CN113934808B - Map data acquisition method and device and aircraft - Google Patents

Abstract

The application discloses a map data acquisition method, a map data acquisition device and an aircraft, wherein the map data acquisition method comprises the following steps: acquiring current motion state parameters of an aircraft, wherein the current motion state parameters at least comprise position, speed and acceleration; predicting the motion trail of the aircraft in a future preset time length according to the current motion state parameters to obtain a predicted motion trail; determining a region to be requested based on the predicted motion trail; and acquiring map data corresponding to the area to be requested. According to the map data acquisition method, the map data request area is adaptively adjusted according to the motion state parameters of the aircraft, so that the map data can be loaded timely and accurately, and the user experience is improved.

Description

Map data acquisition method and device and aircraft

Technical Field

The present application relates to the field of map technologies, and in particular, to a map data acquisition method and apparatus, and an aircraft.

Background

Aircraft such as aerocar is one of the development directions of future vehicles, wherein the autopilot function of intelligent aerocar plays an important role in the flight process. When the automatic driving function works, map data in a certain distance range of the current position needs to be acquired in advance so as to avoid risks in advance, and meanwhile, the map data is also the prepositive information of the flight path planning. The air flight has the characteristics of high flight speed, high dynamic obstacle avoidance and the like, and the timeliness and the accuracy of map data loading are required.

The foregoing description is provided for general background information and does not necessarily constitute prior art.

Disclosure of Invention

Aiming at the technical problems, the application provides a map data acquisition method, a map data acquisition device and an aircraft, which can load map data timely and accurately, and improve user experience.

To solve the above technical problem, in a first aspect, the present application provides a map data acquisition method, including:

acquiring current motion state parameters of an aircraft, wherein the current motion state parameters at least comprise position, speed and acceleration;

Predicting the motion trail of the aircraft in a future preset time length according to the current motion state parameters to obtain a predicted motion trail;

determining a region to be requested based on the predicted motion trail;

And acquiring map data corresponding to the area to be requested.

Optionally, determining the area to be requested based on the predicted motion trail includes:

Taking the current position of the aircraft as an origin, and taking an elliptical area determined by a preset long and short axis as the minimum area to be requested of the aircraft.

Optionally, the preset duration includes a first preset duration;

Predicting the motion trail of the aircraft in a future preset duration according to the current motion state parameters to obtain a predicted motion trail, wherein the method comprises the following steps:

Predicting a motion trail of the aircraft in a first preset time length in the future according to the current motion state parameters to obtain a first predicted motion trail;

Wherein determining the region to be requested based on the predicted motion trajectory further comprises:

taking the current position of the aircraft as an endpoint, and respectively shifting the first predicted motion track leftwards and rightwards by a preset angle to obtain a first track area;

And determining the union of the minimum to-be-requested area and the first track area as the to-be-requested area.

Optionally, the method further comprises:

Predicting a motion track of the aircraft in a second preset time length in the future according to the current motion state parameters to obtain a second predicted motion track, wherein the second preset time length is longer than the first preset time length;

Taking the current position of the aircraft as an endpoint, respectively shifting the second predicted motion track leftwards and rightwards by a preset angle to obtain a second track area, wherein the second track area comprises the first track area;

and determining a complement of the first track area relative to the second track area as a pre-cache area.

Optionally, the method further comprises:

And requesting map data corresponding to the pre-cache area to a local cache from the map data cloud.

Optionally, acquiring map data corresponding to the area to be requested includes:

acquiring map data corresponding to the area to be requested from a local cache;

And when the local cache does not have the map data corresponding to the area to be requested, requesting the map data corresponding to the area to be requested from the map data cloud.

Optionally, acquiring map data corresponding to the area to be requested includes:

And acquiring map data corresponding to the areas to be requested according to the priority order, wherein the minimum area to be requested has the highest priority, and the intersection of the first track area and the minimum area to be requested is the priority order of the complement of the first track area.

Optionally, predicting the motion trail of the aircraft within a preset time length in the future according to the current motion state parameter to obtain a predicted motion trail, including:

and based on a preset motion trail prediction model, predicting the motion trail of the aircraft according to the current motion state parameters to obtain a predicted motion trail of the aircraft in a future preset time length.

Optionally, the current motion state parameter further includes a height, and the acquiring map data corresponding to the area to be requested includes:

Determining a map scale according to the height;

And acquiring map data corresponding to the map scale and the area to be requested.

Optionally, the method further comprises:

And filtering the current motion state parameter.

In a second aspect, an embodiment of the present application provides a map data acquisition apparatus, including:

The motion state acquisition module is used for acquiring current motion state parameters of the aircraft, wherein the current motion state parameters at least comprise position, speed and acceleration;

The motion trail prediction module is used for predicting the motion trail of the aircraft in a future preset duration according to the current motion state parameters to obtain a predicted motion trail;

The map data area determining module is used for determining an area to be requested based on the predicted motion trail;

And the map data request module is used for acquiring map data corresponding to the area to be requested.

In a third aspect, an embodiment of the application provides an aircraft comprising a map data acquisition device according to the second aspect.

In a fourth aspect, an embodiment of the present application provides a map data acquisition apparatus, including a memory and a processor, wherein the memory stores a computer program, and the computer program when executed by the processor implements the steps of the map data acquisition method according to the first aspect.

In a fifth aspect, an embodiment of the present application provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the map data acquisition method according to the first aspect.

The technical scheme provided by the application can comprise the following beneficial effects:

According to the map data acquisition method and device and the aircraft, the map data loading area is adaptively adjusted according to the motion state parameters of the aircraft, so that the map data can be loaded timely and accurately.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

Fig. 1 is a flowchart of a map data obtaining method according to an embodiment of the present application;

Fig. 2 is a schematic structural diagram of a map data obtaining apparatus according to an embodiment of the present application;

fig. 3 is a second flowchart of a map data obtaining method according to an embodiment of the present application;

fig. 4 is a flowchart illustrating a map data obtaining method according to an embodiment of the present application;

fig. 5 is a schematic diagram of a map data obtaining apparatus according to a second embodiment of the present application;

fig. 6 is a flowchart illustrating a map data obtaining method according to an embodiment of the present application;

Fig. 7 is a flowchart of a map data obtaining method according to an embodiment of the present application;

Fig. 8 is a schematic structural diagram of a map data obtaining system according to an embodiment of the present application;

FIG. 9 is a flowchart of a map data obtaining method according to an embodiment of the present application;

FIG. 10 is a schematic diagram of different request areas of map data according to an embodiment of the present application;

fig. 11 is a second specific flowchart of a map data obtaining method according to an embodiment of the present application.

The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments. Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or 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, the element defined by the phrase "comprising one … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element, and furthermore, elements having the same name in different embodiments of the application may have the same meaning or may have different meanings, the particular meaning of which is to be determined by its interpretation in this particular embodiment or by further combining the context of this particular embodiment.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" depending on the context. Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including" specify the presence of stated features, steps, operations, elements, components, items, categories, and/or groups, but do not preclude the presence, presence or addition of one or more other features, steps, operations, elements, components, items, categories, and/or groups. The terms "or", "and/or", "including at least one of", and the like, as used herein, may be construed as inclusive, or mean any one or any combination. For example, "including at least one of: A. b, C "means" any one of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; a and B and C ", again as examples," A, B or C "or" A, B and/or C "means" any of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; a and B and C). An exception to this definition will occur only when a combination of elements, functions, steps or operations are in some way inherently mutually exclusive.

It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.

It should be noted that, in this document, step numbers such as 101 and 102 are used for the purpose of describing the corresponding content more clearly and briefly, and not to constitute a substantial limitation on the sequence, and those skilled in the art may execute 102 first and then execute 101 when they are implemented, which is within the scope of the present application.

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

In the following description, suffixes such as "module", "part" or "unit" for representing elements are used only for facilitating the description of the present application, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.

Referring to fig. 1, a map data obtaining method provided by an embodiment of the present application may be implemented by a map data obtaining device provided by an embodiment of the present application, where the device may be implemented in a software and/or hardware manner, and the device may be specifically a cloud server, an electronic device, etc., and in this embodiment, the map data obtaining method is applied to an aircraft as an example, and the map data obtaining method includes the following steps:

Step S101: the method comprises the steps of obtaining current motion state parameters of the aircraft, wherein the current motion state parameters at least comprise position, speed and acceleration.

It will be appreciated that the aircraft may refer to an aircraft having autopilot functionality, including but not limited to a flying car or the like, and that current state of motion parameters of the aircraft are used to characterize the state of motion of the aircraft, including but not limited to position, velocity, acceleration, etc., and that the above parameters are vectors, including, for example, position, not only size, but also direction. It should be noted that the current motion state parameter may be acquired by an information acquisition device disposed on the aircraft, for example, the position may be acquired by a positioning system, the speed may be acquired by a speed sensor, etc. In addition, the acquiring the current motion state parameter of the aircraft may be acquiring the motion state parameter of the aircraft in real time or periodically, and the motion state parameter of the aircraft may also be acquired periodically, which is not limited herein.

Step S102: and predicting the motion trail of the aircraft in a future preset time length according to the current motion state parameters to obtain a predicted motion trail.

It can be understood that, because the current motion state parameter is a vector parameter, the current traveling direction, speed and other information of the aircraft can be obtained based on the current motion state parameter, so that the motion trail of the aircraft in the future preset duration can be predicted according to the current motion state parameter to obtain the predicted motion trail. The preset duration may be set according to actual situation requirements, but cannot be too large, and may be generally set to several seconds, such as 3 seconds, 5 seconds, and the like. It should be noted that, according to different map loading targets, the size and the number of the preset durations are correspondingly different, and if the map loading targets include the request map data and the pre-cache map data, the preset duration corresponding to the pre-cache map data is longer than the preset duration corresponding to the request map data.

Optionally, predicting the motion trail of the aircraft within a preset time length in the future according to the current motion state parameter to obtain a predicted motion trail, including: and based on a preset motion trail prediction model, predicting the motion trail of the aircraft according to the current motion state parameters to obtain a predicted motion trail of the aircraft in a future preset time length.

Optionally, the motion trail prediction model is pre-established based on parameters such as position, speed and acceleration, assuming that the current position of the aircraft isCurrent speed is/>Current acceleration is/>If only the influence of the radial acceleration on the motion trail is considered, the corresponding motion trail prediction model is as follows:

Here, Δt is the sampling time interval, And k is a natural number in the radial direction of the speed at the moment k, and the preset duration at least comprises a sampling time interval. Based on the motion trail prediction model, after the current motion state parameters are input into the motion trail prediction model, information such as positions, speeds, accelerations and the like corresponding to the aircraft after every other sampling time interval can be obtained, and based on information such as positions, speeds, accelerations and the like corresponding to a plurality of sampling time intervals contained in the preset duration, the predicted motion trail of the aircraft in the future preset duration can be obtained. It should be noted that, if the preset duration includes a first preset duration and a second preset duration, and the second preset duration is longer than the first preset duration, the predicted motion track includes a first predicted motion track corresponding to the first preset duration and a second predicted motion track corresponding to the second preset duration. Therefore, the predicted motion trail of the aircraft can be conveniently and accurately obtained, and timeliness and accuracy of map loading are further improved.

Optionally, predicting the motion trail of the aircraft within a preset time length in the future according to the current motion state parameter to obtain a predicted motion trail, including: and predicting the motion trail of the aircraft according to the current motion state parameters and the historical motion trail of the aircraft and/or the aircraft except the aircraft to obtain the predicted motion trail of the aircraft in the future preset time length. It will be appreciated that the motion trajectories of the same or different aircraft may all exhibit a trend when moving in the same or similar positions or continuously, and thus, the historical motion trajectories may be historical motion trajectories of the aircraft itself or historical motion trajectories of other aircraft other than the aircraft. Preferably, the historical motion trail includes a historical motion trail including a current position. Preferably, the historical motion profile comprises a historical motion profile of the aircraft before reaching a current location. Taking the historical motion trail as the historical motion trail of the aircraft as an example, because the historical motion trail of the aircraft can represent the historical motion condition of the aircraft, such as whether the aircraft moves in a straight line, turns or not, and the like, the motion trail of the aircraft can be predicted according to the current motion state parameters and the historical trail of the aircraft, and the predicted motion trail of the aircraft in the future preset time period can be obtained. For example, if it is determined that the aircraft is in a linear motion state all the time according to the historical motion trajectory of the aircraft, it is predicted that the aircraft will be in a linear motion state within a preset time period in the future, and the trajectory to be traversed by the aircraft within the preset time period in the future is known based on the current position of the aircraft. In addition, the motion trail of the aircraft in the future preset time period can be predicted based on a deep learning end-to-end method and the like. Therefore, the predicted motion trail of the aircraft can be simply and rapidly obtained, and the timeliness of map loading is further improved.

In an embodiment, the predicting the motion trail of the aircraft within a future preset duration according to the current motion state parameter, before obtaining the predicted motion trail, further includes: and filtering the current motion state parameter. It can be appreciated that, since the motion state parameter of the aircraft may be obtained when the aircraft is in motion, where the motion state parameter of the aircraft may include noise generated by the aircraft itself or the outside, the current motion state parameter may be filtered, such as kalman filtering, particle filtering, etc., so as to improve the quality of the current motion state parameter, and further make the predicted motion track determined based on the current motion state parameter more stable and accurate.

Step S103: and determining a region to be requested based on the predicted motion trail.

It will be appreciated that since the predicted motion trajectory represents a trajectory that the aircraft is about to travel or traverse, in order to provide corresponding map data for the trajectory, i.e. the position, that the aircraft is about to travel or traverse in time, the area to be requested may be determined based on the predicted motion trajectory. Optionally, the determining the area to be requested based on the predicted motion trail includes: taking the current position of the aircraft as an origin, and taking an elliptical area determined by a preset long and short axis as the minimum area to be requested of the aircraft. Here, the current position of the aircraft is an intersection point of a major axis and a minor axis of an elliptical region, and the size of the elliptical region may be determined in a case where the sizes of the major axis and the minor axis are determined. The sizes of the long axis and the short axis can be set according to actual conditions, such as setting the sizes of the long axis and the short axis at a combination speed, or directly setting the sizes of the long axis and the short axis to fixed values, such as setting the long axis to 20 meters, setting the short axis to 15 meters, and the like. Meanwhile, the long axis direction of the elliptical area can point to or be parallel to the running direction of the aircraft, so that the maximum duration of running of the aircraft in the minimum area to be requested is ensured. According to the information such as the flight characteristics of the aircraft, the elliptical area determined by taking the current position of the aircraft as the origin is used as the minimum area to be requested of the aircraft, so that the minimum area to be requested can be ensured as much as possible, and the map data corresponding to the minimum area to be requested can meet the requirements of the aircraft. Therefore, the elliptical area determined by taking the current position of the aircraft as the origin is used as the minimum area to be requested of the aircraft, so that the loaded map data at least can meet the requirements of the aircraft, and the timeliness and accuracy of map loading are further improved.

Optionally, the preset duration includes a first preset duration, and predicting a motion track of the aircraft in a future preset duration according to the current motion state parameter to obtain a predicted motion track includes: predicting a motion trail of the aircraft in a first preset time length in the future according to the current motion state parameters to obtain a first predicted motion trail; the determining the region to be requested based on the predicted motion trail comprises the following steps: taking the current position of the aircraft as an endpoint, and respectively shifting the first predicted motion track leftwards and rightwards by a preset angle to obtain a first track area; and determining the union of the minimum to-be-requested area and the first track area as the to-be-requested area. Here, according to the current motion state parameter and the first preset duration, the position of the aircraft at each time point within the first preset duration in the future can be predicted, so as to obtain a first predicted motion track. The first predicted motion track may be a straight line, a curve, or the like. The preset angle can be set according to actual situation requirements, for example, 30 degrees, 45 degrees and the like. After the first predicted motion track is offset to the left and right by a preset angle respectively by taking the current position of the aircraft as an end point, a fan-shaped area with an included angle being the sum of the two preset angles, namely a first track area, can be obtained, and the union of the minimum area to be requested and the first track area, namely the area to be requested, can be regarded as an area which the aircraft will pass through in the current and future preset first time period. It can be understood that, by taking the current position of the aircraft as an endpoint, the first predicted motion track is offset to the left and right by a preset angle respectively, so that a track area, namely a first track area, which is approximately to be passed by the aircraft in a first preset time length in the future after the current time can be obtained, and the minimum area to be requested characterizes the area which is to be passed by the aircraft at present, and by determining the union of the minimum area to be requested and the first track area as the area to be requested, map data corresponding to the area to be requested which is loaded later can be ensured to meet the requirements of the aircraft. Therefore, the area to be requested is determined based on the predicted motion trail, the operation is convenient and rapid, the accuracy is high, and the timeliness and the accuracy of map loading are further improved.

Step S104: and acquiring map data corresponding to the area to be requested.

Specifically, after the area to be requested is determined, map data corresponding to the area to be requested may be acquired, that is, map data corresponding to the area to be requested may be loaded, so that the corresponding map data may be used after the aircraft travels to the area to be requested.

The obtaining map data corresponding to the area to be requested includes two cases: if the map data corresponding to the area to be requested is stored locally, the map data corresponding to the area to be requested which is stored locally can be directly loaded; and the other is that the map data corresponding to the area to be requested is not stored locally, the map data corresponding to the area to be requested is required to be downloaded from a cloud server, and then the map data corresponding to the area to be requested is loaded. In addition, according to the time sequence of the aircraft for the map data of different areas, the map data corresponding to the area to be requested can be loaded in sequence, for example, in the area to be requested, if a position is closer to the current position of the aircraft, the map data corresponding to the position needs to be loaded earlier; if a position is farther from the current position of the aircraft, the time for loading map data corresponding to the position can be more backward. In summary, in the map data acquisition method provided in the above embodiment, the map data request area is adaptively adjusted according to the motion state parameter of the aircraft, so that the map data can be loaded timely and accurately, and the user experience is improved.

Referring to fig. 2, an embodiment of the present application further provides a map data obtaining apparatus, including: a motion state acquisition module 10, a motion trajectory prediction module 11, a map data area determination module 12, and a map data request module 13; wherein,

A motion state acquisition module 10, configured to acquire current motion state parameters of the aircraft, where the current motion state parameters include at least a position, a speed, and an acceleration;

The motion trail prediction module 11 is configured to predict a motion trail of the aircraft within a preset time period in the future according to the current motion state parameter, so as to obtain a predicted motion trail;

a map data area determining module 12 for determining an area to be requested based on the predicted motion trail;

The map data request module 13 is configured to obtain map data corresponding to the area to be requested.

It will be appreciated that the aircraft may refer to an aircraft having autopilot functionality, including but not limited to a flying car or the like, and that current state of motion parameters of the aircraft are used to characterize the state of motion of the aircraft, including but not limited to position, velocity, acceleration, etc., and that the above parameters are vectors, including, for example, position, not only size, but also direction. It should be noted that, the motion state obtaining module 10 may obtain the current motion state parameter of the aircraft through a preset sensor provided on the aircraft, for example, obtain the position through a positioning system, obtain the speed through a speed sensor, and so on. In addition, the motion state obtaining module 10 may obtain the current motion state parameter of the aircraft in real time or periodically, or may obtain the motion state parameter of the aircraft periodically, which is not limited herein.

It can be understood that, because the current motion state parameter is a vector parameter, the current traveling direction, speed and other information of the aircraft can be obtained based on the current motion state parameter, so that the motion trail of the aircraft in the future preset duration can be predicted according to the current motion state parameter to obtain the predicted motion trail. The preset duration may be set according to actual situation requirements, but cannot be too large, and may be generally set to several seconds, such as 3 seconds, 5 seconds, and the like. It should be noted that, according to different map loading targets, the size and the number of the preset durations are correspondingly different, and if the map loading targets include the request map data and the pre-cache map data, the preset duration corresponding to the pre-cache map data is longer than the preset duration corresponding to the request map data.

Optionally, the motion trajectory prediction module 11 is specifically configured to: and based on a preset motion trail prediction model, predicting the motion trail of the aircraft according to the current motion state parameters to obtain a predicted motion trail of the aircraft in a future preset time length.

Optionally, the motion trail prediction model is pre-established based on parameters such as position, speed and acceleration, assuming that the current position of the aircraft isCurrent speed is/>Current acceleration is/>If only the influence of the radial acceleration on the motion trail is considered, the corresponding motion trail prediction model is as follows:

Here, Δt is the sampling time interval, And k is a natural number in the radial direction of the speed at the moment k, and the preset duration at least comprises a sampling time interval. Based on the motion trail prediction model, after the current motion state parameters are input into the motion trail prediction model, information such as positions, speeds, accelerations and the like corresponding to the aircraft after every other sampling time interval can be obtained, and based on information such as positions, speeds, accelerations and the like corresponding to a plurality of sampling time intervals contained in the preset duration, the predicted motion trail of the aircraft in the future preset duration can be obtained. It should be noted that, if the preset duration includes a first preset duration and a second preset duration, and the second preset duration is longer than the first preset duration, the predicted motion track includes a first predicted motion track corresponding to the first preset duration and a second predicted motion track corresponding to the second preset duration. Therefore, the predicted motion trail of the aircraft can be conveniently and accurately obtained, and the timeliness and accuracy of map data loading are further improved.

Optionally, the motion state acquisition module 10 is further configured to: and filtering the current motion state parameter. It can be appreciated that, since the motion state parameter of the aircraft may be obtained when the aircraft is in motion, where the motion state parameter of the aircraft may include noise generated by the aircraft itself or the outside, the current motion state parameter may be filtered, such as kalman filtering, particle filtering, etc., so as to improve the quality of the current motion state parameter, and further make the predicted motion track determined based on the current motion state parameter more stable and accurate.

It will be appreciated that since the predicted motion trajectory represents a trajectory that the aircraft is about to travel or traverse, in order to provide corresponding map data for the trajectory, i.e. the position, that the aircraft is about to travel or traverse in time, the area to be requested may be determined based on the predicted motion trajectory. Optionally, the map data area determining module 12 is specifically configured to: taking the current position of the aircraft as an origin, and taking an elliptical area determined by a preset long and short axis as the minimum area to be requested of the aircraft. Here, the current position of the aircraft is an intersection point of a major axis and a minor axis of an elliptical region, and the size of the elliptical region may be determined in a case where the sizes of the major axis and the minor axis are determined. The sizes of the long axis and the short axis can be set according to actual conditions, such as setting the sizes of the long axis and the short axis at a combination speed, or directly setting the sizes of the long axis and the short axis to fixed values, such as setting the long axis to 20 meters, setting the short axis to 15 meters, and the like. Meanwhile, the long axis direction of the elliptical area can point to or be parallel to the running direction of the aircraft, so that the maximum duration of running of the aircraft in the minimum area to be requested is ensured. Therefore, the elliptical area determined by taking the current position of the aircraft as the origin is used as the minimum area to be requested of the aircraft, so that the loaded map data at least can meet the requirements of the aircraft, and the timeliness and accuracy of the loading of the map data are further improved.

Optionally, the preset duration includes a first preset duration, and the motion trail prediction module 11 is specifically configured to: predicting a motion trail of the aircraft in a first preset time length in the future according to the current motion state parameters to obtain a first predicted motion trail; the map data area determining module 12 is specifically configured to: taking the current position of the aircraft as an endpoint, and respectively shifting the first predicted motion track leftwards and rightwards by a preset angle to obtain a first track area; and determining the union of the minimum to-be-requested area and the first track area as the to-be-requested area. Here, according to the current motion state parameter and the first preset duration, the position of the aircraft at each time point within the first preset duration in the future can be predicted, so as to obtain a first predicted motion track. The first predicted motion track may be a straight line, a curve, or the like. The preset angle can be set according to actual situation requirements, for example, 30 degrees, 45 degrees and the like. After the first predicted motion track is offset to the left and right by a preset angle respectively by taking the current position of the aircraft as an end point, a fan-shaped area with an included angle being the sum of the two preset angles, namely a first track area, can be obtained, and the union of the minimum area to be requested and the first track area, namely the area to be requested, can be regarded as an area which the aircraft will pass through in the current and future preset first time period. It can be understood that, by taking the current position of the aircraft as an endpoint, the first predicted motion track is offset to the left and right by a preset angle respectively, so that a track area, namely a first track area, which is approximately to be passed by the aircraft in a first preset time length in the future after the current time can be obtained, and the minimum area to be requested characterizes the area which is to be passed by the aircraft at present, and by determining the union of the minimum area to be requested and the first track area as the area to be requested, map data corresponding to the area to be requested which is loaded later can be ensured to meet the requirements of the aircraft. Therefore, the area to be requested is determined based on the predicted motion trail, the operation is convenient and rapid, the accuracy is high, and the timeliness and the accuracy of map data loading are further improved.

Here, the map data request module 13 may be connected with a flight control unit of the aircraft to provide corresponding map data to the flight control unit, and the map data request module 13 may also be connected with other display units of the aircraft for the other display units to display the map data.

In summary, in the map data acquiring device provided in the above embodiment, the map data request area is adaptively adjusted according to the motion state parameter of the aircraft, so that the map data can be loaded timely and accurately, and the user experience is improved.

Based on the same application concept as the previous embodiments, embodiments of the present application provide an aircraft including the map data acquisition device as described above.

Referring to fig. 3, in some implementations, the map data obtaining method provided in this embodiment further includes:

Step S105: predicting a motion track of the aircraft in a second preset time length in the future according to the current motion state parameters to obtain a second predicted motion track, wherein the second preset time length is longer than the first preset time length;

Step S106: taking the current position of the aircraft as an endpoint, respectively shifting the second predicted motion track leftwards and rightwards by a preset angle to obtain a second track area, wherein the second track area comprises the first track area;

Step S107: and determining a complement of the first track area relative to the second track area as a pre-cache area.

Here, according to the current motion state parameter and the second preset duration, the position of the aircraft at each time point within the second preset duration in the future can be predicted, so as to obtain a second predicted motion track. Wherein the second predicted motion trajectory may be a straight line, a curve, or the like. After the current position of the aircraft is taken as an end point and the second predicted motion track is respectively shifted leftwards and rightwards by a preset angle, a fan-shaped area with an included angle being the sum of the two preset angles, namely a second track area, is obtained, and the range of the first predicted motion track is smaller than the range of the second predicted motion track because the first preset duration is smaller than the second preset duration correspondingly, so that the second track area can comprise the first track area. Furthermore, the pre-cached area determined by the complement of the first trajectory area with respect to the second trajectory area may be considered as an area that the aircraft will pass after a first predetermined time period in the future and within a second predetermined time period in the future. It will be appreciated that, with the current position of the aircraft as an end point, the second predicted motion trajectory is shifted to the left and right by a preset angle, respectively, so as to obtain a trajectory region, i.e. a second trajectory region, which is approximately to be passed by the aircraft within a second preset duration in the future after the current time, and the first trajectory region characterizes the trajectory region, which is approximately to be passed by the aircraft within the first preset duration in the future after the current time, and map data, which may be to be used by the aircraft later, is cached in advance based on the pre-cache region by determining a complement of the first trajectory region with respect to the second trajectory region as a pre-cache region. Therefore, the pre-cache area is determined based on the predicted motion trail, so that map data corresponding to the pre-cache area can be acquired in advance, and timeliness and convenience of loading the map data are further improved.

Referring to fig. 2 again, in some embodiments, the motion trajectory prediction module 11 is further configured to predict, according to the current motion state parameter, a motion trajectory of the aircraft within a second preset time period in the future, to obtain a second predicted motion trajectory, where the second preset time period is longer than the first preset time period;

The map data area determining module 12 is further configured to shift the second predicted motion track by a preset angle to the left and right respectively with the current position of the aircraft as an endpoint, so as to obtain a second track area, where the second track area includes the first track area; and determining a complement of the first track area with respect to the second track area as a pre-cached area. Therefore, the pre-cache area is determined based on the predicted motion trail, so that map data corresponding to the pre-cache area can be acquired in advance, and timeliness and convenience of loading the map data are further improved.

Referring to fig. 4, in some implementations, the map data obtaining method provided in this embodiment further includes:

step S108: and requesting map data corresponding to the pre-cache area to a local cache from the map data cloud.

Specifically, when the map data corresponding to the pre-cache area is not cached locally, a data request is sent to the map data cloud end, so that the map data cloud end is requested to send the map data corresponding to the pre-cache area to the local cache. Therefore, map data corresponding to the pre-cache area is timely obtained from the map data cloud, so that subsequent map data loading operation is facilitated, and timeliness and convenience of map data loading are further improved.

Referring to fig. 5, in some embodiments, the map data obtaining apparatus further includes a map data pre-caching module 14, configured to request, from a map data cloud, map data corresponding to the pre-caching area to a local cache. Specifically, when the map data corresponding to the pre-cache area is not cached locally, a data request is sent to the map data cloud end, so that the map data cloud end is requested to send the map data corresponding to the pre-cache area to the local cache. Therefore, map data corresponding to the pre-cache area is timely obtained from the map data cloud, so that subsequent map data loading operation is facilitated, and timeliness and convenience of map data loading are further improved.

Referring to fig. 6, in some embodiments, the step S104 includes:

step S1040: acquiring map data corresponding to the area to be requested from a local cache;

Step S1041: and when the local cache does not have the map data corresponding to the area to be requested, requesting the map data corresponding to the area to be requested from a map data cloud.

Specifically, after determining the area to be requested, map data corresponding to the area to be requested may be obtained from a local cache, and when the local cache does not have the map data corresponding to the area to be requested, the map data corresponding to the area to be requested is requested from the map data cloud, so that the map data corresponding to the area to be requested is obtained. For example, whether the local cache stores the map data corresponding to the area to be requested is queried, and if the local cache does not store the map data corresponding to the area to be requested, the map data cloud sends a data acquisition request for requesting to acquire the map data corresponding to the area to be requested. Therefore, the map data corresponding to the area to be requested is timely obtained from the map data cloud, so that the required map data can be timely provided for the aircraft, and timeliness and convenience of map data loading are further improved.

Referring again to fig. 2, in some embodiments, the map data request module 13 is specifically configured to:

acquiring map data corresponding to the area to be requested from a local cache;

And when the local cache does not have the map data corresponding to the area to be requested, requesting the map data corresponding to the area to be requested from the map data cloud.

Therefore, the map data corresponding to the area to be requested is timely obtained from the map data cloud, so that the required map data can be timely provided for the aircraft, and timeliness and convenience of map data loading are further improved.

Optionally, in some embodiments, the acquiring map data corresponding to the area to be requested includes:

And acquiring map data corresponding to the areas to be requested according to the priority order, wherein the minimum area to be requested has the highest priority, and the intersection of the first track area and the minimum area to be requested is the priority order of the complement of the first track area.

It can be appreciated that, since the distance between the minimum to-be-requested area and the aircraft is close to the distance between the first track area and the aircraft, that is, the aircraft may need to use the map data corresponding to the minimum to-be-requested area first, then use the map data corresponding to the intersection of the first track area and the minimum to-be-requested area relative to the complement of the first track area, the map data corresponding to the minimum to-be-requested area may be loaded first, and then load the map data corresponding to the intersection of the first track area and the minimum to-be-requested area relative to the complement of the first track area, so that the timeliness and accuracy of loading the map data are further improved.

Referring again to fig. 2, in some embodiments, the map data request module 13 is specifically configured to:

And acquiring map data corresponding to the areas to be requested according to the priority order, wherein the minimum area to be requested has the highest priority, and the intersection of the first track area and the minimum area to be requested is the priority order of the complement of the first track area.

Referring to fig. 7, the current motion state parameter further includes a height, and in some embodiments, the step S104 includes:

Step S1042: determining a map scale according to the height;

step S1043: and acquiring map data corresponding to the map scale and the area to be requested.

It will be appreciated that the required map scale varies for different heights and can be generally summarized as: the higher the height is, the larger the map scale is, and the lower the height is, the smaller the map scale is, therefore, the map scale corresponding to the height range where the height is located can be determined according to the corresponding relation between the height range preset by the height inquiry and the map scale, and further, the map data corresponding to the map scale and the region to be requested are obtained. Therefore, the map with the matched scale and height is loaded, and the convenience of map data loading is improved.

Referring again to fig. 2, in some embodiments, the current motion state parameter further includes a height, and the map data request module 13 is specifically configured to: determining a map scale according to the height; and acquiring map data corresponding to the map scale and the area to be requested. Therefore, the map with the matched scale and height is loaded, and the convenience of map data loading is improved.

Based on the same application concept as the previous embodiments, the present embodiment describes the technical solution of the previous embodiments in detail by a specific example.

Referring to fig. 8, a schematic structural diagram of a map data acquisition system provided by an embodiment of the present application includes an aircraft 1 and a cloud end 2, where the aircraft 1 includes a flight motion track prediction module 20, a map data area request module 21, a map data local pre-cache module 22, a flight control module 23 and a display module 24, where the flight motion track prediction module 20 is configured to predict a motion track according to motion state parameters of the aircraft 1, such as a position, a speed, an altitude, an acceleration, etc., the map data area request module 21 and the map data local pre-cache module 22 are configured to load corresponding map data according to the motion track predicted by the flight motion track prediction module 20, for use by the flight control module 23 and the display module 24, that is, the flight motion track prediction module 20, the map data area request module 21 and the map data local pre-cache module 22 are configured to implement a map dynamic loading function, and the map data local cloud end pre-cache module 22 is communicatively connected to the cloud end 2 to load map data from the map 2.

The map loading system works as follows: firstly, the flight motion trajectory prediction module 20 predicts the motion trajectory of the aircraft body in a future short period of time according to the current motion state parameters of the aircraft, so as to obtain a predicted trajectory, namely a predicted motion trajectory; next, the map data area request module 21 and the map data local pre-cache module 22 both take the output of the flight motion trajectory prediction module 20 as input, but the difference is that the future time corresponding to the predicted motion trajectory in the map data local pre-cache module 22 is longer, so that the map data is loaded locally in advance for the map request module to request and acquire more efficiently. The map data area request module 21 is configured to calculate a map area and map scale to be requested based on the predicted motion trail and the current position, and then send a map data request packet to the map data local pre-cache module 22 according to priority, so as to obtain map data for use by the flight control module 23 (FCU), the display module 24, and other upper layer applications. Next, after receiving the map data request packet, the map data local pre-caching module 22 searches the map data of the corresponding position locally, and if the map data does not exist, requests the cloud to obtain the map data, and then forwards the map data to the map data area requesting module 21, and caches the map data locally. In addition, the map data local pre-caching module 22 simultaneously and independently requests map data from the cloud end so as to more efficiently respond to the map data request issued by the map data area request module 21.

The concrete explanation is as follows: the main objective of the flight motion trajectory prediction module 20 is to predict the motion trajectory of the aircraft body in a small future time period (e.g. 2 seconds and 3 seconds) according to the current motion state parameters of the aircraft, such as position, speed and acceleration, so as to obtain map data in the trajectory range according to the motion trajectory. Here, it can be noted that the current position, speed and acceleration of the aircraft are respectively If only the influence of the radial acceleration on the flight trajectory (i.e., the motion trajectory) is considered, the motion trajectory prediction model is:

Here, Δt is the sampling time interval, The radial direction of the velocity at time k, k being a natural number, and the small time period comprising at least one sampling time interval. It should be noted that, the map data area request module 21 needs a motion track of a first preset duration T1 in the future, and the map data local pre-buffer module 22 needs a motion track of a second preset duration T2 in the future, where T2 is greater than T1.

The main objective of the map data area request module 21 is to automatically generate a map loading area and map scale according to the predicted motion trail of the flight motion trail prediction module 20, and request map data according to the priority of the map area. Referring to fig. 9, a specific flowchart of a map data obtaining method according to an embodiment of the invention is shown, and the map data area request module 21 includes the following steps:

step S201: acquiring a predicted motion trail in a first preset duration;

Specifically, the map data area request module 21 acquires the movement track of the aircraft within the first preset time period T1 in the future predicted by the flight movement track prediction module 20.

Step S202: generating a map data request area according to the motion trail in the first preset duration;

Specifically, referring to fig. 10, the movement track corresponding to the input duration T1 is offset to the left and right by a predetermined angle respectively with respect to the aircraft body as the center, the formed area intersects with the boundary (small dotted circle) of the map data request area, and in order to ensure that map data exists in a certain range around the aircraft, an elliptical area (shown as a hatched portion in fig. 10) having an intersection point of the major axis and the minor axis and having a major axis radius and a minor axis radius determined with respect to the aircraft body is preset, and the elliptical area and the area obtained after intersection are formed together into the map data request area.

Step S203: acquiring a map scale according to the height value in the flight track;

step S204: and packaging and sending the map data request packet according to the priority according to the map data request area and the map scale.

Here, since the map data has a rectangular slice shape, it can be determined whether or not the rectangular slice boundary of the loaded map data intersects the map data request area, and if the intersection indicates that the corresponding map data needs to be loaded, the map data request packet is transmitted in accordance with the following priority setting method. Referring to fig. 10 again, if the rectangular slice is located in the elliptical area, the priority of the corresponding map data request packet is highest; if, in addition to the elliptical area, the rectangular slice is located inside the small dashed circle, i.e. within the map data request area boundary, the priority of the corresponding map data request packet.

The main objective of the map data local pre-caching module 22 is to request map data from the cloud in advance to be cached locally according to the movement state of the body, so as to ensure that the map data area requesting module 21 obtains the required map data faster and more efficiently. Referring to fig. 11, a second specific flowchart of a map data obtaining method according to an embodiment of the present invention is applied to a local pre-caching module 22 of map data, and includes the following steps:

step S301: acquiring a predicted motion trail in a second preset time length;

Specifically, the map data local pre-caching module 22 obtains the motion trail of the aircraft predicted by the flight motion trail prediction module 20 within a second preset duration T2 in the future.

Step S302: generating a map data pre-caching area according to the motion trail in the second preset duration;

Specifically, referring to fig. 10 again, the motion trajectory corresponding to the input duration T2 is offset to the left and right by a predetermined angle respectively, the formed region intersects with the boundary (large dashed circle) of the pre-cache region, and in order to ensure that map data exists in a certain range around the aircraft, an elliptical region (as shown in a shaded portion in fig. 10) with the intersection point of the major axis and the minor axis of the aircraft body and the radius of the major axis and the radius of the minor axis being determined is preset, and the elliptical region and the region obtained after intersection are combined together to form the map data pre-cache region.

Step S303: acquiring a map scale according to the height value in the flight track;

Step S304: according to the map data pre-caching area and the map scale, packaging a map data request packet according to the priority;

Referring to fig. 10 again, if the rectangular slice is located inside the large dashed circle, i.e. within the boundary of the pre-cache area, except for the elliptical area and the small dashed circle, the priority of the corresponding map data request packet is the lowest, and other map data request packets may refer to the description in the above embodiments, which is not repeated here.

Step S305: adding the map data request packet into a map data request packet priority queue;

Specifically, the map data local pre-caching module 22 establishes a map data request packet priority queue, and the queue sorts the internal request packets according to the priorities of the data packets so that the priority with high priority is processed. The request packet in the queue comes from two directions, one is sent by the map data area request module 21, and the other is a map slice data request corresponding to the movement track within the time T2 predicted by the flight movement track prediction module 20, and the processing method is the same as that of the map data area request module 21.

Step S306: judging whether map data corresponding to the map data request packet is cached locally, if so, executing a step S307, otherwise, executing a step S309;

Specifically, for the map data request packet in the map data request packet queue, the map data local pre-caching module 22 queries whether the corresponding map data has been cached locally through the hash value, and if so, sends the corresponding map data to the map data area requesting module 21; if the map data does not exist, the map data is requested from the cloud of the map data and is cached locally. Here, each rectangular slice of map data corresponds to a hash value for local quick query and removal operations.

Step S307: sending a map data request to a cloud;

step S308: caching map data sent by a cloud to a local;

In addition, referring to fig. 10 again, the large dashed circular area in fig. 10 is the boundary of the map data preloading area, in which the map data is pre-cached, and the map data not in the area is released, so as to avoid excessive consumption of local resources.

Step S309: and sending the map data to the requesting end.

Here, the requesting end may be the map data area requesting module 21 or the map data local pre-caching module 22.

In this way, in the map data acquisition method provided by the embodiment, the map area is dynamically adjusted based on the flight state and the loading priority according to the characteristics of high speed and high steering of the aircraft and the map loading problem, so that the map can be loaded timely and accurately, and the user experience is improved.

The application also provides a map loading device, which comprises: the map data acquisition system comprises a memory and a processor, wherein the memory stores a computer program which realizes the steps of the map data acquisition method when being executed by the processor.

The present application also provides a readable storage medium, characterized in that the readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the map data acquisition method as described above.

Embodiments of the present application also provide a computer program product comprising computer program code which, when run on a computer, causes the computer to perform the map data acquisition method as described in the various possible embodiments above.

The embodiment of the application also provides a chip, which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor is used for calling and running the computer program from the memory, so that a device provided with the chip executes the map data acquisition method in various possible implementation modes.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

The steps in the method of the embodiment of the application can be sequentially adjusted, combined and deleted according to actual needs.

The units in the device of the embodiment of the application can be combined, divided and deleted according to actual needs.

In the present application, the same or similar term concept, technical solution and/or application scenario description will be generally described in detail only when first appearing and then repeatedly appearing, and for brevity, the description will not be repeated generally, and in understanding the present application technical solution and the like, reference may be made to the previous related detailed description thereof for the same or similar term concept, technical solution and/or application scenario description and the like which are not described in detail later.

In the present application, the descriptions of the embodiments are emphasized, and the details or descriptions of the other embodiments may be referred to.

The technical features of the technical scheme of the application can be arbitrarily combined, and all possible combinations of the technical features in the above embodiment are not described for the sake of brevity, however, as long as there is no contradiction between the combinations of the technical features, the application shall be considered as the scope of the description of the application.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, a controlled terminal, or a network device, etc.) to perform the method of each embodiment of the present application.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line), or wireless (e.g., infrared, wireless, microwave, etc.). Computer readable storage media can be any available media that can be accessed by a computer or data storage devices, such as servers, data centers, etc., that contain an integration of one or more available media. Usable media may be magnetic media (e.g., floppy disks, storage disks, magnetic tape), optical media (e.g., DVD), or semiconductor media (e.g., solid state storage disk Solid STATE DISK (SSD)), etc.

The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims (10)

1. A map data acquisition method, characterized by comprising:

acquiring current motion state parameters of an aircraft, wherein the current motion state parameters at least comprise position, speed and acceleration;

Predicting the motion trail of the aircraft in a future preset time length according to the current motion state parameters to obtain a predicted motion trail;

determining a region to be requested based on the predicted motion trail;

acquiring map data corresponding to the region to be requested;

the preset time length comprises a first preset time length; predicting the motion trail of the aircraft in a future preset time length according to the current motion state parameters to obtain a predicted motion trail, wherein the method comprises the following steps:

Predicting a motion trail of the aircraft in a first preset time length in the future according to the current motion state parameters to obtain a first predicted motion trail;

determining a region to be requested based on the predicted motion trail, including:

Taking the current position of the aircraft as an origin, and taking an elliptical area determined by a preset long and short axis as a minimum area to be requested of the aircraft;

taking the current position of the aircraft as an endpoint, and respectively shifting the first predicted motion track leftwards and rightwards by a preset angle to obtain a first track area;

And determining the union of the minimum to-be-requested area and the first track area as the to-be-requested area.

2. The method according to claim 1, wherein the method further comprises:

Predicting a motion track of the aircraft in a second preset time length in the future according to the current motion state parameters to obtain a second predicted motion track, wherein the second preset time length is longer than the first preset time length;

Taking the current position of the aircraft as an endpoint, respectively shifting the second predicted motion track leftwards and rightwards by a preset angle to obtain a second track area, wherein the second track area comprises the first track area;

and determining a complement of the first track area relative to the second track area as a pre-cache area.

3. The method according to claim 2, wherein the method further comprises:

And requesting map data corresponding to the pre-cache area to a local cache from the map data cloud.

4. A method according to claim 3, wherein obtaining map data corresponding to the area to be requested comprises:

acquiring map data corresponding to the area to be requested from a local cache;

And when the local cache does not have the map data corresponding to the area to be requested, requesting the map data corresponding to the area to be requested from the map data cloud.

5. The method of claim 4, wherein obtaining map data corresponding to the area to be requested comprises:

acquiring map data corresponding to the areas to be requested according to the priority order, wherein the minimum area to be requested has the highest priority,

The intersection of the first track area and the minimum to-be-requested area is prioritized relative to the complement of the first track area.

6. The method according to any one of claims 1-5, wherein predicting a motion trajectory of the aircraft within a predetermined time period in the future according to the current motion state parameter, to obtain a predicted motion trajectory, comprises:

Based on a preset motion trail prediction model, the flying is performed according to the current motion state parameters

And predicting the motion trail to obtain the predicted motion trail of the aircraft in the future preset time length.

7. The method according to any one of claims 1-5, wherein the current motion state parameter further includes a height, and the acquiring map data corresponding to the area to be requested includes:

Determining a map scale according to the height;

And acquiring map data corresponding to the map scale and the area to be requested.

8. The method of any one of claims 1-5, further comprising:

And filtering the current motion state parameter.

9. A map data acquisition apparatus, characterized by comprising,

The motion state acquisition module is used for acquiring current motion state parameters of the aircraft, wherein the current motion state parameters at least comprise position, speed and acceleration;

The motion trail prediction module is used for predicting the motion trail of the aircraft in a future preset duration according to the current motion state parameters to obtain a predicted motion trail;

The map data area determining module is used for determining an area to be requested based on the predicted motion trail;

the map data request module is used for acquiring map data corresponding to the area to be requested;

The preset time length comprises a first preset time length; the motion trail prediction module is specifically used for:

Predicting a motion trail of the aircraft in a first preset time length in the future according to the current motion state parameters to obtain a first predicted motion trail;

The map data area determining module is specifically configured to:

Taking the current position of the aircraft as an origin, and taking an elliptical area determined by a preset long and short axis as a minimum area to be requested of the aircraft;

taking the current position of the aircraft as an endpoint, and respectively shifting the first predicted motion track leftwards and rightwards by a preset angle to obtain a first track area;

And determining the union of the minimum to-be-requested area and the first track area as the to-be-requested area.

10. An aircraft, characterized in that it comprises a map data acquisition device according to claim 9.