An unmanned aerial vehicle integrated situation display system

Abstract

This application discloses an integrated situational awareness system for unmanned aerial vehicles (UAVs). It comprises a processing module, a situational awareness control module, and an integrated situational awareness interface, all sequentially connected and communicatively integrated at the ground station, as well as wireless sensors installed on each UAV. The situational awareness control module includes a link status monitoring submodule, a flight situation monitoring submodule, and a flight altitude monitoring submodule. This system enables flight operators to not only obtain detailed information about the currently controlled UAV from the original monitoring system, but also to more intuitively and conveniently grasp the overall status of the entire flight formation through a touch-screen terminal, including key information such as the relative positions, distances, and flight altitudes between UAVs.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) flight monitoring, and in particular to a comprehensive UAV situation display system. Background Technology

[0002] With the rapid advancement of drone technology, the application of drones in various fields such as military reconnaissance, civilian aerial photography, and disaster relief is constantly expanding. Especially in the military field, drone swarm flight has become an important combat method, capable of performing complex and diverse tasks, including but not limited to intelligence gathering, target strike, and electronic jamming. However, while multi-drone flight brings highly efficient collaborative combat capabilities, it also comes with higher operational risks and complexity.

[0003] Traditional monitoring software typically focuses on the drones directly controlled by the operators, with their status parameters and operational missions as the core monitoring content. However, with the increasing frequency of drone swarm operations, this monitoring method is gradually revealing its limitations. Specifically, traditional monitoring systems have the following significant shortcomings in monitoring effectiveness:

[0004] 1. Narrow monitoring field of view: Due to limitations in the current monitoring field of view and the visual habits of operators, traditional monitoring systems struggle to achieve synchronous and comprehensive monitoring of the flight status of all drones. This results in frequent blind spots, severely impacting the safety of flight operations and the accuracy of mission execution.

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

[0006] 3. Delayed Response: In drone swarm flights, potential risks such as abnormal distances between drones often require timely detection and handling. However, traditional monitoring systems struggle to issue timely warnings in the face of these anomalies, impacting the timely assurance of flight safety.

[0007] Therefore, to address the limitations of traditional monitoring systems in UAV swarm flight operations, a novel comprehensive situational awareness display software for UAV systems needs to be designed. This software should possess features such as a global monitoring view, comprehensive information integration capabilities, rapid early warning functions, and an optimized human-machine interface to achieve real-time, comprehensive, and accurate monitoring of the UAV swarm flight situation, providing information support to existing monitoring systems and ensuring 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 an integrated situational awareness system for unmanned aerial vehicles (UAVs), which aims to provide flight operators with an integrated situational awareness platform for UAV systems that can both provide a macroscopic grasp of the overall flight situation and not affect their detailed control of UAV flight in the original monitoring system.

[0009] To achieve the above objectives, this application provides a UAV integrated situation display system, applied to a terminal, comprising: a processing module, a situation display control module, and an integrated situation display interface, all located at the ground station and sequentially communicatively connected. 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 acquires the data frames, processes the data frames to obtain flight parameters and corresponding link communication data, and draws a first image on the integrated situation display interface based on the flight parameters and the link communication data. The flight parameters include raw parameters and position parameters. The link status monitoring submodule acquires the link communication data and draws a first image on the integrated situation display interface based on the link communication data. A 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 acquire the original parameters and the position parameters, and draw a third image in the first or 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 acquire the flight altitude data of the UAV, and draw a fourth image in the comprehensive situation display interface based on the flight altitude data of the currently controlled UAV in a preset single-aircraft altitude mode, or draw a fourth image in the comprehensive situation display interface based on the current flight altitude of each UAV, the altitude difference with the nearest UAV to the currently controlled UAV, and altitude difference warning information in a preset multi-aircraft altitude mode.

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

[0011] 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] Where 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 objects, respectively; the coordinate calculation module obtains the azimuth angle of each drone and the first distance data of each drone from the center position, and calculates the two-dimensional coordinate value of each drone relative to the center position on the comprehensive situation display interface based on a preset third formula; the altitude calculation module is used to obtain the altitude data of each drone, and display the altitude data of a single drone on the comprehensive situation display interface in single-drone altitude mode, or display the altitude of each drone and the altitude difference between each drone on the comprehensive situation display interface in multi-drone altitude mode;

[0017] The preset third formula includes:

[0018]

[0019] Wherein, subscript 0 represents the central character, subscript i represents other drones, and x0, y0 represent the two-dimensional coordinates of the central character, x i ,y i D represents the mapped two-dimensional coordinates. 0,i The fourth formula represents the distance a. 0,iThe system includes: a second formula angle; a height calculation module for acquiring the height data of each UAV; a single-UAV height mode for displaying the height data of a single UAV in the integrated situation display interface, or a multi-UAV height mode for displaying the height of each UAV and the height difference between each UAV in the integrated situation display interface; a mapping module connected to the distance calculation module for acquiring the maximum distance value of the UAV farthest from the central UAV; obtaining third distance data based on the sum of the dynamic variable and the maximum distance value; in a preset adaptive mode, drawing the first concentric circle of the UAV in the integrated situation display interface based on the third distance, and dynamically updating the first concentric circle based on the distance of the UAV; or in a preset fixed mode, drawing the second concentric circle of the UAV in the integrated situation display interface, keeping the second concentric circle unchanged, calculating the relative distance value based on the two-dimensional coordinate value of each UAV relative to the central UAV, and if the distance value is greater than the radius of the second concentric circle, then switching from the fixed mode to the adaptive mode.

[0020] The preset fourth formula is as follows:

[0021]

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

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

[0024] Optionally, the link status monitoring submodule further 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 UAV is drawn in a first color; when it exceeds the preset AGC alarm value, each UAV is drawn in a second color; if the link between each UAV and the ground station has not established a stable connection, each UAV is drawn in a third color.

[0025] Optionally, the flight situation monitoring submodule is further configured to draw the location of the UAV in the integrated situation display interface based on the distance value, and rotate the UAV according to the heading angle; connect each UAV to the central role using dashed lines in the integrated situation display interface, and mark the distance between the UAV and the central role, and then connect and mark the distance between each UAV using light blue lines; mark the altitude data, engine speed, and UAV object name for each UAV in the integrated situation display interface; if the distance between some UAVs exceeds a preset distance alarm value, draw the corresponding line connecting the UAVs in the integrated situation display interface as a solid red line, and mark the distance in a yellow background with red text.

[0026] Optionally, the UAV integrated situation display system further includes: a button adjustment module, used to perform at least one of the following tasks according to the button pressing position: switching between the central roles, switching between single-drone altitude mode and multi-drone altitude mode, and switching between adaptive mode and fixed mode.

[0027] This application proposes a comprehensive UAV situational awareness system. This system comprises a processing module, a situational awareness control module, and a comprehensive situational awareness display interface, all sequentially and communicatively connected to the ground station. Wireless sensors are also installed on each UAV. The wireless sensors are communicatively connected to the processing module. The situational awareness control module includes a link status monitoring submodule, a flight situation monitoring submodule, and a flight altitude monitoring submodule. This system enables flight operators to not only obtain detailed information about the currently controlled UAV from the original monitoring system, but also to more intuitively and conveniently grasp the overall status of the entire flight formation through a touch-screen terminal. This includes key information such as the relative positions, distances, and flight altitudes between UAVs. Attached Figure Description

[0028] Figure 1 This is a structural block diagram provided for an embodiment of the UAV integrated situation display system of this application;

[0029] Figure 2 This is a schematic diagram of the initialization of the integrated situation display interface provided in an embodiment of the UAV integrated situation display system of this application;

[0030] Figure 3 This application provides a single-unit integrated situation display diagram for an embodiment of the UAV integrated situation display system.

[0031] Figure 4 This application provides a multi-aircraft integrated situation display diagram for an embodiment of the UAV integrated situation display system.

[0032] Figure 5This application provides an embodiment of the UAV integrated situation display system, which includes a UAV perspective integrated situation display diagram.

[0033] Figure 6 This is an alarm situation display diagram provided for an embodiment of the UAV integrated situation display system of this application.

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

[0035] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0036] This invention aims to overcome the limitations of traditional monitoring systems in monitoring the flight status of UAV formations, and proposes a comprehensive UAV situation display method based on a touch-screen terminal. The core objective of this method is to provide flight operators with a comprehensive UAV system situation display platform that allows them to grasp the overall flight situation macroscopically without affecting their detailed control over UAV flight within the original monitoring system.

[0037] Specifically, the UAV integrated situational awareness display software designed in this invention enables global monitoring of the UAV formation flight situation through interactive touch terminal interaction. Flight operators can not only obtain detailed information about the currently controlled UAVs in the original monitoring system, but also grasp the overall status of the entire flight formation more intuitively and conveniently through the touch terminal, including key information such as the relative positions, distances, and flight altitudes between UAVs.

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

[0039] Reference Figure 2 The UAV integrated situation display system provided in the first embodiment of this application is applied to a terminal. The UAV integrated situation display system 100 may include a processing module 10, a situation display control module 20, and an integrated situation display interface 30, which are set at the ground station and communicated with each other in sequence. The situation display control module 20 includes a link status monitoring submodule 201, a flight situation monitoring submodule 202, and a flight altitude monitoring submodule 203. The processing module 10 is used to acquire the data frame, process the data frame, obtain flight parameters and corresponding link communication data, and draw a first image on the integrated situation display interface 30 based on the flight parameters and the link communication data. The flight parameters include raw parameters and position parameters. The link status monitoring submodule 201 is used to acquire the link communication data and draw a second image on the integrated situation display interface 30 based on the link communication data. The link communication data includes link AGC information and ranging information.

[0040] The flight situation monitoring submodule 202 is used to acquire 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 acquire the flight altitude data of the UAV. In the preset single-aircraft altitude mode, it draws a fourth image on the integrated situation display interface 30 based on the flight altitude data of the currently controlled UAV. Alternatively, in the preset multi-aircraft altitude mode, it draws a fourth image on the integrated situation display interface 30 based on the current flight altitude of each UAV, the altitude difference with the nearest UAV to the currently controlled UAV, and altitude difference warning information.

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

[0043] In the embodiments of this 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. The distance calculation module 101 is used to acquire the longitude and latitude data of each UAV, process the longitude and latitude data based on a preset first formula, and obtain the first distance data between each UAV and the second distance data between each UAV and the ground station.

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

[0045] 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] Where 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 objects, respectively.

[0051] 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 acquires the azimuth angle of each UAV and the first distance data of each UAV from the central role, and calculates the two-dimensional coordinate value of each UAV relative to the central role on the comprehensive situation display interface 30 based on the preset third formula.

[0053] The preset third formula includes:

[0054]

[0055] Where, subscript 0 represents the central character, subscript i represents other drones, and x0, y0 represent the two-dimensional coordinates of the central character, x i ,y i D represents the mapped two-dimensional coordinates. 0,i The fourth formula represents the distance a. 0,i Indicates the angle of the second formula;

[0056] Specifically, based on the following formula, with the screen coordinates (x0, y0) of the central object as the center (0, 0), the corresponding two-dimensional screen coordinates (x, y0) of each object are calculated. i ,y i ).

[0057] The altitude calculation module 104 is used to acquire the altitude data of each of the UAVs. In single-UAV altitude mode, the altitude data of a single UAV is displayed in the comprehensive situation display interface 30. In multi-UAV altitude mode, the altitude of each UAV and the altitude difference between each UAV are displayed in the comprehensive situation display interface 30.

[0058] If the current mode is single-drone altitude mode, only the flight altitude of the currently controlled drone will be displayed. For example... Figure 4 , Figure 5As shown, if the current mode is multi-drone altitude mode, it displays the current flight altitude of each drone and the altitude difference between it and the nearest drone. Figure 6 As shown, if there is an alarm indicating a height difference between 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 UAV farthest from the central character UAV. It obtains third distance data based on the sum of the dynamic variable and the maximum distance value. In a preset adaptive mode, it draws the first concentric circle of the UAV in the comprehensive situation display interface 30 based on the third distance and dynamically updates the first concentric circle based on the distance of the UAV. Alternatively, in a preset fixed mode, it draws the second concentric circle of the UAV in the comprehensive situation display interface 30 and keeps the second concentric circle unchanged. It calculates the relative distance value based on the two-dimensional coordinates of each UAV relative to the central character. If the distance value is greater than the radius of the second concentric circle, it switches from the fixed mode to the adaptive mode.

[0060] The preset fourth formula is as follows:

[0061]

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

[0063] Specifically, if the current scale mode is adaptive, then the maximum distance from the center object is selected plus a dynamic variable (d). max +θ) is used as the maximum range that can be represented by concentric circles and is dynamically updated with the maximum distance of the drone; if the current scale mode is fixed, the farthest distance from the center object plus a dynamic variable is selected as (d max +θ) The maximum range that concentric circles can represent remains fixed, but if the current furthest distance from the center object exceeds a fixed value, the scaling mode automatically switches to adaptive. The distance d between each object is calculated according to the following formula. i,j Mapped proportionally to screen distance D i,j .

[0064] In embodiments of this application, the status information includes:

[0065] At least one of the following: steering angle, relative distance value, longitude data, latitude data, distance data, altitude data, engine speed, and drone object name.

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

[0067] For example, after receiving link data, the link status monitoring submodule 201 updates the link parameters of each UAV, including BeiDou ranging, link ranging, and AGC, and highlights the UAV objects currently controlled by the host. Figure 6 As shown, if the AGC value reaches the alarm level, it is indicated in yellow; if the AGC value does not reach the alarm level, it is indicated in green; if the current link is not locked, it is indicated in red.

[0068] In the embodiments of this application, the flight situation monitoring submodule 202 is further configured to draw the location of the UAV on the integrated situation display interface 30 based on the distance value, and rotate the UAV according to the heading angle; connect each UAV to the central role using dashed lines on the integrated situation display interface 30, and mark the distance between the UAV and the central role, and then connect and mark the distance between each UAV using light blue lines; mark the altitude data, engine speed, and UAV object name on each UAV on the integrated situation display interface 30; if it is determined that the distance between some UAVs exceeds a preset distance alarm value, then draw the corresponding line connecting the UAVs on the integrated situation display interface 30 as a solid red line, and mark the distance in a yellow background with red text.

[0069] Specifically, the UAV flight status monitoring module receives the raw parameters (heading angle, engine speed, flight altitude) and position parameters of the UAVs and updates the status of each UAV within the concentric circle. For example... Figures 3-5 As shown, first, the drone's position is drawn according to the screen coordinates of each object, and the drone is rotated according to the heading angle. Next, each object is connected to the central object with dashed lines and the distance is marked. Then, other objects are connected with light blue lines and their distances are marked. Finally, other drone parameters are added, such as flight altitude, engine speed, and drone object name. Figure 6 As shown, if there are distance warnings between certain objects, the style of the line connecting them will be changed to a solid red line, and the distance style will use a striking yellow background with red text.

[0070] In embodiments of this application, the UAV integrated situational awareness system further includes:

[0071] The button adjustment module is used to perform at least one of the following tasks based on the button pressing position: switching between the central roles, switching between single-machine height mode and multi-machine height mode, and switching between adaptive mode and fixed mode.

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

[0073] This invention discloses a method for comprehensive situational awareness display of unmanned aerial vehicles (UAVs) based on a touch-screen terminal, comprising 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 machines of the two data links. By default, the link ranging, BeiDou ranging, and AGC of all channels for each UAV are 0.

[0076] Step 1.2: The UAV flight status monitoring module displays the UAV flight status using a concentric circle scale. By default, this module centers on the ground control station and uses an adaptive scaling method.

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

[0078] Step 1.4: Related function buttons. The left hard button area is set with a single-drone altitude / multi-drone altitude switching button and a fixed ratio / adaptive ratio switching button. The right hard button area is set with buttons for switching between various UAV objects and the ground control station center.

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

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

[0081] Step 3.1: Calculate the distance d between each object (including the UAV 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] Where i and j represent two different objects, and lat and lon represent the latitude and longitude of the objects, respectively;

[0085] Step 3.2: If the current scale mode is adaptive, then select the furthest distance from the center object plus a dynamic variable (d). max +θ) is used as the maximum range that can be represented by concentric circles and is dynamically updated with the maximum distance of the drone; if the current scale mode is fixed, the farthest distance from the center object plus a dynamic variable is selected as (d max +θ) The maximum range that concentric circles can represent remains fixed, but if the current furthest distance from the center object exceeds a fixed value, the scaling mode automatically switches to adaptive. The distance d between each object is calculated according to the following formula. i,j Mapped proportionally to screen distance D i,j :

[0086]

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

[0088] Step 3.4: Using the screen coordinates (x0, y0) of the central object as the center (0, 0), calculate the corresponding two-dimensional screen coordinates (x, y0) of each object according to the following formula. i ,y i ).

[0089]

[0090] Step 4: Based on the pre-set conditions that the distance between objects is less than 1000m, the height difference between drones is less than 300m, and the AGC value is less than 2, issue an alarm prompt.

[0091] Step 5: Combine the UAV heading angle, engine speed, and link status obtained in Step 2, with the distance, azimuth, altitude difference, and corresponding two-dimensional coordinates (x, y) between each object obtained in Step 3. i ,y i The alarm information obtained in step 4, and the alarm information obtained in step 4 are displayed on the comprehensive situation display interface, as follows:

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

[0093] Step 5.2: The UAV flight status monitoring module receives the raw parameters of the UAVs (heading angle, engine speed, flight altitude) and the position parameters calculated in Step 3, and then updates the status of each UAV within the concentric circle. For example... Figures 3-5 As shown, first, the drone's position is drawn according to the screen coordinates of each object, and the drone is rotated according to the heading angle. Next, each object is connected to the central object with dashed lines and the distance is marked. Then, other objects are connected with light blue lines and their distances are marked. Finally, other drone parameters are added, such as flight altitude, engine speed, and drone object name. Figure 6 As shown, if there are distance warnings between certain objects, the style of the line connecting them will be changed to a solid red line, and the distance style will use a striking yellow background with red text.

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

[0095] Step 6: Repeat steps 2 to 5 continuously to complete the dynamic monitoring of the overall situation of multiple UAVs.

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

[0097] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A comprehensive situational awareness system for unmanned aerial vehicles (UAVs), characterized in that, Applications for terminals include: The processing module, situation display control module, and integrated situation display interface are set up at the ground station and communicated sequentially. 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 acquire data frames collected by wireless sensors, process the data frames to obtain flight parameters and corresponding link communication data, and draw a first image on the integrated situation display interface based on the flight parameters and the link communication data. The flight parameters include raw parameters and position parameters, and the raw parameters are uncalculated parameters. The link status monitoring submodule is used to acquire the link communication data and draw a second image on the integrated situation display interface based on the link communication data. The link communication data includes link AGC information and ranging information. The flight situation monitoring submodule is used to acquire the original parameters and the position parameters, and draw a third image in the first or second concentric circle of the integrated situation display interface based on the original parameters and the position parameters. The flight altitude monitoring submodule is used to acquire the flight altitude data of the UAV. In the preset single-aircraft altitude mode, it draws a fourth image on the integrated situation display interface based on the flight altitude data of the current controlled UAV, or in the preset multi-aircraft altitude mode, it draws a fourth image on the integrated situation display interface based on the current flight altitude of each UAV, the altitude difference with the nearest UAV to the current controlled UAV, and the altitude difference warning information. The processing module includes: The distance calculation module is used to acquire the longitude and latitude data of each of the UAVs, process the longitude and latitude data based on a preset first formula, and obtain the first distance data between each of the UAVs and the second distance data between each of the UAVs and the ground station. The azimuth calculation module is used to acquire the longitude and latitude data of the UAV, process the longitude and latitude data based on a preset second formula, and obtain the azimuth angle between each UAV and the azimuth angle between each UAV and the ground station. The coordinate calculation module obtains the azimuth angle of each UAV and the first distance data of each UAV from the central role, and calculates the two-dimensional coordinate value of each UAV relative to the central role on the comprehensive situation display interface based on the preset third formula. The altitude calculation module is used to acquire the altitude data of each of the UAVs. In single-UAV altitude mode, the altitude data of a single UAV is displayed in the comprehensive situation display interface. In multi-UAV altitude mode, the altitude of each UAV and the altitude difference between each UAV are displayed in the comprehensive situation display interface. The mapping module, connected to the distance calculation module, is used to obtain the maximum distance value of the UAV farthest from the central character UAV, and obtain third distance data based on the sum of dynamic variables and the maximum distance value. In a preset adaptive mode, the first concentric circle of the UAV is drawn on the comprehensive situation display interface based on the third distance data, and the first concentric circle is dynamically updated based on the distance of the UAV; or in a preset fixed mode, the second concentric circle of the UAV is drawn on the comprehensive situation display interface and kept unchanged. The relative distance value is calculated based on the two-dimensional coordinate values ​​of each UAV relative to the central character. If the distance value is greater than the radius of the second concentric circle, the mode is switched from the fixed mode to the adaptive mode.

2. The UAV integrated situation display system as described in claim 1, characterized in that, The first formula is: The second formula is: in, This refers to two distinct objects, including two drones, or a drone and a ground station. and These represent the latitude and longitude of the object, respectively. The third formula includes: In this context, the subscript 0 represents the central role, and the subscript... i Indicates other drones, x 0, y 0 represents the two-dimensional coordinates of the central character. x i , y i Represents the mapped two-dimensional coordinates. D 0 , i This represents the distance according to the fourth formula. a 0 , i Indicates the angle of the second formula; The preset fourth formula is: in, Screen distance, For the maximum distance, R 1 represents the screen radius of the first ring of the concentric circles. R 2 represents the screen radius of the second ring of the concentric circles. R 3 represents the screen radius of the third concentric ring. It is a dynamic variable.

3. The UAV integrated situation display system as described in claim 1, characterized in that, The status information includes: At least one of the following: steering angle, relative distance value, longitude data, latitude data, distance data, altitude data, engine speed, and drone object name.

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

5. The UAV integrated situation display system as described in claim 3, characterized in that, The flight situation monitoring submodule is also used to draw the location of the UAV on the integrated situation display interface based on the distance value, and rotate the UAV according to the heading angle; connect each UAV to the central role using dashed lines on the integrated situation display interface, and mark the distance between the UAV and the central role; then connect and mark the distance between each UAV using light blue lines; mark the altitude data, engine speed, and UAV object name on each UAV on the integrated situation display interface; if the distance between some UAVs exceeds the preset distance alarm value, draw the corresponding line connecting the UAVs on the integrated situation display interface as a solid red line, and mark the distance with yellow background and red text.

6. The UAV integrated situation display system as described in claim 1, characterized in that, Also includes: The button adjustment module is used to perform at least one of the following tasks based on the button pressing position: switching between the central roles, switching between single-machine height mode and multi-machine height mode, and switching between adaptive mode and fixed mode.

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