A flight safety warning method and system based on global grid

Abstract

The present invention discloses a flight safety warning method and system based on a global grid, comprising the following steps: S1, global grid division, storing elevation data based on the encoding method of the global grid; S2, safety warning, judging the grid safety level of the aircraft, creating a flight ahead sector, sampling the elevation points within the sector to determine the obstacle points; S3, warning drawing, coloring the flight chart to indicate the safety level of the terrain, marking the obstacles within the sector with eye-catching colors, and realizing auxiliary danger warning. This method can effectively improve the retrieval efficiency of the grid, issue warnings in a shorter time to ensure flight safety, sample the elevation points within the sector, perform further warning judgments on the sampling points, and improve warning accuracy; different levels of grids can be used according to different accuracy requirements to meet flight warning needs with different accuracy requirements.

Description

Technical Field

[0001] The present invention relates to the field of general aviation communications, and in particular to a flight safety early warning method and system based on a global grid. Background Art

[0002] With the rapid development of the civil aviation transportation industry, more and more people are traveling by plane, and air traffic volume has increased significantly, especially in low-altitude airspace. It is necessary to make timely pre-detection and judgment on whether the aircraft's expected flight position is safe and whether there are obstacles ahead, so as to ensure the safe flight of the aircraft.

[0003] In the prior art, the traditional method for low-altitude flight warning detection is to use mosaic segmentation or contour line description, such as "An Aircraft Low-Altitude Warning Detection Algorithm and Implementation" (Journal of Sichuan University (Natural Science Edition), Issue 4, 2001): The mosaic segmentation method is computationally simple, that is, the entire airspace is divided into mosaic blocks of the same size along the coordinate axis, and the areas contained in the mosaic blocks have the same elevation value. The size of the mosaic blocks can be divided according to actual needs. After the elevation data is mosaicked according to the size of the mosaic, a mosaic partition of the airspace topographic map is generated. However, due to the limitation of system resources, especially on embedded devices, the system resources have insufficient hardware and software performance. The mosaic block division cannot be too fine, so the accuracy is limited, which ultimately affects the effect of flight safety warning. Summary of the Invention

[0004] Purpose of the invention: In order to prevent the reduction of warning accuracy due to limited mosaic segmentation accuracy when the system performance is insufficient, the present invention provides a flight safety warning method and system based on the global grid. Based on the coding method of the global grid, the retrieval efficiency of the grid is effectively improved. By creating a flight ahead sector, the elevation points within the sector range are sampled to determine obstacle points, thereby improving the warning accuracy. At the same time, the regional coloring of the flight chart indicates the safety level of the terrain. The obstacles in the sector are marked with eye-catching colors to achieve auxiliary danger warning.

[0005] Technical solution: First, a flight safety warning method based on a global grid includes the following steps:

[0006] S1. Global grid division: The global map is divided into different display layers according to different scales. Each layer of the map's geographic space is divided into several grid blocks in the longitude and latitude directions. The longitude and latitude ranges of the grid blocks are the same. Each grid is encoded according to its level and the block number of the level. The elevation data in each grid is read and the grid height boundary value is assigned.

[0007] S2. Safety Warning: Set thresholds such as warning altitude and warning distance. Based on the current flight status and the set warning altitude, determine the grid safety level of the aircraft. The safety levels include high risk, low risk, and safe. If the aircraft is in a high risk area, directly execute S3. If the aircraft is in a low risk area, infer the aircraft position based on the warning distance and determine the grid safety level of the inferred point. If the aircraft is still not in the safe area, create a flight ahead sector, sample the elevation points within the sector, and determine the obstacle points.

[0008] S3. Warning drawing: The chart is colored to indicate the safety level of the terrain, with "safe" grids represented by black, "low-risk" grids by yellow, and "high-risk" grids by red. If the aircraft is in a "high-risk" grid, an alarm message will be displayed. If the flight sector warning is turned on, the obstacle point will be marked with a striking color to provide auxiliary flight safety warnings.

[0009] Preferably, in step S1, the global geographic space is gridded, specifically: the global space is divided into L layers according to different map scales, and the global range of the lth layer (0<l≤L) is divided into m l ×n l The grids with the same longitude and latitude range difference are Grid(l, r, c), where l represents the layer where the grid is located, r and c represent the row and column numbers corresponding to the l-th layer grid respectively, and the grids are encoded according to the layer row and column numbers and assigned Code(l, r, c); according to the current system resource situation, the appropriate grid level l is selected as the warning accuracy; the elevation data in each grid is read, and the highest elevation value in the grid is used as the height boundary value H(l, r, c) of the entire grid.

[0010] Preferably, in step S2, the threshold setting includes:

[0011] S211, set warning height and warning distance S alarm .

[0012] S212, set the warning height to be the safety height and low danger altitude

[0013] Preferably, in step S2, the grid where the aircraft is currently located is calculated, and the height boundary value H(l, r, c) of the grid is obtained. The current safety level G is obtained based on the difference ΔH between the aircraft's current height and H(l, r, c). alarm If the danger level is high, then S3 will be executed directly. If the danger level is low, the aircraft position will be estimated based on the warning distance, including:

[0014] S221, calculate the current longitude and latitude of the aircraft (Lng t, Lat t ) The row number r and column number c of the grid corresponding to the point in layer l are Grid(l, r, c).

[0015] S222. Calculate the current altitude of the aircraft H t The relative height ΔH to the height boundary value H(l, r, c) of the grid Grid(l, r, c) is equal to |H t -H(l, r, c)|, judge the current security level, where the security level for Low risk level for High risk level for If it is a high-risk level, then directly execute S3; if it is not a high-risk level, then execute step S223;

[0016] S223, calculate the extrapolated track point (Lng n , Lat n ). Calculate the distance from the current point coordinates (Lng t , Lat t )'s direction Azimuth, the next point from S (Lng n , Lat n )'s formula PushP(Lng t , Lat t , Azimuth, S):

[0017]

[0018]

[0019]

[0020]

[0021] E represents the radius of the earth, Azimuth is the current flight direction, and S is the warning distance; obtain the extrapolated track point, calculate the extrapolated track point (Lng n , Lat n ) and obtain the grid where it is located, and obtain the safety level of the grid where it is located. If it is a high-risk level, directly execute S3. If it is in a low-risk area, create a flight front sector.

[0022] Preferably, in step S2, creating a flight front sector and sampling elevation points within the sector range includes:

[0023] S231, the current coordinates of the aircraft (Lng t , Lat t) is the center of the circle, set the indication range, that is, set the arc radius to the warning distance S alarm , a fan-shaped range with a span of Angle;

[0024] S232. Sample a set of elevation points within the sector. Calculate the difference ΔH between the altitude of the sampling point and the flight altitude of the grid where it is located to determine whether the sampling point is at an unsafe level. If so, store the sampling point in the obstacle point set.

[0025] Preferably, sampling the elevation point set within the sector in step S232 includes:

[0026] In the fan-shaped area, the sampling accuracy of the elevation point is once per DeltaLen meter and once per DeltaAngle degree.

[0027]

[0028] According to the formula PushP(Lng t , Lat t , Azimuth s , S s ) Calculate the longitude and latitude of each sampling point (Lng s , Lat s ), according to the latitude and longitude of the sampling point (Lng s , Lat s )Get the height of the sampling point from the DEM data file.

[0029] Preferably, executing the early warning drawing in step S3 includes:

[0030] S51. Color the grids according to the safety level, representing the "safe" grid in black, the "low-risk" grid in yellow, and the "high-risk" grid in red.

[0031] S52. If the user is in a "high-risk" grid, an alarm message will be displayed.

[0032] S53. If the flight sector warning ahead is enabled, the obstacle point will be marked in a conspicuous color.

[0033] In a second aspect, a global grid-based flight safety warning system is applied to the above-mentioned global grid-based flight safety warning method, comprising:

[0034] The global network division module is used to divide the global map geographic space into different display layers according to different scales. Each layer of the map geographic space is divided into several grids in the longitude and latitude directions. The longitude and latitude ranges of each grid in the same layer are the same. Each grid is uniquely identifiable according to its layer and the block number in the layer; the elevation data in each grid is read and the grid height boundary value is assigned.

[0035] The safety warning module is used to infer the aircraft position based on the current flight status, and judge the grid safety level of the aircraft in the future based on the set warning altitude. If it is in a high-risk area, the warning is directly executed. If it is in a low-risk area, the aircraft position is inferred based on the warning distance to judge the grid safety level of the inferred point. If it is still not in the safe area, a flight front sector is created, and the elevation points within the sector range are sampled to determine the obstacle points.

[0036] The early warning drawing module is used to color the map area to indicate the safety level of the terrain; if it is in the "high-risk" grid, an alarm message will be prompted; if the flight opens the front flight sector warning, the obstacle point will be marked with a striking color to provide auxiliary flight safety warning.

[0037] Beneficial effects: The present invention has the following advantages: First, the present invention adopts a global grid-based coding method under an embedded platform, which can effectively improve the retrieval efficiency of the grid and make early warnings in a shorter time to ensure flight safety; second, the present invention creates a flight front sector from the perspective of the aircraft, indicates the terrain in front of the flight in a vertical section with the aircraft heading, and samples the elevation points within the sector range, and performs further early warning judgments on the sampling points to make up for the situation where the grid accuracy is limited and the early warning accuracy is reduced when the embedded platform's hardware and software resources are insufficient; third, the present invention can adopt different levels of grids according to different accuracy requirements to adapt to flight warning requirements with different accuracy requirements; finally, the present invention can also be applied to desktop systems such as Windows and Kylin. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more apparent.

[0039] Figure 1 It is a schematic diagram of the processing flow of the present invention;

[0040] Figure 2 It is a schematic diagram of the global geographic space grid subdivision;

[0041] Figure 3 is a schematic diagram of grid coding;

[0042] Figure 4It is a schematic diagram of the extrapolated points of flight;

[0043] Figure 5 It is a schematic diagram of the xy plane projection of the aircraft push point;

[0044] Figure 6 This is a schematic diagram of the flight forward sector. DETAILED DESCRIPTION

[0045] The embodiments of the present invention will be described below with reference to the accompanying drawings.

[0046] The embodiment of the present application is based on the mosaic segmentation method of the global grid. According to the geographic elevation data and the set warning altitude and warning distance, the grid safety level of the aircraft at the current and warning distance positions is judged. For non-safe areas, by creating a flight ahead sector, the elevation points within the sector range are sampled to determine the obstacle points, thereby improving the warning accuracy; at the same time, the regional coloring of the flight chart indicates the safety level of the terrain, and the obstacles in the sector are marked with eye-catching colors to achieve auxiliary danger warning.

[0047] Reference Figure 1 The first embodiment of the present application discloses a global grid-based flight safety warning method, which specifically includes the following steps:

[0048] Step S1, global gridding: Divide the global map into different display layers according to different scales. Each layer of the map's geographic space is divided into several grid blocks in the longitude and latitude directions. The grid blocks have the same longitude and latitude ranges. Each grid is encoded according to its level and the block number of the level it belongs to. Read the elevation data in each grid and assign the grid height boundary value.

[0049] Step S2, safety warning: Set the warning altitude and warning distance. Based on the current flight status and the set warning altitude, determine the grid safety level of the aircraft. If it is not a safe zone, infer the aircraft position based on the warning distance and determine the grid safety level of the inferred point. If it is not a safe zone, create a flight ahead sector, sample the elevation points within the sector, and determine the obstacle points.

[0050] Step S3, warning drawing: The chart is colored to indicate the safety level of the terrain, with "safe" grids represented by black, "low-risk" grids by yellow, and "high-risk" grids by red. At the same time, if the aircraft is in a "high-risk" grid, an alarm message will be prompted. If the flight opens the front flight sector warning, the obstacle points in the front flight sector will be marked with eye-catching colors to provide auxiliary flight safety warnings.

[0051] The following is a detailed introduction to the main processes of each step:

[0052] Step S1: Global grid generation

[0053] 1.1 As Figure 2 As shown, the global space is divided into L layers according to different map scales, and the global range of the first layer (longitude: -180~180, latitude: -90~90) is divided into m l ×n l Grids with the same latitude and longitude range difference Grid(l, r, c), m l =2×n l The longitude range of each grid in the lth layer Level(l, Lng) is 360 / m l , the latitude range Level(l,Lat) is 180 / n l , where 0<l≤L, for a certain longitude and latitude (Lng, Lat) point in the lth layer of the grid corresponding to the row number r l and column number c l for:

[0054]

[0055] According to the map scale, there are L layers in total. The current map scale range is [MapMin, MapMax]. The minimum scale MinS corresponding to a certain level l l , Maximum scale MaxS l Satisfy the mathematical model:

[0056] MaxS l =2×MinS l

[0057] In the present invention, MapMin=20000, MapMax=5120000, less than MapMin is the first layer, greater than MapMax is the Lth layer, and after calculation, 10 layers are required to meet the scale range. The m corresponding to the lth layer grid l and n l , that is, the maximum row and column number value is:

[0058]

[0059] In this invention, since the L value is 10, the warning grid accuracy can be divided into 10 layers, and the maximum row number is 2. 10-1 =512, the maximum column number is 2 10 =1024. It can be seen that the maximum row number is 3 digits and the maximum column number is 4 digits. The present invention adopts the method of saving the row and column numbers in binary. For a certain 4-digit number, the maximum value of each bit is 9. 9 is a decimal number and can be represented by a 4-bit binary number, that is, 9 10=10012, 3×4=12 bits of binary numbers are needed to store 3 digits, and 4×4=16 bits of binary numbers are needed to store 4 digits. Considering that the maximum layer number is 10, the binary code is 1010, which requires 4 bits of binary numbers to store. Therefore, the grid code Code (l, r, c) value is stored using 12+16+4=32-bit unsigned integer.

[0060] For a certain value Num, the k-th digit needs to be shifted left by 4×(k-1) bits after being converted to a binary number. The calculation formula is:

[0061]

[0062] like Figure 3 As shown, Figure 3 a shows the storage method of the binary number of the value 1024 in the present invention.

[0063] The first 16 bits (1 to 16) store the column number code c The middle 12 bits (17 to 28) store the row number value Code r Code r Shift left by 16 bits, and the last 4 bits (29 to 32 bits) store the layer number. The calculation formula for the value Code(l, r, c) encoded by the layer row and column number of the grid (l, r, c) is:

[0064] Code (l, r, c) = (28<<l+16<<Code r +Code c )

[0065] 1.2 According to the current system resource situation, select the appropriate grid level l as the warning accuracy, and obtain the grid code value at the grid level l, such as Figure 3 b shows the code value of the grid Grid(5, 2, 8).

[0066] 1.3 Read the elevation data within each grid and assign grid height boundary values. The elevation data is obtained from the DEM (Digital Elevation Model) data file. Based on the layer row and column numbers of the grid (Grid(l, r, c)), the elevation value of each point in the grid is calculated from the corresponding DEM data file using a sampling interpolation method. The maximum elevation value in the grid is used as the grid height boundary value H(l, r, c).

[0067] Step S2: Security Warning

[0068] Set the warning altitude and warning distance, and determine the grid safety level of the aircraft based on the current flight status. If it is not a safe zone, push the aircraft position to determine the grid safety level of the pushed point. If it is not a safe zone, create a sector ahead of the flight, sample the elevation points within the sector, and determine the obstacle points.

[0069] 2.1 Threshold Setting

[0070] According to different terrain and landforms, set the warning height, warning distance and safety level, specifically:

[0071] Set the warning altitude H alarm and warning distance S alarm , where the warning altitude is divided into safety altitude and low danger altitude For example, in low-altitude airspace below 1000m in mountainous areas with undulating terrain, set and

[0072] According to the warning altitude, the safety level G alarm It is divided into three levels: safe, low risk, and high risk. Calculate the current flight height relative to the grid ΔH=|H t -H(l, r, c)|, where safe area for Low-risk areas For the time High-risk areas for

[0073] 2.2 Calculate the grid Grid(l, r, c) where the aircraft is currently located, obtain the height boundary value H(l, r, c) of the grid, and obtain the current safety level G based on the difference ΔH between the aircraft's current height and H(l, r, c) alarm If it is a high-risk area, then directly proceed to step 3 of warning drawing. If it is not in a high-risk area, then the aircraft position is deduced based on the warning distance. The specific steps are as follows:

[0074] Step 221, calculate the current longitude and latitude of the aircraft (Lng t , Lat t ) The row number r and column number c of the grid corresponding to the point in layer l are Grid(l, r, c).

[0075] Step 222: Calculate the current altitude of the aircraft H t The relative height ΔH with the height boundary value H(l, r, c) of the grid Grid(l, r, c) is used to judge the current safety level. If it is not in a high-risk area, the extrapolated track point is calculated.

[0076] Step 223: Calculate the extrapolated track points.

[0077] According to the radius of the earth is E = 6378137 meters, according to the current point coordinates (Lng t , Lat t )'s position Azimuth, calculate the next point (Lng n , Lat n )'s formula PushP(Lng t , Lat t , Azimuth, S):

[0078]

[0079] According to step 2.2, calculate the aircraft push point (Lng n , Lat n ) and obtain the grid security level. If it is in a low-risk area, execute 2.3 to calculate the flight sector, such as Figure 4 and Figure 5 The aircraft shown is in grid A at time t and is in grid B after passing the push point.

[0080] 2.3. Calculate the flight forward sector.

[0081] For coordinates (Lng t , Lat t ) is the center of the circle, and the radius is the warning distance S alam The initial angle of the arc is Azimuth, and the elevation points within the fan-shaped range with a span of Angle are sampled. In this embodiment, the initial angle Azimuth of the arc is -30°, and the end angle is 30°, that is, the span Angle is 60°. Within the fan-shaped area, the sampling accuracy of the elevation points is once per DeltaLen meter and every DeltaAngle degree. In this invention, DeltaLen = 50 and DeltaAngle = 2, that is, sampling is performed every 50 meters and every 2 degrees.

[0082]

[0083] According to the formula PushP(Lng t , Lat t , Azimuth s , S s ) Calculate the longitude and latitude of each sampling point (Lng s , Lat s ), according to the calculated height of the sampling point relative to the flight height of the grid ΔH, the sampling point is judged to be a non-safe level, and the sampling point is placed in the queue set {Queue} as an obstacle point, such as Figure 6As shown, within the created flight front sector, obstacle points are sampled.

[0084] Step S3: Warning drawing

[0085] The map is colored to indicate the safety level of the terrain, with "safe" grids represented by black, "low-risk" grids by yellow, and "high-risk" grids by red. If the aircraft is in a "high-risk" grid, an alarm message will be given. If the flight opens the forward flight sector warning, the obstacle point will be marked in a striking color to provide auxiliary flight safety warnings.

[0086] The second embodiment of the present application further provides a global grid-based flight safety warning system, including:

[0087] The global network division module is used to divide the global map geographic space into different display layers according to different scales. Each layer of the map geographic space is divided into several grids in the longitude and latitude directions. The longitude and latitude ranges of each grid in the same layer are the same. Each grid is uniquely identifiable according to its layer and the block number in the layer; the elevation data in each grid is read and the grid height boundary value is assigned.

[0088] The safety warning module is used to infer the aircraft position based on the current flight status and determine the grid safety level of the aircraft in the future based on the set warning altitude. If it is in a dangerous area, the warning is directly executed. If it is in a low-danger area, the aircraft position is inferred based on the warning distance to determine the grid safety level of the inferred point. If it is still not in the safe area, a flight front sector is created, and the elevation points within the sector are sampled to determine the obstacle points.

[0089] The early warning drawing module is used to color the map area to indicate the safety level of the terrain; if it is in the "high-risk" grid, an alarm message will be prompted; if the flight opens the front flight sector warning, the obstacle point will be marked with a striking color to provide auxiliary flight safety warning.

[0090] It should be understood that the global grid-based flight safety warning system in the embodiment of the present invention can implement all the technical solutions in the above-mentioned method embodiment, and the functions of its various functional modules can be specifically implemented according to the methods in the above-mentioned method embodiments. The specific implementation process can refer to the relevant description in the above-mentioned embodiment, and will not be repeated here.

[0091] The present application also provides a computer device comprising: one or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and when the programs are executed by the processors, the steps of the global grid-based flight safety warning method as described above are implemented.

[0092] The present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the global grid-based flight safety warning method as described above are implemented.

[0093] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0094] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0095] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0096] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0097] The present invention provides a global grid-based flight safety warning method and system. Numerous methods and approaches exist for implementing this technical solution. The foregoing description is merely a specific embodiment of the present invention. It should be noted that those skilled in the art may make improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are considered within the scope of protection of the present invention. Components not specified in this embodiment may be implemented using existing technologies.

Claims

1. A flight safety warning method based on a global grid, characterized in that: The following steps are involved: S1. Global Gridding: Divide the global map into different display layers according to different scales. Each layer of the map is divided into grid blocks in the longitude and latitude directions. The longitude and latitude ranges of the grid blocks are the same. Each grid is coded according to its level and the block number of the level. Read the elevation data in each grid and use the highest elevation value in the grid as the height boundary value of the entire grid; S2. Safety Warning: Set the warning altitude and warning distance thresholds. Based on the current flight status and the set warning altitude, determine the grid safety level of the aircraft. The safety levels include high risk, low risk, and safe. If the aircraft is in the high risk zone, directly execute S3. If the aircraft is in the low risk zone, infer the point based on the warning distance and determine the grid safety level of the inferred point. If the aircraft is still not in the safe zone, create a forward sector, sample the elevation points within the sector, and determine the obstacles. S3. Warning Drawing: The chart is colored to indicate the safety level of the terrain. Safe grids are represented in black, low-risk grids in yellow, and high-risk grids in red. If the forward flight sector warning is enabled, obstacles within the forward flight sector are highlighted in a striking color to provide auxiliary flight safety warnings. In step S2, a sector ahead of the flight is created and the elevation points within the sector are sampled. The specific steps are as follows: S231, the current coordinates of the aircraft (Lng t ,Lat t ) is the center of the circle, set the indication range, that is, set the arc radius to the warning distance S alarm , a fan-shaped range with a span of Angle; S232: Sample a set of elevation points within the sector, and determine whether the sampling point is at a non-safety level based on the calculated difference ΔH between the height of the sampling point and the flight altitude of the grid where it is located. If so, store the sampling point in the obstacle point set. Sampling the elevation point set within the sector in step S232 includes: In the fan-shaped area, the sampling accuracy of the elevation point is once per DeltaLen meter and once per DeltaAngle degree. Among them, Azimuth is the current track flight heading, according to the formula PushP(Lng t ,Lat t ,Azimuth s ,S s ) Calculate the longitude and latitude of each sampling point (Lng s ,Lat s ), according to the latitude and longitude of the sampling point (Lng s ,Lat s )Get the height of the sampling point from the DEM data file.

2. The flight safety warning method based on global grid according to claim 1, characterized in that: In step S1, the global geospatial is meshed, including: dividing the global space into L layers according to different map scales, and dividing the global scope of the l-th layer into m l ×n l grids Grid(l, r, c) with the same difference in longitude and latitude ranges, where l represents the layer where the grid is located, 0 < l ≤ L, r and c respectively represent the row number and column number corresponding to the grid in the l-th layer, and the grid is encoded and assigned Code(l, r, c) according to the layer row and column numbers; according to the current system resource situation, select an appropriate grid level l as the warning accuracy; read the elevation data in each grid, and use the highest elevation value in the grid as the height boundary value H(l, r, c) of the entire grid.

3. The flight safety warning method based on global grid according to claim 2, characterized in that: The threshold setting in step S2 includes the following operations: S211, set the warning height and warning distance S alarm ; S212, set the warning height to be the safety height and low danger altitude 4. The flight safety warning method based on global grid according to claim 3, characterized in that: In step S2, the grid where the aircraft's current position is located is calculated, and the height boundary value H(l, r, c) of the grid is obtained. The current safety level is obtained based on the difference ΔH between the aircraft's current height and H(l, r, c). If it is a high-risk level, S3 is directly executed. If it is a low-risk level, the aircraft position is inferred based on the warning distance, including: S221, calculate the current longitude and latitude of the aircraft (Lng t ,Lat t ) The row number r and column number c of the grid corresponding to the point in layer l are Grid(l, r, c); S222. Calculate the current altitude of the aircraft H t The relative height ΔH to the height boundary value H(l,r,c) of the grid Grid(l,r,c) is ΔH=|H t -H(l,r,c)|, judge the current security level, where the security level for Low risk level for High risk level for If it is a high-risk level, then directly execute S3; if it is not a high-risk level, then execute step S223; S223, calculate the extrapolated track point (Lng n ,Lat n ), calculate the distance from the current point coordinates (Lng t ,Lat t )'s direction Azimuth, the next point from S (Lng n ,Lat n )'s formula PushP(Lng t ,Lat t ,Azimuth,S): E represents the radius of the earth, Azimuth is the current flight direction, and S is the warning distance; obtain the extrapolated track point, calculate the extrapolated track point (Lng n ,Lat n ) and obtain the grid where it is located, and obtain the safety level of the grid where it is located. If it is a high-risk level, directly execute S3. If it is in a low-risk area, create a flight front sector.

5. The flight safety warning method based on global grid according to claim 4, characterized in that: In step S3, early warning drawing is performed, and the specific steps are as follows: S31. Color the grids according to the safety level, representing the safe grid in black, the low-risk grid in yellow, and the high-risk grid in red; S32. If the user is in a high-risk grid, an alarm message is issued; S33. If the flight sector warning ahead is enabled, the obstacle point will be marked in a conspicuous color.

6. A global grid-based flight safety warning system, applied to the global grid-based flight safety warning method according to any one of claims 1 to 5, characterized in that: include: The global network partitioning module is used to divide the global map geographic space into different display layers according to different scales. Each layer of the map geographic space is divided into grids in the longitude and latitude directions. The longitude and latitude ranges of each grid in the same layer are the same. Each grid is uniquely identifiable according to its layer and block number in the layer; the elevation data in each grid is read and the grid height boundary value is assigned; The safety warning module is used to predict the aircraft's position based on the current flight status and determine the grid safety level of the aircraft in the future based on the set warning altitude. If the aircraft is in a high-risk area, the warning is directly executed. If the aircraft is in a low-risk area, the aircraft position is predicted based on the warning distance and the grid safety level of the predicted point is determined. If the aircraft is still not in the safe area, a sector is created ahead of the flight and the elevation points within the sector are sampled to determine the obstacles. The early warning drawing module is used to color the map area to indicate the safety level of the terrain. If it is in a high-risk grid, an alarm message will be prompted; if the flight opens the front flight sector warning, the obstacle point will be marked with a striking color to provide auxiliary flight safety warning.

7. A computer device, characterized in that: include: one or more processors; Memory; as well as One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and when the programs are executed by the processors, the flight safety warning method based on the global grid as described in any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the global grid-based flight safety warning method according to any one of claims 1 to 5 is implemented.

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