A navigation warning method and system

Abstract

The present invention discloses a general aviation warning method and system, wherein the method is based on an altitude sinking state, an altitude loss state after takeoff, a glide path deviation state, a premature descent state, or a terrain avoidance warning state, and executes corresponding general aviation warning prompt actions. In various general aviation flight scenarios, the false alarm phenomenon of general aviation flight can be reduced, thereby avoiding frequent flight-to-ground accidents.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation warning technology, and in particular to a navigation warning method and system. Background Art

[0002] General aviation aircraft are a vital component of my country's civil aviation industry and have experienced rapid growth in recent years. Compared to passenger and cargo aircraft, general aviation aircraft are generally smaller, including helicopters and fixed-wing aircraft. They are characterized by their low payload and flexible missions, but their accident rate is significantly higher than that of transport aviation. Due to the relatively low altitudes of general aviation aircraft, current warning protocols are not tailored to their flight characteristics, resulting in frequent false alarms and frequent flight-to-ground accidents. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the problem of frequent general aviation aircraft flight collision accidents in the prior art, thereby providing a general aviation warning method and system.

[0004] According to a first aspect, an embodiment of the present invention provides a navigation warning method, comprising the following steps:

[0005] Get the current flight status of the general aviation aircraft, including: altitude sinking state, altitude loss after takeoff, glide path deviation state, premature descent state, or terrain avoidance warning state;

[0006] If the current flight state is a descent state, based on the preset descent rate, the altitude descent prompt action is executed during the entire flight phase of the general aviation aircraft, including the ground phase, takeoff phase, go-around phase, cruise phase, approach phase, and landing phase;

[0007] If the current flight status is the state of losing altitude after takeoff, the altitude loss after takeoff prompt action will be executed during the takeoff phase based on the preset cruising altitude;

[0008] If the current flight status is a glide slope deviation state, the glide slope deviation prompt action is performed during the approach or landing phase based on the glide slope deviation angle and the preset angle;

[0009] If the current flight status is premature descent, a premature descent prompt action is executed during the approach or landing phase based on the premature descent altitude and the aircraft's airport location.

[0010] If the current flight status is the terrain avoidance warning status, the terrain avoidance prompt action will be executed throughout the flight phase based on the terrain warning prompt envelope diagram and terrain warning prompt parameters of the general aviation aircraft.

[0011] Optionally, based on a preset altitude descent rate, an altitude descent prompt action is performed during the entire flight phase of the general aviation aircraft, including:

[0012] Preset the altitude sink rate range and the first flight altitude range value of the general aviation aircraft;

[0013] Based on the first flight altitude range value, if the current altitude sink rate of the general aviation aircraft belongs to the altitude sink rate range, performing a caution prompt action during the entire flight phase of the general aviation aircraft;

[0014] Based on the first flight altitude range value, if the current altitude sinking rate of the general aviation aircraft is greater than the maximum value of the first flight altitude range value, an alarm prompt action is performed during the entire flight phase of the general aviation aircraft.

[0015] Optionally, if the current flight state is a state of losing altitude after takeoff, an action of prompting a loss of altitude after takeoff is performed during the takeoff phase based on a preset cruising altitude, including:

[0016] Preset cruising altitude range for general aviation aircraft;

[0017] Based on the cruising altitude range value, if the current flight altitude of the general aviation aircraft belongs to the cruising altitude range value, the altitude loss warning action after takeoff will be executed during the takeoff phase.

[0018] Optionally, based on the glide slope deviation angle and a preset angle, a glide slope deviation prompt action is performed during the approach phase or the landing phase, including:

[0019] Preset the first glide path deviation angle, second glide path deviation angle and third glide path deviation angle for general aviation aircraft;

[0020] calculating a first angle for performing a glide path deviation based on the first glide path deviation angle and the second glide path deviation angle;

[0021] calculating a second angle for performing a glide slope deviation based on the first glide slope deviation angle and the third glide slope deviation angle;

[0022] Based on the first angle, executing a glide slope deviation warning action during the approach phase or the landing phase;

[0023] Based on the second angle, a glide slope deviation warning prompt action is performed during the approach phase or the landing phase.

[0024] Optionally, based on the premature descent altitude and the aircraft airport location, a premature descent prompt action is performed during the approach phase or landing phase, including:

[0025] Get the airport's runway threshold location and the current flight position of general aviation aircraft;

[0026] Get the distance information between the airport's runway threshold and the current flight position;

[0027] Get the current flight altitude of the general aviation aircraft;

[0028] Determining a second flight altitude range value of the general aviation aircraft and a preset distance range between the current flight position and the runway threshold position;

[0029] Based on the runway threshold position, distance information, current flight position, preset distance range and second flight altitude range value, a premature descent warning prompt action is performed during the approach phase or landing phase.

[0030] Optionally, terrain avoidance actions are performed during the entire flight phase based on the general aviation aircraft's terrain warning envelope, flight trajectory, aircraft current position, current flight speed, and current flight altitude, including:

[0031] Obtain the current flight position of the general aviation aircraft, target terrain position and earth radius information;

[0032] Get the actual latitude and longitude information of the current flight location;

[0033] Based on the terrain database, obtaining target latitude information and target longitude information of the target terrain position;

[0034] Calculating a target distance between a current flight position and a target terrain position in a horizontal direction based on the earth radius information, the actual latitude information, the actual longitude information, the target latitude information, and the target longitude information;

[0035] Calculating the azimuth of the target terrain relative to the current flight position based on the actual latitude information, the actual longitude information, the target latitude information, and the target longitude information;

[0036] Obtaining a first distance from the general aviation aircraft to a first preset position along a flight trajectory, a second distance from a second preset position, and a height difference between the current flight position and the target terrain;

[0037] Determining whether the target terrain position is simultaneously located within a vertical warning prompt envelope area and a horizontal warning prompt envelope area of ​​the navigable terrain warning prompt envelope diagram based on the first distance, the azimuth, the second distance, the target distance, and the altitude difference;

[0038] If the target terrain position is located in the vertical warning prompt envelope area and the horizontal warning prompt envelope area at the same time, a warning prompt action will be performed on the general aviation aircraft.

[0039] Optionally, the navigation terrain warning prompt envelope diagram includes:

[0040] Obtain the flight trajectory, initial position and current flight speed of general aviation aircraft;

[0041] Calculating a first distance flown by the general aviation aircraft along the flight trajectory based on a first preset time and a current flight speed, and determining a first flight position based on an initial position of the trajectory;

[0042] Calculating a second distance flown by the general aviation aircraft along the flight trajectory based on a second preset time and the current flight speed, and determining a second flight position based on the initial position of the trajectory;

[0043] Based on the preset flight altitude, a warning boundary line and a caution boundary line are drawn parallel to the flight trajectory;

[0044] Based on the first flight position and the second flight position, determining a midpoint between the two as a third flight position;

[0045] Generate a vertical warning envelope based on the trajectory initial position, the first flight position, the second flight position, the flight trajectory route, and the warning boundary line;

[0046] Generate a vertically-oriented attention prompt envelope area based on the trajectory initial position, the first flight position, the second flight position, the third flight position, and the attention prompt boundary line;

[0047] Drawing a preset quadrilateral area based on the flight trajectory route, the trajectory initial position, the first flight position, and the second flight position;

[0048] Based on the preset quadrilateral area, the initial position of the trajectory, the first flight position and the second flight position, a warning prompt envelope area and a attention prompt envelope area based on the horizontal direction are generated.

[0049] According to a second aspect, an embodiment of the present invention further provides a navigation warning system, comprising:

[0050] The data acquisition module and central processing module located on the general aviation aircraft body and the ground monitoring system and remote warning terminal located on the ground;

[0051] The data acquisition module is used to collect the position information, altitude information, speed information, terrain information and attitude information of the general aviation aircraft, and the central processing module is connected to the data acquisition module via a wired or wireless manner to execute the general aviation warning method in the first aspect or any embodiment of the first aspect;

[0052] The ground monitoring system is connected to the central processing module via wireless mode to monitor the flight trajectory and flight status of general aviation aircraft in real time;

[0053] The remote alarm terminal is used to execute the alarm prompt action by applying the navigation alarm method through the central processing module.

[0054] According to a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute the navigation warning method in the first aspect or any embodiment of the first aspect.

[0055] According to the fourth aspect, an embodiment of the present invention further provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, computer instructions stored in the memory, and the processor executing the navigation warning method in the first aspect or any embodiment of the first aspect by executing the computer instructions.

[0056] The technical solution of the present invention has the following advantages:

[0057] The present invention discloses a general aviation warning method and system, wherein the method is based on an altitude sinking state, an altitude loss state after takeoff, a glide path deviation state, a premature descent state, or a terrain avoidance warning state, and executes corresponding general aviation warning prompt actions. In various general aviation flight scenarios, the false alarm phenomenon of general aviation flight can be reduced, thereby avoiding frequent flight-to-ground accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0059] Figure 1 This is a flowchart of a specific example of the navigation warning method in an embodiment of the present invention;

[0060] Figure 2 Schematic diagram of flight phase transition for a general aviation aircraft in an embodiment of the present invention;

[0061] Figure 3 This is a flowchart of another specific example of the navigation warning method according to an embodiment of the present invention;

[0062] Figure 4 Schematic diagram of an excessive sinking rate alarm in an embodiment of the present invention;

[0063] Figure 5 This is a flowchart of another specific example of the navigation warning method according to an embodiment of the present invention;

[0064] Figure 6This is a schematic diagram of an altitude loss warning after takeoff in an embodiment of the present invention;

[0065] Figure 7 This is a flowchart of another specific example of the navigation warning method according to an embodiment of the present invention;

[0066] Figure 8 Schematic diagram of an excessive deviation from the glide path alarm according to an embodiment of the present invention;

[0067] Figure 9 This is a flowchart of another specific example of the navigation warning method according to an embodiment of the present invention;

[0068] Figure 10 Schematic diagram of premature descent alarm in an embodiment of the present invention;

[0069] Figure 11 A schematic diagram of generating a navigable terrain warning prompt envelope diagram in an embodiment of the present invention;

[0070] Figure 12 A schematic structural diagram of a navigation terrain warning prompt envelope diagram in an embodiment of the present invention;

[0071] Figure 13 This is a flowchart of a specific example of generating a navigation terrain warning prompt envelope diagram in an embodiment of the present invention;

[0072] Figure 14 A flowchart of another specific example of generating a navigable terrain warning prompt envelope diagram in an embodiment of the present invention;

[0073] Figure 15 A flowchart of another specific example of generating a navigable terrain warning prompt envelope diagram in an embodiment of the present invention;

[0074] Figure 16 This is another structural schematic diagram of the navigation terrain warning prompt envelope diagram in an embodiment of the present invention;

[0075] Figure 17 A flowchart of another specific example of generating a navigable terrain warning prompt envelope diagram in an embodiment of the present invention;

[0076] Figure 18 A flowchart of another specific example of generating a navigable terrain warning prompt envelope diagram in an embodiment of the present invention;

[0077] Figure 19 A flowchart of another specific example of generating a navigable terrain warning prompt envelope diagram in an embodiment of the present invention;

[0078] Figure 20 This is a structural diagram of a navigation warning system according to an embodiment of the present invention;

[0079] Figure 21 Schematic diagram of the hardware structure of a computer device in an embodiment of the present invention. DETAILED DESCRIPTION

[0080] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0081] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0082] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components; wireless connections or wired connections. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0083] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0084] The embodiment of the present invention provides a navigation warning method, which is applied to a navigation warning system, such as Figure 1 As shown, the following steps are included:

[0085] Step S11: obtaining the current flight status of the general aviation aircraft, which includes: altitude sinking status, altitude loss after takeoff status, glide path deviation status, premature descent status, or terrain avoidance warning status.

[0086] Specifically, controlled flight into terrain (CFIT) is one of the main causes of commercial aircraft damage and fatalities. The general aviation warning method in this embodiment implements corresponding control methods for various warning states to effectively avoid controlled flight into terrain and ensure the safe flight of general aviation aircraft.

[0087] Furthermore, the current flight status of the general aviation aircraft can be monitored in real time through a ground monitoring system, which can provide the current flight status and aircraft trajectory information of the general aviation aircraft in real time.

[0088] Step S12: If the current flight state is an altitude sinking state, based on the preset altitude sinking rate, an altitude sinking prompt action is performed during the entire flight phase of the general aviation aircraft. The entire flight phase includes: ground phase, take-off phase, go-around phase, cruise phase, approach phase, and landing phase.

[0089] like Figure 2 The figure below shows the flight phase transitions for general aviation aircraft. During the ground phase, the air / ground determination is based on the following: when the general aviation aircraft is airborne, the ground speed is greater than 60 km / h, and the current flight altitude (radio altitude) is greater than 9 meters for more than 1 second. When the general aviation aircraft is on the ground, this includes both stopping and taxiing on the ground.

[0090] During the takeoff or go-around phase, outside the runway area, the aircraft is located less than 10 km from the runway center (or less than 5 nautical miles from the runway center) and has a relative runway altitude of less than 150 m (the relative runway altitude is the height of the aircraft above the ground); the distance from the runway center gradually increases. Outside the runway area, the aircraft transitions between the ground and in the air (this sign is cleared after the takeoff phase ends) to enter the takeoff or go-around phase.

[0091] For the approach / landing phase, the aircraft must be less than 20 km from the runway and the distance from the runway center point is gradually decreasing, and the aircraft is less than 450 meters above the runway surface. Alternatively, for the approach / landing phase, the aircraft must be less than 10 nautical miles from the runway and the distance from the runway center point is gradually decreasing, and the aircraft is less than 450 meters above the runway surface.

[0092] The cruise phase does not belong to the air flight phase of the take-off / go-around and approach / landing flight phases.

[0093] In a specific embodiment, Figure 3 As shown, the above step S12, based on the preset altitude sinking rate, performs an altitude sinking prompt action during the entire flight phase of the general aviation aircraft, including:

[0094] Step S31: Preset the altitude sinking rate range and the first flight altitude range value of the general aviation aircraft.

[0095] For example, the altitude sink rate range mentioned above can be -5m / s to -7.5m / s, and the first flight altitude range value can be 3m to 300m. In actual application, the altitude sink rate range and the first flight altitude range value can be flexibly set as needed.

[0096] Step S32: Based on the first flight altitude range value, if the current altitude sink rate of the general aviation aircraft belongs to the altitude sink rate range, a warning action is performed during the entire flight phase of the general aviation aircraft.

[0097] Step S33: Based on the first flight altitude range value, if the current altitude sinking rate of the general aviation aircraft is greater than the maximum value of the first flight altitude range value, an alarm prompt action is performed during the entire flight phase of the general aviation aircraft.

[0098] Specifically, if Figure 4 The figure below is a diagram of an excessive sinking rate alarm. Figure 4 In the case of a flight altitude of 3m-300m, if the sinking rate is -5m / s to -7.5m / s, a caution prompt will be issued; if the sinking rate is >-7.5m / s, a warning prompt will be issued. Figure 4 In the example, when the flight altitude is 86m, the corresponding sinking rate is -9m / s. Figure 4 In the system, the upper limit altitude of general aviation aircraft is 300 meters. The maximum sink rate for the altitude sinking warning action can be -10m / s, -15m / s, and -20m / s. The maximum sink rate for the altitude sinking warning action can be -15m / s, -20m / s, and -25m / s. When the altitude sinking warning action is executed and the warning output is made, the attention-level warning light is continuously lit and two "high sinking rate" voice reminders are given at the same time. When the flight altitude drops to 20% of the maximum upper limit altitude, the general aviation flight system gives two more "high sinking rate" voice reminders. This cycle continues until the aircraft leaves the "sinking rate" reminder area or enters the "pull up" warning area, and the warning light goes out.

[0099] Step S13: If the current flight state is a state of losing altitude after takeoff, a prompt action of losing altitude after takeoff is executed during the takeoff phase based on the preset cruising altitude.

[0100] In a specific embodiment, the above step S13, as Figure 5 As shown, if the current flight state is the state of losing altitude after takeoff, the altitude loss prompt action after takeoff is executed during the takeoff phase based on the preset cruising altitude, including:

[0101] Step S51: presetting the cruising altitude range of the general aviation aircraft.

[0102] For example, Figure 6As shown in FIG, it is a schematic diagram of an altitude drop warning after takeoff. The cruising altitude range value can be set to 9m-150m, and the cruising altitude range value can be flexibly set as needed.

[0103] Step S52: Based on the cruising altitude range value, if the current flight altitude of the general aviation aircraft belongs to the cruising altitude range value, a warning action of losing altitude after takeoff is executed during the takeoff phase.

[0104] Specifically, in Figure 6 In the process of cruising of general aviation aircraft, the upper limit of the cruising altitude can be set to 150m, and a suppression button is added. When an alarm is generated, click the suppression button and the alarm will be suppressed for 15 seconds.

[0105] When executing the attention prompt action after takeoff and outputting the alarm, the general aviation flight system lights up the attention level warning light and outputs two "Do not descend" reminder voices. When the general aviation flight altitude is reduced by 20% of the total flight altitude, the "Do not descend" reminder voices are given twice again, and this cycle is repeated until the danger is out of danger.

[0106] Step S14: If the current flight state is a glide slope deviation state, a glide slope deviation prompt action is performed during the approach phase or the landing phase based on the glide slope deviation angle and the preset angle.

[0107] In a specific embodiment, Figure 7 As shown, the above step S14, based on the glide path deviation angle and the preset angle, performs the glide path deviation prompt action during the approach phase or the landing phase, including:

[0108] Step S71: Preset a first glide path deviation angle, a second glide path deviation angle, and a third glide path deviation angle of the general aviation aircraft.

[0109] For example, Figure 8 The following is a diagram of an excessive deviation from the glide path warning. Figure 8 The deviation angle of the first glide path is 3°, the deviation angle of the second glide path is 0.52°, and the deviation angle of the third glide path is 0.8°.

[0110] Step S72: Calculating a first angle for performing a glide slope deviation based on the first glide slope deviation angle and the second glide slope deviation angle.

[0111] For example, the first glide path deviation angle is 3°, and the second glide path deviation angle is 0.52°, so the first angle is: 3-0.52=2.48°.

[0112] Step S73: Calculating a second angle for performing glide path deviation based on the first glide path deviation angle and the third glide path deviation angle.

[0113] For example, the first glide path deviation angle is 3°, the third glide path deviation angle is 0.52°, and the second angle is: 3-0.8°=2.2°.

[0114] Step S74: Based on the first angle, a glide slope deviation warning action is executed during the approach phase or the landing phase.

[0115] Step S75: Based on the second angle, a glide slope deviation warning prompt action is executed during the approach phase or the landing phase.

[0116] Specifically, when executing the glide slope deviation prompt action and outputting an alarm, since the general aviation aircraft needs to cut into the glide slope to start landing, based on 3-0.52=2.48°, the glide slope deviation attention prompt action is executed during the approach phase or landing phase, that is, when the aircraft's descent angle is greater than 3-0.52=2.48°, that is, the deviation is greater than 0.52°, the general aviation flight system lights up the attention level warning light, and based on the "glide slope" reminder voice, the "glide slope is low" reminder voice is given again for each 20% increase in deviation from the glide slope point (that is, the deviation value is 0.52*20%).

[0117] Based on 3-0.8°=2.2°, the glide slope deviation warning prompt action is performed during the approach or landing phase. That is, when the descent angle of the general aviation aircraft is greater than 3-0.8°=2.2°, that is, the deviation is greater than 0.8°, the general aviation flight system lights up the warning-level warning light and gives a "glide slope low, glide slope low" reminder voice, which is repeated every 4 seconds until the aircraft is out of danger. The glide slope warning can be suppressed. When the suppression function takes effect, the suppression function is canceled after the general aviation aircraft lands and takes off.

[0118] Step S15: If the current flight state is a premature descent state, a premature descent prompt action is performed during the approach phase or the landing phase based on the premature descent altitude and the aircraft airport location.

[0119] In a specific embodiment, Figure 9 As shown, based on the premature descent altitude and the aircraft's airport location, premature descent prompting actions are performed during the approach or landing phase, including:

[0120] Step S91, obtaining the runway entrance position of the airport and the current flight position of the general aviation aircraft.

[0121] Step S92: Obtain the distance information between the runway entrance position of the airport and the current flight position.

[0122] Step S93, obtaining the current flight altitude of the general aviation aircraft.

[0123] Step S94: determining a second flight altitude range value of the general aviation aircraft and a preset distance range between the current flight position and the runway threshold position.

[0124] Step S95: Based on the runway entrance position, distance information, current flight position, preset distance range and second flight altitude range value, a premature descent warning action is performed during the approach phase or landing phase.

[0125] For example, Figure 10 As shown in the figure, the premature descent warning diagram. Figure 10 In the embodiment, the second flight altitude range is 75m-200m. In practical applications, the second flight altitude range can be flexibly set as needed.

[0126] In a specific embodiment, the above step S95, during execution, includes:

[0127] When the current flight altitude of the general aviation aircraft belongs to the second flight altitude range value, and the distance information between the runway entrance position of the airport and the current flight position belongs to the preset distance range, a premature descent warning prompt action is performed during the approach phase or landing phase.

[0128] In another specific embodiment, the above step S95, during execution, includes:

[0129] Based on the runway entrance position, the runway position is determined. When the current flight position of the general aviation aircraft is located on both sides of the runway and the current flight altitude of the general aviation aircraft belongs to the minimum value of the second flight altitude range, a premature descent warning prompt action is performed during the approach phase or landing phase.

[0130] Specifically, when executing the glide slope deviation prompt action and outputting an alarm, when the current flight altitude of the general aviation aircraft crosses the alarm boundary, the general aviation flight system lights up the attention level warning light and gives a "too low, terrain" voice reminder once. A voice reminder is given for every 20% decrease in the current flight altitude until the current flight altitude is greater than the currently required clearance value, and the attention level warning light is extinguished.

[0131] Step S16: If the current flight state is a terrain avoidance warning state, a terrain avoidance prompt action is performed during the entire flight phase based on the terrain warning prompt envelope diagram and terrain warning prompt parameters of the general aviation aircraft.

[0132] In a specific implementation, the terrain warning prompt envelope diagram is generated through the following embodiment.

[0133] The embodiment of the present invention provides a method for generating a navigation terrain warning envelope diagram, such as Figure 11 As shown, the following steps are included:

[0134] Step S111: Obtain the flight trajectory route, trajectory initial position, current flight speed and current flight altitude of the general aviation aircraft.

[0135] like Figure 12 As shown, the flight trajectory of the general aviation aircraft is represented by A, the initial position of the trajectory is represented by B, the current flight speed is represented by V, and the current flight altitude is represented by h.

[0136] Step S112: Based on the first preset time and the current flight speed, a first distance flown by the general aviation aircraft along the flight trajectory is calculated, and a first flight position is determined based on the initial position of the trajectory.

[0137] Specifically, the first preset time can be flexibly set as needed. For example, if the first preset time is 60s and the current flight speed is v, then the first distance s1 = 60v. On this basis, the position of the general aviation aircraft flying the first distance is determined in combination with the initial position of the trajectory as the first flight position. The first flight position is Figure 12 The middle one is C.

[0138] Step S113: Based on the second preset time and the current flight speed, the second distance the general aviation aircraft flies along the flight trajectory is calculated, and the second flight position is determined based on the initial position of the trajectory. Figure 2 , the second flight position is D.

[0139] Specifically, the second preset time can be flexibly set as needed. For example, if the second preset time is 30s and the current flight speed is v, then the second distance s2 = 30v. On this basis, the position of the general aviation aircraft flying the second distance is determined in combination with the initial position of the trajectory as the second flight position. Figure 2 In the figure, the second flight position is D.

[0140] Step S114: Based on the preset flight altitude, a warning prompt boundary line and a caution prompt boundary line are drawn parallel to the flight trajectory.

[0141] Specifically, in Figure 12 In the example, the preset flight altitudes include: a first flight altitude h0 and a second flight altitude h1, a warning prompt boundary line is E, and a attention prompt boundary line is F.

[0142] In a specific embodiment, Figure 13 As shown, step S12, based on the current flight altitude and the preset flight altitude, draws a warning prompt boundary line and a caution prompt boundary line parallel to the flight trajectory route, including:

[0143] Step S131: Preset a first flight altitude and a second flight altitude.

[0144] exist Figure 12In the example, the first flight altitude is h0, and the second flight altitude is h1. The first flight altitude serves as a reference altitude for warning prompts, and the second flight altitude serves as a reference altitude for caution prompts. The preset first flight altitude h0 and second flight altitude h1 can be set based on actual conditions. The specific settings are shown in Table 1 below.

[0145] Table 1

[0146]

[0147] Step S132: based on the first flight altitude, drawing a warning prompt boundary line parallel to the flight trajectory route; and, based on the second flight altitude, drawing a caution prompt boundary line parallel to the flight trajectory route.

[0148] Specifically, in Figure 12 In the diagram, draw a warning boundary line E parallel to the flight trajectory. Figure 12 In FIG, a warning boundary line F is drawn parallel to the flight trajectory.

[0149] Step S115: Based on the first flight position and the second flight position, determine a midpoint between the two as a third flight position.

[0150] Specifically, in Figure 12 In the figure, the first flight position is C, the second flight position is D, and the position between the two is G, which is used as the third flight position.

[0151] Step S116: Generate a warning prompt envelope area based on the vertical direction based on the trajectory initial position, the first flight position, the second flight position, the flight trajectory route and the warning prompt boundary line.

[0152] Specifically, in Figure 12 In the figure, the initial position of the trajectory is B, the first flight position is C, the second flight position is D, the flight trajectory route is A, and the warning prompt boundary line is E. The warning prompt envelope area based on the vertical direction is generated by B, C, D, A, and E. Figure 12 In the example, the alarm envelope area is M0.

[0153] In a specific embodiment, Figure 14 As shown, the above step S16: generating a warning prompt envelope area based on the vertical direction based on the trajectory initial position, the trajectory initial position, the first flight position, the second flight position, the flight trajectory route and the warning prompt boundary line, includes:

[0154] Step S141: Based on the initial position and vertical direction of the trajectory, a first boundary line is drawn along a first preset angle direction of the flight trajectory route.

[0155] Specifically, in Figure 12 In the figure, in the vertical direction, along the flight trajectory route A at a first preset angle of 30°, a first boundary line W1 is drawn at the trajectory initial position A.

[0156] Step S142: Based on the first flight position, the second flight position and the vertical direction, a second boundary line is drawn along a second preset angle direction of the flight trajectory route.

[0157] Specifically, in Figure 12 In the vertical direction, the second preset angle direction of the flight trajectory route A is 6°, and based on the first flight position C and the second flight position D, a second boundary line W2 is drawn.

[0158] Step S143: Based on the second flight position, the first boundary line and the second boundary line, a third boundary line is drawn, and the third boundary line partially overlaps with the warning prompt boundary line.

[0159] Specifically, in Figure 12 In the vertical direction, based on the second flight position D, the first boundary line W1 and the second boundary line W2 are connected to draw a third boundary line W3. The connecting line where the third boundary line W3 coincides with the warning prompt boundary line is W30. Figure 12 In the example, if the second flight position D is connected to the intersection of the second boundary line and the third boundary line, the connecting line is perpendicular to the flight trajectory route A.

[0160] Step S144: generating a warning prompt envelope area based on the vertical direction based on the first boundary line, the second boundary line, and the third boundary line.

[0161] Specifically, in Figure 12 In the example, the first boundary line, the second boundary line and the third boundary line are connected to form an alarm prompt envelope area M0.

[0162] Step S117: generating a vertically-oriented attention prompt envelope area based on the trajectory initial position, the first flight position, the second flight position, the third flight position, and the attention prompt boundary line.

[0163] Specifically, in Figure 12 In the example, the initial position of the trajectory is B, the first flight position is C, the second flight position is D, the flight trajectory route is A, and the attention prompt boundary line is F. The warning attention envelope area based on the vertical direction is generated by B, C, D, A, and F. Figure 12 In the example, the warning attention envelope area is M1.

[0164] In a specific embodiment, Figure 15As shown, the above step S17 generates a vertically-oriented caution envelope area based on the initial position of the aircraft's current position trajectory, the first flight position, the second flight position, the third flight position, and the caution boundary line, including:

[0165] Step S151: Based on the initial position and vertical direction of the trajectory, a first boundary line is drawn along a first preset angle direction of the flight trajectory route.

[0166] Specifically, in Figure 12 In the figure, in the vertical direction, along the flight trajectory route A at a first preset angle of 30°, a first boundary line W1 is drawn at the trajectory initial position A.

[0167] Step S152: Based on the first flight position, the second flight position and the vertical direction, a second boundary line is drawn along a second preset angle direction of the flight trajectory route.

[0168] Specifically, based on the first flight position C, in the vertical direction, along the second preset angle direction 6° of the flight trajectory route A, a second boundary line W2 is drawn, and the line connecting the end point of the second boundary line and the second flight position D is perpendicular to the flight trajectory route.

[0169] Step S153: Drawing a fourth boundary line based on the third flight position and the attention prompt boundary line.

[0170] Specifically, in Figure 12 In the figure, the third flight position is G, the attention prompt boundary line is F, and the fourth boundary line W4 is drawn based on G, W2, and F. Specifically, G is extended to intersect with the attention prompt boundary line F and then connected with the second boundary line W2. The connection point of the second boundary line W2 and the fourth boundary line W4 and the line with the third flight position G are perpendicular to the flight trajectory route A.

[0171] Step S154: generating a vertically-oriented attention prompting envelope region based on the first boundary line, the second boundary line, the third boundary line, and the fourth boundary line.

[0172] Specifically, based on the first boundary line W1 , the second boundary line W2 , the third boundary line W3 , and the fourth boundary line W4 , an attention prompting envelope area M1 based on the vertical direction is generated.

[0173] Step S118: drawing a preset quadrilateral area based on the flight trajectory route, the trajectory initial position, the first flight position, and the second flight position;

[0174] Specifically, if Figure 16 As shown, the flight trajectory is A, the initial position of the trajectory is B, the first flight position is C, and the second flight position is D. A preset quadrilateral area is created based on A, B, C, and D. The specific creation process of step S118 is as follows.

[0175] Step 1: Based on the flight trajectory route, the initial position of the trajectory and the second flight position, a fifth boundary line parallel to the flight trajectory route is drawn with a preset width.

[0176] Step 2: Draw a preset quadrilateral area based on the preset width, the third preset angle, the flight trajectory route and the fifth boundary line.

[0177] Specifically, in Figure 16 For example, if the preset width is 450 meters and the flight path is A, a fifth boundary line W5 is drawn based on the preset width of 450 meters and the third preset angle of 3° along the flight path A. The preset width, the third preset angle, the flight path, and the fifth boundary line constitute a preset quadrilateral area M2.

[0178] In a specific embodiment, Figure 17 As shown, step S19 generates a warning prompt envelope area and a caution prompt envelope area based on the horizontal direction based on the preset quadrilateral area, the initial position of the trajectory, the first flight position and the second flight position, including:

[0179] Step S171: Dividing the area into a preset quadrilateral based on the second flight position.

[0180] Step S172: Based on the preset quadrilateral area, the first area between the initial position of the trajectory and the second flight position is used as the warning prompt envelope area in the horizontal direction, and the second area between the second flight position and the first flight position is used as the attention prompt envelope area in the horizontal direction.

[0181] Step S119: Based on the preset quadrilateral area, the initial position of the trajectory, the first flight position and the second flight position, a warning prompt envelope area and a attention prompt envelope area based on the horizontal direction are generated.

[0182] Specifically, in Figure 16 In the horizontal direction, based on the preset quadrilateral area M2, the first area between the initial position B of the trajectory and the second flight position D is used as the horizontal warning envelope area M0, and the second area between the second flight position and the first flight position is used as the horizontal warning envelope area M1.

[0183] Generating the general aviation terrain warning prompt envelope diagram through the above steps S111 to S119 is beneficial for accurately prompting general aviation aircraft to fly safely, so as to avoid general aviation aircraft from flying into the ground accidents.

[0184] Based on the same concept, the embodiment of the present invention also provides a navigation warning method, which is mainly aimed at navigation terrain warning, such as Figure 18 As shown, the following steps are included:

[0185] Step S181: Obtain the current flight position of the general aviation aircraft, target terrain position and earth radius information.

[0186] Specifically, the current flight position is the position at any moment, and the earth radius information is represented by R.

[0187] Step S182: Obtain the actual latitude information and actual longitude information of the current flight position.

[0188] Specifically, the actual latitude information of the current flight position can be represented by θ1, and the actual longitude information can be represented by φ1.

[0189] Step S183: Based on the terrain database, obtain the target latitude information and target longitude information of the target terrain position.

[0190] Specifically, the target latitude information of the target terrain position can be represented by θ2, and the target longitude information can be represented by φ2.

[0191] Step S184: Calculate the target distance between the current flight position and the target terrain position in the horizontal direction based on the earth radius information, the actual latitude information, the actual longitude information, the target latitude information, and the target longitude information.

[0192] Exemplarily, the target distance is calculated using the following formula:

[0193]

[0194] Where d is the target distance, θ1 is the actual latitude information, θ2 is the target latitude information, φ1 is the actual longitude information, and φ2 is the target longitude information.

[0195] Step S185: Calculate the azimuth of the target terrain relative to the current flight position based on the actual latitude information, the actual longitude information, the target latitude information, and the target longitude information.

[0196] Exemplarily, the azimuth angle is calculated using the following formula:

[0197]

[0198] Where β is the azimuth, and Δφ is the difference between the target longitude and the actual longitude.

[0199] Step S186: Obtain a first distance from the general aviation aircraft to the first preset position along the flight trajectory, a second distance to the second preset position, and a height difference between the current flight position and the target terrain.

[0200] exist Figure 12 or Figure 16Among them, the general aviation aircraft flies along the flight trajectory route, and the preset position is the first flight position C, that is, the position where the general aviation aircraft flies for 60 s. If the current flight speed of the general aviation aircraft is v, the first distance is 60v. In Figure 12 , the height difference between the current flight position and the target terrain is h.

[0201] Step S187: Based on the first distance, azimuth angle, second distance, target distance, and height difference, determine whether the target terrain position is simultaneously located in the warning prompt envelope area in the vertical direction and the warning prompt envelope area in the horizontal direction of the general aviation terrain warning prompt envelope diagram. The general aviation terrain warning prompt envelope diagram is generated by the general aviation terrain warning prompt envelope diagram generation method.

[0202] In a specific embodiment, as Figure 19 shown, step S187, based on the first distance, azimuth angle, second distance, target distance, and height difference, determine whether the target terrain position is simultaneously located in the warning prompt envelope area in the vertical direction and the warning prompt envelope area in the horizontal direction of the general aviation terrain warning prompt envelope diagram, including:

[0203] Step S191: Based on the first distance and the second distance, determine the preset distance range.

[0204] Specifically, in Figure 16 among them, the first distance is 60v, the second distance is 30v, and the determined preset distance range based on the first distance and the second distance is 30v - 60v.

[0205] Step S192: If the height difference is less than the first flight height, determine that the current flight position is located in the warning prompt envelope area in the vertical direction of the general aviation terrain warning prompt envelope diagram, and if the target distance is less than the second distance, based on the target distance and the azimuth angle, determine that the current flight position is also located in the warning prompt area in the horizontal direction of the general aviation terrain warning prompt envelope diagram.

[0206] Exemplarily, the first flight height is h0 in <ocksr Figure 12 among them. If h < h0, then the current flight position is located in the warning prompt envelope area M0 in the vertical direction of the general aviation terrain warning prompt envelope diagram. At the same time, if d < t, then combining with β, it can be determined that the current flight position is also located in the warning prompt area M0 in the horizontal direction of the general aviation terrain warning prompt envelope diagram.

[0207] Step S193: If the height difference is less than the second flight height, determine that the current flight position is located in the attention prompt envelope area in the vertical direction of the general aviation terrain warning prompt envelope diagram, and if the target distance belongs to the preset distance range, based on the target distance and the azimuth angle, determine that the current flight position is located in the attention prompt area in the horizontal direction of the general aviation terrain warning prompt envelope diagram. <ocksr

[0208] Exemplarily, the second flight altitude is h1 in Figure 2 If h < h1, then the current flight position is vertically located in the warning envelope area M1 of the general aviation terrain warning prompt envelope diagram. At the same time, if d < t, then in combination with β, it can be determined that the current flight position is also horizontally located in the warning prompt area M1 of the general aviation terrain warning prompt envelope diagram.

[0209] Step S188: If the target terrain position is simultaneously located in the warning prompt envelope area in the vertical direction and the warning prompt envelope area in the horizontal direction, perform a warning prompt action on the general aviation aircraft.

[0210] Specifically, the general aviation aircraft can perform a warning prompt action during the entire flight phase, and the entire flight phase includes: air / ground, takeoff or go-around, cruise, approach / landing.

[0211] Exemplarily, the forward-looking warning prompt time can be set to 30S, and the forward-looking attention prompt time can be set to 60s.

[0212] Exemplarily, the warning prompt output is as follows: When the target terrain is simultaneously located in the warning prompt envelope area in the vertical direction and the warning prompt envelope area in the horizontal direction, light up the attention-level warning light, output the reminder voice of "Attention to terrain, attention to terrain", repeat it every 5s, and at the same time, superimpose and display it on the terrain screen in amber on the display. When the target terrain is simultaneously located in the warning prompt envelope area in the vertical direction and the warning prompt envelope area in the horizontal direction of the general aviation terrain warning prompt envelope diagram, light up the warning-level warning light, output the continuous warning voice of "Terrain, terrain, pull up", and at the same time, superimpose and display it on the terrain screen in red on the display until the aircraft leaves the warning area. The forward-looking warning prompt is inhibited within 2Km of the airport or when the speed is less than 150Km / H or the current flight altitude is lower than 10m. The forward-looking warning can be inhibited by pressing a key. When the inhibition function takes effect, there is no output for the forward-looking warning function.

[0213] By executing the above steps S181 - step S188, based on the general aviation terrain warning prompt envelope diagram, combined with the flight path, flight characteristics, and flight position of the general aviation aircraft, a warning prompt envelope diagram is generated, and the current flight position of the general aviation aircraft is warned and prompted in real time to achieve the purpose of accurate prompt and prevent false alarm phenomena.

[0214] In summary, the general aviation warning method in the embodiments of the present invention is based on the altitude sinking state, or the altitude dropping state after takeoff, or the gliding state, or the premature descent state, or the terrain avoidance warning state, and performs corresponding general aviation warning prompt actions. In various different general aviation flight scenarios, it can reduce the false alarm phenomenon of general aviation flight and avoid frequent flight ground collision accidents.

[0215] In a specific embodiment, the general aviation warning method in this embodiment performs a warning prompt action through an altitude call when the general aviation aircraft is in the landing phase or the approach phase in an altitude sinking state, a gliding state, a premature descent state, or a terrain avoidance warning state.

[0216] Specifically, the altitude call function includes a 150-meter altitude call and a decision altitude call. When the radio altitude value crosses the set altitude from top to bottom, a prompt is generated and the corresponding prompt information is output.

[0217] Alarm values: 50m, 30m, 20m, 10m, 5m, 3m, 1m (rounded to the nearest integer in feet). Voice prompts "50m...1m (corresponding to 150ft...3ft)" are displayed. Ensure the voice is clear (determine whether the altitude is reported in meters or feet according to the settings).

[0218] The embodiment of the present invention also provides a navigation warning system, such as Figure 20 As shown, it includes: a data acquisition module 201 located on the aircraft body, a central processing module 202, a ground monitoring system 203 located on the ground, and a remote alarm terminal 204. The remote alarm terminal can be a Pad terminal or a computer device.

[0219] The data acquisition module is used to collect the aircraft's location, altitude, speed, terrain, and attitude information. This data acquisition component includes a lidar sensor, an attitude detection sensor, an accelerometer, a GPS positioning sensor, and a Beidou sensor. The central processing module is connected to the data acquisition module via a wired or wireless connection to execute the navigation alert method described in the above embodiment.

[0220] For example: the position information of the general aviation aircraft collected includes the current flight position information, first flight position, second flight position, third flight position, initial trajectory position and other position information of the general aviation aircraft in the above embodiments; for example: the altitude information of the general aviation aircraft collected includes the current flight altitude, first flight altitude, second flight altitude and other altitude information in the above embodiments; for example: the speed information includes the current flight speed of the general aviation aircraft in the above embodiments; for example: the terrain information includes the target latitude information, target longitude information, actual longitude information, actual longitude information and other terrain position information in the above embodiments; for example: the attitude information includes the tilt angle of the general aviation aircraft.

[0221] The ground monitoring system is connected to the central processing module via wireless mode to monitor the flight trajectory and flight status of general aviation aircraft in real time;

[0222] The remote alarm terminal is used to execute the alarm prompt action by applying the navigation alarm method through the central processing module.

[0223] The embodiment of the present invention also provides a computer device, such as Figure 21 As shown, the computer device may include a processor 211 and a memory 212, wherein the processor 211 and the memory 212 may be connected via a bus or other means. Figure 21 The bus connection is taken as an example.

[0224] The processor 211 may be a central processing unit (CPU). The processor 211 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0225] Memory 212, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs, and modules. Processor 211 executes the non-transitory software programs, instructions, and modules stored in memory 212 to perform various processor functions and data processing, thereby implementing the navigation warning method described in the above embodiment.

[0226] The memory 212 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created by the processor 211, etc. In addition, the memory 212 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 212 may optionally include a memory remotely located relative to the processor 211, and these remote memories may be connected to the processor 211 via a network. Examples of the above-mentioned network include, but are not limited to, a power grid, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0227] The one or more modules are stored in the memory 212 and, when executed by the processor 211 , perform the navigation warning method in the embodiment shown in the accompanying drawings.

[0228] The specific details of the above-mentioned computer device can be understood by referring to the corresponding descriptions and effects in the embodiments shown in the accompanying drawings, and will not be repeated here.

[0229] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD). The storage medium can also include a combination of the above-mentioned types of memory.

[0230] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A navigation warning method, characterized in that: The steps include: Obtaining the current flight status of the general aviation aircraft, wherein the current flight status includes: a state of sinking in altitude, a state of losing altitude after takeoff, a state of deviating from the glide path, a state of premature descent, or a state of terrain avoidance warning; If the current flight state is a state of altitude descent, based on a preset altitude descent rate, an altitude descent prompt action is performed during the entire flight phase of the general aviation aircraft, wherein the entire flight phase includes: ground phase, takeoff phase, go-around phase, cruising phase, approach phase, and landing phase; If the current flight state is a state of losing altitude after takeoff, performing a prompt action of losing altitude after takeoff during the takeoff phase based on a preset cruising altitude; If the current flight state is a glide slope deviation state, performing a glide slope deviation prompt action during the approach phase or the landing phase based on a glide slope deviation angle and a preset angle; If the current flight state is a premature descent state, performing a premature descent prompt action during the approach phase or the landing phase based on the premature descent altitude and the aircraft airport location; If the current flight state is the terrain avoidance warning state, performing a terrain avoidance prompt action during the full flight phase based on the terrain warning prompt envelope diagram and terrain warning prompt parameters of the general aviation aircraft; Performing terrain avoidance prompting actions during the entire flight phase based on the terrain warning envelope diagram, flight trajectory, current position, current flight speed, and current flight altitude of the general aviation aircraft includes: Obtain the current flight position of the general aviation aircraft, target terrain position and earth radius information; Obtaining the actual latitude and longitude information of the current flight location; Based on a terrain database, obtaining target latitude information and target longitude information of the target terrain position; Calculating a target distance between the current flight position and a target terrain position in a horizontal direction based on the earth radius information, the actual latitude information, the actual longitude information, the target latitude information, and the target longitude information; Calculating an azimuth of the target terrain relative to the current flight position based on the actual latitude information, the actual longitude information, the target latitude information, and the target longitude information; Obtaining a first distance from the general aviation aircraft to a first preset position along a flight trajectory, a second distance from a second preset position, and a height difference between the current flight position and the target terrain; determining, based on the first distance, the azimuth, the second distance, the target distance, and the altitude difference, whether the target terrain position is simultaneously located within a vertical warning prompt envelope area and a horizontal warning prompt envelope area of ​​a navigable terrain warning prompt envelope diagram; If the target terrain position is located in both the vertical warning prompt envelope area and the horizontal warning prompt envelope area, a warning prompt action is performed on the general aviation aircraft.

2. The navigation warning method according to claim 1, characterized in that: Based on the preset altitude sinking rate, an altitude sinking prompt action is performed during the entire flight phase of the general aviation aircraft, including: Presetting the altitude sink rate range and the first flight altitude range value of the general aviation aircraft; Based on the first flight altitude range value, if the current altitude sink rate of the general aviation aircraft falls within the altitude sink rate range, performing a warning action during the entire flight phase of the general aviation aircraft; Based on the first flight altitude range value, if the current altitude sinking rate of the general aviation aircraft is greater than the maximum value of the first flight altitude range value, an alarm prompt action is performed during the entire flight phase of the general aviation aircraft.

3. The navigation warning method according to claim 1, characterized in that: If the current flight state is a state of losing altitude after takeoff, performing a prompt action of losing altitude after takeoff during the takeoff phase based on a preset cruising altitude includes: Presetting the cruising altitude range value of the general aviation aircraft; Based on the cruising altitude range value, if the current flight altitude of the general aviation aircraft belongs to the cruising altitude range value, a warning action of losing altitude after takeoff is executed during the takeoff phase.

4. The navigation warning method according to claim 1, characterized in that: Based on the glide slope deviation angle and the preset angle, performing a glide slope deviation prompt action during the approach phase or the landing phase includes: Presetting a first glide path deviation angle, a second glide path deviation angle, and a third glide path deviation angle for the general aviation aircraft; calculating a first angle for performing a glide slope deviation based on the first glide slope deviation angle and the second glide slope deviation angle; calculating a second angle for performing a glide slope deviation based on the first glide slope deviation angle and the third glide slope deviation angle; Based on the first angle, performing a glide slope deviation warning action during the approach phase or the landing phase; Based on the second angle, a glide slope deviation warning prompt action is performed during the approach phase or the landing phase.

5. The navigation warning method according to claim 1, characterized in that: Based on the premature descent altitude and the airport location of the aircraft, performing a premature descent prompt action during the approach phase or the landing phase includes: Obtain the runway threshold position of the airport and the current flight position of the general aviation aircraft; Obtaining distance information between the runway threshold position of the airport and the current flight position; Obtaining the current flight altitude of the general aviation aircraft; Determining a second flight altitude range value of the general aviation aircraft and a preset distance range between the current flight position and the runway threshold position; Based on the runway threshold position, the distance information, the current flight position, the preset distance range and the second flight altitude range value, a premature descent warning prompt action is performed in the approach phase or the landing phase.

6. The navigation warning method according to claim 1, characterized in that: The navigation terrain warning prompt envelope diagram is characterized by including: Obtain the flight trajectory, initial position and current flight speed of general aviation aircraft; Calculating a first distance flown by the general aviation aircraft along the flight trajectory based on a first preset time and the current flight speed, and determining a first flight position based on an initial position of the trajectory; Calculating a second distance flown by the general aviation aircraft along the flight trajectory based on a second preset time and the current flight speed, and determining a second flight position based on the trajectory initial position; Based on a preset flight altitude, drawing a warning prompt boundary line and a caution prompt boundary line parallel to the flight trajectory route; Based on the first flight position and the second flight position, determining a midpoint between the two as a third flight position; Generate a warning prompt envelope area based on the vertical direction based on the trajectory initial position, the first flight position, the second flight position, the flight trajectory route and the warning prompt boundary line; generating a vertically-oriented attention prompt envelope area based on the trajectory initial position, the first flight position, the second flight position, the third flight position, and the attention prompt boundary line; Drawing a preset quadrilateral area based on the flight trajectory route, the trajectory initial position, the first flight position, and the second flight position; Based on the preset quadrilateral area, the trajectory initial position, the first flight position and the second flight position, a warning prompt envelope area and a attention prompt envelope area based on the horizontal direction are generated.

7. A navigation warning system, characterized in that: include: The data acquisition module and central processing module located on the general aviation aircraft body and the ground monitoring system and remote warning terminal located on the ground; Wherein, the data acquisition module is used to collect the position information, altitude information, speed information, terrain information and attitude information of the general aviation aircraft, and the central processing module is connected to the data acquisition module via a wired or wireless manner to execute the general aviation warning method according to any one of claims 1 to 6; The ground monitoring system is connected to the central processing module via a wireless method and is used to monitor the flight trajectory and flight status of the general aviation aircraft in real time; The remote alarm terminal is used to apply the navigation alarm method through the central processing module to execute an alarm prompt action.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the navigation warning method according to any one of claims 1 to 6.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the navigation warning method according to any one of claims 1 to 6 by executing the computer instructions.

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