WO2023142638A1 - 一种空中地图图层显示方法和装置 - Google Patents

一种空中地图图层显示方法和装置 Download PDF

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Publication number
WO2023142638A1
WO2023142638A1 PCT/CN2022/134127 CN2022134127W WO2023142638A1 WO 2023142638 A1 WO2023142638 A1 WO 2023142638A1 CN 2022134127 W CN2022134127 W CN 2022134127W WO 2023142638 A1 WO2023142638 A1 WO 2023142638A1
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WO
WIPO (PCT)
Prior art keywords
layer
map
area
aircraft
altitude
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PCT/CN2022/134127
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English (en)
French (fr)
Inventor
傅志刚
陶永康
曾阳露
彭登
Original Assignee
广东汇天航空航天科技有限公司
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Application filed by 广东汇天航空航天科技有限公司 filed Critical 广东汇天航空航天科技有限公司
Priority to EP22818163.2A priority Critical patent/EP4242869A4/en
Publication of WO2023142638A1 publication Critical patent/WO2023142638A1/zh

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/22—Plotting boards
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/387—Organisation of map data, e.g. version management or database structures
    • G01C21/3878—Hierarchical structures, e.g. layering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0052—Navigation or guidance aids for a single aircraft for cruising
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/003—Maps
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0065—Navigation or guidance aids for a single aircraft for taking-off
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
    • G08G5/025—Navigation or guidance aids

Definitions

  • the present application relates to the field of aircraft technology, in particular to a method and device for displaying aerial map layers.
  • Flying cars are one of the development directions of future transportation. Flying cars have evolved from road driving to air driving, which can effectively alleviate road traffic congestion. Aerial maps play an important role in both human and autonomous driving.
  • the embodiments of the present application are proposed to provide an aerial map layer display method that overcomes the above problems or at least partially solves the above problems.
  • the embodiment of the present application also provides an aerial map layer display device to ensure the implementation of the above method.
  • an aerial map layer display method which is applied to an aircraft, the aircraft has a map display interface, and the method includes:
  • a corresponding aerial map layer is displayed on the map display interface.
  • the aircraft communicates with a map server; and displaying a corresponding aerial map layer on the map display interface according to the flight altitude information includes:
  • the flight altitude information determine the altitude area where the aircraft is located
  • the obtaining the corresponding aerial map layer from the map server according to the height area includes:
  • the acquisition of the corresponding aerial map layer from the map server according to the flight state and the altitude area includes:
  • the displaying the corresponding aerial map layer on the map display interface includes:
  • the take-off path is displayed on the map display interface.
  • the acquisition of the corresponding aerial map layer from the map server according to the flight state and the altitude area includes:
  • the flight state is an ascending state and ascends to a preset altitude area, it is determined that the next altitude area to be entered by the aircraft is the second altitude area;
  • the displaying the corresponding aerial map layer on the map display interface includes:
  • the flight path is displayed on the map display interface.
  • the acquisition of the corresponding aerial map layer from the map server according to the flight state and the altitude area includes:
  • the flight state is a descending state and descends to a preset altitude area, it is determined that the next altitude area to be entered by the aircraft is the first altitude area;
  • the displaying the corresponding aerial map layer on the map display interface includes:
  • the landing path is displayed on the map display interface.
  • the aerial map layer corresponding to the first height area includes a GNSS anomaly area layer, a ground road network layer, a ground airflow layer, a high-precision map layer, and a landable area layer. , the energy refill station layer, the ground elevation layer, and the no-fly zone layer.
  • the aerial map layer corresponding to the second altitude area includes an air route layer, an emergency landing area layer, a weather warning layer, a landable area layer, an energy supply station layer, and a ground elevation map layer and no-fly zone layer.
  • the embodiment of the present application also discloses an aerial map layer display device, which is applied to an aircraft, the aircraft has a map display interface, and the device includes:
  • a flight height information acquisition module configured to obtain the flight height information of the aircraft
  • the aerial map layer display module is configured to display the corresponding aerial map layer on the map display interface according to the flight height information.
  • the aircraft communicates with the map server;
  • the aerial map layer display module includes:
  • an altitude zone determination submodule configured to determine the altitude zone where the aircraft is located according to the flight altitude information
  • the aerial map layer display submodule is configured to obtain the corresponding aerial map layer from the map server according to the height area, and display the corresponding aerial map layer on the map display interface.
  • the aerial map layer display submodule includes:
  • a flight state determination unit configured to determine the current flight state of the aircraft
  • the aerial map layer acquisition unit is configured to acquire the corresponding aerial map layer from the map server according to the flight state and the altitude area.
  • the aerial map layer acquisition unit includes:
  • the first aerial map layer acquisition subunit is used to obtain the aerial map layer corresponding to the first altitude area from the map server when the flight state is a state to take off;
  • the aerial map layer display submodule includes:
  • a take-off path planning unit configured to use the aerial map layer corresponding to the first altitude area to perform path planning, and obtain the take-off path of the aircraft;
  • the takeoff path display unit is configured to display the takeoff path on the map display interface.
  • the aerial map layer acquisition unit includes:
  • the second altitude area determination subunit is used to determine that the next altitude area to be entered by the aircraft is the second altitude area when the flight state is an ascending state and ascends to a preset altitude area;
  • the second aerial map layer acquisition subunit is configured to acquire the aerial map layer corresponding to the second height area from the map server;
  • the aerial map layer display submodule includes:
  • a flight path planning unit configured to use the aerial map layer corresponding to the second height area for path planning, and obtain the flight path of the aircraft;
  • a flight path display unit configured to display the flight path on the map display interface.
  • the aerial map layer acquisition unit includes:
  • the third altitude area determination subunit is used to determine that the next altitude area to be entered by the aircraft is the first altitude area when the flight state is in a descending state and descends to a preset altitude area;
  • a third aerial map layer acquisition subunit configured to acquire an aerial map layer corresponding to the first height area from the map server
  • the aerial map layer display submodule includes:
  • a landing path planning unit configured to use the aerial map layer corresponding to the first altitude area to perform path planning, and obtain the landing path of the aircraft;
  • a landing path display unit configured to display the landing path on the map display interface.
  • the aerial map layer corresponding to the first height area includes a GNSS anomaly area layer, a ground road network layer, a ground airflow layer, a high-precision map layer, and a landable area layer. , the energy refill station layer, the ground elevation layer, and the no-fly zone layer.
  • the aerial map layer corresponding to the second altitude area includes an air route layer, an emergency landing area layer, a weather warning layer, a landable area layer, an energy supply station layer, and a ground elevation map layer and no-fly zone layer.
  • the embodiment of the present application also provides an aircraft, including a memory, and one or more programs, wherein one or more programs are stored in the memory, and configured to be executed by one or more processors. More than one program is included for executing the aerial map layer display method described in any one of the embodiments of the present application.
  • the embodiment of the present application also provides a readable storage medium.
  • the instructions in the storage medium are executed by the processor of the electronic device, the electronic device can execute the aerial map layer as described in any one of the embodiments of the present application. Show method.
  • the embodiment of the present application includes the following advantages:
  • the embodiment of the present application it is applied to an aircraft, and the aircraft has a map display interface; firstly, the flight altitude information of the aircraft is obtained, and then the corresponding aerial map layer is displayed on the map display interface according to the flight altitude information.
  • the embodiment of the present application sets different flight height information corresponding to different aerial map layers, so that the aircraft can dynamically switch the aerial map layers at different flight heights, which can avoid redundant and complicated map information and maintain map
  • the display interface is simple, which greatly improves the utilization rate of map information.
  • Fig. 1 is a flow chart of the steps of a method for displaying an aerial map layer provided in an embodiment of the present application
  • FIG. 2 is a schematic diagram of the composition of the aerial map layer provided by the embodiment of the present application.
  • Fig. 3 is a schematic diagram of the switching of the aerial map layer provided by the embodiment of the present application.
  • Fig. 4 is a structural block diagram of an aerial map layer display device provided by an embodiment of the present application.
  • Fig. 1 shows a flow chart of the steps of a method for displaying an aerial map layer provided by an embodiment of the present application, which is applied to an aircraft, and the aircraft has a map display interface.
  • the method may specifically include the following steps:
  • Step 101 acquiring flight altitude information of the aircraft.
  • the aircraft may be applied to an aircraft, and types of the aircraft may include rotary-wing aircraft and fixed-wing aircraft.
  • the aircraft may be equipped with a control mode selection switch, and the control mode may be switched through the control mode selection switch, wherein the control mode may include a ground control mode and an air flight control mode.
  • the land control mode can have a land control component, which can include a steering wheel, a gear shift knob, a brake pedal, and an accelerator pedal.
  • the air-flying control part may include a joystick, which is rotatably or oscillatingly arranged in the aircraft body. By manipulating the air-flight control part, the aircraft can fly in the air.
  • the air flight maneuvering components can be configured in a hidden and locked state, and the land maneuvering components can be configured in a ready state.
  • the air-flight control components can be configured to be visible and ready, and the ground control components can be configured to be locked.
  • the aircraft may have a map display interface, and the flight altitude information of the aircraft may be obtained, and then the flight altitude information may be used to give different representations of the aerial map layer in the map display interface.
  • Step 102 according to the flight altitude information, display the corresponding aerial map layer on the map display interface.
  • the aircraft may have a map display interface, and the map display interface may include multiple display areas, and the number of display areas may be switched according to the number of acquired aerial map layers.
  • the map display interface originally displayed 7 displays area, when there are 8 aerial map layers obtained, the map display interface can be switched from 7 display areas to 8 display areas.
  • the corresponding aerial map layer can be displayed in the display area of the map display interface according to the flight altitude information, so as to ensure that different aerial maps can be switched to in different flight stages Layers, avoid loading unnecessary layer information, and improve map information utilization.
  • step 102 may include the following sub-steps:
  • Sub-step S11 according to the flight altitude information, determine the altitude area where the aircraft is located.
  • the embodiment of the present application can define the basic layer composition and layer switching conditions of the aerial map layer suitable for complex urban structures according to the height characteristics of urban building groups. Specifically, according to the relevant regulations of the construction industry standards, except for special landmark buildings and extra-high buildings, most urban buildings are less than 100 meters in height.
  • the height dividing line can be preset, for example, the height dividing line of 100 meters, 150 meters, and 1000 meters can be preset, and then the height area below the 100-meter height dividing line can be defined as an ultra-low altitude area, and the 100-meter height division line can be defined as an ultra-low altitude area.
  • the altitude area between the boundary line and the 150-meter altitude dividing line is the layer switching transition zone
  • the altitude area between the 150-meter altitude dividing line and the 1000-meter altitude dividing line is the low-altitude area
  • the altitude area above the 1000-meter altitude dividing line is hollow area. Therefore, the embodiment of the present application can determine the altitude area where the aircraft is located according to the flight altitude information. For example, when the flight altitude information is 80 meters, it can be determined that the altitude area where the aircraft is located is an ultra-low altitude area.
  • the value of the height dividing line and the range of the height area may also be set in other ways, and the embodiment of the present application does not limit the value of the height dividing line and the range of the height area.
  • Sub-step S12 obtain the corresponding aerial map layer from the map server, and display the corresponding aerial map layer on the map display interface.
  • the aircraft can communicate with the map server through the autopilot system. After determining the altitude area where the aircraft is located, the corresponding aerial map layer can be obtained from the map server, and the corresponding aerial map can be displayed on the map display interface. layer, which can avoid loading unnecessary layer information and greatly improve the utilization rate of map information.
  • the aerial map layer corresponding to the first altitude area includes a global navigation satellite system GNSS anomaly area layer, a ground road network layer, a ground airflow layer, a high-precision map layer, and a landable area layer, energy station layer, ground elevation layer, and no-fly zone layer.
  • the aerial map layer corresponding to the second altitude area includes an air route layer, an emergency landing area layer, a weather warning layer, a landing area layer, an energy supply station layer, a ground An elevation layer and a no-fly zone layer.
  • Fig. 2 it shows a schematic diagram of the composition of the air map layer provided by the embodiment of the present application, and the height dividing line of 100m, 150m and 1000m can be preset, wherein, the height area of 0 ⁇ 100m can be an ultra-low altitude area, and the height area of 100m ⁇ The height area between 150m can be the layer switching transition area, and the height area between 150m ⁇ 1000m can be the low-altitude area.
  • the first altitude area is the ultra-low altitude area
  • the second altitude area is the low altitude area.
  • the aerial map layer corresponding to the first height area may include the GNSS anomaly area layer, ground road network layer, ground airflow layer, and high-precision map layer
  • the second height area ( 150m ⁇ 1000m) corresponding aerial map layers can include air route layers, emergency landing area layers, and weather warning layers
  • both the first altitude area and the second altitude area can have public layers, and public layers can Includes layers of landable areas, energy refueling stations, ground elevation, and no-fly areas.
  • each aerial map layer corresponding to the first altitude area and the aerial map layer corresponding to the second altitude area, the functions of each aerial map layer are explained one by one below:
  • First altitude areas can include aerial map layers such as:
  • GNSS anomaly area layer When the aircraft flies in the first altitude area, due to some large buildings blocking or signal reflection, the GNSS signal will be weak or large multipath error, so the embodiment of this application uses the GNSS anomaly area map layer, which can remind the pilot in the aircraft or provide a reference for path planning for the autopilot system of the aircraft.
  • GNSS Global Navigation Satellite System (Global Navigation Satellite System) can generally refer to all satellite navigation systems.
  • GNSS can be a multi-system, multi-level, and multi-mode complex combination system, which can include global systems, regional systems, augmentation systems, and cover under-construction and future Other satellite navigation systems to be built.
  • Ground road network layer It can provide ground road traffic network information, which can be used for optimal path planning of the starting and ending points of the aircraft in the first altitude area. For example, the aircraft can start the propeller and take off on the land for a certain distance, then the ground road network layer can be used to plan the optimal path between the departure position and the take-off position of the aircraft in the first altitude area.
  • the ground road network layer can also enable the automatic driving system to select the optimal landing point, which can be the shortest actual distance from the final destination.
  • Ground airflow layer It can provide airflow information at ultra-low altitude in the city. Since local air vents are easy to form between tall buildings in the city, when the wind level is large, the turbulent flow of the air vents will not be conducive to the flight of the aircraft in the first altitude area. Therefore, In the embodiment of the present application, the airflow layer on the ground can be used to remind the pilot in the aircraft or provide reference for path planning for the autopilot system of the aircraft.
  • High-precision map layer It can provide high-precision positioning information that can guide the landing when the aircraft lands at the airport, for example, it can guide the aircraft to land at a certain location on the airport, or it can automatically drive the aircraft to the take-off area during the take-off phase.
  • Secondary altitude regions can include aerial map layers such as:
  • Air route layer In the foreseeable future, the government and low-altitude flight practitioners can jointly promote the establishment of air route routes, so that aircraft can fly in accordance with the air route routes in the second altitude area, so as to maintain air traffic order and ensure flight safety.
  • Emergency landing area layer It can be used as the surface area that the aircraft should go to when it needs to make an emergency landing.
  • the emergency landing area can be marked in the form of an electronic fence, so that the aircraft can immediately land in the emergency landing area when an emergency problem occurs, so as to ensure the safety of the emergency landing.
  • Weather warning layer It can be used for long-distance path planning of aircraft to avoid potential dangerous areas. For example, if an aircraft flies from city A to city B, it can pass through city C or city D on the way. If there is a heavy rain in city C and the weather in city D is sunny, then the embodiment of this application can use the weather warning layer for route planning, and the planned route It can be A-D-B, so that potential danger areas (city C under heavy rainstorm) can be avoided.
  • Both the first altitude area (ultra-low altitude area) and the second altitude area (low altitude area) can have common layers, and the common layers can include the following aerial map layers:
  • Landable area layer It can provide relevant information such as the location of long-term parking or temporary parking areas for aircraft performing missions. For example, the location information of landing areas such as airports and aprons can be provided.
  • the landing area layer can include signs of temporary parking areas and signs of long-term parking areas, which can assist aircraft in finding multiple landing areas.
  • Energy supply station layer It can provide related information such as the location of energy supply stations, such as the location information of energy supply stations such as charging piles and gas stations.
  • Ground elevation layer It can provide multi-resolution ground elevation information for the autopilot system of the aircraft when doing path planning.
  • the embodiment of the present application uses the ground elevation layer to automatically select the optimal elevation map resolution according to the flight altitude. For example, when the aircraft is flying at a low altitude, the resolution of the ground elevation information can be higher, so as to avoid physical collision with the ground; when the aircraft is flying at a higher altitude, the resolution of the ground elevation information can be lower, thereby reducing the load. Flow of high-resolution ground elevation information.
  • No-fly area layer It can provide relevant information about the air domain that aircraft are prohibited from entering, and can mark the no-fly area in the form of electronic fences, so as to avoid the occurrence of aircraft accidentally entering the restricted area when flying in the air.
  • substep S12 may include the following substeps:
  • Sub-step S121 determining the current flight status of the aircraft
  • Sub-step S122 according to the flight state and the altitude area, obtain the corresponding aerial map layer from the map server.
  • the current flight state of the aircraft may be determined, wherein the flight state may include one of a ready-to-take-off state, an ascending state, and a descending state.
  • the current flight state of the aircraft and its altitude area can be used as layer switching conditions, so that the corresponding aerial map layer can be obtained from the map server according to the flight state and altitude area.
  • substep S122 may include the following substeps:
  • Sub-step S1221 when the flight state is the state of waiting to take off, obtain the aerial map layer corresponding to the first altitude area from the map server.
  • the aircraft can turn on the propeller through the main control computer, the propeller rotates at a high speed, and the aircraft is in a state of waiting to take off on the ground.
  • the autopilot system can generate the first map information request and send the first map information request to the map server.
  • the first map information request may include map data range and map layer components.
  • the range of map data can be specified by the autopilot system according to the operating function of the aircraft. For example, the map data within the preset range of the current position of the aircraft can be specified, or the map data between the starting position and the destination position can be specified.
  • the composition of the map layer can be the aerial map layer corresponding to the first height area, such as the GNSS anomaly area layer, the ground road network layer, the ground airflow layer, the high-precision map layer, the landable area layer, and the energy supply station layer, ground elevation layer, and no-fly zone layer.
  • the map server may respond to the first map information request, and return the aerial map layer corresponding to the first altitude area to the automatic driving system.
  • substep S12 may include the following substeps:
  • Sub-step S123 using the aerial map layer corresponding to the first altitude area for path planning, and obtaining the take-off path of the aircraft;
  • Sub-step S124 displaying the take-off path on the map display interface.
  • the automatic driving system can use GNSS abnormal area layer, ground road network layer, ground airflow layer, high-precision map layer, landable area layer, energy supply station layer, ground elevation layer and forbidden
  • the flight area layer is used for path planning, so that the take-off path of the aircraft can be obtained, and the take-off path can be displayed on the map display interface.
  • the take-off path can have the best take-off position and can avoid obstacles such as urban buildings, trees, and street lights. It can realize that the aircraft successfully takes off and enters the ultra-low-altitude flight stage.
  • substep S122 may include the following substeps:
  • Sub-step S1222 when the flight state is an ascending state and ascends to a preset altitude area, determine that the next altitude area to be entered by the aircraft is the second altitude area;
  • the autopilot system may generate a second map information request, and send the second map information request to the map server.
  • the second map information request may include map data extents and map layer components.
  • the composition of the map layer can be the air map layer corresponding to the second altitude area, such as the air route layer, the emergency landing area layer, the weather warning layer, the landing area layer, the energy supply station layer, the ground An elevation layer and a no-fly zone layer.
  • the map server may respond to the second map information request, and return the aerial map layer corresponding to the second altitude area to the automatic driving system.
  • the preset altitude area is the layer switching transition area.
  • the layer switching transition area can be a height area between 100m and 150m, that is to say, the aircraft starts from the first altitude area (superior) Low-altitude area)
  • the aerial map layer displayed on the map display interface can be switched from the aerial map layer corresponding to the first altitude area to the aerial map layer corresponding to the second altitude area, that is, the aircraft is above 100m
  • substep S12 may include the following substeps:
  • Sub-step S125 using the aerial map layer corresponding to the second altitude area to perform path planning to obtain the flight path of the aircraft;
  • Sub-step S126 displaying the flight path on the map display interface.
  • the autopilot system can use the air route layer, the emergency landing area layer, the weather warning layer, the landing area layer, the energy supply station layer, the ground elevation layer and the no-fly area layer for route planning. Planning, so that the flight path of the aircraft can be obtained, the flight path can be displayed on the map display interface, and the aircraft can follow the flight path to the destination position in the low-altitude area.
  • substep S122 may include the following substeps:
  • Sub-step S1224 when the flight state is a descending state and descends to a preset altitude area, determine that the next altitude area to be entered by the aircraft is the first altitude area;
  • Sub-step S1225 obtaining the aerial map layer corresponding to the first height area from the map server.
  • the autopilot system may generate a third map information request, and send the third map information request to the map server.
  • the third map information request may include map data ranges and map layer components.
  • the composition of the map layer can be the aerial map layer corresponding to the first height area, such as the GNSS anomaly area layer, the ground road network layer, the ground airflow layer, the high-precision map layer, the landable area layer, the energy A supply depot layer, a ground elevation layer, and a no-fly zone layer.
  • the map server may respond to the third map information request and return the aerial map layer corresponding to the first altitude area to the automatic driving system.
  • the preset altitude area is the layer switching transition area.
  • the layer switching transition area can be an altitude area between 100m and 150m. area) when descending to the 150m altitude boundary, the aerial map layer displayed on the map display interface can be switched from the aerial map layer corresponding to the second altitude area to the aerial map layer corresponding to the first altitude area, that is, when the aircraft is below 150m In the area, there is no need to use the air route layer, emergency landing area layer, and weather warning layer, thereby avoiding loading unnecessary layer information and greatly improving the utilization rate of map information.
  • the autopilot system at this time can obtain all aerial map layers, such as the aerial map layer corresponding to the first altitude area and The aerial map layer corresponding to the second altitude area, and all aerial map layers can be displayed on the map display interface.
  • the autopilot system can discard the aerial map layer that does not belong to the altitude area that the aircraft is currently in. For example, when the aircraft leaves the preset altitude area and enters the first altitude area, the air route map can be discarded layer, emergency landing area layer, and weather warning layer, so as to avoid redundant and complicated map information and keep the map interface simple.
  • substep S12 may include the following substeps:
  • Sub-step S127 using the aerial map layer corresponding to the first altitude area to perform path planning to obtain the landing path of the aircraft;
  • the automatic driving system can use GNSS abnormal area layer, ground road network layer, ground airflow layer, high-precision map layer, landable area layer, energy supply station layer, ground elevation layer and forbidden
  • the flight area layer is used for path planning, so that the landing path of the aircraft can be obtained, and the landing path can be displayed on the map display interface, and the aircraft can land according to the landing path in the ultra-low altitude area.
  • the embodiment of the present application it is applied to an aircraft, and the aircraft has a map display interface; firstly, the flight altitude information of the aircraft is obtained, and then the corresponding aerial map layer is displayed on the map display interface according to the flight altitude information.
  • the embodiment of the present application sets different flight height information corresponding to different aerial map layers, so that the aircraft can dynamically switch the aerial map layers at different flight heights, which can avoid redundant and complicated map information and maintain map
  • the display interface is simple, which greatly improves the utilization rate of map information.
  • FIG. 3 it shows a schematic diagram of the switching of the aerial map layer provided by the embodiment of the present application.
  • the aircraft can be driven manually or automatically, and the take-off path, flight path and landing path can be the main routes.
  • the take-off path, flight path and landing path can be the main routes.
  • the switching process of the aerial map layer between the ultra-low altitude area (the first altitude area) and the low altitude area (the second altitude area) of the aircraft is as follows:
  • the autopilot system sends a first map information request to the map server;
  • the map server responds to the first map information request, and returns the first map data packet 301 to the automatic driving system; wherein, the first map data packet 301 may include a ground road network layer, a GNSS abnormal area layer, a ground airflow layer, High-definition map layer, landing area layer, energy supply station layer, ground elevation layer and no-fly area layer;
  • the autopilot system uses the first map data package 301 for path planning to obtain the take-off path, and the aircraft takes off in the ultra-low altitude area according to the take-off path;
  • the autopilot system sends a second map information request to the map server;
  • the map server responds to the second map information request, and returns the second map data packet 302 to the automatic driving system; wherein, the second map data packet 302 may include an air route layer, an emergency landing area layer, a weather warning layer, Landing zone layer, energy supply station layer, ground elevation layer and no-fly zone layer;
  • the autopilot system uses the second map data package 302 for path planning, obtains the flight path, and the aircraft enters the low-altitude area and flies according to the flight path;
  • the autopilot system sends a third map information request to the map server;
  • the map server responds to the third map information request, and returns the third map data packet 303 to the automatic driving system; wherein, the third map data packet 303 may include a ground road network layer, a GNSS abnormal area layer, a ground airflow layer, High-definition map layer, landing area layer, energy supply station layer, ground elevation layer and no-fly area layer;
  • the autopilot system uses the third map data package 303 for path planning to obtain the landing path, and the aircraft enters the ultra-low altitude area and lands according to the landing path.
  • FIG. 4 shows a structural block diagram of an aerial map layer display device provided by an embodiment of the present application, which is applied to an aircraft, and the aircraft has a map display interface.
  • the device may specifically include the following modules:
  • a flight altitude information acquisition module 401 configured to acquire the flight altitude information of the aircraft
  • the aerial map layer display module 402 is configured to display the corresponding aerial map layer on the map display interface according to the flight height information.
  • the aircraft communicates with the map server;
  • the aerial map layer display module 402 may include:
  • an altitude zone determination submodule configured to determine the altitude zone where the aircraft is located according to the flight altitude information
  • the aerial map layer display submodule is configured to obtain the corresponding aerial map layer from the map server according to the height area, and display the corresponding aerial map layer on the map display interface.
  • the aerial map layer display submodule may include:
  • a flight state determination unit configured to determine the current flight state of the aircraft
  • the aerial map layer acquisition unit is configured to acquire the corresponding aerial map layer from the map server according to the flight state and the altitude area.
  • the aerial map layer acquisition unit may include:
  • the first aerial map layer acquisition subunit is used to obtain the aerial map layer corresponding to the first altitude area from the map server when the flight state is a state to take off;
  • the aerial map layer display submodule may include:
  • a take-off path planning unit configured to use the aerial map layer corresponding to the first altitude area to perform path planning, and obtain the take-off path of the aircraft;
  • the takeoff path display unit is configured to display the takeoff path on the map display interface.
  • the aerial map layer acquisition unit may include:
  • the second altitude area determination subunit is used to determine that the next altitude area to be entered by the aircraft is the second altitude area when the flight state is an ascending state and ascends to a preset altitude area;
  • the second aerial map layer acquisition subunit is configured to acquire the aerial map layer corresponding to the second height area from the map server;
  • the aerial map layer display submodule may include:
  • a flight path planning unit configured to use the aerial map layer corresponding to the second height area for path planning, and obtain the flight path of the aircraft;
  • a flight path display unit configured to display the flight path on the map display interface.
  • the aerial map layer acquisition unit may include:
  • the first altitude zone determination subunit is used to determine that the next altitude zone to be entered by the aircraft is the first altitude zone when the flight state is in a descending state and descends to a preset altitude zone;
  • a third aerial map layer acquisition subunit configured to acquire an aerial map layer corresponding to the first height area from the map server
  • the aerial map layer display submodule may include:
  • a landing path planning unit configured to use the aerial map layer corresponding to the first altitude area to perform path planning, and obtain the landing path of the aircraft;
  • a landing path display unit configured to display the landing path on the map display interface.
  • the aerial map layer corresponding to the first altitude area includes a global navigation satellite system GNSS anomaly area layer, a ground road network layer, a ground airflow layer, a high-precision map layer, and a landable area layer, energy station layer, ground elevation layer, and no-fly zone layer.
  • the aerial map layer corresponding to the second altitude area includes an air route layer, an emergency landing area layer, a weather warning layer, a landing area layer, an energy supply station layer, a ground An elevation layer and a no-fly zone layer.
  • the embodiment of the present application it is applied to an aircraft, and the aircraft has a map display interface; firstly, the flight altitude information of the aircraft is obtained, and then the corresponding aerial map layer is displayed on the map display interface according to the flight altitude information.
  • the embodiment of the present application sets different flight height information corresponding to different aerial map layers, so that the aircraft can dynamically switch the aerial map layers at different flight heights, which can avoid redundant and complicated map information and maintain map
  • the display interface is simple, which greatly improves the utilization rate of map information.
  • the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.
  • the embodiment of the present application also provides an aircraft, including a memory, and one or more programs, wherein one or more programs are stored in the memory, and configured to be executed by one or more processors. More than one program is included for executing the aerial map layer display method described in any one of the embodiments of the present application.
  • the embodiment of the present application also provides a readable storage medium.
  • the instructions in the storage medium are executed by the processor of the electronic device, the electronic device can execute the aerial map layer as described in any one of the embodiments of the present application. Show method.
  • embodiments of the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, the embodiment of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • Embodiments of the present application are described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and combinations of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor or processor of other programmable data processing terminal equipment to produce a machine such that instructions executed by the computer or processor of other programmable data processing terminal equipment Produce means for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the The instruction means implements the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

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Abstract

一种空中地图图层显示方法和装置，应用于飞行器，飞行器具有地图显示界面，方法包括：首先获取飞行器的飞行高度信息，然后根据飞行高度信息，在地图显示界面显示对应的空中地图图层。

Description

一种空中地图图层显示方法和装置
本申请要求于2022年1月27日申请的、申请号为202210099217.7的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及飞行器技术领域，特别是涉及一种空中地图图层显示方法和装置。
 背景技术
飞行汽车是未来交通工具的发展方向之一，飞行汽车从路面驾驶演变成空中驾驶，可以有效缓解路面道路交通的拥堵状况。无论是人工驾驶还是自动驾驶，空中地图都扮演着重要角色。
然而，飞行汽车属于新兴交通工具，目前仍未有满足空中驾驶需求的空中地图，尤其是适用于复杂的城市空中地图，而且目前的地图图层的显示经常会加载很多不必要的图层信息，大大降低地图信息利用率。
 技术问题
本鉴于上述问题，提出了本申请实施例以便提供一种克服上述问题或者至少部分地解决上述问题的一种空中地图图层显示方法。
本申请实施例还提供了一种空中地图图层显示装置，以保证上述方法的实施。
 技术解决方案
为了解决上述问题，本申请实施例公开了一种空中地图图层显示方法，应用于飞行器，所述飞行器具有地图显示界面，所述方法包括：
获取所述飞行器的飞行高度信息；
根据所述飞行高度信息，在所述地图显示界面显示对应的空中地图图层。
在一实施例中，所述飞行器与地图服务器通信连接；所述根据所述飞行高度信息，在所述地图显示界面显示对应的空中地图图层，包括：
根据所述飞行高度信息，确定所述飞行器所在的高度区域；
根据所述高度区域，从所述地图服务器获取对应的空中地图图层，并在所述地图显示界面显示所述对应的空中地图图层。
在一实施例中，所述根据所述高度区域，从所述地图服务器获取对应的空中地图图层，包括：
确定所述飞行器当前的飞行状态；
根据所述飞行状态和所述高度区域，从所述地图服务器获取对应的空中地图图层。
在一实施例中，所述根据所述飞行状态和所述高度区域，从所述地图服务器获取对应的空中地图图层，包括：
当所述飞行状态为待起飞状态时，从所述地图服务器获取第一高度区域对应的空中地图图层；
所述在所述地图显示界面显示所述对应的空中地图图层，包括：
采用所述第一高度区域对应的空中地图图层进行路径规划，获得所述飞行器的起飞路径；
在所述地图显示界面显示所述起飞路径。
在一实施例中，所述根据所述飞行状态和所述高度区域，从所述地图服务器获取对应的空中地图图层，包括：
当所述飞行状态为上升状态，且上升至预设高度区域时，确定所述飞行器下一个待进入的高度区域为第二高度区域；
从所述地图服务器获取所述第二高度区域对应的空中地图图层；
所述在所述地图显示界面显示所述对应的空中地图图层，包括：
采用所述第二高度区域对应的空中地图图层进行路径规划，获得所述飞行器的飞行路径；
在所述地图显示界面显示所述飞行路径。
在一实施例中，所述根据所述飞行状态和所述高度区域，从所述地图服务器获取对应的空中地图图层，包括：
当所述飞行状态为下降状态，且下降至预设高度区域时，确定所述飞行器下一个待进入的高度区域为第一高度区域；
从所述地图服务器获取所述第一高度区域对应的空中地图图层；
所述在所述地图显示界面显示所述对应的空中地图图层，包括：
采用所述第一高度区域对应的空中地图图层进行路径规划，获得所述飞行器的降落路径；
在所述地图显示界面显示所述降落路径。
在一实施例中，所述第一高度区域对应的空中地图图层包括全球导航卫星系统GNSS异常区图层、地面路网图层、地面气流图层、高精地图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层。
在一实施例中，所述第二高度区域对应的空中地图图层包括空中航路图层、紧急迫降区图层、气象警示图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层。
本申请实施例还公开了一种空中地图图层显示装置，应用于飞行器，所述飞行器具有地图显示界面，所述装置包括：
飞行高度信息获取模块，用于获取所述飞行器的飞行高度信息；
空中地图图层显示模块，用于根据所述飞行高度信息，在所述地图显示界面显示对应的空中地图图层。
在一实施例中，所述飞行器与地图服务器通信连接；所述空中地图图层显示模块包括：
高度区域确定子模块，用于根据所述飞行高度信息，确定所述飞行器所在的高度区域；
空中地图图层显示子模块，用于根据所述高度区域，从所述地图服务器获取对应的空中地图图层，并在所述地图显示界面显示所述对应的空中地图图层。
在一实施例中，所述空中地图图层显示子模块包括：
飞行状态确定单元，用于确定所述飞行器当前的飞行状态；
空中地图图层获取单元，用于根据所述飞行状态和所述高度区域，从所述地图服务器获取对应的空中地图图层。
在一实施例中，所述空中地图图层获取单元包括：
第一空中地图图层获取子单元，用于当所述飞行状态为待起飞状态时，从所述地图服务器获取第一高度区域对应的空中地图图层；
所述空中地图图层显示子模块包括：
起飞路径规划单元，用于采用所述第一高度区域对应的空中地图图层进行路径规划，获得所述飞行器的起飞路径；
起飞路径显示单元，用于在所述地图显示界面显示所述起飞路径。
在一实施例中，所述空中地图图层获取单元包括：
第二高度区域确定子单元，用于当所述飞行状态为上升状态，且上升至预设高度区域时，确定所述飞行器下一个待进入的高度区域为第二高度区域；
第二空中地图图层获取子单元，用于从所述地图服务器获取所述第二高度区域对应的空中地图图层；
所述空中地图图层显示子模块包括：
飞行路径规划单元，用于采用所述第二高度区域对应的空中地图图层进行路径规划，获得所述飞行器的飞行路径；
飞行路径显示单元，用于在所述地图显示界面显示所述飞行路径。
在一实施例中，所述空中地图图层获取单元包括：
第三高度区域确定子单元，用于当所述飞行状态为下降状态，且下降至预设高度区域时，确定所述飞行器下一个待进入的高度区域为第一高度区域；
第三空中地图图层获取子单元，用于从所述地图服务器获取所述第一高度区域对应的空中地图图层；
所述空中地图图层显示子模块包括：
降落路径规划单元，用于采用所述第一高度区域对应的空中地图图层进行路径规划，获得所述飞行器的降落路径；
降落路径显示单元，用于在所述地图显示界面显示所述降落路径。
在一实施例中，所述第一高度区域对应的空中地图图层包括全球导航卫星系统GNSS异常区图层、地面路网图层、地面气流图层、高精地图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层。
在一实施例中，所述第二高度区域对应的空中地图图层包括空中航路图层、紧急迫降区图层、气象警示图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层。
本申请实施例还提供了一种飞行器，包括有存储器，以及一个或者一个以上的程序，其中一个或者一个以上程序存储于存储器中，且经配置以由一个或者一个以上处理器执行所述一个或者一个以上程序包含用于执行如本申请实施例任一所述的空中地图图层显示方法。
本申请实施例还提供了一种可读存储介质，当所述存储介质中的指令由电子设备的处理器执行时，使得电子设备能够执行如本申请实施例任一所述的空中地图图层显示方法。
 有益效果
与现有技术相比，本申请实施例包括以下优点：
本申请实施例中，应用于飞行器，飞行器具有地图显示界面；首先获取飞行器的飞行高度信息，然后根据飞行高度信息，在地图显示界面显示对应的空中地图图层。本申请实施例根据城市建筑群高度特点，设定不同的飞行高度信息对应不同的空中地图图层，实现飞行器在不同的飞行高度动态切换空中地图图层，可以避免地图信息冗余复杂，保持地图显示界面简洁，大大提高地图信息利用率。
 附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种空中地图图层显示方法的步骤流程图；
图2是本申请实施例提供的空中地图图层的组成示意图；
图3是本申请实施例提供的空中地图图层的切换示意图；
图4是本申请实施例提供的一种空中地图图层显示装置的结构框图。
 本发明的实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
参照图1，示出了本申请实施例提供的一种空中地图图层显示方法的步骤流程图，应用于飞行器，所述飞行器具有地图显示界面，该方法具体可以包括如下步骤：
步骤101，获取所述飞行器的飞行高度信息。
在本申请实施例中，可以应用于飞行器，飞行器的类型可以包括旋翼式飞行器和固定翼飞行器。飞行器可以具备操纵模式选择开关，通过操纵模式选择开关可以切换操纵模式，其中，操纵模式可以包括陆行操纵模式和空飞操纵模式。陆行操纵模式可以具备陆行操纵部件，陆行操纵部件可以包括方向盘、换挡旋钮、刹车踏板和油门踏板，通过操控陆行操纵部件，可以实现飞行器在陆地上行驶；空飞操纵模式可以具备空飞操纵部件，空飞操纵部件可以包括操纵杆，该操纵杆可转动或拨动地设置于飞行器本体内，通过操控空飞操纵部件，可以实现飞行器在空中飞行。
具体地，在陆行操纵模式下，可以将空飞操纵部件配置为隐藏且锁死的状态，并且可以将陆行操纵部件配置为预备状态。在空飞操纵模式下，可以将空飞操纵部件配置为可见且预备的状态，并且可以将陆行操纵部件配置为锁死状态。
在本申请实施例中，飞行器可以具有地图显示界面，可以获取飞行器的飞行高度信息，然后可以利用飞行高度信息，在地图显示界面中赋予空中地图图层的不同表现形式。
步骤102，根据所述飞行高度信息，在所述地图显示界面显示对应的空中地图图层。
在本申请实施例中，飞行器可以具有地图显示界面，地图显示界面可以包括多个显示区域，显示区域数量可以根据获取到的空中地图图层数量进行切换，比如地图显示界面原本显示有7个显示区域，当获取到的空中地图图层有8个时，地图显示界面可以从7个显示区域切换为8个显示区域。
在本申请实施例中，在获取飞行高度信息后，可以根据飞行高度信息，在地图显示界面的显示区域中显示对应的空中地图图层，从而可以保证在不同的飞行阶段切换到不同的空中地图图层，避免加载不必要的图层信息，提高地图信息利用率。
本申请的一个实施例中，所述飞行器与地图服务器通信连接；步骤102可以包括以下子步骤：
子步骤S11，根据所述飞行高度信息，确定所述飞行器所在的高度区域。
在具体实现中，针对飞行器空陆两栖交通工具，本申请实施例可以根据城市建筑群高度特点，定义适用于复杂的城市结构的空中地图图层的基本图层组成以及图层切换条件。具体地，根据建筑行业标准相关规定，除特别地标建筑和特高建筑外，城市建筑大多数低于100米的高度。本申请实施例可以预先设定高度分界线，比如可以预设100米、150米、1000米的高度分界线，然后可以定义100米高度分界线以下的高度区域为超低空区域，100米高度分界线与150米高度分界线之间的高度区域为图层切换过渡区，150米高度分界线与1000米高度分界线之间的高度区域为低空区域，1000米高度分界线以上的高度区域为中空区域。因此，本申请实施例可以根据飞行高度信息，确定飞行器所在的高度区域，比如飞行高度信息为80米时，可以确定飞行器所在的高度区域为超低空区域。此外，还可以根据其他方式设定高度分界线的数值和高度区域的范围，本申请实施例对于高度分界线的取值和高度区域的范围不作出限制。
子步骤S12，根据所述高度区域，从所述地图服务器获取对应的空中地图图层，并在所述地图显示界面显示所述对应的空中地图图层。
在具体实现中，飞行器可以通过自动驾驶系统与地图服务器进行通信，在确定飞行器所在的高度区域之后，可以从地图服务器获取对应的空中地图图层，并且可以在地图显示界面显示对应的空中地图图层，从而可以避免加载不必要的图层信息，大大提高地图信息利用率。
本申请的一个实施例中，所述第一高度区域对应的空中地图图层包括全球导航卫星系统GNSS异常区图层、地面路网图层、地面气流图层、高精地图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层。
本申请的一个实施例中，所述第二高度区域对应的空中地图图层包括空中航路图层、紧急迫降区图层、气象警示图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层。
参考图2，示出了本申请实施例提供的空中地图图层的组成示意图，可以预设100m、150m和1000m的高度分界线，其中，0~100m的高度区域可以为超低空区域，100m~150m之间的高度区域可以为图层切换过渡区，150m~1000m之间的高度区域可以为低空区域。
需要说明的是，第一高度区域即为超低空区域，第二高度区域即为低空区域。其中，第一高度区域（0~100m）对应的空中地图图层可以包括全球导航卫星系统GNSS异常区图层、地面路网图层、地面气流图层、高精地图层；第二高度区域（150m~1000m）对应的空中地图图层可以包括空中航路图层、紧急迫降区图层、气象警示图层；此外，第一高度区域和第二高度区域都可以具备公共图层，公共图层可以包括可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层。
为了使本领域技术人员能够更好地了解第一高度区域对应的空中地图图层以及第二高度区域对应的空中地图图层，下面逐一说明各个空中地图图层的作用：
第一高度区域（超低空区域）可以包括如下空中地图图层：
GNSS异常区图层：飞行器在第一高度区域飞行时，由于某些大型建筑物遮挡或信号反射，会造成GNSS信号较弱或者较大的多径误差，所以本申请实施例利用GNSS异常区图层，可以提醒飞行器内的驾驶员或者给飞行器的自动驾驶系统做路径规划的参考。需要说明的是，GNSS（Global Navigation Satellite System，全球导航卫星系统）可以泛指所有的卫星导航系统，GNSS可以是多系统、多层面、多模式的复杂组合系统，其可以包括全球系统、区域系统、增强系统以及涵盖在建和以后要建设的其他卫星导航系统。
地面路网图层：可以提供地面道路交通网信息，可以用于飞行器在第一高度区域中的起止点的最优路径规划。比如飞行器可以启动螺旋桨之后在陆地行驶一段距离起飞，那么可以利用地面路网图层，给飞行器在第一高度区域中的出发位置与起飞位置之间做最优路径规划。地面路网图层也可以使自动驾驶系统可以选择最优降落点，最优降落点可以是距离最终目的地的实际路程最短。
地面气流图层：可以提供城市超低空的气流信息，由于城市高大建筑物间易形成局部风口，当风级较大时，风口的紊流会不利于飞行器在第一高度区域中的飞行，所以本申请实施例利用地面气流图层，可以提醒飞行器内的驾驶员或者给飞行器的自动驾驶系统做路径规划的参考。
高精地图层：可以为飞行器在机场降落时提供可供引导降落的高精定位信息，比如可以引导飞行器降落到机场的某个位置，或者可以为飞行器在起飞阶段能够自动驾驶到起飞区域。
第二高度区域（低空区域）可以包括如下空中地图图层：
空中航路图层：在可预见的未来，可以由政府与低空飞行从业人员共同推动建立空中航路路线，实现飞行器在第二高度区域中按照空中航路路线飞行，从而维护空中交通秩序，保证飞行安全。
紧急迫降区图层：可以作为飞行器需要迫降时应该前往的地表区域，可以以电子围栏形式来标识紧急迫降区，实现飞行器在出现紧急问题时立即降落到紧急迫降区，从而保证迫降安全。
气象警示图层：可以用于飞行器做远距离的路径规划，避开潜在的危险区域。比如飞行器从A城市飞往B城市，中途可以经过C城市或D城市，如果C城市下大暴雨，而D城市天气晴朗，那么本申请实施例可以采用气象警示图层进行路径规划，规划出的路径可以是A-D-B，从而可以避开潜在的危险区域（下大暴雨的C城市）。
第一高度区域（超低空区域）与第二高度区域（低空区域）都可以具备公共图层，公共图层可以包括如下空中地图图层：
可降落区域图层：可以为执行飞行任务的飞行器提供长期停放或临时停放的区域位置等相关信息。比如可以提供机场、停机坪等可降落区域的位置信息，可降落区域图层可以包含临期停放区域的标识以及长期停放区域的标识，从而可以辅助飞行器寻找多个可降落区域。
能源补给站图层：可以提供能源补充站的位置等相关信息，比如可以提供充电桩、加油站等能源补充站的位置信息。
地面高程图层：可以为飞行器的自动驾驶系统做路径规划时提供具有多分辨率的地面高程信息，本申请实施例利用地面高程图层，可以根据飞行高度自动选择最优高程地图分辨率。比如飞行器在飞行高度较低时，地面高程信息的分辨率可以较高，从而可以避免与地面产生物理碰撞；飞行器在飞行高度较高时，地面高程信息的分辨率可以较低，从而可以减少加载高分辨率的地面高程信息的流量。
禁飞区域图层：可以提供飞行器禁止进入的空中领域相关信息，可以以电子围栏形式来标识禁飞区域，从而可以避免飞行器在空中飞行时误闯禁区的情况的发生。
本申请的一个实施例中，子步骤S12可以包括以下子步骤：
子步骤S121，确定所述飞行器当前的飞行状态；
子步骤S122，根据所述飞行状态和所述高度区域，从所述地图服务器获取对应的空中地图图层。
在具体实现中，可以确定飞行器当前的飞行状态，其中，飞行状态可以包括待起飞状态、上升状态和下降状态中的其中一种。飞行器当前的飞行状态以及其所在的高度区域，可以作为图层切换条件，从而可以根据飞行状态和高度区域，从地图服务器获取对应的空中地图图层。
本申请的一个实施例中，子步骤S122可以包括以下子步骤：
子步骤S1221，当所述飞行状态为待起飞状态时，从所述地图服务器获取第一高度区域对应的空中地图图层。
在具体实现中，飞行器可以通过主控电脑开启螺旋桨，螺旋桨高速旋转，飞行器在地面上处于待起飞状态，此时的自动驾驶系统可以生成第一地图信息请求，向地图服务器发送第一地图信息请求。其中，第一地图信息请求可以包括地图数据范围和地图图层组成成分。地图数据范围可以由自动驾驶系统根据飞行器的运行功能指定，比如可以指定飞行器当前位置的预设范围内的地图数据，也可以指定从出发位置到目的地位置之间的地图数据。地图图层组成成分可以是第一高度区域对应的空中地图图层，比如GNSS异常区图层、地面路网图层、地面气流图层、高精地图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层。地图服务器可以响应第一地图信息请求，向自动驾驶系统返回第一高度区域对应的空中地图图层。
本申请的一个实施例中，子步骤S12可以包括以下子步骤：
子步骤S123，采用所述第一高度区域对应的空中地图图层进行路径规划，获得所述飞行器的起飞路径；
子步骤S124，在所述地图显示界面显示所述起飞路径。
在具体实现中，自动驾驶系统可以采用GNSS异常区图层、地面路网图层、地面气流图层、高精地图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层进行路径规划，从而可以获得飞行器的起飞路径，可以在地图显示界面显示起飞路径，起飞路径可以具备最佳的起飞位置，并且可以避开城市建筑物、树木、路灯等障碍物，可以实现飞行器成功起飞进入超低空飞行阶段。
本申请的一个实施例中，子步骤S122可以包括以下子步骤：
子步骤S1222，当所述飞行状态为上升状态，且上升至预设高度区域时，确定所述飞行器下一个待进入的高度区域为第二高度区域；
子步骤S1223，从所述地图服务器获取所述第二高度区域对应的空中地图图层。
在具体实现中，当飞行器处于上升状态，且上升至预设高度区域时，自动驾驶系统可以生成第二地图信息请求，向地图服务器发送第二地图信息请求。同样地，第二地图信息请求可以包括地图数据范围和地图图层组成成分。其中，地图图层组成成分可以是第二高度区域对应的空中地图图层，比如空中航路图层、紧急迫降区图层、气象警示图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层。地图服务器可以响应第二地图信息请求，向自动驾驶系统返回第二高度区域对应的空中地图图层。
需要说明的是，预设高度区域即为图层切换过渡区，如图2所示，图层切换过渡区可以是100m~150m之间的高度区域，也就是说飞行器从第一高度区域（超低空区域）起飞至100m高度分界线时，地图显示界面显示的空中地图图层可以从第一高度区域对应的空中地图图层切换为第二高度区域对应的空中地图图层，即飞行器处于100m以上的区域时，无需使用到GNSS异常区图层、地面路网图层、地面气流图层、高精地图层，从而可以避免加载不必要的图层信息，大大提高地图信息利用率。
本申请的一个实施例中，子步骤S12可以包括以下子步骤：
子步骤S125，采用所述第二高度区域对应的空中地图图层进行路径规划，获得所述飞行器的飞行路径；
子步骤S126，在所述地图显示界面显示所述飞行路径。
在具体实现中，自动驾驶系统可以采用空中航路图层、紧急迫降区图层、气象警示图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层进行路径规划，从而可以获得飞行器的飞行路径，可以在地图显示界面显示飞行路径，飞行器在低空区域中可以按照飞行路径前往目的地位置。
本申请的一个实施例中，子步骤S122可以包括以下子步骤：
子步骤S1224，当所述飞行状态为下降状态，且下降至预设高度区域时，确定所述飞行器下一个待进入的高度区域为第一高度区域；
子步骤S1225，从所述地图服务器获取所述第一高度区域对应的空中地图图层。
在具体实现中，当飞行器处于下降状态，且下降至预设高度区域时，自动驾驶系统可以生成第三地图信息请求，向地图服务器发送第三地图信息请求。同样地，第三地图信息请求可以包括地图数据范围和地图图层组成成分。其中，地图图层组成成分可以是第一高度区域对应的空中地图图层，比如GNSS异常区图层、地面路网图层、地面气流图层、高精地图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层。地图服务器可以响应第三地图信息请求，向自动驾驶系统返回第一高度区域对应的空中地图图层。
需要说明的是，预设高度区域即为图层切换过渡区，如图2所示，图层切换过渡区可以是100m~150m之间的高度区域，也就是说飞行器从第二高度区域（低空区域）下降至150m高度分界线时，地图显示界面显示的空中地图图层可以从第二高度区域对应的空中地图图层切换为第一高度区域对应的空中地图图层，即飞行器处于150m以下的区域时，无需使用到空中航路图层、紧急迫降区图层、气象警示图层，从而可以避免加载不必要的图层信息，大大提高地图信息利用率。
需要说明的是，如果飞行器较长时间处于预设高度区域（图层切换过渡区），此时的自动驾驶系统可以获取所有的空中地图图层，比如第一高度区域对应的空中地图图层以及第二高度区域对应的空中地图图层，并且可以在地图显示界面显示所有的空中地图图层。当飞行器离开预设高度区域时，自动驾驶系统可以丢弃不属于飞行器当前处于的高度区域对应的空中地图图层，比如飞行器离开预设高度区域，并进入第一高度区域时，可以丢弃空中航路图层、紧急迫降区图层、气象警示图层，从而可以避免地图信息冗余复杂，保持地图界面简洁。
本申请的一个实施例中，子步骤S12可以包括以下子步骤：
子步骤S127，采用所述第一高度区域对应的空中地图图层进行路径规划，获得所述飞行器的降落路径；
子步骤S128，在所述地图显示界面显示所述降落路径。
在具体实现中，自动驾驶系统可以采用GNSS异常区图层、地面路网图层、地面气流图层、高精地图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层进行路径规划，从而可以获得飞行器的降落路径，可以在地图显示界面显示降落路径，飞行器在超低空区域中可以按照降落路径进行降落。
本申请实施例中，应用于飞行器，飞行器具有地图显示界面；首先获取飞行器的飞行高度信息，然后根据飞行高度信息，在地图显示界面显示对应的空中地图图层。本申请实施例根据城市建筑群高度特点，设定不同的飞行高度信息对应不同的空中地图图层，实现飞行器在不同的飞行高度动态切换空中地图图层，可以避免地图信息冗余复杂，保持地图显示界面简洁，大大提高地图信息利用率。
为了使本领域技术人员能够更好地理解本申请实施例，下面通过以下示例对本申请实施例加以说明：
参考图3，示出了本申请实施例提供的空中地图图层的切换示意图，飞行器可以人工驾驶或自动驾驶，起飞路径、飞行路径和降落路径可以为主干路线，以飞行器的自动驾驶为例，飞行器在超低空区域（第一高度区域）与低空区域（第二高度区域）之间的空中地图图层的切换过程具体如下：
1、当飞行器处于待起飞状态时，自动驾驶系统向地图服务器发送第一地图信息请求；
2、地图服务器响应第一地图信息请求，向自动驾驶系统返回第一地图数据包301；其中，第一地图数据包301可以包括地面路网图层、GNSS异常区图层、地面气流图层、高精地图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层；
3、自动驾驶系统采用第一地图数据包301进行路径规划，获得起飞路径，飞行器在超低空区域中按照起飞路径进行起飞；
4、当飞行器处于上升状态，且上升至图层切换过渡区（预设高度区域）时，自动驾驶系统向地图服务器发送第二地图信息请求；
5、地图服务器响应第二地图信息请求，向自动驾驶系统返回第二地图数据包302；其中，第二地图数据包302可以包括空中航路图层、紧急迫降区图层、气象警示图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层；
6、自动驾驶系统采用第二地图数据包302进行路径规划，获得飞行路径，飞行器进入低空区域，按照飞行路径进行飞行；
7、当飞行器处于下降状态，且下降至图层切换过渡区（预设高度区域）时，自动驾驶系统向地图服务器发送第三地图信息请求；
8、地图服务器响应第三地图信息请求，向自动驾驶系统返回第三地图数据包303；其中，第三地图数据包303可以包括地面路网图层、GNSS异常区图层、地面气流图层、高精地图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层；
9、自动驾驶系统采用第三地图数据包303进行路径规划，获得降落路径，飞行器进入超低空区域，按照降落路径进行降落。
参照图4，示出了本申请实施例提供的一种空中地图图层显示装置的结构框图，应用于飞行器，所述飞行器具有地图显示界面，该装置具体可以包括如下模块：
飞行高度信息获取模块401，用于获取所述飞行器的飞行高度信息；
空中地图图层显示模块402，用于根据所述飞行高度信息，在所述地图显示界面显示对应的空中地图图层。
本申请的一个实施例中，所述飞行器与地图服务器通信连接；所述空中地图图层显示模块402可以包括：
高度区域确定子模块，用于根据所述飞行高度信息，确定所述飞行器所在的高度区域；
空中地图图层显示子模块，用于根据所述高度区域，从所述地图服务器获取对应的空中地图图层，并在所述地图显示界面显示所述对应的空中地图图层。
本申请的一个实施例中，所述空中地图图层显示子模块可以包括：
飞行状态确定单元，用于确定所述飞行器当前的飞行状态；
空中地图图层获取单元，用于根据所述飞行状态和所述高度区域，从所述地图服务器获取对应的空中地图图层。
本申请的一个实施例中，所述空中地图图层获取单元可以包括：
第一空中地图图层获取子单元，用于当所述飞行状态为待起飞状态时，从所述地图服务器获取第一高度区域对应的空中地图图层；
所述空中地图图层显示子模块可以包括：
起飞路径规划单元，用于采用所述第一高度区域对应的空中地图图层进行路径规划，获得所述飞行器的起飞路径；
起飞路径显示单元，用于在所述地图显示界面显示所述起飞路径。
本申请的一个实施例中，所述空中地图图层获取单元可以包括：
第二高度区域确定子单元，用于当所述飞行状态为上升状态，且上升至预设高度区域时，确定所述飞行器下一个待进入的高度区域为第二高度区域；
第二空中地图图层获取子单元，用于从所述地图服务器获取所述第二高度区域对应的空中地图图层；
所述空中地图图层显示子模块可以包括：
飞行路径规划单元，用于采用所述第二高度区域对应的空中地图图层进行路径规划，获得所述飞行器的飞行路径；
飞行路径显示单元，用于在所述地图显示界面显示所述飞行路径。
本申请的一个实施例中，所述空中地图图层获取单元可以包括：
第一高度区域确定子单元，用于当所述飞行状态为下降状态，且下降至预设高度区域时，确定所述飞行器下一个待进入的高度区域为第一高度区域；
第三空中地图图层获取子单元，用于从所述地图服务器获取所述第一高度区域对应的空中地图图层；
所述空中地图图层显示子模块可以包括：
降落路径规划单元，用于采用所述第一高度区域对应的空中地图图层进行路径规划，获得所述飞行器的降落路径；
降落路径显示单元，用于在所述地图显示界面显示所述降落路径。
本申请的一个实施例中，所述第一高度区域对应的空中地图图层包括全球导航卫星系统GNSS异常区图层、地面路网图层、地面气流图层、高精地图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层。
本申请的一个实施例中，所述第二高度区域对应的空中地图图层包括空中航路图层、紧急迫降区图层、气象警示图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层。
本申请实施例中，应用于飞行器，飞行器具有地图显示界面；首先获取飞行器的飞行高度信息，然后根据飞行高度信息，在地图显示界面显示对应的空中地图图层。本申请实施例根据城市建筑群高度特点，设定不同的飞行高度信息对应不同的空中地图图层，实现飞行器在不同的飞行高度动态切换空中地图图层，可以避免地图信息冗余复杂，保持地图显示界面简洁，大大提高地图信息利用率。
对于装置实施例而言，由于其与方法实施例基本相似，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
本申请实施例还提供了一种飞行器，包括有存储器，以及一个或者一个以上的程序，其中一个或者一个以上程序存储于存储器中，且经配置以由一个或者一个以上处理器执行所述一个或者一个以上程序包含用于执行如本申请实施例任一所述的空中地图图层显示方法。
本申请实施例还提供了一种可读存储介质，当所述存储介质中的指令由电子设备的处理器执行时，使得电子设备能够执行如本申请实施例任一所述的空中地图图层显示方法。
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
本领域内的技术人员应明白，本申请实施例的实施例可提供为方法、装置、或计算机程序产品。因此，本申请实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请实施例是参照根据本申请实施例的方法、终端设备(系统)、和计算机程序产品的流程图和／或方框图来描述的。应理解可由计算机程序指令实现流程图和／或方框图中的每一流程和／或方框、以及流程图和／或方框图中的流程和／或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和／或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和／或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上，使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和／或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本申请实施例的一些实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括本申请一些实施例以及落入本申请实施例范围的所有变更和修改。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。
以上对本申请所提供的一种空中地图图层显示方法、装置、飞行器和可读存储介质，进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (13)

  1. 一种适用于飞行器的空中地图图层显示方法，所述飞行器具有地图显示界面，所述方法包括：
    获取所述飞行器的飞行高度信息；
    根据所述飞行高度信息，在所述地图显示界面显示对应的空中地图图层，不同的飞行高度信息对应不同的空中地图图层。
  2. 根据权利要求1所述的方法，其中：
    所述飞行器与地图服务器通信连接；
    所述根据所述飞行高度信息，在所述地图显示界面显示对应的空中地图图层，包括：
    根据所述飞行高度信息，确定所述飞行器所在的高度区域；
    根据所述高度区域，从所述地图服务器获取对应的空中地图图层，并在所述地图显示界面显示所述对应的空中地图图层。
  3. 根据权利要求2所述的方法，其中，所述根据所述高度区域，从所述地图服务器获取对应的空中地图图层，包括：
    确定所述飞行器当前的飞行状态；
    根据所述飞行状态和所述高度区域，从所述地图服务器获取对应的空中地图图层。
  4. 根据权利要求3所述的方法，其中：
    所述飞行状态包括待起飞状态、上升状态和下降状态；
    所述高度区域包括预设高度区域；
    所述待起飞状态与第一高度区域的空中地图图层相匹配，所述上升状态和所述预设高度区域与第二高度区域的空中地图图层相匹配，所述下降状态和所述预设高度区域与第一高度区域的空中地图图层相匹配。
  5. 根据权利要求4所述的方法，其中：
    所述根据所述飞行状态和所述高度区域，从所述地图服务器获取对应的空中地图图层，包括：
    当所述飞行状态为待起飞状态时，从所述地图服务器获取第一高度区域对应的空中地图图层；
    所述在所述地图显示界面显示所述对应的空中地图图层，包括：
    采用所述第一高度区域对应的空中地图图层进行路径规划，获得所述飞行器的起飞路径；
    在所述地图显示界面显示所述起飞路径。
  6. 根据权利要求4所述的方法，其中：
    所述根据所述飞行状态和所述高度区域，从所述地图服务器获取对应的空中地图图层，包括：
    当所述飞行状态为上升状态，且上升至预设高度区域时，确定所述飞行器下一个待进入的高度区域为第二高度区域；
    从所述地图服务器获取所述第二高度区域对应的空中地图图层；
    所述在所述地图显示界面显示所述对应的空中地图图层，包括：
    采用所述第二高度区域对应的空中地图图层进行路径规划，获得所述飞行器的飞行路径；
    在所述地图显示界面显示所述飞行路径。
  7. 根据权利要求4所述的方法，其中：
    所述根据所述飞行状态和所述高度区域，从所述地图服务器获取对应的空中地图图层，包括：
    当所述飞行状态为下降状态，且下降至预设高度区域时，确定所述飞行器下一个待进入的高度区域为第一高度区域；
    从所述地图服务器获取所述第一高度区域对应的空中地图图层；
    所述在所述地图显示界面显示所述对应的空中地图图层，包括：
    采用所述第一高度区域对应的空中地图图层进行路径规划，获得所述飞行器的降落路径；
    在所述地图显示界面显示所述降落路径。
  8. 根据权利要求4至7中任一权利要求所述的方法，其中，所述第一高度区域对应的空中地图图层包括下列图层中的一种或多种：
    全球导航卫星系统GNSS异常区图层、地面路网图层、地面气流图层、高精地图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层。
  9. 根据权利要求4-8中任一权利要求所述的方法，其中，所述第二高度区域对应的空中地图图层包括下列图层中的一种或多种：
    空中航路图层、紧急迫降区图层、气象警示图层、可降落区域图层、能源补给站图层、地面高程图层和禁飞区域图层。
  10. 一种适用于飞行器的空中地图图层显示装置，所述飞行器具有地图显示界面，所述装置包括：
    飞行高度信息获取模块，用于获取所述飞行器的飞行高度信息；
    空中地图图层显示模块，用于根据所述飞行高度信息，在所述地图显示界面显示对应的空中地图图层，不同的飞行高度信息对应不同的空中地图图层。
  11. 根据权利要求10所述的空中地图图层显示装置，配置于执行权利要求2-9中任一权利要求所述的空中地图图层显示方法。
  12. 一种飞行器，包括存储器，以及一个或者一个以上的程序，所述一个或者一个以上程序存储于所述存储器中，且经配置以由一个或者一个以上处理器运行，以执行如权利要求1-9中任一权利要求所述的空中地图图层显示方法。
  13. 一种可读存储介质，包括计算机可执行指令，当所述指令由电子设备的处理器执行时，使得电子设备能够执行如方法权利要求1-9中任一权利要求所述的空中地图图层显示方法。
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