A flight path safety detection method and system based on three-dimensional terrain height

Abstract

The present application relates to the technical field of route detection, and relates to a route safety detection method and system based on three-dimensional terrain height, wherein the method comprises the following steps: dividing a route into multiple route segments, and obtaining multiple auxiliary lines of the route segments; numbering the auxiliary lines of the route segments; calculating the alarm distance of each sampling point; determining a sampling point as an alarm point if the alarm distance of the sampling point is less than a preset threshold; taking the higher or lower end of the route segment and its auxiliary lines as a target end point, determining the maximum and minimum values of the distance from the alarm point to the target end point in the auxiliary line, and marking an alarm line segment on the route segment. The present application can reduce the calculation complexity in flight path planning, and ensure the flight safety of the aircraft through accurate terrain safety distance evaluation.

Description

Technical Field

[0001] This invention generally relates to the field of flight path detection technology. More specifically, this invention relates to a method and system for flight path safety detection based on three-dimensional terrain height. Background Technology

[0002] With the development of drone technology, the types and numbers of aircraft are constantly increasing, leading to a surge in air traffic (such as drone traffic). This has resulted in a growing risk of flight paths colliding with terrain, especially in urban areas or complex terrain. Conflicts between drone flight paths and obstacles such as buildings and terrain can cause flight safety accidents, impacting airspace management and potentially resulting in property damage or even personal injury. Therefore, ensuring the successful completion of flight missions while avoiding collisions with ground obstacles has become a critical factor in the safe operation of aircraft.

[0003] In existing technologies, to ensure the safety of aircraft flight paths, a waypoint-based model is typically used to construct flight routes. Waypoints are specific locations that an aircraft must pass through during flight, and the aircraft completes its flight mission in the order of these waypoints. In route planning, a spherical area is usually constructed based on each waypoint to represent the aircraft's safe flight range. If terrain or other obstacles appear within the aircraft's safe flight range (i.e., the spherical area constructed based on waypoints), the aircraft's flight path needs to be replanned or adjusted to avoid collisions with the terrain and ensure flight safety.

[0004] However, using such spherical safety areas for route planning typically involves a large amount of computation. This is because spherical regions involve three-dimensional spatial calculations, which are highly complex and require significant dimensionality. For example, determining whether the spherical regions of two waypoints overlap, or whether a spherical region intersects with the terrain, requires complex three-dimensional geometric calculations. Summary of the Invention

[0005] To address the technical problem that the computational load is typically high when using circular or spherical safety areas for route planning, the present invention provides solutions in several aspects.

[0006] In a first aspect, a flight path safety detection method based on three-dimensional terrain height includes: dividing the flight path into multiple flight path segments and obtaining multiple auxiliary lines for each flight path segment, wherein the multiple auxiliary lines are distributed on both sides of the flight path segment, parallel to the flight path segment and at the same height as the flight path segment, the flight path segment and its auxiliary lines are arranged equidistantly according to a preset first distance, the endpoints of the flight path segment and its auxiliary lines on the same side are in a straight line, and the straight line is perpendicular to the flight path segment; numbering the auxiliary lines of the flight path segment, wherein the first auxiliary line on one side of the flight path segment is... i The auxiliary lines are numbered as follows:i The other side i The auxiliary lines are numbered - i , i The value is a positive integer; sampling points are obtained by sampling at preset second distances along the auxiliary line; the calculation of the first... k The route segment is numbered as follows n The first on the auxiliary line a Alarm distance at each sampling point d k,n,a :

[0007] .

[0008] in x For the first distance, for the... k The number is n The first segment or auxiliary line of the route a One sampling point, h k,n,s The terrain elevation at its latitude and longitude, h k,n,a For its height, a , k All are positive integers; the sampling points whose alarm distance is less than the preset threshold are determined as alarm points; taking the higher or lower end of the flight line segment and its auxiliary line as the target endpoint, the maximum and minimum values ​​of the distance between the alarm point in the auxiliary line and the target endpoint are determined, and alarm line segments are marked on the flight line segment, wherein the distance between one end of the alarm line segment and the target endpoint of the flight line segment is the minimum value, and the distance between the other end and the target endpoint of the flight line segment is the maximum value.

[0009] Preferably, a flight path safety detection method based on three-dimensional terrain height further includes determining whether the endpoints of the flight path segment need to be marked: for any endpoint of the flight path segment, extending the auxiliary line of the flight path segment by a predetermined distance to the endpoint on that side to obtain an extension line; performing equidistant sampling on the extension line to obtain extended sampling points; obtaining the alarm distance of the extended sampling points; and marking the endpoints of the flight path segment in response to the alarm distance of at least one extended sampling point being less than the threshold.

[0010] Preferably, calculate the first p The route segment is numbered as follows m The first on the auxiliary line b The alarm distance of each extended sampling point The formula is:

[0011] .

[0012] Where for the first p The number is m The first segment or auxiliary line of the route b One extended sampling point, The terrain elevation at its latitude and longitude, For its height, p , b All are positive integers.

[0013] Preferably, the method further includes: sampling at equal intervals along the flight path segment at a second distance of a preset size to obtain target sampling points; obtaining the alarm distance of the target sampling points; and marking the target sampling points in response to the alarm distance of the target sampling points being less than the threshold.

[0014] Preferably, calculate the first k The first on the first route segment c Alarm distance of each target sampling point The formula is:

[0015] .

[0016] Where for the first k The first on the first route segment c One target sampling point, The terrain elevation at its latitude and longitude, For its height, k , c All are positive integers.

[0017] Preferably, the method further includes determining the first distance and the second distance based on the threshold; wherein the first distance satisfies the formula: , The first distance, For the threshold, It is the first coefficient, and The second distance satisfies: , The second distance, It is the second coefficient, and .

[0018] Preferably, the threshold is 1 meter.

[0019] Preferably, the alarm line segment is marked with the target color using the PolylineGraphics class.

[0020] Preferably, the terrain elevation at the latitude and longitude of each sampling point is obtained through the sampleTerrainMostDetailed interface of the 3D map engine Cesium.

[0021] In a second aspect, a flight path safety detection system based on three-dimensional terrain height includes a processor and a memory, the memory storing a computer program, the processor executing the computer program to implement a flight path safety detection method based on three-dimensional terrain height as described in any of the above-described inventions.

[0022] The beneficial effects of this invention are as follows:

[0023] This invention avoids constructing safety zones for each waypoint. Instead, it sets auxiliary lines for flight path segments, samples these lines, and calculates the distances between multiple points on the flight path segment and the corresponding terrain features based on the sampled points' altitude, latitude and longitude, the terrain altitude corresponding to those latitude and longitude, and the distances between these points and the flight path segment. Therefore, this invention reduces the computational complexity of flight path planning and ensures flight safety through accurate terrain safety distance assessment. Attached Figure Description

[0024] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the invention are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0025] Figure 1 This is a flowchart illustrating the steps of a flight path safety detection method based on three-dimensional terrain height according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of a flight line segment and its auxiliary lines according to an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of alarm points and alarm segments according to an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of sampling points and extended sampling points for a flight segment according to an embodiment of the present invention;

[0029] Figure 5 This is a structural block diagram of a flight path safety detection system based on three-dimensional terrain height according to this embodiment. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0032] Figure 1 This is a flowchart illustrating the steps of a flight path safety detection method based on three-dimensional terrain height according to an embodiment of the present invention.

[0033] like Figure 1 As shown, a flight path safety detection method based on three-dimensional terrain height includes steps S1 to S5.

[0034] Step S1: Divide the route into at least one route segment and obtain multiple auxiliary lines for the route segment.

[0035] The auxiliary lines are located in the same plane as the flight line segment, and are parallel to, of the same length and height as, and are arranged at equal intervals on both sides of the flight line segment. The line connecting the endpoints of the flight line segment and its auxiliary lines is perpendicular to the flight line segment.

[0036] It should be noted that a route consists of multiple route segments. Each route segment is equipped with multiple auxiliary lines.

[0037] In one embodiment, for any given route segment, any auxiliary line of that route segment is parallel to that route segment; any auxiliary line of that route segment has the same altitude as that route segment, that is, the route segment and its auxiliary line satisfy the formula:

[0038] ;

[0039] in, This refers to the altitude of the first endpoint of the two endpoints of this flight segment. This refers to the height of the first endpoint corresponding to the end point of this flight segment. For this route segment k The first end of each auxiliary line corresponds to the height of the endpoint. For this route segment k The first end of each auxiliary line corresponds to the height of the endpoint.

[0040] In this context, the first end of a flight line segment or its auxiliary line is the upper, lower, left, or right end of that segment (i.e., the flight line segment or its auxiliary line).

[0041] In another embodiment, when any auxiliary line of the flight path segment has the same altitude as the flight path segment, the condition that is satisfied can be:

[0042] ;

[0043] For two points located at different positions on the flight path, these two points are respectively designated as point 1 and point 2. The height of the first point. This is the altitude of the second point. For the first point within the flight path segment... k Two points at different positions on the auxiliary line are designated as the third point and the fourth point, respectively. The height of the third point. This is the altitude of the fourth point. The distance between the first point and the corresponding endpoint of the first end of the flight segment is equal to the distance between the third point and the flight segment. k The distance between the first endpoints of each auxiliary line; the distance between the second point and the first endpoint of the flight line segment is equal to the distance between the fourth point and the flight line segment. k The distance between the first end of each auxiliary line corresponds to the distance between the endpoints.

[0044] It should be noted that for any line segment of the flight path and any of its auxiliary lines, the first end of the line segment is: in the image, the endpoint of the line segment in the predetermined direction.

[0045] Figure 2 This is a schematic diagram of a flight line segment and its auxiliary lines according to an embodiment of the present invention.

[0046] like Figure 2 As shown, the solid line segments represent the flight path segments, and the multiple dashed line segments represent auxiliary lines of the flight path segments. The first ends of both the flight path segment and its auxiliary lines lie on line E, at which point the first ends of the flight path segment and the auxiliary lines are the upper or right endpoints of the corresponding line segments. Line E is perpendicular to the endpoints of any line segment in the flight path segment and its auxiliary lines. The flight path segment and its auxiliary lines lie in the same plane, and their lengths are the same. For any flight path segment and all its auxiliary lines, the distance between any two adjacent line segments is a constant. All auxiliary lines of the flight path segment are distributed on both sides of the flight path segment.

[0047] Step S2: Number the auxiliary lines of the route segment.

[0048] The first on one side of the flight segment i The auxiliary lines are numbered as follows: i The other side i The auxiliary lines are numbered - i , i It is a positive integer; sampling points are obtained by sampling at equal intervals along the auxiliary line according to the preset second distance.

[0049] It should be noted that for any auxiliary line, the sign of its number indicates its relative position to the flight line segment. An auxiliary line with a positive number is located on one side of the flight line, and an auxiliary line with a negative number is located on the other side of the flight line segment. The absolute value of the auxiliary line's number indicates the distance between it and the flight line segment. The product of the absolute value of the number and the second distance is equal to the actual distance between the auxiliary line and the flight line segment.

[0050] Step S3: Calculate the alarm distance of each sampling point corresponding to the flight line segment.

[0051] Among them, the calculation of the first k The route segment is numbered as follows n The first on the auxiliary line a Alarm distance at each sampling point d k,n,a : ,in x For the auxiliary line spacing, for the first... k The number is n The first segment or auxiliary line of the route a One sampling point, h k,n,s The terrain elevation at its latitude and longitude, h k,n,a For its height, a , k All are positive integers.

[0052] It should be noted that the product of the auxiliary line number and the first distance is equal to the distance between any sampling point on the auxiliary line and the flight line segment. Because the auxiliary line is parallel to the flight line segment and at the same altitude, the product of the auxiliary line number and the first distance is equal to the horizontal distance between the terrain at the latitude and longitude of any sampling point on the auxiliary line and the flight line segment.

[0053] Furthermore, the auxiliary line a The difference between the height of the sampling point and the terrain height at its latitude and longitude is the height of the sampling point. a The vertical distance between each sampling point and the terrain at its latitude and longitude. Since the auxiliary line is parallel to the flight path and at the same altitude as the flight path, the above vertical distance is the [number]th [sampling point]. a The terrain and flight path at the latitude and longitude of the sampling points. a The vertical distance between the sampling points. Among them, the first sampling point of the flight line segment... a The sampling point and the auxiliary line of the first sampling point a The straight line corresponding to each sampling point is perpendicular to the flight path segment.

[0054] Based on this, the first k The route segment is numbered as follows n The first on the auxiliary line a The alarm distance for each sampling point is the numbered point. n The first on the auxiliary line a The topography of the latitude and longitude of the sampling point and the first sampling point k On the first route segment a The distance between each sampling point.

[0055] In one embodiment, the threshold is 1 meter.

[0056] It should be noted that the smaller the threshold, the smaller the first distance and the distance used for the first distance. Further, the present invention determines the first distance and the second distance based on the threshold; wherein the first distance satisfies the formula: , The first distance, For the threshold, It is the first coefficient, and The second distance satisfies: , The second distance, It is the second coefficient, and .

[0057] In one embodiment, the terrain elevation at the latitude and longitude of each sampling point is obtained through Cesium's sampleTerrainMostDetailed interface.

[0058] Cesium is an open-source virtual globe platform primarily used for developing and showcasing 3D geospatial applications. Based on WebGL, Cesium enables high-performance 3D globe and map visualization in a browser. Cesium allows users to create interactive maps, satellite imagery, terrain, geographic data, and more. Cesium supports many Geographic Information System (GIS) operations, such as data visualization, 3D modeling, measurement analysis, and spatial analysis.

[0059] In Cesium, the `sampleTerrainMostDetailed` interface is a function used to obtain the terrain altitude at a specific location (latitude and longitude coordinates). It is suitable for scenarios requiring high-precision terrain data. This interface retrieves the terrain altitude at a specified latitude and longitude location and is typically used for detailed terrain analysis, such as flight path planning, path selection, and ground altitude calculation.

[0060] Step S4: Determine the sampling points whose alarm distance is less than the preset threshold as alarm points.

[0061] It should be noted that, as can be seen from the above, the first... k The route segment is numbered as follows n The first on the auxiliary line a The alarm distance for each sampling point is the numbered point. n The first on the auxiliary line a The topography of the latitude and longitude of the sampling point and the first sampling point k On the first route segment a The distance between the sampling points, therefore when the first sampling point... k The route segment is numbered as follows n The first on the auxiliary line a When the alarm distance of the first sampling point is less than the preset threshold, it indicates that the alarm distance of the second sampling point is less than the preset threshold. k The first of the route segmentsa The distance between the sampling point and the terrain is too close, so it is necessary to adjust the sampling point to the next one. k The first of the route segments a Each sampling point is marked. Therefore, in this step, the sampling points whose alarm distance is less than the preset threshold are first recorded as alarm points, and in subsequent steps, the parts of the flight path that are too close to the terrain are obtained through the alarm points.

[0062] Step S5: Obtain and mark the alarm segment.

[0063] Specifically, for each auxiliary line of the route segment, the distance between the alarm point and the first end is calculated, and the target distance of the alarm point is recorded, thereby determining the maximum and minimum target distances of each alarm point among all auxiliary lines of the route segment; on the route segment, alarm segments are marked, and the distances between the two ends of the alarm segment and the first end of the route segment are the maximum and minimum values, respectively.

[0064] Figure 3 This is a schematic diagram of alarm points and alarm segments according to an embodiment of the present invention.

[0065] like Figure 3 As shown, line segment P1 is the flight path segment, and the points on both sides of the flight path segment are sampling points of the auxiliary lines of the flight path segment. The sampling points enclosed by the dashed lines are alarm points. Taking the upper end of each line segment as the first end of each line segment, the distance between alarm point g1 and its corresponding first end of the auxiliary line is the minimum value (in...). Figure 3 The distance between alarm point g2 and the first end of its corresponding auxiliary line is the maximum value (in the dashed line segment G1). Figure 3 The length of the dashed line segment G2 is represented in the figure. One endpoint of the alarm segment is p1, and the other endpoint is p2, where the distance between endpoint p1 and the first end of the flight line segment is the minimum value; the distance between endpoint p2 and the first end of the flight line segment is the maximum value.

[0066] Specifically, such as Figure 3 As shown, Figure 3The sampling points, including line segment P1 and its two sides, are designated as alarm points and outlined with dashed lines. For example, alarm points g1 and g2 are both within the dashed lines. Taking the upper end of the line segment and the upper end of its auxiliary line as the first endpoint, the distance between the alarm point and the first endpoint of the auxiliary line is calculated and recorded as the target distance of the alarm point. For example, for alarm point g1, the target distance is the length of line segment G1; for alarm point g2, the target distance is the length of line segment G2. Then, the alarm point with the largest target distance is selected as alarm point g2; the alarm point with the largest target distance is selected as alarm point g1. Map alarm point g1 to the flight line segment to obtain one endpoint p1 of the alarm segment, i.e., draw a perpendicular line from alarm point g1 to the flight line segment, with the foot of the perpendicular being endpoint p1; similarly, map alarm point g2 to the flight line segment to obtain the other endpoint p2 of the alarm segment, i.e., draw a perpendicular line from alarm point g2 to the flight line segment, with the foot of the perpendicular being endpoint p2. Thus, the alarm segment is obtained.

[0067] In one embodiment, the present invention uses the PolylineGraphics class to mark alarm line segments with target colors. The target color is typically a bright, eye-catching color such as red or yellow to serve as a warning and attract personnel's attention.

[0068] It's worth noting that PolylineGraphics is a class in Cesium used to represent and draw two-dimensional polylines (i.e., broken lines), typically used to visualize paths or line segments connecting multiple geographic locations. PolylineGraphics can create and control line segment properties, including color, width, and line style, through Cesium's Entity API to suit different visualization needs.

[0069] Furthermore, the present invention also includes determining whether the endpoints of a flight segment need to be marked: for any endpoint on either side of the flight segment, extending the auxiliary line of the flight segment by a predetermined distance to that endpoint to obtain an extension line; performing equidistant sampling on the extension line to obtain extended sampling points; obtaining the alarm distance of the extended sampling points; and marking the endpoints of the flight segment in response to at least one extended sampling point having an alarm distance less than the threshold. In one embodiment, the distance the endpoints are extended is 10 meters.

[0070] Among them, the calculation of the first p The route segment is numbered as follows m The first on the auxiliary line b The alarm distance of each extended sampling point The formula is:

[0071] .

[0072] For the p The number is mThe first segment or auxiliary line of the route b One extended sampling point, The terrain elevation at its latitude and longitude, For its height, p , b All are positive integers.

[0073] Figure 4 This is a schematic diagram of sampling points and extended sampling points for a flight route segment according to an embodiment of the present invention.

[0074] like Figure 4 As shown, Figure 4 In the diagram, solid line segments represent flight path segments, dashed line segments represent extensions of those segments, points enclosed by dashed lines are extended sampling points, and other points are sampling points. Based on this, the present invention can calculate the alarm distance of extended sampling points to determine whether each part of the extended line is too close to a building. When there are parts of the extended line that are too close to a building, i.e., when there are extended sampling points with alarm distances less than a threshold, since the extended line is not the actual flight path, it only indicates that the distance between the endpoints of the extended line and the terrain is relatively short. Therefore, it is necessary to mark the endpoints of the extended line in this case.

[0075] Specifically, the extension line is obtained by extending the route segment and its auxiliary lines from the first end (i.e. Figure 5 The dashed line segment in the image), after equidistant sampling of the extension line, yields the extended sampling points (i.e., Figure 5 The point enclosed by the dashed line.

[0076] Furthermore, the present invention also includes: sampling at equal intervals along the flight path segment according to a second distance of a preset size to obtain target sampling points; obtaining the alarm distance of the target sampling points; and marking the target sampling points in response to the alarm distance of the target sampling points being less than the threshold.

[0077] Among them, the calculation of the first k The first on the first route segment c Alarm distance of each target sampling point The formula is:

[0078] .

[0079] For the k The first on the first route segment c One target sampling point, The terrain elevation at its latitude and longitude, For its height, k , c All are positive integers.

[0080] It should be noted that the height difference between the target sampling point and the terrain at the same latitude and longitude is the distance between the two.

[0081] Figure 5 This is a structural block diagram of a flight path safety detection system based on three-dimensional terrain height according to this embodiment.

[0082] This invention also provides a flight path safety detection system based on three-dimensional terrain height. For example... Figure 5 As shown, the system includes a processor and a memory, the memory storing computer program instructions, which, when executed by the processor, implement a flight path safety detection method based on three-dimensional terrain height according to the first aspect of the present invention.

[0083] In this invention, the aforementioned memory can be any tangible medium containing or storing a program that can be used or combined with an instruction execution system, apparatus, or device. For example, a computer-readable storage medium can be any suitable magnetic or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc., or any other medium that can be used to store desired information and can be accessed by an application, module, or both. Any such computer storage medium can be part of a device or accessible to or connected to a device. Any application or module described in this invention can be implemented using computer-readable / executable instructions that can be stored or otherwise maintained by such a computer-readable medium.

[0084] In the description of this specification, "multiple" or "several" means at least two, such as two, three or more, unless otherwise explicitly specified.

[0085] While this specification has shown and described numerous embodiments of the invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in the practice of this invention.

Claims

1. A method for flight path safety detection based on three-dimensional terrain height, characterized in that, include: The flight path is divided into at least one flight path segment, and multiple auxiliary lines are obtained for each flight path segment. These auxiliary lines are coplanar with the flight path segment, parallel to the segment, of equal length and height, and equidistant from each other on both sides of the segment. The line connecting the endpoints of the flight path segment and its auxiliary lines is perpendicular to the flight path segment. The auxiliary lines of the flight path segment are numbered, with the first line on one side of the flight path segment being designated as the first line. i The auxiliary lines are numbered as follows: i The other side i The auxiliary lines are numbered - i , i The value is a positive integer; sampling points are obtained by sampling at equal intervals along the auxiliary lines; Calculate the first k The route segment is numbered as follows n The first on the auxiliary line a Alarm distance at each sampling point d k,n,a : ； in x For the auxiliary line spacing, for the first... k The number is n The first segment or auxiliary line of the route a One sampling point, h k,n,s The terrain elevation at its latitude and longitude, h k,n,a For its height, a , k All are positive integers; Sampling points whose alarm distance is less than a preset threshold are identified as alarm points; for each auxiliary line of the flight line segment, the distance between the alarm point and the first end is calculated, and the target distance of the alarm point is recorded, thereby determining the maximum and minimum target distances of each alarm point among all auxiliary lines of the flight line segment; on the flight line segment, alarm segments are marked, and the distances between the two ends of the alarm segment and the first end of the flight line segment are the maximum and minimum values, respectively.

2. The flight path safety detection method based on three-dimensional terrain height according to claim 1, characterized in that, This also includes determining whether the endpoints of the route segment need to be marked: For any endpoint of a route segment, extend the auxiliary line of the route segment by a predetermined distance to obtain an extension line. Equidistant sampling is performed along the extension line to obtain extended sampling points; To extend the alarm distance of the sampling points; In response to an alarm distance of at least one extended sampling point being less than the threshold, the endpoint of the flight line segment is marked.

3. The flight path safety detection method based on three-dimensional terrain height according to claim 2, characterized in that, Calculate the first p The route segment is numbered as follows m The first on the auxiliary line b The alarm distance of each extended sampling point The formula is: ； Where for the first p The number is m The first segment or auxiliary line of the route b One extended sampling point, The terrain elevation at its latitude and longitude, For its height, p , b All are positive integers.

4. The flight path safety detection method based on three-dimensional terrain height according to claim 1, characterized in that, Also includes: Target sampling points are obtained by sampling at equal intervals along the flight segment at a preset second distance. Obtain the alarm distance of the target sampling point; In response to an alarm distance of less than the threshold, the target sampling point is marked.

5. The flight path safety detection method based on three-dimensional terrain height according to claim 4, characterized in that, Calculate the first k The first on the first route segment c Alarm distance of each target sampling point The formula is: ； Where for the first k The first on the first route segment c One target sampling point, The terrain elevation at its latitude and longitude, For its height, k , c All are positive integers.

6. The flight path safety detection method based on three-dimensional terrain height according to claim 1, characterized in that, It also includes determining a first distance and a second distance based on the threshold; wherein the first distance satisfies the formula: , The first distance, For the threshold, It is the first coefficient, and The second distance satisfies: , The second distance, It is the second coefficient, and .

7. The flight path safety detection method based on three-dimensional terrain height according to claim 2, characterized in that, The threshold is 1 meter.

8. The flight path safety detection method based on three-dimensional terrain height according to claim 1, characterized in that, Use the PolylineGraphics class to mark the alarm line segment with the target color.

9. The flight path safety detection method based on three-dimensional terrain height according to claim 1, characterized in that, The terrain elevation at the latitude and longitude of each sampling point is obtained through the sampleTerrainMostDetailed interface of the 3D map engine Cesium.

10. A flight path safety detection system based on three-dimensional terrain height, comprising a processor and a memory, wherein the memory stores a computer program, characterized in that, The processor executes the computer program to implement a flight path safety detection method based on three-dimensional terrain height as described in any one of claims 1-9.

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