Method and device for generating a flight path of an aircraft, processing device and storage medium

Abstract

The application discloses a flight route generation method of an aircraft, comprising the following steps: constructing a waypoint list of a flight route, wherein the waypoint list indicates waypoint positions determined according to alternative flight routes; the aircraft sails at the waypoint positions; determining a predetermined space according to waypoint position information of a position where the aircraft is located and a predetermined waypoint interval; obtaining a list of geographic information objects determined according to intersection coordinates; and determining whether to add the intersection coordinates to the waypoint list according to a relationship between the intersection coordinates and positions of the geographic information objects. In the technical scheme of the application, the waypoint list is determined according to positions of geographic information objects, a flight route highly matched with the geographic information objects and a waypoint density is generated, and the safety during the sailing of the aircraft is improved.

Description

Technical Field

[0001] This invention relates to the field of aviation technology, and in particular to a method, apparatus, processing equipment, and storage medium for generating flight routes for aircraft. Background Technology

[0002] Currently, in application scenarios involving flight path generation, such as drone flight path generation, operators need to plan the drone's trajectory in advance. This involves finding and calculating waypoints point by point from a paper map and manually inputting the obtained fixed-point or arc-shaped flight path data into the drone system. The drone can then patrol at fixed points; or, based on the map data input by the operator, it can patrol the entire map using an arc-shaped trajectory.

[0003] In related technologies, the flight path generation process for drones is constrained by manual planning before actual flight, and can only support fixed-point or arc-shaped flight path planning. In practical applications, drones using these technologies suffer from low safety during flight and poor adaptability to the surrounding environment. Summary of the Invention

[0004] In view of this, the present invention discloses a method, apparatus, processing device and storage medium for generating flight paths for an aircraft.

[0005] According to a first aspect of the present invention, a method for generating flight paths for an aircraft is provided, the method comprising:

[0006] A waypoint list is constructed for the flight route, wherein the waypoint list indicates the waypoint locations determined based on the alternative flight routes; the aircraft navigates at the waypoint locations;

[0007] Based on the waypoint location information of the aircraft's current location and the predetermined waypoint spacing, a predetermined space is determined, wherein the predetermined waypoint spacing is inversely proportional to the waypoint density;

[0008] Obtain a list of geographic information objects determined by the intersection coordinates, wherein the list of geographic information objects indicates the location of at least one geographic information object; the intersection coordinates are the coordinates of the point where the predetermined space intersects with the candidate route;

[0009] Based on the relationship between the intersection coordinates and the location of the geographic information object, determine whether to add the intersection coordinates to the waypoint list.

[0010] In one embodiment, determining the predetermined space based on waypoint location information of the aircraft's location and predetermined waypoint spacing includes:

[0011] Based on the waypoint location information of the aircraft's current location and the predetermined waypoint spacing, a first spherical space is determined, wherein the center of the first spherical space is determined based on the waypoint location information, and the radius of the first spherical space is determined based on the predetermined waypoint spacing.

[0012] In one embodiment, determining whether to add the intersection coordinates to the waypoint list based on the relationship between the intersection coordinates and the location of the geographic information object includes:

[0013] Based on the relationship between the intersection coordinates and the location of the geographic information object, determine whether the intersection coordinates are within the safe distance range of the geographic information object;

[0014] If the intersection coordinates are outside the safe distance range of the geographic information object, add the intersection coordinates to the waypoint list; or, if the intersection coordinates are within the safe distance range of the geographic information object, do not add the intersection coordinates to the waypoint list.

[0015] In one embodiment, the method further includes:

[0016] If the coordinates of the intersection point are within the safe distance range of the geographic information object, an obstacle avoidance process is executed.

[0017] In one embodiment, the obstacle avoidance process includes:

[0018] A second spherical space is determined based on the location information of the reference point on the geographic information object, the external dimensions of the geographic information object, and the predetermined waypoint safety distance. The center of the second spherical space is determined based on the location information of the reference point, and the radius of the second spherical space is determined based on the predetermined waypoint safety distance and the external dimensions.

[0019] Based on the first intersection point, a plane is determined that intersects with the reference axis indicating the spatial height of the second sphere, wherein the angle between the reference axis and the plane is within a predetermined range, and the first intersection point is one of the intersection points between the second sphere space and the reference axis.

[0020] Determine the second intersection point between the second spherical space and the alternative route; add the vertical projection point of the second intersection point on the plane to the waypoint list, wherein the vertical projection point is used to avoid the geographic information object.

[0021] In one embodiment, before determining the predetermined space based on waypoint location information and predetermined waypoint spacing, the method further includes:

[0022] If the coordinates of a newly added waypoint in the waypoint list exceed the range of the predetermined end waypoint, the route generation operation ends. The predetermined end waypoint is used to represent the final target waypoint of this voyage.

[0023] In one embodiment, after determining whether to add the intersection coordinates to the waypoint list based on the relationship between the intersection coordinates and the location of the geographic information object, the method further includes:

[0024] The horizontal and pitch angles between the waypoints at the current location of the aircraft and the newly added waypoints in the waypoint list are calculated sequentially, wherein the horizontal and pitch angles are used for the aircraft to navigate to the position of the newly added waypoints in the waypoint list.

[0025] According to a second aspect of the present invention, an apparatus for generating flight paths for an aircraft is provided, the apparatus comprising:

[0026] A construction module is used to construct a list of waypoints for a flight route, wherein the list of waypoints indicates the positions of waypoints determined based on alternative flight routes; and the aircraft navigates at the waypoint positions.

[0027] The determination module is used to: determine a predetermined space based on the waypoint location information of the aircraft's location and the predetermined waypoint spacing, wherein the waypoint spacing is inversely proportional to the waypoint density; and determine whether to add the intersection coordinates to the waypoint list based on the relationship between the intersection coordinates and the location of the geographic information object, wherein the intersection coordinates are the coordinates of the point where the predetermined space intersects with the first predetermined route.

[0028] The acquisition module is used to acquire a list of geographic information objects determined by the intersection coordinates, wherein the list of geographic information objects indicates the location of at least one geographic information object.

[0029] In one embodiment, the determining module is further configured to:

[0030] Based on the waypoint location information of the aircraft's current location and the predetermined waypoint spacing, a first spherical space is determined, wherein the center of the first spherical space is determined based on the waypoint location information, and the radius of the first spherical space is determined based on the predetermined waypoint spacing.

[0031] In one embodiment, the determining module is further configured to determine whether the intersection coordinates are within the safe distance range of the geographic information object; the device further includes an execution module, wherein,

[0032] The execution module is configured to: add the intersection coordinates to the waypoint list if the intersection coordinates are outside the safe distance range of the geographic information object, or not add the intersection coordinates to the waypoint list if the intersection coordinates are within the safe distance range of the geographic information object.

[0033] In one embodiment, the execution module is further configured to: if the intersection coordinates are within the safe distance range of the geographic information object, execute an obstacle avoidance process.

[0034] In one embodiment, the apparatus includes:

[0035] The determining module is further configured to: determine the maximum distance from the center point of the geographic information object to each vertex of the geographic information object based on the location information of the center point of the geographic information object, wherein the location information of the center point is determined based on the location information of each vertex of the geographic information object; determine a second spherical space based on the location information of the center point, the predetermined waypoint safety distance, and the maximum distance, wherein the center of the second spherical space is determined based on the location information of the center point, and the radius of the second spherical space is determined based on the sum of the predetermined waypoint safety distance and the maximum distance; determine a plane perpendicular to the reference axis based on the first intersection point, wherein the reference axis is used to indicate the relative height of the second spherical space, and the first intersection point is the intersection point of the second spherical space and the reference axis; and determine two second intersection points between the second spherical space and the alternative route.

[0036] The execution module is further configured to: add the vertical projection point of the second intersection point on the plane to the waypoint list, wherein the vertical projection point is used to avoid the geographic information object.

[0037] In one embodiment, the apparatus further includes:

[0038] The termination module is used to terminate the route generation operation if the coordinates of a newly added waypoint in the waypoint list exceed the range of the predetermined termination waypoint, wherein the predetermined termination waypoint is used to represent the final target waypoint of this voyage.

[0039] In one embodiment, the apparatus further includes:

[0040] The calculation module is used to: sequentially calculate the horizontal angle and pitch angle between the waypoint at the current location of the aircraft and the newly added waypoint in the waypoint list, wherein the horizontal angle and the pitch angle are used for the aircraft to navigate to the position of the newly added waypoint in the waypoint list.

[0041] According to a third aspect of the present invention, an embodiment of the present invention provides a processing apparatus, the processing apparatus comprising:

[0042] Memory, used to store executable programs;

[0043] When a processor executes an executable program stored in the memory, it performs the steps of the method described in one or more of the foregoing technical solutions.

[0044] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing an executable program, which, when executed by a processor, can implement the methods described in one or more of the foregoing technical solutions.

[0045] In this invention, a waypoint list for the flight path is constructed. Since the waypoint list indicates the waypoint locations, the aircraft can navigate at the waypoint locations indicated in the list. Here, the predetermined space is determined by the predetermined waypoint spacing and the waypoint location information of the aircraft's current location. Since the predetermined waypoint spacing is inversely proportional to the waypoint density, the predetermined waypoint spacing can be adapted to the waypoint density. Adjustments are made based on the waypoint density to determine the predetermined space that matches the waypoint density. Furthermore, because a list of geographic information objects can be obtained, the geographic information objects corresponding to the intersection coordinates can be accurately selected within a limited range, allowing the aircraft to avoid geographic information objects on the alternative flight path that obstruct its navigation, resulting in high selection efficiency.

[0046] Since the aircraft navigates at the waypoint locations indicated by the waypoint list, the waypoint list is determined based on the predetermined space matching the waypoint density and the relationship between the geographic information objects in the aircraft's surrounding environment and the waypoints where the aircraft is located. Therefore, compared to manually planning fixed-point routes and arc-shaped routes by operators, the technical solution of this invention determines the waypoint list based on the location of geographic information objects. This more efficiently identifies geographic information objects that might obstruct the aircraft's navigation on alternative routes; generates routes that highly match the geographic information objects and waypoint density; and improves the safety of the aircraft's flight by navigating according to the routes corresponding to the waypoint list, making the aircraft adaptable to various application scenarios. Attached Figure Description

[0047] Figure 1 This is a flowchart illustrating a method for generating flight paths for an aircraft according to an exemplary embodiment.

[0048] Figure 2 This is a schematic diagram of a reference axis illustrating a flight path generation method for an aircraft according to an exemplary embodiment.

[0049] Figure 3 This is a flowchart illustrating a method for generating flight paths for an aircraft according to an exemplary embodiment.

[0050] Figure 4 This is a flowchart illustrating a method for generating flight paths for an aircraft according to an exemplary embodiment.

[0051] Figure 5 This is a flowchart illustrating a method for generating flight paths for an aircraft according to an exemplary embodiment.

[0052] Figure 6 This is a flowchart illustrating a method for generating flight paths for an aircraft according to an exemplary embodiment.

[0053] Figure 7 This is a schematic diagram illustrating obstacle avoidance in a flight path generation method for an aircraft according to an exemplary embodiment.

[0054] Figure 8 This is a flowchart illustrating a method for generating flight paths for an aircraft according to an exemplary embodiment.

[0055] Figure 9 This is a flowchart illustrating a method for generating flight paths for an aircraft according to an exemplary embodiment.

[0056] Figure 10 This is a flowchart illustrating a method for generating flight paths for an aircraft according to an exemplary embodiment.

[0057] Figure 11 This is a schematic diagram illustrating the process of a flight path generation apparatus for an aircraft according to an exemplary embodiment.

[0058] Figure 12 This is a schematic diagram of a processing device according to an exemplary embodiment. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0060] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0061] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of the invention described herein can be implemented in an order other than that illustrated or described herein.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing embodiments of the invention only and is not intended to limit the invention.

[0063] like Figure 1 As shown, the present invention provides a method for generating flight paths for an aircraft, the method comprising:

[0064] S110: Construct a list of waypoints for a flight route, wherein the list of waypoints indicates the locations of waypoints determined based on alternative flight routes; the aircraft navigates at the waypoint locations;

[0065] S120: Determine a predetermined space based on the waypoint location information of the aircraft's location and the predetermined waypoint spacing, wherein the predetermined waypoint spacing is inversely proportional to the waypoint density;

[0066] S130: Obtain a list of geographic information objects determined by the intersection coordinates, wherein the list of geographic information objects indicates the location of at least one geographic information object; the intersection coordinates are the coordinates of the point where the predetermined space intersects with the candidate route;

[0067] S140: Based on the relationship between the intersection coordinates and the location of the geographic information object, determine whether to add the intersection coordinates to the waypoint list.

[0068] In one embodiment, a mapping relationship between waypoint density and predetermined waypoint spacing is established in advance; a waypoint list for the route is constructed; the predetermined waypoint spacing is determined based on the waypoint density, wherein the predetermined waypoint spacing is determined according to the mapping relationship between waypoint density and predetermined waypoint spacing; a predetermined space is determined based on the waypoint location information of the aircraft's current location and the predetermined waypoint spacing; a list of geographic information objects determined by intersection coordinates is obtained; and based on the relationship between the intersection coordinates and the positions of the geographic information objects, it is determined whether to add the intersection coordinates to the waypoint list. Thus, by querying the mapping relationship between waypoint density and predetermined waypoint spacing, a predetermined waypoint spacing that highly matches the waypoint density can be generated, thereby determining a predetermined space of suitable range.

[0069] For example, the waypoint density can be determined based on the waypoint density function density(x, y, z).

[0070] In one scenario implementation, for example, in an inspection scenario, the waypoint density function can be density(x, y, z) = speed(x, y, z) / area(x, y, z), where speed(x, y, z) represents the speed of the current waypoint, and area(x, y, z) represents the area of ​​the region where the current waypoint is located. When the area of ​​the region where the waypoint is located is constant, the higher the speed of the current waypoint, the greater the waypoint density during high-speed inspection, thus reducing inspection errors.

[0071] In one scenario implementation, for example in a target recognition scenario, the waypoint density function can be density(x, y, z) = numberOfObjects(x, y, z) / area(x, y, z), where numberOfObjects(x, y, z) represents the total number of objects to be identified in the area where the waypoint is located. When the area of ​​the waypoint is located is fixed, the greater the total number of objects to be identified in the area where the waypoint is located, the greater the waypoint density of the aircraft in the target recognition process, so that the aircraft does not miss any objects to be identified.

[0072] In one scenario implementation, for example in an agricultural pest and disease scenario, the waypoint density function can be density(x, y, z) = deseaseLevel(x, y, z) / area(x, y, z), where deseaseLevel(x, y, z) represents the severity of pests and diseases in the area where the waypoint is located. When the area of ​​the area where the waypoint is located is fixed, the higher the severity of pests and diseases in the area where the waypoint is located, the greater the waypoint density during the flight, so that the aircraft can spray pesticides in a targeted manner according to the severity of pests and diseases.

[0073] In one embodiment, a list of waypoints for the flight route is constructed; empirical distance values ​​corresponding to the mission scenario are obtained; a predetermined waypoint spacing is determined based on the waypoint density and the empirical distance values, wherein the predetermined waypoint spacing and waypoint density are inversely proportional; a predetermined space is determined based on the waypoint location information of the aircraft's location and the predetermined waypoint spacing; a list of geographic information objects determined by intersection coordinates is obtained; and a determination is made, based on the relationship between the intersection coordinates and the positions of the geographic information objects, whether to add the intersection coordinates to the waypoint list is made. Thus, by determining empirical distance values ​​through the mission scenario, a predetermined waypoint spacing highly matching the actual application scenario is generated, thereby determining a predetermined space of appropriate range.

[0074] For example, the predetermined waypoint spacing can be determined by the function dis(x, y, x) = (q / density(x, y, z)) + CONST. Here, the waypoint density function density(x, y, z) determines the waypoint density, q is an empirical distance value, (x, y, z) are the current waypoint coordinates, and CONST is a constant. A list of empirical distance values ​​is pre-stored, indicating at least one empirical distance value that can determine the predetermined waypoint spacing. This empirical distance value can be determined based on historical data of the aircraft in different flight scenarios; it can also be determined based on historical data of the aircraft in different time periods; or it can be determined through a certain number of experiments based on the accuracy requirements of the empirical distance value in the actual application scenario. For example, if the accuracy requirement of the empirical distance value is high, the number of experiments is increased; if the accuracy requirement of the empirical distance value is low, the number of experiments is less than a fixed value, which can be a natural number between 5 and 10. It should be noted that the waypoint position information of the aircraft's location can indicate the coordinates of the aircraft's current location, or it can be the position coordinates determined based on the coordinates of the aircraft's current location.

[0075] In one embodiment, a waypoint list for the flight route is constructed; a predetermined space is determined based on the waypoint location information of the aircraft's current location and the predetermined waypoint spacing; a pre-stored geographic information object table is obtained, wherein the locations of the geographic information objects indicated by the geographic information object table are within a predetermined range of intersection coordinates; the intersection coordinates are the coordinates of the point where the predetermined space intersects with the candidate flight route (for example, see...). Figure 7 Point S in the map is used; based on the relationship between the intersection coordinates and the location of the geographic information object, it is determined whether to add the intersection coordinates to the waypoint list. In this way, the geographic information object corresponding to the intersection coordinates can be accurately selected within a limited range, allowing the aircraft to avoid geographic information objects that obstruct the aircraft's flight on the alternative route, resulting in high selection efficiency.

[0076] For example, the target area for the aircraft's flight is divided into multiple sub-regions, and each sub-region is numbered. By determining the sub-region information where the intersection coordinates are located, a pre-stored geographic information object table corresponding to the sub-region information is obtained. Here, the aircraft only needs to determine the number of the sub-region where the intersection coordinates are located to obtain the geographic information object table corresponding to that sub-region. Thus, the process of the aircraft obtaining the geographic information object table is highly efficient and has low latency, which helps to reduce the aircraft's flight time.

[0077] In some embodiments, the aircraft may be a drone; a space probe; or a manned spacecraft.

[0078] In some embodiments, a list of waypoints for a flight path is constructed. This list is constructed either before the aircraft begins liftoff or during liftoff. The aircraft can be an aircraft flying within the atmosphere or a spacecraft flying in space.

[0079] In some embodiments, the waypoint location information of the aircraft's location may be reference location information after establishing a reference coordinate system; or it may be relative location information relative to a certain reference object; the waypoint location information may also be GPS positioning information carried by the aircraft and / or location information obtained by the aircraft through communication with nearby base stations.

[0080] In some embodiments, the waypoint list indicates waypoint locations determined based on alternative routes, wherein the waypoint locations represent waypoints that may be on or outside the alternative routes, which provide a predetermined flight path for the aircraft. In different embodiments, the alternative routes may be determined by route data waiting to be retrieved in a database; alternatively, the alternative routes may be determined by preset three-dimensional spatial curves, three-dimensional spatial straight lines, or any other route equation.

[0081] In one embodiment, a set of alternative flight routes is set. Each set contains multiple alternative flight routes, and the alternative flight routes are determined from the set based on weather information, including factors such as sunlight, wind speed, precipitation, and lightning. This allows the aircraft's flight route generation to adapt to different weather conditions, improving the safety of the aircraft's flight process.

[0082] In some embodiments, the predetermined space can be a sphere, polygon, cone, cylinder, etc. The shape of the predetermined space can be determined based on the aircraft's capabilities, memory capacity, and CPU speed. For example, if the aircraft needs to reduce computational load, the predetermined space can be set to a smooth sphere. In this case, the spherical space covers a wider area, and the aircraft's calculations within the spherical space are simpler. This reduces the computational load on the aircraft's computing module, accelerates route generation, and allows for broader coverage of geographic information objects, thus improving the safety of the aircraft during flight.

[0083] In some embodiments, the coordinates of the intersection point are obtained (for example, see [link to relevant documentation]). Figure 7 The list of geographic information objects determined by point S in the map. In different implementations, the aircraft can acquire a list of geographic information objects within a predetermined range of intersection coordinates generated in real time; or, the aircraft can acquire a list of geographic information objects within a predetermined range of intersection coordinates pre-stored by other devices.

[0084] In this invention, a waypoint list for the flight path is constructed. Since the waypoint list indicates the waypoint locations, the aircraft can navigate at the waypoint locations indicated in the list. Here, the predetermined space is determined by the predetermined waypoint spacing and the waypoint location information of the aircraft's current location, and the predetermined waypoint spacing is inversely proportional to the waypoint density. Thus, the predetermined waypoint spacing can be adapted to the waypoint density, adjusted according to the waypoint density, to determine the predetermined space that matches the waypoint density. Here, since a list of geographic information objects can be obtained, the geographic information objects corresponding to the intersection coordinates can be accurately selected within a limited range, allowing the aircraft to avoid geographic information objects on the alternative flight path that obstruct its navigation, resulting in high selection efficiency.

[0085] Since the aircraft navigates at the waypoint locations indicated by the waypoint list, the waypoint list is determined based on the predetermined space matching the waypoint density and the relationship between the geographic information objects in the aircraft's surrounding environment and the waypoints where the aircraft is located. Therefore, compared to manually planning fixed-point routes and arc-shaped routes by operators, the technical solution of this invention determines the waypoint list based on the location of geographic information objects. This more efficiently identifies geographic information objects that might obstruct the aircraft's navigation on alternative routes; generates routes that highly match the geographic information objects and waypoint density; and improves the safety of the aircraft's flight by navigating according to the routes corresponding to the waypoint list, making the aircraft adaptable to various application scenarios.

[0086] like Figure 2 As shown, the present invention provides a method for generating flight paths for an aircraft, the method comprising:

[0087] Step S201: Determine a first spherical space based on the waypoint position information of the aircraft's location and the predetermined waypoint spacing, wherein the center of the first spherical space is determined based on the waypoint position information, and the radius of the first spherical space is determined based on the predetermined waypoint spacing.

[0088] In one embodiment, a first spherical space is determined based on waypoint location information of the aircraft's location and a predetermined waypoint spacing, wherein the aircraft's location is the center of the first spherical space, and the predetermined waypoint spacing is the radius of the first spherical space.

[0089] For example, the coordinate data is three-dimensional spatial map coordinate data, such as... Figure 3 As shown, the X-axis coordinate data corresponds to the waypoint longitude, the Y-axis coordinate data corresponds to the waypoint latitude, and the Z-axis coordinate data corresponds to the waypoint altitude.

[0090] For example, the waypoint location information of the aircraft's location includes the waypoint coordinates Latest(x1, y1, z1). The predetermined waypoint spacing of the alternative routes is defined as dis(x, y, z) = (q / denisty(x1, y1, z1)) + CONST. Wherein, q is an empirical distance value, (x, y, z) are the waypoint coordinates of the aircraft's location, CONST is a constant, and denisty(x1, y1, z1) is the waypoint density function corresponding to the mission scenario in which the aircraft is located. The predetermined waypoint spacing and waypoint density are inversely proportional. Herein, with the point Latest(x1, y1, z1) as the center of the sphere and dis(x1, y1, z1) as the radius of the sphere, the first spherical space Sphere((xl, yl, zl), dis(xl, yl, zl)) is determined.

[0091] For example, the equation of a sphere in three-dimensional space is a ternary equation used to describe the sphere, such as (xa)^2 + (yb)^2 + (zc)^2 = R, denoted as Sphere((a, b, c), R), where (a, b, c) are the coordinates of the sphere's center, and R is the radius of the sphere. The radius of the sphere indicates the distance from the center of the sphere to the surface of the sphere.

[0092] In another embodiment, a first spherical space is determined based on the waypoint location information of the aircraft's current location and a predetermined waypoint spacing. The center of the first spherical space is selected from any point within a preset spatial range of the aircraft's location, and the predetermined waypoint spacing is used as the radius of the first spherical space. In this case, because the spherical space covers a wider area, the calculation process for the spherical space by the aircraft is simplified. This reduces the computational load on the aircraft's computing module, accelerates the route generation rate, and allows for wide coverage of geographic information objects, thereby improving the safety of the aircraft during flight.

[0093] like Figure 4 As shown, the present invention provides a method for generating flight paths for an aircraft, the method comprising:

[0094] Step S401: Based on the relationship between the intersection coordinates and the location of the geographic information object, determine whether the intersection coordinates are within the safe distance range of the geographic information object;

[0095] Step S402: If the intersection coordinates are outside the safe distance range of the geographic information object, add the intersection coordinates to the waypoint list; or, if the intersection coordinates are within the safe distance range of the geographic information object, do not add the intersection coordinates to the waypoint list.

[0096] In one embodiment, the location of the geographic information object is indicated by a list of geographic information objects. For example, the list of geographic information objects includes the coordinate values ​​of each vertex of at least one geographic information object.

[0097] In one embodiment, it is determined whether the coordinates of the intersection point are outside the safe distance range of the geographic information object. The safe distance range of the geographic information object can be determined by a first safe value and a second safe value. The first safe value indicates the smaller coordinate data of the geographic information object on each reference axis, and the second safe value indicates the larger coordinate data of the geographic information object on each reference axis.

[0098] In one embodiment, a preset safety distance is determined based on the aircraft's safety requirement parameters. For example, if the aircraft's safety requirement parameters are high, the preset safety distance is set to a larger value, which can be several times the diameter of the aircraft itself; if the aircraft's safety requirement parameters are low, the preset safety distance is set to a smaller value, which can be about one-third the diameter of the aircraft itself. The safety requirement parameters can be determined based on the aircraft's volume, speed, and operating parameters. Thus, by determining the preset safety distance based on the aircraft's safety requirement parameters, the aircraft can avoid obstacles during flight, thereby improving the safety of the aircraft's flight.

[0099] In one embodiment, the first safety value minus a preset safety distance yields a first safety value distance, and the second safety value plus the preset safety distance yields a second safety value distance; the preset safety distance indicates the safe distance from the intersection coordinates to the surface of the geographic information object. The preset safety distance may be a value representing the external dimensions of the aircraft.

[0100] In one embodiment, the first safety value can be the minimum coordinate data of the geographic information object on each reference axis, and the second safety value can be the maximum coordinate data of the geographic information object on each reference axis. In this case, the first safety value distance can also be called the minimum safety distance, and the second safety value distance can also be called the maximum safety distance.

[0101] For example, determining whether the intersection point coordinates are within the safe distance range of the geographic information objects, where the intersection point coordinates are indicated by recvVertex(x, y, z) and the list of geographic information objects is indicated by gisObjList, is implemented through the following pseudocode:

[0102] GisObject judgePointInGisObject(recvVertex(x,y,z),gisObjList,safetyDis){

[0103] For(gisObject item in gisObjList){

[0104] If (recvVertex.x<item.getSmallestVertexX()-safetyDis||recvVertex.x> item.getLargestVertexX()+safetyDis){

[0105] / / Determine if the X-axis coordinate of this point is outside the safe range of the maximum and minimum X-axis coordinates of the geographic information object. If the result is true, check the next geographic information object.

[0106] Continue;

[0107] }else If(recvVertex.y<item.getSmallestVertexY()-safetyDis||recvVertex.y> item.getLargestVertexY()+safetyDis){

[0108] / / Determine if the Y-axis coordinate of this point is outside the safe range of the maximum and minimum Y-axis coordinates of the geographic information object. If the result is true, check the next geographic information object.

[0109] Continue;

[0110] }

[0111] else If (recvVertex.z<item.getSmallestVertexZ()-safetyDis||recvVertex.z> item.getLargestVertexZ()+safetyDis){

[0112] / / Determine if the Z-axis coordinate of this point is outside the safe range of the maximum and minimum Z-axis coordinates of the geographic information object. If the result is true, check the next geographic information object.

[0113] Continue;

[0114] }else{

[0115] Return item; / / Returns a geographic information object containing the point recvVertex(x, y, z).

[0116] }

[0117] }

[0118] Return null; / / This point is not in the geographic information object, return null.

[0119] }

[0120] Specifically, `getSmallestVertexX()` retrieves the minimum X-axis coordinate of all vertices of a geographic information object, and `getLargestVertexX()` retrieves the maximum X-axis coordinate of all vertices of the geographic information object. Similarly, `getSmallestVertexY()` retrieves the minimum Y-axis coordinate of all vertices of a geographic information object, and `getLargestVertexY()` retrieves the maximum Y-axis coordinate of all vertices of the geographic information object. Finally, `getSmallestVertexZ()` retrieves the minimum Z-axis coordinate of all vertices of a geographic information object, and `getLargestVertexZ()` retrieves the maximum Z-axis coordinate of all vertices of the geographic information object.

[0121] The first safety value is the minimum X-axis, Y-axis, and Z-axis coordinates of the vertex of the geographic information object. Subtracting the safety distance (safetyDis) from the first safety value yields the minimum safety distance for the X, Y, and Z axes. The second safety value is the maximum X-axis, Y-axis, and Z-axis coordinates of the vertex of the geographic information object. Adding the safety distance (safetyDis) to the second safety value yields the maximum safety distance for the X, Y, and Z axes. The `judgePointInGisObject()` method compares the intersection coordinates `recvVertex(x, y, z)` with the minimum and maximum safety distances to determine if the intersection coordinates are within the safe distance range of the geographic information object. If they are within the safe distance range, the geographic information object is returned; otherwise, a null value is returned. Thus, by comparing the intersection coordinates with the minimum and maximum safety distances, the geographic information object corresponding to the intersection coordinates can be accurately selected within a limited range, allowing the aircraft to avoid geographic information objects that obstruct its flight path, resulting in high selection efficiency.

[0122] For example, if a null value is returned, it means that the intersection coordinates are outside the safe distance range of the geographic information object, and the intersection coordinates are added to the waypoint list. If a geographic information object is returned, it means that the intersection coordinates are within the safe distance range of the geographic information object, and the intersection coordinates are not added to the waypoint list.

[0123] like Figure 5 As shown, the present invention provides a method for generating flight paths for an aircraft, the method comprising:

[0124] Step 501: If the coordinates of the intersection point are within the safe distance range of the geographic information object, execute the obstacle avoidance process.

[0125] In one embodiment, it is determined whether the coordinates of the intersection point are outside the safe distance range of the geographic information object. The safe distance range of the geographic information object can be determined by a first safe value and a second safe value. The first safe value indicates the smaller coordinate data of the geographic information object on each reference axis, and the second safe value indicates the larger coordinate data of the geographic information object on each reference axis.

[0126] In one embodiment, the first safety value minus a preset safety distance yields a first safety value distance, and the second safety value plus the preset safety distance yields a second safety value distance; the preset safety distance is used to indicate the safe distance between the intersection coordinates and the surface of the geographic information object. The preset safety distance may be a value representing the external dimensions of the aircraft.

[0127] In one embodiment, the first safety value can be the minimum coordinate data of the geographic information object on each reference axis, and the second safety value can be the maximum coordinate data of the geographic information object on each reference axis. In this case, the first safety value distance can also be called the minimum safety distance, and the second safety value distance can also be called the maximum safety distance.

[0128] For example, the first safety value is the minimum value of the X-axis, Y-axis, and Z-axis coordinates of a vertex of a geographic information object. Subtracting a preset safety distance (safetyDis) from the first safety value yields the minimum safety distances for the X, Y, and Z axes. The second safety value is the maximum value of the X-axis, Y-axis, and Z-axis coordinates of a vertex of a geographic information object. Adding the preset safety distance (safetyDis) to the second safety value yields the maximum safety distances for the X, Y, and Z axes. The system determines whether the intersection point coordinates recvVertex(x, y, z) are within the safe distance range of the geographic information object by judging whether they are less than the minimum safe distances for the X, Y, and Z axes and by judging whether they are greater than the maximum safe distances for the X, Y, and Z axes. If the intersection point is within the safe distance range of the geographic information object, an obstacle avoidance process is performed.

[0129] like Figure 6 As shown, the present invention provides a method for generating flight paths for an aircraft, the method comprising:

[0130] Step S601: Determine a second spherical space based on the location information of the reference point on the geographic information object, the external dimensions of the geographic information object, and the predetermined waypoint safety distance. The center of the second spherical space is determined based on the location information of the reference point, and the radius of the second spherical space is determined based on the predetermined waypoint safety distance and the external dimensions.

[0131] Step S602: Based on the first intersection point, determine the plane that intersects with the reference axis indicating the height of the second sphere space, wherein the angle between the reference axis and the plane is within a predetermined range, and the first intersection point is one of the intersection points between the second sphere space and the reference axis.

[0132] Step S603: Determine the second intersection point between the second spherical space and the alternative route;

[0133] Step S604, project the second intersection point vertically onto the plane (for example, such as...) Figure 7 Points R1 and S1 are added to the waypoint list, wherein the vertical projection points are used to avoid the geographic information objects.

[0134] In some embodiments, the second spherical space is determined based on the location information of a reference point on the geographic information object, the external dimensions of the geographic information object, and the predetermined waypoint safety distance. The reference point can be the center point of the geographic information object (for example, such as...). Figure 7 The point U1 shown can be any reference point within a preset range of the center point of the geographic information object. The external dimensions of the geographic information object can be those passing through the central axis of the geographic information object (e.g., ...). Figure 7 The numerical value indicating the size of a geographic information object (as shown by axis L1); or, the external dimensions of the geographic information object are the distance from the center point of the geographic information object to each vertex (e.g., as exemplarily, such as Figure 7 The maximum distance between points P1 and L1 is shown. The position information of each vertex is indicated by the list of geographic information objects. It should be noted that the central axis can be any axis passing through the center point of the geographic information object.

[0135] In one embodiment, the second spherical space is determined based on the location information of the center point on the geographic information object, the maximum distance from the center point of the geographic information object to each vertex, and the predetermined waypoint safety distance; based on the first intersection point (exemplarily, such as...). Figure 7 Point O1 (as shown) is used to determine the plane intersecting the reference axis indicating the spatial height of the second sphere; the second intersection point (exemplarily, such as...) Figure 7Points V1 and K1 shown are added to the waypoint list by their vertical projection onto the plane. This addition of vertical projection points allows the aircraft to avoid geographic objects that conflict with its location, improving safety during flight.

[0136] For example, the coordinates of the center point of the geographic information object (gisObj01) are calculated based on the coordinates of each vertex. The pseudocode for the calculation method is shown below:

[0137] Vertex CaculateCenterPoint(gisObj01){

[0138] Vertex centerVertex=new Vertex();

[0139] Float xValue, yValue, zValue;

[0140] / / Iterate through the coordinates of each vertex of gisObj01

[0141] For(Vertex item in gisObj01.getVertice()){

[0142] / / Calculate the sum of the X-axis coordinates of each vertex of gisObj01

[0143] xValue += item.getXValue();

[0144] / / Calculate the sum of the Y-axis coordinates of each vertex of gisObj01

[0145] yValue += item.getYValue();

[0146] / / Calculate the sum of the Z-axis coordinates of each vertex of gisObj01

[0147] zValue += item.getZValue();

[0148] }

[0149] / / Calculate the average X-axis coordinate of each vertex of gisObj01

[0150] centerVertex.setXValue(xValue / gisObj01.getVertice().size());

[0151] / / Calculate the average Y-axis coordinate of each vertex of gisObj01

[0152] centerVertex.setYValue(yValue / gisObj01.getVertice().size());

[0153] / / Calculate the average Z-axis coordinate of each vertex of gisObj01

[0154] centerVertex.setZValue(zValue / gisObj01.getVertice().size());

[0155] / / Returns the coordinates of the center point object

[0156] Return centerVertex;

[0157] }

[0158] The `CaculateCenterPoint()` method calculates the average of the coordinates of all vertices of the geographic information object `gisObj01`, using this average as the center point coordinate value. For example, let the calculated center point of the geographic information object be U1(xu1, yu1, zu1).

[0159] For example, the maximum distance from the center point U1 of the geographic information object to each vertex of the geographic information object (gisObj01) is calculated. The pseudocode for the calculation method is shown below:

[0160] Float maxDis=maxDistance((xu1, yu1, zu1), gisObj01.getVertice())

[0161] In this context, `gisObj01.getVertice()` represents the set of vertices of the geographic information object. The `maxDistance()` method compares the straight-line distances from point U1 to each vertex of the geographic information object `gisObj01`, obtaining the maximum value of the distances from U1 to each vertex. This maximum value is called the maximum vertex distance. `gisObj01.getVertice()` represents the set of vertices of the geographic information object.

[0162] Wherein, the center of the second spherical space is the center point of the geographic information object, and the radius of the second spherical space is the sum of the predetermined waypoint safety distance and the maximum distance of the vertex.

[0163] In one embodiment, the second spherical space is determined based on the location information of reference points on the geographic information object, the external dimensions of the geographic information object, and the predetermined waypoint safety distance; based on the first intersection point (exemplarily, such as...). Figure 7 Point O1 (as shown) is used to determine the plane intersecting with the reference axis indicating the spatial height of the second sphere, wherein the angle between the reference axis and the plane is within a predetermined range, and the angle between the reference axis and the plane can be an acute angle. Preferably, the angle between the reference axis and the plane is within a predetermined range of [0 degrees, 10 degrees]. The second intersection point (exemplarily, such as...) Figure 7 Points V1 and K1 shown are added to the waypoint list by their vertical projection onto the plane. Here, by vertically projecting the second intersection point onto the plane, since the angle between the plane and the reference axis is within a predetermined range, the plane has as few intersection points as possible with the second spherical space constructed based on the geographic information object, and the area of ​​the overlapping cross-section between the plane and the second spherical space is also minimized. Therefore, when the aircraft travels along the vertical projection point of the second intersection point on the plane, it can avoid the geographic information object encountered while traveling along alternative routes, improving the safety of the aircraft during flight.

[0164] For example, such as Figure 2 As shown, the reference axis indicating the spatial height of the second sphere is the Z-axis, as... Figure 7 As shown, the first intersection point is point O1, the intersection of the second spherical space and the Z-axis. A plane perpendicular to the Z-axis is defined through intersection point O1. At this time, the angle between the reference axis and the plane is 90 degrees. The second intersection point is then projected perpendicularly onto the plane (for example, as shown in the image). Figure 7 Points R1 and S1 are added to the waypoint list. Here, by vertically projecting the second intersection point onto the plane, since the angle between the plane and the predetermined axis is within a predetermined range, the plane has as few intersection points as possible with the second spherical space constructed based on the geographic information object. Therefore, when the aircraft travels along the vertical projection point of the second intersection point on the plane, it can avoid the geographic information object encountered when traveling along the alternative route, thus improving the safety of the aircraft during flight.

[0165] For example, such as Figure 2 As shown, the reference axis indicating the spatial height of the second sphere is the Z-axis, as... Figure 7As shown, the first intersection point is O1, which is the intersection of the second spherical space and the Z-axis. A plane perpendicular to the Z-axis is determined through intersection point O1. The second spherical space intersects with the candidate flight path to obtain two second intersection points, V1 and K1. The vertical projection points of these second intersection points on the plane are R1 and S1. Vertical projection points R1 and S1 are then added to the waypoint list sequentially.

[0166] In another embodiment, a second spherical space is determined based on the location information of reference points on the geographic information object, the external dimensions of the geographic information object, and the predetermined waypoint safety distance; a plane intersecting with the reference axis indicating the height of the second spherical space is determined based on the first intersection point; and the second intersection point and its vertical projection point on the plane are added to the waypoint list.

[0167] For example, such as Figure 7 As shown, the second spherical space intersects with the candidate route to obtain two second intersection points, V1 and K1. The vertical projection points of the second intersection points on the plane are R1 and S1. The second intersection point V1, the vertical projection point R1, the vertical projection point S1, and the second intersection point K1 are added to the waypoint list in sequence.

[0168] like Figure 8 As shown, the present invention provides a method for generating flight paths for an aircraft, the method further comprising:

[0169] Step S802: If the coordinates of a newly added waypoint in the waypoint list exceed the range of the predetermined end waypoint, the route generation operation ends, wherein the predetermined end waypoint is used to represent the final target waypoint of this voyage.

[0170] In one embodiment, the coordinates of a newly added waypoint in the waypoint list are: Figure 7 The coordinates of intersection point J are then determined. If the coordinates of the intersection point exceed the predetermined end waypoint range, the newly added waypoint coordinates are deleted, and the route generation operation is terminated to prevent the aircraft from exceeding the preset spatial range during its flight.

[0171] In one embodiment, the coordinates of a newly added waypoint in the waypoint list are: Figure 7 The vertical projection points R1 and S1 are used in the list. For example, vertical projection points R1 and S1 can be compared sequentially to see if they exceed the predetermined final waypoint range. If, during the sequential comparison, any newly added waypoint coordinate in the waypoint list exceeds the predetermined final waypoint range, the waypoint coordinates that have not yet been compared and the waypoint coordinates that exceed the predetermined final waypoint range are deleted, and the route generation operation ends. Thus, when a newly added waypoint exceeds the predetermined final waypoint range, the route generation operation immediately ends, reducing the number of comparisons and improving waypoint generation efficiency.

[0172] For example, vertical projection points S1 and R1 can be compared sequentially to see if they exceed the predetermined end waypoint range. If, during the comparison, the newly added vertical projection point S1 does not exceed the predetermined end waypoint range, the comparison process ends, and the waypoint generation operation continues; otherwise, if the coordinates of any newly added waypoint in the waypoint list exceed the predetermined end waypoint range, the waypoint coordinates exceeding the predetermined end waypoint range are deleted from the waypoint list, and the route generation operation ends. Thus, when the newly added waypoint in the waypoint list does not exceed the predetermined end waypoint range, the comparison process immediately ends, and the waypoint generation operation continues, reducing the number of comparisons and improving waypoint generation efficiency.

[0173] like Figure 9 As shown, the present invention provides a method for generating flight paths for an aircraft, the method further comprising:

[0174] Step S901: Calculate the horizontal angle and pitch angle between the waypoint at the current location of the aircraft and the newly added waypoint in the waypoint list, wherein the horizontal angle and pitch angle are used for the aircraft to navigate to the position of the newly added waypoint in the waypoint list.

[0175] In one embodiment, the waypoint coordinates of the aircraft's current location are the first waypoint coordinates, and the coordinates of a newly added waypoint in the waypoint list are the second waypoint coordinates. A azimuth angle is calculated from the first waypoint coordinates to the second waypoint coordinates; this azimuth angle indicates the aircraft's direction of travel from the first waypoint coordinates to the second waypoint coordinates. Specifically, the azimuth angle can be the horizontal and pitch angles between the first and second waypoints. Here, the horizontal and pitch angles between each waypoint are calculated based solely on the coordinate data, ensuring the aircraft reaches each waypoint according to the azimuth angles, thus simplifying the calculation process for determining the flight direction.

[0176] In one embodiment, the waypoint coordinates of the aircraft's current location are Vertex1(x1, y1, z1), and the waypoint list only has one newly added waypoint coordinate, Vertex2(x2, y2, z2). The angle angle XOY between point Vertex1 and point Vertex2 in the coordinate plane is calculated as arctan[(y2-y1) / (x2-x1)], which is used as the horizontal angle of point Vertex1. The angle XOZ between waypoint Vertex1 and waypoint Vertex2 in the coordinate plane is calculated as arctan[(z2-z1) / (x2-x1)], which is used as the pitch angle of point Vertex1. The horizontal and pitch angles are used to indicate the direction in which the aircraft travels to the next waypoint.

[0177] In one embodiment, the waypoint coordinates of the aircraft's current location are the first waypoint coordinates. If at least two new waypoint coordinates are added to the waypoint list, the coordinates of the newly added waypoints are the second waypoint coordinates. A heading angle is calculated from the first waypoint coordinates to the second waypoint coordinates; this heading angle indicates the aircraft's movement from the first waypoint coordinates to the second waypoint coordinates. Furthermore, a heading angle is calculated from the previous second waypoint coordinates to the next second waypoint coordinates; this heading angle indicates the aircraft's movement from the previous second waypoint coordinates to the next second waypoint coordinates. Specifically, the heading angle can be the horizontal and pitch angles from the previous second waypoint to the next second waypoint.

[0178] In one embodiment, the waypoint coordinates of the aircraft's current location are Vertex1 (x1, y1, z1). Multiple waypoint coordinates are newly added to the waypoint list; exemplarily, there are two newly added waypoint coordinates: Vertex2 (x2, y2, z2) and Vertex3 (x3, y3, z3). The angle angle XOY between point Vertex1 and point Vertex2 in the coordinate plane is calculated as arctan[(y2-y1) / (x2-x1)], which serves as the horizontal angle of point Vertex1. The angle XOZ between waypoint Vertex1 and waypoint Vertex2 in the coordinate plane is calculated as arctan[(z2-z1) / (x2-x1)], which serves as the pitch angle of point Vertex1. The horizontal and pitch angles are used to indicate the direction in which the aircraft travels to waypoint Vertex2. Similarly, the horizontal and pitch angles between points Vertex2 and Vertex3 are calculated. The angle indicates the direction in which the aircraft travels from waypoint Vertex2 to waypoint Vertex3.

[0179] For example, the calculation method can ultimately calculate the coordinates of all waypoints and their orientation angles for the route. Table 1 below shows the list of waypoints for a three-dimensional curved trajectory without obstacle avoidance:

[0180] Table 1. List of waypoints in a 3D curved trajectory scenario without obstacle avoidance.

[0181]

[0182]

[0183] like Figure 10 As shown, the present invention provides a method for generating flight paths for an aircraft, the method comprising:

[0184] Step 1: Construct a list of waypoints for the flight route, wherein the list of waypoints indicates the positions of waypoints determined based on the alternative flight routes; the aircraft navigates at the waypoint positions.

[0185] Step 2: Determine the space of the first sphere based on the waypoint location information of the aircraft's location and the predetermined waypoint spacing;

[0186] Step 3: Obtain a list of geographic information objects determined by the intersection coordinates, wherein the list of geographic information objects indicates the location of at least one geographic information object;

[0187] Step 4: Determine whether the intersection coordinates are within the safe distance range of the geographic information object based on the relationship between the intersection coordinates and the location of the geographic information object;

[0188] Step 5: If the intersection coordinates are outside the safe distance range of the geographic information object, add the intersection coordinates to the waypoint list;

[0189] Step 6: If the coordinates of the intersection point are within the safe distance range of the geographic information object, execute the obstacle avoidance process;

[0190] Step 7: Determine the second spherical space based on the location information of the reference point on the geographic information object, the external dimensions of the geographic information object, and the predetermined waypoint safety distance;

[0191] Step 8: Based on the first intersection point, determine the plane that intersects with the reference axis indicating the spatial height of the second sphere;

[0192] Step 9: Determine the second intersection point between the second sphere and the candidate route; determine the vertical projection point of the second intersection point on the plane; add obstacle avoidance points to the waypoint list in two ways;

[0193] Step 10: Compare the coordinates of the newly added waypoints in the waypoint list using two methods to see if they exceed the range of the predetermined end waypoint; if the coordinates of the newly added waypoints in the waypoint list exceed the range of the predetermined end waypoint, end the route generation operation.

[0194] Step 11: Calculate the direction angle between the newly added waypoint in the waypoint list and its adjacent waypoints.

[0195] In one embodiment, a list of waypoints for the route is constructed. For example, candidate routes are determined by a preset three-dimensional spatial curve C(t), and a starting waypoint H(x1, y1, z1) is determined and added to the waypoint list. Step 2 is then executed.

[0196] In step 2, the first spherical space is determined. The waypoint location information for the aircraft's position includes the waypoint coordinates Latest(x1, y1, z1). The predetermined waypoint spacing for the candidate routes is defined as dis(x, y, z) = (q / denisty(x1, y1, z1)) + CONST. Here, (x, y, z) are the waypoint coordinates of the aircraft's position, q and CONST are constants, and denisty(x1, y1, z1) is the waypoint density function within the mission scenario where the aircraft is located. The predetermined waypoint spacing and waypoint density are inversely proportional. The first spherical space Sphere((xl, yl, zl), dis(xl, yl, zl)) is determined with Latest(x1, y1, z1) as the center and dis(x1, y1, z1) as the radius. Step 3 is then executed.

[0197] In step 3, the geographic information object table determined by the intersection point coordinates is obtained. Specifically, the first spherical space Sphere((xl, yl, zl), dis(xl, yl, zl)) intersects the three-dimensional space curve C(t) at two intersection points: IntersectVertex(xi, yi, zi). The intersection point coordinates in step 3 are the coordinates of the intersection point after the spacecraft's current position. For example, as shown... Figure 6 As shown, the first spherical space, centered at waypoint I, intersects the three-dimensional space curve C(t) at two points, namely intersection point H and intersection point J. In this embodiment, the coordinates of the intersection point are the coordinates of intersection point J after the position of the aircraft.

[0198] In step 4, based on the relationship between the intersection coordinates and the location of the geographic information object, it is determined whether the intersection coordinates are within the safe distance range of the geographic information object. If the intersection coordinates are outside the safe distance range of the geographic information object, the intersection coordinates are added to the waypoint list, and steps 10 to 11 are executed.

[0199] In step 10, if the coordinates of a newly added waypoint in the waypoint list exceed the predetermined termination waypoint range, the route generation operation ends. For example, the coordinates of a newly added waypoint in the waypoint list are... Figure 5If the coordinates of intersection point J in the map exceed the predetermined end waypoint range, delete the newly added waypoint coordinates and end the route generation operation to prevent the aircraft from exceeding the preset spatial range during its flight. If the coordinates of intersection point do not exceed the predetermined end waypoint range, proceed to step 11 to calculate the direction angle from the aircraft's current position to the intersection coordinates. Proceed to step 2. At this point, the aircraft has already sailed to the intersection coordinates according to the direction angle, and the aircraft's current position is within the predetermined spatial range of the intersection coordinates. Based on the new intersection coordinates and the predetermined waypoint spacing, determine the first spherical space, and proceed with the steps following step 2 sequentially.

[0200] In another embodiment, if the intersection coordinates are within the safe distance range of the geographic information object, an obstacle avoidance process is executed, proceeding to steps 7 to 11.

[0201] In step 7, a second spherical space is determined based on the location information of the reference point on the geographic information object, the external dimensions of the geographic information object, and the predetermined waypoint safety distance. The center of the second spherical space is determined based on the location information of the reference point, and the radius of the second spherical space is determined based on the predetermined waypoint safety distance and the external dimensions.

[0202] In step 8, based on the first intersection point, a plane intersecting with the reference axis indicating the spatial height of the second sphere is determined, wherein the angle between the reference axis and the plane is within a predetermined range, and the first intersection point is one of the intersection points between the space of the second sphere and the reference axis.

[0203] Step 9: Determine the second intersection point between the second sphere and the candidate route; determine the vertical projection point of the second intersection point on the plane; add obstacle avoidance points to the waypoint list in two ways.

[0204] In the first method, a second intersection point between the second spherical space and the alternative route is determined; the vertical projection point of the second intersection point on the plane is added to the waypoint list, wherein the vertical projection point is used to avoid the geographic information object.

[0205] The second method involves determining a second intersection point between the second spherical space and the candidate route; adding the second intersection point and its vertical projection point on the plane to a waypoint list, wherein the vertical projection point is used to avoid the geographic information object. For example, as... Figure 6 As shown, the second intersection point V1, vertical projection point R1, vertical projection point S1 and the second intersection point K1 are added to the waypoint list in sequence.

[0206] Step 10: Compare the coordinates of newly added waypoints in the waypoint list to see if they exceed the predetermined end waypoint range using two methods. If the coordinates of newly added waypoints in the waypoint list exceed the predetermined end waypoint range, the route generation operation ends. For example, the newly added waypoints in the waypoint list are the second intersection point V1, vertical projection point R1, vertical projection point S1, and second intersection point K1. In the first method, the coordinates of the second intersection point V1, vertical projection point R1, vertical projection point S1, and second intersection point K1 can be compared sequentially to see if they exceed the predetermined end waypoint range. If, during the sequential comparison, the coordinates of any newly added waypoint in the waypoint list exceed the predetermined end waypoint range, the coordinates of the waypoints in the waypoint list that have not yet been compared and the coordinates of the waypoints in the waypoint list that exceed the predetermined end waypoint range are deleted, and the route generation operation ends. Alternatively, in the second method, the coordinates of the second intersection point K1, vertical projection point S1, vertical projection point R1, and second intersection point V1 can be compared sequentially to see if they exceed the predetermined end waypoint range. If, during the sequential comparison process, any newly added waypoint coordinates in the waypoint list exceed the predetermined end waypoint range, delete the waypoint coordinates that exceed the predetermined end waypoint range from the waypoint list, and end the route generation operation.

[0207] Step 11: Calculate the azimuth angles between the newly added waypoints in the waypoint list and adjacent waypoints. For example, the newly added waypoints in the waypoint list are the second intersection point V1, vertical projection point R1, vertical projection point S1, and the second intersection point K1. In step 10, the second intersection point K1 exceeds the predetermined end waypoint range, and is deleted from the waypoint list. Therefore, in step 11, the newly added waypoints in the waypoint list are the second intersection point V1, vertical projection point R1, and vertical projection point S1. The azimuth angles between the newly added waypoints and adjacent waypoints are calculated sequentially, including the azimuth angle from the waypoint at the aircraft's location to the newly added waypoint (second intersection point V1) in the adjacent waypoint list. For example, the azimuth angles can also be denoted as (V1, R1) and (R1, S1). Wherein (V1, R1) indicates the azimuth angle from the second intersection point V1 to the vertical projection point R1, and (R1, S1) indicates the azimuth angle from the vertical projection point R1 to the vertical projection point S1.

[0208] like Figure 11 As shown, the present invention provides a flight path generation device for an aircraft, wherein the device includes:

[0209] Module 111 is used to construct a list of waypoints for a flight route, wherein the list of waypoints indicates the positions of waypoints determined based on the alternative flight routes; and the aircraft navigates at the waypoint positions.

[0210] The determining module 112 is used to: determine a predetermined space based on the waypoint location information of the aircraft's location and the predetermined waypoint spacing, wherein the waypoint spacing is inversely proportional to the waypoint density; and determine whether to add the intersection coordinates to the waypoint list based on the relationship between the intersection coordinates and the location of the geographic information object, wherein the intersection coordinates are the coordinates of the point where the predetermined space intersects with the first predetermined route.

[0211] The acquisition module 113 is used to acquire a list of geographic information objects determined by the intersection coordinates, wherein the list of geographic information objects indicates the location of at least one geographic information object.

[0212] In one embodiment, the determining module 112 is further configured to:

[0213] Based on the waypoint location information of the aircraft's current location and the predetermined waypoint spacing, a first spherical space is determined, wherein the center of the first spherical space is determined based on the waypoint location information, and the radius of the first spherical space is determined based on the predetermined waypoint spacing.

[0214] In one embodiment, the determining module 112 is further configured to determine whether the intersection coordinates are within the safe distance range of the geographic information object, and the device further includes an execution module 114.

[0215] The execution module 114 is configured to: if the intersection coordinates are within the safe distance range of the geographic information object, execute a heuristic obstacle avoidance process; if the intersection coordinates are outside the safe distance range of the geographic information object, add the intersection coordinates to the waypoint list.

[0216] In one embodiment, the execution module 114 is further configured to:

[0217] If the coordinates of the intersection point are within the safe distance range of the geographic information object, an obstacle avoidance process is executed.

[0218] In one embodiment, the determining module 112 is further configured to:

[0219] Based on the location information of the center point of the geographic information object, determine the maximum distance from the center point of the geographic information object to each vertex of the geographic information object, wherein the location information of the center point is determined based on the location information of each vertex of the geographic information object; based on the location information of the center point, the predetermined waypoint safety distance, and the maximum distance, determine a second spherical space, wherein the center of the second spherical space is determined based on the location information of the center point, and the radius of the second spherical space is determined based on the sum of the predetermined waypoint safety distance and the maximum distance; determine a plane perpendicular to the reference axis based on the first intersection point, wherein the reference axis is used to indicate the relative height of the second spherical space, and the first intersection point is the intersection point of the second spherical space and the reference axis; determine two second intersection points between the second spherical space and the alternative route;

[0220] The execution module 114 is further configured to: add the vertical projection point of the second intersection point on the plane to the waypoint list, wherein the vertical projection point is used to avoid the geographic information object.

[0221] In one embodiment, the apparatus includes:

[0222] End module 115, the end module is used to: end the route generation operation if the coordinates of a newly added waypoint in the waypoint list exceed the range of the predetermined end waypoint, wherein the predetermined end waypoint is used to represent the final target waypoint of this voyage.

[0223] In one embodiment, the apparatus includes:

[0224] The calculation module 116 is used to: sequentially calculate the horizontal angle and pitch angle between the waypoint at the current location of the aircraft and the newly added waypoint in the waypoint list, wherein the horizontal angle and the pitch angle are used for the aircraft to navigate to the position of the newly added waypoint in the waypoint list.

[0225] It should be noted that those skilled in the art will understand that the methods provided by this invention can be performed alone or together with some methods in this invention or related technologies.

[0226] like Figure 12 As shown, this embodiment provides a processing device, the processing including:

[0227] Memory 121 is used to store executable programs;

[0228] The processor 122 is configured to execute an executable program stored in the memory to implement any of the flight path generation methods applicable to aircraft described in this invention.

[0229] It is understood that memory 121 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memories.

[0230] The flight path generation method for an aircraft disclosed in this invention can be applied to, or implemented by, the processor 122. The processor 122 can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the flight path generation method can be completed by the integrated logic circuits in the processor 122 or by software instructions. The processor 122 can be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 122 can implement or execute the methods, steps, and logic block diagrams disclosed in this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules can be located in a storage medium, specifically memory 121. The processor 122 reads information from memory 121 and, in conjunction with its hardware, completes the steps of the flight path generation method for an aircraft provided in this application embodiment.

[0231] In an exemplary embodiment, the present invention also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a memory 121 including a computer program, which can be executed by a processor 122 of a processing device to complete the steps described in the method of the embodiments of this application. The computer-readable storage medium may be a ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM, etc.

[0232] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for generating flight paths for an aircraft, characterized in that, The method includes: A waypoint list is constructed for the flight route, wherein the waypoint list indicates the waypoint locations determined based on the alternative flight routes; the aircraft navigates at the waypoint locations; Based on the waypoint location information of the aircraft's current location and the predetermined waypoint spacing, a predetermined space is determined, wherein the predetermined waypoint spacing is inversely proportional to the waypoint density; Obtain a list of geographic information objects determined by the intersection coordinates, wherein the list of geographic information objects indicates the location of at least one geographic information object; the intersection coordinates are the coordinates of the point where the predetermined space intersects with the candidate route; Based on the relationship between the intersection coordinates and the location of the geographic information object, determine whether to add the intersection coordinates to the waypoint list; A second spherical space is determined based on the location information of a reference point on the geographic information object, the external dimensions of the geographic information object, and the predetermined waypoint safety distance. The center of the second spherical space is determined based on the location information of the reference point, and the radius of the second spherical space is determined based on the predetermined waypoint safety distance and the external dimensions. Based on the first intersection point, a plane is determined that intersects with the reference axis indicating the spatial height of the second sphere, wherein the angle between the reference axis and the plane is within a predetermined range, and the first intersection point is one of the intersection points between the second sphere space and the reference axis. Determine the second intersection point between the second spherical space and the alternative flight path; Add the vertical projection point of the second intersection point on the plane to the waypoint list, wherein the vertical projection point is used to avoid the geographic information object.

2. The flight path generation method for an aircraft according to claim 1, characterized in that, The determination of the predetermined space based on the waypoint location information of the aircraft's current location and the predetermined waypoint spacing includes: Based on the waypoint location information of the aircraft's current location and the predetermined waypoint spacing, a first spherical space is determined, wherein the center of the first spherical space is determined based on the waypoint location information, and the radius of the first spherical space is determined based on the predetermined waypoint spacing.

3. The flight path generation method for an aircraft according to claim 1, characterized in that, The step of determining whether to add the intersection coordinates to the waypoint list based on the relationship between the intersection coordinates and the location of the geographic information object includes: Based on the relationship between the intersection coordinates and the location of the geographic information object, determine whether the intersection coordinates are within the safe distance range of the geographic information object; If the intersection coordinates are outside the safe distance range of the geographic information object, add the intersection coordinates to the waypoint list; or, if the intersection coordinates are within the safe distance range of the geographic information object, do not add the intersection coordinates to the waypoint list.

4. The flight path generation method for an aircraft according to claim 3, characterized in that, The method further includes: If the coordinates of the intersection point are within the safe distance range of the geographic information object, an obstacle avoidance process is executed.

5. The flight path generation method for an aircraft according to claim 1, characterized in that, Before determining the predetermined space based on the waypoint location information and the predetermined waypoint spacing of the aircraft's location, the method further includes: If the coordinates of a newly added waypoint in the waypoint list exceed the range of the predetermined end waypoint, the route generation operation ends. The predetermined end waypoint is used to represent the final target waypoint of this voyage.

6. The flight path generation method for an aircraft according to claim 1, characterized in that, After determining whether to add the intersection coordinates to the waypoint list based on the relationship between the intersection coordinates and the location of the geographic information object, the method further includes: The horizontal and pitch angles between the waypoints at the current location of the aircraft and the newly added waypoints in the waypoint list are calculated sequentially, wherein the horizontal and pitch angles are used for the aircraft to navigate to the position of the newly added waypoints in the waypoint list.

7. A flight path generation device for an aircraft, characterized in that, The device includes: A construction module is used to construct a list of waypoints for a flight route, wherein the list of waypoints indicates the positions of waypoints determined based on alternative flight routes; and the aircraft navigates at the waypoint positions. The determination module is used to: determine a predetermined space based on the waypoint location information of the aircraft's location and the predetermined waypoint spacing, wherein the waypoint spacing is inversely proportional to the waypoint density; and determine whether to add the intersection coordinates to the waypoint list based on the relationship between the intersection coordinates and the location of the geographic information object, wherein the intersection coordinates are the coordinates of the point where the predetermined space intersects with the candidate route. The acquisition module is used to acquire a list of geographic information objects determined by the intersection coordinates, wherein the list of geographic information objects indicates the location of at least one geographic information object; The determining module is further configured to: Based on the location information of the center point of the geographic information object, determine the maximum distance from the center point of the geographic information object to each vertex of the geographic information object, wherein the location information of the center point is determined based on the location information of each vertex of the geographic information object; based on the location information of the center point, the predetermined waypoint safety distance, and the maximum distance, determine a second spherical space, wherein the center of the second spherical space is determined based on the location information of the center point, and the radius of the second spherical space is determined based on the predetermined waypoint safety distance and the maximum distance; determine a plane perpendicular to the reference axis based on the first intersection point, wherein the reference axis is used to indicate the relative height of the second spherical space, and the first intersection point is the intersection point of the second spherical space and the reference axis; determine two second intersection points between the second spherical space and the alternative route; An execution module is configured to: add the vertical projection point of the second intersection point on the plane to the waypoint list, wherein the vertical projection point is used to avoid the geographic information object.

8. The flight path generation device for an aircraft according to claim 7, characterized in that, The determining module is further configured to: Based on the waypoint location information of the aircraft's current location and the predetermined waypoint spacing, a first spherical space is determined, wherein the center of the first spherical space is determined based on the waypoint location information, and the radius of the first spherical space is determined based on the predetermined waypoint spacing.

9. The flight path generation device for an aircraft according to claim 7, characterized in that, The determining module is further configured to determine whether the intersection coordinates are within the safe distance range of the geographic information object. The device also includes an execution module, wherein... The execution module is configured to: add the intersection coordinates to the waypoint list if the intersection coordinates are outside the safe distance range of the geographic information object, or not add the intersection coordinates to the waypoint list if the intersection coordinates are within the safe distance range of the geographic information object.

10. The flight path generation device for an aircraft according to claim 9, characterized in that, The execution module is further configured to: if the coordinates of the intersection point are within the safe distance range of the geographic information object, execute an obstacle avoidance process.

11. The flight path generation device for an aircraft according to claim 7, characterized in that, The device further includes: The termination module is used to terminate the route generation operation if the coordinates of a newly added waypoint in the waypoint list exceed the range of the predetermined termination waypoint, wherein the predetermined termination waypoint is used to represent the final target waypoint of this voyage.

12. The flight path generation device for an aircraft according to claim 7, characterized in that, The device further includes: The calculation module is used to: sequentially calculate the horizontal angle and pitch angle between the waypoint at the current location of the aircraft and the newly added waypoint in the waypoint list, wherein the horizontal angle and the pitch angle are used for the aircraft to navigate to the position of the newly added waypoint in the waypoint list.

13. A processing apparatus, characterized in that, The processing equipment includes: Memory, used to store executable programs; The processor, when executing the executable program stored in the memory, implements the flight path generation method for an aircraft as described in any one of claims 1 to 6.

14. A computer storage medium, characterized in that The computer storage medium stores an executable program, which, when executed by a processor, implements the flight path generation method for an aircraft as described in any one of claims 1 to 6.

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