Methods for generating envelope diagrams and alarm notification methods for navigation terrain alarms

Abstract

This invention discloses a method for generating a general aviation terrain warning envelope map and a warning notification method. The method for generating the general aviation terrain warning envelope map combines the flight path, initial trajectory position, and flight position information of the general aviation aircraft to draw a general aviation terrain warning envelope map, which helps to accurately warn general aviation aircraft about safe flight and avoid accidents such as general aviation aircraft crashing into the ground. By combining the flight path, flight characteristics, and flight position of the general aviation aircraft to generate the warning envelope map, real-time warnings are provided about the current flight position of the general aviation aircraft to achieve accurate warnings and prevent false alarms.

Description

Technical Field

[0001] This invention relates to the field of navigation alarm technology, specifically to a method for generating a navigation terrain alarm envelope map and an alarm notification method. Background Technology

[0002] General aviation aircraft are an important part of my country's civil aviation industry and have experienced rapid development in recent years. Compared with passenger and cargo aviation, general aviation aircraft are generally small aircraft, including helicopters and fixed-wing aircraft. They are characterized by small payload and flexible mission execution, but their accident rate is significantly higher than that of transport aviation. Because general aviation aircraft have stricter requirements for flight altitude and angle, they often face greater risks compared to transport aircraft. Furthermore, current warning systems for general aviation aircraft do not incorporate flight path, characteristics, and position information into their warning protocols, leading to a higher incidence of false alarms and ultimately contributing to frequent aircraft-to-ground collisions. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the problem of frequent accidents of general aviation aircraft crashing into the ground, thereby providing a method for generating a general aviation terrain warning envelope map and a warning method.

[0004] According to a first aspect, embodiments of the present invention provide a method for generating a navigation terrain warning envelope map, comprising the following steps:

[0005] Obtain the flight path, initial position, and current speed of the general aviation aircraft;

[0006] Based on a first preset time and the current flight speed, calculate the first distance the general aviation aircraft travels along the flight trajectory, and determine the first flight position based on the initial position of the trajectory;

[0007] Based on the second preset time and the current flight speed, calculate the second distance the general aviation aircraft travels along the flight trajectory, and determine the second flight position based on the initial position of the trajectory;

[0008] Based on the preset flight altitude, draw alarm and warning boundary lines parallel to the flight trajectory.

[0009] Based on the first flight position and the second flight position, the midpoint between the two is determined as the third flight position;

[0010] Based on the initial trajectory position, the first flight position, the second flight position, the flight trajectory route, and the alarm notification boundary line, an alarm notification envelope area based on the vertical direction is generated;

[0011] Based on the initial trajectory position, the first flight position, the second flight position, the third flight position, and the attention prompt boundary line, a attention prompt envelope region based on the vertical direction is generated;

[0012] Based on the flight trajectory, the initial position of the trajectory, the first flight position, and the second flight position, a preset quadrilateral region is drawn;

[0013] Based on the preset quadrilateral region, the initial trajectory position, the first flight position, and the second flight position, an alarm prompt envelope region and a attention prompt envelope region based on the horizontal direction are generated.

[0014] Optionally, based on the current flight altitude and the preset flight altitude, alarm warning boundary lines and attention warning boundary lines parallel to the flight trajectory are drawn, including:

[0015] Preset the first and second flight altitudes;

[0016] Based on the first flight altitude, draw an alarm warning boundary line parallel to the flight trajectory; and based on the second flight altitude, draw a attention warning boundary line parallel to the flight trajectory.

[0017] Optionally, based on the initial trajectory position, the first flight position, the second flight position, the flight trajectory route, and the alarm indication boundary line, an alarm indication envelope region based on the vertical direction is generated, including:

[0018] Based on the initial position and vertical direction of the trajectory, a first boundary line is drawn along the first preset angle direction of the flight trajectory;

[0019] Based on the first flight position, the second flight position, and the vertical direction, a second boundary line is drawn along the second preset angle direction of the flight trajectory;

[0020] A third boundary line is drawn based on the second flight position, the first boundary line, and the second boundary line; the third boundary line partially overlaps with the alarm indication boundary line.

[0021] Based on the first boundary line, the second boundary line, and the third boundary line, an alarm notification envelope area based on the vertical direction is generated.

[0022] Optionally, based on the initial trajectory position, the first flight position, the second flight position, the third flight position, and the attention cues boundary line, a vertical attention cues envelope region is generated, including:

[0023] Based on the initial position and vertical direction of the trajectory, a first boundary line is drawn along the first preset angle direction of the flight trajectory;

[0024] Based on the first flight position, the second flight position, and the vertical direction, a second boundary line is drawn along the second preset angle direction of the flight trajectory;

[0025] Based on the third flight position and the attention prompt boundary line, draw the fourth boundary line;

[0026] Based on the first boundary line, the second boundary line, the third boundary line, and the fourth boundary line, a vertical attention cue envelope region is generated.

[0027] Optionally, based on the flight trajectory, the initial position of the trajectory, the first flight position, and the second flight position, a preset quadrilateral region is drawn, including:

[0028] Based on the flight trajectory, the initial position of the trajectory, and the second flight position, draw a fifth boundary line parallel to the flight trajectory with a preset width;

[0029] Based on the preset width, the third preset angle, the flight trajectory, and the fifth boundary line, a preset quadrilateral region is drawn.

[0030] Optionally, based on the preset quadrilateral region, the initial trajectory position, the first flight position, and the second flight position, a horizontally oriented alarm notification envelope region and a attention notification envelope region are generated, including:

[0031] The preset quadrilateral region is divided based on the second flight position;

[0032] Based on the preset quadrilateral region, the first region between the initial trajectory position and the second flight position is used as the horizontal alarm prompt envelope region, and the second region between the second flight position and the first flight position is used as the horizontal attention prompt envelope region.

[0033] According to a second aspect, embodiments of the present invention provide a navigation terrain warning method, comprising the following steps:

[0034] Obtain information on the current flight position of general aviation aircraft, target terrain location, and Earth radius;

[0035] Obtain the actual latitude and longitude information of the current flight location;

[0036] Based on the terrain database, obtain the target latitude and longitude information of the target terrain location;

[0037] Based on the Earth radius information, the actual latitude information, the actual longitude information, the target latitude information, and the target longitude information, calculate the target distance between the current flight position and the target terrain position in the horizontal direction;

[0038] Based on the actual latitude information, the actual longitude information, the target latitude information, and the target longitude information, calculate the azimuth angle of the target terrain relative to the current flight position;

[0039] The system obtains the first distance the general aviation aircraft travels along its flight path to the first preset position, the second distance to the second preset position, and the altitude difference between the current flight position and the target terrain.

[0040] Based on the first distance, the azimuth angle, the second distance, the target distance, and the height difference, it is determined whether the target terrain position is simultaneously located within the vertical alarm notification envelope area and the horizontal alarm notification envelope area in the navigation terrain alarm notification envelope map; the navigation terrain alarm notification envelope map is generated by the navigation terrain alarm notification envelope map generation method;

[0041] If the target terrain location is simultaneously within the alarm notification envelope area in the vertical direction and the alarm notification envelope area in the horizontal direction, an alarm notification action is performed on the general aviation aircraft.

[0042] Optionally, based on the first distance, the azimuth angle, the second distance, the target distance, and the height difference, determining whether the target terrain location is simultaneously located within both the vertical and horizontal alarm notification envelope areas of the navigation terrain alarm notification envelope map includes:

[0043] Based on the first distance and the second distance, a preset distance range is determined;

[0044] If the altitude difference is less than the first flight altitude, it is determined that the current flight position is located in the alarm notification envelope area of ​​the air traffic terrain alarm notification envelope map in the vertical direction, and the target distance is less than the second distance. Based on the target distance and the azimuth angle, it is determined that the current flight position is also located in the alarm notification area of ​​the air traffic terrain alarm notification envelope map in the horizontal direction.

[0045] If the altitude difference is less than the second flight altitude, it is determined that the current flight position is located in the attention prompt envelope area of ​​the air traffic terrain warning prompt envelope map in the vertical direction, and the target distance is within the preset distance range. Based on the target distance and the azimuth angle, it is determined that the current flight position is located in the attention prompt area of ​​the air traffic terrain warning prompt envelope map in the horizontal direction.

[0046] According to a third aspect, embodiments of the present invention provide a computer-readable storage medium storing computer instructions, the computer instructions being configured to cause the computer to execute the navigation terrain warning envelope map generation method described in the first aspect or any embodiment of the first aspect, or the navigation terrain warning notification method described in the first aspect or any embodiment of the first aspect.

[0047] Fourthly, embodiments of the present invention also provide a computer device, including: 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 computer instructions to perform the navigation terrain warning envelope map generation method according to the first aspect or any embodiment of the first aspect, or the navigation terrain warning method according to the first aspect or any embodiment of the first aspect.

[0048] The technical solution of this invention has the following advantages:

[0049] This invention discloses a method for generating a general aviation terrain warning envelope map and a warning notification method. The method for generating the general aviation terrain warning envelope map combines the flight path, initial trajectory position, and flight position information of the general aviation aircraft to draw a general aviation terrain warning envelope map. This facilitates accurate warnings for the safe flight of general aviation aircraft, preventing collisions with the ground. By generating the warning envelope map by combining the flight path, flight characteristics, and flight position of the general aviation aircraft, real-time warnings are provided regarding the aircraft's current flight position, achieving accurate warnings and preventing false alarms. Attached Figure Description

[0050] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0051] Figure 1 This is a flowchart illustrating a specific example of the method for generating a navigation terrain warning envelope diagram in an embodiment of the present invention;

[0052] Figure 2 This is a schematic diagram of the envelope diagram for navigation terrain warning in an embodiment of the present invention;

[0053] Figure 3 This is a flowchart illustrating another specific example of the method for generating a navigation terrain warning envelope diagram in this invention.

[0054] Figure 4 This is a flowchart illustrating another specific example of the method for generating a navigation terrain warning envelope diagram in this invention.

[0055] Figure 5 This is a flowchart illustrating another specific example of the method for generating a navigation terrain warning envelope diagram in this invention.

[0056] Figure 6 This is another schematic diagram of the navigation terrain warning envelope diagram in an embodiment of the present invention;

[0057] Figure 7 This is another schematic diagram of the navigation terrain warning envelope diagram in an embodiment of the present invention;

[0058] Figure 8 This is another schematic diagram of the navigation terrain warning envelope diagram in an embodiment of the present invention;

[0059] Figure 9 This is another schematic diagram of the navigation terrain warning envelope diagram in an embodiment of the present invention;

[0060] Figure 10 This is a schematic diagram of the hardware structure of a computer device in an embodiment of the present invention. Detailed Implementation

[0061] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the 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.

[0063] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can also refer to the internal connection of two components; and they can refer to a wireless connection or a wired connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0064] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0065] This invention discloses a method for generating a navigation terrain warning envelope map, such as... Figure 1 As shown, it includes the following steps:

[0066] Step S11: Obtain the flight path, initial position, current flight speed, and current flight altitude of the general aviation aircraft.

[0067] like Figure 2 As shown, the flight path 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.

[0068] Step S12: Based on the first preset time and the current flight speed, calculate the first distance the general aviation aircraft flies along the flight trajectory route, and determine the first flight position based on the initial position of the trajectory.

[0069] Specifically, the first preset time can be flexibly set as needed. For example, if the first preset time is 60 seconds and the current flight speed is v, then the first distance s1 = 60v. Based on this, and combined with the initial trajectory position, the position of the general aviation aircraft at the first distance is determined as the first flight position. This first flight position is... Figure 2 The middle value is C.

[0070] Step S13: Based on the second preset time and current flight speed, calculate the second distance the general aviation aircraft travels along its flight path, and determine the second flight position based on the initial position of the trajectory. Figure 2 In the middle, the second flight position is D.

[0071] Specifically, the second preset time can be flexibly set as needed. For example, if the second preset time is 30 seconds and the current flight speed is v, then the second distance s2 = 30v. Based on this, the position of the general aviation aircraft at the second distance is determined by combining the initial position of the trajectory as the second flight position. Figure 2 In the middle, the second flight position is D.

[0072] Step S14: Based on the preset flight altitude, draw warning and caution boundary lines parallel to the flight trajectory.

[0073] Specifically, in Figure 2 In the system, the preset flight altitudes include: the first flight altitude h0 and the second flight altitude h1. The alarm boundary line is E, and the attention boundary line is F.

[0074] In one specific implementation, such as Figure 3 As shown, in step S12, based on the current flight altitude and the preset flight altitude, alarm warning boundary lines and caution warning boundary lines parallel to the flight trajectory are drawn, including:

[0075] Step S31: Preset the first flight altitude and the second flight altitude.

[0076] exist Figure 2 In this system, the first flight altitude is h0, and the second flight altitude is h1. The first flight altitude serves as a reference altitude for alarm 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 according to actual conditions, as shown in Table 1 below.

[0077] Table 1

[0078]

[0079] Step S32: Based on the first flight altitude, draw an alarm warning boundary line parallel to the flight trajectory; and, based on the second flight altitude, draw a caution warning boundary line parallel to the flight trajectory.

[0080] Specifically, in Figure 2 In the middle, draw the warning prompt boundary line E parallel to the flight path. Figure 2 In the middle, draw the warning prompt boundary line F parallel to the flight trajectory.

[0081] Step S15: Based on the first flight position and the second flight position, determine the midpoint between the two as the third flight position.

[0082] Specifically, in Figure 2 In the diagram, the first flight position is C, the second flight position is D, and the position between the two is G, which is taken as the third flight position.

[0083] Step S16: Based on the initial trajectory position, first flight position, second flight position, flight trajectory route, and alarm prompt boundary line, generate an alarm prompt envelope area based on the vertical direction.

[0084] Specifically, in Figure 2In the diagram, the initial trajectory position is B, the first flight position is C, the second flight position is D, the flight trajectory route is A, and the alarm indication boundary line is E. An alarm indication envelope based on the vertical direction is generated using B, C, D, A, and E. Figure 2 In the middle, the alarm indication envelope area is M0.

[0085] In one specific implementation, such as Figure 4 As shown, step S16 above: Based on the initial trajectory position, the first flight position, the second flight position, the flight trajectory route, and the alarm indication boundary line, an alarm indication envelope area based on the vertical direction is generated, including:

[0086] Step S41: Based on the initial position and vertical direction of the trajectory, draw the first boundary line along the first preset angle direction of the flight trajectory.

[0087] Specifically, in Figure 2 In the vertical direction, along the first preset angle of 30° of the flight trajectory route A, a first boundary line W1 is drawn at the initial position A of the trajectory.

[0088] Step S42: Based on the first flight position, the second flight position, and the vertical direction, draw the second boundary line along the second preset angle direction of the flight trajectory.

[0089] Specifically, in Figure 2 In the vertical direction, the second preset angle direction of the flight trajectory route A is 6°. Based on the first flight position C and the second flight position D, the second boundary line W2 is drawn.

[0090] Step S43: Based on the second flight position, the first boundary line, and the second boundary line, draw the third boundary line, which partially overlaps with the alarm prompt boundary line.

[0091] Specifically, in Figure 2 In the vertical direction, based on the second flight position D, connect the first boundary line W1 and the second boundary line W2 to draw a third boundary line W3. The connecting line W3 that coincides with the alarm indication boundary line is W30. Figure 2 If the second flight position D is connected to the intersection of the second boundary line and the third boundary line, then the connecting line is perpendicular to the flight trajectory route A.

[0092] Step S44: Generate an alarm notification envelope area based on the first boundary line, the second boundary line, and the third boundary line.

[0093] Specifically, in Figure 2 In the middle, the first boundary line, the second boundary line, and the third boundary line are connected to form the alarm notification envelope area M0.

[0094] Step S17: Based on the initial trajectory position, first flight position, second flight position, third flight position and attention prompt boundary line, generate a vertical attention prompt envelope region.

[0095] Specifically, in Figure 2 In the diagram, the initial trajectory position is B, the first flight position is C, the second flight position is D, the flight trajectory route is A, and the warning boundary line is F. A vertically based warning envelope is generated using B, C, D, A, and F. Figure 2 In the middle, the alarm attention envelope area is M1.

[0096] In one specific implementation, such as Figure 5 As shown, step S17 above generates a vertical attention cues envelope region based on the aircraft's current trajectory initial position, first flight position, second flight position, third flight position, and attention cues boundary line, including:

[0097] Step S51: Based on the initial position of the trajectory and the vertical direction, draw the first boundary line along the first preset angle direction of the flight trajectory.

[0098] Specifically, in Figure 2 In the vertical direction, along the first preset angle of 30° of the flight trajectory route A, a first boundary line W1 is drawn at the initial position A of the trajectory.

[0099] Step S52: Based on the first flight position, the second flight position, and the vertical direction, draw the second boundary line along the second preset angle direction of the flight trajectory.

[0100] Specifically, based on the first flight position C, in the vertical direction, along the second preset angle direction of 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.

[0101] Step S53: Draw the fourth boundary line based on the third flight position and the attention prompt boundary line.

[0102] Specifically, in Figure 2 In the middle, the third flight position is G, and the boundary line is F. Based on G, W2, and F, draw the fourth boundary line W4. Specifically, extend G to intersect with the boundary line F and then connect it with the second boundary line W2. The line connecting the second boundary line W2 and the fourth boundary line W4 to the third flight position G is perpendicular to the flight trajectory route A.

[0103] Step S54: Generate a vertical attention cue envelope region based on the first boundary line, the second boundary line, the third boundary line, and the fourth boundary line.

[0104] Specifically, a vertical attention cue envelope region M1 is generated based on the first boundary line W1, the second boundary line W2, the third boundary line W3, and the fourth boundary line W4.

[0105] Step S18: Based on the flight trajectory, initial trajectory position, first flight position, and second flight position, draw a preset quadrilateral region;

[0106] Specifically, such as Figure 6 As shown, the flight path is A, the initial position is B, the first flight position is C, and the second flight position is D. A preset quadrilateral region is created based on A, B, C, and D. The specific creation process of step S18 is as follows.

[0107] Step 1: Based on the flight trajectory, the initial position of the trajectory, and the second flight position, draw a fifth boundary line parallel to the flight trajectory with a preset width.

[0108] Step 2: Draw a preset quadrilateral region based on the preset width, the third preset angle, the flight trajectory, and the fifth boundary line.

[0109] Specifically, in Figure 6 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° from the flight path A. A preset quadrilateral region M2 is formed by the preset width, the third preset angle, the flight path, and the fifth boundary line.

[0110] In one specific implementation, such as Figure 7 As shown, in step S19, based on the preset quadrilateral region, the initial trajectory position, the first flight position, and the second flight position, an alarm prompt envelope region and a attention prompt envelope region based on the horizontal direction are generated, including:

[0111] Step S71: Divide the area into a preset quadrilateral region based on the second flight position.

[0112] Step S72: Based on the preset quadrilateral region, the first region between the initial trajectory position and the second flight position is used as the horizontal alarm prompt envelope region, and the second region between the second flight position and the first flight position is used as the horizontal attention prompt envelope region.

[0113] Step S19: Based on the preset quadrilateral region, the initial trajectory position, the first flight position, and the second flight position, generate an alarm prompt envelope region and a attention prompt envelope region based on the horizontal direction.

[0114] Specifically, in Figure 6In the horizontal direction, based on the preset quadrilateral region M2, the first region between the initial trajectory position B and the second flight position D is used as the horizontal alarm indication envelope region M0, and the second region between the second flight position and the first flight position is used as the horizontal alarm indication envelope region M1.

[0115] The method for generating a general aviation terrain warning envelope map in this embodiment of the invention, through the above steps S11-S19, generates a general aviation terrain warning envelope map, which is beneficial for accurately prompting general aviation aircraft to fly safely and avoid general aviation aircraft from crashing into the ground.

[0116] Based on the same concept, embodiments of the present invention also provide a navigation terrain warning method, such as... Figure 8 As shown, it includes the following steps:

[0117] Step S81: Obtain the current flight position, target terrain position, and Earth radius information of the general aviation aircraft.

[0118] Specifically, the current flight position is the position at any given moment, and the Earth's radius information is represented by R.

[0119] Step S82: Obtain the actual latitude and longitude information of the current flight position.

[0120] 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.

[0121] Step S83: Based on the terrain database, obtain the target latitude and longitude information of the target terrain location.

[0122] Specifically, the target latitude information of the target terrain location can be represented by θ2, and the target longitude information can be represented by φ2.

[0123] Step S84: Based on the Earth radius information, actual latitude information, actual longitude information, target latitude information, and target longitude information, calculate the target distance between the current flight position and the target terrain position in the horizontal direction.

[0124] For example, the target distance is calculated using the following formula:

[0125]

[0126] 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.

[0127] Step S85: Based on the actual latitude information, actual longitude information, target latitude information, and target longitude information, calculate the azimuth angle of the target terrain relative to the current flight position.

[0128] For example, the azimuth angle is calculated using the following formula:

[0129]

[0130] Where β is the azimuth angle and Δφ is the difference between the target longitude and the actual longitude.

[0131] Step S86: Obtain the first distance of the general aviation aircraft flying along the flight path to the first preset position, the second distance of the second preset position, and the altitude difference between the current flight position and the target terrain.

[0132] exist Figure 2 or Figure 6 In the diagram, the general aviation aircraft flies along its flight path, with the preset first flight position being C, which is the position after 60 seconds of flight. If the current flight speed of the general aviation aircraft is v, then the first distance is 60v. Figure 2 The altitude difference between the current flight position and the target terrain is h.

[0133] Step S87: 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 vertical alarm warning envelope area and the horizontal alarm warning envelope area in the navigation terrain alarm warning envelope map. The navigation terrain alarm warning envelope map is generated by the navigation terrain alarm warning envelope map generation method.

[0134] In one specific implementation, such as Figure 9 As shown, step S87, based on the first distance, azimuth angle, second distance, target distance, and altitude difference, determines whether the target terrain position is simultaneously located within both the vertical and horizontal alarm notification envelope areas of the navigation terrain alarm notification envelope map, including:

[0135] Step S91: Determine the preset distance range based on the first distance and the second distance.

[0136] Specifically, in Figure 6 In the first distance, the first distance is 60V and the second distance is 30V. Based on the first distance and the second distance, the preset distance range is determined to be 30V-60V.

[0137] Step S92: If the altitude difference is less than the first flight altitude, determine that the current flight position is located in the alarm prompt envelope area of ​​the navigation terrain alarm prompt envelope map in the vertical direction, and the target distance is less than the second distance. Based on the target distance and azimuth, determine that the current flight position is also located in the alarm prompt area of ​​the navigation terrain alarm prompt envelope map in the horizontal direction.

[0138] For example, the first flight altitude is at Figure 2 In it, it is h0. If h < h0, then the current flight position is vertically within the warning envelope area M0 in the navigation 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 horizontally within the warning prompt area M0 in the navigation terrain warning prompt envelope diagram.

[0139] Step S93: If the height difference is less than the second flight height, determine that the current flight position is vertically within the attention prompt envelope area in the navigation terrain warning prompt envelope diagram, and 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 horizontally within the attention prompt area in the navigation terrain warning prompt envelope diagram.

[0140] Exemplarily, the second flight height is Figure 2 In it, it is h1. If h < h1, then the current flight position is vertically within the warning envelope area M1 in the navigation 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 horizontally within the warning prompt area M1 in the navigation terrain warning prompt envelope diagram.

[0141] Step S88: If the target terrain position is simultaneously within 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 navigation aircraft.

[0142] Specifically, the navigation 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.

[0143] Exemplarily, the forward-looking warning prompt time can be set to 30S, and the forward-looking attention prompt time can be set to 60s.

[0144] Exemplarily, the warning prompt output is as follows: When the target terrain is simultaneously within 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 within the warning prompt envelope area in the vertical direction and the warning prompt envelope area in the horizontal direction in the navigation 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 when within 2Km of the airport or the speed is less than 150Km / H or the current flight height 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 of the forward-looking warning function.

[0145] The general aviation terrain warning method in this embodiment of the invention generates a warning envelope map based on the general aviation aircraft's flight path, flight characteristics, and flight position by executing the above steps S81-S88. This provides real-time warnings for the general aviation aircraft's current flight position, achieving accurate warnings and preventing false alarms.

[0146] This invention also provides a computer device, such as... Figure 10 As shown, the computer device may include a processor 101 and a memory 102, wherein the processor 101 and the memory 102 may be connected via a bus or other means. Figure 10 Taking the example of a connection between China and Israel via a bus.

[0147] Processor 101 may be a central processing unit (CPU). Processor 101 may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof.

[0148] The memory 102, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules. The processor 101 executes various functional applications and data processing by running the non-transitory software programs, instructions, and modules stored in the memory 102, thereby implementing the navigation terrain warning envelope map generation method or the navigation terrain warning method in the above embodiments.

[0149] The memory 102 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor 101, etc. Furthermore, the memory 102 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 102 may optionally include memory remotely located relative to the processor 101, and these remote memories may be connected to the processor 101 via a network. Examples of such networks include, but are not limited to, power grids, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0150] The one or more modules are stored in the memory 102. When executed by the processor 101, they execute the navigation terrain alarm prompt envelope map generation method or the navigation terrain alarm prompt method in the embodiment shown in the figure.

[0151] The specific details of the above-mentioned computer equipment can be understood by referring to the relevant descriptions and effects in the embodiments shown in the accompanying drawings, and will not be repeated here.

[0152] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0153] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A method for generating a navigation terrain warning envelope map, characterized in that, Includes the following steps: Obtain the flight path, initial position, and current speed of the general aviation aircraft; Based on a first preset time and the current flight speed, calculate the first distance the general aviation aircraft travels along the flight trajectory, and determine the first flight position based on the initial position of the trajectory; Based on the second preset time and the current flight speed, calculate the second distance the general aviation aircraft travels along the flight trajectory, and determine the second flight position based on the initial position of the trajectory; Based on the preset flight altitude, draw alarm and warning boundary lines parallel to the flight trajectory. Based on the first flight position and the second flight position, the midpoint between the two is determined as the third flight position; Based on the initial trajectory position, the first flight position, the second flight position, the flight trajectory route, and the alarm notification boundary line, an alarm notification envelope area based on the vertical direction is generated; Based on the initial trajectory position, the first flight position, the second flight position, the third flight position, and the attention prompt boundary line, a attention prompt envelope region based on the vertical direction is generated; Based on the flight trajectory, the initial position of the trajectory, the first flight position, and the second flight position, a preset quadrilateral region is drawn; Based on the preset quadrilateral region, the initial trajectory position, the first flight position, and the second flight position, an alarm prompt envelope region and a attention prompt envelope region based on the horizontal direction are generated.

2. The method for generating a navigation terrain warning envelope map according to claim 1, characterized in that, Based on the current flight altitude and the preset flight altitude, draw warning and caution boundary lines parallel to the flight trajectory, including: Preset the first and second flight altitudes; Based on the first flight altitude, draw an alarm warning boundary line parallel to the flight trajectory; and based on the second flight altitude, draw a attention warning boundary line parallel to the flight trajectory.

3. The method for generating a navigation terrain warning envelope map according to claim 1, characterized in that, Based on the initial trajectory position, the first flight position, the second flight position, the flight trajectory route, and the alarm indication boundary line, an alarm indication envelope region based on the vertical direction is generated, including: Based on the initial position and vertical direction of the trajectory, a first boundary line is drawn along the first preset angle direction of the flight trajectory; Based on the first flight position, the second flight position, and the vertical direction, a second boundary line is drawn along the second preset angle direction of the flight trajectory; A third boundary line is drawn based on the second flight position, the first boundary line, and the second boundary line; the third boundary line partially overlaps with the alarm indication boundary line. Based on the first boundary line, the second boundary line, and the third boundary line, an alarm notification envelope area based on the vertical direction is generated.

4. The method for generating a navigation terrain warning envelope map according to claim 3, characterized in that, Based on the initial trajectory position, the first flight position, the second flight position, the third flight position, and the attention cues boundary line, a vertical attention cues envelope region is generated, including: Based on the initial position and vertical direction of the trajectory, a first boundary line is drawn along the first preset angle direction of the flight trajectory; Based on the first flight position, the second flight position, and the vertical direction, a second boundary line is drawn along the second preset angle direction of the flight trajectory; Based on the third flight position and the attention prompt boundary line, draw the fourth boundary line; Based on the first boundary line, the second boundary line, the third boundary line, and the fourth boundary line, a vertical attention cue envelope region is generated.

5. The method for generating a navigation terrain warning envelope map according to claim 1, characterized in that, Based on the flight trajectory, the initial position of the trajectory, the first flight position, and the second flight position, a preset quadrilateral region is drawn, including: Based on the flight trajectory, the initial position of the trajectory, and the second flight position, draw a fifth boundary line parallel to the flight trajectory with a preset width; Based on the preset width, the third preset angle, the flight trajectory, and the fifth boundary line, a preset quadrilateral region is drawn.

6. The method for generating a navigation terrain warning envelope map according to claim 1, characterized in that, Based on the preset quadrilateral region, the initial trajectory position, the first flight position, and the second flight position, a horizontally oriented alarm notification envelope region and a attention notification envelope region are generated, including: The preset quadrilateral region is divided based on the second flight position; Based on the preset quadrilateral region, the first region between the initial trajectory position and the second flight position is used as the horizontal alarm prompt envelope region, and the second region between the second flight position and the first flight position is used as the horizontal attention prompt envelope region.

7. A method for providing navigational terrain warnings, characterized in that, Includes the following steps: Obtain information on the current flight position of general aviation aircraft, target terrain location, and Earth radius; Obtain the actual latitude and longitude information of the current flight location; Based on the terrain database, obtain the target latitude and longitude information of the target terrain location; Based on the Earth radius information, the actual latitude information, the actual longitude information, the target latitude information, and the target longitude information, calculate the target distance between the current flight position and the target terrain position in the horizontal direction; Based on the actual latitude information, the actual longitude information, the target latitude information, and the target longitude information, calculate the azimuth angle of the target terrain relative to the current flight position; The system obtains the first distance the general aviation aircraft travels along its flight path to the first preset position, the second distance to the second preset position, and the altitude difference between the current flight position and the target terrain. Based on the first distance, the azimuth angle, the second distance, the target distance, and the height difference, it is determined whether the target terrain position is simultaneously located within the vertical alarm warning envelope area and the horizontal alarm warning envelope area in the navigation terrain alarm warning envelope map; the navigation terrain alarm warning envelope map is generated by the navigation terrain alarm warning envelope map generation method according to any one of claims 1 to 6; If the target terrain location is simultaneously within the alarm notification envelope area in the vertical direction and the alarm notification envelope area in the horizontal direction, an alarm notification action is performed on the general aviation aircraft.

8. The navigation terrain warning method according to claim 7, characterized in that, Based on the first distance, the azimuth angle, the second distance, the target distance, and the altitude difference, determine whether the target terrain location is simultaneously located within both the vertical and horizontal alarm notification envelope areas of the navigation terrain alarm notification envelope map, including: Based on the first distance and the second distance, a preset distance range is determined; If the altitude difference is less than the first flight altitude, it is determined that the current flight position is located in the alarm notification envelope area of ​​the air traffic terrain alarm notification envelope map in the vertical direction, and the target distance is less than the second distance. Based on the target distance and the azimuth angle, it is determined that the current flight position is also located in the alarm notification area of ​​the air traffic terrain alarm notification envelope map in the horizontal direction. If the altitude difference is less than the second flight altitude, it is determined that the current flight position is located in the attention prompt envelope area of ​​the air traffic terrain warning prompt envelope map in the vertical direction, and the target distance is within the preset distance range. Based on the target distance and the azimuth angle, it is determined that the current flight position is located in the attention prompt area of ​​the air traffic terrain warning prompt envelope map in the horizontal direction.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the navigation terrain warning envelope map generation method according to any one of claims 1 to 6, or the navigation terrain warning method according to any one of claims 7 to 8.

10. A computer device, characterized in that, include: The system includes a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the navigation terrain warning envelope map generation method according to any one of claims 1 to 6, or the navigation terrain warning method according to any one of claims 7 to 8.

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