CN113112873B - Airspace alarm method and device - Google Patents
Airspace alarm method and device Download PDFInfo
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Abstract
The invention provides an airspace alarm method and device, and relates to the field of airspace management. The airspace warning method comprises the steps of obtaining position information of an aircraft and attribute information of the airspace, calculating a yaw distance according to related information, and comparing the yaw distance with a preset warning distance to generate warning information. The aircraft can send out airspace alarm when the aircraft does not enter or fly out of the airspace range, so that the aircraft can be reminded in time, the aircraft has enough time to adjust the own flight path, the aircraft can adjust the flight path in time, and the flight safety of the aircraft is ensured. By using the alarm distance comparison, the application range of the airspace is increased.
Description
Technical Field
The invention relates to the field of airspace management, in particular to an airspace warning method and device.
Background
In order to meet the use requirements of three types of main airspace users of public transportation aviation, general aviation and military aviation on different airspaces, ensure that the airspaces are safely, reasonably, fully and effectively utilized, and classify the airspaces.
At present, in order to realize airspace warning, a mode which is usually adopted is to automatically judge whether an unmanned aerial vehicle exceeds a specified flight airspace through an algorithm, if the unmanned aerial vehicle exceeds the specified flight airspace, warning information is given in real time, but the mode is generally given after the aircraft enters or flies out of the airspace range, so that the warning is not beneficial to prompt in time, and the aircraft is not beneficial to timely adjusting the flight path.
Disclosure of Invention
The invention aims to provide an airspace warning method and device, which are used for solving the problem that warning information is sent only after an aircraft enters or flies out of an airspace range in the prior art. Therefore, the aircraft can be reminded to adjust the flight path in time.
In a first aspect, an embodiment of the present application provides an airspace alarm method, including the following steps:
acquiring position information of an aircraft and attribute information of a current airspace;
calculating to obtain a yaw distance according to the position information of the aircraft and the attribute information of the airspace;
and generating alarm information according to the yaw distance and a preset alarm distance.
In the implementation process, the yaw distance is calculated according to the related information by acquiring the position information of the aircraft and the attribute information of the airspace, and then the yaw distance is compared with the preset warning distance to generate warning information. The method and the device can send out airspace alarm when the aircraft does not enter or fly out of the airspace range, so that the aircraft can be reminded in time, the aircraft has enough time to adjust the flight path of the aircraft, the aircraft can adjust the flight route in time, and the flight safety of the aircraft is guaranteed. By using the alarm distance comparison, the application range of the airspace is increased.
Based on the first aspect, in some embodiments of the invention, the step of calculating the yaw distance from the position information of the aircraft and the attribute information of the airspace includes the steps of:
and extracting and calculating the yaw distance according to the airspace plane appearance information and the position information of the aircraft in the airspace attribute information.
Based on the first aspect, in some embodiments of the present invention, the step of extracting and calculating the yaw distance according to the airspace plane shape information and the position information of the aircraft in the attribute information of the airspace includes the following steps:
and extracting and calculating the yaw distance according to the position information of the central point of the circular airspace, the radius and the position information of the aircraft in the attribute information of the airspace.
Based on the first aspect, in some embodiments of the present invention, the step of extracting and calculating the yaw distance according to the airspace plane shape information and the position information of the aircraft in the attribute information of the airspace includes the steps of:
and extracting and calculating the yaw distance according to the information of each side of the polygonal airspace and the position information of the aircraft in the attribute information of the airspace.
Based on the first aspect, in some embodiments of the present invention, the step of extracting and calculating the yaw distance according to the information of each side of the polygonal airspace and the position information of the aircraft in the attribute information of the airspace includes the following steps:
obtaining vertex information of two ends of each edge according to the information of each edge;
obtaining a triangle formed by the vertexes of the two ends of each edge and the position coordinate point of the aircraft according to the vertex information of the two ends of each edge and the position information of the aircraft;
calculating the fairway angles of all edges of the triangle;
and calculating the yaw distance according to the fairway angle.
According to the first aspect, in some embodiments of the invention, the step of calculating the course angle of each side of the triangle comprises the steps of:
calculating to obtain a first yaw distance according to the vertex information of the two ends of each edge and the position information of the aircraft;
judging whether the first yaw distance is smaller than a preset warning distance, and if so, generating warning information; if not, calculating the fairway angles of the vertexes at the two ends of each edge and the fairway angles of the positions of the aircrafts according to the vertex information at the two ends of each edge and the position information of the aircrafts.
In the implementation process, the distance from the position of the aircraft to the top points of two ends of each edge is obtained by calculating the first yaw distance, and the warning information is generated when the minimum distance is smaller than the warning distance, so that the calculated amount is small, whether the aircraft exceeds the range can be quickly judged, and the warning information can be quickly generated under the condition that the position of the aircraft is within the warning distance.
According to the first aspect, in some embodiments of the present invention, the step of calculating the yaw distance according to the line angle includes the steps of:
calculating the included angle of two adjacent edges according to the fairway angle of each edge of the triangle;
calculating the distance from the position of the aircraft to the vertexes of the two ends of each edge according to the position information of the aircraft and the vertex position information of the two ends of each edge;
and obtaining the yaw distance by utilizing a calculation formula of the yaw distance according to the included angle and the distance from the position of the aircraft to the top points of the two ends of each edge.
Based on the first aspect, in some embodiments of the invention, the step of obtaining the position information of the aircraft and the attribute information of the current airspace is preceded by the steps of:
acquiring airspace information;
and adjusting the airspace attribute according to the airspace information to obtain the current airspace attribute.
In the implementation process, the airspace attribute is updated by acquiring the real-time airspace information and timely adjusting the airspace attribute according to the airspace information, so that the airspace information can be dynamically adjusted, and the airspace management is facilitated.
In a second aspect, an embodiment of the present application provides an airspace warning device, including:
the information acquisition module is used for acquiring the position information of the aircraft and the attribute information of the current airspace;
the yaw distance calculation module is used for calculating the yaw distance according to the position information of the aircraft and the attribute information of the airspace;
and the warning information generating module is used for generating warning information according to the yaw distance and the preset warning distance.
In the implementation process, the position information of the aircraft and the attribute information of the airspace are obtained through the information obtaining module, the yaw distance calculating module calculates the yaw distance according to the relevant information, and then the warning information generating module compares the yaw distance with the preset warning distance to generate warning information. The method and the device can send out airspace alarm when the aircraft does not enter or fly out of the airspace range, so that the aircraft can be reminded in time, the aircraft has enough time to adjust the flight path of the aircraft, the aircraft can adjust the flight route in time, and the flight safety of the aircraft is guaranteed. By using the alarm distance comparison, the application range of the airspace is increased.
Based on the second aspect, in some embodiments of the invention, further comprising:
a memory for storing one or more programs;
a processor;
the program or programs, when executed by a processor, implement the method of any of claims 1-8.
The embodiment of the invention at least has the following advantages or beneficial effects:
the embodiment of the invention provides an airspace warning method and device, which are used for calculating a yaw distance according to relevant information by acquiring position information and airspace attribute information of an aircraft and then comparing the yaw distance with a preset warning distance to generate warning information. The aircraft can send out airspace alarm when the aircraft does not enter or fly out of the airspace range, so that the aircraft can be reminded in time, the aircraft has enough time to adjust the own flight path, the aircraft can adjust the flight path in time, and the flight safety of the aircraft is ensured. By using the alarm distance comparison, the application range of the airspace is increased. The distance from the position of the aircraft to the top points of two ends of each side is obtained by calculating the first yaw distance, and when the minimum distance is smaller than the warning distance, warning information is generated, so that the calculation amount is small, whether the aircraft exceeds the range can be quickly judged, and the warning information can be quickly generated under the condition that the position of the aircraft is within the warning distance. By acquiring the real-time airspace information and adjusting the attribute of the airspace in time according to the airspace information, the airspace attribute is up-to-date, the airspace information can be dynamically adjusted, and the airspace management is facilitated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of an airspace alarm method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a circular airspace alarm according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a triangle formed by the sides of a polygonal airspace and the position of an aircraft according to an embodiment of the present invention;
fig. 4 is a structural block diagram of an airspace warning device according to an embodiment of the present invention;
fig. 5 is a flow chart of airspace alarm provided in the embodiment of the present invention.
An icon: 1-circular airspace; 110-an information acquisition module; 120-yaw distance calculation module; 130-alarm information generation module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Examples
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments and features of the embodiments described below can be combined with one another without conflict.
Referring to fig. 1, fig. 1 is a flowchart of an airspace alarm method according to an embodiment of the present invention. The airspace alarm method comprises the following steps:
step S110: acquiring position information of an aircraft and attribute information of a current airspace; the aircraft can be an unmanned aerial vehicle or a manned aircraft, the position information of the aircraft comprises longitude and latitude, current time, altitude information and the like of the aircraft, and the attribute information of the current airspace can be real-time airspace attribute information comprising airspace limit time, airspace plane appearance information, airspace range, airspace limit altitude and the like.
Step S120: and calculating the yaw distance according to the position information of the aircraft and the attribute information of the airspace. The method comprises the following steps:
and extracting and calculating the yaw distance according to the airspace plane appearance information and the position information of the aircraft in the airspace attribute information. The airspace plane appearance information comprises the position information of the central point of the circular airspace 1, the radius, the information of each side of the polygonal airspace and the like.
When the airspace plane outline is a circular airspace 1, the step of extracting and calculating the yaw distance according to the airspace plane outline information in the airspace attribute information and the position information of the aircraft comprises the following steps:
and extracting and calculating the yaw distance according to the position information of the central point of the circular airspace 1, the radius and the position information of the aircraft in the attribute information of the airspace. Firstly, the central point position information and the radius of the circular airspace 1 are extracted, the distance from the aircraft to the central point of the circular airspace 1 can be calculated through the central point position information of the circular airspace 1 and the position information of the aircraft, and the distance is used as the yaw distance of the aircraft. For example: as shown in fig. 2, fig. 2 is a schematic diagram of a circular airspace 1 alarm provided in the embodiment of the present invention. The central point extracted into the circular airspace 1 is set as A and the radius is R, B is the position point of the aircraft, the distance S from the position of the aircraft to the central point can be calculated according to the coordinate of A and the coordinate of B, and then the yaw distance H is calculated as S-R.
When the airspace plane outline is a polygonal airspace, the step of extracting and calculating the yaw distance according to the airspace plane outline information and the position information of the aircraft in the attribute information of the airspace comprises the following steps:
and extracting and calculating the yaw distance according to the information of each side of the polygonal airspace and the position information of the aircraft in the attribute information of the airspace. The polygonal space domain may be a regular polygonal space domain or an irregular polygonal space domain, such as a sector, a hexagon, and the like. The polygonal airspace is provided with a plurality of edges, and the yaw distance from the aircraft to each edge is obtained through calculation by obtaining the information of each edge of the polygon.
Step S130: and generating alarm information according to the yaw distance and a preset alarm distance. After the yaw distance is calculated, the yaw distance can be compared with the preset alarm distance, if the preset alarm distance is 10km, 20km or 50km, and when the yaw distance is smaller than the alarm distance, alarm information is generated. The alarm information can be a voice alarm, a character alarm, or a combined alarm of voice and character. The warning information may be continued until the calculated yaw distance is greater than the warning distance and the warning is stopped. The airspace alarm can be sent when the aircraft enters the alarm airspace or can be sent when the aircraft flies out of the alarm airspace.
For example: and if the calculated yaw distance is 75 kilometers, the preset warning distance is 80 kilometers and the yaw distance is less than the warning distance, generating voice warning information that the user has entered the warning distance and please adjust the flight route as soon as possible. And if the calculated yaw distance is 80 kilometers, the preset warning distance is 90 kilometers and the yaw distance is less than the warning distance, generating a text warning message that the user has entered the warning distance and please adjust the flight path as soon as possible.
In the implementation process, the position information of the aircraft and the attribute information of the airspace are obtained, the yaw distance is calculated according to the related information, and then the yaw distance is compared with the preset warning distance to generate warning information. The aircraft can send out airspace alarm when the aircraft does not enter or fly out of the airspace range, so that the aircraft can be reminded in time, the aircraft has enough time to adjust the own flight path, the aircraft can adjust the flight path in time, and the flight safety of the aircraft is ensured. By using the alarm distance comparison, the application range of the airspace is increased. Different yaw distance calculation methods are adopted for different airspace profiles, and the speed of airspace alarm calculation can be increased.
Referring to fig. 5, fig. 5 is a flowchart of airspace alarm provided in the embodiment of the present invention. The following operations may also be performed before calculating the yaw distance:
first, whether a time condition is satisfied is determined. Whether the current time is within the limited time range of the airspace or not can be judged by obtaining the comparison between the current time of the flight of the aircraft and the limited time of the airspace in the attribute information of the airspace, if so, the altitude judgment can be carried out, and if not, the step S110 is repeated.
Secondly, whether the height condition is met or not is judged. The altitude judgment may be based on the comparison between the altitude information of the aircraft and the limited altitude of the airspace, and if the flight altitude of the aircraft is smaller than the minimum limited altitude of the airspace or larger than the maximum limited altitude of the airspace, the step S110 is repeated, otherwise, the airspace range judgment is performed.
Then, it is determined whether or not the space is in the space domain. And the airspace range judgment is to judge whether the current position of the aircraft is in the airspace range by using a ray method, if so, alarm information is generated, and otherwise, the yaw distance is calculated.
The method comprises the following steps of extracting and calculating the yaw distance according to the information of each side of the polygonal airspace and the position information of the aircraft in the attribute information of the airspace, wherein the step of extracting and calculating the yaw distance comprises the following steps:
firstly, obtaining vertex information of two ends of each edge according to the information of each edge; two ends of each side of the polygonal airspace are respectively provided with a vertex, and the position information of the vertex can be obtained through the information of each side, for example, the position information of the vertex can be the coordinate of the vertex, and can also be the longitude and latitude of the vertex, and then the position information of the vertex can be converted into the coordinate.
Then, obtaining a triangle formed by the vertexes of the two ends of each edge and the position coordinate point of the aircraft according to the vertex information of the two ends of each edge and the position information of the aircraft; for example: two vertexes of one side of the polygonal airspace are respectively A1 and B1, the position point of the aircraft is C1, and a triangle formed by the two vertexes of the one side of the polygonal airspace and the position of the aircraft is delta A1B1C1.
Then, calculating the fairway angle of each side of the triangle; the calculation of the navigation line angle is an improvement based on a great circle navigation line angle calculation formula in the air navigation, and because the great circle navigation line angle calculation formula finds that the formula does not judge special conditions in practical application, quadrant judgment and judgment of 0 degree, 90 degrees, 180 degrees and 270 degrees are carried out on the basis of the formula. Large circular course angles are prior art and therefore are not described in detail herein.
And finally, calculating the yaw distance according to the navigation angle.
The step of calculating the yaw distance according to the navigation angle comprises the following steps:
firstly, calculating the included angle of two adjacent edges according to the fairline angle of each edge of the triangle; the calculation of the included angle is to subtract the aerial angles on the two sides forming the included angle to obtain the radian of the included angle, and then the obtained radian of the included angle can be subjected to an angle conversion formula to obtain the angle of the included angle and then an absolute value is taken. The angle conversion formula is: angle = radian 180/PI. For example: as shown in FIG. 3, FIG. 3 is a schematic diagram of a triangle formed by the sides of the polygonal airspace and the position of the aircraft according to the embodiment of the present invention. The radian of the angle C1B1A1 is obtained by subtracting the fairway angle of B1A1 from the fairway angle of B1C1, then obtaining the angle of the angle C1B1A1 through angle conversion and then taking an absolute value. The radian of the angle C1A1B1 is obtained by subtracting the fairway angle of A1B1 from the fairway angle of A1C1, then obtaining the angle of the angle C1A1B1 through angle conversion and then taking an absolute value.
And then, calculating the distance from the position of the aircraft to the vertexes at the two ends of each side according to the position information of the aircraft and the vertex position information at the two ends of each side. Firstly, the coordinates of the position of the aircraft and the coordinates of the vertex positions at the two ends of each edge can be obtained, and then the distance from the position of the aircraft to the vertices at the two ends of each edge is calculated through a distance calculation formula.
And finally, obtaining the yaw distance by utilizing a calculation formula of the yaw distance according to the included angle and the distance from the position of the aircraft to the top points of the two ends of each edge. The yaw distance is the vertical distance from the position point of the aircraft to each side of the polygonal airspace. The yaw distances from the position of the aircraft to the edges can be calculated, then, which of the yaw distances is effective and which of the yaw distances is ineffective are judged, the effective yaw distances are reserved, and the minimum effective yaw distance is screened out from the effective yaw distances to serve as the final yaw distance. The judgment of the yaw distance effectiveness can be that the yaw distance from the position of the aircraft to each side is calculated firstly, then the effectiveness of the yaw distance is judged, or the effectiveness of the yaw distance is judged firstly, and then only the calculated effective yaw distance is used as the effective yaw distance.
The judgment of the effectiveness of the yaw distance can be carried out by judging the type of the angle of the vertexes of the two ends of each side in a triangle formed by the vertexes of the two ends of each side and the position coordinate point of the aircraft, and when the angles of the vertexes of the two ends of each side are acute angles, the yaw distance is judged to be effective, otherwise, the yaw distance is judged to be ineffective. For example: as shown in fig. 3, in the triangle Δ A1B1C1, if the angle C1B1A1 is less than 90 ° and is an acute angle, the angle C1A1B1 is greater than 90 ° and is an obtuse angle, and the point C1 is outside the line segment A1B1, the yaw distance H1 of the side is determined to be invalid. In the triangle delta A2B2C2, an acute angle of less than 90 degrees of an angle C2B2A2 is adopted, an acute angle of less than 90 degrees of an angle C2A2B2 is adopted, a point C2 is in a line segment A2B2, and the yawing distance H2 of the side is effective. In the triangle delta A3B3C3, an obtuse angle is formed when the angle C3B3A3 is more than 90 degrees, an acute angle is formed when the angle C3A3B3 is less than 90 degrees, and a yaw distance H3 of the side is judged to be invalid when a point C3 is out of a line segment A3B 3.
The calculation formula of the yaw distance is as follows:
h = R × ASin (sin (the course angle of BA-the course angle of BC) × sin (the distance of BC))
Wherein H is a yaw distance, R is an earth radius of 6371 kilometer, A is a vertex of one side of the airspace exterior, B is another vertex of one side of the airspace exterior, and C is the position of the aircraft.
In the implementation process, the effectiveness of the yaw distance is judged, so that the final yaw distance is more real and effective, and the alarm is more accurate. The calculation formula of the yaw distance is simple, and the calculation amount is small, so that the speed of alarm calculation can be increased.
Wherein the step of calculating the course angle of each side of the triangle comprises the following steps:
and judging whether the yaw distance between the aircraft position and the top point of the airspace is smaller than the warning distance.
First, a first yaw distance is calculated according to the vertex information of the two ends of each edge and the position information of the aircraft. The first step is to calculate the distance from the position of the aircraft to the vertices at the two ends of each edge, and then take the smallest distance as the first yaw distance.
Then, judging whether the first yaw distance is smaller than a preset warning distance or not, and if so, generating warning information; if not, calculating the fairway angles of the vertexes at the two ends of each edge and the fairway angles of the positions of the aircrafts according to the vertex information at the two ends of each edge and the position information of the aircrafts.
In the implementation process, the distance from the position of the aircraft to the top points of two ends of each edge is obtained by calculating the first yaw distance, and the warning information is generated when the minimum distance is smaller than the warning distance, so that the calculated amount is small, whether the aircraft exceeds the range can be quickly judged, and the warning information can be quickly generated under the condition that the position of the aircraft is within the warning distance.
The method comprises the following steps of obtaining the position information of the aircraft and the attribute information of the current airspace:
firstly, acquiring airspace information; the airspace information includes a limited time range, an altitude range, a forbidden entry or exit airspace, an alarm distance, and the like. When the empty domain information is changed, the user can input real-time data according to the information which needs to be changed. The height range includes full height, which means no height limitation.
And then, adjusting the spatial domain attribute according to the spatial domain information to obtain the current spatial domain attribute. The attribute of the airspace is changed according to the input real-time data, and different colors and color depths can be displayed on the display page according to the adjusted attribute of the airspace and different conditions. For example: the altitude range is full altitude, and the airspace is shown as solid red. If the altitude range is not full altitude, the airspace appears transparent red. And if the current time does not meet the condition of the time range, displaying the airspace as transparent green, namely the current time, wherein the airspace is not in a limited range.
In the implementation process, the airspace attribute is updated by acquiring the real-time airspace information and timely adjusting the airspace attribute according to the airspace information, so that the airspace information can be dynamically adjusted, and the airspace management is facilitated.
Based on the same inventive concept, the present invention further provides an airspace warning device, please refer to fig. 4, and fig. 4 is a structural block diagram of an airspace warning device provided in an embodiment of the present invention. This airspace alarm device includes:
the information acquisition module 110 is configured to acquire position information of an aircraft and attribute information of a current airspace;
a yaw distance calculation module 120, configured to calculate a yaw distance according to the position information of the aircraft and the attribute information of the airspace;
and an alarm information generating module 130, configured to generate alarm information according to the yaw distance and a preset alarm distance.
In the implementation process, the information obtaining module 110 obtains the position information of the aircraft and the attribute information of the airspace, the yaw distance calculating module 120 calculates the yaw distance according to the related information, and the warning information generating module 130 compares the yaw distance with the preset warning distance to generate warning information. The aircraft can send out airspace alarm when the aircraft does not enter or fly out of the airspace range, so that the aircraft can be reminded in time, the aircraft has enough time to adjust the own flight path, the aircraft can adjust the flight path in time, and the flight safety of the aircraft is ensured. By using the alarm distance comparison, the application range of the airspace is increased.
The airspace alarm device also comprises a memory, a processor and a communication interface, wherein the memory, the processor and the communication interface are directly or indirectly electrically connected with each other to realize the transmission or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory may be configured to store software programs and modules, such as program instructions/modules corresponding to the airspace warning device provided in the embodiments of the present application, and the processor executes various functional applications and data processing by executing the software programs and modules stored in the memory. The communication interface may be used for communicating signaling or data with other node devices.
The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The processor may be an integrated circuit chip having signal processing capabilities. The processor 102 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In summary, according to the airspace warning method and the airspace warning device provided by the embodiment of the present application, the airspace warning method calculates the yaw distance according to the related information by acquiring the position information of the aircraft and the attribute information of the airspace, and then compares the yaw distance with the preset warning distance to generate warning information. The aircraft can send out airspace alarm when the aircraft does not enter or fly out of the airspace range, so that the aircraft can be reminded in time, the aircraft has enough time to adjust the own flight path, the aircraft can adjust the flight path in time, and the flight safety of the aircraft is ensured. By using the alarm distance comparison, the application range of the airspace is increased. The method can be used on a navigation instrument, can also be used on a monitoring platform, and can be suitable for most of alarm use scenes of entering and exiting airspace.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. An airspace alarm method is characterized by comprising the following steps:
acquiring position information of an aircraft and attribute information of a current airspace;
calculating to obtain a yaw distance according to the position information of the aircraft and the attribute information of the airspace;
generating alarm information according to the yaw distance and a preset alarm distance;
wherein the step of calculating the yaw distance according to the position information of the aircraft and the attribute information of the airspace comprises the steps of:
extracting and calculating according to the airspace plane shape information in the attribute information of the airspace and the position information of the aircraft to obtain a yaw distance; the method comprises the following steps:
extracting and calculating to obtain a yaw distance according to the information of each side of the polygonal airspace in the attribute information of the airspace and the position information of the aircraft; the method comprises the following steps: obtaining vertex information of two ends of each edge according to the information of each edge; obtaining a triangle formed by the vertexes of the two ends of each edge and the position coordinate point of the aircraft according to the vertex information of the two ends of each edge and the position information of the aircraft; calculating the fairway angles of all sides of the triangle; calculating a yaw distance according to the navigation angle, and comprising the following steps: calculating the included angle of two adjacent edges according to the fairline angle of each edge of the triangle; calculating the distance from the position of the aircraft to the vertexes at the two ends of each edge according to the position information of the aircraft and the vertex position information at the two ends of each edge; and obtaining the yaw distance by utilizing a calculation formula of the yaw distance according to the included angle and the distance from the position of the aircraft to the top points of the two ends of each edge.
2. The airspace warning method according to claim 1, wherein the step of extracting and calculating a yaw distance from the airspace plane profile information in the attribute information of the airspace and the position information of the aircraft includes the steps of:
and extracting and calculating the yaw distance according to the position information and the radius of the central point of the circular airspace in the attribute information of the airspace and the position information of the aircraft.
3. The airspace alarm method according to claim 1, wherein the step of calculating the fairway angle of each side of the triangle is preceded by the steps of:
calculating to obtain a first yaw distance according to the vertex information of the two ends of each edge and the position information of the aircraft;
judging whether the first yaw distance is smaller than a preset warning distance or not, and if so, generating warning information; if not, calculating the fairway angles of the vertexes at the two ends of each edge and the fairway angle of the position of the aircraft according to the vertex information at the two ends of each edge and the position information of the aircraft.
4. The airspace alarm method according to claim 1, wherein the step of acquiring the position information of the aircraft and the attribute information of the current airspace is preceded by the steps of:
acquiring airspace information;
and adjusting the airspace attribute according to the airspace information to obtain the current airspace attribute.
5. An airspace warning device, comprising:
the information acquisition module is used for acquiring the position information of the aircraft and the attribute information of the current airspace;
the yaw distance calculation module is used for calculating the yaw distance according to the position information of the aircraft and the attribute information of the airspace; the method comprises the following steps:
extracting and calculating to obtain a yaw distance according to the information of each side of the polygonal airspace in the attribute information of the airspace and the position information of the aircraft; the method comprises the following steps:
obtaining vertex information of two ends of each edge according to the information of each edge;
obtaining a triangle formed by the vertexes of the two ends of each edge and the position coordinate point of the aircraft according to the vertex information of the two ends of each edge and the position information of the aircraft;
calculating the fairway angles of all sides of the triangle;
calculating a yaw distance according to the navigation angle, and comprising the following steps: calculating the included angle of two adjacent edges according to the fairway angle of each edge of the triangle; calculating the distance from the position of the aircraft to the vertexes at the two ends of each edge according to the position information of the aircraft and the vertex position information at the two ends of each edge; obtaining a yaw distance by utilizing a yaw distance calculation formula according to the included angle and the distance from the position of the aircraft to the top points of the two ends of each edge;
and the warning information generating module is used for generating warning information according to the yaw distance and a preset warning distance.
6. The airspace warning device according to claim 5, comprising:
a memory for storing one or more programs;
a processor;
the one or more programs, when executed by the processor, implement the method of any of claims 1-4.
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