A method for graded coloring of forward-looking warning terrain and obstacles

Abstract

The present invention discloses a method for graded coloring of forward-looking warning terrain and obstacles. The coloring method comprises: coloring the block-shaped longitude and latitude grids with corresponding colors of attention level, prompt level and warning level according to the warning level, finding the corresponding obstacle according to the obstacle code, and coloring the obstacle with corresponding colors of attention level, prompt level and warning level according to the warning level. The beneficial effects of the present invention are: increasing the display of dangerous obstacles in the forward-looking warning visual interface, and coloring terrain and obstacles of different warning levels differently. Providing visualized terrain and obstacle warning information for the forward-looking warning of the aircraft, further reducing controlled flight collision accidents.

Description

Technical Field

[0001] The invention relates to the field of forward-looking warning, and in particular to a method for graded coloring of forward-looking warning terrain and obstacles. Background Art

[0002] Controlled Flight Into Terrain (CFIT) refers to an accident in which an aircraft crashes into the ground when the aircraft itself meets the airworthiness conditions and does not have any mechanical faults, but the pilot is operating normally, but the aircraft cannot perceive the surrounding terrain, obstacles and other environments in time. According to ICAO data, accidents during the takeoff and landing phases of an aircraft account for more than 49% of the total number of accidents, and the number of people killed in CFIT accidents accounts for 80% of the number of people killed in major civil aviation accidents. In order to deal with CFIT accidents, the Ground Proximity Warning System (GPWS) came into being. In the 1990s, Honeywell combined digital map technology, added forward warnings to GPWS, upgraded it to the Terrain Awareness and Warning System (TAWS), expanded the warning range of the aircraft, and enabled pilots to receive warning prompts earlier.

[0003] Unlike fixed-wing aircraft, helicopters are generally active below 2,000 meters because of their ability to take off and land vertically, hover in the air, and turn at a fixed point, and because of their low requirements for the take-off and landing environment and low difficulty in driving and operation. In order to complete low-altitude raids and covert advances, military helicopters generally operate at ultra-low altitudes below 50 meters or fly close to the ground below 30 meters. Therefore, their take-off and landing locations and flight paths usually have complex environments. Terrain, power line towers, communication towers, and tall trees all pose safety hazards to flight. The current disadvantage of TAWS is that it can only solve terrain threats, but does not have the ability to warn of ground obstacles, making pilots unable to perceive or misperceive the surrounding environment, thus causing flight accidents. Summary of the invention

[0004] The purpose of the present invention is to solve the TAWS problem in the prior art and to provide a novel method for graded coloring of forward-looking warning terrain and obstacles.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a technical solution: a method for graded coloring of forward-looking warning terrain and obstacles based on active detection, comprising:

[0006] Step S1, establishing an M×N block latitude and longitude grid with the current position of the aircraft as the center, where M and N are positive integers;

[0007] Step S2, obtaining terrain elevation data of block longitude and latitude grids: gridding the terrain elevation data of block longitude and latitude grids, and establishing a terrain elevation matrix. The value corresponding to the grid in the i-th row and j-th column is the terrain elevation corresponding to the longitude and latitude coordinates of the southwest corner point in the northeast celestial coordinate system;

[0008] Step S3, obtaining obstacle elevation data of block longitude and latitude grids: gridding obstacle elevation data of block longitude and latitude grids, and establishing obstacle elevation matrix, wherein the value corresponding to the grid in row i and column j is the obstacle elevation corresponding to the longitude and latitude coordinates of the southwest corner point in the northeast celestial coordinate system;

[0009] Step S4, obtaining obstacle number data of block longitude and latitude grids: gridding the obstacle number data of block longitude and latitude grids, and establishing an obstacle elevation matrix. The value corresponding to the grid in the i-th row and j-th column of the obstacle elevation matrix is ​​the obstacle code corresponding to the longitude and latitude coordinates of the southwest corner point in the northeast celestial coordinate system;

[0010] Step S5, respectively calculating the alarm threshold corresponding to each grid in the warning level alarm envelope area of ​​the prompt level, attention level and warning level according to the forward-looking prediction alarm envelope profile, and establishing a safety elevation matrix and an alarm level elevation matrix, wherein the matrix values ​​corresponding to the grids outside the alarm envelope are set to zero, wherein the value corresponding to the i-th row and j-th column of the safety elevation matrix is ​​the alarm threshold corresponding to the longitude and latitude coordinates of the southwest corner point in the northeast celestial coordinate system, and the value corresponding to the i-th row and j-th column of the alarm level elevation matrix is ​​the alarm level corresponding to the longitude and latitude coordinates of the southwest corner point in the northeast celestial coordinate system;

[0011] Step S6, for the grids with non-zero values ​​in the safety elevation matrix, compare the size of and: if , it is determined that the obstacle corresponding to the grid is in danger of touching the ground, and the obstacle code and warning level corresponding to the grid are transmitted to the visual software; and,

[0012] Step S7, coloring the block latitude and longitude grid with corresponding colors of attention level, prompt level and warning level according to the alarm level, finding the corresponding obstacle according to the obstacle code, and coloring the obstacle with corresponding colors of attention level, prompt level and warning level according to the alarm level.

[0013] As a preferred solution for the forward-looking warning terrain and obstacle graded coloring method based on active detection, in step S1, the grid size of the block longitude and latitude grid is 1 arc second × 1 arc second, wherein, in the northeast celestial coordinate system, the longitude and latitude coordinates of the southwest corner of the grid are used as the grid index value.

[0014] As a preferred solution of the forward-looking warning terrain and obstacle graded coloring method based on active detection, in step S2, the terrain elevation data of the block latitude and longitude grid is obtained through the terrain elevation database of the aircraft.

[0015] As a preferred solution of the forward-looking warning terrain and obstacle graded coloring method based on active detection, in step S3, obstacle elevation data of the block latitude and longitude grid is acquired by the active detection equipment of the aircraft.

[0016] As a preferred solution for the forward-looking warning terrain and obstacle graded coloring method based on active detection, in step S3, if different obstacle elevations overlap in the same grid after being gridded, the obstacle height in the grid adopts the highest obstacle height.

[0017] As a preferred solution of the forward-looking warning terrain and obstacle graded coloring method based on active detection, in step S3, the obstacles in the block latitude and longitude grid can be simplified into cubes, cuboids, cylinders or spheres.

[0018] As a preferred solution of the forward-looking warning terrain and obstacle graded coloring method based on active detection, in step S4, obstacle number data of the block latitude and longitude grid is obtained by the active detection equipment of the aircraft.

[0019] As a preferred solution for the forward-looking warning terrain and obstacle graded coloring method based on active detection, in step S4, when different obstacle numbers overlap in the same grid after being gridded, the obstacle number with the highest elevation is used for numbering, and only the obstacle is colored after the alarm is triggered.

[0020] Compared with the prior art, the beneficial effects of the present invention are at least: increasing the display of dangerous obstacles in the forward warning visual interface, and coloring terrain and obstacles of different warning levels differently. It provides visualized terrain and obstacle warning information for the forward warning of the aircraft, and further reduces controlled flight into terrain accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The figure is a flow chart of the method of the present invention.

[0022] Figure 2 It is a top view of the envelope of the forward-looking prediction warning mode in the present invention.

[0023] Figure 3 This is a profile diagram of the forward-looking prediction warning envelope in the present invention.

[0024] Figure 4 This is a schematic diagram of the gridding of obstacle information in the present invention. DETAILED DESCRIPTION

[0025] The present invention is further described in detail below by means of specific embodiments in combination with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0026] See also Figure 1 , the figure shows a method for graded coloring of forward warning terrain and obstacles based on active detection. The coloring method specifically includes:

[0027] Step S1, establish an M×N block longitude and latitude grid with the current position of the aircraft as the center, where M and N are positive integers. The grid size is 1 arc second × 1 arc second. In the northeast celestial coordinate system, the longitude and latitude coordinates of the southwest corner of the grid are used as the grid index value. The true track angle range is 0°-360°. According to the horizontal plane base width D of the forward warning envelope and the forward detection distance L (see Figure 2 ).

[0028] Step S2, obtaining the terrain elevation data of the block longitude and latitude grid. The terrain elevation data of the block longitude and latitude grid can be obtained through the terrain elevation database of the aircraft. The terrain elevation data of the block longitude and latitude grid is gridded to establish the terrain elevation matrix H terr [M][N], 0<i≤M, 0<j≤N. The value corresponding to the grid in the i-th row and j-th column is the terrain elevation H corresponding to the latitude and longitude coordinates of the southwest corner point in the northeast sky coordinate system. terr [i][j].

[0029] Step S3, obtaining obstacle elevation data of block longitude and latitude grids. The obstacle elevation data of block longitude and latitude grids can be obtained through the active detection equipment of the aircraft. The obstacle elevation data of block longitude and latitude grids are gridded to establish the obstacle elevation matrix H obs [M][N], 0<i≤M, 0<j≤N. The value corresponding to the grid in the i-th row and j-th column is the obstacle elevation H corresponding to the latitude and longitude coordinates of the southwest corner point in the northeast sky coordinate system. obs [i][j]. If different obstacle elevations overlap in the same grid after being gridded, the obstacle height in the grid shall be the highest obstacle height.

[0030] Preferably, the obstacle can be simplified into a cube, a cuboid, a cylinder or a sphere in the block latitude and longitude grid. The obstacle elevation data may include: the number, center coordinates, type, height, radius and other information of the obstacle.

[0031] Step S4, obtain the obstacle number data of the block longitude and latitude grid. The obstacle number data of the block longitude and latitude grid can be obtained through the active detection equipment of the aircraft. The obstacle number data of the block longitude and latitude grid is gridded to establish the obstacle elevation matrix ObsID[M][N], 0<i≤M, 0<j≤N. Among them, the value corresponding to the grid in the i-th row and j-th column of the obstacle elevation matrix ObsID[M][N] is the obstacle code ObsID[i][j] corresponding to the longitude and latitude coordinates of the southwest corner point in the northeast celestial coordinate system. When different obstacle numbers overlap in the same grid after being gridded, the number of the obstacle with the highest elevation is used, and only the obstacle is colored after the alarm is triggered.

[0032] Step S5: According to the forward-looking prediction warning envelope profile (see Figure 3 ) Calculate the alarm threshold H corresponding to each grid in the warning level, attention level and warning level alarm envelope area respectively safe . Establish the safety elevation matrix H safe [M][N] and the alarm level elevation matrix Leve[M][N]. The matrix values ​​corresponding to the grids outside the alarm envelope are set to zero. safe The value corresponding to the i-th row and j-th column of the [M][N] matrix is ​​the alarm threshold H corresponding to the latitude and longitude coordinates of the southwest corner point in the northeast sky coordinate system. safe [i][j], the value corresponding to the i-th row and j-th column of the alarm level elevation matrix Leve[M][N] is the alarm level Leve[i][j] corresponding to the latitude and longitude coordinates of the southwest corner point in the northeast celestial coordinate system.

[0033] Step S6, safety elevation matrix H safe [M][N], for non-zero grids, compare H safe [i][j] and H obs The size of [i][j]: If H obs [i][j]>H safe [i][j], it is determined that the obstacle corresponding to the grid is in danger of touching the ground, and the obstacle code ObsID[i][j] and the warning level Leve[i][j] corresponding to the grid are transmitted to the visual software.

[0034] Step S7: Color the block-shaped longitude and latitude grids with the corresponding colors of attention level, prompt level, and warning level according to the alarm level Leve[i][j]. Find the corresponding obstacle according to the obstacle code ObsID[i][j], and color the obstacle with the corresponding colors of attention level, prompt level, and warning level according to the alarm level Leve[i][j] (see Figure 4 ): Send to the visual software for coloring.

[0035] The above only expresses the implementation mode of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A method for graded coloring of forward-looking warning terrain and obstacles based on active detection, characterized in that: Including: Step S1: Establish a block of longitude and latitude grid of M×N centered on the current position of the aircraft, where M and N are positive integers. Step S2, obtaining the terrain elevation data of the block-shaped longitude-latitude grid:网格化 the terrain elevation data of the block-shaped longitude-latitude grid to establish a terrain elevation matrix H terr [M][N], 0 < i ≤ M, 0 < j ≤ N. Among them, the value corresponding to the grid at the i-th row and j-th column is the terrain elevation H terr [i][j] corresponding to the longitude-latitude coordinates of the southwestern corner point in its northeast celestial coordinate system; It should be noted that the part "网格化" in the translation of Step S2 may need to be adjusted according to the specific context to ensure more accurate expression. You can provide more background information if necessary. Step S3, obtaining the obstacle elevation data of the block-shaped longitude-latitude grid: Grid the obstacle elevation data of the block-shaped longitude-latitude grid to establish an obstacle elevation matrix H obs [M][N], 0 < i ≤ M, 0 < j ≤ N. Among them, the value corresponding to the grid at the i-th row and j-th column is the obstacle elevation H obs [i][j] corresponding to the longitude-latitude coordinates of the southwest corner point in its northeast celestial coordinate system; Step S4: Obtain the obstacle number data of the block of longitude and latitude grid: Grid the obstacle number data of the block of longitude and latitude grid to establish an obstacle elevation matrix ObsID[M][N], where 0 < i ≤ M and 0 < j ≤ N. Among them, the value corresponding to the grid at the i-th row and j-th column of the obstacle elevation matrix ObsID[M][N] is the obstacle code ObsID[i][j] corresponding to the longitude and latitude coordinates of the southwest corner point in the northeast celestial coordinate system. Step S5, calculate the alarm threshold H corresponding to each grid in the warning level alarm envelope area of ​​the prompt level, attention level and warning level according to the forward-looking prediction alarm envelope profile. safe , establish the safety elevation matrix H safe [M][N] and the warning level elevation matrix Leve[M][N], where the matrix values ​​corresponding to the grids outside the warning envelope are set to zero, where the safety elevation matrix H safe The value corresponding to the i-th row and j-th column of the [M][N] matrix is ​​the alarm threshold H corresponding to the latitude and longitude coordinates of the southwest corner point in the northeast sky coordinate system. safe [i][j], the value corresponding to the i-th row and j-th column of the alarm level elevation matrix Leve[M][N] is the alarm level Leve[i][j] corresponding to the latitude and longitude coordinates of the southwest corner point in the northeast celestial coordinate system; Step S6, safety elevation matrix H safe [M][N], for non-zero grids, compare H safe [i][j] and H obs The size of [i][j]: If H obs [i][j]>H safe [i][j], it is determined that the obstacle corresponding to the grid is in danger of touching the ground, and the obstacle code ObsID[i][j] and the warning level Leve[i][j] corresponding to the grid are transmitted to the visual software; and, Step S7: Color the block of longitude and latitude grid with corresponding colors of attention level, reminder level, and warning level according to the warning level Leve[i][j]. Find the corresponding obstacle according to the obstacle code ObsID[i][j], and color the obstacle with corresponding colors of attention level, reminder level, and warning level according to the warning level Leve[i][j].

2. The method for graded coloring of forward-looking warning terrain and obstacles based on active detection according to claim 1 is characterized in that: In step S1, the grid size of the block of longitude and latitude grid is 1 arc second × 1 arc second. Among them, in the northeast celestial coordinate system, the longitude and latitude coordinates of the southwest corner point of the grid are used as the grid index value.

3. The method for graded coloring of forward-looking warning terrain and obstacles based on active detection according to claim 1 is characterized in that: In step S2, the terrain elevation data of the block of longitude and latitude grid is obtained through the terrain elevation database of the aircraft.

4. The method for graded coloring of forward-looking warning terrain and obstacles based on active detection according to claim 1 is characterized in that: In step S3, the obstacle elevation data of the block of longitude and latitude grid is obtained through the active detection equipment of the aircraft.

5. The method for graded coloring of forward-looking warning terrain and obstacles based on active detection according to claim 1 is characterized in that: In step S3, when different obstacle elevations coincide within the same grid after gridding, the highest obstacle height among them is used as the obstacle height in the grid.

6. The method for graded coloring of forward-looking warning terrain and obstacles based on active detection according to claim 1 is characterized in that: In step S3, the obstacle in the block of longitude and latitude grid can be simplified into a cube, cuboid, cylinder or sphere.

7. The method for graded coloring of forward-looking warning terrain and obstacles based on active detection according to claim 1 is characterized in that: In step S4, the obstacle number data of the block of longitude and latitude grid is obtained through the active detection equipment of the aircraft.

8. The method for graded coloring of forward-looking warning terrain and obstacles based on active detection according to claim 1 is characterized in that: In step S4, when different obstacle numbers coincide within the same grid after gridding, the number of the obstacle with the highest elevation is used, and only this obstacle is colored after the warning is triggered.

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