Method and system for generating deviation guide information of approaching landing section of aircraft and readable storage medium

Abstract

The invention provides a method and a system for generating deviation guide information in an approaching landing section of an aircraft and a readable storage medium, and the method comprises the steps: S1, real image collection and processing: capturing an outboard environment image through an airborne visual sensor, and extracting key feature points of a target landing airport runway; s2, virtual image generation: based on the airport three-dimensional high-precision map, generating an approach glide image under a visual angle of a virtual camera; s3, image feature registration: carrying out spatial alignment on the key feature points of the runway in the real image and the key feature points of the runway in the virtual image; the pixel deviation of the runway center point in the real image and the virtual image is calculated, glide guidance is provided for a pilot or is directly input into an automatic flight system.The method can be used for the aircraft in the approaching landing section, the enhanced outboard visual display is provided for the pilot in the cockpit based on the equivalent ILS deviation guidance method, and the visual guidance effect is improved. And providing approaching glide deviation guide information.

Description

Technical Field

[0001] The present invention relates to the technical field of flight guidance for aircraft avionics systems, and particularly to a method, a system and a readable storage medium for generating deviation guidance information in the aircraft approach and landing stage.

Background Art

[0002] At present, during the aircraft approach and landing process, the instrument landing system (ILS) is mainly relied on to achieve precise approach guidance for the aircraft. It mainly emits radio beams into the air through the instrument landing system installed on the ground, forming a course plane and a glide plane in the approach airspace. When the aircraft is in the approach glide process, the on-board ILS receiving module receives the course plane beam and the glide plane beam, so as to display the deviation of the current position of the aircraft from the course plane and the glide plane on the primary flight display (PFD) in the cockpit, and provides real-time glide guidance for the pilot through two decoupled horizontal and vertical deviation guidance symbols (magenta diamond symbols).

[0003] Currently, in the final approach stage of the aircraft, the problems existing in the horizontal / vertical deviation guidance display based on the ILS system are as follows:

[0004] 1. The construction cost and maintenance cost of the ILS itself are high, and not all airports have the ability of ILS precise approach guidance.

[0005] The traditional instrument landing system can meet the guidance and control requirements for the approach and landing of fixed-wing aircraft, but its construction and maintenance costs are high. It has always mainly served large civil airports to meet the requirements for the precision approach of civil aircraft in the operating environment of airports with a large traffic density.

[0006] 2. In current related patents, the key points and existing problems of the landing guidance scheme based on the out-of-cockpit environmental vision enhancement system

[0007] Research on related patents shows that the current focus of the landing guidance scheme design based on the out-of-cockpit environmental vision enhancement system is on the processing of sensor data of the visible light / infrared enhanced vision system, image fusion, and spatial image registration and correction. It mainly solves the problem of enhanced perception ability of the external environment and provides the pilot with the ability to perceive the out-of-cockpit environment in harsh environments and low visibility conditions. However, there is little research on how to generate, display and interact with flight glide guidance information on the display instruments such as the cockpit PFD based on the processed image data.

[0008] Therefore, it is necessary to study a method, a system and a readable storage medium for generating deviation guidance information in the aircraft approach and landing stage to address the deficiencies of the existing technology and solve or mitigate one or more of the above problems.

Summary of the Invention

[0009] In view of this, the present invention provides a method, a system and a readable storage medium for generating deviation guidance information in the aircraft approach and landing section. It can be used for an aircraft in the approach and landing section to provide enhanced out-of-cockpit vision display for the cockpit pilot and at the same time provide approach and glide deviation guidance information based on an equivalent ILS deviation guidance method. The present invention mainly calculates and extracts the feature information of key targets (airport runways) in the pixel plane based on the real image data of the target landing airport and the synthetic vision three-dimensional map data, and equivalently calculates the position deviation of the aircraft approach and glide from the pixel position deviation at the current moment, so as to generate deviation guidance information.

[0010] On the one hand, the present invention provides a method for generating deviation guidance information in the aircraft approach and landing section, and the method for generating deviation guidance information in the aircraft approach and landing section includes the following steps:

[0011] S1, real image acquisition and processing: Capture the out-of-cockpit environment image through an airborne vision sensor, and extract the key feature points of the runway of the target landing airport;

[0012] S2, virtual image generation: Generate an approach and glide image under the perspective of a virtual camera based on the airport three-dimensional high-precision map;

[0013] S3, image feature registration: Align the key feature points of the runway in the real image with the key feature points of the runway in the virtual image in space;

[0014] S4, deviation calculation and guidance: Calculate the pixel deviation of the runway center points in the real image and the virtual image, and provide glide guidance for the pilot or directly input it into the autopilot system.

[0015] In the above aspect and any possible implementation manner, a further implementation manner is provided. The key feature points in S1 include but are not limited to the four corner points and the center point of the runway of the target landing airport.

[0016] In the above aspect and any possible implementation manner, a further implementation manner is provided. S1 specifically includes:

[0017] S11, image acquisition: Capture the out-of-cockpit environment image through an airborne vision sensor to ensure that the image contains the runway of the target landing airport;

[0018] S12, feature point extraction: Use an image processing algorithm to extract the pixel coordinates of the four corner points of the runway of the target landing airport;

[0019] S13, runway center point calculation: Calculate the pixel coordinates of the runway center point according to the pixel coordinates of the four corner points of the runway.

[0020] In the above aspect and any possible implementation manner, a further implementation manner is provided. S2 specifically includes:

[0021] S21, 3D high-precision map: Generate a sequence of approach and glide images from the perspective of a virtual camera based on the 3D high-precision map of the airport;

[0022] S22, Image frame alignment: Extract the corresponding image frame from the virtual image sequence according to the position and attitude of the aircraft at the current moment;

[0023] S23, Runway center point calculation: Calculate the pixel coordinates of the runway center point in the virtual image.

[0024] For the aspects and any possible implementation manners as described above, a further implementation manner is provided. Specifically, S3 includes:

[0025] S31, Spatial alignment: Ensure the spatial alignment between the perspective of the virtual camera and the perspective of the real on-board vision sensor;

[0026] S32, Pixel deviation calculation: Calculate the pixel deviation of the runway center point between the real image and the virtual image.

[0027] For the aspects and any possible implementation manners as described above, a further implementation manner is provided. In S4, the deviation vector generation decomposes the pixel deviation into a horizontal deviation vector and a vertical deviation vector.

[0028] For the aspects and any possible implementation manners as described above, a further implementation manner is provided. In S4, the glide slope guidance display inputs the deviation vector into the PFD to provide glide slope guidance for the pilot; the input to the automatic flight system inputs the deviation vector into the automatic flight system to achieve automatic approach and landing.

[0029] For the aspects and any possible implementation manners as described above, a further implementation manner is provided. In S3, when the image feature registration fails, the deviation calculation is performed through manual intervention. When the on-board vision sensor fails in S1, the deviation calculation is performed through satellite navigation or inertial navigation.

[0030] For the aspects and any possible implementation manners as described above, a further implementation manner is provided. An aircraft approach and landing section deviation guidance information generation system includes:

[0031] Real image acquisition and processing module: Capture the external environment image through the on-board vision sensor and extract the key feature points of the runway of the target landing airport;

[0032] Virtual image generation module: Generate an approach and glide image from the perspective of a virtual camera based on the 3D high-precision map of the airport;

[0033] Image feature registration module: spatially aligns the key feature points of the runway in the real image with the key feature points of the runway in the virtual image;

[0034] Deviation calculation and guidance module: calculates the pixel deviation of the runway center points in the real image and the virtual image, generates horizontal and vertical deviation vectors, and provides glide guidance for the pilot or directly inputs to the autopilot system.

[0035] In the aspects and any possible implementation manners as described above, a readable storage medium is further provided, storing instructions, which when running on a computer, cause the computer to execute any one of the methods for generating deviation guidance information in the approach landing section of an aircraft.

[0036] Compared with the prior art, the present invention can achieve the following technical effects:

[0037] 1. Strong autonomy: Does not rely on the ILS system and is applicable to any airport runway;

[0038] 2. Rich functions: On the basis of enhanced vision display, adds a glide deviation guidance function;

[0039] 3. High calculation efficiency: Simplifies the generation process of glide deviation guidance information through image feature registration and deviation calculation;

[0040] 4. Strong compatibility: The generated deviation guidance information can be compatible with the existing ILS guidance display scheme or can be redesigned.

[0041] Of course, it is not necessary for any product implementing the present invention to achieve all the above-mentioned technical effects simultaneously.

Description of the Drawings

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings according to these drawings without creative efforts.

[0043] Figure 1 It is a diagram of a method for generating aircraft approach glide guidance information based on image feature information of an external airport runway provided by an embodiment of the present invention;

[0044] Figure 2 It is a schematic diagram of aircraft approach glide guidance and generation of horizontal / vertical deviation vectors provided by an embodiment of the present invention;

[0045] Figure 3 It is a schematic diagram of the PFD aircraft approach glide guidance display mode (compatible with the existing ILS guidance display scheme) provided by an embodiment of the present invention.

Detailed Implementation Manner

[0046] For a better understanding of the technical solution of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0047] It should be clear that the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present invention.

[0048] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "the" and "said" used in the embodiments of the present invention and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0049] The present invention provides a method for generating deviation guidance information in the aircraft approach and landing section. The method for generating deviation guidance information in the aircraft approach and landing section includes the following steps:

[0050] S1. Real image acquisition and processing: Capture the external environment image through an airborne vision sensor, and extract the key feature points of the runway of the target landing airport.

[0051] S2. Virtual image generation: Generate an approach and glide image from the perspective of a virtual camera based on the airport three-dimensional high-precision map.

[0052] S3. Image feature registration: Align the key feature points of the runway in the real image with the key feature points of the runway in the virtual image spatially.

[0053] S4. Deviation calculation and guidance: Calculate the pixel deviation of the runway center points in the real image and the virtual image, and provide a glide guidance for the pilot or directly input it into the autopilot system.

[0054] The key feature points in S1 include but are not limited to the four corner points and the center point of the runway of the target landing airport.

[0055] S1 specifically includes:

[0056] S11. Image acquisition: Capture the external environment image through an airborne vision sensor to ensure that the image contains the runway of the target landing airport.

[0057] S12. Feature point extraction: Use an image processing algorithm to extract the pixel coordinates of the four corner points of the runway of the target landing airport.

[0058] S13. Runway center point calculation: Calculate the pixel coordinates of the runway center point according to the pixel coordinates of the four corner points of the runway.

[0059] The specific steps of S2 include:

[0060] S21, 3D high-precision map: Based on the 3D high-precision map of the airport, generate an approach and glide image sequence from the perspective of a virtual camera;

[0061] S22, image frame alignment: Extract the corresponding image frame from the virtual image sequence according to the position and attitude of the aircraft at the current moment;

[0062] S23, runway center point calculation: Calculate the pixel coordinates of the runway center point in the virtual image.

[0063] The specific steps of S3 include:

[0064] S31, spatial alignment: Ensure the spatial alignment between the perspective of the virtual camera and the perspective of the real airborne vision sensor;

[0065] S32, pixel deviation calculation: Calculate the pixel deviation of the runway center point between the real image and the virtual image.

[0066] In S4, the deviation vector generation is to decompose the pixel deviation into a horizontal deviation vector and a vertical deviation vector.

[0067] In S4, the glide path display is to input the deviation vector into the PFD (Primary Flight Display) to provide the glide path guidance for the pilot; the input for the automatic flight system is to input the deviation vector into the automatic flight system to achieve automatic approach and landing.

[0068] In S3, when the image feature registration fails, the deviation calculation is performed through manual intervention. When the airborne vision sensor fails in S1, the deviation calculation is performed through satellite navigation or inertial navigation.

[0069] The present invention also provides an aircraft approach and landing section deviation guidance information generation system, which includes:

[0070] Real image acquisition and processing module: Capture the external environment image through the airborne vision sensor and extract the key feature points of the runway of the target landing airport;

[0071] Virtual image generation module: Generate an approach and glide image from the perspective of a virtual camera based on the 3D high-precision map of the airport;

[0072] Image feature registration module: Perform spatial alignment between the key feature points of the runway in the real image and the key feature points of the runway in the virtual image;

[0073] Deviation calculation and guidance module: Calculate the pixel deviation of the runway center point between the real image and the virtual image, generate a horizontal deviation and a vertical deviation vector, and provide the glide path guidance for the pilot or directly input it into the automatic flight system.

[0074] The present invention also provides a readable storage medium storing instructions which, when run on a computer, cause the computer to execute any one of the methods for generating deviation guidance information in the aircraft approach and landing phase.

[0075] Embodiment 1:

[0076] The present invention proposes a method for obtaining a glide guidance by comparing an image captured in real time by an external visual sensor, through image processing, with a sequence of glide reference images generated from a known three-dimensional high-precision airport map. The method of the present invention can be regarded as an upgrade of the existing Enhanced Vision System (EVS) and Synthetic Vision System (SVS), mainly solving the problem of providing an approach guidance method that does not rely on the Instrument Landing System (ILS) in the glide landing phase, and the guidance function achieved is equivalent to that of the ILS guidance.

[0077] The method for generating glide deviation guidance based on the external runway image feature information of the present invention is a method for generating glide deviation guidance equivalent to that of the ILS Instrument Landing System based on the localizer / glide slope radio signals. The former guides the aircraft to the standard glide path by eliminating the pixel position deviation between associated feature points in the pixel plane at the same moment; while the latter guides the aircraft to the standard glide path by eliminating the localizer / glide slope radio signal deviation received at the position of the aircraft at the current moment. The process of the method of the present invention is as follows Figure 1 as shown. Among them, the "external runway image feature" of the present invention can also be extended to other target object image features according to the actual situation of the scene and the functions of the feature detection and extraction module.

[0078] According to the foregoing, the process of generating the aircraft approach glide guidance recommendation based on the external airport runway image feature information is itself a technological innovation, and no similar method has appeared in the published patents and literature. In addition, according to Figure 1 as shown, the most innovative points of the present invention are: First, generating a sequence of frames of the glide process images from the virtual camera perspective based on the existing three-dimensional high-precision airport map database, and using this sequence of frames as the basis for calculating the glide deviation guidance; Second, by comparing the pixel coordinates of the airport runway center point in the "real-time external image" and the airport runway center point in the "image generated by the virtual camera", calculating the pixel deviation value of the airport runway center point, and then generating a glide deviation guidance recommendation.

[0079] The adoption of the method of the present invention can achieve glide deviation guidance without relying on the ILS Instrument Landing System, providing a simple, low-cost, and safe and efficient method for generating glide deviation guidance, which is suitable for airports without the installation or the landing guidance ability of the ILS system.

[0080] 4. For the same technical concept, it is necessary to ensure the consistency of the terms used in the context, otherwise it will increase unnecessary communication costs; for English technical terms, the Chinese meanings should also be given; for self-created technical terms, special markings should be made.

[0081] The method for generating the glide deviation guidance based on the image feature information outside the cabin in the present invention is a method for generating the glide deviation guidance by an equivalent ILS instrument landing system based on the localizer / glide slope radio signals.

[0082] The method in the present invention guides the aircraft to the standard glide slope by eliminating the pixel position deviation between the associated feature points in the pixel plane of the virtual camera of the real-time outside-cabin image and the three-dimensional high-precision map at the same moment. As Figure 1 shown, this method is divided into two branches on the left and right. The center points of the airport runway in the real captured image and the virtual runway center point under the three-dimensional high-precision map are calculated respectively. Finally, the glide deviation guidance information is generated from the pixel deviation values of these two calculated center points.

[0083] The specific steps are as follows. Among them, the steps of the left branch are:

[0084] First, based on the airborne vision sensor, collect the outside-cabin environment image during the aircraft's approach and glide. The image should include the runway of the target landing airport.

[0085] Second, from the collected real-time outside-cabin image data, through image feature detection and extraction, obtain the key feature information (the information of the four corner points of the runway) of the target landing airport runway, and output the position coordinates of the key feature information of the airport runway in the camera image plane coordinate system in real time.

[0086] Third, from the position coordinates of the four corner points of the airport runway obtained in the second step, calculate the center point coordinates of the airport runway in the camera image plane coordinate system.

[0087] Fourth, at the same time, from the position coordinates of the four corner points of the airport runway obtained in the second step, generate the real-time outside-cabin airport runway border and provide it to the PFD for real-time display.

[0088] The steps of the right branch are:

[0089] First, from the airport three-dimensional high-precision map database, generate a sequence of approach and glide image frames in the perspective of the virtual camera according to the aircraft target approach and glide slope angle and the known aircraft approach and glide attitude angle.

[0090] Second, from the sequence of approach and glide image frames generated in the first step, extract the virtual camera imaging image frame corresponding to the current moment according to the alignment at the current moment.

[0091] Third, calculate the center point coordinates of the ideal target landing airport runway from the virtual camera imaging image frame at the current moment obtained in the second step.

[0092] Finally, based on the results of the center point position coordinates of the airport runway calculated by the left and right branches, generate real-time airport runway center point deviation information, and then generate a glide path deviation guidance suggestion, which is provided to the PFD for approach glide path guidance display, or directly output to the autopilot system.

[0093] In the above step description, the following points need to be noted:

[0094] 1. The implementation of the "first step" in the right branch process, after clarifying the landing airport runway of this flight, the approach glide path angle of this flight, and the general approach glide attitude angle of the aircraft, the image frame sequence under the virtual camera view can be generated through three-dimensional space geometric relationships. Therefore, this step is generally an offline calculation process to save online computing resources;

[0095] 2. To make the approach glide pixel deviation calculation accurate, the virtual camera view described here needs to be spatially aligned with the view of the real airborne vision sensor, that is, the image registration principle described in our synthetic vision system (SVS) design;

[0096] 3. In the left and right branches, the alignment of the image frames at the current moment means aligning the actual approach glide position and the virtual camera imaging position at a certain moment, so that the virtual camera imaging position is the reference position;

[0097] 4. Airport runway center point deviation generation process: Calculate the vector pointing from the center point of the airport runway in the real captured image to the virtual runway center point under the three-dimensional high-precision map, and decompose it into a horizontal deviation vector and a vertical deviation vector in the horizontal and vertical directions, as Figure 2 shown;

[0098] 5. The "out-of-cabin runway image features" described in the present invention can also be extended to other target object image features according to the actual situation of the scene and the functions of the feature detection and extraction module;

[0099] 6. The PFD approach glide path deviation guidance display can be compatible with the existing ILS deviation guidance scheme (as Figure 3 shown), or it can be redesigned, which is not specifically described in the present invention.

[0100] The present invention can be applied to the design of an aircraft intelligent cockpit or the field of aircraft intelligent driving technology. The relevant target key feature information and deviation guidance information generated by the present invention can be displayed and interacted on the primary flight display (PFD), providing an intuitive and reasonable glide guidance method for the pilot; or the deviation guidance information calculated during the approach glide can be sent to the aircraft autopilot system to achieve automatic approach and landing.

[0101] In the present invention, the improved primary flight display (PFD) display interaction function is mentioned, which provides an enhanced out-of-cockpit environment display interaction experience for the cockpit pilot. Mainly by introducing the real image data of the target landing airport or the synthetic vision three-dimensional map on the PFD display interaction page, the key feature information of the runway of the target landing airport calculated by the on-board intelligent auxiliary driving system and other enhanced display symbols are displayed in real time on the PFD. At present, the existing technical solutions related to this patent mainly focus on the product design and implementation of the enhanced vision system (EVS) and the synthetic vision system (SVS). It mainly uses out-of-cockpit visible light / infrared image sensing devices to display the captured visible light / infrared fused image on the cockpit head-up display or PFD, or display the synthetic vision image on the cockpit head-up display or PFD. This process needs to consider the alignment of the image display with the coordinates of the real physical world outside the cockpit.

[0102] The main difference between the present invention and the prior art is that, based on the enhanced display of the above-mentioned scheme, the present invention focuses on how to provide an enhanced guidance display interaction function for the pilot during the approach glide. Based on the horizontal and vertical glide guidance methods in the traditional PFD display, the key feature information of the runway of the target landing airport calculated by the out-of-cockpit environment image machine vision processing module is used for feature display on the PFD base map, and equivalent horizontal and deviation guidance information is provided.

[0103] Compared with the traditional ILS-based precision approach glide guidance method, the source of the guidance deviation information of the aircraft approach and landing guidance method described in the present invention is not the localizer and glide slope radio signals transmitted by the ILS system, but the images real-time collected by the out-of-cockpit vision sensor. After the airport runway image feature detection and calculation, the runway features in the glide reference image sequence offline generated by the airport high-precision map are compared. Through the deviation position calculation between the associated feature points of the airport runway in the pixel plane, the final glide guidance suggestion provided to the pilot or the autopilot system is obtained.

[0104] Compared with the traditional out-of-cockpit vision enhancement system, the present invention provides a more intuitive and operable glide guidance for the pilot, which can be used as an extended function of the subsequent out-of-cockpit vision enhancement system.

[0105] The above has introduced in detail a method, a system and a readable storage medium for generating deviation guidance information in the aircraft approach and landing phase provided by the embodiments of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

[0106] As used in the specification and claims, certain terms are used to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use the difference in names as a way to distinguish components, but use the difference in functions of components as the criterion for distinction. As mentioned throughout the specification and claims, "comprising" and "including" are open-ended terms, so they should be interpreted as "comprising / including but not limited to". "Substantially" means within an acceptable error range. Those skilled in the art can solve the technical problems within a certain error range and basically achieve the technical effects. The subsequent description in the specification is the preferred implementation manner for implementing the present application, but the description is for the purpose of explaining the general principles of the present application and is not used to limit the scope of the present application. The protection scope of the present application shall be subject to what is defined by the appended claims.

[0107] It should also be noted that the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a commodity or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such commodity or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the commodity or system including the said element.

[0108] It should be understood that the term "and / or" used herein is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.

[0109] The foregoing description has shown and described several preferred embodiments of the present application. However, as previously mentioned, it should be understood that the present application is not limited to the forms disclosed herein, should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications, and environments, and can be changed within the scope of the application concept described herein through the above teachings or the techniques or knowledge in the relevant field. Any changes and variations made by those skilled in the art without departing from the spirit and scope of the present application shall fall within the protection scope of the appended claims of the present application.

Claims

1. A method for generating deviation guidance information in the approach and landing section of an aircraft, characterized in that, The method for generating deviation guidance information in the aircraft approach and landing phase includes the following steps: S1, Real image acquisition and processing: Capture the external environment image through an airborne vision sensor, and extract the key feature points of the runway of the target landing airport; S2, Virtual image generation: Generate the approach and glide image under the perspective of a virtual camera based on the airport three-dimensional high-precision map; S3, Image feature registration: Align the key feature points of the runway in the real image with the key feature points of the runway in the virtual image spatially; S4, Deviation calculation and guidance: Calculate the pixel deviation between the center points of the runway in the real image and the virtual image, and provide glide guidance for the pilot or directly input it into the automatic flight system.

2. The method for generating deviation guidance information in the aircraft approach and landing phase according to claim 1, wherein The key feature points in S1 include but are not limited to the four corner points and the center point of the runway of the target landing airport.

3. The method for generating deviation guidance information in the aircraft approach and landing phase according to claim 2, wherein S1 specifically includes: S11, Image acquisition: Capture the external environment image through an airborne vision sensor to ensure that the image contains the runway of the target landing airport; S12, Feature point extraction: Use image processing algorithms to extract the pixel coordinates of the four corner points of the runway of the target landing airport; S13, Runway center point calculation: Calculate the pixel coordinates of the runway center point according to the pixel coordinates of the four corner points of the runway.

4. The method for generating approach landing segment deviation guidance information of an aircraft according to claim 1, characterized in that S2 specifically includes: S21, Three-dimensional high-precision map: Generate a sequence of approach and glide images under the perspective of a virtual camera based on the airport three-dimensional high-precision map; S22, Image frame alignment: Extract the corresponding image frame from the virtual image sequence according to the position and attitude of the aircraft at the current moment; S23, Runway center point calculation: Calculate the pixel coordinates of the runway center point in the virtual image.

5. The method for generating deviation guidance information in the aircraft approach and landing section according to claim 1, wherein S3 specifically includes: S31, Spatial alignment: Ensure the spatial alignment between the perspective of the virtual camera and the perspective of the real airborne vision sensor; S32, Pixel deviation calculation: Calculate the pixel deviation between the center points of the runway in the real image and the virtual image.

6. The method for generating deviation guidance information in the aircraft approach and landing section according to claim 1, wherein In S4, the deviation vector generation is to decompose the pixel deviation into a horizontal deviation vector and a vertical deviation vector.

7. The method for generating approach landing segment deviation guidance information of an aircraft according to claim 1, wherein In S4, the glide guidance display is to input the deviation vector into the PFD to provide glide guidance for the pilot; the input to the automatic flight system is to input the deviation vector into the automatic flight system to achieve automatic approach and landing.

8. The method for generating deviation guidance information in the aircraft approach and landing phase according to claim 1, characterized in that, In S3, when the image feature registration fails, the deviation is calculated through manual intervention. When the airborne vision sensor in S1 fails, the deviation is calculated through satellite navigation or inertial navigation.

9. An aircraft approach landing section deviation guidance information generation system, which is used to complete the aircraft approach landing section deviation guidance information generation method as described in any one of claims 1-8, and is characterized in that, The system for generating deviation guidance information in the aircraft approach and landing phase includes: Real image acquisition and processing module: Capture the external environment image through an airborne vision sensor, and extract the key feature points of the runway of the target landing airport; Virtual image generation module: Generate the approach and glide image under the perspective of a virtual camera based on the airport three-dimensional high-precision map; Image feature registration module: Align the key feature points of the runway in the real image with the key feature points of the runway in the virtual image spatially; Deviation calculation and guidance module: Calculate the pixel deviation between the center points of the runway in the real image and the virtual image, generate horizontal and vertical deviation vectors, and provide glide guidance for the pilot or directly input it into the automatic flight system.

10. A readable storage medium storing instructions, characterized in that, When the instruction runs on a computer, it causes the computer to execute the method for generating deviation guidance information in the approach landing section of an aircraft as described in any one of claims 1-8.

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