CN109712434A - A kind of unmanned plane air situation display method for early warning - Google Patents
A kind of unmanned plane air situation display method for early warning Download PDFInfo
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- CN109712434A CN109712434A CN201711004876.3A CN201711004876A CN109712434A CN 109712434 A CN109712434 A CN 109712434A CN 201711004876 A CN201711004876 A CN 201711004876A CN 109712434 A CN109712434 A CN 109712434A
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Abstract
The embodiment of the present invention provides a kind of unmanned plane air situation display method for early warning.The present invention shows unmanned plane periphery airplane information according to the ADS-B information that receiver on unmanned plane receives, it is shown on unmanned plane control terminal in conjunction with information such as the position of aircraft, speed, course, height by a series of drafting strategies, and it provides and is strayed into no-fly zone early warning, safe early warning and threat early warning.This method is based on ADS-B information and provides accurate peripheral information for unmanned plane during flying, improves the accuracy and safety of unmanned plane during flying.
Description
Technical field
The invention belongs to unmanned plane early warning to manage technical field, specifically a kind of air situation that ADS-B is received based on unmanned plane
Show method for early warning.
Background technique
With development in science and technology and social progress, the field of modern unmanned plane (UAV) application and range are more and more wider, execution
Task is also more complicated and diversified.Unmanned plane as military, have detectivity it is low, it is cheap, do not fear injures and deaths, landing spirit
Living, flexible operation, automatically controls the features such as intelligent at system configuration diversification, thus plays the part of in the following Integrative Joint Operations Simulation
Drill more and more important role.
It with the development of unmanned air vehicle technique, not only militarily plays a great role, but also more and more small-sized fixations
The wing or rotor wing unmanned aerial vehicle are applied in daily life, are such as taken photo by plane with unmanned plane, send logistics and high-risk environment
It is lower to work instead of the mankind.
Unmanned plane is widely used in life, also brings many risk factors while convenience for life work belt.
The unordered flight behavior of aerial unmanned plane has generation more recently, occupies airspace resource, seating plane to other legal flights and
Navigation aircraft threatens, and causes safety accident, such as interferes the takeoff and landing of Civil Aviation Airport passenger plane.
Increasingly mature compared to unmanned air vehicle technique, the air situation of unmanned plane shows that early warning technology falls behind relatively, especially right
The early warning control of unmanned plane, causes unmanned plane to be strayed into no-fly zone, threatens airline carriers of passengers flight safety, make around the no-fly zones such as airport
At safety accident.
Summary of the invention
The present invention provides a kind of unmanned plane air situation display method for early warning, and air situation information is shown in unmanned plane control terminal simultaneously
Early warning is carried out, ensures low altitude airspace flight safety, improves flight efficiency.
The present invention provides a kind of unmanned plane air situation display method for early warning, and technical solution is as follows:
Basic GIS information and spatial information (si) are drawn, right for the reference by location and airspace reference as air situation information
Shapefile original document carries out pattern rendering, is cut into the tile data library suitable for Rendering Engine draws, and layering is read not
With the tile data of level.
The posture that information draws aircraft is received according to ADS-B, ADS-B receiving module is installed on unmanned plane, receives ADS-B
Information passes back to unmanned plane control terminal, draws periphery air situation information by decoding and a series of draftings strategy, instructs nobody
Machine manipulator's safe flight.
Air situation early warning is carried out according to unmanned machine information and airplane information, passes through Unmanned Aerial Vehicle Data interface and navigation data
Library, ADS-B air situation information data interface realize a warning algorithm, and unmanned plane is prevented to be strayed into no-fly zone and to other aircraft bands
Carry out security threat.
A kind of unmanned plane air situation provided by the invention shows method for early warning, for the flight characteristic of current unmanned plane, foundation
GIS information, spatial information (si), ADS-B information effectively instruct unmanned plane manipulator to carry out better unmanned plane during flying, guarantee nobody
Machine flight safety, it is ensured that civil aviaton's airspace safety preferably promotes the development of unmanned plane industry.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without any creative labor, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow chart that unmanned plane air situation of the present invention shows method for early warning embodiment；
Fig. 2 is that GIS information and spatial information (si) draw flow diagram；
Fig. 3 is the flow diagram for receiving information according to ADS-B and drawing the posture of aircraft；
Fig. 4 is the flow diagram that air situation early warning is carried out according to unmanned machine information and airplane information；
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 is the flow chart that unmanned plane air situation of the present invention shows method for early warning embodiment, as shown in Figure 1, the present embodiment
Method includes: that basic GIS information and spatial information (si) draw 11, the posture 12 that information draws aircraft is received according to ADS-B, according to nothing
Man-machine information and airplane information carry out air situation early warning 13.
Basic GIS information and spatial information (si) draw 11, right for the reference by location and airspace reference as air situation information
Shapefile original document carries out pattern rendering, exports style configuration file, shapefile original document is cut into applicable
In the tile data library of Rendering Engine draws, the tile data of different levels is read in layering.
The posture 12 that information draws aircraft is received according to ADS-B, by installing ADS-B receiving module on unmanned plane, is connect
ADS-B information is received, unmanned plane control terminal is passed back to, air situation information in periphery is drawn by decoding and a series of draftings strategy,
And drafting efficiency is improved by drawing optimisation strategy, instruct unmanned plane manipulator's safe flight.
Air situation early warning 13 is carried out according to unmanned machine information and airplane information, passes through Unmanned Aerial Vehicle Data interface and navigation data
An anti-collision early warning algorithm is realized in conjunction with ADS-B air situation information data interface in library, and unmanned plane is prevented to be strayed into no-fly zone and to it
He brings security threat by aircraft.
A kind of unmanned plane air situation display methods provided by the invention draws 11 by basic GIS information and spatial information (si), according to
According to ADS-B the posture 12 that information draws aircraft is received, carries out air situation early warning 13 according to unmanned machine information and airplane information
Afterwards, for the flight characteristic of current unmanned plane, unmanned plane manipulator is effectively instructed to carry out better unmanned plane during flying, guarantees nothing
Man-machine flight safety, it is ensured that civil aviaton's airspace safety preferably promotes the development of unmanned plane industry.
Fig. 2 is that the basic GIS information of the present invention and spatial information (si) draw flow diagram, as shown in Fig. 2, specific implementation process
It is as follows:
S201: the original shapefile file for needing to make tile data library is imported.
Specifically, importing the original document of GIS figure layer or airspace figure layer, including .shp .idx .dbf file.
S202: writing pattern by CartoCSS can be with customized GIS and the display information in airspace.
Specifically, CartoCSS is that a kind of grammer similar to the pattern of CSS (Cascading Style Sheets) describes language
Speech can define the elements such as point, line, surface in the color of different levels, line thickness, the letter such as line style of type by CartoCSS
Breath.
S203: due to needing support different scaling levels, shapefile file is cut according to pyramid structure
At the tile of different levels, a tile data description information is [quadIndex, x, y, level, data], wherein
QuadIndex is quaternary tree index, and level is scaling level, and x, y are the specific location under the level, and data is specific pattern
Data information.
S204: GIS roaming is judged whether there is.
Specifically, when scaling etc. operates, other level tiles can be triggered when user is for example slided in control terminal
Load executes S205.
S205: control terminal inquires the corresponding quadIndex in tile data library according to current zoom level, reads corresponding watt
The data information of piece.
S206: after reading tile information, transferring to drawing engine to be rendered, and finally executes rendering behaviour by OpenGL
Make.
Fig. 3 is the flow diagram for receiving information according to ADS-B and drawing the posture of aircraft, as shown in figure 3, specific implementation stream
Journey is as follows:
S301: it receives ADS-B message and decodes.
Specifically, decoding is responsible for by decoding program, extracts ICAO after ADS-B message passes back to unmanned plane control terminal,
Course, the information such as position.
S302: aircraft dictionary is updated according to ICAO address key.
Specifically, all information of ADS-B message are stored in using the address ICAO as in the dictionary of key assignments, which provides use
In the initial data of drafting.
S303: a snapshot of aircraft dictionary is obtained.
It should be noted that aircraft dictionary there are always data incoming, needs to synchronize operation to aircraft dictionary, prevent out
Existing thread-safe problem, update when, need to obtain a snapshot to aircraft dictionary, are updated aircraft appearance using this snapshot
State and state.
S304: traversal snapshot dictionary takes out exemplary aircraft.
Specifically, the circulation takes example from dictionary snapshot always, if example can also be taken out, S305 is executed.
S305: judge whether airplane data has update.
Specifically, the marker bit of example can be updated when receiving airplane data, the aircraft is marked to have new data,
Data update can be checked whether there is when update according to this marker bit.If there is updating, S306 is executed, S307 is otherwise executed.
S306: aircraft is updated.
Specifically, the level that stacks of aircraft, the boat according to aircraft can be updated according to height when receiving aircraft has new data
To the direction for updating aircraft, the display position of aircraft is updated according to the geographical location of aircraft, other data newly received can be according to
Field is updated.S304 is executed after update.
S307: judge whether airplane data has time-out.
Specifically, when understanding when will record a timestamp information next update data when receiving message and be current
Between be compared, if interval time is more than 30s, then it is assumed that data time-out.If overtime, S308 is executed, S304 is otherwise executed.
S308: judge that airplane data time-out time is more than 120s.
It should be noted that when airplane data time-out time is more than 120s, probably due to the distance of aircraft is more than to receive
Distance and again can not receive data, at this time think that the data of aircraft are invalid.If it exceeds the time, executes S309, it is no
Then execute S310.
S309: aircraft is deleted.
S310: red aircraft is marked.
It should be noted that when airplane data has timed out, but time-out time is less than 120s, then retains aircraft, but will fly
Machine color mark is red.
Fig. 4 is the flow diagram that air situation early warning is carried out according to unmanned machine information and airplane information, as shown in figure 4, specifically
Implementing procedure is as follows:
S401: obtaining control terminal unmanned plane position, extracts no-fly zone information nearby.
Specifically, the GPS module by unmanned plane positions unmanned plane position, database R in no-fly zone is combined by the position
Tree index, quick obtaining periphery no-fly zone information.
S402: judge whether unmanned plane is strayed into no-fly zone.
Specifically, whether in the polygon of no-fly zone judging that it is no-fly whether unmanned plane is strayed by verifying unmanned plane position
Area.If it is S403 is executed, S404 is otherwise executed.
S403: unmanned plane is strayed into no-fly zone early warning.
Specifically, the red unmanned plane of control terminal mark and the no-fly zone boundary being strayed into, and text adds voice prompting to be strayed into taboo
Fly area.
S404: a snapshot of aircraft dictionary is obtained.
It should be noted that aircraft dictionary there are always data incoming, needs to synchronize operation to aircraft dictionary, prevent out
Existing thread-safe problem, update when, need to obtain a snapshot to aircraft dictionary, this snapshot is used to carry out early warning judgement.
S405: an example in aircraft dictionary is taken out.
Specifically, the circulation takes example from dictionary snapshot always, if example can also be taken out, S406 is executed.
S406: judging unmanned plane and the exemplary aircraft is more than safe distance.
Specifically, the linear distance of the two is calculated by the position of the exemplary aircraft and the position of unmanned plane, if it is less than
Safe distance executes S407, otherwise executes S408.
S407: anti-collision warning.
Specifically, the red unmanned plane of control terminal mark and collision exemplary aircraft, and text adds voice prompting anti-collision warning.
S408: estimating unmanned plane has security threat to aircraft.
Specifically, in conjunction with the speed of current aircraft example, height, position, course information, estimation aircraft in the following 5s
Position, and be compared with current unmanned plane position, if any one position and unmanned plane distance in 5s are less than safety
Distance then executes S409, otherwise executes S405.
S409: threat early warning.
Specifically, the red unmanned plane of control terminal mark and threat exemplary aircraft, and text adds voice prompting threat early warning.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (4)
1. a kind of unmanned plane air situation shows method for early warning characterized by comprising
Basic GIS information and spatial information (si) are drawn, and the posture that information draws aircraft are received according to ADS-B, according to unmanned machine information
Air situation early warning is carried out with airplane information.
The basic GIS information and spatial information (si) are drawn, for showing ground GIS information, including provincial boundaries, provincial capital, and prefecture-level city, directly
City is had jurisdiction over, county-level city, small towns, multistage highway, railway, lake, the element informations such as greenery patches, it includes no-fly zone, machine that spatial information (si), which is drawn,
Field anchor point, airport figure, flight information region, air route course line, navigational facility, restricted area, regulatory area etc..
It is described that the posture that information draws aircraft is received according to ADS-B, after decoding message data, drawn aircraft is determined by height
Level is stacked, the orientation information of aircraft is drawn according to course information, the state of aircraft, aircraft are determined by the receiving time of message
Right side is immediately following a label for indicating other information.
The unmanned machine information of the foundation and airplane information carry out air situation early warning, in conjunction with no-fly zone and the position of aircraft, speed, height
The information such as degree, course and unmanned machine information carry out being strayed into no-fly zone early warning to the unmanned plane for being strayed into no-fly zone, to lower than safety away from
From unmanned plane and aircraft carry out anti-collision warning, and the possible position for estimating aircraft impends early warning, prompt operator into
Row emergency processing.
2. a kind of unmanned plane air situation according to claim 1 shows method for early warning, which is characterized in that the basic GIS letter
Breath and spatial information (si) are drawn, comprising:
Layer style rendering；
The production of tile data library；
The essential informations such as GIS and airspace are drawn.
3. a kind of unmanned plane air situation according to claim 1 shows method for early warning, which is characterized in that described according to ADS-B
Receive the posture that information draws aircraft, comprising:
Decode ADS-B message data；
Update aircraft dictionary data；
Aspect is updated according to dictionary data, updates aircraft state according to message time stamp.
4. a kind of unmanned plane air situation display methods according to claim 1, which is characterized in that the unmanned machine information of foundation
Air situation early warning is carried out with airplane information, comprising:
Unmanned plane enters restricted area and carries out early warning；
Unmanned plane and aircraft collision early warning；
Unmanned plane and aircraft threat early warning.
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| WO2021109430A1 (en) * | 2019-12-06 | 2021-06-10 | 南京萨利智能科技有限公司 | Aircraft route monitoring method and device based on ads-b broadcast signal, and computer storage medium |
| CN114550508A (en) * | 2022-02-10 | 2022-05-27 | 北方天途航空技术发展（北京）有限公司 | Training machine intelligent position management system, method, device and storage medium |
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