Unmanned aerial vehicle comprehensive situation display system

Abstract

The invention discloses an unmanned aerial vehicle comprehensive situation display system which comprises a processing module, a situation display control module and a comprehensive situation display interface which are arranged on a ground station and are in communication connection in sequence, and wireless sensors arranged on all unmanned aerial vehicles, the situation display control module comprises a link state monitoring sub-module, a flight situation monitoring sub-module and a flight height monitoring sub-module, so that a flight operator can obtain detailed information of a currently controlled unmanned aerial vehicle in an original monitoring system; and the global state of the whole flight formation, including key information such as relative position, distance, flight height and the like between the unmanned aerial vehicles, can be more intuitively and conveniently mastered through the touch terminal.

Description

Technical Field

[0001] The present application relates to the field of unmanned aerial vehicle flight monitoring, and in particular to a comprehensive situation display system for unmanned aerial vehicles. Background Art

[0002] With the rapid advancement of drone technology, the application scope of drones in military reconnaissance, civilian aerial photography, disaster relief and other fields is constantly expanding. Especially in the military field, drone formation flight has become an important means of combat, capable of performing complex and diverse tasks, including but not limited to intelligence collection, target strikes, electronic jamming, etc. However, while multi-drone flight brings efficient collaborative combat capabilities, it is also accompanied by higher operational risks and complexity.

[0003] Usually, traditional monitoring software focuses on the drones that are directly controlled by the current operator, and their status parameters and combat missions become the core content of monitoring. However, with the increasing frequency of drone formation flight operations, this monitoring method has gradually revealed its limitations. Specifically, the traditional monitoring system has the following obvious deficiencies in monitoring performance:

[0004] 1. Narrow monitoring field of view: Limited by the current monitoring field of view and the visual habits of operators, traditional monitoring systems are difficult to achieve synchronous and comprehensive monitoring of the flight status of all drones. This leads to frequent monitoring blind spots, which seriously affects the safety of flight operations and the accuracy of mission execution.

[0005] 2. Information isolation: Traditional monitoring systems often only intuitively display the information of the currently controlled drone, while ignoring the real-time flight status of other drones in the formation. This information isolation makes it difficult for operators to form a global flight situation awareness, thereby increasing the risk and complexity of flight operations.

[0006] 3. Delayed response: In drone formation flight, potential risks such as abnormal distances between drones often need to be discovered and handled in a timely manner. However, traditional monitoring systems are unable to issue early warnings in the face of these abnormal situations, affecting the timely guarantee of flight safety.

[0007] Therefore, in view of the limitations of traditional monitoring systems in UAV formation flight operations, it is necessary to design a new type of UAV system comprehensive situation display software. The software should have the characteristics of global monitoring vision, comprehensive information integration capabilities, rapid warning functions, and optimized human-computer interaction interface, so as to achieve real-time, comprehensive, and accurate monitoring of the UAV formation flight situation, provide information support for the existing monitoring system, and ensure the safety of flight operations and the accuracy of mission execution. Summary of the invention

[0008] The main purpose of this application is to provide a UAV comprehensive situation display system, which aims to provide flight operators with a UAV system comprehensive situation display platform that can not only grasp the overall flight situation from a macro perspective, but also does not affect their detailed control of UAV flight in the original monitoring system.

[0009] To achieve the above-mentioned purpose, the present application provides a UAV comprehensive situation display system, which is applied to a terminal, comprising: a processing module arranged at the ground station and connected in sequence by communication, a situation display control module and a comprehensive situation display interface, wherein the situation display control module comprises a link status monitoring submodule, a flight situation monitoring submodule and a flight altitude monitoring submodule; the processing module is used to obtain the data frame, process the data frame, obtain flight parameters and corresponding link communication data, and draw a first image in the comprehensive situation display interface based on the flight parameters and the link communication data, wherein the flight parameters include original parameters and position parameters; the link status monitoring submodule is used to obtain the link communication data, and draw a first image in the comprehensive situation display interface based on the link communication data The second image is drawn in the interface, wherein the link communication data includes link AGC information and ranging information; the flight situation monitoring submodule is used to obtain the original parameters and the position parameters, and draw a third image in the first concentric circle or the second concentric circle of the comprehensive situation display interface based on the original parameters and the position parameters; the flight altitude monitoring submodule is used to obtain the flight altitude data of the UAV, and in a preset single-machine altitude mode, draw a fourth image in the comprehensive situation display interface based on the flight altitude data of the currently controlled UAV, or in a preset multi-machine altitude mode, draw a fourth image in the comprehensive situation display interface based on the current flight altitude of each UAV, the altitude difference with the UAV closest to the currently controlled UAV, and the altitude difference warning information.

[0010] Optionally, the processing module includes: a distance calculation module, used to obtain the longitude data and latitude data of each of the UAVs, and process the longitude data and latitude data based on a preset first formula to obtain first distance data between each of the UAVs, and second distance data between each of the UAVs and a ground station; an azimuth calculation module, used to obtain the longitude data and latitude data of the UAVs, and process the longitude data and latitude data based on a preset second formula to obtain azimuths between each of the UAVs, and azimuths between each of the UAVs and a ground station;

[0011] Among them, the first formula is:

[0012]

[0013] The second formula is:

[0014] βi,j = atan2(sin(lon j -lon i )*cos(lat j ),cos(lat i )*sin(lat j )-sin(lat i )*cos(lat j )*cos(lat j -lat i ))

[0015] α i,j =(β i,j +360) / 360+(β i,j -(β i,j +360) / 360)

[0016] Wherein, i, j represent two different objects, the two different objects include two drones, or a drone and a ground station, lat and lon represent the latitude and longitude of the object respectively; a coordinate calculation module, which obtains the azimuth of each drone and the first distance data of each drone from the central character, and calculates the two-dimensional coordinate value of each drone relative to the central character in the comprehensive situation display interface based on a preset third formula; an altitude calculation module, which is used to obtain the altitude data of each drone, and in the single-machine altitude mode, display the altitude data of a single drone in the comprehensive situation display interface, or in the multi-machine altitude mode, display the altitude of each drone and the altitude difference between each drone in the comprehensive situation display interface;

[0017] Wherein, the preset third formula includes:

[0018]

[0019] Among them, the subscript 0 represents the central character, the subscript i represents other drones, x0, y0 represents the two-dimensional coordinates of the central character, x i ,y i Represents the two-dimensional coordinate after mapping, D 0,i The fourth formula represents the distance a 0,iIndicates the second formula angle; an altitude calculation module, used to obtain the altitude data of each of the drones, in the single-machine altitude mode, display the altitude data of the single machine in the comprehensive situation display interface, or in the multi-machine altitude mode, display the altitude of each drone and the altitude difference between each drone in the comprehensive situation display interface; a mapping module, connected to the distance calculation module, used to obtain the maximum distance value of the drone farthest from the central character machine, obtain the third distance data according to the sum of the dynamic variable and the maximum distance value, in the preset adaptive mode, draw the first concentric circles of the drone in the comprehensive situation display interface based on the third distance, and dynamically update the first concentric circles based on the distance of the drone; or in the preset fixed mode, draw the second concentric circles of the drone in the comprehensive situation display interface, and keep the second concentric circles unchanged, calculate the relative distance value based on the two-dimensional coordinate value of each drone relative to the central character, and if the distance value is greater than the radius of the second concentric circle, the fixed mode is converted to the adaptive mode;

[0020] Wherein, the preset fourth formula is:

[0021]

[0022] Among them, D i,j is the screen distance, d max is the maximum distance, R1 is the screen radius of the first concentric circle, R2 is the screen radius of the second concentric circle, R3 is the screen radius of the third concentric circle, and θ is a dynamic variable.

[0023] Optionally, the status information includes: at least one of a steering angle, a relative distance value, longitude data with other drones, latitude data, distance data, altitude data, engine speed, and a drone object name.

[0024] Optionally, the link status monitoring submodule also includes: an alarm monitoring unit, used to determine whether the AGC value exceeds a preset AGC alarm value, when it does not exceed the preset AGC alarm value, each of the drones is drawn with a first color, when it exceeds the preset AGC alarm value, each of the drones is drawn with a second color, if a stable connection is not established between each of the drones and the ground station, each of the drones is drawn with a third color.

[0025] Optionally, the flight situation monitoring submodule is also used to draw the position of the UAV in the comprehensive situation display interface based on the distance value, and rotate the UAV according to the heading angle; use a dotted line to connect each of the UAVs and the central character in the comprehensive situation display interface, and mark the distance between the UAV and the central character, and then use a light blue line to connect and mark the distance between each of the UAVs; mark the altitude data, the engine speed, and the UAV object name for each UAV in the comprehensive situation display interface; if it is determined that the distance between some UAVs exceeds a preset distance warning value, then draw the corresponding connection line between the UAVs in the comprehensive situation display interface as a solid red line, and use a yellow background and red text to mark the distance style.

[0026] Optionally, the UAV comprehensive situation display system also includes: a button adjustment module, which is used to execute at least one of the switching tasks of each of the central roles, the single-machine altitude mode / multi-machine altitude mode switching tasks, and the switching tasks of executing the adaptive mode / fixed mode according to the button pressing position.

[0027] An integrated situation display system for unmanned aerial vehicles proposed in an embodiment of the present application includes a processing module, a situation display control module and an integrated situation display interface, which are arranged at the ground station and are communicatively connected in sequence, and a wireless sensor arranged at each unmanned aerial vehicle, wherein the wireless sensor is communicatively connected to the processing module, and the situation display control module includes a link status monitoring submodule, a flight situation monitoring submodule and a flight altitude monitoring submodule, so that the flight operator can not only obtain detailed information on the currently controlled unmanned aerial vehicle in the original monitoring system, but also can more intuitively and conveniently grasp the global status of the entire flight formation through a touch terminal, including the relative position, distance, flight altitude and other key information between the unmanned aerial vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A structural block diagram provided for an embodiment of the UAV integrated situation display system of the present application;

[0029] Figure 2 A schematic diagram of initializing the integrated situation interface provided by an embodiment of the integrated situation display system for unmanned aerial vehicles of the present application;

[0030] Figure 3 A single-machine comprehensive situation display diagram provided for an embodiment of the UAV comprehensive situation display system of the present application;

[0031] Figure 4 A multi-machine comprehensive situation display diagram provided for an embodiment of the UAV comprehensive situation display system of the present application;

[0032] Figure 5A comprehensive situation display diagram from the perspective of a drone provided in an embodiment of the drone comprehensive situation display system of the present application;

[0033] Figure 6 An alarm situation display diagram provided for an embodiment of the drone comprehensive situation display system of the present application.

[0034] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0035] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0036] The present invention aims to break through the limitations of traditional monitoring systems in monitoring the flight situation of UAV formations, and proposes a method for displaying the comprehensive situation of UAVs based on a touch terminal. The core purpose of this method is to provide a UAV system comprehensive situation display platform for flight operators, which can not only grasp the overall flight situation at a macro level, but also does not affect their detailed control of UAV flight in the original monitoring system.

[0037] Specifically, the drone comprehensive situation display software designed by the present invention realizes the global monitoring of the flight situation of the drone formation through the interactive mode of the touch terminal. The flight operator can not only obtain the detailed information of the currently controlled drone in the original monitoring system, but also grasp the global status of the entire flight formation more intuitively and conveniently through the touch terminal, including the relative position, distance, flight altitude and other key information between drones.

[0038] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0039] Reference Figure 2 , the UAV comprehensive situation display system provided by the first embodiment of the present application is applied to a terminal, and the UAV comprehensive situation display system 100 may include a processing module 10, a situation display control module 20 and a comprehensive situation display interface 30 which are arranged at the ground station and are sequentially connected in communication, wherein the situation display control module 20 includes a link status monitoring submodule 201, a flight status monitoring submodule 202 and a flight altitude monitoring submodule 203; the processing module 10 is used to obtain the data frame, process the data frame, obtain flight parameters and corresponding link communication data, and draw a first image in the comprehensive situation display interface 30 based on the flight parameters and the link communication data, wherein the flight parameters include original parameters and position parameters; the link status monitoring submodule 201 is used to obtain the link communication data, and draw a second image in the comprehensive situation display interface 30 based on the link communication data, wherein the link communication data includes link AGC information and ranging information;

[0040] The flight situation monitoring submodule 202 is used to obtain the original parameters and the position parameters, and draw a third image in the first concentric circle or the second concentric circle of the integrated situation display interface 30 based on the original parameters and the position parameters;

[0041] The flight altitude monitoring submodule 203 is used to obtain the flight altitude data of the UAV, and in a preset single-machine altitude mode, draw a fourth image in the comprehensive situation display interface 30 based on the flight altitude data of the currently controlled UAV, or in a preset multi-machine altitude mode, draw a fourth image in the comprehensive situation display interface 30 based on the current flight altitude of each UAV, the altitude difference with the UAV closest to the currently controlled UAV, and the altitude difference warning information.

[0042] It should be noted that the wireless sensor 40 is used to obtain the current flight status of each drone, and generate a data frame based on the current flight status, and send the data frame to the wireless terminal, and the wireless terminal is used to send the data frame to the ground station;

[0043] In an embodiment of the present application, the processing module 10 includes a distance calculation module 101, an orientation calculation module 102, a coordinate calculation module 103, an altitude calculation module 104 and a mapping module 105, wherein the distance calculation module 101 is used to obtain the longitude data and latitude data of each of the drones, and process the longitude data and the latitude data based on a preset first formula to obtain the first distance data between the drones, and the second distance data between each of the drones and the ground station;

[0044] The azimuth calculation module 102 is used to obtain the longitude data and latitude data of the UAV, and process the longitude data and the latitude data based on a preset second formula to obtain the azimuth between the UAVs and the azimuth between the UAVs and the ground station;

[0045] Among them, the first formula is:

[0046]

[0047] The second formula is:

[0048] β i,j = atan2(sin(lon j -lon i )*cos(lat j ),cos(lat i )*sin(lat j )-sin(lat i )*cos(lat j)*cos(lat j -lat i ))

[0049] α i,j =(β i,j +360) / 360+(β i,j -(β i,j +360) / 360)

[0050] Among them, i and j represent two different objects, including two drones, or a drone and a ground station, and lat and lon represent the latitude and longitude of the object respectively;

[0051] Among them, the distance d between each object (including the drone and the ground control station) is calculated according to the first formula above: i,j and orientation α i,j .

[0052] The coordinate calculation module 103 obtains the azimuth angle of each drone and the first distance data of each drone from the central character, and calculates the two-dimensional coordinate value of each drone relative to the central character on the comprehensive situation display interface 30 based on a preset third formula;

[0053] Wherein, the preset third formula includes:

[0054]

[0055] Among them, the subscript 0 represents the central character, the subscript i represents other drones, x0, y0 represents the two-dimensional coordinates of the central character, x i ,y i Represents the two-dimensional coordinate after mapping, D 0,i The fourth formula represents the distance a 0,i represents the second formula angle;

[0056] Specifically, according to the following formula, the screen coordinates (x0, y0) of the central object are taken as the center (0, 0) to calculate the two-dimensional screen coordinates (x i ,y i ).

[0057] The altitude calculation module 104 is used to obtain the altitude data of each drone, and in the single-machine altitude mode, the altitude data of the single drone is displayed in the comprehensive situation display interface 30, or in the multi-machine altitude mode, the altitude of each drone and the altitude difference between each drone are displayed in the comprehensive situation display interface 30;

[0058] If the current mode is single-machine altitude mode, only the flight altitude of the currently controlled drone will be displayed. Figure 4 , Figure 5As shown in the figure, if the current mode is multi-drone altitude mode, the current flight altitude of each drone and the altitude difference with the nearest drone will be displayed. Figure 6 As shown, if there is an alarm due to the height difference between the drones, it will be displayed in red text on a yellow background.

[0059] The mapping module 105 is connected to the distance calculation module, and is used to obtain the maximum distance value of the drone farthest from the central character machine, and obtain the third distance data according to the sum of the dynamic variable and the maximum distance value. In the preset adaptive mode, the first concentric circles of the drone are drawn in the comprehensive situation display interface 30 based on the third distance, and the first concentric circles are dynamically updated based on the distance of the drone; or in the preset fixed mode, the second concentric circles of the drone are drawn in the comprehensive situation display interface 30, and the second concentric circles are kept unchanged, and the relative distance value is calculated based on the two-dimensional coordinate value of each drone relative to the central character. If the distance value is greater than the radius of the second concentric circle, the fixed mode is converted into the adaptive mode;

[0060] Wherein, the preset fourth formula is:

[0061]

[0062] Among them, D i,j is the screen distance, d max is the maximum distance, R1 is the screen radius of the first concentric circle, R2 is the screen radius of the second concentric circle, R3 is the screen radius of the third concentric circle, and θ is a dynamic variable.

[0063] Specifically, if the current scale mode is adaptive, the maximum distance from the center object plus a dynamic variable (d max +θ) as the maximum range that can be represented by the concentric circles and dynamically updated with the maximum distance of the drone; if the current scale mode is fixed, the maximum distance to the center object plus a dynamic variable is selected as (d max +θ) The maximum range that can be represented by the concentric circles is fixed and unchanged. However, if the current maximum distance from the central object exceeds the fixed value, the proportional mode will automatically switch to adaptive. i,j Mapped to screen distance D in proportion i,j .

[0064] In an embodiment of the present application, the status information includes:

[0065] At least one of a steering angle, a relative distance value, longitude data with other drones, latitude data, distance data, altitude data, engine speed, and a drone object name.

[0066] In an embodiment of the present application, the link status monitoring submodule 201 also includes an alarm monitoring unit, which is used to determine whether the AGC value exceeds a preset AGC alarm value. When it does not exceed the preset AGC alarm value, each of the drones is drawn with a first color. When it exceeds the preset AGC alarm value, each of the drones is drawn with a second color. If a stable connection is not established between the link between each of the drones and the ground station, each of the drones is drawn with a third color.

[0067] Exemplarily, after receiving the link data, the link status monitoring submodule 201 updates the link parameters of each drone, including Beidou ranging, link ranging and AGC, and highlights the drone object controlled by the current seat. Figure 6 As shown in the figure, if the AGC value reaches the alarm, it is indicated by yellow; if the AGC value does not reach the alarm, it is indicated by green; if the current link is not locked, it is indicated by red.

[0068] In an embodiment of the present application, the flight situation monitoring submodule 202 is also used to draw the position of the drone in the comprehensive situation display interface 30 based on the distance value, and rotate the drone according to the heading angle; in the comprehensive situation display interface 30, a dotted line is used to connect each of the drones and the central character, and the distance between the drone and the central character is marked, and then a light blue line is used to connect and mark the distance between each of the drones; in the comprehensive situation display interface 30, the altitude data, the engine speed, and the drone object name are marked for each drone; if it is determined that the distance between some drones exceeds a preset distance warning value, the corresponding connection line between the drones is drawn as a solid red line in the comprehensive situation display interface 30, and the distance is marked in red with a yellow background.

[0069] Specifically, the UAV flight situation monitoring module updates the status of each UAV within the concentric circle after receiving the original parameters of the UAV (heading angle, engine speed, flight altitude) and position parameters. Figure 3 to Figure 5 As shown in the figure, first draw the position of the drone according to the screen coordinates of each object and rotate the drone according to the heading angle. Then connect each object with the center object with a dotted line and mark the distance, and then connect other objects with light blue lines and mark the distance. Finally, add other parameters of the drone, such as flight altitude, engine speed, and drone object name. Figure 6 As shown, if there is a distance warning between certain objects, the style of the line between them is changed to a solid red line, and the distance style uses eye-catching red text on a yellow background.

[0070] In an embodiment of the present application, the UAV integrated situation display system further includes:

[0071] The button adjustment module is used to execute at least one of the switching tasks of each of the central roles, the single-machine height mode / multi-machine height mode switching task, and the switching task of executing the adaptive mode / fixed response mode according to the button pressing position.

[0072] Specifically, the relevant function buttons are used to adjust the current comprehensive situation display status, including the center role switching function, the single / multi-machine height display switching function, and the fixed / adaptive ratio display switching function.

[0073] The embodiment of the present invention discloses a method for displaying the comprehensive situation of a drone based on a touch terminal, which comprises the following specific steps:

[0074] Step 1: Initialize each module of the comprehensive situation display interface, such as Figure 2 As shown, the details are as follows:

[0075] Step 1.1: UAV link status monitoring module, set the link status of 4 UAVs, representing the relay and mission aircraft of two sets of data links. In the default state, the link ranging, Beidou ranging and AGC of all channels of each aircraft are 0.

[0076] Step 1.2: The UAV flight situation monitoring module uses a concentric circle scale to display the UAV flight situation. By default, the module uses the ground control station as the center and adopts an adaptive scale adjustment method.

[0077] Step 1.3: In the UAV flight altitude monitoring module, set the altitude bar to a range of 200 to 7500m with a scale interval of 365m.

[0078] Step 1.4: For related function buttons, the left hard button area is used to set the single-machine altitude / multi-machine altitude switching button and the fixed-ratio adaptive-ratio switching button. The right hard button area is used to set each drone object and the ground control station center switching button.

[0079] Step 2: Obtain network data frames from the data terminal through wired network transmission and parse the relevant data of each drone in real time according to the protocol, including the longitude, latitude, altitude, heading, engine speed and link communication status of the drone.

[0080] Step 3: Calculate the data required for displaying the comprehensive situation interface. The specific steps are as follows:

[0081] Step 3.1: Calculate the distance d between each object (including the drone and the ground control station) according to the following formula: i,j and orientation α i,j ,

[0082]

[0083] αi,j =(β i,j +360) / 360+(β i,j -(β i,j +360) / 360)

[0084] Among them, i and j represent two different objects, lat and lon represent the latitude and longitude of the object respectively;

[0085] Step 3.2: If the current scale mode is adaptive, select the farthest distance from the center object plus a dynamic variable (d max +θ) as the maximum range that can be represented by the concentric circles and dynamically updated with the maximum distance of the drone; if the current scale mode is fixed, the maximum distance to the center object plus a dynamic variable is selected as (d max +θ) The maximum range that can be represented by the concentric circles is fixed and unchanged. However, if the current maximum distance from the central object exceeds the fixed value, the proportional mode will automatically switch to adaptive. i,j Mapped to screen distance D in proportion i,j :

[0086]

[0087] Step 3.3: If the current mode is multi-machine altitude mode, calculate the altitude difference between each drone; if the current mode is single-machine altitude mode, do not calculate the altitude difference;

[0088] Step 3.4: Calculate the two-dimensional screen coordinates (x0, y0) of each object using the following formula, taking the screen coordinates (x0, y0) of the central object as the center (0, 0). i ,y i ).

[0089]

[0090] Step 4: According to the pre-set distance between objects less than 1000m, the height difference between drones less than 300m, and the AGC value less than 2, an alarm prompt is issued.

[0091] Step 5: The heading angle, engine speed, link status of the drone obtained in step 2, the distance, orientation, height difference, and corresponding two-dimensional coordinates (x i ,y i ), and the warning information obtained in step 4 is displayed on the comprehensive situation display interface, as follows:

[0092] Step 5.1: UAV link status monitoring module, such as Figure 3 to Figure 5As shown in the figure, after receiving the link data, the link parameters of each drone are updated, including Beidou ranging, link ranging and AGC, and the drone object controlled by the current seat is highlighted. Figure 6 As shown in the figure, if the AGC value reaches the alarm, it is indicated by yellow; if the AGC value does not reach the alarm, it is indicated by green; if the current link is not locked, it is indicated by red.

[0093] Step 5.2: The UAV flight situation monitoring module receives the original parameters of the UAV (heading angle, engine speed, flight altitude) and the position parameters calculated in step 3 and updates the status of each UAV in the concentric circle. Figure 3 to Figure 5 As shown in the figure, first draw the position of the drone according to the screen coordinates of each object and rotate the drone according to the heading angle. Then connect each object with the center object with a dotted line and mark the distance, and then connect other objects with light blue lines and mark the distance. Finally, add other parameters of the drone, such as flight altitude, engine speed, and drone object name. Figure 6 As shown, if there is a distance warning between certain objects, the style of the line between them is changed to a solid red line, and the distance style uses eye-catching red text on a yellow background.

[0094] Step 5.3: The UAV flight altitude monitoring module updates the status in the altitude bar after receiving the UAV flight altitude and altitude difference data. Figure 3 As shown in the figure, if the current mode is single-machine altitude mode, only the flight altitude of the currently controlled drone will be displayed. Figure 4 , Figure 5 As shown in the figure, if the current mode is multi-drone altitude mode, the current flight altitude of each drone and the altitude difference with the nearest drone will be displayed. Figure 6 As shown, if there is an alarm due to the height difference between the drones, it will be displayed in red text on a yellow background.

[0095] Step 6: Repeat steps 2 to 5 to complete dynamic monitoring of the comprehensive situation of multiple drones.

[0096] Step 7: Deploy the designed software to the touch terminal to supplement the global flight situation information of the integrated monitoring software.

[0097] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A UAV integrated situation display system, characterized in that: Applications for terminals include: A processing module, a situation display control module and a comprehensive situation display interface are arranged at the ground station and are sequentially communicatively connected, wherein the situation display control module includes a link status monitoring submodule, a flight situation monitoring submodule and a flight altitude monitoring submodule; The processing module is used to obtain data frames collected by wireless sensors, process the data frames, obtain flight parameters and corresponding link communication data, and draw a first image in the comprehensive situation display interface based on the flight parameters and the link communication data, wherein the flight parameters include original parameters and position parameters, and the original parameters are parameters that have not been calculated; The link status monitoring submodule is used to obtain the link communication data, and draw a second image in the comprehensive situation display interface based on the link communication data, wherein the link communication data includes link AGC information and ranging information; The flight situation monitoring submodule is used to obtain the original parameters and the position parameters, and draw a third image in the first concentric circle or the second concentric circle of the comprehensive situation display interface based on the original parameters and the position parameters; The flight altitude monitoring submodule is used to obtain the flight altitude data of the UAV, and in a preset single-machine altitude mode, draw a fourth image in the comprehensive situation display interface based on the flight altitude data of the currently controlled UAV, or in a preset multi-machine altitude mode, draw a fourth image in the comprehensive situation display interface based on the current flight altitude of each UAV, the altitude difference with the UAV closest to the currently controlled UAV, and the altitude difference warning information.

2. The UAV integrated situation display system according to claim 1, characterized in that: The processing module comprises: a distance calculation module, configured to obtain the longitude data and the latitude data of each of the drones, and process the longitude data and the latitude data based on a preset first formula to obtain first distance data between the drones and second distance data between each of the drones and a ground station; an azimuth calculation module, used to obtain the longitude data and latitude data of the UAV, and process the longitude data and the latitude data based on a preset second formula to obtain the azimuth between the UAVs and the azimuth between the UAVs and the ground station; Among them, the first formula is: The second formula is: β i，j =atan2(sin(lon j -lon i )*something(years j )something(years i )*sin(years j )-sin(years i )*something(years j )*something(years j -years i )) α i，j ＝(β i，j +360) / 360+(β i，j -(β i，j +360) / 360) Among them, i and j represent two different objects, including two drones, or a drone and a ground station, and lat and lon represent the latitude and longitude of the object respectively; A coordinate calculation module, which obtains the azimuth angle of each drone and the first distance data of each drone from the central character, and calculates the two-dimensional coordinate value of each drone relative to the central character on the comprehensive situation display interface based on a preset third formula; Wherein, the third formula includes: Among them, the subscript 0 represents the central character, the subscript i represents other drones, x0, y0 represents the two-dimensional coordinates of the central character, x i ,y i Represents the two-dimensional coordinate after mapping, D 0,i Represents the fourth formula distance, a 0,i represents the second formula angle; an altitude calculation module, for obtaining altitude data of each drone, and displaying the altitude data of a single drone in the comprehensive situation display interface in a single-drone altitude mode, or displaying the altitude of each drone and the altitude difference between the drones in the comprehensive situation display interface in a multi-drone altitude mode; A mapping module, connected to the distance calculation module, is used to obtain the maximum distance value of the drone farthest from the central character machine, obtain third distance data according to the sum of the dynamic variable and the maximum distance value, draw the first concentric circles of the drone in the comprehensive situation display interface based on the third distance data in a preset adaptive mode, and dynamically update the first concentric circles based on the distance of the drone; or draw the second concentric circles of the drone in the comprehensive situation display interface in a preset fixed mode, keep the second concentric circles unchanged, calculate the relative distance value based on the two-dimensional coordinate value of each drone relative to the central character, and if the distance value is greater than the radius of the second concentric circle, the fixed mode is converted to the adaptive mode; Wherein, the preset fourth formula is: Among them, D i,j is the screen distance, d max is the maximum distance, R1 is the screen radius of the first concentric circle, R2 is the screen radius of the second concentric circle, R3 is the screen radius of the third concentric circle, and θ is a dynamic variable.

3. The UAV integrated situation display system according to claim 2, characterized in that: The status information includes: At least one of a steering angle, a relative distance value, longitude data with other drones, latitude data, distance data, altitude data, engine speed, and a drone object name.

4. The UAV integrated situation display system according to claim 1, characterized in that: The link status monitoring submodule also includes: The alarm monitoring unit is used to determine whether the AGC value exceeds the preset AGC alarm value. When the AGC value does not exceed the preset AGC alarm value, each UAV is drawn with a first color. When the AGC value exceeds the preset AGC alarm value, each UAV is drawn with a second color. If the link between each UAV and the ground station is to establish a stable connection, each UAV is drawn with a third color.

5. The UAV integrated situation display system according to claim 3, characterized in that: The flight situation monitoring submodule is also used to draw the position of the drone in the comprehensive situation display interface based on the distance value, and rotate the drone according to the heading angle; use a dotted line to connect each of the drones and the central character in the comprehensive situation display interface, and mark the distance between the drone and the central character, and then use a light blue line to connect and mark the distance between each of the drones; mark the altitude data, the engine speed, and the drone object name for each drone in the comprehensive situation display interface; if it is determined that the distance between some drones exceeds a preset distance warning value, then draw the corresponding connection line between the drones in the comprehensive situation display interface as a solid red line, and use a yellow background and red text to mark the distance style.

6. The UAV integrated situation display system according to claim 2, characterized in that: Also includes: The button adjustment module is used to execute at least one of the switching tasks of each of the central roles, the single-machine height mode / multi-machine height mode switching task, and the switching task of executing the adaptive mode / fixed response mode according to the button pressing position.

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