CN113934808A

CN113934808A - Map data acquisition method and device and aircraft

Info

Publication number: CN113934808A
Application number: CN202111238198.3A
Authority: CN
Inventors: 赵德力; 傅志刚; 陶永康; 彭登
Original assignee: Guangdong Huitian Aerospace Technology Co Ltd
Current assignee: Guangdong Huitian Aerospace Technology Co Ltd
Priority date: 2021-10-22
Filing date: 2021-10-22
Publication date: 2022-01-14
Anticipated expiration: 2041-10-22
Also published as: WO2023065408A1; CN113934808B

Abstract

The application discloses a map data acquisition method, a device and an aircraft, wherein the map data acquisition method comprises the following steps: acquiring current motion state parameters of the aircraft, wherein the current motion state parameters at least comprise position, speed and acceleration; predicting the motion trail of the aircraft within a future preset time length according to the current motion state parameters to obtain a predicted motion trail; determining a region to be requested based on the predicted motion trajectory; and acquiring map data corresponding to the area to be requested. According to the map data acquisition method, the map data request area is adaptively adjusted according to the motion state parameters of the aircraft, the map data can be timely and accurately loaded, and user experience is improved.

Description

Map data acquisition method and device and aircraft

Technical Field

The present application relates to the field of map technologies, and in particular, to a map data acquisition method, a map data acquisition device, and an aircraft.

Background

Aircrafts such as hovercars are one of the development directions of future vehicles, wherein the automatic driving function of the intelligent hovercars plays an important role in the flight process. When the automatic driving function works, map data in a certain distance range of the current position needs to be obtained in advance so as to avoid risks in advance, and meanwhile, the map data is also prepositive information of flight trajectory planning. The air flight has the characteristics of high flying speed, high dynamic obstacle avoidance and the like, and therefore the map data loading is required to have timeliness and accuracy.

The foregoing description is provided for general background information and is not admitted to be prior art.

Disclosure of Invention

In view of the technical problems, the application provides a map data acquisition method, a map data acquisition device and an aircraft, which can timely and accurately load map data and improve user experience.

In order to solve the above technical problem, in a first aspect, the present application provides a map data obtaining method, including:

acquiring current motion state parameters of the aircraft, wherein the current motion state parameters at least comprise position, speed and acceleration;

predicting the motion trail of the aircraft within a future preset time length according to the current motion state parameters to obtain a predicted motion trail;

determining a region to be requested based on the predicted motion trajectory;

and acquiring map data corresponding to the area to be requested.

Optionally, determining a region to be requested based on the predicted motion trajectory includes:

and taking the current position of the aircraft as an origin, and taking the oval area determined by the preset major axis and the preset minor axis as the minimum area to be requested of the aircraft.

Optionally, the preset duration comprises a first preset duration;

predicting the motion trail of the aircraft within a future preset time length according to the current motion state parameters to obtain a predicted motion trail, wherein the predicted motion trail comprises the following steps:

predicting the motion trail of the aircraft within a first preset time in the future according to the current motion state parameters to obtain a first predicted motion trail;

wherein determining a region to be requested based on the predicted motion trajectory further comprises:

with the current position of the aircraft as an end point, respectively offsetting the first predicted motion track by preset angles leftwards and rightwards to obtain a first track area;

and determining the union of the minimum area to be requested and the first track area as an area to be requested.

Optionally, the method further comprises:

predicting the motion trail of the aircraft within a second preset time length in the future according to the current motion state parameter to obtain a second predicted motion trail, wherein the second preset time length is greater than the first preset time length;

with the current position of the aircraft as an end point, respectively offsetting the second predicted motion track by preset angles leftwards and rightwards to obtain a second track area, wherein the second track area comprises the first track area;

determining a complement of the first track region with respect to the second track region as a pre-cache region.

Optionally, the method further comprises:

and requesting the map data corresponding to the pre-caching area to a local cache from a map data cloud.

Optionally, the obtaining of the map data corresponding to the area to be requested includes:

obtaining map data corresponding to the area to be requested from a local cache;

and when the local cache does not have the map data corresponding to the area to be requested, requesting the map data corresponding to the area to be requested from the map data cloud.

and obtaining the map data corresponding to the areas to be requested according to the priority sequence, wherein the minimum area to be requested has the highest priority, and the intersection of the first track area and the minimum area to be requested has the second priority relative to the complement of the first track area.

Optionally, the predicting a motion trajectory of the aircraft within a preset time duration in the future according to the current motion state parameter to obtain a predicted motion trajectory includes:

and predicting the motion trail of the aircraft according to the current motion state parameter based on a preset motion trail prediction model to obtain the predicted motion trail of the aircraft in the future preset time.

Optionally, the current motion state parameter further includes a height, and the acquiring map data corresponding to the area to be requested includes:

determining a map scale according to the height;

and obtaining map data corresponding to the map scale and the area to be requested.

Optionally, the method further comprises:

and carrying out filtering processing on the current motion state parameters.

In a second aspect, an embodiment of the present application provides a map data acquiring apparatus, including:

the motion state acquisition module is used for acquiring current motion state parameters of the aircraft, wherein the current motion state parameters at least comprise position, speed and acceleration;

the motion trail prediction module is used for predicting the motion trail of the aircraft in a future preset time length according to the current motion state parameters to obtain a predicted motion trail;

the map data area determination module is used for determining an area to be requested based on the predicted motion trail;

and the map data request module is used for acquiring the map data corresponding to the area to be requested.

In a third aspect, the present application provides an aircraft including the map data acquisition apparatus according to the second aspect.

In a fourth aspect, an embodiment of the present application provides a map data acquisition apparatus, including a memory and a processor, where the memory stores thereon a computer program, and the computer program, when executed by the processor, implements the steps of the map data acquisition method according to the first aspect.

In a fifth aspect, the present application provides a readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the map data acquisition method according to the first aspect.

The technical scheme provided by the application can comprise the following beneficial effects:

according to the map data acquisition method and device and the aircraft, the map data loading area is adaptively adjusted according to the motion state parameters of the aircraft, and the map data can be timely and accurately loaded.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a first flowchart illustrating a map data acquisition method according to an embodiment of the present disclosure;

fig. 2 is a first schematic structural diagram of a map data acquiring apparatus according to an embodiment of the present disclosure;

fig. 3 is a schematic flowchart illustrating a second method for obtaining map data according to an embodiment of the present disclosure;

fig. 4 is a third schematic flowchart of a map data acquisition method according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a map data acquiring apparatus according to an embodiment of the present application;

fig. 6 is a fourth schematic flowchart of a map data obtaining method according to an embodiment of the present application;

fig. 7 is a schematic flowchart of a map data obtaining method according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a map data acquisition system according to an embodiment of the present application;

fig. 9 is a first flowchart illustrating a map data obtaining method in an embodiment of the present application;

FIG. 10 is a diagram illustrating various requested areas of map data in an embodiment of the present application;

fig. 11 is a specific flowchart of a map data obtaining method in the embodiment of the present application, which is schematically illustrated in fig. two.

The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings. With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the recitation of an element by the phrase "comprising an … …" does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element, and further, where similarly-named elements, features, or elements in different embodiments of the disclosure may have the same meaning, or may have different meanings, that particular meaning should be determined by their interpretation in the embodiment or further by context with the embodiment.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or," "and/or," "including at least one of the following," and the like, as used herein, are to be construed as inclusive or mean any one or any combination. For example, "includes at least one of: A. b, C "means" any of the following: a; b; c; a and B; a and C; b and C; a and B and C ", again for example," A, B or C "or" A, B and/or C "means" any of the following: a; b; c; a and B; a and C; b and C; a and B and C'. An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.

It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or sub-steps of other steps.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

It should be noted that, step numbers such as 101, 102, etc. are used herein for the purpose of more clearly and briefly describing the corresponding content, and do not constitute a substantial limitation on the sequence, and those skilled in the art may perform step number 102 and then step number 101, etc. in the specific implementation, but these shall be within the protection scope of the present application.

It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning in themselves. Thus, "module", "component" or "unit" may be used mixedly.

Referring to fig. 1, for the map data obtaining method provided in the embodiment of the present application, the map data obtaining method may be executed by the map data obtaining apparatus provided in the embodiment of the present application, the apparatus may be implemented in a software and/or hardware manner, and the apparatus may specifically be a cloud server, an electronic device, and the like, in this embodiment, the map data obtaining method is applied to an aircraft as an example, and the map data obtaining method includes the following steps:

step S101: acquiring current motion state parameters of the aircraft, wherein the current motion state parameters at least comprise position, speed and acceleration.

It is understood that the aircraft may refer to an aircraft with an autopilot function, including but not limited to a flying car, etc., and the current motion state parameters of the aircraft are used to characterize the motion state of the aircraft, including but not limited to position, speed, acceleration, etc., and the above parameters are all vectors, and the position includes not only magnitude but also direction, taking the position as an example. It should be noted that the current motion state parameter may be obtained by an information acquisition device disposed on the aircraft, for example, a positioning system is used to obtain a position, a speed sensor is used to obtain a speed, and the like. In addition, the acquiring of the current motion state parameter of the aircraft may be to acquire the motion state parameter of the aircraft in real time or at irregular time, or may be to periodically acquire the motion state parameter of the aircraft, which is not specifically limited herein.

Step S102: and predicting the motion trail of the aircraft within a future preset time length according to the current motion state parameters to obtain a predicted motion trail.

It can be understood that, since the current motion state parameter is a vector parameter, information such as the current driving direction, the current speed, and the like of the aircraft can be obtained based on the current motion state parameter, and therefore, the motion trajectory of the aircraft within the future preset duration can be predicted according to the current motion state parameter, so as to obtain the predicted motion trajectory. The preset time period can be set according to actual needs, but cannot be too long, and can be set to several seconds, such as 3 seconds, 5 seconds, and the like. It should be noted that, according to the difference of the map loading targets, the size and the number of the preset durations are correspondingly different, and if the map loading target includes the request map data and the pre-cache map data, the preset duration corresponding to the pre-cache map data is longer than the preset duration corresponding to the request map data.

Optionally, the predicting a motion trajectory of the aircraft within a preset time duration in the future according to the current motion state parameter to obtain a predicted motion trajectory includes: and predicting the motion trail of the aircraft according to the current motion state parameter based on a preset motion trail prediction model to obtain the predicted motion trail of the aircraft in the future preset time.

Optionally, the motion trajectory prediction model is pre-established based on parameters such as position, velocity and acceleration, and the current position of the aircraft is assumed to be

The current speed is

The current acceleration is

If only the influence of the radial acceleration on the motion trail is considered, the corresponding motion trail prediction model is as follows:

here, Δ t is a sampling time interval,

the radial direction of the speed at the moment k, k is a natural number, and the preset duration at least comprises a sampling time interval. Based on the motion trail prediction model, after the current motion state parameters are input into the motion trail prediction model, the information such as the position, the speed, the acceleration and the like corresponding to the aircraft at intervals of a sampling time interval can be obtained, and based on the information such as the position, the speed, the acceleration and the like corresponding to a plurality of sampling time intervals contained in the preset time length, the information such as the position, the speed and the acceleration and the like corresponding to the plurality of sampling time intervals respectively can be further obtained when the aircraft is preset in the futurePredicted motion trajectories within the long run. It should be noted that, if the preset time duration includes a first preset time duration and a second preset time duration, and the second preset time duration is greater than the first preset time duration, the predicted motion trajectory includes a first predicted motion trajectory corresponding to the first preset time duration and a second predicted motion trajectory corresponding to the second preset time duration. Therefore, the predicted motion trail of the aircraft can be conveniently and accurately acquired, and the timeliness and the accuracy of map loading are further improved.

Optionally, the predicting a motion trajectory of the aircraft within a preset time duration in the future according to the current motion state parameter to obtain a predicted motion trajectory includes: and predicting the motion trail of the aircraft according to the current motion state parameters and the historical motion trail of the aircraft and/or the aircraft except the aircraft to obtain the predicted motion trail of the aircraft in the future preset time. It can be understood that, when moving at the same or similar position or continuously, the motion trajectories of the same aircraft or different aircraft show a certain trend, and therefore, the historical motion trajectories may be the historical motion trajectories of the aircraft itself or the historical motion trajectories of other aircraft besides the aircraft. Preferably, the historical motion trail comprises a historical motion trail including a current position. Preferably, the historical motion profile comprises a historical motion profile of the aircraft prior to reaching the current location. Taking the historical motion trail as the historical motion trail of the aircraft as an example, since the historical motion trail of the aircraft can represent the historical motion situation of the aircraft, such as whether the aircraft moves linearly or turns, the aircraft can be predicted according to the current motion state parameter and the historical trail of the aircraft, and the predicted motion trail of the aircraft in the future preset time length can be obtained. For example, if it is determined that the aircraft is always in the linear motion state according to the historical motion trajectory of the aircraft, it may be predicted that the aircraft will also be in the linear motion state within a preset time period in the future, and the trajectory that the aircraft will pass through within the preset time period in the future may be known based on the current position of the aircraft. In addition, the motion trail of the aircraft within the future preset time length can be predicted by using methods such as end-to-end based on deep learning and the like. Therefore, the predicted motion trail of the aircraft can be simply and quickly acquired, and the timeliness of map loading is further improved.

In an embodiment, before predicting a motion trajectory of the aircraft within a preset time duration in the future according to the current motion state parameter to obtain a predicted motion trajectory, the method further includes: and carrying out filtering processing on the current motion state parameters. As can be understood, since the motion state parameter of the aircraft may be obtained when the aircraft is in motion, and at this time, the motion state parameter of the aircraft may include noise generated by the aircraft itself or the outside, the current motion state parameter may be subjected to filtering processing, such as kalman filtering, particle filtering, and the like, so as to improve the quality of the current motion state parameter, and further, the predicted motion trajectory determined based on the current motion state parameter is more stable and accurate.

Step S103: and determining a region to be requested based on the predicted motion trail.

It is to be understood that, since the predicted movement trajectory represents a trajectory that the aircraft will travel or pass through, in order to provide corresponding map data for the trajectory that the aircraft will travel or pass through, i.e., the location, in a timely manner, the area to be requested may be determined based on the predicted movement trajectory. Optionally, the determining a region to be requested based on the predicted motion trajectory includes: and taking the current position of the aircraft as an origin, and taking the oval area determined by the preset major axis and the preset minor axis as the minimum area to be requested of the aircraft. Here, the current position of the aircraft is an intersection of a major axis and a minor axis of an elliptical region, and in the case where the major axis and the minor axis are sized, the size of the elliptical region may be determined. The sizes of the major axis and the minor axis can be set according to actual requirements, for example, the sizes of the major axis and the minor axis are set according to the size of the speed, or the sizes of the major axis and the minor axis are directly set to fixed values, for example, the major axis is set to 20 meters, the minor axis is set to 15 meters, and the like. Meanwhile, the long axis direction of the oval area can point to or be parallel to the driving direction of the aircraft, so that the aircraft is ensured to be driven for the maximum time in the minimum area to be requested. It should be noted that, according to information such as flight characteristics of the aircraft, the elliptical area determined with the current position of the aircraft as the origin is used as the minimum area to be requested of the aircraft, so that the minimum area to be requested can be ensured as much as possible and the map data corresponding to the minimum area to be requested can meet the requirements of the aircraft. Therefore, the ellipse area determined by taking the current position of the aircraft as the origin is used as the minimum area to be requested of the aircraft, so that the loaded map data can at least meet the requirement of the aircraft, and the timeliness and the accuracy of map loading are further improved.

Optionally, the preset time includes a first preset time, and predicting a motion trajectory of the aircraft within the future preset time according to the current motion state parameter to obtain a predicted motion trajectory includes: predicting the motion trail of the aircraft within a first preset time in the future according to the current motion state parameters to obtain a first predicted motion trail; the determining a region to be requested based on the predicted motion trajectory comprises: with the current position of the aircraft as an end point, respectively offsetting the first predicted motion track by preset angles leftwards and rightwards to obtain a first track area; and determining the union of the minimum area to be requested and the first track area as an area to be requested. Here, according to the current motion state parameter and the first preset time duration, the position of the aircraft at each time point within the future first preset time duration can be predicted, and therefore the first predicted motion track is obtained. Wherein, the first predicted motion track may be a straight line, a curve, etc. The preset angle can be set according to the actual requirement, for example, the preset angle can be set to 30 degrees, 45 degrees, and the like. After the current position of the aircraft is taken as an end point and the first predicted motion track is respectively deviated to the left and the right by preset angles, a fan-shaped area with an included angle being the sum of the two preset angles, namely a first track area, can be obtained, and the union of the minimum area to be requested and the first track area, namely the area to be requested, can be regarded as an area through which the aircraft will pass in the current and future preset first time duration. It can be understood that, taking the current position of the aircraft as an endpoint, shifting the first predicted motion trajectory by preset angles to the left and the right, respectively, a trajectory region that the aircraft will approximately pass through within a first preset time period in the future after the current time, that is, a first trajectory region, can be obtained, the minimum region to be requested represents a region that the aircraft will currently pass through, and a union of the minimum region to be requested and the first trajectory region is determined as the region to be requested, so that map data corresponding to the subsequently loaded region to be requested can be ensured to meet the demand of the aircraft. Therefore, the area to be requested is determined based on the predicted motion track, the operation is convenient and fast, the accuracy is high, and the timeliness and the accuracy of map loading are further improved.

Step S104: and acquiring map data corresponding to the area to be requested.

Specifically, after the area to be requested is determined, the map data corresponding to the area to be requested may be acquired, that is, the map data corresponding to the area to be requested is loaded, so that the aircraft may use the corresponding map data after traveling to the area to be requested.

The obtaining of the map data corresponding to the area to be requested includes two situations: if the map data corresponding to the to-be-requested area is locally stored, the locally stored map data corresponding to the to-be-requested area can be directly loaded; if the map data corresponding to the area to be requested is not stored locally, the map data corresponding to the area to be requested needs to be downloaded from the cloud server, and then the map data corresponding to the area to be requested needs to be loaded. In addition, according to the time sequence of the demands of the aircraft on the map data of different areas, the map data corresponding to the area to be requested can be sequentially loaded, for example, in the area to be requested, if a position is closer to the current position of the aircraft, the map data corresponding to the position needs to be loaded earlier; if a location is farther from the current location of the aircraft, the later the time to load the map data corresponding to the location may be. In summary, in the map data acquisition method provided by the embodiment, the map data request area is adaptively adjusted according to the motion state parameter of the aircraft, so that the map data can be timely and accurately loaded, and the user experience is improved.

Referring to fig. 2, an embodiment of the present application further provides a map data acquiring apparatus, including: the map data processing system comprises a motion state acquisition module 10, a motion trail prediction module 11, a map data area determination module 12 and a map data request module 13; wherein the content of the first and second substances,

a motion state obtaining module 10, configured to obtain current motion state parameters of the aircraft, where the current motion state parameters at least include a position, a velocity, and an acceleration;

the motion trail prediction module 11 is configured to predict a motion trail of the aircraft within a future preset time length according to the current motion state parameter to obtain a predicted motion trail;

a map data area determination module 12, configured to determine an area to be requested based on the predicted motion trajectory;

and the map data request module 13 is configured to obtain map data corresponding to the area to be requested.

It is understood that the aircraft may refer to an aircraft with an autopilot function, including but not limited to a flying car, etc., and the current motion state parameters of the aircraft are used to characterize the motion state of the aircraft, including but not limited to position, speed, acceleration, etc., and the above parameters are all vectors, and the position includes not only magnitude but also direction, taking the position as an example. It should be noted that the motion state acquiring module 10 may acquire the current motion state parameter of the aircraft through a preset sensor provided on the aircraft, for example, acquire a position through a positioning system, acquire a speed through a speed sensor, and the like. In addition, the motion state acquiring module 10 may acquire the current motion state parameter of the aircraft in real time or at irregular time, or periodically acquire the motion state parameter of the aircraft, which is not limited herein.

Optionally, the motion trajectory prediction module 11 is specifically configured to: and predicting the motion trail of the aircraft according to the current motion state parameter based on a preset motion trail prediction model to obtain the predicted motion trail of the aircraft in the future preset time.

The current speed is

The current acceleration is

here, Δ t is a sampling time interval,

the radial direction of the speed at the moment k, k is a natural number, and the preset duration at least comprises a sampling time interval. Based on the motion trail prediction model, after the current motion state parameters are input into the motion trail prediction model, the information such as the position, the speed, the acceleration and the like corresponding to the aircraft at intervals of a sampling time interval can be obtained, and based on the information such as the position, the speed, the acceleration and the like corresponding to a plurality of sampling time intervals contained in the preset time length, the predicted motion trail of the aircraft in the future preset time length can be further obtained. It should be noted that, if the preset time duration includes a first preset time duration and a second preset time duration, and the second preset time duration is greater than the first preset time duration, the predicted motion trajectory includes a first predicted motion trajectory corresponding to the first preset time duration and a second predicted motion trajectory corresponding to the second preset time duration. Therefore, the predicted movement track of the aircraft can be conveniently and accurately acquired, and the timeliness and the accuracy of map data loading are further improved.

Optionally, the motion state obtaining module 10 is further configured to: and carrying out filtering processing on the current motion state parameters. As can be understood, since the motion state parameter of the aircraft may be obtained when the aircraft is in motion, and at this time, the motion state parameter of the aircraft may include noise generated by the aircraft itself or the outside, the current motion state parameter may be subjected to filtering processing, such as kalman filtering, particle filtering, and the like, so as to improve the quality of the current motion state parameter, and further, the predicted motion trajectory determined based on the current motion state parameter is more stable and accurate.

It is to be understood that, since the predicted movement trajectory represents a trajectory that the aircraft will travel or pass through, in order to provide corresponding map data for the trajectory that the aircraft will travel or pass through, i.e., the location, in a timely manner, the area to be requested may be determined based on the predicted movement trajectory. Optionally, the map data area determining module 12 is specifically configured to: and taking the current position of the aircraft as an origin, and taking the oval area determined by the preset major axis and the preset minor axis as the minimum area to be requested of the aircraft. Here, the current position of the aircraft is an intersection of a major axis and a minor axis of an elliptical region, and in the case where the major axis and the minor axis are sized, the size of the elliptical region may be determined. The sizes of the major axis and the minor axis can be set according to actual requirements, for example, the sizes of the major axis and the minor axis are set according to the size of the speed, or the sizes of the major axis and the minor axis are directly set to fixed values, for example, the major axis is set to 20 meters, the minor axis is set to 15 meters, and the like. Meanwhile, the long axis direction of the oval area can point to or be parallel to the driving direction of the aircraft, so that the aircraft is ensured to be driven for the maximum time in the minimum area to be requested. Therefore, the ellipse area determined by taking the current position of the aircraft as the origin is used as the minimum area to be requested of the aircraft, so that the loaded map data can at least meet the requirement of the aircraft, and the timeliness and the accuracy of map data loading are further improved.

Optionally, the preset time includes a first preset time, and the motion trajectory prediction module 11 is specifically configured to: predicting the motion trail of the aircraft within a first preset time in the future according to the current motion state parameters to obtain a first predicted motion trail; the map data area determining module 12 is specifically configured to: with the current position of the aircraft as an end point, respectively offsetting the first predicted motion track by preset angles leftwards and rightwards to obtain a first track area; and determining the union of the minimum area to be requested and the first track area as an area to be requested. Here, according to the current motion state parameter and the first preset time duration, the position of the aircraft at each time point within the future first preset time duration can be predicted, and therefore the first predicted motion track is obtained. Wherein, the first predicted motion track may be a straight line, a curve, etc. The preset angle can be set according to the actual requirement, for example, the preset angle can be set to 30 degrees, 45 degrees, and the like. After the current position of the aircraft is taken as an end point and the first predicted motion track is respectively deviated to the left and the right by preset angles, a fan-shaped area with an included angle being the sum of the two preset angles, namely a first track area, can be obtained, and the union of the minimum area to be requested and the first track area, namely the area to be requested, can be regarded as an area through which the aircraft will pass in the current and future preset first time duration. It can be understood that, taking the current position of the aircraft as an endpoint, shifting the first predicted motion trajectory by preset angles to the left and the right, respectively, a trajectory region that the aircraft will approximately pass through within a first preset time period in the future after the current time, that is, a first trajectory region, can be obtained, the minimum region to be requested represents a region that the aircraft will currently pass through, and a union of the minimum region to be requested and the first trajectory region is determined as the region to be requested, so that map data corresponding to the subsequently loaded region to be requested can be ensured to meet the demand of the aircraft. Therefore, the area to be requested is determined based on the predicted motion track, the operation is convenient and fast, the accuracy is high, and the timeliness and the accuracy of map data loading are further improved.

Here, the map data request module 13 may be connected to a flight control unit of the aircraft to provide corresponding map data to the flight control unit, and the map data request module 13 may also be connected to other display units of the aircraft to display the map data by the other display units.

In summary, in the map data acquisition device provided in the above embodiment, the map data request area is adaptively adjusted according to the motion state parameter of the aircraft, so that the map data can be timely and accurately loaded, and the user experience is improved.

Based on the same application concept of the previous embodiment, the present embodiment provides an aircraft including the map data acquisition device as described above.

Referring to fig. 3, in some embodiments, the map data obtaining method provided in this embodiment further includes:

step S105: predicting the motion trail of the aircraft within a second preset time length in the future according to the current motion state parameter to obtain a second predicted motion trail, wherein the second preset time length is greater than the first preset time length;

step S106: with the current position of the aircraft as an end point, respectively offsetting the second predicted motion track by preset angles leftwards and rightwards to obtain a second track area, wherein the second track area comprises the first track area;

step S107: determining a complement of the first track region with respect to the second track region as a pre-cache region.

Here, according to the current motion state parameter and the second preset time length, the position of the aircraft at each time point in the second preset time length in the future can be predicted, and therefore the second predicted motion track is obtained. Wherein, the second predicted motion track may be a straight line, a curve, etc. And after the second predicted motion track is respectively deviated to the left and the right by preset angles by taking the current position of the aircraft as an end point, obtaining a fan-shaped area with an included angle being the sum of the two preset angles, namely a second track area, wherein the range of the first predicted motion track is correspondingly smaller than that of the second predicted motion track because the first preset time length is smaller than the second preset time length, so that the second track area comprises the first track area. Furthermore, the pre-buffer zone determined by the first trajectory region with respect to the complement of the second trajectory region may be considered to be the zone that the aircraft will pass after the first predetermined duration in the future and within the second predetermined duration in the future. It is understood that, by taking the current position of the aircraft as an endpoint and respectively offsetting the second predicted motion trajectory by preset angles to the left and the right, a trajectory region, namely a second trajectory region, which is approximately to be passed by the aircraft within a second preset time period in the future after the current time can be obtained, the first trajectory region represents a trajectory region which is approximately to be passed by the aircraft within a first preset time period in the future after the current time, and a complement of the first trajectory region with respect to the second trajectory region is determined as a pre-cache region, so as to cache map data, which is likely to be used by the aircraft subsequently, in advance based on the pre-cache region. Therefore, the pre-cache area is determined based on the predicted motion trail so as to acquire the map data corresponding to the pre-cache area in advance, and the timeliness and convenience of map data loading are further improved.

Referring to fig. 2 again, in some embodiments, the motion trajectory prediction module 11 is further configured to predict a motion trajectory of the aircraft within a second preset time duration in the future according to the current motion state parameter, so as to obtain a second predicted motion trajectory, where the second preset time duration is greater than the first preset time duration;

the map data area determining module 12 is further configured to offset the second predicted motion trajectory by preset angles to the left and the right respectively by using the current position of the aircraft as an endpoint, so as to obtain a second trajectory area, where the second trajectory area includes the first trajectory area; and determining a complement of the first track region with respect to the second track region as a pre-cache region. Therefore, the pre-cache area is determined based on the predicted motion trail so as to acquire the map data corresponding to the pre-cache area in advance, and the timeliness and convenience of map data loading are further improved.

Referring to fig. 4, in some embodiments, the map data obtaining method provided in this embodiment further includes:

step S108: and requesting the map data corresponding to the pre-caching area to a local cache from a map data cloud.

Specifically, when the map data corresponding to the pre-cache area is not cached locally, a data request is sent to a map data cloud so as to request the map data cloud to send the map data corresponding to the pre-cache area to a local cache. Therefore, the map data corresponding to the pre-cache area is acquired from the map data cloud in time, so that subsequent map data loading operation is facilitated, and the timeliness and convenience of map data loading are further improved.

Referring to fig. 5, in some embodiments, the map data obtaining apparatus further includes a map data pre-caching module 14, configured to request the map data corresponding to the pre-caching area from a map data cloud to a local cache. Specifically, when the map data corresponding to the pre-cache area is not cached locally, a data request is sent to a map data cloud so as to request the map data cloud to send the map data corresponding to the pre-cache area to a local cache. Therefore, the map data corresponding to the pre-cache area is acquired from the map data cloud in time, so that subsequent map data loading operation is facilitated, and the timeliness and convenience of map data loading are further improved.

Referring to fig. 6, in some embodiments, the step S104 includes:

step S1040: obtaining map data corresponding to the area to be requested from a local cache;

step S1041: and when the local cache does not have the map data corresponding to the area to be requested, requesting the map data corresponding to the area to be requested from a map data cloud.

Specifically, after the area to be requested is determined, map data corresponding to the area to be requested may be acquired from a local cache, and when there is no map data corresponding to the area to be requested from the local cache, the map data corresponding to the area to be requested is requested from the map data cloud, so as to acquire the map data corresponding to the area to be requested. For example, whether a local cache stores map data corresponding to the area to be requested is queried, and if the local cache does not store the map data corresponding to the area to be requested, the map data cloud sends a data acquisition request for requesting to acquire the map data corresponding to the area to be requested. Therefore, the map data corresponding to the area to be requested is acquired from the map data cloud in time, the required map data can be provided for the aircraft in time, and timeliness and convenience of map data loading are further improved.

Referring again to fig. 2, in some embodiments, the map data request module 13 is specifically configured to:

Therefore, the map data corresponding to the area to be requested is acquired from the map data cloud in time, the required map data can be provided for the aircraft in time, and timeliness and convenience of map data loading are further improved.

Optionally, in some embodiments, the obtaining of the map data corresponding to the area to be requested includes:

As the distance between the minimum area to be requested and the aircraft is close to the distance between the first track area and the aircraft, that is, the aircraft may need to use the map data corresponding to the minimum area to be requested first, and then use the map data corresponding to the intersection of the first track area and the minimum area to be requested relative to the complement of the first track area, therefore, the map data corresponding to the minimum area to be requested may be loaded first, and then the map data corresponding to the intersection of the first track area and the minimum area to be requested relative to the complement of the first track area may be loaded, which further improves the timeliness and accuracy of loading the map data.

Referring to fig. 7, the current motion state parameter further includes a height, and in some embodiments, the step S104 includes:

step S1042: determining a map scale according to the height;

step S1043: and obtaining map data corresponding to the map scale and the area to be requested.

It will be appreciated that the required map dimensions for different heights may be different and can be generally summarized as: the higher the height is, the larger the map scale is, and the lower the height is, the smaller the map scale is, so that the corresponding relation between the preset height range and the map scale can be inquired according to the height, the map scale corresponding to the height range where the height is located can be determined, and the map data corresponding to the map scale and the area to be requested can be further acquired. Therefore, the map with the scale matched with the height is loaded, and the convenience of loading the map data is improved.

Referring again to fig. 2, in some embodiments, the current motion state parameter further includes a height, and the map data request module 13 is specifically configured to: determining a map scale according to the height; and obtaining map data corresponding to the map scale and the area to be requested. Therefore, the map with the scale matched with the height is loaded, and the convenience of loading the map data is improved.

Based on the same application concept of the foregoing embodiments, the present embodiment describes technical solutions of the foregoing embodiments in detail through specific examples.

Referring to fig. 8, a schematic structural diagram of a map data acquisition system provided in an embodiment of the present application includes an aircraft 1 and a cloud 2, where the aircraft 1 includes a flight motion trajectory prediction module 20, a map data area request module 21, a map data local pre-cache module 22, a flight control module 23, and a display module 24, the flight motion trajectory prediction module 20 is configured to predict a motion trajectory according to motion state parameters of the aircraft 1, such as position, speed, altitude, and acceleration, the map data area request module 21 and the map data local pre-cache module 22 are configured to load corresponding map data according to the motion trajectory predicted by the flight motion trajectory prediction module 20, so that the map data is used by the flight control module 23 and the display module 24, that is, the flight motion trajectory prediction module 20, the map data area request module 21, and the map data local pre-cache module 22 are configured to implement dynamic map adding The map data local pre-caching module 22 is in communication connection with the cloud 2 to load map data from the cloud 2.

The map loading system comprises the following working processes: firstly, the flight motion trajectory prediction module 20 predicts the motion trajectory of the aircraft body in a future small time period according to the current motion state parameter of the aircraft, so as to obtain a predicted trajectory, i.e. a predicted motion trajectory; then, the map data area request module 21 and the map data local pre-cache module 22 both take the output of the flight motion trajectory prediction module 20 as input, but the difference is that the predicted motion trajectory in the map data local pre-cache module 22 corresponds to a longer future time, so as to load the map data locally in advance for the map request module to request and acquire more efficiently. The map data area request module 21 is configured to calculate a map area and a map scale that need to be requested according to the predicted movement track and the current position, and then send a map data request packet to the map data local pre-cache module 22 according to the priority, so as to obtain map data for the flight control module 23(FCU), the display module 24, and other upper applications. Then, after receiving the map data request packet, the map data local pre-cache module 22 first searches for map data at a corresponding position locally, and if the map data does not exist, requests the cloud to obtain the map data, and then forwards the map data to the map data area request module 21, and caches the map data to the local. In addition, the map data local pre-cache module 22 simultaneously and independently requests the map data from the cloud end, so as to more efficiently respond to the map data request issued by the map data area request module 21.

The concrete description is as follows: the main objective of the flight motion trajectory prediction module 20 is to predict the motion trajectory of the aircraft body in a future small time period (e.g. 2 seconds and 3 seconds in the future) according to the current motion state parameters of the aircraft, such as position, speed and acceleration, so as to obtain map data within the trajectory range according to the motion trajectory. Here, the current position, velocity and acceleration of the aircraft can be respectively recorded as

If only the influence of the radial acceleration on the flight trajectory (i.e., the motion trajectory) is considered, the motion trajectory prediction model is as follows:

here, Δ t is a sampling time interval,

is the radial direction of the velocity at time k, k being a natural number, and the small time period comprises at least one sampling time interval. It should be noted that the map data area request module 21 requires a motion trail of a future first preset time duration T1, and the map data local pre-cache module 22 requires a motion trail of a future second preset time duration T2, and T2 is greater than T1.

The map data area request module 21 automatically generates a map loading area and a map scale according to the predicted movement trajectory of the flight movement trajectory prediction module 20, and requests map data according to the priority of the map area. Referring to fig. 9, a first specific flowchart of the map data obtaining method according to the embodiment of the present invention is shown, and the first specific flowchart is applied to the map data area request module 21, and includes the following steps:

step S201: obtaining a predicted motion track within a first preset time length;

specifically, the map data area request module 21 obtains the motion trajectory of the aircraft predicted by the flight motion trajectory prediction module 20 within the first preset time period T1 in the future.

Step S202: generating a map data request area according to the movement track within the first preset time length;

specifically, referring to fig. 10, the aircraft body is used as the center, the motion trajectory corresponding to the input time length T1 is respectively shifted by a predetermined angle to the left and the right, the intersection between the formed area and the boundary (small dotted circle) of the map data request area is obtained, and an elliptical area (shown by a hatched portion in fig. 10) determined by using the aircraft body as the intersection point of the major axis and the minor axis and the radius of the major axis and the radius of the minor axis is preset in order to ensure that map data exists in a certain range around the aircraft, and the elliptical area and the area obtained by obtaining the intersection together form the map data request area.

Step S203: obtaining a map scale according to the height value in the flight track;

step S204: and packaging and sending the map data request packet according to the priority according to the map data request area and the map scale.

Here, since the map data is in the shape of a rectangular slice, it is possible to determine whether or not a rectangular slice boundary of the loaded map data intersects with the map data request area, and if the boundary intersects with the map data request area and it is determined that the corresponding map data needs to be loaded, the map data request packet is transmitted in the following priority setting manner. Referring to fig. 10 again, if the rectangular slice is located in the oval area, the priority of the corresponding map data request packet is the highest; if the rectangular slice is located inside the small dotted circle, i.e., within the boundary of the map data request area, except for the oval area, the priority of the corresponding map data request packet is next.

The main objective of the map data local pre-caching module 22 is to request the map data from the cloud in advance according to the motion state of the body and cache the map data locally, so as to ensure that the map data area request module 21 can obtain the required map data more quickly and efficiently. Referring to fig. 11, a specific flowchart of a map data obtaining method according to an embodiment of the present invention is shown schematically in fig. two, and the map data obtaining method is applied to the map data local pre-caching module 22, and includes the following steps:

step S301: obtaining a predicted motion track within a second preset time length;

specifically, the map data local pre-cache module 22 obtains the motion trajectory of the aircraft predicted by the flight motion trajectory prediction module 20 within the second preset time period T2 in the future.

Step S302: generating a map data pre-caching area according to the movement track within the second preset time length;

specifically, referring to fig. 10 again, the aircraft body is taken as the center, the motion trajectory corresponding to the input time length T2 is respectively shifted by a predetermined angle to the left and the right, the intersection between the formed region and the boundary of the pre-cache region (large dotted circle) is obtained, meanwhile, in order to ensure that map data exists in a certain range around the aircraft, an elliptical region (shown by the hatched portion in fig. 10) is preset, which is determined by taking the aircraft body as the intersection point of the major axis and the minor axis and the radius of the major axis and the radius of the minor axis, and the elliptical region and the region obtained after the intersection are obtained jointly form the pre-cache region of the map data.

Step S303: obtaining a map scale according to the height value in the flight track;

step S304: packaging a map data request packet according to the priority according to the map data pre-caching area and the map scale;

referring to fig. 10 again, if the rectangular slice is located inside the large dashed circle, i.e., inside the boundary of the pre-buffer area, except for the oval area and the area inside the small dashed circle, the priority of the corresponding map data request packet is the lowest, and the other map data request packets may refer to the description in the above embodiment and are not repeated herein.

Step S305: adding the map data request packet into a map data request packet priority queue;

specifically, the map data local pre-cache module 22 may establish a map data request packet priority queue, and the queue may sort the internal request packets according to the priority of the data packets, so as to process the priority with high priority. The request packets in the queue come from two directions, one is sent by the map data area request module 21, and the other is a map slice data request corresponding to the movement track in time T2 predicted by the flight movement track prediction module 20, and the processing method of the process is the same as that of the map data area request module 21.

Step S306: judging whether the map data corresponding to the map data request packet is cached locally, if so, executing a step S307, otherwise, executing a step S309;

specifically, for a map data request packet in the map data request packet queue, the map data local pre-caching module 22 queries whether corresponding map data is cached locally or not through a hash value, and if so, sends the corresponding map data to the map data area request module 21; and if the map data does not exist, requesting the map data from the cloud end of the map data, and caching the map data to the local. Here, each rectangular slice of map data corresponds to a hash value for local fast query and removal operations.

Step S307: sending a map data request to a cloud;

step S308: caching map data sent by a cloud end to the local;

in addition, referring to fig. 10 again, the large dotted circle area in fig. 10 is the boundary of the map data preloading area, and the map data within the area is pre-cached, while the map data not in the area is released, so as to avoid consuming too much local resources.

Step S309: and sending the map data to a request end.

Here, the request end may be a map data area request module 21 or a map data local pre-cache module 22.

Therefore, in the map data acquisition method provided by the embodiment, the map area is dynamically adjusted based on the flight state and the loading priority aiming at the characteristics of high speed and high steering of the aircraft and the map loading problem, so that the map can be timely and accurately loaded, and the user experience is improved.

The present application also provides a map loading device, which includes: a memory, a processor, wherein the memory has stored thereon a computer program which, when executed by the processor, implements the steps of the map data acquisition method as described above.

The present application also provides a readable storage medium, characterized in that the readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the map data acquisition method as described above.

An embodiment of the present application further provides a computer program product, which includes computer program code, when the computer program code runs on a computer, the computer is caused to execute the map data obtaining method as described in the above various possible embodiments.

An embodiment of the present application further provides a chip, which includes a memory and a processor, where the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that a device in which the chip is installed executes the map data acquisition method described in the above various possible embodiments.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

The steps in the method of the embodiment of the application can be sequentially adjusted, combined and deleted according to actual needs.

The units in the device in the embodiment of the application can be merged, divided and deleted according to actual needs.

In the present application, the same or similar term concepts, technical solutions and/or application scenario descriptions will be generally described only in detail at the first occurrence, and when the description is repeated later, the detailed description will not be repeated in general for brevity, and when understanding the technical solutions and the like of the present application, reference may be made to the related detailed description before the description for the same or similar term concepts, technical solutions and/or application scenario descriptions and the like which are not described in detail later.

In the present application, each embodiment is described with emphasis, and reference may be made to the description of other embodiments for parts that are not described or illustrated in any embodiment.

The technical features of the technical solution of the present application may be arbitrarily combined, and for brevity of description, all possible combinations of the technical features in the embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, the scope of the present application should be considered as being described in the present application.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a controlled terminal, or a network device) to execute the method of each embodiment of the present application.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, memory Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.

Claims

1. A map data acquisition method, comprising:

determining a region to be requested based on the predicted motion trajectory;

and obtaining the map data corresponding to the area to be requested.

2. The method of claim 1, wherein determining a region to be requested based on the predicted motion trajectory comprises:

3. The method of claim 2, wherein the preset duration comprises a first preset duration;

4. The method of claim 3, further comprising:

5. The method of claim 4, further comprising:

6. The method according to claim 5, wherein obtaining the map data corresponding to the area to be requested comprises:

7. The method of claim 6, wherein obtaining map data corresponding to the area to be requested comprises:

obtaining the map data corresponding to the area to be requested according to the priority sequence, wherein the minimum area to be requested has the highest priority,

the intersection of the first track region and the minimum area to be requested is of a lower priority relative to the complement of the first track region.

8. The method according to any one of claims 1 to 7, wherein predicting the motion trajectory of the aircraft within a preset time period in the future according to the current motion state parameter to obtain a predicted motion trajectory comprises:

9. The method according to any one of claims 1 to 7, wherein the current motion state parameter further includes an altitude, and the obtaining map data corresponding to the area to be requested includes:

determining a map scale according to the height;

10. The method of any one of claims 1-7, further comprising:

and carrying out filtering processing on the current motion state parameters.

11. A map data acquisition apparatus, comprising,

12. An aircraft, characterized in that the aircraft comprises the map data acquisition apparatus according to claim 11.