CN116400730A - Low-altitude flight range calibration method and system for aircraft - Google Patents
Low-altitude flight range calibration method and system for aircraft Download PDFInfo
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Abstract
The invention discloses a method and a system for calibrating a low-altitude flight range of an aircraft, and relates to the technical field of aircrafts. In order to solve the problems that in the prior art, the calibration and calculation of the flight range of an aircraft are more complex, the precision of the calibration of the flight safety range is affected, and the situation of potential flight safety hazards occurs; a method for calibrating a low-altitude flight range of an aircraft, the method comprising the steps of: s1: constructing an aircraft city map; s2: tracking and positioning an aircraft; s3: calibrating the flight range of the aircraft; by setting a central point in a city, when the unmanned low-altitude aircraft flies at low altitude or ultra-low altitude, the furthest route distance and the lowest safe altitude of the route of the unmanned low-altitude aircraft are determined, the safe range of the unmanned low-altitude aircraft flying is marked according to the data of corresponding terrain, landform, weather and peripheral ground supply stations, the calculation precision of the aircraft low-altitude flight range marking method is effectively improved, and the requirement of on-line calculation is met.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a method and a system for calibrating a low-altitude flight range of an aircraft.
Background
Unmanned aerial vehicles are unmanned aerial vehicles that are operated using a radio remote control device and a self-contained programming device. The prior art relates to the calibration of the flight range of an unmanned aerial vehicle, and related patents exist; for example, chinese patent publication No. CN108803656B discloses a complex low-altitude based flight control method and system, the method comprising: acquiring environmental information in a set threshold range around an aircraft to be controlled, wherein the environmental information comprises information, weather information and topographic information of other aircraft; acquiring a flight plan of the aircraft to be controlled, wherein the flight plan comprises flight lines, flight heights and flight speeds corresponding to a plurality of flight sections; judging whether the environment information conflicts with the flight plan of the aircraft to be controlled, if not, the aircraft to be controlled flies according to the flight plan; if yes, acquiring conflict information of the environment information and the flight plan; and adjusting the flight plan according to the conflict information to obtain an adjusted flight plan, and enabling the aircraft to be controlled to fly according to the adjusted flight plan.
The above patent, although realizing control and simulation analysis of complex low-altitude flight, still has the following problems:
1. in the prior art, a global grid map is generally adopted for carrying out an analysis foundation of flight data, however, the global grid map is difficult to accurately reflect terrains and scenes, the manufacturing cost is long, the cost is high, and management staff cannot intuitively monitor and judge the flight range of the aircraft and the terrains of flight areas;
2. in the prior art, information acquisition and range calibration are not performed by using a city set center point, and because of the differences of topography and weather among cities, the calibration and calculation of the flight range of an aircraft are more complex, the precision of the flight safety range calibration is affected, and the condition of flight safety hidden danger occurs.
Disclosure of Invention
The invention aims to provide a method and a system for calibrating the low-altitude flight range of an aircraft, which are used for calibrating the safety range of the unmanned low-altitude aircraft according to data of corresponding terrains, landforms, weather and peripheral ground supply stations by setting a central point in a city, so that the calculation precision of the method for calibrating the low-altitude flight range of the aircraft is effectively improved, the requirement of on-line calculation is met, and the problems in the background art are solved.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a method for calibrating a low-altitude flight range of an aircraft, the method comprising the steps of:
s1: building an aircraft city map:
acquiring position data of an unmanned low-altitude aircraft, acquiring related city data actively uploaded by a terminal collector of a city where the position data is located, extracting target data in the city data based on a city data type, and constructing a three-dimensional city map;
s2: tracking and positioning an aircraft:
acquiring initial position information of an unmanned low-altitude aircraft, inputting the initial position information into a three-dimensional city map for marking, determining the actual position of the unmanned low-altitude aircraft in the three-dimensional city map, and marking the height of the unmanned low-altitude aircraft;
acquiring a flight plan of the unmanned low-altitude aircraft, wherein the flight plan comprises flight lines, flight heights and flight speeds corresponding to a plurality of flight segments, and displaying the flight lines, the flight heights and the flight speeds in the three-dimensional city map;
s3: calibrating the flight range of the aircraft:
setting a center point in the simulated urban map, obtaining weather data corresponding to the urban map through outward diffusion of the center point, and calibrating the flight range of the unmanned low-altitude aircraft by combining ground supply station data.
Further, for constructing the city map of the aircraft in the step S1, the specific process includes:
extracting longitude and latitude in position data of an unmanned low-altitude aircraft, determining a city corresponding to the longitude and latitude data, acquiring a terminal collector of the city, and acquiring city data acquired by the terminal collector;
acquiring a data identifier of the city data, inputting the data identifier into a preset city data sample database for matching, and outputting a basic data type of the city based on a matching result, wherein the preset city data sample database comprises basic data types of buildings, roads and terrains;
and extracting two-dimensional coordinate data of the city in the city data, constructing a two-dimensional plane map based on the two-dimensional coordinate data, inputting buildings and roads to corresponding coordinates based on basic data types, inputting the two-dimensional coordinate data to three-dimensional coordinates based on the topographic data, and constructing a three-dimensional map.
Further, the building of the three-dimensional map further includes:
integrating the city data based on the basic data types to generate data sets, acquiring the corresponding data sets in the basic data types and matching the corresponding live-action models in a scene library;
and based on the data type matching scene data corresponding to the scene database, placing the real scene model in corresponding coordinates to construct a three-dimensional real scene map.
Further, for the tracking and positioning of the aircraft in S2, the method further includes:
determining the furthest route distance and the lowest safety height of the route of the unmanned low-altitude aircraft, and vectorizing the corresponding main geographic information on the route;
acquiring flight data of the unmanned low-altitude aircraft in real time, and monitoring whether the unmanned low-altitude aircraft flies normally or not according to the flight data of the unmanned low-altitude aircraft;
and judging whether the unmanned low-altitude aircraft is in the lowest safe altitude of the route, and monitoring whether the continuous flight of the unmanned low-altitude aircraft exceeds the farthest route distance.
Further, for the flight range calibration in the step S3, the process comprises the following steps:
determining a center point of the three-dimensional map based on the three-dimensional landmark, acquiring the coordinates of each unmanned aerial vehicle ground supply station in the three-dimensional map, and carrying out unmanned aerial vehicle ground supply station labeling based on a difference value between the coordinates and the center point;
acquiring weather data of a city in which the unmanned low-altitude aircraft is located, wherein the weather data comprise temperature and humidity, wind speed, wind direction, influence range of severe weather and influence degree of severe weather;
inputting the weather data into a three-dimensional map for simulation deduction, determining simulation flight data of the unmanned low-altitude aircraft when executing a flight plan, and evaluating a safe flight score of the unmanned low-altitude aircraft when executing the flight plan;
and determining the flight height threshold value and the flight range of each leg of the unmanned low-altitude aircraft based on the safe flight score, and adjusting the flight plan based on the flight height threshold value and the flight range of each leg.
Further, the ground replenishment station data further comprises:
and extracting coordinates of the unmanned aerial vehicle ground supply station in the three-dimensional live-action map, determining a coverage range of the unmanned aerial vehicle ground supply station based on the furthest route distance of the unmanned aerial vehicle, and determining whether the coverage ranges are overlapped with each other.
Further, the method for calibrating the low-altitude flight range of the aircraft further comprises the following steps:
the unmanned aerial vehicle sends wireless communication detection instructions to a terminal collector of the city at regular time, wherein the wireless communication detection instructions comprise instruction sending time and instruction content;
after the terminal collector receives the wireless communication detection instruction, marking the receiving moment;
the terminal collector extracts the instruction sending time in the wireless communication detection instruction and acquires the instruction sending time in the wireless communication detection instruction;
acquiring the wireless transmission time of the wireless communication detection instruction by utilizing the mark receiving time and the instruction sending time;
comparing the wireless transmission time with the theoretical data transmission time and the theoretical delay of the wireless communication device, and judging the current wireless communication state by utilizing the wireless transmission time when constraint conditions are met between the wireless transmission time and the theoretical data transmission time and the theoretical delay of the wireless communication device;
when the wireless transmission time does not meet the constraint condition, alarming is carried out;
wherein the constraint conditions are as follows:
T≤T y
wherein T represents a wireless transmission time; t (T) y Representing constraint conditions corresponding to the transmission time; delta T represents the maximum delay time of the wireless transmission time in the history record under the condition of conforming to the remainder condition compared with the sum of the theoretical data transmission time and the theoretical delay of the wireless communication device; t (T) 01 Representing a theoretical data transmission time of the wireless communication device; t (T) 02 Indicating the theoretical delay.
Further, determining the current wireless communication state by using the wireless transmission time includes:
setting a communication time threshold by utilizing the relation between the current wireless transmission time and the constraint condition; wherein the communication time threshold is as follows:
wherein T is 0 Representing a communication time threshold; t (T) y Representing constraint conditions corresponding to the transmission time; delta T represents the maximum delay time of the wireless transmission time in the history record under the condition of conforming to the remainder condition compared with the sum of the theoretical data transmission time and the theoretical delay of the wireless communication device;
when the wireless transmission time does not exceed the communication time threshold, determining that the current wireless communication state is good, and keeping the number of data transmission times for the same data between the current unmanned aerial vehicle and the terminal collector in unit time;
when the wireless transmission time exceeds the communication time threshold, determining that the current wireless communication state is not good, and improving the data transmission times of the same data between the current unmanned aerial vehicle and the terminal collector in unit time.
The invention provides another technical scheme, namely an aircraft low-altitude flight range calibration system, which comprises:
the model construction unit is used for constructing a three-dimensional urban live-action map based on the position of the unmanned low-altitude aircraft;
the aircraft tracking unit is used for acquiring the actual position of the unmanned low-altitude aircraft in real time, monitoring the flight data of the unmanned low-altitude aircraft and displaying the flight data in the three-dimensional live-action map in real time;
the range calibration early warning unit is used for calibrating the flight range of the unmanned low-altitude aircraft based on urban topography and weather, judging whether the unmanned low-altitude aircraft flies in the safety range, and timely warning abnormal data.
Further, the alarming of the abnormal data further includes:
determining a safe flight score of the unmanned low-altitude aircraft based on the flight data of the unmanned low-altitude aircraft, comparing the safe flight score with a preset threshold, and judging whether the flight data of the unmanned low-altitude aircraft is in a safe range or not;
when the safe flight score is equal to or greater than the preset threshold value, judging that potential safety hazards exist in the unmanned low-altitude aircraft behaviors, and meanwhile, generating an early warning report when the potential safety hazards exist in the unmanned low-altitude aircraft behaviors;
and acquiring the current coordinates of the unmanned low-altitude aircraft, displaying the current coordinates of the unmanned low-altitude aircraft in a three-dimensional map, and simultaneously transmitting the early warning report to a terminal where a remote manager is located based on the Internet of things.
Compared with the prior art, the invention has the beneficial effects that:
1. the method has the advantages that the three-dimensional city map is constructed, the initial position of the unmanned low-altitude aircraft is displayed in the three-dimensional map, the flight data of the unmanned low-altitude aircraft are monitored in real time, a central point is set in a city, the central point is outwards diffused, unified calculation models are conveniently built in all cities to ensure the efficiency when the unmanned low-altitude aircraft is calculated, the furthest route distance and the lowest safe altitude of the route of the unmanned low-altitude aircraft are determined when the unmanned low-altitude aircraft flies or flies at ultra-low altitudes, the flight safety range of the unmanned low-altitude aircraft is defined according to the corresponding topography, landform, weather and peripheral ground supply station data, the calculation precision of a calibration method of the low-altitude aircraft is effectively improved, and the requirement of on-line calculation is met.
2. The three-dimensional landscape is reproduced in a two-dimensional map mode by utilizing the representation method of the three-dimensional space on a two-dimensional plane, a two-dimensional plane map is firstly constructed, then a three-dimensional map is established, the cost of creating the three-dimensional model of the city is reduced, city data are integrated based on basic data types to generate a data set, corresponding live-action models are matched in a field Jing Ku, corresponding live-action data in a scene library are matched, live-action fusion is carried out on the three-dimensional models, the topography, the landform and each scene of the city are accurately reflected, and the authenticity of each scene of the city map is improved.
Drawings
FIG. 1 is a flow chart of a method for calibrating the low-altitude flight range of an aircraft according to the invention;
FIG. 2 is a block diagram of the low altitude flight range calibration system of the aircraft of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to solve the technical problem that the traditional flight range calibration method has lower calculation accuracy and longer calculation time and cannot meet the requirement of online calculation, referring to fig. 1, the embodiment provides the following technical scheme:
a method for calibrating a low-altitude flight range of an aircraft, the method comprising the steps of:
s1: building an aircraft city map: acquiring position data of an unmanned low-altitude aircraft, acquiring related city data actively uploaded by a terminal collector of a city where the position data is located, extracting target data in the city data based on a city data type, and constructing a three-dimensional city map;
s2: tracking and positioning an aircraft: acquiring initial position information of an unmanned low-altitude aircraft, inputting the initial position information into a three-dimensional city map for marking, determining the actual position of the unmanned low-altitude aircraft in the three-dimensional city map, and marking the height of the unmanned low-altitude aircraft; acquiring a flight plan of the unmanned low-altitude aircraft, wherein the flight plan comprises flight lines, flight heights and flight speeds corresponding to a plurality of flight segments, and displaying the flight lines, the flight heights and the flight speeds in the three-dimensional city map;
determining the furthest route distance and the lowest safety height of the route of the unmanned low-altitude aircraft, and vectorizing the corresponding main geographic information on the route; acquiring flight data of the unmanned low-altitude aircraft in real time, and monitoring whether the unmanned low-altitude aircraft flies normally or not according to the flight data of the unmanned low-altitude aircraft; judging whether the unmanned low-altitude aircraft is in the lowest safe altitude of the route or not, and monitoring whether the continuous flight of the unmanned low-altitude aircraft exceeds the distance of the farthest route or not;
s3: calibrating the flight range of the aircraft: setting a center point in the simulated urban map, obtaining weather data corresponding to the urban map through outward diffusion of the center point, and calibrating the flight range of the unmanned low-altitude aircraft by combining ground supply station data.
Specifically, the three-dimensional city map is constructed, the initial position of the unmanned low-altitude aircraft is displayed in the three-dimensional map, the flight data of the unmanned low-altitude aircraft are monitored in real time, a central point is set in a city, the central point is outwards diffused, a unified calculation model is conveniently built in each city, so that the efficiency of calculating the unmanned low-altitude aircraft is guaranteed, the furthest route distance and the minimum safe route height of the unmanned low-altitude aircraft are determined when the unmanned low-altitude aircraft flies at low altitude or ultra-low altitude, the flight safety range of the unmanned low-altitude aircraft is marked according to the data of corresponding topography, landform, weather and peripheral ground supply stations, the calculation precision of the low-altitude flight range method of the aircraft is effectively improved, and the requirement of online calculation is met.
In order to solve the technical problems that in the prior art, a map is often manufactured through a grid, a global grid map is difficult to accurately reflect terrains and scenes, the manufacturing cost is long, and the cost is high, referring to fig. 1, the embodiment provides the following technical scheme:
aiming at the building of the city map of the aircraft in the step S1, the specific process comprises the following steps:
extracting longitude and latitude in position data of an unmanned low-altitude aircraft, determining a city corresponding to the longitude and latitude data, acquiring a terminal collector of the city, and acquiring city data acquired by the terminal collector; acquiring a data identifier of the city data, inputting the data identifier into a preset city data sample database for matching, and outputting a basic data type of the city based on a matching result, wherein the preset city data sample database comprises basic data types of buildings, roads and terrains; extracting two-dimensional coordinate data of a city in the city data, constructing a two-dimensional plane map based on the two-dimensional coordinate data, inputting buildings and roads to corresponding coordinates based on basic data types, inputting the two-dimensional coordinate data to three-dimensional coordinates based on the topographic data, and constructing a three-dimensional map; integrating the city data based on the basic data types to generate data sets, acquiring the corresponding data sets in the basic data types and matching the corresponding live-action models in a scene library; and based on the data type matching scene data corresponding to the scene database, placing the real scene model in corresponding coordinates to construct a three-dimensional real scene map.
Specifically, the three-dimensional landscape is reproduced in a two-dimensional map mode by utilizing a representation method of a three-dimensional space on a two-dimensional plane, a two-dimensional plane map is firstly constructed, then a three-dimensional map is built, the cost of creating a three-dimensional model of a city is reduced, city data are integrated based on basic data types to generate a data set, corresponding live-action models are matched in a scene Jing Ku, corresponding live-action data in a scene library are matched, the three-dimensional models are subjected to live-action fusion, the topography, the landform and each scene of the city are accurately reflected, and the authenticity of each scene of the city map is improved.
In order to solve the technical problems that in the prior art, information acquisition and range calibration are not performed by using a city set center point, because of the differences of topography and weather among cities, the calibration and calculation of the flight range of an aircraft are more complex, the precision of the flight safety range calibration is influenced, and the condition of potential flight safety hazards occurs, please refer to fig. 1, the embodiment provides the following technical scheme:
the process for calibrating the flight range in the S3 comprises the following steps:
determining a center point of the three-dimensional map based on the three-dimensional landmark, acquiring the coordinates of each unmanned aerial vehicle ground supply station in the three-dimensional map, and carrying out unmanned aerial vehicle ground supply station labeling based on a difference value between the coordinates and the center point; extracting coordinates of an unmanned aerial vehicle ground supply station in the three-dimensional live-action map, determining a coverage range of the unmanned aerial vehicle ground supply station based on the farthest route distance of the unmanned aerial vehicle, and determining whether the coverage ranges are overlapped with each other; acquiring weather data of a city in which the unmanned low-altitude aircraft is located, wherein the weather data comprise temperature and humidity, wind speed, wind direction, influence range of severe weather and influence degree of severe weather; inputting the weather data into a three-dimensional map for simulation deduction, determining simulation flight data of the unmanned low-altitude aircraft when executing a flight plan, and evaluating a safe flight score of the unmanned low-altitude aircraft when executing the flight plan; and determining the flight height threshold value and the flight range of each leg of the unmanned low-altitude aircraft based on the safe flight score, and adjusting the flight plan based on the flight height threshold value and the flight range of each leg.
Specifically, through confirming the central point of three-dimensional map, outwards spread with the central point, unmanned aerial vehicle ground supply station in the one-to-one map, confirm unmanned aerial vehicle's flight range in carrying out the flight plan based on each unmanned aerial vehicle ground supply station's coverage, whether the altitude when the low altitude flies is in the safe range based on unmanned aerial vehicle's minimum altitude combines the weather data that obtains, and carries out unmanned aerial vehicle's flight simulation deduction through flight plan and current weather effect to judge the safe flight score of simulation flight data based on the deduction result, adjust the flight plan based on the flight altitude threshold value and the flight range of each flight section, guaranteed the flight safety of each flight section, improved unmanned aerial vehicle's flight efficiency.
In one embodiment of the present invention, the method for calibrating the low-altitude flight range of the aircraft further includes:
the unmanned aerial vehicle sends wireless communication detection instructions to a terminal collector of the city at regular time, wherein the wireless communication detection instructions comprise instruction sending time and instruction content;
after the terminal collector receives the wireless communication detection instruction, marking the receiving moment;
the terminal collector extracts the instruction sending time in the wireless communication detection instruction and acquires the instruction sending time in the wireless communication detection instruction;
acquiring the wireless transmission time of the wireless communication detection instruction by utilizing the mark receiving time and the instruction sending time;
comparing the wireless transmission time with the theoretical data transmission time and the theoretical delay of the wireless communication device, and judging the current wireless communication state by utilizing the wireless transmission time when constraint conditions are met between the wireless transmission time and the theoretical data transmission time and the theoretical delay of the wireless communication device;
when the wireless transmission time does not meet the constraint condition, alarming is carried out;
wherein the constraint conditions are as follows:
T≤T y
wherein T represents a wireless transmission time; t (T) y Representing constraint conditions corresponding to the transmission time; delta T represents the maximum delay time of the wireless transmission time in the history record under the condition of conforming to the remainder condition compared with the sum of the theoretical data transmission time and the theoretical delay of the wireless communication device; t (T) 01 Representing a theoretical data transmission time of the wireless communication device; t (T) 02 Indicating the theoretical delay.
The technical scheme has the effects that: according to the method, the quality detection of wireless communication can be carried out regularly in the flight process of the unmanned aerial vehicle, the flight speed of the unmanned aerial vehicle is high, the communication quality is poor, the communication demonstration is overlarge, the problem that the difference between the calibration position display of the unmanned aerial vehicle and the actual flight position of the unmanned aerial vehicle is large is caused, meanwhile, whether the wireless transmission time meets the requirement or not can be initially judged through the setting of the constraint condition, and the alarm timeliness can be improved to the greatest extent. In addition, the constraint conditions can be adaptively changed along with the actual communication state of the unmanned aerial vehicle in the mode, and the rationality and the adaptive regulation and control of constraint condition setting are further improved.
One embodiment of the present invention, determining a current wireless communication state using the wireless transmission time, includes:
setting a communication time threshold by utilizing the relation between the current wireless transmission time and the constraint condition; wherein the communication time threshold is as follows:
wherein T is 0 Representing a communication time threshold; t (T) y Representing constraint conditions corresponding to the transmission time; delta T represents the wireless transmission time in the history in accordance with the remainder condition as compared withThe maximum delay time length of the sum of the theoretical data transmission time and the theoretical delay of the wireless communication device;
when the wireless transmission time does not exceed the communication time threshold, determining that the current wireless communication state is good, and keeping the number of data transmission times for the same data between the current unmanned aerial vehicle and the terminal collector in unit time;
when the wireless transmission time exceeds the communication time threshold, determining that the current wireless communication state is not good, and improving the data transmission times of the same data between the current unmanned aerial vehicle and the terminal collector in unit time.
The technical scheme has the effects that: through the quality detection that the mode can regularly carry out radio communication in unmanned aerial vehicle flight process, because unmanned aerial vehicle flight speed is very fast, prevent that communication quality is relatively poor, lead to communication demonstration too big, and then lead to unmanned aerial vehicle calibration position to show and the great problem of actual unmanned aerial vehicle flight position gap to take place, simultaneously, through the setting of above-mentioned communication threshold, can effectively combine unmanned aerial vehicle's actual radio communication state to carry out pertinence setting, make communication threshold carry out effective matching with unmanned aerial vehicle communication actual conditions, and then improve communication quality and detect accuracy and reliability.
In order to better implement the low-altitude flight range calibration method of the aircraft, referring to fig. 2, the embodiment provides a low-altitude flight range calibration system of the aircraft, which includes:
the model construction unit is used for constructing a three-dimensional urban live-action map based on the position of the unmanned low-altitude aircraft; the aircraft tracking unit is used for acquiring the actual position of the unmanned low-altitude aircraft in real time, monitoring the flight data of the unmanned low-altitude aircraft and displaying the flight data in the three-dimensional live-action map in real time; the range calibration early warning unit is used for calibrating the flight range of the unmanned low-altitude aircraft based on urban topography and weather, judging whether the unmanned low-altitude aircraft flies in a safety range or not, and timely warning abnormal data;
alarming the abnormal data, determining a safe flight score of the unmanned low-altitude aircraft based on the flight data of the unmanned low-altitude aircraft, comparing the safe flight score with a preset threshold, and judging whether the flight data of the unmanned low-altitude aircraft is in a safe range or not; when the safe flight score is equal to or greater than the preset threshold value, judging that potential safety hazards exist in the unmanned low-altitude aircraft behaviors, and meanwhile, generating an early warning report when the potential safety hazards exist in the unmanned low-altitude aircraft behaviors; and acquiring the current coordinates of the unmanned low-altitude aircraft, displaying the current coordinates of the unmanned low-altitude aircraft in a three-dimensional map, and simultaneously transmitting the early warning report to a terminal where a remote manager is located based on the Internet of things.
Specifically, the simulation deduction of the flight plan is carried out based on the current environment through the three-dimensional live-action map, the flight data of the unmanned low-altitude aircraft are monitored in real time, whether the flight data of the unmanned low-altitude aircraft are in a safe range is judged, the flight range of the unmanned low-altitude aircraft is calibrated based on urban landforms and weather, the safe flight score of the unmanned low-altitude aircraft is determined based on the flight data, abnormal data are found in time and an alarm is carried out, remote control is conveniently carried out by remote management personnel, problems are found in time, the unmanned low-altitude aircraft is maintained according to the current coordinates of the unmanned low-altitude aircraft, and remote management of management personnel is facilitated.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should be covered by the protection scope of the present invention by making equivalents and modifications to the technical solution and the inventive concept thereof.
Claims (10)
1. A method for calibrating a low-altitude flight range of an aircraft is characterized by comprising the following steps of: the method comprises the following steps:
s1: building an aircraft city map:
acquiring position data of an unmanned low-altitude aircraft, acquiring related city data actively uploaded by a terminal collector of a city where the position data is located, extracting target data in the city data based on a city data type, and constructing a three-dimensional city map;
s2: tracking and positioning an aircraft:
acquiring initial position information of an unmanned low-altitude aircraft, inputting the initial position information into a three-dimensional city map for marking, determining the actual position of the unmanned low-altitude aircraft in the three-dimensional city map, and marking the height of the unmanned low-altitude aircraft;
acquiring a flight plan of the unmanned low-altitude aircraft, wherein the flight plan comprises flight lines, flight heights and flight speeds corresponding to a plurality of flight segments, and displaying the flight lines, the flight heights and the flight speeds in the three-dimensional city map;
s3: calibrating the flight range of the aircraft:
setting a center point in the simulated urban map, obtaining weather data corresponding to the urban map through outward diffusion of the center point, and calibrating the flight range of the unmanned low-altitude aircraft by combining ground supply station data.
2. The method for calibrating the low-altitude flight range of an aircraft according to claim 1, wherein the method comprises the following steps: aiming at the building of the city map of the aircraft in the step S1, the specific process comprises the following steps:
extracting longitude and latitude in position data of an unmanned low-altitude aircraft, determining a city corresponding to the longitude and latitude data, acquiring a terminal collector of the city, and acquiring city data acquired by the terminal collector;
acquiring a data identifier of the city data, inputting the data identifier into a preset city data sample database for matching, and outputting a basic data type of the city based on a matching result, wherein the preset city data sample database comprises basic data types of buildings, roads and terrains;
and extracting two-dimensional coordinate data of the city in the city data, constructing a two-dimensional plane map based on the two-dimensional coordinate data, inputting buildings and roads to corresponding coordinates based on basic data types, inputting the two-dimensional coordinate data to three-dimensional coordinates based on the topographic data, and constructing a three-dimensional map.
3. The method for calibrating the low-altitude flight range of an aircraft according to claim 2, wherein the method comprises the following steps: constructing a three-dimensional map, further comprising:
integrating the city data based on the basic data types to generate data sets, acquiring the corresponding data sets in the basic data types and matching the corresponding live-action models in a scene library;
and based on the data type matching scene data corresponding to the scene database, placing the real scene model in corresponding coordinates to construct a three-dimensional real scene map.
4. A method for calibrating the low-altitude flight range of an aircraft according to claim 3, wherein: for the aircraft tracking location in S2, further comprising:
determining the furthest route distance and the lowest safety height of the route of the unmanned low-altitude aircraft, and vectorizing the corresponding main geographic information on the route;
acquiring flight data of the unmanned low-altitude aircraft in real time, and monitoring whether the unmanned low-altitude aircraft flies normally or not according to the flight data of the unmanned low-altitude aircraft;
and judging whether the unmanned low-altitude aircraft is in the lowest safe altitude of the route, and monitoring whether the continuous flight of the unmanned low-altitude aircraft exceeds the farthest route distance.
5. The method for calibrating the low-altitude flight range of an aircraft according to claim 4, wherein the method comprises the following steps: the process for calibrating the flight range in the S3 comprises the following steps:
determining a center point of the three-dimensional map based on the three-dimensional landmark, acquiring the coordinates of each unmanned aerial vehicle ground supply station in the three-dimensional map, and carrying out unmanned aerial vehicle ground supply station labeling based on a difference value between the coordinates and the center point;
acquiring weather data of a city in which the unmanned low-altitude aircraft is located, wherein the weather data comprise temperature and humidity, wind speed, wind direction, influence range of severe weather and influence degree of severe weather;
inputting the weather data into a three-dimensional map for simulation deduction, determining simulation flight data of the unmanned low-altitude aircraft when executing a flight plan, and evaluating a safe flight score of the unmanned low-altitude aircraft when executing the flight plan;
and determining the flight height threshold value and the flight range of each leg of the unmanned low-altitude aircraft based on the safe flight score, and adjusting the flight plan based on the flight height threshold value and the flight range of each leg.
6. The method for calibrating the low-altitude flight range of the aircraft according to claim 5, wherein the method comprises the following steps: the ground replenishment station data further comprises:
and extracting coordinates of the unmanned aerial vehicle ground supply station in the three-dimensional live-action map, determining a coverage range of the unmanned aerial vehicle ground supply station based on the furthest route distance of the unmanned aerial vehicle, and determining whether the coverage ranges are overlapped with each other.
7. The method for calibrating the low-altitude flight range of an aircraft according to claim 1, wherein the method comprises the following steps: the low-altitude flight range calibration method of the aircraft further comprises the following steps:
the unmanned aerial vehicle sends wireless communication detection instructions to a terminal collector of the city at regular time, wherein the wireless communication detection instructions comprise instruction sending time and instruction content;
after the terminal collector receives the wireless communication detection instruction, marking the receiving moment;
the terminal collector extracts the instruction sending time in the wireless communication detection instruction and acquires the instruction sending time in the wireless communication detection instruction;
acquiring the wireless transmission time of the wireless communication detection instruction by utilizing the mark receiving time and the instruction sending time;
comparing the wireless transmission time with the theoretical data transmission time and the theoretical delay of the wireless communication device, and judging the current wireless communication state by utilizing the wireless transmission time when constraint conditions are met between the wireless transmission time and the theoretical data transmission time and the theoretical delay of the wireless communication device;
when the wireless transmission time does not meet the constraint condition, alarming is carried out;
wherein the constraint conditions are as follows:
T≤T y
wherein T represents a wireless transmission time; t (T) y Representing constraint conditions corresponding to the transmission time; delta T represents the maximum delay time of the wireless transmission time in the history record under the condition of conforming to the remainder condition compared with the sum of the theoretical data transmission time and the theoretical delay of the wireless communication device; t (T) 01 Representing a theoretical data transmission time of the wireless communication device; t (T) 02 Indicating the theoretical delay.
8. The method for calibrating the low-altitude flight range of an aircraft according to claim 7, wherein the method comprises the following steps: determining a current wireless communication state using the wireless transmission time, comprising:
setting a communication time threshold by utilizing the relation between the current wireless transmission time and the constraint condition; wherein the communication time threshold is as follows:
wherein T is 0 Representing a communication time threshold; t (T) y Representing constraint conditions corresponding to the transmission time; delta T represents the maximum delay time of the wireless transmission time in the history record under the condition of conforming to the remainder condition compared with the sum of the theoretical data transmission time and the theoretical delay of the wireless communication device;
when the wireless transmission time does not exceed the communication time threshold, determining that the current wireless communication state is good, and keeping the number of data transmission times for the same data between the current unmanned aerial vehicle and the terminal collector in unit time;
when the wireless transmission time exceeds the communication time threshold, determining that the current wireless communication state is not good, and improving the data transmission times of the same data between the current unmanned aerial vehicle and the terminal collector in unit time.
9. An aircraft low-altitude flight range calibration system, applied to the aircraft low-altitude flight range calibration method according to any one of claims 1 to 8, characterized in that: comprising the following steps:
the model construction unit is used for constructing a three-dimensional urban live-action map based on the position of the unmanned low-altitude aircraft;
the aircraft tracking unit is used for acquiring the actual position of the unmanned low-altitude aircraft in real time, monitoring the flight data of the unmanned low-altitude aircraft and displaying the flight data in the three-dimensional live-action map in real time;
the range calibration early warning unit is used for calibrating the flight range of the unmanned low-altitude aircraft based on urban topography and weather, judging whether the unmanned low-altitude aircraft flies in the safety range, and timely warning abnormal data.
10. An aircraft low altitude flight range calibration system as claimed in claim 9, wherein: alerting the anomaly data, further comprising:
determining a safe flight score of the unmanned low-altitude aircraft based on the flight data of the unmanned low-altitude aircraft, comparing the safe flight score with a preset threshold, and judging whether the flight data of the unmanned low-altitude aircraft is in a safe range or not;
when the safe flight score is equal to or greater than the preset threshold value, judging that potential safety hazards exist in the unmanned low-altitude aircraft behaviors, and meanwhile, generating an early warning report when the potential safety hazards exist in the unmanned low-altitude aircraft behaviors;
and acquiring the current coordinates of the unmanned low-altitude aircraft, displaying the current coordinates of the unmanned low-altitude aircraft in a three-dimensional map, and simultaneously transmitting the early warning report to a terminal where a remote manager is located based on the Internet of things.
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