CN104730523B - The method that terrain information is shown based on weather radar - Google Patents
The method that terrain information is shown based on weather radar Download PDFInfo
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- CN104730523B CN104730523B CN201510095963.9A CN201510095963A CN104730523B CN 104730523 B CN104730523 B CN 104730523B CN 201510095963 A CN201510095963 A CN 201510095963A CN 104730523 B CN104730523 B CN 104730523B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
- G01S13/935—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft for terrain-avoidance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/95—Radar or analogous systems specially adapted for specific applications for meteorological use
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention relates to the method that terrain information is shown based on weather radar, comprise the following steps：(a) angle of pitch a of aircraft in-flight is obtained；(b) positive angle of pitch redundancy b, the superfluous She c of the negative angle of pitch are set；(c) it is that, more than or equal to a c and less than or equal to a+b, the scanning angular region in horizontal direction is between ± 90 degree, so as to constitute a spacescan region to choose the scanning angular region in pitch orientation；(d) the spacescan region is scanned using radar, distance in echo information is integrated closest to the terrain data of aircraft, and be overlapped the landform edge line closest to aircraft to form terrain profile line, it is used as the secure border of aircraft flight.The landform warning line that the method according to the invention is shown, can there is provided the necessary terrain information for having a threat in remote mountain area and in the case of topographic database is disabled when losing positional information in aircraft.
Description
Technical field
The present invention relates to, to topographic data processing and the method for display, more particularly to pass through meteorology by aircraft weather radar
The method that radar data obtains risk altitude terrain information.
Background technology
At present, the weather information of hazard recognition is carried out in civil aviation using weather radar, meanwhile, weather radar possesses landform
The pattern of detection.In practice, when weather radar is operated in Meteorological Models, it will usually carry out landform clutter recognition, and by ground
Shape information is adequately filtered out；And when weather radar is operated under topographic map mode of operation, terrain information can only substantially be shown
The distribution of landform, and can not recognize has the terrain information of threat.
The gound-mapping information provided for weather radar, can only be used as a reference, it is impossible to be used as hazard recognition at present
The authentic communication source of landform.And in fact, in terrain information acquired in weather radar, including judgement and threatening landform
Information, but be not fully utilized always.
The content of the invention
It is an object of the invention to the method for proposing to show terrain information based on weather radar, by making full use of meteorological thunder
Up to acquired data, the terrain information of threat is identified, and is shown by display system, enhancing aircraft prevents
The safety coefficient of collision, and strengthen trust of the pilot to aircraft.
Therefore, according to an aspect of the present invention there is provided a kind of method that terrain information is shown based on weather radar, including
Following steps：
(a) angle of pitch a of aircraft in-flight is obtained；
(b) positive angle of pitch redundancy b, negative angle of pitch redundancy c are set；
(c) the scanning angular region in pitch orientation is chosen to be more than or equal to-a-c and be less than or equal on-a+b, in-plane
Scanning angular region be ± 90 degree between, so as to constitute a spacescan region；
(d) the spacescan region is scanned using radar, for the scanning in the pitch orientation of each selection
Angle, launches in the range of ± 90 degree of scan angle and receives echo in the in-plane direction, obtain each scan angle planar
Corresponding distance and is projected in the horizontal plane closest to the terrain information of aircraft, obtains the scan angle in this pitch orientation
Corresponding landform edge line, the landform edge line of the scan angle in different pitch orientations is overlapped, what is formed most leans on
The terrain profile line of nearly aircraft, is used as the secure border of aircraft flight.
According to another aspect of the present invention there is provided a kind of method that terrain information is shown based on weather radar, including it is as follows
Step：
(a) height sensor is used, height H of the aircraft in-flight in space is measured；
(b) on the basis of flying height H horizontal plane where aircraft, upward high redundancy H1, downward high redundancy are set
Scanning angular region on H2, in-plane is between ± 90 degree, so as to constitute a spacescan region；
(c) terrain return data of the weather radar at various height on H are chosen, obtain distance planar most connect
The terrain information of nearly aircraft, and projected in the horizontal plane, the landform edge line corresponding to this height is obtained, by different height
Corresponding landform edge line is overlapped, and is formed terrain profile line, is used as the secure border of aircraft flight.According to above-mentioned aspect
In any one or more, the present invention can further comprise any one or more following preferred forms.
In some preferred forms, show the method for terrain information also including as follows based on weather radar according to the present invention
Step：
Setting one, apart from redundancy X, is drawn based on aircraft horizontal level from the terrain profile line towards aircraft direction
Every bit on new terrain profile line, the new terrain profile line is all X apart from the minimum distance of the terrain profile line,
The secure border of aircraft flight is used as using terrain profile line new this described.
In some preferred forms, smooth curve fitting, and the light to be obtained after fitting are carried out to the terrain profile line
Sliding curve is used as new terrain profile line.Thus obtained curve can remove the rough burr of old terrain profile line, from
And make it that new terrain profile linear light is slided, and more meets visual experience.More preferably, the smooth curve fitting is intended using multinomial
Close, obtained smooth curve is the curve of polynomial expression.Because the smooth curve of polynomial expression possesses much good mathematics
Property, such as any order derivative is present, therefore the curve that smooth curve is taken as into polynomial expression can be advantageously in meter
Calculating and processing of the calculation machine program for curve.
It is described to be set as a determination numerical value apart from redundancy X in some preferred forms.This determination numerical value can according to
Directly selected toward flying experience, can also artificially assign a determination numerical value.When required secure border is wider, then artificially
Ground assigns the larger numerical value apart from redundancy X, when required secure border is narrower, then artificially imparting one is less
Apart from redundancy X numerical value.
It is described to be set based on aircraft horizontal position error and unit response time apart from redundancy X in some preferred forms
It is fixed.It is possible thereby to reasonably determine the concrete numerical value apart from redundancy X.
In some preferred forms, the positive angle of pitch redundancy b and/or the negative angle of pitch redundancy c are high according to landform
The precision of degree redundancy, the precision that radar is pitched and/or radar detection height is determined.Such value, is conducive to saving aircraft
Scanning, processing and storage resource, while ensure aircraft have meet practical flight needs the angle of pitch open degree.It is more excellent
Ground, the positive angle of pitch redundancy b is taken as 0.01 degree, and the negative angle of pitch redundancy c is taken as 0.01 degree.Lacking more data information
In the case of, the numerical value that the positive angle of pitch redundancy b and negative angle of pitch redundancy c is taken as 0.01 degree can be directly chosen, is protected
The open degree for the angle of pitch that the safer flight of card needs.
In some preferred forms, terrain profile line can individually be shown, can also be shown with meteorological figure layer information superposition.
It is possible thereby to neatly select the display mode of landform contour line.
In some preferred forms, upward high redundancy H1 or downward high redundancies H2 is based on GPS height errors, radio
Height error, the height error of atmosphere data are set.It is possible thereby to reasonably determine upward high redundancy H1 or downwards height
Redundancy H2 concrete numerical value.
The advantageous effects that can obtain of method of terrain information are shown at least based on weather radar according to the present invention
Including：(1) data display obtained by weather radar goes out landform warning line as the secure border of aircraft flight, can fly
There is provided the necessary landform for having a threat in remote mountain area and in the case of topographic database is disabled when losing positional information for machine
Information；(2) region being not covered with topographic database, in the case of the terrain information of topographic database is disabled, now leads to
Real-time terrain data can be provided by crossing the landform warning line of weather radar offer；(3) the terrain information phase of weather radar scanning
Than topographic database mesorelief information, real-time more preferably, has more preferable adaptability for the landform of suddenly change；(4) conduct
TAWS(Terrain awareness and warning system：Landform hint and caveat system) supplement, can strengthen
Trust of the pilot to aircraft.
In improved technical scheme, it also may be such that new terrain profile line compares original terrain profile apart from redundancy X
For line, closer to aircraft side and away from landform side, so as to provide the higher landform of safety coefficient for aircraft flight
Warning line as aircraft flight new secure border so that aircraft flight is safer.
Brief description of the drawings
Fig. 1 is the basic principle schematic of the method that terrain information is shown based on weather radar according to the present invention；
Fig. 2 a to Fig. 2 b are the terrain profile of the method acquisition that terrain information is shown based on weather radar according to the present invention
The schematic diagram of line on a display screen, wherein Fig. 2 a mesorelief contour line individually shows, Fig. 2 b mesorelief contour lines and meteorological figure layer
Information superposition is shown.
Embodiment
In order to which the method that terrain information is shown based on weather radar according to the present invention is better described, below in conjunction with attached
Figure is described in detail.
In the first embodiment of the present invention, in horizontal projection as shown in Figure 1, aircraft smooth flight is certain
Highly, numeral 1 is the in-flight position of aircraft, and numeral 1 ' is aircraft flight direction.Using aspect sensor, obtain
The angle of pitch a of aircraft now, such as obtain the angle of pitch a of aircraft using inertial navigation or navigation attitude.Then, aircraft needs to use airborne gas
As radar is scanned with certain pitching scan angle Tilt to its front space.In order to obtain the landform letter near aircraft altitude
Breath is, it is necessary to which weather radar launches radar wave to horizontal direction, it is contemplated that the width of wave beam and actual radar detection Terrain Elevation
Precision, may result in unnecessary warning line and produces；Additionally, it is contemplated that the height error that the radian of the earth is produced, may lead
Cause the warning line dropout that produce.Suitable positive luffing angle redundancy b and negative luffing angle redundancy c is now set, determined
Scanning angular region in scan angle Tilt excursion, pitch orientation is more than or equal to-a-c (being less than zero) and less than or equal to-a
It is not drawn into+b (be more than zero), figure, the scanning angular region in horizontal direction is between ± 90 degree, so as to constitute a spacescan
Region.The positive angle of pitch redundancy b and/or the negative angle of pitch redundancy c are the precision according to landform high redundancy, radar flexion-extension
And/or the precision of radar detection height is determined.Especially, when aircraft smooth flight, positive luffing angle redundancy b can take
For 0.01 degree, negative luffing angle redundancy c can be taken as 0.01 degree.Now, more specifically, when front need scanning level away from
During from more than or equal to 80 km, then the vertical range of positive luffing angle redundancy is 14 meters (=80000 × sin (0.01)), negative to bow
The vertical range of elevation angle degree redundancy is (- 14) rice.Certainly, in actual applications, positive luffing angle redundancy b and negative luffing angle are superfluous
Remaining c value can be all changed as needed, such as positive luffing angle redundancy b can be taken as 10 degree, 5 degree, 2 degree, 1
Degree, 0.5 degree, 0.2 degree, 0.1 degree, 0.05 degree, 0.02 degree, 0.01 degree, 0.005 degree, 0.001 degree etc., negative luffing angle redundancy c can
To be taken as 10 degree, 5 degree, 2 degree, 1 degree, 0.5 degree, 0.2 degree, 0.1 degree, 0.05 degree, 0.02 degree, 0.01 degree, 0.005 degree, 0.001 degree
Deng the value of these positive/negative luffing angle redundancies both falls within protection scope of the present invention.More specifically, as another example, it is elected to
Positive luffing angle redundancy b is taken to be taken as 0.05 degree, when negative luffing angle redundancy c can be taken as 0.05 degree, when front needs to sweep
When the horizontal range retouched is more than or equal to 80 km, then the vertical range of positive luffing angle redundancy is 69.8 meters of (=80000 × sin
(0.05) vertical range for), bearing luffing angle redundancy is (- 69.8) rice.The positive/negative pitching of other positive/negative luffing angle redundancies
The computational methods of angle vertical distance are identical.
Weather radar is scanned in above-mentioned pitch orientation and horizontal direction.When pitching scan angle is taken as 0 degree, level side
Upward scanning angular region is between ± 90 degree, to launch and receive echo, obtain 0 degree of pitching scan angle planar correspondingly
Distance closest to the terrain information of aircraft, and projected in the horizontal plane, now projection obtains the landform edge line in front
For broken line EAB, (broken line EAB herein is made up of straightway EA and AB, is to easily schematically show present invention side
Method, in practice, landform edge line are irregular curves).Similarly, angle is determined every one, such as positive/negative pitching
Angle redundancy is 0.01 degree, then can choose 0.0001 degree, 0.0002 degree, 0.0005 degree, 0.001 degree, 0.002 degree or 0.005
One in degree etc. determines that (angle cited by these is an example to angle, and this determination angle can also be other ratios
0.01 small angle), the pitching scan angle Tilt that can be stepped up or reduce in the p- a-c of this determination angle to-a+b enters
Scanning angular region in flat scanning of row, horizontal direction is between ± 90 degree, launches and receives echo, plane where obtaining
The interior corresponding distances of pitching scan angle Tilt and are projected in the horizontal plane closest to the terrain information of aircraft, so that
To the corresponding landform edge lines of this pitching scan angle Tilt.When the pitching of the p- a-c to-a+b of the weather radar of aircraft scope is swept
Retouch angle Tilt it is all scanned after, the landform edge line of the scan angle in different pitch orientations can be overlapped, be formed
The terrain profile line near aircraft, can as aircraft flight secure border.More preferably, can be to the terrain profile
Line carries out smooth curve fitting, such as curve is fitted using polynomial expression, and the smooth song to be obtained after fitting
Line is as new terrain profile line, so that with more preferable visual experience.It is folding now to integrate obtained front terrain profile line
(broken line MFG herein is made up of line MFG straightway MF and FG, is in order to easily schematically show the inventive method, in reality
In border, terrain profile line is irregular curve).In three dimensions, the terrain profile line is actually in this altitude range
The edge line by aircraft side on interior topographic projection's figure.
More preferably, can set one based on aircraft horizontal level apart from redundancy X, from foregoing terrain profile line (i.e.
Broken line MFG) new terrain profile line, new terrain profile line (i.e. broken line TUV, broken line TUV herein are drawn towards aircraft direction
It is made up of straightway TU and UV, is that, in order to easily schematically show the inventive method, in practice, terrain profile line is not
Regular curve) on every bit apart from foregoing terrain profile line minimum distance all be X, using this new terrain profile line as fly
The secure border of machine flight.Cause new terrain profile line compared to for original form line apart from redundancy X, closer to aircraft
Side and remote landform side, so as to provide the higher landform warning line of safety coefficient as aircraft flight for aircraft flight
New secure border so that aircraft flight is safer.Specifically, terrain profile line apart from redundancy be one be based on unit
The redundancy of response time, can be by assessing a practical response time to the test of airline operation person, and passes through the sound
A response distance is obtained between seasonable with the speed of aircraft, the requirement of unit reaction distance can be met apart from redundancy X.In reality
In trampling, a determination numerical value is can be set as apart from redundancy X.This determination numerical value can directly be selected according to conventional flying experience,
A determination numerical value can also artificially be assigned.When required secure border is wider, then artificially assign one it is larger away from
From redundancy X numerical value, when required secure border is narrower, then a less numerical value apart from redundancy X is artificially assigned.
More preferably, as shown in Figure 2 a, the terrain profile line 2 in display screen 4 can individually be shown, can also be with meteorological figure layer
The Overlapping display of information 3, as shown in Figure 2 b.It is possible thereby to neatly select the display mode of landform contour line.
In second of embodiment of the present invention, in horizontal projection as shown in Figure 1, aircraft smooth flight is certain
Highly, numeral 1 is the in-flight position of aircraft, and numeral 1 ' is aircraft flight direction.Aircraft utilization height sensor, is measured
Height H of the aircraft in-flight in space.Upward high redundancy H1 or downward high redundancies H2 is to be based on GPS height errors, nothing
Line electrical height error, the height error of atmosphere data are set, by setting upward high redundancy H1 or downward high redundancies
H2 is it is possible to prevente effectively from due to the influence produced by precision problem caused by error.Thus obtained height Altitude value
Scope is：H-H2 ＜ Altitude ＜ H+H1.
Choose terrain return data of the weather radar at various height on Altitude, obtain distance planar
Projected closest to the terrain information of aircraft, and in the horizontal plane, it is broken line to obtain the landform edge line corresponding to this height
EAB.Similarly, height spacing is determined every one, such as chooses one in 1 meter, 2 meters, 5 meters, 10 meters, 20 meters or 50 meters etc.
It is determined that height spacing, can be stepped up or reduce this determination height spacing on the height Altitude in H-H2 to H+H1
Terrain return data, and projected in the horizontal plane, and obtain the corresponding landform edge lines of this height Altitude.When winged
The weather radar of machine is all chosen to the height Altitude of H-H2 to H+H1 scope finish after, by the ground corresponding to different height
Shape edge line is overlapped, and is formed terrain profile line, is used as the secure border of aircraft flight.
Especially, upward high redundancy H1 or downward high redundancies H2 can be taken as 30 meters or 100 feets.
More preferably, smooth curve fitting can be carried out to the terrain profile line, such as using polynomial expression to song
Line is fitted, and the smooth curve obtained using after fitting is as new terrain profile line, so that with more preferable visual experience.
Now integrate obtained front terrain profile line for broken line MFG (broken line MFG herein is made up of straightway MF and FG, be in order to
The inventive method is easily schematically shown, in practice, terrain profile line is irregular curve).In three dimensions, should
Terrain profile line is actually the edge line by aircraft side on topographic projection's figure in this altitude range.
More preferably, can set one based on aircraft horizontal level apart from redundancy X, from foregoing terrain profile line (i.e.
Broken line MFG) new terrain profile line, new terrain profile line (i.e. broken line TUV, broken line TUV herein are drawn towards aircraft direction
It is made up of straightway TU and UV, is that, in order to easily schematically show the inventive method, in practice, terrain profile line is not
Regular curve) on every bit apart from foregoing terrain profile line minimum distance all be X, using this new terrain profile line as fly
The secure border of machine flight.Cause new terrain profile line compared to for original form line apart from redundancy X, closer to aircraft
Side and remote landform side, so as to provide the higher landform warning line of safety coefficient as aircraft flight for aircraft flight
New secure border so that aircraft flight is safer.Specifically, terrain profile line apart from redundancy be one be based on unit
The redundancy of response time, can be by assessing a practical response time to the test of airline operation person, and passes through the sound
A response distance is obtained between seasonable with the speed of aircraft, the requirement of unit reaction distance can be met apart from redundancy X.In reality
In trampling, a determination numerical value is can be set as apart from redundancy X.This determination numerical value can directly be selected according to conventional flying experience,
A determination numerical value can also artificially be assigned.When required secure border is wider, then artificially assign one it is larger away from
From redundancy X numerical value, when required secure border is narrower, then a less numerical value apart from redundancy X is artificially assigned.
More preferably, as shown in Figure 2 a, the terrain profile line 2 in display screen 4 can individually be shown, can also be with meteorological figure layer
The Overlapping display of information 3, as shown in Figure 2 b.It is possible thereby to neatly select the display mode of landform contour line.
Embodiments of the present invention are explained in detail above in conjunction with accompanying drawing, but the present invention is not limited to above-mentioned implementation
Mode, in the knowledge that art those of ordinary skill possesses, can also not depart from present inventive concept
Under the premise of various changes can be made.
Claims (17)
1. a kind of method that terrain information is shown based on weather radar, it is characterised in that comprise the following steps：
(a) angle of pitch a of aircraft in-flight is obtained；
(b) positive angle of pitch redundancy b, negative angle of pitch redundancy c are set；
(c) the scanning angular region in pitch orientation is chosen to be more than or equal to-a-c and be less than or equal to sweeping on-a+b, in-plane
Angular region is retouched between ± 90 degree, so as to constitute a spacescan region；
(d) the spacescan region is scanned using radar, for the scan angle in the pitch orientation of each selection,
Launch on in-plane in the range of ± 90 degree of scan angle and receive echo, obtain each scan angle planar it is corresponding
Distance and is projected in the horizontal plane closest to the terrain information of aircraft, is obtained corresponding to the scan angle in this pitch orientation
Landform edge line, the landform edge line of the scan angle in different pitch orientations is overlapped, formed near aircraft
Terrain profile line, be used as the secure border of aircraft flight.
2. the method as claimed in claim 1 that terrain information is shown based on weather radar, it is characterised in that also including following step
Suddenly：
(e) setting one is obtained newly based on aircraft horizontal level apart from redundancy X from the terrain profile line towards aircraft direction
Terrain profile line, every bit on the new terrain profile line is all X apart from the minimum distance of the terrain profile line, with
This described new terrain profile line as aircraft flight secure border.
3. the method as claimed in claim 1 or 2 that terrain information is shown based on weather radar, is carried out to the terrain profile line
Smooth curve is fitted, and the smooth curve obtained using after fitting is used as new terrain profile line.
4. the method as claimed in claim 3 that terrain information is shown based on weather radar, the smooth curve fitting is using more
Item formula fitting, obtained smooth curve is the curve of polynomial expression.
5. the method as claimed in claim 3 that terrain information is shown based on weather radar, it is characterised in that the positive angle of pitch
Redundancy b and/or the negative angle of pitch redundancy c are according to landform high redundancy, the precision of radar flexion-extension and/or radar detection height
Precision be determined.
6. the method as claimed in claim 3 that terrain information is shown based on weather radar, it is characterised in that the positive angle of pitch
Redundancy b is taken as 0.01 degree, and the negative angle of pitch redundancy c is taken as 0.01 degree.
7. the method as claimed in claim 2 that terrain information is shown based on weather radar, it is characterised in that described apart from redundancy
X is set as a determination numerical value.
8. the method as claimed in claim 2 that terrain information is shown based on weather radar, it is characterised in that described apart from redundancy
X is set based on aircraft horizontal position error and unit response time.
9. the method as claimed in claim 3 that terrain information is shown based on weather radar, it is characterised in that the terrain profile
Line individually shows or shown with meteorological figure layer information superposition.
10. a kind of method that terrain information is shown based on weather radar, it is characterised in that comprise the following steps：
(a) height sensor is used, height H of the aircraft in-flight in space is measured；
(b) on the basis of flying height H horizontal plane where aircraft, upward high redundancy H1, downward high redundancy H2 are set, put down
Scanning angular region on the direction of face is between ± 90 degree, so as to constitute a spacescan region；
(c) met for height Altitude：H-H2 ＜ Altitude ＜ H+H1, choose weather radar at various height
Terrain return data on Altitude, obtain distance planar closest to aircraft terrain information, and in horizontal plane
It is interior to be projected, the landform edge line corresponding to this height is obtained, the landform edge line corresponding to different height is overlapped,
Terrain profile line is formed, the secure border of aircraft flight is used as.
11. the method as claimed in claim 10 that terrain information is shown based on weather radar, it is characterised in that also including as follows
Step：
(d) setting one is drawn newly based on aircraft horizontal level apart from redundancy X from the terrain profile line towards aircraft direction
Terrain profile line, every bit on the new terrain profile line is all X apart from the minimum distance of the terrain profile line, with
This described new terrain profile line as aircraft flight secure border.
12. the method that terrain information is shown based on weather radar as described in claim 10 or 11, to the terrain profile line
Smooth curve fitting is carried out, and the smooth curve obtained using after fitting is used as new terrain profile line.
13. the method as claimed in claim 12 that terrain information is shown based on weather radar, the smooth curve fitting is used
Fitting of a polynomial, obtained smooth curve is the curve of polynomial expression.
14. as described in claim 10 or 11 based on weather radar show terrain information method, it is characterised in that it is described to
Upper height of the high redundancy H1 or downward high redundancies H2 based on GPS height errors, radio altitude error and/or atmosphere data
Error is set.
15. the method as claimed in claim 11 that terrain information is shown based on weather radar, it is characterised in that described apart from superfluous
Remaining X is set as a determination numerical value.
16. the method as claimed in claim 11 that terrain information is shown based on weather radar, it is characterised in that described apart from superfluous
Remaining X is set based on aircraft horizontal position error and unit response time.
17. the method as claimed in claim 11 that terrain information is shown based on weather radar, it is characterised in that the landform wheel
Profile individually shows or shown with meteorological figure layer information superposition.
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| WO2020041959A1 (en) * | 2018-08-28 | 2020-03-05 | 深圳市大疆创新科技有限公司 | Continuous-wave radar terrain-prediction method, device, system, and unmanned aerial vehicle |
| CN112068140A (en) * | 2020-09-11 | 2020-12-11 | 中国航空工业集团公司雷华电子技术研究所 | Airborne phased array meteorological radar scanning method and device and airborne phased array meteorological radar |
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