Enhanced ground proximity alarm system and method with three-dimensional display function

Abstract

The invention relates to the field of aircraft ground proximity warning, in particular to an enhanced ground proximity warning system and method with a three-dimensional display function, the system comprises an acquisition module, an analysis module, a processing module, a three-dimensional display module and a warning module, the acquisition module acquires real-time weather and flight parameters and topographic data, generates a three-dimensional topographic model and sends the three-dimensional topographic model to the analysis module; the analysis module evaluates the weather severity, predicts the flight path and calculates the relative height, the processing module determines the collision position and time and generates an alarm signal, the three-dimensional display module renders a three-dimensional flight situation map in real time and highlights the collision position and the alarm signal, and the alarm module dynamically adjusts the alarm height threshold value and determines the alarm interval and the signal level. And adjusting the display information. According to the invention, through interactive mapping of multi-level alarm signals and three-dimensional display, accuracy and situation awareness efficiency of near-earth risk identification in a complex meteorological environment are significantly improved.

Description

Technical Field

[0001] The present invention relates to the field of aircraft terrain awareness warning, and in particular to an enhanced terrain awareness warning system and method with an added three-dimensional display function. Background Art

[0002] The integrated backup electronic instrument system is the backup instrument of the aircraft integrated electronic instrument. When the integrated electronic instrument fails, it can provide necessary information to the pilot to assist in navigation and safe landing.

[0003] The currently widely used warning system is the predecessor of the Enhanced Ground Proximity Warning System (EGPWS), which can only make judgments based on its own instrument data and cannot predict the situation around the aircraft. The Enhanced Ground Proximity Warning System includes the relevant functions of the traditional GPWS, and the warning method is almost the same as that of the traditional GPWS. The difference is that the EGPWS is equipped with a global airport location database and a terrain database, and uses aircraft position, radio altitude, and flight trajectory information to determine potential ground collision hazards (forward / downward looking warning based on the built-in map).

[0004] The patent document with the publication number CN106628207A discloses a warning suppression method for a terrain awareness warning system. The method sets a warning suppression button on the control panel with two response methods: long press and short press. When any warning mode generates a warning, short pressing the warning suppression button puts the warning mode into a suppression state; long pressing the warning suppression button switches between the normal state and the suppression state of the system. Compared with the traditional multiple warning suppression buttons.

[0005] Therefore, the following problems exist: In the prior art, due to the lack of an interactive mapping of multi-level warning signals and three-dimensional display, the accuracy of near-ground risk identification and the situation awareness efficiency are low. Summary of the Invention

[0006] For this reason, the present invention provides an enhanced terrain awareness warning system and method with an added three-dimensional display function to overcome the problems of low accuracy of near-ground risk identification and low situation awareness efficiency due to the lack of an interactive mapping of multi-level warning signals and three-dimensional display in the prior art.

[0007] To achieve the above object, on the one hand, the present invention provides an enhanced terrain awareness warning system with an added three-dimensional display function, including: The acquisition module is used to obtain real-time weather parameters and real-time flight parameters. The real-time weather parameters include wind speed, rainfall, visibility, temperature, and humidity. The real-time flight parameters include radio altitude, attitude, heading, descent rate, airspeed, and GPS position. It obtains corresponding historical weather parameters and historical flight parameters based on the real-time weather parameters and the real-time flight parameters, and is also used for the system to obtain the built-in terrain database, and obtains a three-dimensional terrain model based on the terrain data, and obtains the terrain height and terrain profile based on the three-dimensional terrain model; The analysis module is connected to the acquisition module and is used to determine the severity of the weather according to the wind speed, the rainfall, the visibility, the temperature, the humidity, and the historical weather parameters, predict the flight trajectory according to the airspeed, the descent rate, the heading, the severity, and the spatial relationship between the GPS position and the terrain profile, and calculate the difference between the radio altitude and the terrain height according to the flight trajectory and the terrain height to obtain the relative height; The processing module is connected to the analysis module and is used to determine the collision position according to the relative height and the flight trajectory, calculate the collision time according to the airspeed, the heading, the severity, and the collision position, compare the collision time with a preset warning time threshold to determine the warning signal level, and output a warning signal according to the warning signal level; The three-dimensional display module is respectively connected to the acquisition module, the analysis module, and the processing module, and is used to perform real-time rendering according to the three-dimensional terrain model, the real-time weather parameters, and the flight parameters to obtain a three-dimensional flight situation map. The three-dimensional flight situation map uses color markers to highlight the collision position and the warning signal according to the warning signal level to obtain the initial display information; The warning module is connected to the three-dimensional display module and is used to calculate an initial warning altitude threshold according to the descent rate and a preset time threshold, dynamically adjust the initial warning altitude threshold according to the airspeed to obtain a target warning altitude threshold, determine a warning interval according to the target warning altitude threshold, determine a target warning signal level according to the warning signal level, the radio altitude, the target warning altitude threshold, and the warning interval, and adjust the initial display information according to the target warning signal level to obtain the target display information.

[0008] Further, the analysis module includes: The weather assessment unit is used to perform an assessment according to the real-time weather parameters and the historical weather parameters to obtain the severity; The trajectory prediction unit is connected to the weather assessment unit and is used to predict the flight trajectory using a dynamics model according to the severity, the flight parameters, and the terrain profile; An altitude calculation unit, connected to the trajectory prediction unit, for calculating the relative altitude according to the flight trajectory, the terrain altitude, and in combination with the severity level.

[0009] Further, the trajectory prediction unit includes: A weather impact sub-unit for converting the severity level into an impact factor on flight performance; A model application sub-unit, connected to the weather impact sub-unit, for using the impact factor and the real-time flight parameters as inputs to the dynamic model to simulate the flight trajectory of the aircraft; A trajectory prediction sub-unit, connected to the model application sub-unit, for predicting the flight trajectory according to the flight trajectory and the terrain profile.

[0010] Further, the altitude calculation unit includes: An altitude calculation sub-unit for obtaining an initial relative altitude by interpolation of the radio altitude and the terrain altitude; A severity level fusion sub-unit for fusing the severity level and the initial relative altitude to obtain the relative altitude.

[0011] Further, the processing module includes: A position determination unit for determining the intersection point of the flight trajectory of the aircraft and the terrain according to the terrain profile and the relative altitude to obtain the collision position; A time calculation unit, connected to the position determination unit, for adjusting the heading and the speed according to the severity level to calculate the time for the aircraft to reach the collision position to obtain the collision time; A level determination unit, connected to the time calculation unit, for comparing the collision time with the warning time threshold to obtain a comparison result, and determining the warning signal level according to the comparison result; A signal output unit, connected to the level determination unit, for outputting an auditory and visual signal according to the warning signal level.

[0012] Further, the time calculation unit includes: A parameter adjustment sub-unit for analyzing the impact of the severity level on the speed and heading to obtain an analysis result, and adjusting the heading and the speed according to the analysis result to obtain an adjustment result; A time calculation sub-unit, connected to the parameter adjustment sub-unit, for calculating according to the adjustment result and the GPS position to obtain the collision time.

[0013] Further, the warning module includes: A threshold calculation unit, configured to obtain a product result according to the product of the descent rate and the time threshold, and obtain the initial warning altitude threshold according to the product result plus the altitude offset; A threshold adjustment unit, connected to the threshold calculation unit, configured to adjust the initial warning altitude threshold using linear interpolation according to the airspeed to obtain the target altitude threshold; An interval determination unit, connected to the threshold adjustment unit, configured to determine the warning interval using a piecewise function according to the target altitude threshold; A level adjustment unit, connected to the interval determination unit, configured to determine the target warning signal level according to the relative position of the radio altitude and the warning interval, and the warning signal level and the target warning altitude threshold; An information adjustment unit, connected to the level adjustment unit, configured to adjust the color, size, and flashing duration of the initial display information according to the target warning signal level to obtain the target display information.

[0014] Further, the threshold adjustment unit includes: An interpolation calculation sub-unit, configured to calculate the target warning altitude threshold according to the airspeed and preset linear interpolation parameters; A threshold verification calculation sub-unit, connected to the interpolation calculation sub-unit, configured to verify whether the target warning altitude threshold is within a preset safe range.

[0015] Further, the interval determination unit includes: A function configuration sub-unit, configured to set function parameters for determining the warning interval; A warning calculation sub-unit, connected to the function configuration sub-unit, configured to calculate the warning interval according to the function parameters and the target altitude threshold.

[0016] On the other hand, an enhanced near-ground warning method with an increased three-dimensional display function is provided, including: Step S1, obtaining real-time weather parameters and real-time flight parameters, where the real-time weather parameters include wind speed, rainfall, visibility, temperature, and humidity, and the real-time flight parameters include radio altitude, attitude, heading, descent rate, airspeed, and GPS position. Obtain corresponding historical weather parameters and historical flight parameters according to the real-time weather parameters and the real-time flight parameters, and also obtain a built-in terrain database. Obtain a three-dimensional terrain model according to the terrain data, and obtain the terrain altitude and terrain contour according to the three-dimensional terrain model; Step S2, determine the severity of the weather based on the wind speed, the rainfall, the visibility, the temperature, the humidity, and the historical weather parameters. Predict the flight trajectory based on the airspeed, the descent rate, the heading, the severity, and the spatial relationship between the GPS position and the terrain profile. Calculate the radio altitude and the terrain altitude difference based on the flight trajectory and the terrain height to obtain the relative height. Step S3, determine the collision position based on the relative height and the flight trajectory. Calculate the collision time based on the airspeed, the heading, the severity, and the collision position. Compare the collision time with a preset warning time threshold to determine the warning signal level. Output a warning signal based on the warning signal level. Step S4, perform real-time rendering based on the three-dimensional terrain model, the real-time weather parameters, and the flight parameters to obtain a three-dimensional flight situation map. The three-dimensional flight situation map highlights the collision position and the warning signal using color markers according to the warning signal level to obtain initial display information. Step S5, calculate an initial warning altitude threshold based on the descent rate and the airspeed. Dynamically adjust the initial warning altitude threshold based on the airspeed to obtain a target warning altitude threshold. Determine a warning interval based on the target warning altitude threshold. Determine a target warning signal level based on the warning signal level, the target warning altitude threshold, and the warning interval. Adjust the initial display information based on the target warning signal level to obtain target display information.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows. The present invention obtains comprehensive data support by real-time acquiring weather and flight parameters, ensuring the accuracy and timeliness of the system input, and providing a solid foundation for flight safety. By analyzing real-time and historical data, the present invention obtains weather impact assessment and flight trajectory prediction, providing decision-making support for pilots and effectively preventing potential risks. By calculating potential collision positions and times, the present invention obtains accurate warning information, realizing the timeliness and accuracy of warnings and improving flight safety. By rendering the three-dimensional terrain model and flight situation, the present invention obtains intuitive visual information, enhancing pilots' spatial perception and risk recognition abilities and improving the flight situation perception effect. By dynamically adjusting warning thresholds and levels, the present invention obtains personalized warning information, realizing refined management of warnings, reducing false alarms and missed alarms, and improving the reliability and effectiveness of warnings.

[0018] In particular, the weather assessment unit quantifies the weather conditions into severity levels, facilitating subsequent processing and analysis by other system modules and enhancing the system's decision-making efficiency. The trajectory prediction unit uses a dynamic model to predict the flight trajectory, taking into account the dynamic characteristics of the aircraft and improving the accuracy of the prediction. The altitude calculation unit calculates the relative altitude between the flight trajectory and the terrain altitude, providing pilots with more intuitive flight altitude information and helping them better grasp the flight state. The relative altitude calculation combined with the severity level takes into account the impact of adverse weather on flight, enhancing the safety and reliability of the calculation results.

[0019] In particular, the weather impact sub-unit improves the accuracy of flight trajectory prediction by considering the differential impacts of different weather conditions on flight performance. The model application sub-unit uses a dynamic model to simulate the flight trajectory of the aircraft in real time, providing pilots with immediate flight information. Combining real-time flight parameters and weather impact factors makes the simulation results more closely match the actual flight situation. The trajectory prediction sub-unit effectively avoids potential flight risks through accurate flight trajectory prediction and forward-looking warnings, significantly enhancing flight safety. It provides optimized flight suggestions to help pilots choose more reasonable flight paths and operation methods, improving flight efficiency.

[0020] In particular, the altitude calculation sub-unit can accurately calculate the initial relative altitude of the aircraft by interpolating the radio altitude and the terrain altitude, providing accurate data support for subsequent flight decisions. The data update frequencies of the radio altitude and the terrain altitude are high, ensuring the real-time nature of the initial relative altitude calculation and enabling pilots to always be aware of the aircraft's altitude information. The severity integration sub-unit integrates the severity level with the initial relative altitude, comprehensively considering the impact of weather factors on flight altitude and making the calculated relative altitude more in line with actual flight conditions. By integrating the severity level, it can provide early warnings of potential altitude risks such as low-level wind shear and terrain obstacles, effectively enhancing flight safety. Through accurate calculation and severity integration, the accuracy of flight altitude calculation is improved, enabling the aircraft to fly more stably.

[0021] In particular, the position determination unit accurately determines the intersection points between the aircraft's flight trajectory and the terrain by combining terrain contours and relative altitude data, helping pilots take timely obstacle avoidance measures and avoid terrain collisions. The time calculation unit adjusts the heading and speed prediction in real time according to the severity level, ensuring the accuracy of the collision time calculation. By calculating the estimated time for the aircraft to reach the collision position, it provides pilots with more reaction time, thus enhancing flight safety. The level determination unit classifies the warning signals based on the comparison result between the collision time and the warning time threshold, enabling pilots to take corresponding countermeasures according to the warning level. The signal output unit adjusts the signal intensity and form according to the warning signal level, reducing interference to pilots while ensuring the prominence of the warning.

[0022] In particular, by analyzing the impact of severity on airspeed and heading, the parameter adjustment subunit can accurately adjust flight parameters, enabling the aircraft to better adapt to complex flight environments. Adjusting airspeed and heading in real time reduces flight deviations caused by adverse weather conditions and lowers flight risks. The time calculation subunit can receive data in real time and quickly complete calculations, providing immediate time-to-collision information, enabling pilots to always grasp the flight status at any time. Accurate time-to-collision calculations provide reliable data support for the enhanced ground proximity warning system, improving the accuracy and timeliness of warnings.

[0023] In particular, the threshold calculation unit can accurately determine the initial warning altitude threshold by calculating the product of the descent rate and the time threshold and adding the altitude offset. This calculation method is based on flight performance and response time, ensuring the scientificity and accuracy of the threshold. The interval determination unit clarifies the warning interval through a piecewise function, enabling pilots to clearly understand the current flight risk level. Dividing the warning interval into different levels helps pilots take corresponding countermeasures. The level adjustment unit accurately determines the target warning signal level based on radio altitude, the relative position of the warning interval, the warning signal level, and the target warning altitude threshold. The information adjustment unit makes the warning information more intuitive, eye-catching, and easy for pilots to identify by adjusting the color, size, and flashing duration of the display information.

[0024] In particular, the interpolation calculation subunit calculates the target warning altitude threshold based on the real-time airspeed and preset linear interpolation parameters, enabling the warning system to dynamically adapt to different flight conditions and improving the real-time and accuracy of warnings. The threshold verification subunit ensures the rationality of the warning threshold by verifying whether the target warning altitude threshold is within the preset safe range, effectively avoiding flight safety risks caused by improper threshold settings. The collaborative work of the interpolation calculation subunit and the threshold verification calculation subunit ensures that the warning system can always provide accurate and reliable warning information in complex and changeable flight environments, effectively enhancing the flight safety level.

[0025] In particular, the function configuration subunit can flexibly adjust the calculation method of the warning interval by configuring function parameters to adapt to different flight conditions and requirements. The warning calculation subunit ensures the accuracy of warnings through precise warning interval calculations, reducing the possibility of false warnings and missed warnings. It can dynamically adjust the warning interval according to real-time flight data to adapt to changes during the flight. Description of the Drawings

[0026] Figure 1 Schematic structural diagram of the enhanced ground proximity warning system with an added three-dimensional display function provided by an embodiment of the present invention; Figure 2Schematic diagram of the analysis module in the enhanced near - ground warning system with three - dimensional display function provided by the embodiments of the present invention; Figure 3 Schematic diagram of the processing module in the enhanced near - ground warning system with three - dimensional display function provided by the embodiments of the present invention; Figure 4 Flow chart of the enhanced near - ground warning method with three - dimensional display function provided by the embodiments of the present invention. Detailed implementation manners

[0027] In order to make the objectives and advantages of the present invention clearer, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present invention and do not limit the protection scope of the present invention.

[0029] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0030] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0031] Please refer to Figure 1 As shown, an enhanced near - ground warning system with three - dimensional display function provided by the embodiments of the present invention includes: The acquisition module 10 is used to obtain real-time weather parameters and real-time flight parameters. The real-time weather parameters include wind speed, rainfall, visibility, temperature, and humidity. The real-time flight parameters include radio altitude, attitude, heading, descent rate, airspeed, and GPS position. It obtains corresponding historical weather parameters and historical flight parameters according to the real-time weather parameters and the real-time flight parameters, and is also used for the system to obtain the built-in terrain database, and obtains a three-dimensional terrain model according to the terrain data, and obtains the terrain height and terrain contour according to the three-dimensional terrain model; The analysis module 20 is connected to the acquisition module 10 and is used to determine the severity of the weather according to the wind speed, the rainfall, the visibility, the temperature, the humidity, and the historical weather parameters, predict the flight trajectory according to the airspeed, the descent rate, the heading, the severity, and the spatial relationship between the GPS position and the terrain contour, and calculate the radio altitude and the terrain height difference according to the flight trajectory and the terrain height to obtain the relative height; The processing module 30 is connected to the analysis module 20 and is used to determine the collision position according to the relative height and the flight trajectory, calculate the collision time according to the airspeed, the heading, the severity, and the collision position, compare the collision time with a preset warning time threshold to determine the warning signal level, and output a warning signal according to the warning signal level; The three-dimensional display module 40 is respectively connected to the acquisition module 10, the analysis module 20, and the processing module 30 and is used to perform real-time rendering according to the three-dimensional terrain model, the real-time weather parameters, and the flight parameters to obtain a three-dimensional flight situation map. The three-dimensional flight situation map uses color markings to highlight the collision position and the warning signal according to the warning signal level to obtain initial display information; The warning module 50 is connected to the three-dimensional display module 40 and is used to calculate an initial warning height threshold according to the descent rate and a preset time threshold, dynamically adjust the initial warning height threshold according to the airspeed to obtain a target warning height threshold, determine a warning interval according to the target warning height threshold, determine a target warning signal level according to the warning signal level, the radio altitude, the target warning height threshold, and the warning interval, and adjust the initial display information according to the target warning signal level to obtain target display information.

[0032] Specifically, the application scenario of the embodiment of the present invention is mainly a scenario with bad weather. According to the weather parameters, the performance of the aircraft will be affected, resulting in an increased risk of flight safety.

[0033] Specifically, parameters such as wind speed, rainfall, visibility, temperature, and humidity are obtained in real time through meteorological sensors or external meteorological data interfaces. Parameters such as radio altitude, attitude, heading, descent rate, airspeed, and GPS position are obtained in real time through the flight data recorder or flight management system on the aircraft. Historical weather parameters and flight parameters similar to the current flight conditions are extracted from the flight history database for reference by the analysis module. The system has a built-in terrain database, and terrain data for a specific area is extracted as needed to generate a three-dimensional terrain model, thereby obtaining terrain height and terrain profile.

[0034] Specifically, terrain data for the current flight area is extracted from the built-in terrain database. A three-dimensional terrain model including terrain height and terrain profile is generated using three-dimensional modeling technology. The three-dimensional rendering engine is initialized, and rendering parameters such as lighting, materials, and viewing angles are set. A color marking scheme is configured for the visual representation of different warning signal levels. Real-time weather parameters are received from the acquisition module. Real-time flight parameters are received from the acquisition module.

[0035] The flight trajectory prediction results and relative height calculation results are received from the analysis module. The collision position, collision time, and warning signal level are received from the processing module. The received real-time weather parameters, flight parameters, and terrain data are fused and prepared for real-time rendering. According to the three-dimensional terrain model, the terrain of the current flight area is rendered, including terrain height and terrain profile. According to the real-time flight parameters, the three-dimensional model of the aircraft is rendered to display its attitude, heading, and position. According to the flight trajectory prediction results, the predicted flight path is rendered. According to the real-time weather parameters, corresponding weather effects such as rain, fog, and wind are rendered. According to the collision position determined by the processing module, this position is highlighted in the three-dimensional flight situation map using a preset color marking. According to the warning signal level, the corresponding color marking scheme is selected. The selected color marking is used to highlight the collision position and warning signal to attract the attention of the pilot. The results of terrain rendering, flight state rendering, weather effect rendering, and warning information highlighting are integrated into a three-dimensional flight situation map. The generated three-dimensional flight situation map is output as the initial display information to the pilot's display device. As real-time data is continuously received, the three-dimensional flight situation map is continuously updated to ensure the real-time and accuracy of the information. According to the pilot's feedback and system performance, the rendering algorithm and parameters are optimized to improve the display effect and response speed.

[0036] Specifically, by obtaining weather and flight parameters in real time, comprehensive data support is obtained to ensure the accuracy and timeliness of system input, providing a solid foundation for flight safety. By analyzing real-time and historical data, weather impact assessment and flight trajectory prediction are obtained to provide decision-making support for pilots and effectively prevent potential risks. By calculating the potential collision position and time, accurate warning information is obtained to achieve the timeliness and accuracy of warnings and enhance flight safety. By rendering the three-dimensional terrain model and flight situation, intuitive visual information is obtained to enhance the pilot's spatial perception and risk recognition ability and improve the flight situation awareness effect. By dynamically adjusting the warning threshold and level, personalized warning information is obtained to achieve refined management of warnings, reduce false alarms and missed alarms, and improve the reliability and effectiveness of warnings.

[0037] Specifically, as Figure 2 shown, the analysis module 20 includes: A weather assessment unit 21 for evaluating according to the real-time weather parameters and the historical weather parameters to obtain the severity; A trajectory prediction unit 22, connected to the weather assessment unit 21, for predicting the flight trajectory according to the severity, the flight parameters, and the terrain profile using a dynamic model; An altitude calculation unit 23, connected to the trajectory prediction unit 22, for calculating the relative altitude according to the flight trajectory and the terrain altitude in combination with the severity.

[0038] Specifically, receive real-time weather parameters (wind speed, rainfall, visibility, temperature, humidity) and historical weather parameters. Filter and denoise the data to ensure data accuracy. Set the threshold range for each weather parameter to define different levels of severity (e.g., mild, moderate, severe). Adopt a weighted average or other comprehensive evaluation method to calculate the current severity level in combination with real-time and historical weather parameters. Transmit the evaluated severity level to the trajectory prediction unit. Receive the severity level from the weather assessment unit, real-time flight parameters (radio altitude, attitude, heading, descent rate, airspeed, GPS position), and terrain profile data. Establish a dynamic model applicable to the current flight conditions according to the flight parameters and the terrain profile. Consider the impact of the severity on the flight trajectory and make corresponding adjustments to the model. Use the dynamic model to predict the flight trajectory in the next period of time in combination with real-time flight parameters and the terrain profile. Output the trajectory prediction result to the altitude calculation unit. Receive the predicted flight trajectory and terrain altitude data from the trajectory prediction unit. Calculate the difference between the radio altitude and the terrain altitude according to the predicted flight trajectory and the terrain altitude to obtain the relative altitude. Consider the impact of the severity on altitude calculation and make corresponding corrections. Transmit the calculated relative altitude to the processing module for subsequent collision position determination and warning signal generation.

[0039] In this embodiment, the real-time weather parameters are: wind speed of 15 m / s, rainfall of 10 mm / h, visibility of 500 m, temperature of -5 °C, and humidity of 80%. The historical weather parameters are: average wind speed of 12 m / s, average rainfall of 8 mm / h within the past 1 hour, etc. Smooth the real-time data to remove outliers. Threshold setting: wind speed > 12 m / s is moderately severe, > 18 m / s is severely severe; rainfall > 5 mm / h is moderately severe, > 15 mm / h is severely severe, etc. According to the weights (e.g., wind speed accounts for 40%, rainfall accounts for 30%, visibility accounts for 20%, temperature and humidity each account for 5%), the current severity level is calculated to be moderate. Severity level: moderate. Radio altitude of 300 m, attitude level, heading of 30° north of east, descent rate of 5 m / s, airspeed of 200 km / h, GPS position (longitude 120°, latitude 30°). The terrain height change curve under the current flight path. Dynamics model establishment: Model parameters: Consider the aircraft model, weight, aerodynamic characteristics, etc. Severity adjustment: Under moderately severe conditions, increase the aerodynamic drag coefficient in the model by 10%. Prediction result of the aircraft trajectory: Within the next 30 seconds, the aircraft will descend to a radio altitude of 250 m along the current heading and approach a mountain with a height of 200 m. Calculation process of the relative height: Radio altitude of 250 m - terrain height of 200 m = relative height of 50 m. Considering the impact of moderately severe weather on flight, increase the relative height safety margin by 10 m, that is, the actual relative height is regarded as 40 m.

[0040] Specifically, the weather assessment unit quantifies the weather condition into a severity level, facilitating the subsequent processing and analysis by the system modules and improving the decision-making efficiency of the system. The trajectory prediction unit uses the dynamics model to predict the flight trajectory, considering the dynamic characteristics of the aircraft and improving the accuracy of the prediction. The altitude calculation unit calculates the relative height between the flight trajectory and the terrain height, providing more intuitive flight altitude information for the pilot and helping the pilot better grasp the flight state. Calculating the relative height in combination with the severity level takes into account the impact of severe weather on flight and improves the safety and reliability of the calculation results.

[0041] Specifically, the trajectory prediction unit includes: A weather impact sub-unit for converting the severity level into an impact factor on flight performance; A model application sub-unit connected to the weather impact sub-unit for using the impact factor and the real-time flight parameters as inputs to the dynamics model to simulate the flight trajectory of the aircraft; A trajectory prediction sub-unit connected to the model application sub-unit for predicting the flight trajectory based on the flight trajectory and the terrain profile.

[0042] Specifically, according to the preset conversion rules or algorithms, the severity level is converted into specific impact factors on flight performance. For example, severe adverse weather may correspond to larger impact factors, indicating a greater reduction in flight performance. The impact factors are further refined by considering the differential impacts of different weather parameters on flight performance. For example, wind speed affects flight stability, and visibility affects the pilot's line of sight. An impact factor matrix or vector is generated for subsequent model input. Receive the impact factors and real-time flight parameters (such as radio altitude, attitude, heading, etc.) from the weather impact subunit. Integrate and preprocess the data to ensure that the data format and units meet the requirements of the dynamics model. Use the integrated data as input and import it into the preset dynamics model. This model is based on the principles of flight mechanics and can simulate the flight trajectory of an aircraft under specific conditions. Run the dynamics model to simulate the flight trajectory of the aircraft under the current weather conditions and flight parameters. Output the simulated trajectory data, including the changes in parameters such as position, speed, and altitude over time. Obtain the terrain profile data of the current flight area from the terrain database or real-time terrain perception system. Fuse the simulated flight trajectory with the terrain profile data, considering the impact of the terrain on the flight trajectory. Based on the fused data, use prediction algorithms (such as Kalman filtering, neural networks, etc.) to predict the flight trajectory. The prediction results include the flight trajectory points, predicted altitude, predicted position, etc. within a certain period in the future. Output the predicted flight trajectory to the altitude calculation unit and the warning module for further processing and warning generation.

[0043] Specifically, the weather impact subunit improves the accuracy of flight trajectory prediction by considering the differential impacts of different weather conditions on flight performance. The model application subunit uses the dynamics model to simulate the flight trajectory of the aircraft in real time, providing immediate flight information for the pilot. By combining real-time flight parameters and weather impact factors, the simulation results are made closer to the actual flight situation. The trajectory prediction subunit effectively avoids potential flight risks and significantly improves flight safety through accurate flight trajectory prediction and forward-looking warnings. Provide optimized flight suggestions to help the pilot select a more reasonable flight path and operation method, improving flight efficiency.

[0044] Specifically, the altitude calculation unit includes: An altitude calculation subunit for obtaining the initial relative altitude by interpolating the radio altitude and the terrain altitude; A degree fusion subunit for fusing the severity level and the initial relative altitude to obtain the relative altitude.

[0045] Specifically, the radio altitude of the aircraft (i.e., the altitude of the aircraft relative to sea level) is extracted from the flight trajectory data. The radio altitude is provided by the aircraft's pressure altimeter or radar altimeter and is calibrated and corrected. According to the real-time position of the aircraft, the altitude of the current terrain is interpolated from the terrain altitude data using a terrain matching algorithm. Relative altitude calculation: Relative altitude = Radio altitude - Terrain altitude. During the calculation process, the timeliness and accuracy of the altitude data are considered, and real-time updates and filtering processes are adopted. Receive the severity assessment result from the weather assessment unit, usually a quantified value (such as a level from 0 to 10). According to the preset conversion rules or algorithms, the severity is converted into an impact factor on the flight altitude. The impact factor can be linear or non-linear and is adjusted according to actual flight data and experience. Corrected relative altitude = Relative altitude × Impact factor. During the fusion process, the dynamic changes in severity are considered, and the impact factor is updated in real time.

[0046] Specifically, a weighted average method can be adopted to assign different weights to different weather parameters and then calculate the comprehensive impact factor. Consider the influence of flight phases (such as takeoff, cruise, landing, etc.) and aircraft types (such as helicopters, fixed-wing aircraft, etc.) on the flight altitude, and appropriately adjust the impact factor. For example, during takeoff and landing phases, the influence of wind speed may be more significant, so the weight of wind speed can be increased. Output the calculated comprehensive impact factor to the model application subunit as one of the inputs to the dynamic model.

[0047] Specifically, assume the preset conversion rules are as follows: Wind speed (V): When V > 15 m / s, the impact factor is 1.2; when 10 m / s < V ≤ 15 m / s, the impact factor is 1.0; when V ≤ 10 m / s, the impact factor is 0.8.

[0048] Rainfall (R): When R > 10 mm / h, the impact factor is 1.1; when R ≤ 10 mm / h, the impact factor is 1.0.

[0049] Visibility (Vis): When Vis < 500 m, the impact factor is 1.3; when Vis ≥ 500 m, the impact factor is 1.0.

[0050] The real-time weather parameters are: wind speed 20 m / s, rainfall 8 mm / h, visibility 400 m. Then the impact factor calculation is as follows: Wind speed impact factor: 1.2; Rainfall impact factor: 1.0; Visibility impact factor: 1.3.

[0051] Comprehensive impact factor (using the simple product method): Impact factor = 1.2 * 1.0 * 1.3 = 1.56 This comprehensive impact factor will be used for subsequent flight trajectory simulation and prediction, indicating that under the current adverse weather conditions, the flight altitude needs to consider an impact factor of 1.56 times.

[0052] Specifically, the analysis module further includes an altitude warning unit, which generates altitude warning information based on the calculated corrected relative altitude and a preset warning threshold. Multiple levels of warning thresholds are preset, such as safety altitude, warning altitude, danger altitude, etc. The thresholds are set according to flight rules, aircraft performance, and flight missions. The corrected relative altitude is compared with each level of warning threshold. A logical judgment algorithm (such as if-else statements) is used to determine the current warning level. Corresponding warning information is generated according to the warning level. The information includes: warning level, current corrected relative altitude, recommended operations, etc. The warning information is prompted to the pilot in multiple ways, such as voice, vision, or touch.

[0053] Specifically, the altitude calculation subunit can accurately calculate the initial relative altitude of the aircraft by interpolating the radio altitude and the terrain altitude, providing accurate data support for subsequent flight decisions. The data update frequencies of the radio altitude and the terrain altitude are high, ensuring the real-time nature of the initial relative altitude calculation, enabling the pilot to always master the altitude information of the aircraft. The severity integration subunit integrates the severity with the initial relative altitude, comprehensively considering the impact of weather factors on the flight altitude, making the calculated relative altitude more in line with the actual flight conditions. By integrating the severity, potential altitude risks, such as low-level wind shear and terrain obstacles, can be warned in advance, effectively enhancing flight safety. Through accurate calculation and severity integration, the accuracy of flight altitude calculation is improved, enabling the aircraft to fly more stably.

[0054] Specifically, as Figure 3 shown, the processing module 30 includes: A position determination unit 31 for determining the intersection of the flight trajectory of the aircraft and the terrain based on the terrain profile and the relative altitude to obtain the collision position; A time calculation unit 32, connected to the position determination unit 31, for adjusting the heading and the speed according to the severity to calculate the time for the aircraft to reach the collision position to obtain the collision time; A level determination unit 33, connected to the time calculation unit 32, for comparing the collision time with the warning time threshold to obtain a comparison result, and determining the warning signal level according to the comparison result; A signal output unit 34, connected to the level determination unit 33, for outputting in the form of auditory and visual signals according to the warning signal level.

[0055] Specifically, the position determination unit utilizes the real-time flight parameters of the aircraft (such as position, speed, and heading) and the dynamic model to simulate the future flight trajectory of the aircraft. It matches the simulated flight trajectory with the terrain contour data to find potential intersection points. Through precise calculations and algorithms (such as interpolation, approximation methods, etc.), it determines the exact intersection point of the flight trajectory and the terrain, which is the collision position. The time calculation unit receives the collision position data from the position determination unit and the current flight parameters. According to the severity provided by the weather assessment unit, it adjusts the predicted heading and speed of the aircraft. Using the adjusted heading and speed, combined with the current position and the collision position of the aircraft, it calculates the estimated time for the aircraft to reach the collision position. The level determination unit compares the calculated collision time with a preset warning time threshold. Based on the comparison result, it determines whether to issue a warning and the urgency of the warning. According to the urgency, it classifies the warning signal into different levels (such as low, medium, high). The signal output unit outputs the warning in the form of auditory and visual signals. It receives the warning signal level from the level determination unit. According to the warning signal level, it generates corresponding auditory (such as alarm sounds, voice prompts) and visual (such as flashing lights, display prompts) signals. Through devices such as the aircraft's audio system and display screen, it outputs the warning signal to the pilot.

[0056] Specifically, the predicted collision point and the calculated collision time are obtained, and two levels of warnings are issued 10 - 20 s in advance and 20 - 30 s in advance.

[0057] When the terrain is within the flight time range of the helicopter for 20 - 30 s, a yellow warning is triggered, and the yellow "Terrain" prompt flashes and is displayed. After the danger is lifted or when entering the red warning area, the yellow "Terrain" automatically disappears.

[0058] When the terrain is within the flight time range of the helicopter for 10 - 20 s, a red warning is triggered, and the red "Pull up" prompt flashes and is displayed. After the danger is lifted, the red "Pull up" automatically disappears.

[0059] Specifically, the position determination unit accurately determines the intersection point of the aircraft flight trajectory and the terrain by combining the terrain contour and relative height data, which helps the pilot take obstacle avoidance measures in a timely manner and avoid terrain collisions. The time calculation unit adjusts the predicted heading and speed in real time according to the severity to ensure the accuracy of the collision time calculation. By calculating the estimated time for the aircraft to reach the collision position, it provides the pilot with more reaction time, thereby improving flight safety. The level determination unit realizes the classification of the warning signal according to the comparison result of the collision time and the warning time threshold, enabling the pilot to take corresponding countermeasures according to the warning level. The signal output unit adjusts the signal intensity and form according to the warning signal level, reducing interference to the pilot while ensuring the salience of the warning.

[0060] Specifically, the time calculation unit includes: A parameter adjustment subunit, which is used to analyze the impact of the severity on the speed and heading to obtain an analysis result, and adjust the heading and speed according to the analysis result to obtain an adjustment result; A time calculation subunit, connected to the parameter adjustment subunit, which is used to calculate according to the adjustment result and the GPS position to obtain the collision time.

[0061] Specifically, the parameter adjustment unit analyzes the influence of wind speed on the deviation of the aircraft heading and the increase or decrease of the speed to obtain an analysis result. For example, a crosswind may cause the aircraft to deviate from the predetermined route, and the heading needs to be adjusted to maintain a straight flight; a headwind will reduce the aircraft speed, while a tailwind may increase the speed. Under low visibility conditions, the speed may need to be reduced to ensure safety. According to the analysis result, an adjustment strategy is formulated. For example, under strong wind conditions, it may be necessary to increase the heading correction angle and reduce the speed. Use a preset adjustment model or algorithm (such as the PID control algorithm) to calculate the specific adjustment value. Output the adjusted heading and speed values to the time calculation subunit. The time calculation subunit uses the adjusted heading and speed, combined with the current GPS position, to simulate the future flight trajectory of the aircraft. Calculate the straight-line distance or flight path distance between the current aircraft position and the collision position. According to the adjusted speed and distance, calculate the time required for the aircraft to reach the collision position. Consider the influence of factors such as the climb rate and descent rate of the aircraft on the flight time. Use a flight mechanics model or a simplified speed-distance formula for calculation. Output the calculated collision time to the level determination unit for subsequent determination of the warning signal level.

[0062] In a specific implementation, assume the current GPS position of the aircraft: longitude 120°E, latitude 30°N, altitude 3000 meters. The collision position (provided by the position determination unit): longitude 121°E, latitude 31°N, altitude 500 meters. Real-time weather parameters: wind speed 20 m / s (crosswind), good visibility, no rainfall.

[0063] At this time, the severity: wind speed 20 m / s (crosswind). Current speed: 250 km / h. Current heading: 90° (due east). Considering that a crosswind of 20 m / s may cause the aircraft to deviate northward, the heading needs to be adjusted southward to offset the crosswind effect. At the same time, considering the influence of wind speed on the aircraft speed, it is estimated that the actual flight speed may be reduced to 230 km / h.

[0064] Adjustment of the heading: Adjust 5° southward, and the new heading is 85°. The adjusted speed is 230 km / h.

[0065] According to the adjusted heading and speed, simulate the trajectory of the aircraft flying from the current position to the collision position. Distance calculation: Use spherical trigonometry to calculate the great circle distance between the current position and the collision position. Assume the calculation result is 150 km. Consider the descent rate of the aircraft. Assume the average descent rate is 5 m / s. Calculate the time required for the aircraft to descend from 3000 meters to 500 meters, and then combine it with the horizontal flight time to obtain the total flight time.

[0066] Horizontal flight time: 150 km / 230 km / h ≈ about 39.13 minutes.

[0067] Descent time: (3000 m - 500 m) / 5 m / s = 500 seconds ≈ about 8.33 minutes.

[0068] Total flight time: 39.13 minutes + 8.33 minutes ≈ 47.46 minutes.

[0069] Specifically, the parameter adjustment subunit can accurately adjust the flight parameters by analyzing the influence of severity on speed and heading, enabling the aircraft to better adapt to complex flight environments. Real-time adjustment of speed and heading reduces flight deviations caused by adverse weather conditions and lowers flight risks. The time calculation subunit can receive data in real-time and quickly complete calculations, providing immediate collision time information, enabling the pilot to always grasp the flight status. Accurate calculation of the collision time provides reliable data support for the enhanced ground proximity warning system, improving the accuracy and timeliness of warnings.

[0070] Specifically, the warning module includes: A threshold calculation unit for obtaining a product result according to the product of the descent rate and the time threshold, and obtaining the initial warning altitude threshold according to the product result plus the altitude offset; A threshold adjustment unit connected to the threshold calculation unit for adjusting the initial warning altitude threshold using linear interpolation according to the speed to obtain the target altitude threshold; An interval determination unit connected to the threshold adjustment unit for determining the warning interval using a piecewise function according to the target altitude threshold; A level adjustment unit connected to the interval determination unit for determining the target warning signal level according to the relative position of the radio altitude and the warning interval, as well as the warning signal level and the target warning altitude threshold; An information adjustment unit connected to the level adjustment unit for adjusting the color, size, and flashing duration of the initial display information according to the target warning signal level to obtain the target display information.

[0071] Specifically, calculate the product of the descent rate and the time threshold to obtain the product result. The time threshold refers to the reaction time of the pilot. Add the product result to the preset altitude offset (unit: meter) to obtain the initial warning altitude threshold.

[0072] Initial warning altitude threshold = product result + altitude offset The interval determination unit uses a preset piecewise function to determine the warning interval according to the target altitude threshold. The piecewise function defines the warning intervals corresponding to different altitude thresholds. According to the target altitude threshold, find or calculate the corresponding warning interval. The level adjustment unit judges the relative position of the radio altitude within the warning interval. According to the relative position, the current warning signal level, and the target warning altitude threshold, determine the target warning signal level. If the radio altitude is close to or lower than the target warning altitude threshold, increase the warning signal level. If the radio altitude is much higher than the target warning altitude threshold, decrease the warning signal level. The information adjustment unit adjusts the color, size, and blinking duration of the initial display information according to the target warning signal level. For example, color: different levels correspond to different colors, such as red indicating the highest-level warning. Size: The higher the warning level, the larger the font size of the display information. Blinking duration: The higher the warning level, the longer the blinking duration or the higher the blinking frequency.

[0073] Specifically, the threshold calculation unit can accurately determine the initial warning altitude threshold by calculating the product of the descent rate and the time threshold and adding the altitude offset. This calculation method is based on flight performance and reaction time, ensuring the scientificity and accuracy of the threshold. The interval determination unit clarifies the warning interval through the piecewise function, enabling the pilot to clearly understand the current flight risk level. Dividing the warning interval into different levels helps the pilot take corresponding countermeasures. The level adjustment unit accurately determines the target warning signal level according to the radio altitude, the relative position within the warning interval, the warning signal level, and the target warning altitude threshold. The information adjustment unit makes the warning information more intuitive, prominent, and easy for the pilot to identify by adjusting the color, size, and blinking duration of the display information.

[0074] Specifically, the threshold adjustment unit includes: An interpolation calculation sub-unit for calculating the target warning altitude threshold according to the airspeed and a preset linear interpolation parameter; A threshold verification calculation sub-unit, connected to the interpolation calculation sub-unit, for verifying whether the target warning altitude threshold is within a preset safe range.

[0075] Specifically, use the linear interpolation formula to calculate the target warning altitude threshold. The linear interpolation formula is: Target warning altitude threshold = initial warning altitude threshold + (current airspeed - interpolation base airspeed) * interpolation slope The threshold verification calculation subunit checks whether the target alarm altitude threshold is between the minimum safety altitude threshold and the maximum safety altitude threshold. If the target alarm altitude threshold is within the safe range, the verification passes.

[0076] If the target alarm altitude threshold exceeds the safe range, the following processing is performed: If it is lower than the minimum safety altitude threshold, the target alarm altitude threshold is set to the minimum safety altitude threshold. If it is higher than the maximum safety altitude threshold, the target alarm altitude threshold is set to the maximum safety altitude threshold.

[0077] Specifically, the interpolation calculation subunit calculates the target alarm altitude threshold according to the real-time flight speed and the preset linear interpolation parameters, enabling the alarm system to dynamically adapt to different flight conditions and improving the real-time performance and accuracy of the alarm. The threshold verification subunit ensures the rationality of the alarm threshold by verifying whether the target alarm altitude threshold is within the preset safe range, effectively avoiding flight safety risks caused by improper threshold settings. The collaborative work of the interpolation calculation subunit and the threshold verification calculation subunit ensures that the alarm system can always provide accurate and reliable alarm information in complex and changing flight environments, effectively improving the flight safety level.

[0078] Specifically, the interval determination unit includes: A function configuration subunit for setting the function parameters for determining the alarm interval; An alarm calculation subunit connected to the function configuration subunit for calculating the alarm interval according to the function parameters and the target altitude threshold.

[0079] Specifically, the function configuration subunit defines the parameters of the piecewise function, including but not limited to the baseline value, slope, intercept, etc. These parameters are preset according to flight experience, aircraft performance, and flight rules. These parameters are input through the user interface or the automatic configuration system. The parameters can be stored in the database and called according to different flight scenarios or aircraft models. A parameter adjustment interface is provided to allow optimization according to actual flight data. The adjusted parameters are stored after verification for subsequent use. The alarm calculation subunit uses the preset piecewise function formula and substitutes the target altitude threshold for calculation.

[0080] For example, if a linear piecewise function is used, the possible form is: Alarm interval = a * target altitude threshold + b, where a and b are the slope and intercept respectively.

[0081] According to the function calculation result, the upper and lower limits of the alarm interval are determined. Ensure that the calculated alarm interval meets the flight safety requirements. Transmit the calculated alarm interval to the subsequent level adjustment unit or directly use it for alarm display.

[0082] Specifically, the function configuration subunit can flexibly adjust the calculation method of the warning range by configuring function parameters to adapt to different flight conditions and requirements. The warning calculation subunit ensures the accuracy of warnings through precise calculation of the warning range, reducing the possibilities of false warnings and missed warnings. It can dynamically adjust the warning range according to real-time flight data to adapt to changes during the flight.

[0083] Specifically, as Figure 4 shown, this embodiment also provides an enhanced near-earth warning method with a three-dimensional display function, including: Step S1: Obtain real-time weather parameters and real-time flight parameters. The real-time weather parameters include wind speed, rainfall, visibility, temperature, and humidity. The real-time flight parameters include radio altitude, attitude, heading, descent rate, airspeed, and GPS position. Obtain corresponding historical weather parameters and historical flight parameters according to the real-time weather parameters and the real-time flight parameters. Also obtain the built-in terrain database, and obtain a three-dimensional terrain model according to the terrain data, and obtain the terrain height and terrain contour according to the three-dimensional terrain model; Step S2: Determine the severity of the weather according to the wind speed, the rainfall, the visibility, the temperature, the humidity, and the historical weather parameters. Predict the flight trajectory according to the airspeed, the descent rate, the heading, the severity, and the spatial relationship between the GPS position and the terrain contour. Calculate the difference between the radio altitude and the terrain height according to the flight trajectory and the terrain height to obtain the relative height; Step S3: Determine the collision position according to the relative height and the flight trajectory. Calculate the collision time according to the airspeed, the heading, the severity, and the collision position. Compare the collision time with a preset warning time threshold to determine the warning signal level, and output a warning signal according to the warning signal level; Step S4: Perform real-time rendering according to the three-dimensional terrain model, the real-time weather parameters, and the flight parameters to obtain a three-dimensional flight situation map. The three-dimensional flight situation map uses color markings to highlight the collision position and the warning signal according to the warning signal level to obtain initial display information; Step S5: Calculate an initial warning altitude threshold according to the descent rate and the airspeed. Dynamically adjust the initial warning altitude threshold according to the airspeed to obtain a target warning altitude threshold. Determine the warning range according to the target warning altitude threshold. Determine the target warning signal level according to the warning signal level, the target warning altitude threshold, and the warning range. Adjust the initial display information according to the target warning signal level to obtain target display information.

[0084] Specifically, an enhanced ground proximity warning system with a three-dimensional display function provided by the present invention can execute a method for enhancing a ground proximity warning system with a three-dimensional display function in an embodiment of the present invention, and can achieve the same technical effects, which will not be elaborated here.

[0085] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0086] The above are only the preferred embodiments of the present invention and are not used to limit the present invention; for those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An enhanced ground proximity warning system with a three-dimensional display function, characterized in that: include: A collection module, used to obtain real-time weather parameters and real-time flight parameters, the real-time weather parameters include wind speed, rainfall, visibility, temperature and humidity, the real-time flight parameters include radio altitude, attitude, heading, descent rate, speed and GPS position, obtain corresponding historical weather parameters and historical flight parameters according to the real-time weather parameters and the real-time flight parameters, and also used to obtain a built-in terrain database, obtain a three-dimensional terrain model according to the terrain data, and obtain terrain height and terrain contour according to the three-dimensional terrain model; an analysis module connected to the acquisition module, for determining the severity of the weather according to the wind speed, the rainfall, the visibility, the temperature, the humidity and the historical weather parameters, predicting a flight trajectory according to the speed, the descent rate, the heading, the severity, and the spatial relationship between the GPS position and the terrain contour, and calculating the difference between the radio altitude and the terrain altitude according to the flight trajectory and the terrain altitude to obtain a relative altitude; a processing module connected to the analysis module, configured to determine a collision position according to the relative altitude and the flight trajectory, calculate a collision time according to the speed, the heading, the severity and the collision position, determine a warning signal level according to a comparison between the collision time and a preset warning time threshold, and output a warning signal according to the warning signal level; a three-dimensional display module, connected to the acquisition module, the analysis module and the processing module respectively, for performing real-time rendering according to the three-dimensional terrain model, the real-time weather parameters and the flight parameters to obtain a three-dimensional flight situation map, wherein the three-dimensional flight situation map uses color markings according to the warning signal level to highlight the collision position and the warning signal to obtain initial display information; an alarm module connected to the three-dimensional display module, for calculating an initial alarm altitude threshold according to the descent rate and a preset time threshold, dynamically adjusting the initial alarm altitude threshold according to the ship speed to obtain a target alarm altitude threshold, determining an alarm interval according to the target alarm altitude threshold, determining a target alarm signal level according to the alarm signal level, the radio altitude, the target alarm altitude threshold and the alarm interval, and adjusting the initial display information according to the target alarm signal level to obtain target display information.

2. The enhanced ground proximity warning system with added three-dimensional display function according to claim 1, characterized in that: The analysis module comprises: A weather assessment unit, used for assessing the severity of the weather according to the real-time weather parameters and the historical weather parameters; a trajectory prediction unit connected to the weather assessment unit, for predicting the flight trajectory using a dynamic model according to the severity, the flight parameters, and the terrain profile; The altitude calculation unit is connected to the trajectory prediction unit and is used to calculate the relative altitude according to the flight trajectory and the terrain height in combination with the severity.

3. The enhanced ground proximity warning system with added three-dimensional display function according to claim 2, characterized in that: The trajectory prediction unit comprises: A weather impact subunit, used to convert the severity of the weather into an impact factor on flight performance; A model application subunit, connected to the weather influence subunit, for using the influence factors and the real-time flight parameters as inputs of the dynamic model to simulate the flight trajectory of the aircraft; A trajectory prediction subunit is connected to the model application subunit and is used to predict the flight trajectory according to the flight trajectory and the terrain profile.

4. The enhanced ground proximity warning system with added three-dimensional display function according to claim 3, characterized in that: The height calculation unit comprises: an altitude calculation subunit, configured to obtain an initial relative altitude based on the interpolation of the radio altitude and the terrain altitude; The degree fusion subunit is used to fuse the severity and the initial relative height to obtain the relative height.

5. The enhanced ground proximity warning system with added three-dimensional display function according to claim 4, characterized in that: The processing module comprises: a position determination unit, configured to determine the intersection of the flight trajectory of the aircraft and the terrain according to the terrain profile and the relative height to obtain the collision position; a time calculation unit connected to the position determination unit, for adjusting the heading and the speed according to the severity to calculate the time when the aircraft arrives at the collision position to obtain the collision time; a level determination unit connected to the time calculation unit, for comparing the collision time with the warning time threshold to obtain a comparison result, and determining the warning signal level according to the comparison result; The signal output unit is connected to the level determination unit and is used to output the alarm signal in the form of auditory and visual signals according to the alarm signal level.

6. The enhanced ground proximity warning system with added three-dimensional display function according to claim 5, characterized in that: The time calculation unit comprises: a parameter adjustment subunit, used for analyzing the influence of the severity on the speed and the heading to obtain an analysis result, and adjusting the heading and the speed according to the analysis result to obtain an adjustment result; The time calculation subunit is connected to the parameter adjustment subunit and is used to calculate according to the adjustment result and the GPS position to obtain the collision time.

7. The enhanced ground proximity warning system with added three-dimensional display function according to claim 6, characterized in that: The alarm module comprises: a threshold calculation unit, configured to obtain a product result according to the product of the descent rate and the time threshold, and to obtain the initial warning altitude threshold by adding an altitude offset to the product result; a threshold adjustment unit, connected to the threshold calculation unit, for adjusting the initial warning altitude threshold using a linear interpolation method according to the ship speed to obtain the target altitude threshold; an interval determination unit, connected to the threshold adjustment unit, for determining the warning interval using a piecewise function according to the target height threshold; a level adjustment unit, connected to the interval determination unit, for determining the target warning signal level according to the relative position of the radio altitude and the warning interval, the warning signal level and the target warning altitude threshold; The information adjustment unit is connected to the level adjustment unit and is used to adjust the color, size and flashing duration of the initial display information according to the target warning signal level to obtain the target display information.

8. The enhanced ground proximity warning system with added three-dimensional display function according to claim 7, characterized in that: The threshold adjustment unit comprises: An interpolation calculation subunit, used to calculate the target warning altitude threshold according to the ship speed and a preset linear interpolation parameter; The threshold value verification calculation subunit is connected to the interpolation calculation subunit and is used to verify whether the target warning height threshold is within a preset safety range.

9. The enhanced ground proximity warning system with added three-dimensional display function according to claim 8, characterized in that: The interval determination unit comprises: A function configuration subunit, used to set function parameters for determining the alarm interval; The alarm calculation subunit is connected to the function configuration subunit and is used to calculate the alarm interval according to the function parameters and the target height threshold.

10. An enhanced ground proximity warning method with added three-dimensional display function based on the enhanced ground proximity warning system with added three-dimensional display function according to any one of claims 1 to 9, characterized in that: include: Step S1, obtaining real-time weather parameters and real-time flight parameters, wherein the real-time weather parameters include wind speed, rainfall, visibility, temperature and humidity, and the real-time flight parameters include radio altitude, attitude, heading, descent rate, speed and GPS position, obtaining corresponding historical weather parameters and historical flight parameters according to the real-time weather parameters and the real-time flight parameters, and also used for the system to obtain a built-in terrain database, obtain a three-dimensional terrain model according to the terrain data, and obtain terrain height and terrain contour according to the three-dimensional terrain model; Step S2, determining the severity of the weather according to the wind speed, the rainfall, the visibility, the temperature, the humidity and the historical weather parameters, predicting a flight trajectory according to the speed, the descent rate, the heading, the severity, and the spatial relationship between the GPS position and the terrain contour, and calculating the difference between the radio altitude and the terrain altitude according to the flight trajectory and the terrain altitude to obtain a relative altitude; Step S3, determining a collision position according to the relative altitude and the flight trajectory, calculating a collision time according to the speed, the heading, the severity and the collision position, determining an alarm signal level according to a comparison between the collision time and a preset alarm time threshold, and outputting an alarm signal according to the alarm signal level; Step S4, performing real-time rendering according to the three-dimensional terrain model, the real-time weather parameters and the flight parameters to obtain a three-dimensional flight situation map, wherein the three-dimensional flight situation map uses color markings to highlight the collision position and the warning signal according to the warning signal level to obtain initial display information; Step S5, calculating an initial warning altitude threshold according to the descent rate and the ship speed, dynamically adjusting the initial warning altitude threshold according to the ship speed to obtain a target warning altitude threshold, determining an alarm interval according to the target warning altitude threshold, determining a target warning signal level according to the warning signal level, the target warning altitude threshold and the warning interval, and adjusting the initial display information according to the target warning signal level to obtain target display information.

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