WO2024087764A1 - Evtol navigation synthetic visual method and system - Google Patents

Evtol navigation synthetic visual method and system Download PDF

Info

Publication number
WO2024087764A1
WO2024087764A1 PCT/CN2023/109258 CN2023109258W WO2024087764A1 WO 2024087764 A1 WO2024087764 A1 WO 2024087764A1 CN 2023109258 W CN2023109258 W CN 2023109258W WO 2024087764 A1 WO2024087764 A1 WO 2024087764A1
Authority
WO
WIPO (PCT)
Prior art keywords
information
evtol
real
navigation
latitude
Prior art date
Application number
PCT/CN2023/109258
Other languages
French (fr)
Chinese (zh)
Inventor
卢禹轩
曹栋
马骥
宋斌斌
沈硕
高健淇
Original Assignee
安胜（天津）飞行模拟系统有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 安胜（天津）飞行模拟系统有限公司 filed Critical 安胜（天津）飞行模拟系统有限公司
Publication of WO2024087764A1 publication Critical patent/WO2024087764A1/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/70—Information retrieval; Database structures therefor; File system structures therefor of video data
    • G06F16/78—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
    • G06F16/783—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using metadata automatically derived from the content
    • G06F16/7837—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using metadata automatically derived from the content using objects detected or recognised in the video content
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/70—Information retrieval; Database structures therefor; File system structures therefor of video data
    • G06F16/78—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
    • G06F16/787—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using geographical or spatial information, e.g. location
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/005—General purpose rendering architectures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/003—Navigation within 3D models or images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data

Definitions

  • the present application relates to the field of flight navigation technology, and for example, to an eVTOL navigation synthetic vision method and system.
  • the present application provides an eVTOL navigation synthetic vision method and system to simplify the control difficulty of the flight pilot and improve flight safety.
  • an eVTOL navigation synthetic vision method comprising:
  • the real-time video stream acquisition device outside the window acquires the real-time video stream outside the window of the electric vertical take-off and landing aircraft eVTOL, wherein the real-time video stream outside the window is displayed on the flight control interface as the first visual layer;
  • the data processor of the processing terminal obtains the longitude, latitude and altitude information of the 3D object in the navigation information from the onboard database, and obtains the real-time data information of the longitude, latitude and altitude of the eVTOL, calculates the difference between the station center coordinate system of the 3D object in the navigation information and the station center coordinate system of the eVTOL, and caches the difference in the cache database of the processing terminal;
  • the data processor reads the longitude, latitude, altitude and attitude information of the 3D object in the navigation information from the onboard database, and reads the eVTOL station center coordinate system and the 3D object in the navigation information from the cache database.
  • the difference information of the station center coordinate system is used to convert the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information into a coordinate system according to the difference information;
  • the data processor obtains the longitude, latitude, altitude information and attitude information of the eVTOL, wherein the longitude, latitude, altitude information and attitude information of the eVTOL are refreshed by a 3D engine together with the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information after the coordinate system conversion is completed, and are displayed as a 3D overlay layer on the first visual layer displayed on the flight control interface;
  • the data processor obtains the real-time position, direction, and speed information of the eVTOL, wherein the real-time position, direction, and speed information of the eVTOL is displayed as a 2D overlay layer on top of the 3D overlay layer displayed on the flight control interface.
  • an eVTOL navigation synthetic vision system comprising: an out-of-window real-time video stream acquisition device, a flight control interface and a processing terminal, the processing terminal comprising a cache database, a data processor and a display module, wherein:
  • the real-time video stream acquisition device outside the window is configured to acquire the real-time video stream outside the window of the electric vertical take-off and landing aircraft eVTOL, and send the real-time video stream outside the window to the display module;
  • the data processor is configured to obtain longitude, latitude and altitude information of the 3D object in the navigation information from an onboard database, obtain real-time data information of the longitude, latitude and altitude of the eVTOL, and calculate a difference between a station-centered coordinate system of the 3D object in the navigation information and a station-centered coordinate system of the eVTOL;
  • the cache database is configured to cache difference information between the station-centered coordinate system of the 3D object in the navigation information and the station-centered coordinate system of the eVTOL;
  • the data processor is further configured to: read the attitude information of the 3D object in the navigation information from the onboard database, read the difference information from the cache database, and perform coordinate system conversion on the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information according to the difference information, and send the converted information to the display module; obtain the longitude, latitude, altitude information and attitude information of the eVTOL, and obtain the real-time position, direction and speed information of the eVTOL, and send it to the display module;
  • the display module is configured to display the real-time video stream outside the window as a first visual layer on the flight control interface; after performing 3D engine rendering and refreshing together with the longitude, latitude, altitude information and attitude information of the eVTOL and the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information after the coordinate system conversion is completed, the information is displayed as a 3D overlay on the flight control interface.
  • the first visual layer and displaying the real-time position, direction, and speed information of the eVTOL as a 2D overlay layer on top of the 3D overlay layer displayed by the flight control interface.
  • the synthetic vision method and system for eVTOL navigation uses the real-time video stream outside the window to provide external perception in the synthetic visual map for flight navigation, preventing the occurrence of flight safety or erroneous training problems due to the untimely update of terrain, buildings and other information in the onboard database and the mismatch with the real scene information outside the window of the eVTOL.
  • the synthetic vision method and system for eVTOL navigation provided in this application superimposes the necessary longitude, latitude, altitude information and attitude information of the navigation 3D object on the flight control interface, and superimposes the position, direction, speed related data of the eVTOL using 2D content for display, which can simplify flight control operations.
  • FIG1 is a flow chart of a synthetic vision method for eVTOL navigation provided by an embodiment
  • FIG2 is a flowchart of 3D object coordinate system conversion in an eVTOL navigation synthetic vision method provided by an embodiment
  • FIG3 is a 3D overlay flow chart of a synthetic vision method for eVTOL navigation provided by an embodiment
  • FIG4 is a system block diagram of an eVTOL navigation synthetic vision system provided by an embodiment.
  • GAMA General Aviation Manufacturers Association
  • SVO Simplified Vehicle Operation
  • the first stage is to gradually eliminate manual backup by improving the reliability of the existing automation system, thereby reducing the training workload for pilots;
  • the second stage is designed for pilots, and through the design of new interface operations and control logic, pilots without flying experience can focus on navigation rather than maneuvers, further reducing the training workload;
  • the third stage is to achieve autonomous flight, without the need for pilots and pilot training.
  • This application aims at the above-mentioned second stage, simplifying flight control operations, that is, providing a flight system, interface, control and training method for pilots or operators to reduce the complexity of performing flight-related tasks and at the same time improve flight safety.
  • the use of a navigation synthetic vision system can realize and simplify the interface of flight control.
  • the synthetic vision system (Synthetic Vision System, SVS) is a computer-mediated aircraft reality system that uses a 3D interface to provide pilots with a clear and intuitive way to understand their flight environment.
  • FIG. 1 is a flow chart of an eVTOL navigation synthetic vision method provided in an embodiment of the present application. As shown in FIG. 1 , The method comprises the following steps:
  • the Out the WindoW (OTW) real-time video stream acquisition device acquires the eVTOL outside window real-time video stream, wherein the outside window real-time video stream is displayed on the flight control interface as the first visual layer.
  • OW WindoW
  • the data processor of the processing terminal obtains the longitude, latitude and altitude information of the 3D object in the navigation information from the onboard database, and obtains the real-time data information of the longitude, latitude and altitude of the eVTOL through the eVTOL flight control computer, calculates the difference between the station-centered coordinate system of the 3D object in the navigation information and the station-centered coordinate system of the eVTOL, and caches the difference to the cache database of the processing terminal.
  • the data processor reads the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information from the onboard database, and reads the difference information between the eVTOL station center coordinate system and the station center coordinate system of the 3D object in the navigation information from the cache database, and performs coordinate system conversion on the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information according to the difference information;
  • FIG. 2 a process of converting the coordinate system of the 3D object in the navigation information is shown.
  • the data processor obtains the longitude, latitude, altitude information and attitude information of the eVTOL, wherein the longitude, latitude, altitude information and attitude information of the eVTOL and the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information after the coordinate system conversion are refreshed by the 3D engine rendering as a 3D overlay layer, wherein the 3D overlay layer is displayed on the first visual layer displayed by the flight control interface. As shown in FIG3 , the calculation process of rendering 3D content to the 3D overlay layer is shown.
  • the data processor obtains the real-time position, direction, and speed information of the eVTOL and displays the information as a 2D overlay, wherein the 2D overlay is displayed on the 3D overlay on the flight control interface.
  • the flight navigation visual system provided by the present application is composed of three superimposed view layers.
  • the superimposed flight navigation visual system mainly displays the video stream outside the window, thereby improving the safety factor of flight operations; the two-dimensional (2D) and 3D content display layers are superimposed on the first visual layer, and only the necessary content is retained, which can provide auxiliary prompts to the pilot/driver and simplify the traditional airborne navigation display system; and when the display content of the 3D superimposed layer is refreshed by engine rendering, the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information read from the airborne database are converted into a coordinate system to make it consistent with the real-time longitude, latitude, altitude information and attitude information of the eVTOL, thereby accurately displaying the relative position of the 3D object and the eVTOL in space.
  • the flight navigation vision system synthesized by the eVTOL navigation synthetic vision method provided by this application no longer uses the traditional 3D content generated by the terrain and building database as the pilot's perception of the terrain and buildings. Instead of using the main perception reference, the real-time video stream outside the window is used as the first visual layer displayed on the flight control interface. This can not only solve the safety problems that may arise from the terrain and buildings not being consistent with the actual situation, which may cause pilots to be confused in an emergency, but also unify training and real machine operation.
  • the pilot since the eVTOL attitude has been protected by the flight envelope as the second stage of simplified flight operations, the pilot should focus on navigation rather than maneuvering, so only necessary related data such as navigation and eVTOL position, direction, speed, etc. are displayed on the interface.
  • This application uses 3D content to display or enhance prompts for navigation-related data, such as Highway-In-The-Sky (HITS), airspace (no-fly zones, restricted zones, danger zones), vertical take-off and landing pads (take-off, destination, emergency landing), etc.
  • HITS Highway-In-The-Sky
  • airspace no-fly zones, restricted zones, danger zones
  • vertical take-off and landing pads take-off, destination, emergency landing
  • the eVTOL position, direction, and speed-related data are displayed using 2D content, such as airspeed, low speed, vertical speed, altitude, target altitude, heading, etc.
  • the priority of the three-layer display is: 2D overlay information > 3D overlay information > first visual layer.
  • the 2D overlay and 3D overlay only retain necessary content on the display interface to provide auxiliary prompts to the driver, which complies with the concept of simplified flight control, greatly reduces the mental load of the driver when performing flight missions, enables the driver to focus on less information, and improves the level of flight safety.
  • attitude information e.g., yaw angle, pitch angle, roll angle
  • the information since the attitude of the 3D object in space is fixed, the information only needs to be read once for the same 3D object.
  • the real-time attitude information e.g., yaw angle, pitch angle, roll angle
  • This navigation synthetic vision method is simple, convenient and easy.
  • the device for acquiring the real-time video stream outside the window is a camera installed on the aircraft.
  • the device for acquiring the real-time video stream outside the window is the visual system of the simulator.
  • the first visual layer acquisition method is simple, convenient, and low-cost, and does not require expensive hardware equipment.
  • the 3D overlay layer includes: the data processor uses Three.js as a 3D engine to calculate and update the 3D objects in the navigation information, and renders them to the canvas tag of the 3D overlay layer.
  • the 3D objects in the navigation information include no-fly zones, restricted areas, danger zones and vertical take-off and landing pads.
  • the display content of the navigation synthetic vision system will only retain the necessary content on the display interface to provide auxiliary prompts to the pilot. This is in line with the concept of simplified flight control, greatly reduces the mental workload of the pilot when performing flight missions, enables the pilot to focus on less information, and improves the level of flight safety.
  • the eVTOL attitude information may include the eVTOL yaw angle, pitch angle, and roll angle information.
  • An eVTOL navigation synthetic vision system as shown in FIG4 , includes: a real-time video stream acquisition device outside the window, a flight control interface and a processing terminal, the processing terminal includes a cache database, a data processor and a display module, wherein:
  • the real-time video stream acquisition device outside the window is configured to acquire the real-time video stream outside the window of the electric vertical take-off and landing aircraft eVTOL, and send the real-time video stream outside the window to the display module;
  • the data processor is configured to obtain longitude, latitude and altitude information of the 3D object in the navigation information from an onboard database, obtain real-time data information of the longitude, latitude and altitude of the eVTOL, and calculate a difference between a station-centered coordinate system of the 3D object in the navigation information and a station-centered coordinate system of the eVTOL;
  • the cache database is configured to cache difference information between the station-centered coordinate system of the 3D object in the navigation information and the station-centered coordinate system of the eVTOL;
  • the data processor is further configured to: read the attitude information of the 3D object in the navigation information from the onboard database, read the difference information from the cache database, and perform coordinate system conversion on the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information according to the difference information, and send the converted information to the display module; obtain the longitude, latitude, altitude information and attitude information of the eVTOL, and obtain the real-time position, direction and speed information of the eVTOL, and send it to the display module;
  • the display module is configured to display the real-time video stream outside the window as a first visual layer on the flight control interface; perform 3D engine rendering and refreshing on the longitude, latitude, altitude information and attitude information of the eVTOL together with the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information after the coordinate system conversion is completed, and then display them as a 3D overlay layer on the first visual layer displayed on the flight control interface; and display the real-time position, direction and speed information of the eVTOL as a 2D overlay layer on the 3D overlay layer displayed on the flight control interface.
  • the cache database is configured to store the difference information between the station-centered coordinate system of the eVTOL and the station-centered coordinate system of the 3D object in the navigation information in the eVTOL navigation synthetic vision method;
  • the real-time video stream acquisition device outside the window is configured to acquire the real-time video stream outside the eVTOL window, and send the real-time video stream outside the eVTOL window to the display module;
  • the data processor is configured to read the longitude, latitude, altitude information and posture information of the 3D object in the navigation information from the onboard database to perform coordinate system conversion, and send the converted information to the display module;
  • the display module is configured to receive the real-time video stream acquisition device outside the window, the data processor is configured to read the longitude, latitude, altitude information and posture information of the 3D object in the navigation information from the onboard database, and send the converted information to the display module;
  • the display module is configured to receive the real-time video stream acquisition device outside the window, the data processor is configured to read the longitude, latitude,
  • the device for acquiring the real-time video stream outside the window is a camera installed on the eVTOL real aircraft or the visual system of the simulator.
  • the device for acquiring the real-time video stream outside the window is a camera installed on the real aircraft.
  • the device for acquiring the real-time video stream outside the window is the visual system of the simulator.
  • the method for acquiring the first visual layer is simple, convenient, low-cost, and does not require expensive hardware equipment.
  • the present application provides an eVTOL navigation synthetic vision method and system, so that the superimposed navigation vision system mainly displays the video stream outside the window, thereby improving the safety factor of flight operations, superimposing 2D and 3D content on it, and retaining only necessary content to provide auxiliary prompts to the pilot, thereby simplifying the traditional airborne navigation display system, and when refreshing the 3D engine rendering, the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information read from the airborne database are converted into a coordinate system to make it consistent with the real-time longitude, latitude, altitude information and attitude information of the eVTOL, accurately displaying the relative position of the 3D object and the eVTOL in space.

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Software Systems (AREA)
  • Library & Information Science (AREA)
  • Computer Graphics (AREA)
  • General Engineering & Computer Science (AREA)
  • Databases & Information Systems (AREA)
  • Data Mining & Analysis (AREA)
  • Computer Hardware Design (AREA)
  • Geometry (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Signal Processing (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Instructional Devices (AREA)

Abstract

An eVTOL navigation synthetic visual method and system. The method comprises: taking an out-the-window real-time video stream as a first visual layer; performing 3D engine rendering refreshing on the longitude, latitude, height information, and attitude information of eVTOL and the longitude, latitude, height information, and attitude information of a 3D object in navigation information subjected to coordinate system conversion, and then displaying same on the first visual layer as a 3D superposition layer; and displaying, on the 3D superposition layer displayed on a flight control interface, the real-time location, direction, and speed information of the eVTOL as a 2D superposition layer.

Description

eVTOL导航合成视觉方法及系统eVTOL navigation synthetic vision method and system
本申请要求在2022年10月27日提交中国专利局、申请号为202211321990.X的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。This application claims priority to the Chinese patent application filed with the China Patent Office on October 27, 2022, with application number 202211321990.X. The entire contents of this application are incorporated by reference into this application.
技术领域Technical Field
本申请涉及飞行导航技术领域，例如涉及一种eVTOL导航合成视觉方法及系统。The present application relates to the field of flight navigation technology, and for example, to an eVTOL navigation synthetic vision method and system.
背景技术Background technique
随着城市化进程加快，未来城市交通势必要采用城市空中交通作为下一代城市交通解决方案之一，以更好地解决城市交通拥堵的问题。电动垂直起降飞行器(Electrical Vertical Takeoff and Landing，eVTOL)作为城市空中交通工具之一，其发展带来了大量的飞行员需求。在飞行员实际的飞行操纵训练过程中，如使用传统的导航视觉系统，操纵难度较大，且通过数据库预先存储的地形及建筑物等数据生成三维(Three Dimensions，3D)内容，如果地形及建筑物等数据的更新不及时，会带来飞行安全问题，频繁地更新又会增加eVTOL运营成本。With the acceleration of urbanization, urban air traffic will inevitably be adopted as one of the next generation of urban traffic solutions in the future to better solve the problem of urban traffic congestion. As one of the urban air traffic tools, the development of electric vertical takeoff and landing (eVTOL) aircraft has brought a large demand for pilots. In the actual flight control training of pilots, if the traditional navigation vision system is used, the control is difficult, and the three-dimensional (Three Dimensions, 3D) content is generated through the terrain and buildings data pre-stored in the database. If the terrain and buildings data are not updated in time, it will bring flight safety problems, and frequent updates will increase the operating costs of eVTOL.
发明内容Summary of the invention
本申请提供了一种eVTOL导航合成视觉方法及系统，以简化飞行驾驶员的操纵难度，提高飞行安全性。The present application provides an eVTOL navigation synthetic vision method and system to simplify the control difficulty of the flight pilot and improve flight safety.
根据本申请的一方面，提供了一种eVTOL导航合成视觉方法，包括：According to one aspect of the present application, there is provided an eVTOL navigation synthetic vision method, comprising:
窗外实时视频流获取设备获取电动垂直起降飞行器eVTOL窗外实时视频流，其中，窗外实时视频流作为第一视觉层显示在飞行操纵界面上；The real-time video stream acquisition device outside the window acquires the real-time video stream outside the window of the electric vertical take-off and landing aircraft eVTOL, wherein the real-time video stream outside the window is displayed on the flight control interface as the first visual layer;
处理终端的数据处理器从机载数据库获取导航信息中3D对象的经度、纬度及高度信息，并获取eVTOL的经度、纬度及高度的实时数据信息，计算出导航信息中3D对象的站心坐标系与eVTOL站心坐标系的差值，并将差值缓存至处理终端的缓存数据库；The data processor of the processing terminal obtains the longitude, latitude and altitude information of the 3D object in the navigation information from the onboard database, and obtains the real-time data information of the longitude, latitude and altitude of the eVTOL, calculates the difference between the station center coordinate system of the 3D object in the navigation information and the station center coordinate system of the eVTOL, and caches the difference in the cache database of the processing terminal;
数据处理器从机载数据库读取导航信息中3D对象的经度、纬度、高度信息及姿态信息，并从缓存数据库中读取eVTOL站心坐标系与导航信息中3D对象 站心坐标系的差值信息，根据差值信息将导航信息中3D对象的经度、纬度、高度信息及姿态信息进行坐标系转换；The data processor reads the longitude, latitude, altitude and attitude information of the 3D object in the navigation information from the onboard database, and reads the eVTOL station center coordinate system and the 3D object in the navigation information from the cache database. The difference information of the station center coordinate system is used to convert the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information into a coordinate system according to the difference information;
数据处理器获取eVTOL的经度、纬度、高度信息及姿态信息，其中，eVTOL的经度、纬度、高度信息及姿态信息与完成坐标系转换后的导航信息中3D对象的经度、纬度、高度信息及姿态信息一起进行3D引擎渲染刷新后，作为3D叠加层显示于飞行操纵界面显示的第一视觉层之上；The data processor obtains the longitude, latitude, altitude information and attitude information of the eVTOL, wherein the longitude, latitude, altitude information and attitude information of the eVTOL are refreshed by a 3D engine together with the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information after the coordinate system conversion is completed, and are displayed as a 3D overlay layer on the first visual layer displayed on the flight control interface;
数据处理器获取eVTOL的实时位置、方向、速度信息，其中，eVTOL的实时位置、方向、速度信息作为2D叠加层显示于飞行操纵界面显示的3D叠加层之上。The data processor obtains the real-time position, direction, and speed information of the eVTOL, wherein the real-time position, direction, and speed information of the eVTOL is displayed as a 2D overlay layer on top of the 3D overlay layer displayed on the flight control interface.
根据本申请的另一方面，提供了一种eVTOL导航合成视觉系统，包括：窗外实时视频流获取设备、飞行操纵界面及处理终端、所述处理终端包括缓存数据库、数据处理器及显示模块，其中，According to another aspect of the present application, an eVTOL navigation synthetic vision system is provided, comprising: an out-of-window real-time video stream acquisition device, a flight control interface and a processing terminal, the processing terminal comprising a cache database, a data processor and a display module, wherein:
所述窗外实时视频流获取设备设置为获取电动垂直起降飞行器eVTOL窗外实时视频流，并将所述窗外实时视频流发送至所述显示模块；The real-time video stream acquisition device outside the window is configured to acquire the real-time video stream outside the window of the electric vertical take-off and landing aircraft eVTOL, and send the real-time video stream outside the window to the display module;
所述数据处理器设置为，从机载数据库获取导航信息中3D对象的经度、纬度及高度信息，并获取所述eVTOL的经度、纬度及高度的实时数据信息，计算出所述导航信息中3D对象的站心坐标系与所述eVTOL的站心坐标系的差值；The data processor is configured to obtain longitude, latitude and altitude information of the 3D object in the navigation information from an onboard database, obtain real-time data information of the longitude, latitude and altitude of the eVTOL, and calculate a difference between a station-centered coordinate system of the 3D object in the navigation information and a station-centered coordinate system of the eVTOL;
所述缓存数据库设置为缓存所述导航信息中所述3D对象的站心坐标系与所述eVTOL的站心坐标系的差值信息；The cache database is configured to cache difference information between the station-centered coordinate system of the 3D object in the navigation information and the station-centered coordinate system of the eVTOL;
所述数据处理器还设置为：从所述机载数据库还读取所述导航信息中所述3D对象的姿态信息，从所述缓存数据库中读取所述差值信息，以及根据所述差值信息将所述导航信息中3D对象的经度、纬度、高度信息及姿态信息进行坐标系转换，并将转换后的信息发送至所述显示模块；获取所述eVTOL的经度、纬度、高度信息及姿态信息，以及获取所述eVTOL的实时位置、方向、速度信息，发送至所述显示模块；The data processor is further configured to: read the attitude information of the 3D object in the navigation information from the onboard database, read the difference information from the cache database, and perform coordinate system conversion on the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information according to the difference information, and send the converted information to the display module; obtain the longitude, latitude, altitude information and attitude information of the eVTOL, and obtain the real-time position, direction and speed information of the eVTOL, and send it to the display module;
所述显示模块，设置为将所述窗外实时视频流作为第一视觉层显示在所述飞行操纵界面上；将所述eVTOL的经度、纬度、高度信息及姿态信息与完成所述坐标系转换后的所述导航信息中3D对象的经度、纬度、高度信息及姿态信息一起进行3D引擎渲染刷新后，作为3D叠加层显示于所述飞行操纵界面显示的 所述第一视觉层之上；以及将所述eVTOL的实时位置、方向、速度信息作为2D叠加层显示于所述飞行操纵界面显示的所述3D叠加层之上。The display module is configured to display the real-time video stream outside the window as a first visual layer on the flight control interface; after performing 3D engine rendering and refreshing together with the longitude, latitude, altitude information and attitude information of the eVTOL and the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information after the coordinate system conversion is completed, the information is displayed as a 3D overlay on the flight control interface. The first visual layer; and displaying the real-time position, direction, and speed information of the eVTOL as a 2D overlay layer on top of the 3D overlay layer displayed by the flight control interface.
本申请提供的eVTOL导航合成视觉方法及系统，以窗外实时视频流为飞行导航提供合成的视觉图中的外部感知，防止因机载数据库中的地形、建筑物等信息更新不及时，与eVTOL的窗外实景信息不匹配，导致飞行安全或错误训练问题的发生。本申请提供的eVTOL导航合成视觉方法及系统，在飞行操纵界面上叠加必要的导航3D对象的经度、纬度、高度信息及姿态信息，并将eVTOL的位置、方向、速度相关数据、使用2D内容进行叠加显示，能够简化飞行操纵操作。The synthetic vision method and system for eVTOL navigation provided in this application uses the real-time video stream outside the window to provide external perception in the synthetic visual map for flight navigation, preventing the occurrence of flight safety or erroneous training problems due to the untimely update of terrain, buildings and other information in the onboard database and the mismatch with the real scene information outside the window of the eVTOL. The synthetic vision method and system for eVTOL navigation provided in this application superimposes the necessary longitude, latitude, altitude information and attitude information of the navigation 3D object on the flight control interface, and superimposes the position, direction, speed related data of the eVTOL using 2D content for display, which can simplify flight control operations.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为一实施例提供的eVTOL导航合成视觉方法的流程图；FIG1 is a flow chart of a synthetic vision method for eVTOL navigation provided by an embodiment;
图2为一实施例提供的eVTOL导航合成视觉方法中3D对象坐标系转换流程图；FIG2 is a flowchart of 3D object coordinate system conversion in an eVTOL navigation synthetic vision method provided by an embodiment;
图3为一实施例提供的eVTOL导航合成视觉方法中3D叠加流程图；FIG3 is a 3D overlay flow chart of a synthetic vision method for eVTOL navigation provided by an embodiment;
图4为一实施例提供的eVTOL导航合成视觉系统的系统框图。FIG4 is a system block diagram of an eVTOL navigation synthetic vision system provided by an embodiment.
具体实施方式Detailed ways
通用航空制造商协会(General Aviation Manufacturers Association，GAMA)提出了简化飞行操纵(Simplified Vehicle Operation，SVO)，其分为三个阶段。第一阶段通过提高现有的自动化系统的可靠性来逐步的消除人工的备份，从而减少对飞行员的培训工作量；第二阶段为飞行员所设计，通过设计新的界面操作及操纵逻辑能够让不具备飞行经验的飞行员专注于导航，而不是机动，进一步减少培训工作量；第三阶段是已经实现自主飞行，无需飞行员及对飞行员的培训。The General Aviation Manufacturers Association (GAMA) has proposed Simplified Vehicle Operation (SVO), which is divided into three stages. The first stage is to gradually eliminate manual backup by improving the reliability of the existing automation system, thereby reducing the training workload for pilots; the second stage is designed for pilots, and through the design of new interface operations and control logic, pilots without flying experience can focus on navigation rather than maneuvers, further reducing the training workload; the third stage is to achieve autonomous flight, without the need for pilots and pilot training.
本申请针对上述第二阶段，简化飞行操纵操作，即为飞行员或操纵员提供一种飞行系统、界面、操纵及训练方式，以降低执行飞行相关任务的复杂度并且同时能提升飞行的安全性。使用导航合成视觉系统能够实现和简化飞行操纵的界面，合成视觉系统(Synthetic Vision System，SVS)是一种以计算机为媒介的飞行器真实感系统，该系统使用3D界面为飞行员提供清晰直观的方式来了解其飞行环境。This application aims at the above-mentioned second stage, simplifying flight control operations, that is, providing a flight system, interface, control and training method for pilots or operators to reduce the complexity of performing flight-related tasks and at the same time improve flight safety. The use of a navigation synthetic vision system can realize and simplify the interface of flight control. The synthetic vision system (Synthetic Vision System, SVS) is a computer-mediated aircraft reality system that uses a 3D interface to provide pilots with a clear and intuitive way to understand their flight environment.
图1为本申请实施例提供的eVTOL导航合成视觉方法的流程图，如图1所示， 该方法包括如下步骤：FIG. 1 is a flow chart of an eVTOL navigation synthetic vision method provided in an embodiment of the present application. As shown in FIG. 1 , The method comprises the following steps:
S1：窗外(Out the WindoW，OTW)实时视频流获取设备获取eVTOL窗外实时视频流，其中，所述窗外实时视频流作为第一视觉层显示在飞行操纵界面上。S1: The Out the WindoW (OTW) real-time video stream acquisition device acquires the eVTOL outside window real-time video stream, wherein the outside window real-time video stream is displayed on the flight control interface as the first visual layer.
S2：处理终端的数据处理器从机载数据库获取导航信息中3D对象的经度、纬度及高度信息，并通过eVTOL飞行控制计算机获取eVTOL的经度、纬度及高度的实时数据信息，计算出导航信息中3D对象的站心坐标系与eVTOL的站心坐标系的差值，并将差值缓存至处理终端的缓存数据库。S2: The data processor of the processing terminal obtains the longitude, latitude and altitude information of the 3D object in the navigation information from the onboard database, and obtains the real-time data information of the longitude, latitude and altitude of the eVTOL through the eVTOL flight control computer, calculates the difference between the station-centered coordinate system of the 3D object in the navigation information and the station-centered coordinate system of the eVTOL, and caches the difference to the cache database of the processing terminal.
S3：数据处理器从机载数据库读取导航信息中3D对象的经度、纬度、高度信息及姿态信息，并从缓存数据库中读取eVTOL站心坐标系与导航信息中3D对象站心坐标系的差值信息，根据差值信息将导航信息中3D对象的经度、纬度、高度信息及姿态信息进行坐标系转换；S3: The data processor reads the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information from the onboard database, and reads the difference information between the eVTOL station center coordinate system and the station center coordinate system of the 3D object in the navigation information from the cache database, and performs coordinate system conversion on the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information according to the difference information;
如图2所示，示出了对导航信息中3D对象的坐标系进行转换的流程。As shown in FIG. 2 , a process of converting the coordinate system of the 3D object in the navigation information is shown.
S4：数据处理器获取eVTOL的经度、纬度、高度信息及姿态信息，其中，eVTOL的经度、纬度、高度信息及姿态信息与完成坐标系转换后的导航信息中3D对象的经度、纬度、高度信息及姿态信息一起进行3D引擎渲染刷新后，作为3D叠加层，其中，3D叠加层显示于飞行操纵界面显示的第一视觉层之上。如图3所示，示出了将3D内容渲染至3D叠加层的计算流程。S4: The data processor obtains the longitude, latitude, altitude information and attitude information of the eVTOL, wherein the longitude, latitude, altitude information and attitude information of the eVTOL and the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information after the coordinate system conversion are refreshed by the 3D engine rendering as a 3D overlay layer, wherein the 3D overlay layer is displayed on the first visual layer displayed by the flight control interface. As shown in FIG3 , the calculation process of rendering 3D content to the 3D overlay layer is shown.
S5：数据处理器获取eVTOL的实时位置、方向、速度信息并将这些信息作为2D叠加层，其中，2D叠加层显示于飞行操纵界面上的3D叠加层之上。S5: The data processor obtains the real-time position, direction, and speed information of the eVTOL and displays the information as a 2D overlay, wherein the 2D overlay is displayed on the 3D overlay on the flight control interface.
本申请提供的飞行导航视觉系统由三个视图层叠加而成，叠加后的飞行导航视觉系统以显示窗外视频流为主，提高了飞行操纵的安全系数；将二维(Two Dimensions，2D)、3D内容显示层叠加在第一视觉层之上，且仅保留必需内容，可以起到对飞行员/驾驶员进行辅助提示的功能且对传统的机载导航显示系统进行了简化；并且在对3D叠加层的显示内容进行引擎渲染刷新时，将从机载数据库读取的导航信息中3D对象的经度、纬度、高度信息及姿态信息进行了坐标系转换，使其与eVTOL实时经度、纬度、高度信息及姿态信息一致，精准地显示了3D对象与eVTOL在空间中的相对位置。The flight navigation visual system provided by the present application is composed of three superimposed view layers. The superimposed flight navigation visual system mainly displays the video stream outside the window, thereby improving the safety factor of flight operations; the two-dimensional (2D) and 3D content display layers are superimposed on the first visual layer, and only the necessary content is retained, which can provide auxiliary prompts to the pilot/driver and simplify the traditional airborne navigation display system; and when the display content of the 3D superimposed layer is refreshed by engine rendering, the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information read from the airborne database are converted into a coordinate system to make it consistent with the real-time longitude, latitude, altitude information and attitude information of the eVTOL, thereby accurately displaying the relative position of the 3D object and the eVTOL in space.
通过本申请提供的eVTOL导航合成视觉方法合成的飞行导航视觉系统不再以传统的通过地形及建筑物数据库生成的3D内容作为飞行员对地形及建筑物的 主要感知参考，而是以窗外实时视频流作为第一视觉层显示在飞行操纵界面上，既能够解决地形及建筑物与实际不符使飞行员在紧急状态下发生困惑可能导致的安全问题，又能统一训练与真机操作。The flight navigation vision system synthesized by the eVTOL navigation synthetic vision method provided by this application no longer uses the traditional 3D content generated by the terrain and building database as the pilot's perception of the terrain and buildings. Instead of using the main perception reference, the real-time video stream outside the window is used as the first visual layer displayed on the flight control interface. This can not only solve the safety problems that may arise from the terrain and buildings not being consistent with the actual situation, which may cause pilots to be confused in an emergency, but also unify training and real machine operation.
在本实施例中，由于作为简化飞行操作的第二阶段，eVTOL姿态已被飞行包线保护，飞行员应专注于导航而不是机动，故在界面上仅显示导航及eVTOL位置、方向、速度等必要的相关数据。In this embodiment, since the eVTOL attitude has been protected by the flight envelope as the second stage of simplified flight operations, the pilot should focus on navigation rather than maneuvering, so only necessary related data such as navigation and eVTOL position, direction, speed, etc. are displayed on the interface.
本申请将导航相关数据使用3D内容进行显示或增强提示，导航相关数据如空中高速公路(Highway-In-The-Sky，HITS)、空域(禁航区、限制区、危险区)、垂直起降坪(起飞、目的地、紧急着陆地)等。将eVTOL位置方向速度相关数据使用2D内容进行显示，eVTOL位置方向速度相关数据如空速、低速、垂直速度、高度、目标高度、航向等。三层显示的优先级为：2D叠加层信息＞3D叠加层信息＞第一视觉层，2D叠加层和3D叠加层在显示界面上仅保留必需内容，对驾驶员进行辅助提示，符合简化飞行操纵概念，极大地减少了驾驶员执行飞行任务时的心智负荷，使驾驶员能够聚焦于较少的信息量，提高飞行安全水平。This application uses 3D content to display or enhance prompts for navigation-related data, such as Highway-In-The-Sky (HITS), airspace (no-fly zones, restricted zones, danger zones), vertical take-off and landing pads (take-off, destination, emergency landing), etc. The eVTOL position, direction, and speed-related data are displayed using 2D content, such as airspeed, low speed, vertical speed, altitude, target altitude, heading, etc. The priority of the three-layer display is: 2D overlay information > 3D overlay information > first visual layer. The 2D overlay and 3D overlay only retain necessary content on the display interface to provide auxiliary prompts to the driver, which complies with the concept of simplified flight control, greatly reduces the mental load of the driver when performing flight missions, enables the driver to focus on less information, and improves the level of flight safety.
在从机载数据库读取3D对象的姿态信息(例如，偏航角、俯仰角、滚转角)时，由于3D对象在空间中的姿态是固定的，故对于同一3D对象，该信息仅需读取一次即可，获取到eVTOL的实时姿态信息(例如，偏航角、俯仰角、滚转角)之后，通过3D引擎渲染至显示界面即可，此种导航合成视觉方法简单、方便且易行。When reading the attitude information (e.g., yaw angle, pitch angle, roll angle) of a 3D object from the onboard database, since the attitude of the 3D object in space is fixed, the information only needs to be read once for the same 3D object. After obtaining the real-time attitude information (e.g., yaw angle, pitch angle, roll angle) of the eVTOL, it can be rendered to the display interface through the 3D engine. This navigation synthetic vision method is simple, convenient and easy.
在eVTOL为真实的飞行器的情况下，窗外实时视频流获取设备为安装于该飞行器上的摄像头，在eVTOL为模拟机的情况下，窗外实时视频流获取设备为模拟机的视景系统，第一视觉层获取方法简单便利，成本低，无需投入昂贵的硬件设备。When the eVTOL is a real aircraft, the device for acquiring the real-time video stream outside the window is a camera installed on the aircraft. When the eVTOL is a simulator, the device for acquiring the real-time video stream outside the window is the visual system of the simulator. The first visual layer acquisition method is simple, convenient, and low-cost, and does not require expensive hardware equipment.
进行3D引擎渲染刷新后，作为3D叠加层包括：数据处理器使用Three.js作为3D引擎计算并更新导航信息中的3D对象，渲染至3D叠加层的画布canvas标签中。After the 3D engine rendering is refreshed, the 3D overlay layer includes: the data processor uses Three.js as a 3D engine to calculate and update the 3D objects in the navigation information, and renders them to the canvas tag of the 3D overlay layer.
导航信息中3D对象包括空域禁航区、限制区、危险区及垂直起降坪，这样将导航合成视觉系统的显示内容，在显示界面上仅保留必需内容，对驾驶员进行辅助提示，符合简化飞行操纵概念，极大地减少了驾驶员执行飞行任务时的心智负荷，使驾驶员能够聚焦于较少的信息量，提高飞行安全水平。 The 3D objects in the navigation information include no-fly zones, restricted areas, danger zones and vertical take-off and landing pads. In this way, the display content of the navigation synthetic vision system will only retain the necessary content on the display interface to provide auxiliary prompts to the pilot. This is in line with the concept of simplified flight control, greatly reduces the mental workload of the pilot when performing flight missions, enables the pilot to focus on less information, and improves the level of flight safety.
eVTOL姿态信息可以包括eVTOL偏航角、俯仰角及滚转角信息。The eVTOL attitude information may include the eVTOL yaw angle, pitch angle, and roll angle information.
一种eVTOL导航合成视觉系统，如图4所示，包括：窗外实时视频流获取设备、飞行操纵界面及处理终端、所述处理终端包括缓存数据库、数据处理器及显示模块，其中，An eVTOL navigation synthetic vision system, as shown in FIG4 , includes: a real-time video stream acquisition device outside the window, a flight control interface and a processing terminal, the processing terminal includes a cache database, a data processor and a display module, wherein:
所述窗外实时视频流获取设备设置为，获取电动垂直起降飞行器eVTOL窗外实时视频流，并将所述窗外实时视频流发送至所述显示模块；The real-time video stream acquisition device outside the window is configured to acquire the real-time video stream outside the window of the electric vertical take-off and landing aircraft eVTOL, and send the real-time video stream outside the window to the display module;
所述数据处理器设置为，从机载数据库获取导航信息中3D对象的经度、纬度及高度信息，并获取所述eVTOL的经度、纬度及高度的实时数据信息，计算出所述导航信息中3D对象的站心坐标系与所述eVTOL的站心坐标系的差值；The data processor is configured to obtain longitude, latitude and altitude information of the 3D object in the navigation information from an onboard database, obtain real-time data information of the longitude, latitude and altitude of the eVTOL, and calculate a difference between a station-centered coordinate system of the 3D object in the navigation information and a station-centered coordinate system of the eVTOL;
所述缓存数据库设置为缓存所述导航信息中所述3D对象的站心坐标系与所述eVTOL的站心坐标系的差值信息；The cache database is configured to cache difference information between the station-centered coordinate system of the 3D object in the navigation information and the station-centered coordinate system of the eVTOL;
所述数据处理器还设置为：从所述机载数据库还读取所述导航信息中所述3D对象的姿态信息，从所述缓存数据库中读取所述差值信息，以及根据所述差值信息将所述导航信息中3D对象的经度、纬度、高度信息及姿态信息进行坐标系转换，并将转换后的信息发送至所述显示模块；获取所述eVTOL的经度、纬度、高度信息及姿态信息，以及获取所述eVTOL的实时位置、方向、速度信息，发送至所述显示模块；The data processor is further configured to: read the attitude information of the 3D object in the navigation information from the onboard database, read the difference information from the cache database, and perform coordinate system conversion on the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information according to the difference information, and send the converted information to the display module; obtain the longitude, latitude, altitude information and attitude information of the eVTOL, and obtain the real-time position, direction and speed information of the eVTOL, and send it to the display module;
所述显示模块，设置为将所述窗外实时视频流作为第一视觉层显示在所述飞行操纵界面上；将所述eVTOL的经度、纬度、高度信息及姿态信息与完成所述坐标系转换后的所述导航信息中3D对象的经度、纬度、高度信息及姿态信息一起进行3D引擎渲染刷新后，作为3D叠加层显示于所述飞行操纵界面显示的所述第一视觉层之上；以及将所述eVTOL的实时位置、方向、速度信息作为2D叠加层显示于所述飞行操纵界面显示的所述3D叠加层之上。The display module is configured to display the real-time video stream outside the window as a first visual layer on the flight control interface; perform 3D engine rendering and refreshing on the longitude, latitude, altitude information and attitude information of the eVTOL together with the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information after the coordinate system conversion is completed, and then display them as a 3D overlay layer on the first visual layer displayed on the flight control interface; and display the real-time position, direction and speed information of the eVTOL as a 2D overlay layer on the 3D overlay layer displayed on the flight control interface.
在一实施例中，所述缓存数据库设置为存储eVTOL导航合成视觉方法中eVTOL的站心坐标系与导航信息中3D对象的站心坐标系的差值信息，所述窗外实时视频流获取设备设置为获取eVTOL窗外实时视频流，并将所述eVTOL窗外实时视频流发送至显示模块；所述数据处理器设置为从机载数据库读取导航信息中3D对象的经度、纬度、高度信息及姿态信息进行坐标系转换，并将转换后的信息发送给显示模块；显示模块设置为接收窗外实时视频流获取设备、数据 处理器及eVTOL飞行控制计算机获取到的实时数据信息，并将经数据处理器进行坐标转换后的导航信息中3D对象的经度、纬度、高度信息及姿态信息与eVTOL实时经度、纬度、高度信息及姿态信息一起进行3D引擎渲染刷新后，作为3D叠加层显示于飞行操纵界面上的第一视觉层之上，将eVTOL实时位置、方向、速度信息作为2D叠加层显示于飞行操纵界面上的3D叠加层之上。In one embodiment, the cache database is configured to store the difference information between the station-centered coordinate system of the eVTOL and the station-centered coordinate system of the 3D object in the navigation information in the eVTOL navigation synthetic vision method; the real-time video stream acquisition device outside the window is configured to acquire the real-time video stream outside the eVTOL window, and send the real-time video stream outside the eVTOL window to the display module; the data processor is configured to read the longitude, latitude, altitude information and posture information of the 3D object in the navigation information from the onboard database to perform coordinate system conversion, and send the converted information to the display module; the display module is configured to receive the real-time video stream acquisition device outside the window, the data processor is configured to read the longitude, latitude, altitude information and posture information of the 3D object in the navigation information from the onboard database, and send the converted information to the display module; the display module is configured to receive the real-time video stream acquisition device outside the window, the data processor is configured to read the longitude, latitude, altitude information and posture information of the The real-time data information obtained by the processor and the eVTOL flight control computer, and the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information after coordinate conversion by the data processor are refreshed together with the real-time longitude, latitude, altitude information and attitude information of the eVTOL through 3D engine rendering, and then displayed as a 3D overlay layer on the first visual layer on the flight control interface, and the real-time position, direction and speed information of the eVTOL are displayed as a 2D overlay layer on the 3D overlay layer on the flight control interface.
窗外实时视频流获取设备为安装于eVTOL真机上的摄像头或者是模拟机的视景系统，在eVTOL为真实飞行器的情况下，窗外实时视频流获取设备为安装于真机上的摄像头，在eVTOL为模拟机的情况下，窗外实时视频流获取设备为模拟机的视景系统，在本实施例中的导航合成视觉系统，第一视觉层的获取方法简单便利，成本低，无需投入昂贵的硬件设备。The device for acquiring the real-time video stream outside the window is a camera installed on the eVTOL real aircraft or the visual system of the simulator. When the eVTOL is a real aircraft, the device for acquiring the real-time video stream outside the window is a camera installed on the real aircraft. When the eVTOL is a simulator, the device for acquiring the real-time video stream outside the window is the visual system of the simulator. In the navigation synthetic vision system in this embodiment, the method for acquiring the first visual layer is simple, convenient, low-cost, and does not require expensive hardware equipment.
综上所述，本申请提供的一种eVTOL导航合成视觉方法及系统，使叠加后的导航视觉系统以显示窗外视频流为主，提高了飞行操纵的安全系数，2D、3D内容叠加其上，且仅保留必需内容，对驾驶员进行辅助提示，以此对传统机载导航显示系统进行了简化，并且在对3D引擎渲染刷新时，将从机载数据库读取的导航信息中3D对象的经度、纬度、高度信息及姿态信息进行了坐标系转换，使其与eVTOL实时的经度、纬度、高度信息及姿态信息一致，精准地显示了3D对象与eVTOL在空间中的相对位置。In summary, the present application provides an eVTOL navigation synthetic vision method and system, so that the superimposed navigation vision system mainly displays the video stream outside the window, thereby improving the safety factor of flight operations, superimposing 2D and 3D content on it, and retaining only necessary content to provide auxiliary prompts to the pilot, thereby simplifying the traditional airborne navigation display system, and when refreshing the 3D engine rendering, the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information read from the airborne database are converted into a coordinate system to make it consistent with the real-time longitude, latitude, altitude information and attitude information of the eVTOL, accurately displaying the relative position of the 3D object and the eVTOL in space.
以上所述仅为本申请的实施例而已，并不用于限制本申请。 The above description is merely an embodiment of the present application and is not intended to limit the present application.

Claims (10)

  1. 一种eVTOL导航合成视觉方法，所述方法包括：An eVTOL navigation synthetic vision method, the method comprising:
    窗外实时视频流获取设备获取电动垂直起降飞行器eVTOL窗外实时视频流，其中，所述窗外实时视频流作为第一视觉层显示在飞行操纵界面上；The real-time video stream acquisition device outside the window acquires the real-time video stream outside the window of the electric vertical take-off and landing aircraft eVTOL, wherein the real-time video stream outside the window is displayed on the flight control interface as a first visual layer;
    处理终端的数据处理器从机载数据库获取导航信息中3D对象的经度、纬度及高度信息，并获取所述eVTOL的经度、纬度及高度的实时数据信息，计算出所述导航信息中所述3D对象的站心坐标系与所述eVTOL的站心坐标系的差值，并将所述差值缓存至所述处理终端的缓存数据库；The data processor of the processing terminal obtains the longitude, latitude and altitude information of the 3D object in the navigation information from the onboard database, obtains the real-time data information of the longitude, latitude and altitude of the eVTOL, calculates the difference between the station-centered coordinate system of the 3D object in the navigation information and the station-centered coordinate system of the eVTOL, and caches the difference in the cache database of the processing terminal;
    所述数据处理器从所述机载数据库读取导航信息中3D对象的经度、纬度、高度信息及姿态信息，并从所述缓存数据库中读取所述eVTOL站心坐标系与所述导航信息中3D对象站心坐标系的差值信息，根据所述差值信息将所述导航信息中3D对象的经度、纬度、高度信息及姿态信息进行坐标系转换；The data processor reads the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information from the onboard database, and reads the difference information between the eVTOL station center coordinate system and the 3D object station center coordinate system in the navigation information from the cache database, and performs coordinate system conversion on the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information according to the difference information;
    所述数据处理器获取eVTOL的经度、纬度、高度信息及姿态信息，其中，所述eVTOL的经度、纬度、高度信息及姿态信息与完成坐标系转换后的所述导航信息中3D对象的经度、纬度、高度信息及姿态信息一起进行3D引擎渲染刷新后，作为3D叠加层显示于所述飞行操纵界面显示的所述第一视觉层之上；The data processor obtains the longitude, latitude, altitude information and attitude information of the eVTOL, wherein the longitude, latitude, altitude information and attitude information of the eVTOL are refreshed by a 3D engine together with the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information after the coordinate system conversion is completed, and are displayed as a 3D overlay layer on the first visual layer displayed by the flight control interface;
    所述数据处理器获取所述eVTOL的实时位置、方向、速度信息，其中，所述eVTOL的实时位置、方向、速度信息作为2D叠加层显示于所述飞行操纵界面显示的所述3D叠加层之上。The data processor obtains real-time position, direction, and speed information of the eVTOL, wherein the real-time position, direction, and speed information of the eVTOL is displayed as a 2D overlay layer on top of the 3D overlay layer displayed on the flight control interface.
  2. 根据权利要求1所述的方法，其中，The method according to claim 1, wherein
    在所述eVTOL为真实飞行器的情况下，所述窗外实时视频流获取设备为安装于所述真实飞行器上的摄像头；In the case where the eVTOL is a real aircraft, the device for acquiring the real-time video stream outside the window is a camera installed on the real aircraft;
    在所述eVTOL为模拟机的情况下，所述窗外实时视频流获取设备为所述模 拟机的视景系统。In the case where the eVTOL is a simulator, the real-time video stream acquisition device outside the window is the simulator. Virtual machine vision system.
  3. 根据权利要求1所述的方法，其中，所述进行3D引擎渲染刷新后，作为3D叠加层包括：所述数据处理器使用Three.js作为3D引擎计算并更新所述导航信息中的3D对象，渲染至所述3D叠加层的画布canvas标签中。The method according to claim 1, wherein after the 3D engine rendering is refreshed, as a 3D overlay layer, it includes: the data processor uses Three.js as a 3D engine to calculate and update the 3D objects in the navigation information, and renders them into a canvas tag of the 3D overlay layer.
  4. 根据权利要求1所述的方法，其中，所述导航信息中的3D对象包括空域禁航区、限制区、危险区及垂直起降坪。The method according to claim 1, wherein the 3D objects in the navigation information include airspace prohibited flight zones, restricted areas, danger zones and vertical take-off and landing pads.
  5. 根据权利要求1所述的方法，其中，所述eVTOL的姿态信息包括：eVTOL偏航角、俯仰角及滚转角信息。The method according to claim 1, wherein the attitude information of the eVTOL includes: eVTOL yaw angle, pitch angle and roll angle information.
  6. 一种eVTOL导航合成视觉系统，包括：窗外实时视频流获取设备、飞行操纵界面及处理终端、所述处理终端包括缓存数据库、数据处理器及显示模块，其中，An eVTOL navigation synthetic vision system includes: a real-time video stream acquisition device outside the window, a flight control interface and a processing terminal, the processing terminal includes a cache database, a data processor and a display module, wherein:
    所述窗外实时视频流获取设备设置为，获取电动垂直起降飞行器eVTOL窗外实时视频流，并将所述窗外实时视频流发送至所述显示模块；The real-time video stream acquisition device outside the window is configured to acquire the real-time video stream outside the window of the electric vertical take-off and landing aircraft eVTOL, and send the real-time video stream outside the window to the display module;
    所述数据处理器设置为，从机载数据库获取导航信息中3D对象的经度、纬度及高度信息，并获取所述eVTOL的经度、纬度及高度的实时数据信息，计算出所述导航信息中3D对象的站心坐标系与所述eVTOL的站心坐标系的差值；The data processor is configured to obtain longitude, latitude and altitude information of the 3D object in the navigation information from an onboard database, obtain real-time data information of the longitude, latitude and altitude of the eVTOL, and calculate a difference between a station-centered coordinate system of the 3D object in the navigation information and a station-centered coordinate system of the eVTOL;
    所述缓存数据库设置为缓存所述导航信息中所述3D对象的站心坐标系与所述eVTOL的站心坐标系的差值信息；The cache database is configured to cache difference information between the station-centered coordinate system of the 3D object in the navigation information and the station-centered coordinate system of the eVTOL;
    所述数据处理器还设置为：从所述机载数据库还读取所述导航信息中所述3D对象的姿态信息，从所述缓存数据库中读取所述差值信息，以及根据所述差值信息将所述导航信息中3D对象的经度、纬度、高度信息及姿态信息进行坐标系转换，并将转换后的信息发送至所述显示模块；获取所述eVTOL的经度、纬度、高度信息及姿态信息，以及获取所述eVTOL的实时位置、方向、速度信息， 发送至所述显示模块；The data processor is further configured to: read the attitude information of the 3D object in the navigation information from the onboard database, read the difference information from the cache database, and perform coordinate system conversion on the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information according to the difference information, and send the converted information to the display module; obtain the longitude, latitude, altitude information and attitude information of the eVTOL, and obtain the real-time position, direction and speed information of the eVTOL, Sending to the display module;
    所述显示模块，设置为将所述窗外实时视频流作为第一视觉层显示在所述飞行操纵界面上；将所述eVTOL的经度、纬度、高度信息及姿态信息与完成所述坐标系转换后的所述导航信息中3D对象的经度、纬度、高度信息及姿态信息一起进行3D引擎渲染刷新后，作为3D叠加层显示于所述飞行操纵界面显示的所述第一视觉层之上；以及将所述eVTOL的实时位置、方向、速度信息作为2D叠加层显示于所述飞行操纵界面显示的所述3D叠加层之上。The display module is configured to display the real-time video stream outside the window as a first visual layer on the flight control interface; perform 3D engine rendering and refreshing on the longitude, latitude, altitude information and attitude information of the eVTOL together with the longitude, latitude, altitude information and attitude information of the 3D object in the navigation information after the coordinate system conversion is completed, and then display them as a 3D overlay layer on the first visual layer displayed on the flight control interface; and display the real-time position, direction and speed information of the eVTOL as a 2D overlay layer on the 3D overlay layer displayed on the flight control interface.
  7. 根据权利要求6所述的系统，所述窗外实时视频流获取设备包括安装于真实飞行器上的摄像头或者是模拟机的视景系统，其中，According to the system of claim 6, the real-time video stream acquisition device outside the window includes a camera installed on a real aircraft or a vision system of a simulator, wherein:
    在所述eVTOL为真实飞行器的情况下，所述窗外实时视频流获取设备为安装于所述真实飞行器上的摄像头；In the case where the eVTOL is a real aircraft, the device for acquiring the real-time video stream outside the window is a camera installed on the real aircraft;
    在所述eVTOL为模拟机的情况下，所述窗外实时视频流获取设备为所述模拟机的视景系统。In the case where the eVTOL is a simulator, the device for acquiring the real-time video stream outside the window is the visual system of the simulator.
  8. 根据权利要求6所述的系统，其中，所述数据处理器是设置为使用Three.js作为3D引擎计算并更新所述导航信息中的3D对象，渲染至所述3D叠加层的画布canvas标签中。The system according to claim 6, wherein the data processor is configured to use Three.js as a 3D engine to calculate and update the 3D objects in the navigation information and render them into a canvas tag of the 3D overlay layer.
  9. 根据权利要求6所述的系统，其中，所述导航信息中的3D对象包括空域禁航区、限制区、危险区及垂直起降坪。The system according to claim 6, wherein the 3D objects in the navigation information include airspace prohibited flight zones, restricted areas, danger zones and vertical take-off and landing pads.
  10. 根据权利要求6所述的系统，其中，所述eVTOL的姿态信息包括：eVTOL偏航角、俯仰角及滚转角信息。 The system according to claim 6, wherein the attitude information of the eVTOL includes: eVTOL yaw angle, pitch angle and roll angle information.
PCT/CN2023/109258 2022-10-27 2023-07-26 Evtol navigation synthetic visual method and system WO2024087764A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211321990.XA CN115393531B (en) 2022-10-27 2022-10-27 eVTOL navigation synthetic vision method and system
CN202211321990.X 2022-10-27

Publications (1)

Publication Number Publication Date
WO2024087764A1 true WO2024087764A1 (en) 2024-05-02

Family

ID=84127624

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/109258 WO2024087764A1 (en) 2022-10-27 2023-07-26 Evtol navigation synthetic visual method and system

Country Status (2)

Country Link
CN (1) CN115393531B (en)
WO (1) WO2024087764A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115393531B (en) * 2022-10-27 2023-02-03 安胜（天津）飞行模拟系统有限公司 eVTOL navigation synthetic vision method and system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002298161A (en) * 2001-03-29 2002-10-11 Mitsubishi Heavy Ind Ltd Three-dimensional simulated outside and flight route superposition and display system
US20100211237A1 (en) * 2009-02-17 2010-08-19 Honeywell International Inc. System and method for rendering a synthetic perspective display of a designated object or location
CN105139451A (en) * 2015-08-10 2015-12-09 中国商用飞机有限责任公司北京民用飞机技术研究中心 HUD (head-up display) based synthetic vision guiding display system
CN109544696A (en) * 2018-12-04 2019-03-29 中国航空工业集团公司西安航空计算技术研究所 A kind of airborne enhancing Synthetic vision actual situation Image Precision Registration of view-based access control model inertia combination
CN112309176A (en) * 2020-10-29 2021-02-02 中国航空工业集团公司洛阳电光设备研究所 Three-dimensional flight pipeline generation method based on head-up display system
CN112381935A (en) * 2020-09-29 2021-02-19 西安应用光学研究所 Synthetic vision generation and multi-element fusion device
CN115393531A (en) * 2022-10-27 2022-11-25 安胜（天津）飞行模拟系统有限公司 eVTOL navigation synthetic vision method and system

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105573330B (en) * 2015-03-03 2018-11-09 广州亿航智能技术有限公司 Aircraft control method based on intelligent terminal
CN106530896A (en) * 2016-11-30 2017-03-22 中国直升机设计研究所 Virtual system for unmanned aerial vehicle flight demonstration
CN113218407B (en) * 2020-01-21 2024-04-12 北京初速度科技有限公司 Map generation method and device based on integration of VIO and satellite navigation system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002298161A (en) * 2001-03-29 2002-10-11 Mitsubishi Heavy Ind Ltd Three-dimensional simulated outside and flight route superposition and display system
US20100211237A1 (en) * 2009-02-17 2010-08-19 Honeywell International Inc. System and method for rendering a synthetic perspective display of a designated object or location
CN105139451A (en) * 2015-08-10 2015-12-09 中国商用飞机有限责任公司北京民用飞机技术研究中心 HUD (head-up display) based synthetic vision guiding display system
CN109544696A (en) * 2018-12-04 2019-03-29 中国航空工业集团公司西安航空计算技术研究所 A kind of airborne enhancing Synthetic vision actual situation Image Precision Registration of view-based access control model inertia combination
CN112381935A (en) * 2020-09-29 2021-02-19 西安应用光学研究所 Synthetic vision generation and multi-element fusion device
CN112309176A (en) * 2020-10-29 2021-02-02 中国航空工业集团公司洛阳电光设备研究所 Three-dimensional flight pipeline generation method based on head-up display system
CN115393531A (en) * 2022-10-27 2022-11-25 安胜（天津）飞行模拟系统有限公司 eVTOL navigation synthetic vision method and system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
QIAN-XIN ZHANG: "Research on spatial distribution of livestock and poultry pollutant in Guangzhou City", AVIONICS TECHNOLOGY, vol. 47, no. 1, 15 March 2016 (2016-03-15), pages 22 - 24, 35, XP093164394, DOI: 10.3969/j.issn *

Also Published As

Publication number Publication date
CN115393531B (en) 2023-02-03
CN115393531A (en) 2022-11-25

Similar Documents

Publication Publication Date Title
US7312725B2 (en) Display system for operating a device with reduced out-the-window visibility
US7486291B2 (en) Systems and methods using enhanced vision to provide out-the-window displays for a device
CN105139451B (en) A kind of Synthetic vision based on HUD guides display system
US7982767B2 (en) System and method for mounting sensors and cleaning sensor apertures for out-the-window displays
EP2101155B1 (en) Method and apparatus for displaying flight path information in rotorcraft
US8892357B2 (en) Ground navigational display, system and method displaying buildings in three-dimensions
WO2024087764A1 (en) Evtol navigation synthetic visual method and system
CN104063214A (en) Methods And Systems For Colorizing An Enhanced Image During Alert
US11874674B2 (en) Vehicle control and interface system
CN106856008B (en) Three-dimensional terrain rendering method for airborne synthetic view
CN104457735A (en) 4D trajectory displaying method based on World Wind
US20230333552A1 (en) Methods and systems for human-in-the-loop vehicular command and control using immersive synthetic vision
CN114815903A (en) Flight route visual display method and device, aircraft and storage medium
CN112309176A (en) Three-dimensional flight pipeline generation method based on head-up display system
CN112173141B (en) Helicopter synthesized view display method
CN107591031B (en) Method for automatically adjusting the visible range in a three-dimensional composite representation of an external landscape
CN111210515A (en) Airborne synthetic vision system based on terrain real-time rendering
US20160362190A1 (en) Synthetic vision
CN116086428A (en) Route planning method based on search and rescue helicopter
WO2005050601A2 (en) Display systems for a device
CN112200759A (en) Method for displaying terminal views of helicopter
Glaab Flight test comparison of synthetic vision display concepts at Dallas/Fort Worth International airport
CN115440091B (en) Course switching view display method and device, aircraft and storage medium
Cheng et al. A prototype of Enhanced Synthetic Vision System using short-wave infrared
WO2023032292A1 (en) Information processing method, information processing program, and information processing device