Low-altitude three-dimensional situation visualization data processing method, system, equipment and medium

Abstract

The invention discloses a low-altitude three-dimensional situation visualization data processing method, system and device and a medium, mainly relates to the technical field of data processing, and aims to solve the problems that an offline data processing mode is mostly adopted in an existing scheme; the real-time requirement of a low-altitude dynamic scene cannot be met, and the coordinate system difference of different data sources affects the reliability of risk judgment. Comprising the following steps: constructing a three-dimensional situation scene based on preprocessed data, namely generating a digital elevation model according to terrain elevation data, importing building three-dimensional data into the scene as a three-dimensional model, and rendering a three-dimensional icon and a movement track of a moving target in the scene in real time according to dynamic parameters, the meteorological elements corresponding to the meteorological data and the airspace control boundary corresponding to the airspace control data are displayed in an overlapping manner; and calculating a collision risk level and / or a boundary crossing risk level in real time based on the relative spatial relationship between the dynamic parameters of the moving target and the three-dimensional data of the building and the airspace control boundary, and generating corresponding early warning information.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and in particular to a low-altitude three-dimensional situation visualization data processing method, system, device and medium. BACKGROUND

[0002] Low-altitude three-dimensional situation visualization technology has important application value in the fields of unmanned aerial vehicle management, city security, emergency rescue, etc. Traditional low-altitude data processing methods usually rely on a single data source (such as satellite remote sensing or ground surveying), and it is difficult to realize high-precision three-dimensional modeling and real-time fusion of dynamic targets. For example, in the prior art, terrain elevation data and building three-dimensional models are usually obtained through static surveying, and cannot reflect real-time changes; and the dynamic parameters (such as position and speed) of moving targets are usually collected independently by radar or ADS-B devices, and lack deep integration with three-dimensional scenes. In addition, meteorological data and airspace control data are mostly presented in two-dimensional form, making it difficult for airspace managers to intuitively assess risks in complex environments. The limitations of such data fragmentation make collision warning and border crossing judgment rely on human experience, with a lag in response and insufficient accuracy.

[0003] Existing three-dimensional visualization systems mostly use offline data processing mode, which cannot meet the real-time needs of low-altitude dynamic scenes. For example, some systems superimpose dynamic targets on pre-constructed three-dimensional models, but do not consider the influence of meteorological changes (such as wind field and visibility) on the trajectory of moving targets, or ignore the real-time adjustment of airspace control boundaries. In addition, the differences in coordinate systems of different data sources (such as WGS84 and local coordinate systems) will cause errors in spatial relationship calculation, further affecting the reliability of risk judgment. SUMMARY

[0004] The present application provides a low-altitude three-dimensional situation visualization data processing method, system, device and medium to solve the problem that existing solutions mostly use offline data processing mode, which cannot meet the real-time needs of low-altitude dynamic scenes, and the differences in coordinate systems of different data sources affect the reliability of risk judgment.

[0005] In a first aspect, the present application provides a low-altitude three-dimensional situation visualization data processing method, which comprises: Obtaining terrain elevation data and building three-dimensional data of a preset low-altitude area through unmanned aerial vehicle oblique photography and laser radar scanning, simultaneously collecting dynamic parameters of moving targets in the preset low-altitude area in real time through low-altitude monitoring equipment, and synchronously obtaining meteorological data and airspace control data; Performing outlier detection and interpolation completion processing on the collected terrain elevation data, building three-dimensional data, dynamic parameters, meteorological data and airspace control data, and uniformly converting the geographical coordinates involved in all data to the same three-dimensional scene reference coordinate system; The three-dimensional situation scene is constructed based on the preprocessed data, including generating a digital elevation model according to terrain elevation data, importing building three-dimensional data as a three-dimensional model into the scene, rendering a three-dimensional icon and a motion track of the moving target in the scene in real time according to dynamic parameters, and superimposedly displaying meteorological elements corresponding to meteorological data and airspace control boundaries corresponding to airspace control data; Based on the relative spatial relationship between the dynamic parameters of the moving target and the building three-dimensional data and the airspace control boundary, the collision risk level and / or the crossing risk level are calculated in real time, and corresponding warning information is generated.

[0006] In an implementation manner of the present application, before the three-dimensional icon and the motion track of the moving target are rendered in the scene in real time according to the dynamic parameters, the method further comprises: The dynamic parameters are structured and packaged according to the aircraft state message standard, and the dynamic parameters at least include an aircraft identification code, latitude and longitude coordinates, height, speed and heading angle.

[0007] In an implementation manner of the present application, the meteorological data at least includes one of the following: meteorological cloud data, wind field data and visibility data. The visualization display of the meteorological data at least includes one of the following: superimposed display of a meteorological cloud chart in a semi-transparent gradient color, display of wind field data in a dynamic streamline form, and display of visibility distribution in an isosurface form.

[0008] In an implementation manner of the present application, the collision risk level and / or the crossing risk level are calculated in real time, and specifically include: A spatial bounding box collision detection model between the moving target and the building three-dimensional model is established, the first minimum distance between the moving target and the building three-dimensional model is calculated in real time by using the spatial bounding box collision detection model, and the collision risk level is determined according to the first minimum distance. A spatial position relationship judgment model between the moving target and the airspace control boundary is established, the second minimum distance between the moving target and the airspace control boundary is calculated in real time by using the spatial position relationship judgment model, and the crossing risk level is determined according to the second minimum distance.

[0009] In an implementation manner of the present application, after the collision risk level and / or the crossing risk level are calculated in real time, the method further comprises: When the collision risk level or the crossing risk level is detected to exceed a preset threshold, multi-level warning information containing a risk type, a risk position and an avoidance suggestion is automatically generated and output through a visualization interface and / or an external interface.

[0010] In an implementation manner of the present application, the low-altitude monitoring device at least includes one of the following: a ground monitoring radar, an ADS-B receiving device and a cellular network positioning base station.

[0011] In a second aspect, the application provides a low-altitude three-dimensional situation visualization data processing system, the system comprising: a collection module configured to acquire terrain elevation data and building three-dimensional data of a preset low-altitude area through tilt photography and laser radar scanning of a UAV, and simultaneously acquire dynamic parameters of a moving target in the preset low-altitude area in real time through a low-altitude monitoring device, and acquire meteorological data and airspace control data synchronously; a preprocessing module configured to perform outlier detection and interpolation completion processing on the acquired terrain elevation data, building three-dimensional data, dynamic parameters, meteorological data and airspace control data, and uniformly convert geographical coordinates involved in all the data to a same three-dimensional scene reference coordinate system; a display module configured to construct a three-dimensional situation scene based on the preprocessed data, including generating a digital elevation model according to the terrain elevation data, importing the building three-dimensional data as a three-dimensional model into the scene, rendering a three-dimensional icon and a motion track of the moving target in the scene in real time according to the dynamic parameters, and superimposedly displaying meteorological elements corresponding to the meteorological data and airspace control boundaries corresponding to the airspace control data; an early warning module configured to calculate a collision risk level and / or a crossing boundary risk level in real time based on a relative spatial relationship between the dynamic parameters of the moving target and the building three-dimensional data and the airspace control boundaries, and generate corresponding early warning information.

[0012] In an implementation manner of the application, the early warning module comprises a risk unit, configured to establish a spatial bounding box collision detection model between the moving target and the building three-dimensional model, calculate a first minimum distance between the moving target and the building three-dimensional model in real time by using the spatial bounding box collision detection model, and determine the collision risk level according to the first minimum distance; establish a spatial position relationship judgment model between the moving target and the airspace control boundary, calculate a second minimum distance between the moving target and the airspace control boundary in real time by using the spatial position relationship judgment model, and determine the crossing boundary risk level according to the second minimum distance.

[0013] In a third aspect, the application provides a low-altitude three-dimensional situation visualization data processing device, the device comprising: a processor; and a memory having executable codes stored thereon, when the executable codes are executed, causing the processor to perform a low-altitude three-dimensional situation visualization data processing method according to any one of the above.

[0014] In a fourth aspect, the application provides a non-volatile computer storage medium having computer instructions stored thereon, when the computer instructions are executed, implementing a low-altitude three-dimensional situation visualization data processing method according to any one of the above.

[0015] From the above technical solution can be seen, the present application has the following advantages: The low-altitude three-dimensional situation visualization data processing method provided by the application solves the problem that the offline data processing mode in the prior art cannot meet the real-time requirement of the low-altitude dynamic scene. The method synchronously acquires terrain elevation data, building three-dimensional data, mobile target dynamic parameters, meteorological data and airspace control data through unmanned aerial vehicle oblique photography, laser radar scanning and low-altitude monitoring equipment, and realizes comprehensive coverage of multi-dimensional information of the low-altitude area. The abnormal value detection and interpolation completion processing ensures the data quality, and the unified conversion of geographic coordinates eliminates the influence of the coordinate system difference of different data sources on risk determination, thereby significantly improving the reliability of risk analysis. In addition, the optimization of the real-time data acquisition and preprocessing process enables the system to quickly respond to the dynamic changes of the low-altitude scene, and provides an accurate and consistent data basis for subsequent three-dimensional situation scene construction.

[0016] Based on the preprocessed data, a three-dimensional situation scene is constructed to realize intuitive and visual display of the low-altitude environment. Through digital elevation model generation, building three-dimensional model import and real-time rendering of mobile target three-dimensional icon and motion track, the user can clearly understand the terrain, building distribution and mobile target dynamics of the low-altitude area. The superimposed display of meteorological elements and airspace control boundaries further enriches the scene information and provides comprehensive support for decision-making. More importantly, the method can accurately evaluate the collision risk level and the out-of-bound risk level by calculating the relative spatial relationship between the mobile target and the building three-dimensional data and the airspace control boundary in real time, and generate corresponding warning information. This real-time risk analysis based on spatial relationship not only improves the accuracy of risk determination, but also enhances the warning capability of the system, thereby providing a strong guarantee for low-altitude safety control. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the present application, the drawings required to be used in the description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 is a low-altitude three-dimensional situation visualization data processing method flowchart provided by an embodiment of the present application.

[0019] Figure 2 is a low-altitude three-dimensional situation visualization data processing system internal structure schematic diagram provided by an embodiment of the present application.

[0020] Figure 3 is a low-altitude three-dimensional situation visualization data processing device internal structure schematic diagram provided by an embodiment of the present application. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort fall within the protection scope of the present application.

[0022] It should be understood by those skilled in the art that the embodiments described below are only preferred embodiments of the present disclosure, and do not represent that the present disclosure can only be implemented by the preferred embodiments. The preferred embodiments are only used to explain the technical principles of the present disclosure, and are not used to limit the protection scope of the present disclosure. Based on the preferred embodiments provided in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative effort still fall within the protection scope of the present disclosure.

[0023] It should also be noted that the terms "comprising", "containing" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the process, method, article or equipment including the element.

[0024] The technical solutions provided by the embodiments of the present application will be described in detail below with reference to the drawings.

[0025] The embodiments provide a low-altitude three-dimensional situation visualization data processing method, as shown in Figure 1 The method provided by the embodiments of the present application mainly includes the following steps: Step 110, acquiring terrain elevation data and building three-dimensional data of a preset low-altitude area through unmanned aerial vehicle oblique photography and laser radar scanning, simultaneously acquiring dynamic parameters of moving targets in the preset low-altitude area in real time through a low-altitude monitoring device, and synchronously acquiring meteorological data and airspace control data.

[0026] In some embodiments, the low-altitude monitoring device includes at least one of the following: a ground monitoring radar, an ADS-B receiving device, and a cellular network positioning base station.

[0027] It can be understood that this step realizes the synchronous collection and integration of multi-dimensional data of the preset low-altitude area by combining the unmanned aerial vehicle oblique photography with the laser radar scanning and the low-altitude monitoring equipment. The direct effect is that: 1) the acquisition of the terrain elevation and the building three-dimensional data can provide high-precision basic data support for low-altitude flight path planning and obstacle avoidance, and improve flight safety and task execution efficiency; 2) the real-time monitoring of the dynamic parameters of the moving target (such as position, speed, heading) helps to dynamically perceive the low-altitude operation environment, and provides real-time information for conflict warning and airspace coordination; 3) the synchronous access of the meteorological data and the airspace control data can assist in evaluating the compliance of the flight conditions, and reduce the risk of operation interruption caused by sudden weather changes or airspace restrictions. The multi-element configuration of the low-altitude monitoring equipment (such as ground radar, ADS-B, cellular base station) further enhances the monitoring coverage and data reliability, especially in complex urban environments or remote areas.

[0028] Step 120, the terrain elevation data, building three-dimensional data, dynamic parameters, meteorological data and airspace control data collected are subjected to outlier detection and interpolation completion processing, and all geographical coordinates involved in the data are uniformly converted to the same three-dimensional scene reference coordinate system.

[0029] It can be understood that this step realizes the standardization and spatial consistency of multi-source low-altitude data through outlier detection and interpolation completion processing, and the conversion of geographical coordinates to a three-dimensional scene reference coordinate system. The direct effect is that: 1) outlier detection can eliminate abnormal data caused by sensor errors, transmission interference or environmental factors, ensuring the reliability of terrain elevation, building three-dimensional model, dynamic parameters of moving targets and other data, and avoiding flight path planning deviation or decision errors caused by false data; 2) interpolation completion processing effectively fills in missing values caused by equipment coverage blind area or data collection interval, making terrain elevation, meteorological elements (such as wind speed, visibility) and other data form a continuous spatial distribution, providing complete basis for low-altitude flight environment modeling; 3) the conversion of geographical coordinates to the same three-dimensional reference coordinate system eliminates spatial positioning deviation caused by coordinate system differences, enabling terrain, buildings, moving targets and other elements to be accurately aligned in the three-dimensional scene, facilitating subsequent collision detection, airspace conflict analysis or visual display.

[0030] Step 130, a three-dimensional situation scene is constructed based on the preprocessed data, including generating a digital elevation model according to the terrain elevation data, importing the building three-dimensional data as a three-dimensional model into the scene, real-time rendering of the three-dimensional icon and motion trail of the moving target in the scene according to the dynamic parameters, and superimposed display of the meteorological elements corresponding to the meteorological data and the airspace control boundaries corresponding to the airspace control data.

[0031] Before real-time rendering of the three-dimensional icon and motion trail of the moving target in the scene according to the dynamic parameters, the method further comprises: Dynamic parameters are structured and encapsulated according to the aircraft status message standard. Dynamic parameters include at least the aircraft identification code, latitude and longitude coordinates, altitude, speed, and heading angle.

[0032] Meteorological data includes at least one of the following: meteorological cloud data, wind field data, and visibility data; The visualization of meteorological data includes at least one of the following: displaying meteorological cloud maps with a semi-transparent gradient color overlay, displaying wind field data in the form of dynamic streamlines, and displaying visibility distribution in the form of isosurfaces.

[0033] Understandably, this step directly enhances the situational awareness and decision support capabilities for low-altitude flight by constructing a three-dimensional situational scenario and realizing the visualization and fusion of multi-source data. Its core effects include: 1) Generating a digital elevation model based on preprocessed terrain elevation data, importing 3D building data into the scene, and constructing a 3D spatial base that truly reflects the geographical environment, providing an intuitive visual reference for flight path planning and obstacle avoidance; 2) Encapsulating dynamic parameters in a structured manner according to aircraft status message standards, ensuring standardized parsing of key information such as aircraft identification codes, latitude and longitude coordinates, altitude, speed, and heading angle, providing a data foundation for subsequent real-time rendering of 3D icons and motion trajectories of moving targets; 3) Achieving accurate tracking and visualization of the dynamic position of low-altitude aircraft through real-time rendering of 3D icons and motion trajectories of moving targets, facilitating monitoring personnel to quickly grasp the flight status; 4) Overlaying meteorological elements such as weather cloud maps, wind field data, and visibility distribution, presenting meteorological conditions intuitively in the form of semi-transparent gradient colors, dynamic streamlines, and isosurfaces, providing a visual basis for flight safety assessment and meteorological risk warning; 5) Overlaying and displaying airspace control boundaries corresponding to airspace control data, clarifying flyable and restricted areas, providing a key reference for flight mission planning and airspace conflict avoidance.

[0034] Step 140: Based on the dynamic parameters of the moving target and the relative spatial relationship between the building's three-dimensional data and the airspace control boundary, calculate the collision risk level and / or boundary crossing risk level in real time, and generate corresponding early warning information.

[0035] In some embodiments, the collision risk level and / or boundary crossing risk level are calculated in real time, specifically including: A spatial bounding box collision detection model is established between the moving target and the 3D model of the building. Using the spatial bounding box collision detection model, the first minimum distance between the moving target and the 3D model of the building is calculated in real time. The collision risk level is determined based on the first minimum distance. Establish a spatial relationship judgment model between the moving target and the airspace control boundary, and use the spatial relationship judgment model to calculate the second minimum distance between the moving target and the airspace control boundary in real time; determine the boundary crossing risk level based on the second minimum distance.

[0036] After calculating the collision risk level and / or boundary crossing risk level in real time, the method also includes: When a collision risk level is detected to exceed the risk level limit or a preset threshold, a multi-level warning message containing the risk type, risk location, and avoidance suggestions is automatically generated and output through a visual interface and / or external interface.

[0037] Supplementary explanation of spatial relationship modeling and risk level determination methods: I. Spatial bounding box collision detection model between moving targets and 3D building models: Model building principles: Axis-Aligned Bounding Box (AABB) is a collision detection method based on geometric bounding boxes. For a 3D building model, its minimum bounding box is first calculated, with its six faces parallel to the X, Y, and Z axes, respectively. The current position and size of a moving target (such as an aircraft) are also represented by bounding boxes. By comparing the projection intervals of two bounding boxes on the three coordinate axes, overlap is determined.

[0038] First minimum distance calculation: The minimum distance between the bounding box of the moving target and the bounding box of the building is calculated in real time along the X, Y, and Z axes. If the projected regions in any axis direction do not overlap, the two bounding boxes do not collide; if there is overlap in all axis directions, the Euclidean distance between the center points of the two bounding boxes is calculated as the first minimum distance. This distance reflects the actual spatial interval between the moving target and the building.

[0039] Collision risk level determined: Based on the relationship between the first minimum distance and a preset safety threshold, collision risk is quantified into multiple levels (e.g., low, medium, high). For example: Distance ≥ safety threshold: No risk; Distance ∈ [threshold × 0.8, threshold): low risk; Distance ∈ [threshold × 0.5, threshold × 0.8): Medium risk; Distance < threshold × 0.5: High risk.

[0040] The risk level increases as the distance decreases, providing a quantitative basis for subsequent early warnings.

[0041] II. Model for determining the spatial relationship between moving targets and airspace control boundaries: Model building principles: Airspace control boundaries are typically defined by polygons or curves, and determining their spatial relationships requires the use of geometric algorithms. By analyzing the boundary coordinates, the minimum bounding rectangle or convex hull of the boundary is constructed as a geometric basis for simplified judgment. The current position of a moving target is transformed into a three-dimensional spatial coordinate system using latitude and longitude coordinates.

[0042] Second minimum distance calculation: The minimum distance between a moving target and the boundary is determined in real time. If the moving target is inside the boundary, the distance is 0; if it is outside the boundary, the straight-line distance between the moving target and the nearest point on the boundary is calculated as the second minimum distance. This distance reflects the degree to which the moving target deviates from the controlled boundary.

[0043] Risk level of boundary crossing determined: Based on the relationship between the second minimum distance and the preset safety boundary, the risk of boundary crossing is quantified into multiple levels. For example: Distance ≥ safety boundary: No risk; Distance ∈ [safety boundary × 0.2, safety boundary): low risk; Distance ∈ [safety boundary × 0.1, safety boundary × 0.2): medium risk; Distance < safety boundary × 0.1: High risk.

[0044] The risk level increases as the distance decreases, providing a direct basis for monitoring airspace compliance.

[0045] Understandably, this step, by calculating the spatial relationship between the moving target and buildings and airspace control boundaries in real time, directly achieves dynamic assessment and early warning of low-altitude flight risks. Its core effects include: 1) Based on the relative spatial relationship between the moving target's dynamic parameters, building 3D data, and airspace control boundaries, a spatial bounding box collision detection model is established to calculate the first minimum distance between the moving target and the building 3D model in real time, and quantifies the collision risk level based on the distance value, providing an accurate predictive basis for potential collisions between aircraft and obstacles; 2) By establishing a spatial positional relationship judgment model, the second minimum distance between the moving target and airspace control boundaries is calculated in real time. 3) When the collision risk level or the boundary risk level exceeds the preset threshold, a multi-level early warning information is automatically generated, which includes the risk type (such as collision or boundary crossing), the risk location (such as latitude and longitude coordinates), and avoidance suggestions (such as adjusting the heading or altitude). The information is output through a visual interface and / or external interface, enabling monitoring personnel to quickly locate the risk source and take countermeasures. 4) The generation and output of early warning information is automated, which reduces the delay of manual intervention and improves the timeliness of risk response.

[0046] As described above, this embodiment addresses the problem that existing offline data processing methods cannot meet the real-time requirements of low-altitude dynamic scenarios by acquiring multi-source data in real time and transforming to a unified coordinate system. This method simultaneously acquires terrain elevation data, 3D building data, moving target dynamic parameters, meteorological data, and airspace control data through UAV oblique photography, LiDAR scanning, and low-altitude surveillance equipment, achieving comprehensive coverage of multi-dimensional information in low-altitude areas. Outlier detection and interpolation completion ensure data quality, while the unified transformation of geographic coordinates eliminates the impact of differences in coordinate systems from different data sources on risk assessment, significantly improving the reliability of risk analysis. Furthermore, the optimization of real-time data acquisition and preprocessing processes enables the system to quickly respond to dynamic changes in low-altitude scenarios, providing an accurate and consistent data foundation for subsequent 3D situational awareness construction.

[0047] A three-dimensional situational awareness scenario is constructed based on preprocessed data, enabling an intuitive visualization of the low-altitude environment. Through digital elevation model generation, import of 3D building models, and real-time rendering of 3D icons and trajectories of moving targets, users can clearly grasp the terrain, building distribution, and dynamics of moving targets in the low-altitude region. The overlay display of meteorological elements and airspace control boundaries further enriches the scene information, providing comprehensive support for decision-making. More importantly, this method accurately assesses collision and boundary violation risk levels by calculating the relative spatial relationships between moving targets, building 3D data, and airspace control boundaries in real time, generating corresponding early warning information. This real-time risk analysis based on spatial relationships not only improves the accuracy of risk assessment but also enhances the system's early warning capabilities, providing strong protection for low-altitude safety management.

[0048] In addition, this application Figure 2 This application provides a low-altitude three-dimensional situational awareness data processing system as an embodiment. For example... Figure 2 As shown in the embodiments of this application, the system mainly includes: The acquisition module 210 is used to acquire terrain elevation data and three-dimensional building data of a preset low-altitude area through UAV oblique photography and lidar scanning. At the same time, it acquires dynamic parameters of moving targets in the preset low-altitude area in real time through low-altitude monitoring equipment, and simultaneously acquires meteorological data and airspace control data.

[0049] The preprocessing module 220 is used to perform outlier detection and interpolation completion processing on the collected terrain elevation data, building 3D data, dynamic parameters, meteorological data and airspace control data, and to uniformly convert the geographic coordinates involved in all data to the same 3D scene reference coordinate system.

[0050] Display module 230 is used to construct a three-dimensional situation scene based on preprocessed data, including generating a digital elevation model based on terrain elevation data, importing three-dimensional building data as a three-dimensional model into the scene, rendering the three-dimensional icon and motion trajectory of the moving target in the scene in real time according to dynamic parameters, and overlaying and displaying meteorological elements corresponding to meteorological data and airspace control boundaries corresponding to airspace control data.

[0051] The early warning module 240 is used to calculate the collision risk level and / or boundary crossing risk level in real time based on the dynamic parameters of the moving target, the three-dimensional data of the building, and the relative spatial relationship of the airspace control boundary, and generate corresponding early warning information.

[0052] The early warning module 240 includes risk units. This is used to establish a bounding box collision detection model between a moving target and a 3D building model. Using the bounding box collision detection model, the first minimum distance between the moving target and the 3D building model is calculated in real time. The collision risk level is determined based on the first minimum distance. Establish a spatial relationship judgment model between the moving target and the airspace control boundary, and use the spatial relationship judgment model to calculate the second minimum distance between the moving target and the airspace control boundary in real time; determine the boundary crossing risk level based on the second minimum distance.

[0053] The above are method embodiments of this application. Based on the same inventive concept, embodiments of this application also provide a low-altitude three-dimensional situation visualization data processing device. Figure 3 As shown, the device includes: a processor; and a memory storing executable code thereon, which, when executed, causes the processor to perform a low-altitude three-dimensional situational awareness data processing method as described in the above embodiments.

[0054] Specifically, the server acquires terrain elevation data and 3D building data for a preset low-altitude area through UAV oblique photography and LiDAR scanning. Simultaneously, it collects dynamic parameters of moving targets within the preset low-altitude area in real time using low-altitude monitoring equipment, and concurrently acquires meteorological and airspace control data. Outlier detection and interpolation are performed on the collected terrain elevation data, building 3D data, dynamic parameters, meteorological data, and airspace control data. All geographic coordinates involved in the data are uniformly converted to the same 3D scene reference coordinate system. A 3D situational scene is constructed based on the preprocessed data, including generating a digital elevation model from the terrain elevation data, importing the building 3D data as a 3D model into the scene, rendering the 3D icon and trajectory of the moving target in real time based on the dynamic parameters, and overlaying meteorological elements corresponding to the meteorological data and airspace control boundaries corresponding to the airspace control data. Based on the relative spatial relationship between the moving target's dynamic parameters and the building 3D data and airspace control boundaries, the collision risk level and / or boundary crossing risk level are calculated in real time, and corresponding early warning information is generated.

[0055] In addition, this application embodiment also provides a non-volatile computer storage medium storing executable instructions, which, when executed, implement the low-altitude three-dimensional situation visualization data processing method described above.

[0056] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for processing low-altitude three-dimensional situational awareness data, characterized in that, The method includes: The terrain elevation data and building 3D data of the preset low-altitude area are obtained by using UAV oblique photography and lidar scanning. At the same time, the dynamic parameters of moving targets in the preset low-altitude area are collected in real time by low-altitude monitoring equipment, and meteorological data and airspace control data are acquired simultaneously. The collected terrain elevation data, building 3D data, dynamic parameters, meteorological data and airspace control data are subjected to outlier detection and interpolation completion processing, and the geographic coordinates involved in all data are uniformly converted to the same 3D scene reference coordinate system. A three-dimensional situation scene is constructed based on the preprocessed data, including generating a digital elevation model based on terrain elevation data, importing three-dimensional building data as a three-dimensional model into the scene, rendering the three-dimensional icon and motion trajectory of the moving target in the scene in real time according to dynamic parameters, and overlaying and displaying meteorological elements corresponding to meteorological data and airspace control boundaries corresponding to airspace control data. Based on the dynamic parameters of the moving target and the relative spatial relationship between the building's three-dimensional data and the airspace control boundary, the collision risk level and / or boundary crossing risk level are calculated in real time, and corresponding early warning information is generated.

2. The low-altitude three-dimensional situation visualization data processing method according to claim 1, characterized in that, Before rendering the 3D icon and motion trajectory of the moving target in the scene in real time based on dynamic parameters, the method further includes: The dynamic parameters are structured and encapsulated according to the aircraft status message standard. The dynamic parameters include at least the aircraft identification code, latitude and longitude coordinates, altitude, speed, and heading angle.

3. The low-altitude three-dimensional situation visualization data processing method according to claim 1, characterized in that, Meteorological data includes at least one of the following: meteorological cloud data, wind field data, and visibility data; The visualization of the meteorological data includes at least one of the following: displaying meteorological cloud maps with a semi-transparent gradient color overlay, displaying wind field data in the form of dynamic streamlines, and displaying visibility distribution in the form of isosurfaces.

4. The low-altitude three-dimensional situation visualization data processing method according to claim 1, characterized in that, Real-time calculation of collision risk level and / or boundary crossing risk level, specifically including: A spatial bounding box collision detection model is established between the moving target and the 3D model of the building. Using the spatial bounding box collision detection model, the first minimum distance between the moving target and the 3D model of the building is calculated in real time. The collision risk level is determined based on the first minimum distance. Establish a spatial relationship judgment model between the moving target and the airspace control boundary, and use the spatial relationship judgment model to calculate the second minimum distance between the moving target and the airspace control boundary in real time; determine the boundary crossing risk level based on the second minimum distance.

5. The low-altitude three-dimensional situation visualization data processing method according to claim 1, characterized in that, After calculating the collision risk level and / or boundary crossing risk level in real time, the method further includes: When a collision risk level is detected to exceed the risk level limit or a preset threshold, a multi-level warning message containing the risk type, risk location, and avoidance suggestions is automatically generated and output through a visual interface and / or external interface.

6. The low-altitude three-dimensional situation visualization data processing method according to claim 1, characterized in that, Low-altitude surveillance equipment includes at least one of the following: ground surveillance radar, ADS-B receiving equipment, and cellular network positioning base station.

7. A low-altitude three-dimensional situational awareness data processing system, characterized in that, The system includes: The data acquisition module is used to acquire terrain elevation data and three-dimensional building data of a preset low-altitude area through UAV oblique photography and lidar scanning. At the same time, it acquires dynamic parameters of moving targets in the preset low-altitude area in real time through low-altitude monitoring equipment, and simultaneously acquires meteorological data and airspace control data. The preprocessing module is used to perform outlier detection and interpolation on the collected terrain elevation data, building 3D data, dynamic parameters, meteorological data and airspace control data, and to uniformly convert the geographic coordinates involved in all data to the same 3D scene reference coordinate system. The display module is used to construct a three-dimensional situation scene based on preprocessed data, including generating a digital elevation model based on terrain elevation data, importing three-dimensional building data as a three-dimensional model into the scene, rendering the three-dimensional icon and motion trajectory of the moving target in the scene in real time according to dynamic parameters, and overlaying the meteorological elements corresponding to the meteorological data and the airspace control boundaries corresponding to the airspace control data. The early warning module is used to calculate the collision risk level and / or boundary crossing risk level in real time based on the dynamic parameters of the moving target, the three-dimensional data of the building, and the relative spatial relationship with the airspace control boundary, and generate corresponding early warning information.

8. The low-altitude three-dimensional situational awareness data processing system according to claim 7, characterized in that, The early warning module includes risk units. This is used to establish a bounding box collision detection model between a moving target and a 3D building model. Using the bounding box collision detection model, the first minimum distance between the moving target and the 3D building model is calculated in real time. The collision risk level is determined based on the first minimum distance. Establish a spatial relationship judgment model between the moving target and the airspace control boundary, and use the spatial relationship judgment model to calculate the second minimum distance between the moving target and the airspace control boundary in real time; determine the boundary crossing risk level based on the second minimum distance.

9. A low-altitude three-dimensional situational awareness data processing device, characterized in that, The device includes: processor; And a memory having executable code stored thereon, which, when executed, causes the processor to perform a low-altitude three-dimensional situation visualization data processing method as described in any one of claims 1-6.

10. A non-volatile computer storage medium, characterized in that, It stores computer instructions, which, when executed, implement a low-altitude three-dimensional situation visualization data processing method as described in any one of claims 1-6.

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