Unmanned aerial vehicle near-mountain alarm method and system

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle near-mountain warning method and system, and the method comprises the steps: carrying out the region segmentation of a digital map; constructing a map database; retrieving a target coordinate point corresponding to the area in front of the current course of the unmanned aerial vehicle in a map database according to a preset alarm distance; and judging whether the unmanned aerial vehicle can pass through the target coordinate point or not, and giving an alarm when the unmanned aerial vehicle cannot pass. Height recognition is performed on the target in front of the heading of the unmanned aerial vehicle, the predicted height of the unmanned aerial vehicle flying to the target coordinate point according to the current height, the heading angle and the pitch angle is obtained, whether the unmanned aerial vehicle can cross the front target or not is automatically judged according to the predicted height and the height, and an alarm is given when the unmanned aerial vehicle cannot pass. The pilot can handle timely; and the occurrence of flight safety accidents caused by errors caused by manual judgment is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method and system for warning a unmanned aerial vehicle of approaching a mountain. Background Art

[0002] As a conventional flying equipment, drones are crucial in flight tests, training flights and flight missions. Each stage is crucial for drones to take off safely, perform missions and land smoothly. During the mission, the high mountains in front of the aircraft are particularly important for flight safety.

[0003] Large UAVs now basically have two control modes: manual control mode and program control mode. In manual control mode, commands are sent manually at the ground control station to operate the UAV to perform climb, descent, and left and right hovering actions; in program control mode, the flight route is pre-edited, and the UAV flies along the route, and at a certain point in the route, it automatically executes the corresponding climb, descent, and left and right hovering commands.

[0004] Manual control mode is generally used for drone takeoff, temporary mission execution, and emergency response. In manual control mode, drone operators generally focus on the various flight attitude parameters of the drone, and rarely pay attention to information such as the drone's map terrain.

[0005] At present, excessive terrain approach rate and mountain obstruction ahead of flight are all judged by pilots by observing maps with contour lines. When pilots observe contour maps, their attention is distracted, increasing their burden and easily causing UAV flight safety accidents.

[0006] Therefore, it is necessary to provide a method and system for warning a UAV near a mountain to solve the above problems. Summary of the invention

[0007] The present invention provides a method and system for warning a UAV approaching a mountain, so as to solve the problem that in the prior art, the pilot makes judgment by observing a map with contour lines; when the pilot observes the contour line map, the pilot's attention is distracted, the pilot's burden is increased, and the UAV flight safety accident is easily caused.

[0008] A method for warning a drone near a mountain of the present invention adopts the following technical solution, including: The digital map is divided into regions, and the center point of each region is the coordinate point of the block; Build a map database based on the location information and altitude of each coordinate point; Obtain the real-time latitude and longitude coordinates of the drone, and retrieve the target coordinate point corresponding to the area ahead of the drone in the current heading in the map database according to the preset alarm distance; Based on the altitude of the target coordinate point, the real-time latitude and longitude coordinates of the drone, the distance between the drone and the target coordinate point in front of the heading angle, and the heading angle and pitch angle of the drone, it is determined whether the drone can pass the target coordinate point, and an alarm is issued when the drone cannot pass the target point.

[0009] Preferably, the standard pixel map is processed into a digital map.

[0010] Preferably, the area is a circular area or a square area, and the radius of the inscribed circle of the square area or the radius of the circular area is 200 m to 500 m.

[0011] Preferably, the target coordinate point corresponding to the front area of ​​the drone in the current heading is retrieved in the map database according to the preset alarm distance according to the preset retrieval interval time.

[0012] Preferably, the steps of determining whether the drone can pass through the target coordinate point are: According to the real-time latitude and longitude coordinates of the UAV, the distance between the UAV and the target coordinate point ahead of the heading angle, and the azimuth and pitch angle of the UAV, the predicted altitude and predicted longitude and latitude of the UAV when it travels to the target coordinate point at the current heading angle are obtained; If the predicted height is greater than the altitude of the target point, the drone can pass the target coordinate point. If the predicted height is less than or equal to the altitude of the target point, the drone cannot pass the target coordinate point.

[0013] Preferably, the steps of predicting the altitude and longitude and latitude when the drone travels to the target coordinate point according to the current heading angle are: Among them, the real-time longitude and latitude coordinates of the drone include: the real-time longitude, real-time latitude and real-time altitude of the drone; Convert the real-time latitude and longitude coordinates of the drone into rectangular coordinates of a rectangular coordinate system; According to the rectangular coordinates, pitch angle, heading angle of the drone and the distance between the drone and the target coordinate point in front of the heading angle, the target rectangular coordinates when the drone travels to the target coordinate point at the current heading angle are calculated; The target rectangular coordinates when the UAV travels to the target coordinate point at the current heading angle are converted into the predicted longitude and latitude high coordinates when the UAV travels to the target coordinate point at the current heading angle. The predicted longitude and latitude high coordinates include: predicted altitude and predicted longitude and latitude.

[0014] Preferably, the expression for converting the real-time latitude and longitude coordinates of the drone into the rectangular coordinates of the rectangular coordinate system is: X=(N+H)cosBcosL Y=(N+H)cosBsinL Z=[N(1-e 2 +H)]sinB

[0015] Where, L is the real-time longitude; B is the real-time latitude; H is the real-time altitude; (X, Y, Z) is the rectangular coordinate; N is the radius of curvature; is the first eccentricity; is the length of the semi-major axis of the reference ellipsoid; is the length of the semi-minor axis of the reference ellipsoid.

[0016] Preferably, the expression of the target rectangular coordinate when the drone travels to the target coordinate point at the current heading angle is: X =X+sinΨ*D Y =Y+conΨ*D Z =Z+tinθ*D In the formula, (X ,Y ,Z ) is the target rectangular coordinate; (X, Y, Z) is the rectangular coordinate; D is the distance between the UAV and the target coordinate point in front of the heading angle; Ψ is the heading angle of the UAV; θ is the pitch angle of the UAV.

[0017] Preferably, the expression of the predicted latitude and longitude high coordinates when the drone travels to the target coordinate point at the current heading angle is: L =arctin( ) B =

[0018] H = -R ,r= , u = arctan( )、N=

[0019] Where, L is the predicted longitude; B is the predicted latitude; H is the predicted height; (X ,Y ,Z ) is the target rectangular coordinate; is the real-time latitude; e is the second eccentricity; is the rectangular abscissa of the UAV in the rectangular coordinate system; is the rectangular abscissa of the UAV in the rectangular coordinate system; is the length of the semi-major axis of the reference ellipsoid, is the length of the minor semiaxis of the reference ellipsoid; R is the radius of the region.

[0020] The present invention provides a UAV mountain approach warning system using the following technical solutions, including: The map processing module is used to segment the digital map into regions, and the center point of each region is the coordinate point of the block; A map database construction module, used to construct a map database based on the location information and altitude of each coordinate point; The data retrieval module is used to obtain the real-time latitude and longitude coordinates of the drone, and retrieve the target coordinate points corresponding to the area ahead of the drone in the current heading in the map database according to the preset alarm distance; And a judgment and alarm module is used to judge whether the drone can pass the target coordinate point based on the altitude of the target coordinate point, the real-time latitude and longitude coordinates of the drone, the distance between the drone and the target coordinate point in front of the heading angle, and the heading angle and pitch angle of the drone, and to issue an alarm when the drone cannot pass the target point.

[0021] The beneficial effects of the present invention are: 1. By identifying the height of the target ahead of the drone and obtaining the predicted height of the drone flying to the target coordinate point according to the current height, heading angle and pitch angle, the system automatically determines whether the drone can pass the target ahead based on the predicted height and altitude. If the drone cannot pass, it will issue an alarm so that the pilot can deal with it in time, thus reducing the occurrence of flight safety accidents caused by errors in human judgment.

[0022] 2. By utilizing digital maps that digitize standard pixel maps or paper maps, it can be backward compatible with subsequent models, reducing the burden on drone operators, and monitoring drones in real time. When there are obstacles ahead of the drone, it can promptly issue an alarm. It has strong compatibility and does not require the installation of other components on the drone. It can apply the flight data of existing drones to avoid the risk of drones crashing into mountains when flying in mountainous areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of a flow chart of a method for warning a drone near a mountain according to the present invention; Figure 2 The figure is a schematic diagram of area number search in an embodiment of the present invention. DETAILED DESCRIPTION

[0025] 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, not all of the embodiments. 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.

[0026] An embodiment of a method for warning a drone near a mountain according to the present invention is as follows: Figure 1 As shown, including: S1, segmenting the digital map into regions; Specifically, the digital map is segmented into regions, and the center point of each region is the coordinate point of the block. In this embodiment, the existing standard pixel map or paper topographic map is analyzed, processed, and segmented into regions; when segmenting the region, a circle with a diameter of 500 meters is used as a region, and the map resources are evenly distributed and cut, such as Figure 2 As shown, the first 500m×500m area in the lower left corner of the map is numbered as 1 to mark the areas, and the longitude, latitude and altitude of the center point of each area are obtained.

[0027] S2, building a map database; Specifically, a map database is constructed based on the location information and altitude of each coordinate point; in this embodiment, according to Figure 2 The sequence number of each area shown is obtained, and the coordinate sequence consisting of the longitude, latitude and altitude corresponding to the center point of each area is obtained. The map database is constructed according to the coordinate sequence, where the starting sequence number is Figure 2 The lower leftmost position of the map shown.

[0028] S3, searching the map database for the target coordinate point corresponding to the area ahead of the drone in the current heading according to the preset alarm distance; Specifically, the real-time latitude and longitude coordinates of the UAV are obtained, and the target coordinate points corresponding to the area ahead of the UAV in the current heading are retrieved in the map database according to the preset alarm distance at the preset retrieval interval.

[0029] In this embodiment, if the real-time position of the drone is Figure 2The area 1 shown in the figure, and the heading angle of the drone is 90°, the longitude is 110.00°, the latitude is 30.00°, the altitude is 1000 meters, and the alarm distance is set to 10000 meters. Then through the coordinate calculation formula, it can be confirmed that at the same latitude, the same altitude, and the heading angle of 90 degrees, the target area 10000 meters away is numbered n, and the target coordinate point of the target area numbered n is 110.09° longitude and 30.00° latitude.

[0030] S4, determine whether the drone can pass through the target coordinate point, and issue an alarm if it cannot pass; Specifically, based on the altitude of the target coordinate point, the real-time latitude and longitude coordinates of the drone, the distance between the drone and the target coordinate point in front of the heading angle, and the heading angle and pitch angle of the drone, it is determined whether the drone can pass the target coordinate point, and an alarm is issued when the drone cannot pass the target point.

[0031] In this embodiment, the steps for determining whether the drone can pass through the target coordinate point are as follows: based on the real-time longitude and latitude coordinates of the drone, the distance of the drone from the target coordinate point in front of the heading angle, and the azimuth and pitch angles of the drone, obtain the predicted altitude and predicted longitude and latitude when the drone travels to the target coordinate point at the current heading angle; if the predicted altitude is greater than the altitude of the target point, the drone can pass through the target coordinate point; if the predicted altitude is less than or equal to the altitude of the target point, the drone cannot pass through the target coordinate point.

[0032] The steps of predicting the altitude and longitude when the UAV travels to the target coordinate point according to the current heading angle are as follows: the real-time longitude and latitude coordinates of the UAV include the real-time longitude, real-time latitude and real-time altitude of the UAV; converting the real-time longitude and latitude coordinates of the UAV into the rectangular coordinates of the rectangular coordinate system, namely: X=(N+H)cosBcosL Y=(N+H)cosBsinL Z=[N(1-e 2 +H)]sinB

[0033] Where, L is the real-time longitude; B is the real-time latitude; H is the real-time altitude; (X, Y, Z) is the rectangular coordinate; N is the radius of curvature; is the first eccentricity; is the length of the semi-major axis of the reference ellipsoid; is the length of the minor semi-axis of the reference ellipsoid; According to the rectangular coordinates, pitch angle, heading angle of the drone and the distance between the drone and the target coordinate point in front of the heading angle, the target rectangular coordinates when the drone travels to the target coordinate point at the current heading angle are calculated, that is: X =X+sinΨ*D Y =Y+conΨ*D Z =Z+tinθ*D In the formula, (X ,Y ,Z ) is the target rectangular coordinate; (X, Y, Z) is the rectangular coordinate; D is the distance between the drone and the target coordinate point in front of the heading angle; Ψ is the heading angle of the drone; θ is the pitch angle of the drone; The target rectangular coordinates when the UAV travels to the target coordinate point at the current heading angle are converted into the predicted longitude and latitude high coordinates when the UAV travels to the target coordinate point at the current heading angle. The predicted longitude and latitude high coordinates include: predicted altitude and predicted longitude and latitude, that is, the expression of predicted longitude and latitude high coordinates is: L =arctin( ) B =

[0034] H = -R ,r= , u = arctan( )、N=

[0035] Where, L is the predicted longitude; B is the predicted latitude; H is the predicted height; (X ,Y ,Z ) is the target rectangular coordinate; is the real-time latitude; e is the second eccentricity; is the rectangular abscissa of the UAV in the rectangular coordinate system; is the rectangular abscissa of the UAV in the rectangular coordinate system; is the length of the semi-major axis of the reference ellipsoid, is the length of the minor semi-axis of the reference ellipsoid; in this embodiment, since the center point of the map is not the highest point, for the reliability of comparison, assuming that the mountains in the area rise at 90 degrees, the height can only be increased by 250 meters within a diameter of 500 meters, so R in this embodiment is taken as 250 meters.

[0036] In this embodiment, if the height of the drone is 1000m under the coordinates of area 1, and there is a mountain with a height greater than or equal to 1000 meters in area n, it is judged that the drone cannot pass through this mountain; if there is a mountain with a height less than 1000 meters or no mountain in unit n, it is judged that the drone can pass through this mountain.

[0037] The invention discloses a drone near-mountain warning system, comprising: a map processing module, a map database construction module, a data retrieval module and a judgment warning module, wherein the map processing module is used for performing regional segmentation on a digital map, wherein the center point of each region is the coordinate point of the block; the map database construction module is used for constructing a map database based on the position information and the altitude of each coordinate point; the data retrieval module is used for obtaining the real-time longitude and latitude coordinates of the drone, and retrieving the target coordinate point corresponding to the front area of ​​the drone in the current heading in the map database according to the preset alarm distance; and the judgment warning module is used for judging whether the drone can pass through the target coordinate point according to the altitude of the target coordinate point, the real-time longitude and latitude coordinates of the drone, the distance between the drone and the target coordinate point in front of the heading angle, and the heading angle and pitch angle of the drone, and giving an alarm when the drone cannot pass through the target point, i.e., giving an audio alarm of "high mountains ahead", and popping up a dialog box of "high mountains ahead" above a computer screen, until the operator makes an adjustment, the two alarm messages automatically disappear.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for warning a drone approaching a mountain, characterized in that: include: The digital map is divided into regions, and the center point of each region is the coordinate point of the block; Build a map database based on the location information and altitude of each coordinate point; Obtain the real-time latitude and longitude coordinates of the drone, and retrieve the target coordinate point corresponding to the area ahead of the drone in the current heading in the map database according to the preset alarm distance; Based on the altitude of the target coordinate point, the real-time latitude and longitude coordinates of the drone, the distance between the drone and the target coordinate point in front of the heading angle, and the heading angle and pitch angle of the drone, it is determined whether the drone can pass the target coordinate point, and an alarm is issued when the drone cannot pass the target point.

2. The method for warning a drone approaching a mountain according to claim 1, characterized in that: Process standard pixel maps into digital maps.

3. The method for warning a drone approaching a mountain according to claim 1, characterized in that: The area is a circular area or a square area, and the radius of the inscribed circle of the square area or the radius of the circular area is 200m to 500m.

4. The method for warning a drone approaching a mountain according to claim 1, characterized in that: According to the preset retrieval interval time, the target coordinate point corresponding to the front area of ​​the drone in the current heading is retrieved in the map database according to the preset alarm distance.

5. The method for warning a drone approaching a mountain according to claim 1, characterized in that: The steps to determine whether the drone can pass the target coordinate point are: According to the real-time latitude and longitude coordinates of the UAV, the distance between the UAV and the target coordinate point ahead of the heading angle, and the azimuth and pitch angle of the UAV, the predicted altitude and predicted longitude and latitude of the UAV when it travels to the target coordinate point at the current heading angle are obtained; If the predicted height is greater than the altitude of the target point, the drone can pass the target coordinate point. If the predicted height is less than or equal to the altitude of the target point, the drone cannot pass the target coordinate point.

6. The method for warning a drone approaching a mountain according to claim 5, characterized in that: The steps for predicting the altitude and longitude and latitude when the drone travels to the target coordinate point according to the current heading angle are as follows: Among them, the real-time longitude and latitude coordinates of the drone include: the real-time longitude, real-time latitude and real-time altitude of the drone; Convert the real-time latitude and longitude coordinates of the drone into rectangular coordinates of a rectangular coordinate system; According to the rectangular coordinates, pitch angle, heading angle of the drone and the distance between the drone and the target coordinate point in front of the heading angle, the target rectangular coordinates when the drone travels to the target coordinate point at the current heading angle are calculated; The target rectangular coordinates when the UAV travels to the target coordinate point at the current heading angle are converted into the predicted longitude and latitude high coordinates when the UAV travels to the target coordinate point at the current heading angle. The predicted longitude and latitude high coordinates include: predicted altitude and predicted longitude and latitude.

7. The method for warning a drone approaching a mountain according to claim 6, characterized in that: The expression for converting the real-time latitude and longitude coordinates of the drone into the rectangular coordinates of the rectangular coordinate system is: X=(N+H)cosBcosL Y=(N+H)cosBsinL Z=[N(1-e 2 +H)]sinB Where, L is the real-time longitude; B is the real-time latitude; H is the real-time altitude; (X, Y, Z) is the rectangular coordinate; N is the radius of curvature; is the first eccentricity; is the length of the semi-major axis of the reference ellipsoid; is the length of the semi-minor axis of the reference ellipsoid.

8. The method for warning a drone approaching a mountain according to claim 6, characterized in that: The expression of the target rectangular coordinate when the UAV travels to the target coordinate point according to the current heading angle is: X =X+sinΨ*D Y =Y+conΨ*D From =Z+tinθ*D In the formula, (X ,Y ,Z ) is the target rectangular coordinate; (X, Y, Z) is the rectangular coordinate; D is the distance between the UAV and the target coordinate point in front of the heading angle; Ψ is the heading angle of the UAV; θ is the pitch angle of the UAV.

9. The method for warning a drone approaching a mountain according to claim 1, characterized in that: The expression of the predicted latitude and longitude coordinates when the UAV travels to the target coordinate point according to the current heading angle is: L =arctin( ) B = H = -R ,r= ,u=arctan( ),N= Where, L is the predicted longitude; B is the predicted latitude; H is the predicted height; (X ,Y ,Z ) is the target rectangular coordinate; is the real-time latitude; e is the second eccentricity; is the rectangular abscissa of the UAV in the rectangular coordinate system; is the rectangular abscissa of the UAV in the rectangular coordinate system; is the length of the semi-major axis of the reference ellipsoid, is the length of the minor semi-axis of the reference ellipsoid; R is the radius of the circular area.

10. A drone mountain approach warning system, characterized in that: include: The map processing module is used to segment the digital map into regions, and the center point of each region is the coordinate point of the block; A map database construction module, used to construct a map database based on the location information and altitude of each coordinate point; The data retrieval module is used to obtain the real-time latitude and longitude coordinates of the drone, and retrieve the target coordinate points corresponding to the area ahead of the drone in the current heading in the map database according to the preset alarm distance; And a judgment and alarm module is used to judge whether the drone can pass the target coordinate point based on the altitude of the target coordinate point, the real-time latitude and longitude coordinates of the drone, the distance between the drone and the target coordinate point in front of the heading angle, and the heading angle and pitch angle of the drone, and to issue an alarm when the drone cannot pass the target point.

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