CN115435776A

CN115435776A - Method and device for displaying three-dimensional airway route, aircraft and storage medium

Info

Publication number: CN115435776A
Application number: CN202211365477.0A
Authority: CN
Inventors: 薛松柏; 唐满; 徐大勇; 郭亮
Original assignee: Chengdu Wofeitianyu Technology Co ltd; Zhejiang Geely Holding Group Co Ltd
Current assignee: Chengdu Wofeitianyu Technology Co ltd; Zhejiang Geely Holding Group Co Ltd
Priority date: 2022-11-03
Filing date: 2022-11-03
Publication date: 2022-12-06
Anticipated expiration: 2042-11-03
Also published as: CN115435776B

Abstract

The invention discloses a method and a device for displaying a three-dimensional route, an aircraft and a storage medium, and relates to the field of aviation, wherein the method for displaying the three-dimensional route comprises the following steps: acquiring position information, three-dimensional route boundary information and three-dimensional route information of an aircraft; three-dimensionally displaying a three-dimensional airway in a three-dimensional airway route visual scene according to the position information of the aircraft and the boundary information of the three-dimensional airway route; and three-dimensionally displaying a three-dimensional course in the three-dimensional course visual scene according to the position information of the aircraft and the information of the three-dimensional course. The invention realizes the combination of generation and display of the air route and the air route, and three-dimensionally displays the air route and the air route in the same three-dimensional air route visual scene, thereby not only assisting the safe flight in a low-altitude airspace, but also being remotely delivered to related personnel or scenes for use, and being used for training pilots or unmanned artificial intelligent systems.

Description

Method and device for displaying three-dimensional airway route, aircraft and storage medium

Technical Field

The invention relates to the field of aviation, in particular to a method and a device for displaying a three-dimensional route, an aircraft and a storage medium.

Background

With the opening of low-altitude airspace, low-altitude logistics and travel are more and more common. However, the aircraft flies in a low-altitude space and is susceptible to various activities of natural geographic environment, ground and human beings. Wherein, the influence of the natural geographic environment comprises severe weather, natural disasters, landforms and the like; the influence of various activities of human beings includes various industrial emissions, light pollution, ground noise interference, artificial wind fields, fireworks and crackers setting off and the like. Therefore, in the process of flying in a low-altitude space, the aircraft needs to know the surrounding complex flying environment and the airway and route conditions in real time, and displays the flying environment, the airway and the route conditions in a three-dimensional manner so as to deal with the complex flying environment and assist safe flight, but the prior art does not solve the requirement at present.

Disclosure of Invention

The invention mainly aims to provide a method and a device for displaying a three-dimensional route, an aircraft and a storage medium, and aims to solve the technical problem that the prior art cannot three-dimensionally display the surrounding complex flying environment, route and route conditions.

In order to achieve the purpose, the invention provides a method for displaying a three-dimensional route, which is applied to the field of aviation, and comprises the following steps:

acquiring position information, three-dimensional route boundary information and three-dimensional route information of an aircraft;

three-dimensionally displaying a three-dimensional airway in a three-dimensional airway route visual scene according to the position information of the aircraft and the boundary information of the three-dimensional airway route;

and three-dimensionally displaying a three-dimensional course in the three-dimensional course visual scene according to the position information of the aircraft and the information of the three-dimensional course.

Optionally, the step of obtaining the stereoscopic route boundary information further includes:

and generating the visualized three-dimensional airway boundary information according to the airway flight height limit and the numerical value of the side boundary.

Optionally, the step of generating the visualized stereoscopic airway boundary information according to the airway flight altitude limit and the numerical value of the lateral boundary includes:

generating upper interface information according to the maximum flight altitude allowed by the airway or the design lifting limit data of the aircraft;

generating side boundary surface information according to a data set of boundary coordinate points allowed by the air route;

generating lower interface information according to the minimum flight height allowed by the air route;

and generating specific three-dimensional route boundary information according to the upper boundary information, the side boundary information and the lower boundary information.

Optionally, the step of three-dimensionally displaying the three-dimensional airway in the three-dimensional airway route view according to the position information of the aircraft and the three-dimensional airway route boundary information includes:

according to the position information of the aircraft, the three-dimensional route boundary information and the pre-generated three-dimensional map layer information, dynamically displaying a three-dimensional map layer, the corresponding three-dimensional route and the change of the three-dimensional map layer in the three-dimensional route visual scene;

and dynamically displaying the three-dimensional air route and the change thereof in the three-dimensional air route viewing scene according to the position information of the aircraft and the information of the three-dimensional air route.

Optionally, before the step of dynamically displaying the three-dimensional map layer, the corresponding three-dimensional route and the change thereof in the three-dimensional route view according to the position information of the aircraft, the three-dimensional route boundary information, and the pre-generated three-dimensional map layer information, the method further includes:

acquiring three-dimensional map information;

and obtaining the three-dimensional map layer information according to the three-dimensional map information and the position information of the aircraft.

Optionally, after the step of three-dimensionally displaying a three-dimensional flight path in a three-dimensional flight path viewing scene according to the position information of the aircraft and the information of the three-dimensional flight path, the method further includes:

judging whether the distance between the aircraft and the boundary of the three-dimensional air route is smaller than a corresponding preset threshold value or not according to the position information of the aircraft;

and if the distance between the aircraft and the boundary of the three-dimensional air route is less than the corresponding preset threshold value, generating early warning information.

Optionally, if the distance between the aircraft and the boundary of the three-dimensional route is smaller than the corresponding predetermined threshold, the step of generating the warning information further includes:

and adjusting the flying direction or height of the aircraft according to the early warning information so as to correct the flying direction or height of the aircraft.

The embodiment of the invention also provides a three-dimensional route display device, which comprises:

the acquisition module is used for acquiring the position information, the three-dimensional route boundary information and the three-dimensional route information of the aircraft;

the airway display module is used for three-dimensionally displaying a three-dimensional airway in a three-dimensional airway route visual scene according to the position information of the aircraft and the three-dimensional airway boundary information;

and the route display module is used for three-dimensionally displaying a three-dimensional route in the three-dimensional route line view according to the position information of the aircraft and the three-dimensional route line information.

The invention also provides an aircraft, which comprises a memory, a processor and a stereoscopic airway route display program which is stored on the memory and can be operated on the processor, wherein the stereoscopic airway route display program realizes the steps of the stereoscopic airway route display method when being executed by the processor.

The embodiment of the invention also provides a storage medium, wherein a three-dimensional airway route display program is stored on the storage medium, and the steps of the three-dimensional airway route visual display method are realized when the three-dimensional airway route display program is executed by a processor.

The invention provides a method, a device, an aircraft and a storage medium for displaying a three-dimensional airway route, wherein the method comprises the steps of obtaining position information, three-dimensional airway boundary information and three-dimensional route information of the aircraft; three-dimensionally displaying a three-dimensional airway in a three-dimensional airway route visual scene according to the position information of the aircraft and the boundary information of the three-dimensional airway route; and three-dimensionally displaying a three-dimensional course in the three-dimensional course visual scene according to the position information of the aircraft and the information of the three-dimensional course. Based on the method, the position information of the aircraft and the three-dimensional map layer information are fused and loaded into a flight management system to generate the three-dimensional map layer, and the generated three-dimensional map layer is used as a map layer in a three-dimensional airway route visual scene; acquiring three-dimensional airway boundary information and three-dimensional route information; the three-dimensional airway boundary information is generated according to the airway flight height limit and the numerical value of the side boundary; three-dimensionally displaying a three-dimensional airway in the three-dimensional airway route visual scene according to the position information of the aircraft and the boundary information of the three-dimensional airway route; three-dimensionally displaying a three-dimensional flight path in the three-dimensional flight path visual scene according to the position information and the three-dimensional flight path information of the aircraft; the scheme realizes the combination of the generation and the display of the three-dimensional map and the route and the three-dimensional display, can not only assist the safe flight in the low-altitude airspace, but also remotely deliver the three-dimensional map to related personnel or scenes for use, and can be used for training pilots (the pilots in the specification refer to generalized pilots, including pilots on aircrafts, unmanned systems or pilots remotely operating people or unmanned planes through the scenes, the same below).

Drawings

FIG. 1 is a functional block diagram of an aircraft to which a three-dimensional airway route display device of the present invention belongs;

FIG. 2 is a schematic flow chart diagram of a first exemplary embodiment of a three-dimensional route display method of the present invention;

FIG. 3 is a schematic flow chart diagram illustrating a second exemplary embodiment of a three-dimensional route display method according to the present invention;

FIG. 4 is a schematic flow chart diagram illustrating a third exemplary embodiment of a three-dimensional route display method according to the present invention;

FIG. 5 is a schematic view of a three-dimensional course display of the present invention;

FIG. 6 is a schematic flow chart diagram illustrating a fourth exemplary embodiment of a three-dimensional route display method according to the present invention;

FIG. 7 is a schematic flow chart diagram illustrating a method for displaying a three-dimensional route according to a fifth exemplary embodiment of the present invention;

FIG. 8 is a schematic flow chart diagram illustrating a method for displaying a course of a three-dimensional airway in accordance with a sixth exemplary embodiment of the present invention;

FIG. 9 is a schematic top view of a three-dimensional course display view of the present invention;

FIG. 10 is a schematic side view of a three-dimensional course display view of the present invention;

FIG. 11 is a schematic flow chart diagram illustrating a method for displaying a route of a three-dimensional airway in accordance with a seventh exemplary embodiment of the present invention;

FIG. 12 is a schematic view of the overall functional flow of the method for displaying a three-dimensional route according to the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

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

The main solution of the embodiment of the invention is as follows: acquiring position information, three-dimensional route boundary information and three-dimensional route information of an aircraft; three-dimensionally displaying a three-dimensional airway in a three-dimensional airway route visual scene according to the position information of the aircraft and the boundary information of the three-dimensional airway route; and three-dimensionally displaying a three-dimensional course in the three-dimensional course visual scene according to the position information of the aircraft and the information of the three-dimensional course. Based on the invention, the position information, the three-dimensional map layer information, the three-dimensional airway boundary information and the three-dimensional airway information of the aircraft are acquired, and the three-dimensional map, the three-dimensional airway and the three-dimensional airway are correspondingly and three-dimensionally displayed in the three-dimensional airway route visual scene according to the acquired information, so that the three-dimensional map, the airway and the airway are combined and displayed in the same three-dimensional airway route visual scene, the generation and the display of the airway and the airway are combined and three-dimensionally displayed in the same three-dimensional airway route visual scene, the safe flight in a low-altitude airspace can be assisted, the aircraft can be remotely delivered to related personnel or scenes for use, and the aircraft can be used for training pilots.

Specifically, referring to fig. 1, fig. 1 is a functional module schematic diagram of an aircraft to which the display device of the three-dimensional airway route of the present invention belongs. The three-dimensional airway route display device is based on an aircraft, can combine the generation and display of an airway and can carry out three-dimensional display in the same three-dimensional airway route visual scene, thereby achieving the purpose of flexibly and three-dimensionally displaying a three-dimensional map, a three-dimensional airway and a three-dimensional airway in the same three-dimensional airway route visual scene, and the device can be borne on the aircraft in a hardware or software mode.

In this embodiment, the aircraft to which the display device of the three-dimensional route belongs at least comprises an output module 110, a processor 120, a memory 130 and a communication module 140.

The memory 130 stores an operating system and a three-dimensional route display program, and the three-dimensional route display device can acquire position information, three-dimensional route boundary information and three-dimensional route information of the aircraft; three-dimensionally displaying a three-dimensional airway in a three-dimensional airway route visual scene according to the position information of the aircraft and the boundary information of the three-dimensional airway route; according to the position information of the aircraft and the three-dimensional route information, information such as three-dimensional display three-dimensional routes in the three-dimensional route view is stored in the memory 130; the output module 110 may be a display screen or the like. The communication module 140 may include a WIFI module, a mobile communication module, a bluetooth module, and the like, and communicates with an external device or a server through the communication module 140.

Wherein the stereoscopic airway route display program in the memory 130, when executed by the processor, performs the steps of:

Further, the stereoscopic airway route display program in the memory 130 when executed by the processor further implements the steps of:

acquiring three-dimensional map information;

An embodiment of the method of the invention is proposed based on the aircraft architecture described above, but not limited to the above.

Referring to fig. 2, fig. 2 is a schematic flow chart of a first exemplary embodiment of a method for displaying a three-dimensional route according to the present invention. The method for displaying the three-dimensional route comprises the following steps:

step S110, acquiring position information, three-dimensional route boundary information and three-dimensional route information of an aircraft;

specifically, the position information of the aircraft is acquired through airborne navigation equipment, satellite or roadbed equipment monitoring and the like; generating visualized three-dimensional airway boundary information according to the airway flight altitude limit and the numerical value of the lateral boundary; the three-dimensional route information is generated according to original planned route data signed before flight or combined with received severe weather information, aircraft state abnormity, air traffic control intervention and other emergency information, wherein the three-dimensional route information comprises preset three-dimensional route information and emergency three-dimensional route information.

Step S120, three-dimensionally displaying a three-dimensional airway in a three-dimensional airway route visual scene according to the position information of the aircraft and the three-dimensional airway boundary information;

specifically, according to the position information of the aircraft, the three-dimensional route boundary information and the pre-generated three-dimensional map layer information, a three-dimensional map layer, a corresponding three-dimensional route and changes of the three-dimensional route are dynamically displayed in the three-dimensional route visual scene.

And S130, three-dimensionally displaying a three-dimensional air route in the three-dimensional air route visual scene according to the position information of the aircraft and the information of the three-dimensional air route.

Specifically, according to the position information of the aircraft and the three-dimensional route information, in the three-dimensional route view, a three-dimensional route and changes thereof are dynamically displayed in the three-dimensional route.

According to the scheme, the position information, the three-dimensional route boundary information and the three-dimensional route information of the aircraft are obtained; three-dimensionally displaying a three-dimensional airway in a three-dimensional airway route visual scene according to the position information of the aircraft and the boundary information of the three-dimensional airway route; and three-dimensionally displaying a three-dimensional course in the three-dimensional course visual scene according to the position information of the aircraft and the information of the three-dimensional course. Based on the scheme, the three-dimensional map is displayed in the three-dimensional route line sight scene by acquiring the three-dimensional map layer information; the method has the advantages that the three-dimensional air route and the three-dimensional air route are displayed in the same three-dimensional air route visual scene by acquiring the position information, the three-dimensional air route boundary information and the three-dimensional air route information of the aircraft, the generation and the display of the air route and the air route are combined, and meanwhile, the three-dimensional air route and the three-dimensional map can be combined together to be displayed in the same three-dimensional air route visual scene in a three-dimensional way mode, so that the method is not only beneficial to flight safety, but also can be remotely delivered to related personnel or scenes for use, and can be used for training pilots. For example, the device is opened to be enjoyed by passengers on the aircraft, so that the passengers can know the positions of the passengers, and the experience and the pleasure of the passengers are enriched. In addition, because the low-altitude logistics and the route of going out are fixed, and the length of the flight line is short (generally within 200 kilometers), the scheme can be developed once and used for a long time, and the development, upgrading and maintenance time is short, so the cost performance is high.

Further, referring to fig. 3, fig. 3 is a flowchart illustrating a second exemplary embodiment of the method for displaying a three-dimensional route according to the present invention. Based on the step S110 of the embodiment shown in fig. 2, before the step of acquiring the stereoscopic route boundary information, the method further includes:

and S100, generating the visualized three-dimensional air route boundary information according to the air route flight height limit and the numerical value of the side boundary.

Specifically, the airway flight height limits include primarily an airway flight maximum height limit and an airway flight minimum height limit. The maximum height limit of the air route flight is obtained by the maximum flight height allowed by the air route or the design lift limit of the aircraft; the side boundary values are primarily comprised of a collection of values for the waypoint boundary coordinate points.

Generating upper interface information according to the maximum flight height allowed by the air route or the design lifting limit data of the aircraft; generating side boundary surface information according to a data set of boundary coordinate points allowed by the air route; generating lower interface information according to the minimum flight height allowed by the air route; and generating specific three-dimensional route boundary information according to the upper boundary information, the side boundary information and the lower boundary information.

According to the scheme, the three-dimensional airway boundary information is generated in an imaging mode according to the airway flight height limit and the numerical value of the side boundary. Based on the scheme, specific three-dimensional airway boundary information is generated according to the minimum flying height, the maximum flying height and the set of coordinate point numerical values of the side boundary allowed by the aircraft in the airway, is an information source of three-dimensional airway boundary envelope, and is prepared for displaying the three-dimensional airway and relevant information of each interface of the three-dimensional airway in a three-dimensional airway route visual scene subsequently.

Further, referring to fig. 4 and 5, fig. 4 is a flowchart illustrating a third exemplary embodiment of a method for displaying a three-dimensional route according to the present invention, and fig. 5 is a view illustrating a three-dimensional route display according to the present invention.

It should be noted that the boundary of the three-dimensional airway 201 in fig. 5 is similar to a rectangular parallelepiped envelope, which is only convenient for understanding and description of the present invention, and in the actual situation, due to different allowable heights and latitudes at different positions and different latitude and longitude boundary values at different heights in the airway, the appearances of the side boundary surfaces 203 corresponding to the left interface information display 206 and the right interface information display 207 in the three-dimensional airway route visual scene are in various forms, so that the formed envelope appearances of the three-dimensional airway 201 are also different, and are not limited to the standard geometric three-dimensional appearance shown in fig. 5.

Since the appearance of the side boundary surface 203 of the three-dimensional road 201 is diversified, the cross-sectional shape of the three-dimensional road 201 may also be different, such as forming the side boundary surface 203 of the similar vertical "wall-shaped" three-dimensional road 201 shown in fig. 5, the cross-sectional shape of the road is approximately rectangular, and in addition, the cross-sectional shape of the three-dimensional road 201 may be approximately trapezoidal 1 or approximately trapezoidal 2 as shown in fig. 5, or may be other cross-sectional shapes different from that shown in fig. 5.

As shown in fig. 5, the solid airway 201 boundary includes an upper boundary surface 202, a side boundary surface 203, and a lower boundary surface 204. Based on the above-mentioned embodiment shown in fig. 3, the step S100 of generating the visualized stereoscopic route boundary information according to the values of the route flight height limit and the side boundary may include:

step S1001, generating upper interface information according to the maximum flight height allowed by the air route or the design lifting limit data of the aircraft;

specifically, the upper boundary information of the three-dimensional airway 201 is generated according to the smaller value of the maximum allowable flight height of the airway or the design lifting limit of the aircraft, and is used for displaying the upper boundary 202 of the vertical flight height of the aircraft in the three-dimensional airway 201 in the three-dimensional airway route view. The maximum flight altitude allowed by the air route is generally the upper limit of the flight altitude given by an air traffic control department according to the regulations of an aviation authority; the design lift limit of an aircraft refers to the maximum flying height of the aircraft.

Step S1002, generating side boundary surface information according to a data set of boundary coordinate points allowed by the air route;

specifically, connecting the coordinates of a prescribed or defined airway boundary results in side boundary plane information for the stereoscopic airway 201 that is used to display the side boundary plane 203 of the stereoscopic airway 201 and its associated information in a stereoscopic airway route view. The data of the coordinate points of the defined or defined route boundary are typically coordinate limits given by the air administration according to the rules of the air administration authorities.

Step S1003, generating lower interface information according to the minimum flight height allowed by the air route;

in particular, the minimum flight level allowed by the route is generally the minimum flight level given by the air traffic authority according to the regulations of the aviation authority. Based on the minimum allowable flight height for the airway, lower interface information for the stereo airway 201 is generated, which is used to display the lower interface 204 of the stereo airway 201 and its related information in the stereo airway route view.

Step S1004, generating the stereo route boundary information according to the upper boundary information, the side boundary information, and the lower boundary information.

Specifically, from the data set of the coordinate point of the portion where the data set including the coordinate point formed by the longitude and latitude in the side boundary surface information coincides with the upper edge interface information, the edge of the upper edge interface 202 of the stereo route 201 intersecting the side boundary surface 203, that is, the top edge of the side boundary surface 203 and the side edge of the upper edge interface 202, is displayed in the stereo route view.

The side boundary surface 203 of the three-dimensional route 201 and the lower boundary surface 204 intersect, that is, the bottom side of the side boundary surface 203 and the side of the lower boundary surface 204 are displayed in the three-dimensional route view according to the data set of the coordinate point of the portion where the side boundary surface information and the lower boundary surface information overlap.

Obtaining an upper boundary 202 of the three-dimensional route 201 according to the upper boundary information and the side edge of the upper boundary 202; obtaining a side boundary surface 203 of the three-dimensional airway 201 according to the side boundary surface information, the top edge of the side boundary surface 203 and the bottom edge of the side boundary surface 203; and obtaining the lower boundary 204 of the three-dimensional airway 201 according to the lower boundary information and the side edge of the lower boundary 204.

And generating the three-dimensional route boundary information according to the upper boundary surface 202, the side boundary surface 203 and the lower boundary surface 204.

According to the scheme, the upper interface information is generated according to the maximum flight height allowed by the air route or the design ascending limit data of the aircraft; generating side boundary surface information according to a data set of boundary coordinate points allowed by the air route; generating lower interface information according to the minimum flight height allowed by the air route; and generating specific three-dimensional route boundary information according to the upper boundary information, the side boundary information and the lower boundary information. Based on the scheme, the coordinate point data set allowed by the side boundary and the maximum height allowed by the airway is obtained to obtain the three-dimensional airway boundary information, so as to prepare for obtaining the boundary envelope of the three-dimensional airway 201 subsequently, and further display the three-dimensional airway 201 and the related information in the three-dimensional airway route view. In addition, the information can be used to monitor whether the aircraft is in a normal position.

As another embodiment, in step S100, the following scheme may be adopted to generate the visualized stereoscopic route boundary information according to the route flight height limit and the numerical value of the side boundary:

firstly, generating upper interface information according to the maximum flight height allowed by a navigation path or the design lifting limit data of an aircraft;

secondly, connecting a data set of coordinate points formed according to the latitude and longitude of a boundary allowed by the airway with the coordinate points of the overlapped part of the upper boundary information to obtain an edge of the intersection of the side boundary surface 203 and the upper boundary surface 202, and using the edge as the top edge of the side boundary surface 203 to generate side boundary surface information;

then, the coordinate points of the overlapping portion of the minimum flight height allowed by the air route and the side boundary information are connected to obtain the side of the lower boundary 204, and the lower boundary information is generated.

Then, according to the information of the upper boundary and the top edge of the side boundary 203, an upper boundary 202 is obtained; obtaining a side boundary surface 203 according to the side boundary information and the bottom edge of the lower boundary 204; and obtaining a lower interface 204 according to the lower interface information.

Finally, according to the upper boundary 202, the side boundary 203 and the lower boundary 204, the three-dimensional route boundary information is generated.

In another embodiment, the step S100 may further adopt the following scheme for generating the visualized stereoscopic route boundary information according to the route flight height limit and the numerical value of the side boundary:

firstly, generating lower interface information according to the minimum flight height allowed by a navigation path;

secondly, connecting a data set of coordinate points formed according to the latitude and longitude of a boundary allowed by the airway with the coordinate points of the superposed part of the lower boundary information to obtain a side of the intersection of the side boundary surface 203 and the lower boundary surface 204, and using the side as the bottom edge of the side boundary surface 203 to generate side boundary surface information;

thirdly, connecting the smaller value of the maximum flight height allowed by the air route or the design lifting limit data of the aircraft with the coordinate point of the overlapped part of the side boundary surface information to obtain the side edge of the upper boundary 202 and generate the upper boundary information;

then, a lower boundary 204 is obtained according to the lower boundary information and the bottom edge of the side boundary surface 203; obtaining a side boundary surface 203 according to the side boundary surface information and the side edge of the upper boundary surface 202; obtaining an upper interface 202 according to the upper interface information;

firstly, generating upper interface information according to the maximum flight altitude allowed by the air route or the design ascending limit data of the aircraft;

secondly, generating lower interface information according to the minimum flight height allowed by the air route;

then, a data set of coordinate points formed according to the latitude and longitude of the boundary allowed by the air route, the coordinate points of the overlapped part of the upper interface information and the lower interface information are connected to be used as the top edge and the bottom edge of the side boundary surface 203, so that side boundary surface information is obtained;

then, obtaining an upper boundary 202 according to the upper boundary information and the top edge of the side boundary 203; obtaining a side boundary surface 203 according to the side boundary surface information; the lower boundary 204 is obtained from the lower boundary information and the bottom side of the side boundary surface 203.

firstly, generating side boundary surface information according to a data set of boundary coordinate points allowed by an airway;

secondly, connecting the side boundary surface information with the maximum flight altitude allowed by the airway or the coordinate point of the superposition part of the design lifting limit data of the aircraft to serve as the side edge of the upper boundary 202 to generate the upper boundary information;

thirdly, connecting the side boundary face information with the coordinate point of the minimum flight height coincidence part allowed by the air route to serve as the side edge of the lower boundary 204, and generating lower boundary information;

then, according to the upper interface information, an upper interface 202 is obtained; obtaining a side boundary surface 203 according to the side boundary surface information, the side edge of the upper boundary surface 202 and the side edge of the lower boundary surface 204; obtaining a lower interface 204 according to the lower interface information;

Further, referring to fig. 5 and fig. 6, fig. 5 is a schematic view of a display of a three-dimensional airway route according to the present invention, and fig. 6 is a schematic flow chart of a fourth exemplary embodiment of a display method of a three-dimensional airway route according to the present invention. Based on the above-mentioned embodiment shown in fig. 2, in the step S120, three-dimensionally displaying the three-dimensional airway in the three-dimensional airway route view according to the position information of the aircraft and the three-dimensional airway route boundary information may include:

step S1201, dynamically displaying a three-dimensional map layer, the corresponding three-dimensional airway and the change of the three-dimensional map layer in the three-dimensional airway route visual scene according to the position information of the aircraft, the three-dimensional airway boundary information and the pre-generated three-dimensional map layer information;

specifically, according to the pre-generated three-dimensional map layer information, displaying a three-dimensional map layer 101 in the three-dimensional route view; and dynamically displaying the corresponding three-dimensional route 201 and the change thereof in the three-dimensional route visual scene according to the position information of the aircraft and the boundary information of the three-dimensional route, gradually reducing the displayed three-dimensional route 201 from near to far according to the change of the distance with the aircraft, and when the three-dimensional route visual scene is a first visual angle, displaying the route part flown by the aircraft in the three-dimensional route visual scene no longer.

And step S1202, dynamically displaying a three-dimensional air route and changes thereof in the three-dimensional air route visual scene according to the position information of the aircraft and the information of the three-dimensional air route.

Specifically, based on step S1201, according to the position information of the aircraft and the three-dimensional route information, in the three-dimensional route view, the three-dimensional route 301 and the change thereof are dynamically displayed inside the three-dimensional route 201.

At this time, the three-dimensional map layer 101, the three-dimensional airway 201 and the three-dimensional airway 301 are displayed in the three-dimensional airway view in a combined manner. According to the change of the distance from the aircraft, the displayed three-dimensional route 201 is gradually reduced from near to far, and when the three-dimensional route line view is at a first visual angle, the route part flown by the aircraft is not displayed in the three-dimensional route line view any more.

In addition, the three-dimensional route line visual scene also has a route line information display function, and according to preset information display items, some information can be selectively and additionally displayed on each interface of the three-dimensional route 201 in the three-dimensional route line visual scene. The information display item includes: route information display and route information display 302. The route information display includes a lower interface information display 205, a left interface information display 206, and a right interface information display 207. As shown in fig. 5, bbb represents a lower interface information display 205, ddd represents a left interface information display 206, and eee represents a right interface information display 207 (it should be noted that bbb, ddd, and eee are merely for convenience of description, and are not specific to actual display, and the same applies hereinafter).

The lower interface information display 205 means that some information, such as a minimum height value corresponding to the interface at the current or front position, may be additionally displayed on the lower interface 204 of the three-dimensional airway 201; the left interface information display 206 is to additionally display some information, such as the longitude and latitude of a point corresponding to the left boundary of the current or certain front position of the aircraft, on the left interface of the three-dimensional air route 201; the right interface information display 207 is to additionally display some information, such as the longitude and latitude of a point corresponding to the right boundary at the current or a certain distance ahead of the aircraft, on the right interface of the three-dimensional air route 201.

The route information display 302 is to add and display the three-dimensional route information in the three-dimensional route view, such as adding and displaying the heading, the flying height, the distance from the starting point to the flying point, the distance from the destination or the route number, etc. of the current or a certain distance in front of the aircraft, and to select and display one or more items of information in the three-dimensional route information. As shown in fig. 5, ccc represents the airline information display 302 (it should be noted that ccc is only for convenience of description and is not a specific content actually displayed).

According to the scheme, the three-dimensional map layer 101, the corresponding three-dimensional air route 201 and the change of the three-dimensional map layer are dynamically displayed in the three-dimensional air route line view specifically according to the position information of the aircraft, the three-dimensional air route boundary information and the pre-generated three-dimensional map layer information; according to the position information of the aircraft and the three-dimensional route information, in the three-dimensional route view, a three-dimensional route 301 and the change thereof are dynamically displayed in the three-dimensional route 201. Based on the scheme, because the position information of the aircraft changes along with the displacement of the aircraft, the three-dimensional airway 201 and the three-dimensional airway 301 displayed in the three-dimensional airway route view can also be visually adjusted along with the information received by the aircraft, so that the three-dimensional map layer 101, the corresponding three-dimensional airway 201, the three-dimensional airway 301 and the change thereof are dynamically displayed in the three-dimensional airway route view, and the picture displayed by the three-dimensional airway route view is correspondingly updated along with different positions of the aircraft. For example, when the three-dimensional airway route view adopts the first view angle, the position of the aircraft changes along with the flight of the aircraft, the surrounding situation and scenery also change, and the airway which the aircraft has passed through is no longer displayed in the three-dimensional airway route view. Therefore, the flight of the aircraft for low-altitude logistics and traveling can be better assisted, meanwhile, passengers can know landforms and three-dimensional airway routes by combining the three-dimensional map layer 101 in the three-dimensional airway route views, the views on the airway are viewed in an immersive mode, and the pleasure of the passengers taking the aircraft is increased.

Further, referring to fig. 7, fig. 7 is a flowchart illustrating a third exemplary embodiment of a method for displaying a three-dimensional route according to the present invention. Based on the embodiment shown in fig. 6, in step S1201, according to the position information of the aircraft, the three-dimensional route boundary information, and the three-dimensional map layer information generated in advance, before dynamically displaying the three-dimensional map layer, the corresponding three-dimensional route, and the change thereof in the three-dimensional route view, the method further includes:

step S12011, obtaining three-dimensional map information;

specifically, three-dimensional map information is acquired through onboard storage, remote retrieval, air traffic control delivery, sharing by other flying aircrafts, satellite scanning and drawing and the like, the three-dimensional map information is input into a flight management system, and the related information of a map or a topographic and geomorphic map acquired by various visual loads (such as a video acquisition load, an infrared acquisition load, a hyperspectral acquisition load and the like) randomly mounted by the aircrafts can be used as the three-dimensional map information.

Step S12012, obtaining the three-dimensional map layer information according to the three-dimensional map information and the position information of the aircraft.

Specifically, the three-dimensional map information and the position information of the aircraft obtained based on step S110 are fused by the flight management system and loaded into the three-dimensional map layer to obtain the three-dimensional map layer information,

according to the scheme, the three-dimensional map information is obtained; and obtaining the three-dimensional map layer information according to the three-dimensional map information and the position information of the aircraft. Based on the scheme, the acquired three-dimensional map information and the position information of the aircraft are fused and loaded into the three-dimensional map layer to obtain the three-dimensional map layer information; and taking the three-dimensional map layer information as a map layer in the three-dimensional route visual scene, displaying a three-dimensional map in the three-dimensional route visual scene, and preparing for three-dimensional display by combining the generated three-dimensional route and the three-dimensional route in the three-dimensional route visual scene.

Further, referring to fig. 8 to 10, fig. 8 is a flowchart illustrating a method for displaying a three-dimensional route according to a sixth exemplary embodiment of the present invention, fig. 9 is a top view illustrating a three-dimensional route display view according to the present invention, and fig. 10 is a side view illustrating a three-dimensional route display view according to the present invention. Based on the embodiment shown in fig. 2, the step S130 further includes, after the three-dimensionally displaying the three-dimensional flight path in the three-dimensional flight path viewing scene according to the position information of the aircraft and the three-dimensional flight path information:

step S140, judging whether the distance between the aircraft and the boundary of the three-dimensional route is smaller than a corresponding preset threshold value or not according to the position information of the aircraft;

specifically, according to the position information of the aircraft, whether the distance between the aircraft and a side boundary surface, an upper boundary surface or a lower boundary surface of the three-dimensional air route is smaller than a predetermined threshold value or not is judged, wherein the side boundary surface comprises a left boundary surface or a right boundary surface.

Referring to fig. 9, a left warning interface and a right warning interface of the three-dimensional airway route are obtained according to the side boundary surface of the three-dimensional airway and the data set of the predetermined threshold obtained in step S1004.

Referring to fig. 10, an upper early warning interface of the three-dimensional airway route is obtained according to the upper interface of the three-dimensional airway route obtained in step S1004 and the data set of the predetermined threshold; and obtaining a lower early warning interface of the three-dimensional airway according to the lower interface of the three-dimensional airway obtained in the step S1003 and the data set of the preset threshold value.

And S150, if the distance between the aircraft and the boundary of the three-dimensional air route is less than the corresponding preset threshold value, generating early warning information.

Specifically, if the distance between the aircraft and the side boundary surface, the upper boundary surface or the lower boundary surface of the three-dimensional airway is smaller than a predetermined threshold value, generating early warning information and displaying the early warning information on the three-dimensional airway in the three-dimensional airway route visual scene, for example, flashing the adjacent three-dimensional side boundary surface, changing the color, and popping out a prompt in the visual scene.

Referring to fig. 9, if the aircraft flies to the left or right early warning interface of the three-dimensional route due to various emergency reasons, the early warning information is generated, and the early warning information is displayed on the three-dimensional route in the three-dimensional route view, such as flashing of the adjacent three-dimensional side boundary surface, color change, jump-out prompt and the like. Meanwhile, the driver's cabin or the remote control cabin on the aircraft can be selected to send out acousto-optic early warning.

Referring to fig. 10, if the aircraft flies to the upper warning interface or the lower warning interface of the three-dimensional route due to various emergency reasons, warning information is generated, and the warning information is displayed on the three-dimensional route in the three-dimensional route view, such as flashing of an adjacent three-dimensional side boundary surface, color change, a jump-out prompt, and the like. Meanwhile, the driver's cabin or the remote control cabin on the aircraft can be selected to send out acousto-optic early warning.

According to the scheme, whether the distance between the aircraft and the boundary of the three-dimensional air route is smaller than a corresponding preset threshold value is judged specifically according to the position information of the aircraft; and if the distance between the aircraft and the boundary of the three-dimensional air route is less than the corresponding preset threshold value, generating early warning information. Based on the scheme, whether the distance between the aircraft and each boundary of the three-dimensional air route is smaller than a preset threshold value or not is judged by monitoring the position of the aircraft, and if the distance is smaller than the corresponding preset threshold value, early warning information is generated to send flight early warning information to a pilot, so that the pilot can take countermeasures in time.

Further, referring to fig. 9 to 12, fig. 9 is a schematic top view of a stereoscopic airway route display view according to the present invention, fig. 10 is a schematic side view of a stereoscopic airway route display view according to the present invention, fig. 11 is a schematic flow chart of a seventh exemplary embodiment of a stereoscopic airway route display method according to the present invention, and fig. 12 is a schematic flow chart of an overall function of the stereoscopic airway route display method according to the present invention. Based on the embodiment shown in fig. 8, in step S150, if the distance between the aircraft and the boundary of the three-dimensional route is smaller than the corresponding predetermined threshold, the method further includes, after generating the warning information:

and S160, adjusting the flying direction or height of the aircraft according to the early warning information so as to correct the flying direction or height of the aircraft.

Specifically, according to the early warning information, the flight management system corrects the course of the control aircraft, and judges whether the air route is corrected or not through the flight management system and the air traffic control of the air route.

Referring to fig. 9, if the warning information is generated due to the fact that the aircraft flies to the left warning interface or the right warning interface of the three-dimensional route, the flight management system controls the flight direction of the aircraft and adjusts the three-dimensional route a-B-C-D to correct the course of the aircraft.

Referring to fig. 10, if the warning information is generated due to the fact that the aircraft flies to the upper warning interface or the lower warning interface of the three-dimensional route, the flight management system controls the flight altitude of the aircraft and adjusts the three-dimensional route a-b-c-d-e to correct the flight altitude of the aircraft.

When the flight management system and the air traffic control of the air route judge that the air route of the aircraft is corrected, the display early warning in the three-dimensional air route is released and/or the acousto-optic early warning in a cockpit or a remote control cabin on the aircraft is released;

when the flight management system or the air traffic control system confirms that the air route is not corrected, on one hand, relevant information is fed back to the aircraft flight management system to modify and confirm the flight direction or the flight height again, in other words, the flight control computer and the air traffic control system must modify and confirm again as long as one party judges that the air route adjustment has a problem; on the other hand, when the early warning exceeds a certain appointed time, an outward early warning mechanism is triggered, namely, an early warning prompt is sent to the flight execution aircraft in the peripheral airspace where the aircraft is located and each air management in the airspace, the situation that the air line of the aircraft is not correctable is shown, other relevant aircraft and departments need to pay attention, and corresponding professional treatment is carried out by the air management.

According to the scheme, the flying direction or height of the aircraft is adjusted according to the early warning information, so that the flying direction or height of the aircraft is corrected. Based on the scheme, the flight management system adjusts the three-dimensional route A-B-C-D by controlling the flight direction of the aircraft or adjusts the three-dimensional route a-B-C-D-e by controlling the flight height of the aircraft according to the early warning information, so that the flight protection and protection of the aircraft are realized, the aircraft is assisted to fly more safely, the aircraft can be remotely delivered to relevant personnel or scenes for use, and the aircraft can be used for training pilots.

Further, referring to fig. 12, fig. 12 is a schematic view of an overall functional flow of the method for displaying a three-dimensional route according to the present invention. Based on the above-mentioned solution of the related embodiment, the method for displaying the route switching view further includes:

acquiring three-dimensional map information in modes of airborne storage, remote calling, air traffic control issuing, sharing of flying other aircrafts, satellite scanning and drawing and the like, and inputting the three-dimensional map information into a flight management system; the aircraft position information is acquired through airborne navigation equipment, satellite or roadbed equipment monitoring and the like, and is input into a flight management system. The flight management system fuses the received three-dimensional map information and the position information of the aircraft to generate a three-dimensional map layer 101, as shown in fig. 5 and 12, 101 in the map is the three-dimensional map layer. In addition, the three-dimensional map layer 101 may also use a map or a topographic map acquired by various visual loads (such as a video acquisition load, an infrared acquisition load, a hyperspectral acquisition load, and the like) randomly mounted by an aircraft.

Inputting the acquired maximum flight height value allowed by the airway or the design ascending limit of the aircraft, the boundary coordinate point data set of the airway and the minimum flight height of the aircraft in the airway into a flight management system, and generating corresponding boundary information of a three-dimensional airway 201 and a preset three-dimensional airway 301 by the flight management system, as shown in fig. 5, wherein the boundary information of the three-dimensional airway 201 comprises an upper interface 202, a side boundary surface 203, a lower interface 204 and displayed interface information of the three-dimensional airway; the displayed interface information of the three-dimensional navigation path comprises a lower interface information display 205, a left interface information display 206 and a right interface information display 207. As shown in FIG. 5, bbb represents a lower interface information display 205, ddd represents a left interface information display 206, eee represents a right interface information display 207.

When the flight management system receives emergency situations such as severe weather information, air traffic control intervention and the like, the flight management system generates an emergency three-dimensional air line 301 according to various information.

And loading the obtained information of the three-dimensional map layer 101, the boundary information of the three-dimensional route 201 and the information of the three-dimensional route 301 into a three-dimensional route view, and correspondingly displaying the information in the three-dimensional route view according to a certain proportion. The three-dimensional route view can also be remotely launched on a display screen on the ground, and has a view angle switching function, for example, 401 shown in fig. 5 is the view angle switching function, and can control the switching view angle to be a first view angle or a third view angle for displaying so as to see the whole aircraft and the view of the flight route and the route of the aircraft (but cannot control and switch the view angles on the aircraft at the same time, so that the view angles on the aircraft are controlled by a pilot, a person with corresponding authorization or a system).

In addition, when the position of the aircraft exceeds the flight path early warning boundary, early warning information is generated, the early warning information is displayed in the three-dimensional flight path visual scene, and meanwhile, the cockpit or the remote control cabin on the aircraft can be selected to send out acousto-optic early warning. And the flight management system controls the course of the aircraft to be corrected according to the early warning information, and monitors whether the air route is corrected or not by the flight management system and the air traffic control of the air route.

When the flight management system and the air traffic control system confirm the flight path correction of the aircraft, the display early warning in the three-dimensional flight path visual scene is released and/or the acousto-optic early warning in a cockpit or a remote control cabin on the aircraft is released, and the flight path correction is completed; when the flight management system or the air traffic control system confirms that the air route is not corrected, on one hand, relevant information is fed back to the aircraft flight management system to modify and confirm the flight direction or the flight height again, in other words, the flight control computer and the air traffic control system need to modify and confirm again as long as one party judges that the air route adjustment has a problem; on the other hand, when the early warning exceeds a certain appointed time, an outward early warning mechanism is triggered, namely, early warning prompts are sent to the flight execution aircraft in the peripheral airspace where the aircraft is located and each air management of the airspace, the situation that the aircraft can not be corrected by the air line is indicated, other relevant aircraft and departments need to pay attention, and corresponding professional processing is carried out by the air management.

According to the scheme, flexible and vivid three-dimensional display is achieved in the three-dimensional route line visual scene based on the acquired three-dimensional map layer 101, the three-dimensional route 201, the three-dimensional route line 301 and the related information thereof, so that the generation and display of the route line used by the aircraft in flight are three-dimensional and visual, and the readability and interestingness of the three-dimensional route line visual scene are increased while safe flight is assisted.

In addition, an embodiment of the present invention further provides a display device for a three-dimensional route, where the display device for a three-dimensional route includes:

The display device of the embodiment of the invention comprises but is not limited to: the system comprises a display device which can interact with the pose of the aircraft, such as a conventional airborne display screen, a human-computer interaction interface (HMI), a helmet-mounted display, a glass windshield display, a head-up display device (HUD), a virtual reality display (VR), a visual enhancement display (AR) and the like, or a display device which is formed by fusing two or more display devices.

In addition, an embodiment of the present invention further provides an aircraft, where the aircraft includes a memory, a processor, and a stereoscopic airway route display program stored on the memory and operable on the processor, and the stereoscopic airway route display program, when executed by the processor, implements the steps of the stereoscopic airway route display method described above.

Since the program is executed by the processor, all technical solutions of all the foregoing embodiments are adopted, so that at least all the beneficial effects brought by all the technical solutions of all the foregoing embodiments are achieved, and details are not repeated herein.

In addition, an embodiment of the present invention further provides a storage medium, where a stereoscopic airway line display program is stored on the storage medium, and the stereoscopic airway line display program, when executed by a processor, implements the steps of the stereoscopic airway line display method described above.

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 system 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 system. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or system that comprises the element.

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

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 solution of the present invention 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 invention.

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

Claims

1. A three-dimensional route display method is characterized by comprising the following steps:

2. The method of displaying a three-dimensional airway route of claim 1 wherein the step of obtaining the three-dimensional airway boundary information further comprises:

3. The stereoscopic route display method of claim 2, wherein the step of generating the visualized stereoscopic route boundary information based on the values of the route flight height limit and the side boundary comprises:

generating upper interface information according to the maximum flight height allowed by the air route or the design lifting limit data of the aircraft;

4. The method of displaying a stereophonic airway route according to claim 1, wherein said step of three-dimensionally displaying a stereophonic airway in a stereophonic airway route view based on position information of said aircraft and said stereophonic airway boundary information comprises:

5. The method of claim 4, wherein the step of dynamically displaying the three-dimensional map layer, the corresponding airway and its changes in the airway route view according to the position information of the aircraft, the airway boundary information, and the pre-generated three-dimensional map layer information further comprises:

acquiring three-dimensional map information;

6. The method of displaying a airway route according to claim 1, wherein the step of displaying the airway route in three dimensions in the airway route view according to the position information of the aircraft and the airway route information further comprises:

7. The method for displaying a three-dimensional airway route according to claim 6, wherein if the distance between the aircraft and the boundary of the three-dimensional airway route is less than the corresponding predetermined threshold, the step of generating the warning information further comprises:

8. A stereoscopic airway line display device, comprising:

9. An aircraft comprising a memory, a processor, and a stereophonic airway line display program stored on the memory and operable on the processor, which when executed by the processor implements the stereophonic airway line display method of any of claims 1 to 7.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a stereoscopic airway line display program that, when executed by a processor, implements the stereoscopic airway line display method according to any one of claims 1 to 7.