress of time; Returning to step S210, when the expected avoidance trajectory of the aircraft is less than the terrain altitude, outputting a Pul-up warning S280, and predicting avoidance trajectory of the aircraft is greater than the terrain altitude. If large, after increasing the time, it is characterized in that the step (S290) to return to the step (S210) of determining the trajectory of the aircraft as time progresses.

In addition, the collision avoidance method according to the present invention, the warning of the obstacle collision avoidance, the step of setting the area (S300), the step of obtaining a database of obstacles around the area (S310), up to the aircraft and obstacles Calculating a distance (S320), calculating an azimuth angle between the aircraft and the obstacle (S330), determining whether the distance and the azimuth angle are smaller than a forward search area (S340), and the distance And when the azimuth angle is smaller than the forward search area, determining a possibility of collision (S350), and outputting an obstacle collision avoidance when there is a possibility of collision.

According to the present invention, the aircraft has the effect of providing a collision avoidance device and a collision avoidance method that can prevent the collision with the ground by recognizing not only the terrain below, but also the front or side of the direction of travel of the aircraft.

1 shows an overview of a collision avoidance module.
2 is a block diagram showing a configuration of a collision avoidance module.
3 illustrates a transient descent rate warning.
4 shows a Sinkrate table of EGPWS.
5 illustrates a Terrain alert for terrain.
6 shows a Pull-Up alert for terrain.
7 shows Turn Advisory.
8 illustrates an obstacle collision avoidance warning.
Fig. 9 shows Terprom's obstacle collision avoidance warning.
10 is a flow chart illustrating the step of obtaining a terrain altitude.
11 is a flowchart showing a step of warning a rate of descent.
12 is a flow chart illustrating a step of warning terrain collisions.
13 is a flow chart illustrating steps to warn of obstacle collision avoidance.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings and the following description. However, the present invention is not limited to the embodiments described herein but may be embodied in other forms. Rather, the embodiments disclosed herein are provided so that the disclosure can be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like reference numerals designate like elements throughout the specification. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. &Quot; comprises "and / or" comprising ", as used herein, unless the recited element, step, operation, and / Or additions.

1 is a diagram illustrating an outline of a collision avoidance module 120. Referring to FIG. 1, the collision avoidance module 120 of the present invention predicts a future position of the aircraft using the terrain data when the aircraft is heading to the terrain, and outputs an appropriate warning if a danger exists to allow the pilot to collide. Perform a function that allows you to avoid it. At this time, the terrain data, the delay time, the dynamic characteristics of the aircraft, etc. should be considered.

2 is a block diagram showing the configuration of the collision avoidance module 120. Referring to FIG. 2, the collision avoidance module 120 includes a myopia terrain module 121, a search range setting module 123, an aircraft predicted trajectory generation module 122, a terrain and trajectory comparison module 124, and Context awareness module 125.

First, the latitude, longitude, altitude, aircraft coordinate velocity, and aircraft attitude angle information of the aircraft output from the navigation system is input to the search range setting module 123 to set the search range, and then the myopia terrain generation module 121 or the aircraft prediction. Input to the trajectory generation module 122, respectively. In addition, the maximum allowable load coefficient information output from the flight control module is directly input to the aircraft predicted trajectory generation module 122, and the high resolution satellite image terrain data stored in the digital moving map (DMM) module, the obstacle database, and the air defense The threat database is directly input into the myopia terrain generation module 121. Preferably, aircraft performance data, such as the turn rate of the aircraft and the turning radius, for determining whether there is a terrain threat to turning maneuver may be input. In the terrain and trajectory comparison module 124, the contents of various databases output from the myopia terrain generation module 121 and the aircraft predicted trajectory generation module 122 and the state of the aircraft are received and analyzed, and the situation recognition module 125 is analyzed. To the output. The situation recognition module 125 outputs various warnings according to each situation.

The warnings that are displayed include the Sinkrate Pull-Up warning when the collision with the terrain is imminent due to excessive descent rate, the Pull-Up warning when the threat of collision with the front terrain exists, and any time. There is a Terrain warning that occurs when the terrain is in close proximity to the direction of the aircraft velocity vector, or when the terrain is at any altitude below the direction of travel. There is also a Sinkrate warning that occurs when excessive descent occurs.

Here, the pull-up alert allows you to determine the threat to the maneuver of the aircraft for maneuvering into the terrain on both sides of the left and right, and generates a recommended route to the side if there is a route that can safely turn to avoid the terrain. do. In addition to the recommended route, if the altitude on one side is too high and maneuvering on this side is dangerous, it will output a sign to turn to a safe place.

In addition, when there is an obstacle higher than the expected aircraft trajectory, an Obstacle warning is output. Terrain collision warnings and obstacle collision warnings include estimated collision time information in each warning. Sinkrate series warning, Pull-Up warning, and Obstacle warning output the terrain estimated collision time and obstacle collision estimated time, respectively, and in case of obstacles, it can output the relative azimuth information of the collision threat in the direction of the aircraft. have. In addition, anti-aircraft threats may be output according to the proximity of the aircraft and threat warnings to increase the pilot's stability.

Next, each output warning will be described in more detail.

1) Sink rate Pull up, Sink rate

Excessive descent rate warnings are output when the descent rate of the aircraft is greater than an arbitrary size and there is a threat to collide with the terrain directly below. The criteria of FIG. 3 simply sets the Sinkrate setting altitude, ground collision time, and another ground collision time using the criteria of the Sinkrate alert of EGPWS of FIG. Sinkrate setting altitude is the highest altitude that the difference between the aircraft and the terrain must be below the setting altitude, but to make a Sinkrate warning. Ground collision time means that there is a descent rate greater than an arbitrary size, so that threats to collide with the terrain exist within the current terrain, and ground collision time occurs when the descent rate is large or maintains the current descent rate and is closer to the terrain. This means the time when the collision is imminent for the terrain in the downward direction. Sinkrate warning is output at the time within the current terrain, but the pull-up warning is output if there is a threat of terrain collision within the time because the descent rate increases or stays close to the terrain. It also calculates the estimated terrain collision time for each alert so that the magnitude of the threat can be expressed relative to the current alert.

2) Terrain Warning

In FIG. 5, the dashed dashed line serves as a criterion for determining the terrain proximity warning. Terrain Proximity Warning sets an arbitrary clearance altitude from the current aircraft's expected trajectory to prevent aircraft from crashing due to navigation system errors, terrain database errors, structures not represented by obstacles on the terrain, or sudden drops of aircraft due to gusts. A margin was set to reduce the threat. Proximity warning criteria set lower than the current expected altitude will output a warning more frequently than when the current estimated altitude is based. Therefore, the determination of the proximity warning may use the time of all forward navigation areas, but if the aircraft's nose is facing downward or if the aircraft has downward speed, the proximity warning may occur frequently, so Set to multiples to determine the terrain proximity of the aircraft within that time. If the terrain meets the terrain proximity criteria, the Terrain proximity warning will be generated. This may mean that the aircraft is located above the terrain and below the clearance altitude in the downward direction, and that there is a possibility of collision with the terrain if the aircraft does not take any action within a certain amount of time.

3) Pull Up Warning

In FIG. 6, a dotted line is a reference for a pull-up warning. Even if the pilot recognizes the warning and pulls the cockpit, there is a time to wait for the aircraft to move to the actual pilot's input between the cockpits. And, the avoidance trajectory draws a rising circle by pulling the control stick in the horizontal state. At this time, the load factor used uses any ratio of the maximum allowable load factor output from the flight control module. The reason for using a load factor smaller than the maximum allowable load factor using any ratio is to allow for maneuvering of the aircraft in consideration of safety. When the trajectory meets the terrain, it displays a pull-up warning to the pilot. It also tells the pilot to output the estimated terrain collision time. If a Pull-Up warning is issued during flight, turning sideways may be simpler to avoid terrain collision than to move forward vertically. Therefore, if there is a terrain where the altitude difference between the aircraft and the terrain during the turning maneuver using the altitude of the side terrain, it generates a recommended route to the terrain. In addition, since the turning of the aircraft to a higher altitude on one side than the altitude of the turning maneuver may be dangerous, a turning warning to the left or the right is output to turn in one direction. At this time, it is assumed that the turning maneuver does not change the altitude during the turning to the normal turn.

4) Turn Advisory Warning

When a pull-up alert is output during flight in FIG. 7, turning sideways may make the terrain collision avoidance simpler than maneuvering vertically forward. Therefore, if there is a terrain where the altitude difference between the aircraft and the terrain during the turning maneuver using the altitude of the side terrain, it generates a recommended route to the terrain. In addition, since the turning of the aircraft to a higher altitude on one side than the altitude of the turning maneuver may be dangerous, a turning warning to the left or the right is output to turn in one direction. At this time, it is assumed that the turning maneuver does not change the altitude during the turning to the normal turn.

5) Obstacle Warning

In order to express the position of the obstacle in the HUD as shown in FIG. 9, the altitude of the data corresponding to the obstacle is acquired in the forward search area, and the distance between the aircraft and the obstacle and the angle of the aircraft traveling direction are calculated. In addition, by using the vertical speed of the aircraft to calculate the estimated altitude of the distance to the obstacle, and compares the height and the height of the obstacle, the warning is output to the pilot if a collision threat exists. If there is an obstacle that may collide with the aircraft in the front search area as shown in FIG. 8, a warning “Obstacle” is output. In this case, as in the terrain collision warning, the expected obstacle collision time is output so that the degree of threat of the collision can be relatively known.

6) Anti-Air Threat

Detect threats to aircraft by reading anti-aircraft threat data in areas of 400NM × 400NM or more at once. At this time, whether the threat zone or the warning zone is determined according to the proximity state of the threat of the aircraft, the priority of the warning is changed according to the relative position with the threat. The warning zone only outputs a warning that the aircraft is near a threat, while the threat zone outputs a warning that the aircraft is in a threat zone.

Next, we look at the algorithm.

The collision avoidance method according to the present invention comprises the steps of obtaining a terrain altitude comparing the aircraft altitude and the terrain altitude of the expected point according to the current state and maneuverability of the aircraft, and by comparing the collision criteria for each condition, Warning terrain collisions to warn pilots of collisions, and warning obstacle collision avoidances to warn of access by obstacles located in the direction of travel of the aircraft or anti-aircraft threats present in the previous direction.

The acquiring the terrain altitude may include obtaining navigation data (S100), calculating a NED speed (S110), calculating a heading angle based on a rule (S120), and delay time. Calculating (S130), obtaining a distance plane position (S140), rotating the position by azimuth (S150), converting the distance to latitude and longitude (S160), and surrounding four points It is preferable that the step (S170) of obtaining a maximum altitude of.

The warning of the terrain collision may include generating an expected trajectory of the aircraft (S200), determining a trajectory of the aircraft according to time (S210), and determining whether the vehicle is within a proximity determination time. (S220), comparing the estimated trajectory and terrain altitude of the aircraft when within the proximity determination time (S230), and comparing the estimated avoidance trajectory and the terrain altitude of the aircraft when not within the proximity determination time. (S240), determining whether the estimated trajectory of the aircraft is smaller than the terrain altitude (S250), and outputting a Terrain warning when the estimated trajectory of the aircraft is smaller than the terrain altitude (S260); If the estimated trajectory of the aircraft is greater than the terrain altitude, after increasing the time, returning to the step (S210) of determining the trajectory of the aircraft as time progresses (S270), If the expected avoidance trajectory of the aircraft is less than the terrain altitude, outputting a Pul-up warning (S280), and if the expected avoidance trajectory of the aircraft is greater than the terrain altitude, increase the time and then proceed to time progress. Accordingly, the step (S290) is preferably returned to the step (S210) of determining the trajectory of the aircraft.

On the other hand, the step of warning of collision avoidance, the step of setting the area (S300), the step of obtaining a database of the obstacles in the surrounding area (S310), the step of calculating the distance between the aircraft and the obstacle (S320) And calculating an azimuth angle between the aircraft and the obstacle (S330), determining whether the distance and the azimuth angle are smaller than the forward search area (S340), and wherein the distance and the azimuth angle are smaller than the forward search area. In this case, it is preferable to determine the possibility of collision (S350), and if there is a possibility of collision, outputting an obstacle collision avoidance.

Looking at the collision avoidance method in more detail, within the collision avoidance warning module, the algorithm can be divided into three parts: the terrain altitude reading section, the terrain collision warning section, and the obstacle and air threat warning section. In particular, the part of reading the terrain altitude is the most important part in comparing the aircraft altitude and the terrain altitude at the predicted point because the position at which a certain time can be reached varies depending on the current state and maneuverability of the aircraft. Terrain collision warning is the part that warns the pilot about terrain collision by comparing collision criteria against each other. Obstacles and anti-air threat alerts alert you to approaching obstacles located in the direction of the aircraft or approaching anti-air threats in all directions. The altitude reading section uses the output of a navigation system such as Terrain Referenced Navigation (TRN), a terrain database, an aircraft maneuvering diagram, and the like. Terrain data in the vicinity of the aircraft is obtained using the aircraft position in the TRN module. In addition, the search area considering the speed and the direction is set using the aircraft speed vector. The search area is set and the vertical section data of the terrain is obtained using the obtained terrain data. The flowchart for terrain elevation acquisition is shown in FIG. 10.

The terrain collision avoidance warning section compares the aircraft's altitude and terrain altitude at each point and outputs the appropriate warning to the pilot. Terrain collision avoidance warnings include descent warnings, terrain proximity and collision warnings, and side warnings. First, the flowchart of the warning regarding the descending rate is as shown in FIG. When the ground altitude is below the set altitude, the terrain collision time is calculated, and the Sinkrate Pull-Up and Sinkrate Warning are divided and output according to the terrain collision time.

The algorithm is executed in the order as shown in FIG. 12 for the terrain proximity and the terrain collision warning. At present, after calculating the expected altitude for a certain time by using the state of the aircraft, the criterion is lowered as much as the marginal altitude is set. If the terrain proximity warning baseline does not meet the terrain, the collision avoidance between the terrain and the aircraft is determined by calculating the expected avoidance trajectory after the time for determining the terrain proximity. If the terrain proximity warning baseline and terrain meet within the judgment time, the current judgment is stopped and the expected avoidance trajectory is calculated from that time. This approach minimizes the time it takes to make decisions at once, rather than judging terrain proximity warning criteria and predicted avoidance trajectories separately.

When pull-up warnings are activated, the altitude of the side terrain is used to give the pilot maneuver information about the side. Using the aircraft maneuver information, a trajectory for nG normal turning maneuvers for left and right directions is generated and the ground altitude at the corresponding position is obtained. The pilot is informed of the trajectory that is considered to be the safest for each nG maneuver, and is ordered to turn left or right if the terrain on either side is too high to risk turning. If there is a risk of turning in both directions, only a pull-up warning will be output.

Obstacle warnings should be output to pilots when there is a risk of collision between aircraft and obstacles at the time of obstacle arrival for obstacles in the forward navigation area. For obstacles, the obstacles are divided into sets according to their location, and only the sets near the aircraft are read. The read obstacle database determines whether it is in the forward search area, and outputs an Obstacle warning to the pilot about a threatened obstacle. 13 is a flowchart illustrating an obstacle warning.

As for the anti-aircraft threat, it alerts the pilot to an adjacent or belonging airspace area as well as the obstacle collision avoidance warning. The anti-air threat database contains all the information on the entire area of the Korean Peninsula, for example, and determines threats in order of distance for each threat. Proximity alerts when a threat is approached, and threat alerts when a threat is encountered.

Although the embodiments of the present invention have been described above, various modifications may be made by those skilled in the art. Therefore, it should be understood that the present invention should not be construed as being limited to the above embodiments, but should be construed in accordance with the following claims.

120: collision avoidance module
121: myopia terrain module
122: aircraft predicted trajectory generation module
123: search range setting module
124: Terrain and Trajectory Comparison Module
125: context aware module

Claims (8)

After receiving data from EGI (Embedded GPS / INS), radio altimeter (RALT), and map database, and performing accurate navigation calculation through correction, using this calibrated data, 3D terrain database, and obstacle database And a collision avoidance module for generating a warning about ground collision and obstacle collision of the aircraft,
The collision avoidance module,
Aircraft predicted trajectory generation module to input the maximum allowable load factor information output from the flight control module;
Myopia terrain generation module to input high-resolution satellite imagery terrain data stored in the digital moving map (MMD) module, obstacle database, anti-air threat database;
Latitude, longitude, altitude, aircraft coordinate velocity and aircraft attitude angle information of the aircraft output from the navigation system is input to set the search range, and then outputs the information to the myopia terrain generation module or the aircraft predicted locus generation module. A search scope module,
A terrain and trajectory comparison module for receiving and analyzing the contents of various databases output from the myopia topography generating module and the aircraft predicted trajectory generating module and the state of the aircraft;
And a situation recognition module for outputting various warnings according to the contents of the various databases analyzed and the state of the aircraft. The method of claim 1,
The situation awareness module,
Sinkrate Pull-Up warning when the collision with terrain is imminent due to excessive descent rate,
A pull-up warning that is output if there is a threat of collision with the terrain ahead,
Terrain warnings that are output if there is a nearby terrain for the direction of the aircraft velocity vector, or if the terrain is below the direction of travel.
Sinkrate warning output by the excessive falling rate,
Obstacle warnings that are output when there is an obstacle in the forward navigation area that could collide with the aircraft,
Anti-collision device, comprising: anti-air threat warning to read the air threat data to determine the threat to the aircraft. 3. The method of claim 2,
When the pull-up warning is output, the collision avoidance device, characterized in that it further comprises a turning warning output when turning to the side without turning vertically upward forward. 3. The method of claim 2,
The anti-air threat warning is a proximity warning output when the aircraft is close to the threat area, and a threat warning output when the aircraft is within the threat area. Acquiring a terrain altitude that compares the aircraft's altitude and terrain altitude at an expected point according to the aircraft's current status and maneuverability;
Warning terrain collisions by warning the pilot about terrain collisions by comparing collision criteria for each condition,
Warning obstacle collision avoidance warning of approach by an obstacle located in the direction of travel of the aircraft or an anti-aircraft threat existing in a previous direction;
Acquiring the terrain altitude,
Obtaining navigation data (S100),
Calculating the NED speed (S110),
Calculating a direction angle based on the rule (S120);
Calculating a delay time (S130),
Obtaining a distance plane position (S140),
Rotating the position by the azimuth (S150),
Converting the distance into latitude and longitude (S160),
And obtaining a maximum altitude of four surrounding points (S170). delete The method of claim 5, wherein
Alerting the terrain collision,
Generating an expected trajectory of the aircraft (S200);
Determining the trajectory of the aircraft as time progresses (S210);
Determining whether it is within a proximity determination time (S220);
Comparing the estimated trajectory and the terrain altitude of the aircraft when it is within the proximity determination time (S230);
Comparing the estimated avoidance trajectory and the terrain altitude of the aircraft when it is not within the proximity determination time (S240);
Determining whether the expected trajectory of the aircraft is smaller than the terrain altitude (S250);
Outputting a Terrain warning when the estimated trajectory of the aircraft is smaller than the terrain altitude (S260);
If the estimated trajectory of the aircraft is greater than the terrain altitude, after increasing the time, returning to the step (S210) of determining the trajectory of the aircraft as time progresses (S270),
Outputting a pul-up warning when the estimated avoidance trajectory of the aircraft is smaller than the terrain altitude (S280);
If the estimated avoidance trajectory of the aircraft is greater than the terrain altitude, the collision avoidance method of step S290, after increasing the time, returning to step (S210) of determining the trajectory of the aircraft as time progresses. . The method of claim 5, wherein
The warning of avoiding obstacle collision may include:
Setting the region (S300),
Acquiring a database of surrounding area obstacles (S310);
Calculating a distance between the aircraft and the obstacle (S320),
Calculating an azimuth angle between the aircraft and the obstacle (S330);
Determining whether the distance and the azimuth are smaller than the forward search area (S340);
If the distance and the azimuth are smaller than the forward search area, determining a possibility of collision (S350);
And if there is a possibility of collision, outputting an obstacle collision avoidance.

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