Intelligent display method and system for flight state of unmanned aerial vehicle

Abstract

The invention discloses an intelligent display method and system for the flight state of an unmanned aerial vehicle, relates to the technical field of flight safety, and is used for solving the problem that a user is inconvenient to intuitively observe the height condition between a local aircraft and an invading aircraft, and the method specifically comprises the steps: obtaining the position and height of the invading aircraft in a preset airspace range of the local aircraft in real time; determining a relative display position between the local machine and the invasion machine in a display interface according to the position of the invasion machine and the position of the local machine; comparing the height of the intrusion machine with the height of the local machine to obtain a relative height state between the intrusion machine and the local machine; and according to the relative height state, distinguishing the local machine and the intrusion machine by adopting different identifiers, and displaying the identifiers of the local machine and the intrusion machine on the relative display positions. The intrusion aircraft and the local aircraft are displayed by adopting different identifiers, and the height difference between the local aircraft and other aircrafts is distinguished by using different identifiers, so that the position and height state between the local aircraft and the intrusion aircraft can be intuitively observed from a graph.

Description

Technical Field

[0001] The present invention relates to the field of flight safety technology, and in particular to an intelligent display method and system for the flight status of an unmanned aerial vehicle. Background Art

[0002] During the cruise phase of a drone's flight, the navigation display (ND) interface will usually indicate on the compass the status of other aircraft within the drone's monitoring range. To avoid aircraft collisions, existing drones are equipped with a TCAS system to warn of collisions between intruding aircraft and the drone itself.

[0003] On the navigation display interface, the intruder aircraft will be marked and displayed based on the analysis results of the TCAS system. However, what is generally marked on the compass is the horizontal distance between the aircraft and the intruder aircraft. As one of the important parameters for UAV flight, when the horizontal distance between the aircraft and the intruder aircraft is 0 but the flight altitudes are different, there is actually no risk of collision between the aircraft and the intruder aircraft. However, from the display interface, when the horizontal distance between the aircraft and the intruder aircraft is 0, the aircraft and the intruder aircraft overlap, and the user cannot intuitively see the relative height relationship between the aircraft and the intruder aircraft.

[0004] Currently, some systems will present the flight altitude of the drone in digital form in another dimension. Although this presentation method can display the accurate flight altitude, the user needs to observe the compass and the altitude digital changes at the same time, which makes it inconvenient for the user to intuitively observe the altitude situation between the user and the intruder. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent display method and system for the flight status of a UAV, by displaying the invading aircraft and the host aircraft with different identifiers, and using different identifiers to distinguish the height difference between the host aircraft and other aircraft, the position and height status between the host aircraft and the invading aircraft can be intuitively observed from the figure.

[0006] To achieve the above objectives, this application provides the following solutions: On the one hand, the present application provides an intelligent display method for the flight status of a drone, comprising the following steps: S1. Obtain the position and altitude of the intruder aircraft within the preset airspace of the aircraft in real time; S2, determining the relative display position between the host and the intruder in the display interface according to the position of the intruder and the host; S3, comparing the height of the intruding aircraft with the height of the host aircraft, and obtaining the relative height state between the intruding aircraft and the host aircraft; S4. Different identifications are used to distinguish the own aircraft and the intruder aircraft according to the relative altitude status, and the identifications of the own aircraft and the intruder aircraft are displayed at relative display positions.

[0007] In some specific implementations, in step S4, the identifiers of the local machine and the intruder machine are distinguished by display icons of different sizes. The specific process is as follows: S41, solving the ratio of the height between the invading aircraft and the host aircraft to obtain a scaling ratio; S42, using the zoom ratio to adjust the display icon sizes of the local machine and the intruder machine.

[0008] In some specific implementations, in step S4, the identifications between the host and the intruder are distinguished by display icons of different sizes, and the preset airspace range includes a height detection range. The specific process under the currently selected detection height detection range is as follows: Calculate the altitude difference between the intruder and the host aircraft, Determine whether the altitude difference is within a first preset airspace altitude range, and if so, adjust and display the display icons of the aircraft and the intruder aircraft according to a first scaling ratio; It is determined whether the altitude difference is within a second preset airspace altitude range. If so, the display icons of the aircraft and the intruder aircraft are adjusted and displayed according to a second zoom ratio.

[0009] In some specific implementations, step S4 further includes the steps of: The heading of the intruder aircraft is obtained, and the direction of the display icon of the intruder aircraft relative to the aircraft is set according to the heading of the intruder aircraft.

[0010] In some specific embodiments, the preset airspace range includes a horizontal airspace range, and the display interface also includes a selection control and a display control for the horizontal airspace range. A display compass is created in the display interface with the selected horizontal airspace range as the radius and the aircraft as the center.

[0011] In some specific embodiments, each horizontal airspace range includes a first screening range and a second screening range, the first screening range is the selected horizontal airspace range size, the second screening range is 1 / 2 the size of the horizontal airspace range, and the display compass includes a first boundary line and a second boundary line, the first boundary line is used to identify the first screening range, and the second boundary line is used to identify the second screening range.

[0012] In some specific implementations, when the position of the intruder aircraft is within the first screening range and larger than the second screening range, the own aircraft and the intruder aircraft are displayed according to the size of the currently selected horizontal airspace range; When the location of the intruding machine is within the second filtering range, the second filtering range is enlarged and the display interface is refreshed, the currently selected second filtering range is used as the first filtering range, and only the local machine and the intruding machine within the second filtering range are displayed.

[0013] In some specific implementations, when the position of the intruder aircraft is within the first screening range and larger than the second screening range, the own aircraft and the intruder aircraft are displayed according to the size of the currently selected horizontal airspace range; When the location of the intruder is within the second screening range, the local zoom display interface is called on the display interface to perform local zoom display of the local machine and the intruder within the second screening range.

[0014] In some specific implementations, when the local machine and the intruding machine within the second screening range are displayed, the display icon sizes of the local machine and the intruding machine are enlarged in proportion to the enlargement ratio of the second screening range.

[0015] In a second aspect, the present application provides an intelligent display system for the flight status of a drone, comprising: An information collection device is used to obtain in real time the position and altitude of an intruder aircraft within the preset airspace of the aircraft; A drawing device, used to determine the relative display position between the host and the invading machine in the display interface according to the position of the invading machine and the host, compare the height of the invading machine with the height of the host, and obtain the relative height state between the invading machine and the host; The display device is used to distinguish the own aircraft and the intruder aircraft by using different identifications according to the relative altitude status, and to display the identifications of the own aircraft and the intruder aircraft at relative display positions.

[0016] The concept of this application is: On the existing UAV flight navigation display interface, other aircraft entering the UAV airspace are regarded as intruders, and only the positions of other aircraft within the UAV flight range are marked. The altitude between the UAV and other aircraft is either displayed on a separate display interface or the altitude is not marked, and an alarm is only issued when the altitudes are close and about to collide at the same position. In this identification method, if the UAV and other aircraft are in the same position but at different altitudes, the two aircraft will be seen overlapping from the display interface, and the altitude change status between the UAV and other aircraft cannot be intuitively observed.

[0017] The present application uses different identifiers to display the invading aircraft and the own aircraft, and uses different identifiers to distinguish the height difference between the own aircraft and other aircraft, so that the position and height status between the own aircraft and the invading aircraft can be observed intuitively from the figure, thereby facilitating the intuitive observation of the height situation between the own aircraft and the invading aircraft. In addition, to avoid the situation where the position distance between the invading aircraft and the own aircraft is too close and the horizontal distance cannot be clearly seen on the display interface, the current displayed range can be adaptively modified, and the position distance between the invading aircraft and the own aircraft within the second screening range can be enlarged, and the identifier relationship between the display icons of the invading aircraft and the own aircraft remains unchanged, so that the position distance and height situation between the local invading aircraft and the own aircraft can be observed.

[0018] The present invention has the beneficial effects: The present application displays the invading aircraft and the own aircraft with display icons of different sizes, and uses different symbols to distinguish the height difference between the own aircraft and other aircraft. The position and height status between the own aircraft and the invading aircraft can be intuitively observed from the figure, thereby facilitating intuitive observation of the height situation between the own aircraft and the invading aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A flow chart of an intelligent display method for the flight status of a drone provided by an embodiment of the present invention; Figure 2 A display schematic diagram for indicating the relative height relationship between the host and the intruder by displaying icon sizes provided in an embodiment of the present invention; Figure 3 A schematic diagram showing the display of the local machine and the intruder machine in the second screening range provided by an embodiment of the present invention; Figure 4 A schematic diagram of a local magnified window display provided by an embodiment of the present invention; Figure 5 A schematic diagram of airspace range division in the altitude direction provided by an embodiment of the present invention; Figure 6 A schematic diagram of the display between the aircraft and the intruder aircraft when they are located in different airspace ranges provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

[0022] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0023] Additionally, descriptions of well-known structures, functions, and configurations may be omitted for clarity and conciseness.One of ordinary skill in the art will recognize that various changes and modifications may be made to the examples described herein without departing from the spirit and scope of the present disclosure.

[0024] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0025] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0026] In order to facilitate the elaboration of the technical solution of this application, the following concepts are explained: Example 1 like Figure 1 As shown, this embodiment provides an intelligent display method for the flight status of a drone, comprising the following steps: S1. Obtain the position and altitude of the intruder aircraft within the preset airspace of the aircraft in real time; S2, determining the relative display position between the host and the intruder in the display interface according to the position of the intruder and the host; S3, comparing the height of the intruding aircraft with the height of the host aircraft, and obtaining the relative height state between the intruding aircraft and the host aircraft; S4. Different identifications are used to distinguish the own aircraft and the intruder aircraft according to the relative altitude status, and the identifications of the own aircraft and the intruder aircraft are displayed at relative display positions.

[0027] like Figure 2 As shown, in step S4, the identifications of the local machine and the intruder machine are distinguished by display icons of different sizes. The specific process is as follows: S41, solving the ratio of the height between the invading aircraft and the host aircraft to obtain a scaling ratio; S42, using the zoom ratio to adjust the display icon sizes of the local machine and the intruder machine.

[0028] Generally, the TCAS (Traffic Alert and Collision Avoidance) system will detect any aircraft equipped with a transponder and flying in the vicinity of the aircraft's airspace, and can display potential and predicted collision targets for the aircraft, and issue vertical instructions to the aircraft or other aircraft to avoid conflicts based on the coordination results. Therefore, the aircraft can know the position and altitude of other aircraft within the preset airspace, and build a compass in the display interface that can represent the relative position relationship between the aircraft and other aircraft according to a certain scale. The relative position distance between the aircraft and other aircraft is reduced according to the scale and displayed in the display interface.

[0029] In this embodiment, Figure 2 As shown, the preset airspace range includes the horizontal airspace range, and the display interface also includes a selection control and a display control for the horizontal airspace range. A display compass is created in the display interface with the selected horizontal airspace range as the radius and the aircraft as the center. In order to further identify aircraft that are relatively close, each horizontal airspace range includes a first screening range and a second screening range. The first screening range is the size of the selected horizontal airspace range, and the second screening range is 1 / 2 of the size of the horizontal airspace range. The display compass includes a first boundary line and a second boundary line. The first boundary line is used to identify the first screening range, and the second boundary line is used to identify the second screening range. Figure 2 If the horizontal airspace range selected is 20Km, then the range of the first boundary line is 20Km and the range of the second boundary line is 10Km.

[0030] In order to avoid the possibility that the icons of the intruder and the host machine may cross each other when they are close to each other due to the large height difference between the intruder and the host machine, when the intruder enters the second screening range set in this application, the display interface within the second screening range is enlarged, and the display icons between the host machine and the intruder are enlarged in proportion. In this embodiment, there are two ways to enlarge the display interface within the second screening range: 1. If Figure 3 As shown, the second screening range is directly enlarged, that is, the horizontal airspace range of the aircraft is reduced, and only the aircraft and the intruder aircraft within the second screening range are displayed, and the display interface is refreshed. When the position of the intruder aircraft is within the first screening range and larger than the second screening range, the aircraft and the intruder aircraft are displayed according to the size of the currently selected horizontal airspace range; when the position of the intruder aircraft is within the second screening range, the second screening range is enlarged and the display interface is refreshed, the currently selected second screening range is used as the first screening range, and only the aircraft and the intruder aircraft within the second screening range are displayed.

[0031] 2. If Figure 4As shown, a new local display interface is added to display the own aircraft and the intruder aircraft within the second screening range. When the position of the intruder aircraft is within the first screening range and larger than the second screening range, the own aircraft and the intruder aircraft are displayed according to the size of the currently selected horizontal airspace range; When the location of the intruding machine is within the second screening range, the local zoom display interface is called on the display interface to zoom in on the local machine and the intruding machine within the second screening range. When the local machine and the intruding machine within the second screening range are displayed, the display icon sizes of the local machine and the intruding machine are enlarged in proportion to the enlargement ratio of the second screening range.

[0032] like Figure 2 As shown, the display icon size is set to adapt to the size of the display interface and the size of the scale. The relative height between the local machine and the invading machine can be checked by the height ratio between the invading machine and the local machine. If the invading machine is higher than the local machine, the height ratio is greater than 1. The scaling ratio between the local machine and the invading machine refers to the proportional relationship between the display icon sizes of the local machine and the invading machine. If the height is greater than 1, it means that the display icon of the invading machine is larger than the display icon of the local machine, and the ratio of the display icon of the invading machine to the display icon of the local machine is the scaling ratio. If the height ratio is less than 1, it means that the invading machine is lower than the local machine, and the display icon of the invading machine is smaller than the display icon of the local machine. If the height ratio is equal to 1, it means that the invading machine is at the same height as the local machine, and the display icon of the invading machine is the same size as the display icon of the local machine.

[0033] The preset airspace range includes the airspace range in the height direction and the airspace range in the horizontal direction parallel to the ground, such as Figure 5 As shown, for the airspace range in the height direction, the horizontal detection range can reach up to 100 nautical miles at most, and the vertical detection range of the TCAS system is approximately within the range of -9900 feet to +9900 feet (calculated from the altitude of the aircraft, above the aircraft is +, and below the aircraft is -), and the airspace range in the height direction is optional, divided into three detection ranges: including full detection range (-2700 feet to +2700 feet), upper detection range (-2700 feet to +9900 feet), and lower detection range (-9900 feet to +2700 feet); therefore, when marking the relative height between the aircraft and other aircraft, the current selected airspace range in the height direction can also be one of the above three detection ranges, and the display icon size of the aircraft and other aircraft can be determined according to the detection range, thereby indicating the relative height relationship between the aircraft and other aircraft. Then, in step S4, the identification between the aircraft and the intruder is distinguished by display icons of different sizes, and the preset airspace range includes the preset height detection range selected from the three detection ranges. The specific process is as follows: Calculate the height difference between the intruder and the aircraft. If the currently selected height detection range is the full detection range, the height detection range can be divided into two sections, namely the first preset airspace height range and the second preset airspace height range. The first preset airspace height range is 0 to 2700 feet above the aircraft with the aircraft as the origin, and the second preset airspace height range is -2700 to 0 feet below the aircraft. Determine whether the altitude difference is within the first preset airspace altitude range. If so, it means that the invading aircraft is in the airspace above the aircraft. The display icons of the aircraft and the invading aircraft are adjusted and displayed according to the first zoom ratio; determine whether the altitude difference is within the second preset airspace altitude range. If so, it means that the invading aircraft is in the airspace above the aircraft. The display icons of the aircraft and the invading aircraft are adjusted and displayed according to the second zoom ratio.

[0034] Similarly, if the currently selected altitude detection range is the overhead detection range, the altitude detection range can be divided into three sections, namely the first preset airspace altitude range, the second preset airspace altitude range and the third preset airspace altitude range, wherein the first preset airspace altitude range and the second preset airspace altitude range are the same as the above-mentioned full detection range, and the third preset airspace altitude range is +2700~+9900; when the altitude difference is within the first preset airspace altitude range and the second preset airspace altitude range, the display method of the own aircraft and the invading aircraft is the same as that of the full detection range, and when the altitude difference is within the third preset airspace altitude range, similarly, the display icons of the own aircraft and the invading aircraft are set and displayed using the third scaling ratio.

[0035] Similarly, if the currently selected altitude detection range is the lower detection range, the altitude detection range can also be divided into three sections, namely the first preset airspace altitude range, the second preset airspace altitude range and the fourth preset airspace altitude range, wherein the first preset airspace altitude range and the second preset airspace altitude range are the same as the above-mentioned full detection range, and the fourth preset airspace altitude range is -9900~-2700; when the altitude difference is within the first preset airspace altitude range and the second preset airspace altitude range, the display method of the own aircraft and the invading aircraft is the same as that of the full detection range, and when the altitude difference is within the fourth preset airspace altitude range, similarly, the display icons of the own aircraft and the invading aircraft are set and displayed using the fourth scaling ratio.

[0036] It is understandable that the above-mentioned first scaling ratio and second scaling ratio can be set to the same ratio, that is, as long as the altitude difference is within the first preset airspace altitude range, the display icon of the invading aircraft is always twice or other proportional sizes than the display icon of the aircraft itself, and can also be set in a manner that the first scaling ratio increases with a certain growth trend as the altitude difference increases. For example, a functional relationship can be constructed with the altitude difference as the independent variable and the first scaling ratio as the dependent variable, and the function can be a positive proportional growth function, such as a linear function, a logarithmic function, etc. The first scaling ratio represents the proportional relationship between the display icons of the aircraft itself and the invading aircraft. Similarly, that is, as long as the altitude difference is within the second preset airspace altitude range, the display icon of the invading aircraft is always half or other proportional sizes than the display icon of the aircraft itself, and can also be set in a manner that the second scaling ratio increases with a certain growth trend as the altitude difference increases.

[0037] The third scaling ratio may be proportional to the first scaling ratio or continue to use the functional relationship corresponding to the first scaling ratio, and the third scaling ratio is determined according to the current height difference. The fourth scaling ratio may be proportional to the second scaling ratio or use the functional relationship corresponding to the second scaling ratio, and the fourth scaling ratio is determined according to the current height difference.

[0038] For example, Figure 6 As shown, the four invading aircraft are respectively located in four preset airspace altitude ranges. Invading aircraft 1 is within the first preset airspace altitude range, and the display icon ratio relationship between invading aircraft 1 and the aircraft itself can be 2:1. Invading aircraft 2 is within the second preset airspace altitude range, and the display icon ratio relationship between invading aircraft 2 and the aircraft itself can be 1:2. Invading aircraft 3 is within the third preset airspace altitude range, and the display icon ratio relationship between invading aircraft 1 and the aircraft itself can be 3:1. Invading aircraft 4 is within the fourth preset airspace altitude range, and the display icon ratio relationship between invading aircraft 1 and the aircraft itself can be 1:3.

[0039] In order to better identify the difference in flight direction between the intruder and the own aircraft, the track of the intruder can be calculated, and then the heading of the intruder can be inferred based on the track, and the direction of the display icon of the intruder can be set according to the heading. The direction of the display icon of the intruder relative to the own aircraft can be set according to the heading of the intruder.

[0040] Example 2 This embodiment provides an intelligent display system for the flight status of a drone, including: An information collection device is used to obtain in real time the position and altitude of an intruder aircraft within the preset airspace of the aircraft; A drawing device, used to determine the relative display position between the host and the invading machine in the display interface according to the position of the invading machine and the host, compare the height of the invading machine with the height of the host, and obtain the relative height state between the invading machine and the host; The display device is used to distinguish the own aircraft and the intruder aircraft by using different identifications according to the relative altitude status, and to display the identifications of the own aircraft and the intruder aircraft at relative display positions.

[0041] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. According to the technical essence of the present invention, within the spirit and principles of the present invention, any simple modification, equivalent replacement and improvement made to the above embodiment still falls within the protection scope of the technical solution of the present invention.

Claims

1. An intelligent display method for the flight status of a drone, characterized in that: The specific steps are: S1. Obtain the position and altitude of the intruder aircraft within the preset airspace of the aircraft in real time; S2, determining the relative display position between the host and the intruder in the display interface according to the position of the intruder and the host; S3, comparing the height of the intruding aircraft with the height of the host aircraft, and obtaining the relative height state between the intruding aircraft and the host aircraft; S4. Different identifications are used to distinguish the own aircraft and the intruder aircraft according to the relative altitude status, and the identifications of the own aircraft and the intruder aircraft are displayed at relative display positions.

2. The intelligent display method of the flight status of a UAV according to claim 1 is characterized in that: In step S4, the identification between the local machine and the intruder machine is distinguished by display icons of different sizes. The specific process is as follows: S41, solving the ratio of the height between the invading aircraft and the host aircraft to obtain a scaling ratio; S42, using the zoom ratio to adjust the display icon sizes of the local machine and the intruder machine.

3. The intelligent display method of the flight status of a UAV according to claim 1 is characterized in that: In step S4, the identification between the host aircraft and the intruder aircraft is distinguished by display icons of different sizes, and the preset airspace range includes the height detection range. The specific process under the currently selected detection height detection range is as follows: Calculate the altitude difference between the intruder and the host aircraft, Determine whether the altitude difference is within a first preset airspace altitude range, and if so, adjust and display the display icons of the aircraft and the intruder aircraft according to a first scaling ratio; It is determined whether the altitude difference is within a second preset airspace altitude range. If so, the display icons of the aircraft and the intruder aircraft are adjusted and displayed according to a second zoom ratio.

4. The intelligent display method of the flight status of a UAV according to claim 1 is characterized in that: Step S4 also includes the steps of: The heading of the intruder aircraft is obtained, and the direction of the display icon of the intruder aircraft relative to the aircraft is set according to the heading of the intruder aircraft.

5. The intelligent display method of the flight status of a UAV according to claim 1 is characterized in that: The preset airspace range includes the horizontal airspace range, and the display interface also includes a selection control and a display control for the horizontal airspace range. The display interface creates a display compass with the selected horizontal airspace range as the radius and the aircraft as the center.

6. The intelligent display method of the flight status of a UAV according to claim 5, characterized in that: Each horizontal airspace range includes a first screening range and a second screening range. The first screening range is the size of the selected horizontal airspace range, and the second screening range is 1 / 2 the size of the horizontal airspace range. The display compass includes a first boundary line and a second boundary line. The first boundary line is used to identify the first screening range, and the second boundary line is used to identify the second screening range.

7. The intelligent display method of the flight status of a UAV according to claim 6, characterized in that: When the position of the intruder aircraft is within the first screening range and larger than the second screening range, the aircraft and the intruder aircraft are displayed according to the size of the currently selected horizontal airspace range; When the location of the intruding machine is within the second filtering range, the second filtering range is enlarged and the display interface is refreshed, the currently selected second filtering range is used as the first filtering range, and only the local machine and the intruding machine within the second filtering range are displayed.

8. The intelligent display method of the flight status of a UAV according to claim 6, characterized in that: When the position of the intruder aircraft is within the first screening range and larger than the second screening range, the aircraft and the intruder aircraft are displayed according to the size of the currently selected horizontal airspace range; When the location of the intruder is within the second screening range, the local zoom display interface is called on the display interface to perform local zoom display of the local machine and the intruder within the second screening range.

9. The intelligent display method of the flight status of a UAV according to claim 7, characterized in that: When the local machine and the intruding machine within the second screening range are displayed, the display icon sizes of the local machine and the intruding machine are enlarged in proportion to the enlargement ratio of the second screening range.

10. An intelligent display system for the flight status of a drone, characterized in that: include: An information collection device is used to obtain in real time the position and altitude of an intruder aircraft within the preset airspace of the aircraft; A drawing device, used to determine the relative display position between the host and the invading machine in the display interface according to the position of the invading machine and the host, compare the height of the invading machine with the height of the host, and obtain the relative height state between the invading machine and the host; The display device is used to distinguish the own aircraft and the intruder aircraft by using different identifications according to the relative altitude status, and to display the identifications of the own aircraft and the intruder aircraft at relative display positions.

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