An airborne traffic alerting method

Abstract

The application provides an airborne traffic warning method, and relates to the technical field of airborne traffic safety. The method comprises the following steps: obtaining the position, speed, flight clearance range, minimum maneuvering time and other parameters of a first aircraft and the position and speed of a second aircraft; determining the projected position and speed of the two aircrafts in the horizontal and vertical projection dimensions, and calculating the corresponding minimum distance and flight time. When the minimum distance is smaller than the clearance range and the flight time is smaller than the minimum maneuvering time, the horizontal and vertical warning ranges are determined respectively by combining the projected straight-line distance, the relative speed angle, the heading or pitch angle and the maximum maneuvering angle, the three-dimensional warning range is obtained by fusing the horizontal and vertical warning ranges, and the three-dimensional warning range is displayed based on the first aircraft. The horizontal and vertical directions are considered for warning, and the flight safety is ensured.

Description

Technical Field

[0001] This application relates to the field of airborne traffic safety technology, and more specifically, to an airborne traffic warning method. Background Technology

[0002] With the rapid development of the low-altitude economy, the application scenarios and numbers of vertical takeoff and landing (VTOL) aircraft are constantly expanding. These aircraft possess unique maneuverability, capable of both horizontal flight path maneuvers like traditional aircraft and vertical takeoff, landing, and hovering, gradually forming a multi-dimensional, integrated flight scenario in low-altitude airspace. In this scenario, to ensure flight safety between aircraft, traffic alert mechanisms must simultaneously address the risks of horizontal flight path intersections and vertical altitude overlaps, placing new demands on the completeness of alert dimensions.

[0003] Currently, mainstream aircraft traffic warning technologies are primarily designed based on the flight characteristics of traditional fixed-wing aircraft or helicopters. These aircraft operate at relatively fixed altitudes during normal flight, and collision risk warnings can be achieved simply by monitoring parameters such as horizontal distance and speed differences. Therefore, existing warning systems generally only have horizontal warning capabilities. However, in low-altitude integrated flight involving vertical takeoff and landing (VTOL) aircraft, vertical altitude changes are frequent and significant. Existing warning technologies that only cover the horizontal direction cannot identify vertical collision risks, resulting in significant loopholes in flight safety assurance. Summary of the Invention

[0004] This application provides an airborne traffic warning method that can simultaneously provide warnings in both the horizontal and vertical directions, thereby ensuring flight safety.

[0005] In a first aspect, embodiments of this application provide an airborne traffic alarm method, including: Obtain the position, speed, airspace clearance, minimum maneuver time, horizontal maneuver characteristics, vertical maneuver characteristics, horizontal heading, pitch angle of the first aircraft, and the position and speed of the second aircraft; Based on the position and velocity of the first aircraft and the position and velocity of the second aircraft, determine the position and velocity of the first aircraft and the second aircraft on the horizontal projection, respectively; Based on the position and speed of the first and second aircraft in the horizontal projection, determine the minimum horizontal distance and the first flight time; Wherein, the minimum horizontal distance refers to the minimum horizontal distance between the first aircraft and the second aircraft, and the first flight time refers to the horizontal distance interval between the first aircraft and the second aircraft after the first flight time has elapsed from the current moment; When the minimum horizontal distance is less than the flight clearance range and the first flight time is less than the minimum maneuver time, the horizontal warning range of the second aircraft relative to the first aircraft is determined based on the minimum horizontal distance, the straight-line distance between the first aircraft and the second aircraft on the horizontal projection, the angle between the relative velocities of the first aircraft and the second aircraft on the horizontal projection, the horizontal heading of the first aircraft, and the maximum horizontal maneuver angle in the horizontal maneuver characteristics. Based on the position and velocity of the first aircraft and the position and velocity of the second aircraft, determine the position and velocity of the first aircraft and the second aircraft in the vertical projection, respectively; Based on the position and velocity of the first and second aircraft in the vertical projection, determine the minimum vertical distance and the second flight time; Wherein, the minimum vertical distance refers to the minimum vertical distance between the first aircraft and the second aircraft, and the second flight time refers to the interval between the vertical distances between the first aircraft and the second aircraft after the second flight time has elapsed from the current moment. When the minimum vertical distance is less than the flight clearance range and the second flight time is less than the minimum maneuver time, the vertical warning range of the second aircraft relative to the first aircraft is determined based on the minimum vertical distance, the straight-line distance between the first aircraft and the second aircraft on the vertical projection, the angle between the relative velocities of the first aircraft and the second aircraft on the vertical projection, the pitch angle of the first aircraft, and the maximum vertical maneuver angle in the vertical maneuver characteristics. Based on the horizontal alarm range of the second aircraft relative to the first aircraft and the vertical alarm range of the second aircraft relative to the first aircraft, a three-dimensional warning range is determined, and the three-dimensional warning range is displayed based on the first aircraft.

[0006] In one possible implementation, determining the minimum horizontal distance and the first flight time based on the positions and velocities of the first and second aircraft in the horizontal projection includes: The minimum horizontal distance is determined using the following formula: s=Rsinα Where R is the straight-line distance between the first aircraft and the second aircraft on the horizontal projection, α is the angle between the relative velocities of the first aircraft and the second aircraft on the horizontal projection, s is the minimum horizontal distance, the straight-line distance between the first aircraft and the second aircraft on the horizontal projection is determined based on the positions of the first aircraft and the second aircraft on the horizontal projection, and the angle between the relative velocities of the first aircraft and the second aircraft on the horizontal projection is determined based on the velocities of the first aircraft and the second aircraft on the horizontal projection; The first flight time is determined using the following formula: t=Rcosα / │V1│ Where t is the first flight time, and V1 is the magnitude of the relative velocity of the first aircraft and the second aircraft on the horizontal projection. The magnitude of the relative velocity of the first aircraft and the second aircraft on the horizontal projection is determined based on the velocities of the first aircraft and the second aircraft on the horizontal projection.

[0007] In one possible implementation, determining the horizontal warning range of the second aircraft relative to the first aircraft based on the minimum horizontal distance, the straight-line distance between the first and second aircraft in the horizontal projection, the angle between the relative velocities of the first and second aircraft in the horizontal projection, the horizontal heading of the first aircraft, and the maximum horizontal maneuver angle in the horizontal maneuver characteristics includes: Based on the minimum horizontal distance and the straight-line distance between the first aircraft and the second aircraft on the horizontal projection, determine the relative velocity angle between the first aircraft and the second aircraft when the minimum horizontal distance is reached after the first aircraft adjusts its flight direction. Based on the relative velocity angle between the first aircraft and the second aircraft at the minimum horizontal distance after the first aircraft adjusts its flight direction, and the relative velocity angle between the first aircraft and the second aircraft on the horizontal projection, determine the horizontal leftward maneuverability angle and the horizontal rightward maneuverability angle. The horizontal warning range of the second aircraft relative to the first aircraft is determined based on the horizontal leftward maneuverability angle, the horizontal rightward maneuverability angle, the horizontal heading of the first aircraft, and the maximum horizontal maneuverability angle in the horizontal maneuverability characteristics.

[0008] In one possible implementation, determining the horizontal warning range of the second aircraft relative to the first aircraft based on the horizontal leftward maneuverability angle, the horizontal rightward maneuverability angle, the horizontal heading of the first aircraft, and the maximum horizontal maneuverability angle in the horizontal maneuverability characteristics includes: The initial horizontal warning range is determined based on the horizontal leftward maneuverability angle, the horizontal rightward maneuverability angle, and the horizontal heading of the first aircraft. When both the horizontal leftward maneuvering angle and the horizontal rightward maneuvering angle are less than or equal to the maximum horizontal maneuvering angle, the initial horizontal alarm range is determined as the horizontal alarm range. If the horizontal leftward maneuverable angle is greater than the horizontal maximum maneuver angle, the left starting point in the initial horizontal alarm range is corrected to obtain the horizontal alarm range. If the horizontal rightward maneuverable angle is greater than the horizontal maximum maneuverable angle, the right starting point in the initial horizontal alarm range is corrected to obtain the horizontal alarm range. When both the horizontal leftward maneuvering angle and the horizontal rightward maneuvering angle are greater than the maximum horizontal maneuvering angle, the left and right starting points of the initial horizontal alarm range are corrected to obtain the horizontal alarm range.

[0009] In one possible implementation, determining the three-dimensional warning range based on the horizontal warning range of the second aircraft relative to the first aircraft and the vertical warning range of the second aircraft relative to the first aircraft, and displaying the three-dimensional warning range based on the first aircraft, includes: Based on the position of the first aircraft and in combination with the flight clearance range, the reference range of the three-dimensional traffic warning is drawn. The horizontal alarm range is plotted on the reference range of the three-dimensional traffic alarm based on the horizontal alarm range. The vertical alarm range is plotted on the reference range of the three-dimensional traffic alarm based on the vertical alarm range; The two intersection points of the horizontal alarm range and the reference range of the three-dimensional traffic alarm, and the two intersection points of the vertical alarm range and the reference range of the three-dimensional traffic alarm are taken as the four vertices of the bottom surface of the three-dimensional warning range; Based on the four vertices of the bottom surface of the three-dimensional warning range, draw an arc-shaped surface within the range of the four vertices and conforming to the surface of the reference range of the three-dimensional traffic warning, and use the arc-shaped surface as the bottom surface of the three-dimensional warning range. Draw lines connecting the four vertices to the position of the first aircraft to obtain four connecting lines. The area constructed by connecting the four lines and the bottom surface of the three-dimensional warning range is defined as the three-dimensional warning range, and the three-dimensional warning range is displayed.

[0010] In one possible implementation, the speeds of the first and second aircraft are based on the wind speed and direction, after correcting for their own flight speeds. The determination of the horizontal warning range of the second aircraft relative to the first aircraft based on the minimum horizontal distance, the straight-line distance between the first and second aircraft in the horizontal projection, the angle between the relative velocities of the first and second aircraft in the horizontal projection, the horizontal heading of the first aircraft, and the maximum horizontal maneuver angle in the horizontal maneuver characteristics includes: Based on the minimum horizontal distance, the straight-line distance between the first and second aircraft on the horizontal projection, the angle between the relative velocities of the first and second aircraft on the horizontal projection, the horizontal heading of the first aircraft, the maximum horizontal maneuver angle in the horizontal maneuver characteristics, the height and position of fixed obstacles, meteorological information, and no-fly zones, the horizontal warning range of the second aircraft relative to the first aircraft is determined. The determination of the vertical warning range of the second aircraft relative to the first aircraft based on the minimum vertical distance, the straight-line distance between the first and second aircraft in the vertical projection, the angle between the relative velocities of the first and second aircraft in the vertical projection, the pitch angle of the first aircraft, and the maximum vertical maneuver angle in the vertical maneuver characteristics includes: Based on the minimum vertical distance, the straight-line distance between the first and second aircraft on the vertical projection, the angle between the relative velocities of the first and second aircraft on the vertical projection, the pitch angle of the first aircraft, the maximum vertical maneuver angle in the vertical maneuver characteristics, the height and position of fixed obstacles, meteorological information, and no-fly zones, the vertical warning range of the second aircraft relative to the first aircraft is determined.

[0011] In one possible implementation, the method further includes: The warning distance is determined based on the three-dimensional warning range, the warning time and speed of the first aircraft, and the geometric relationship between the three-dimensional warning range and the distance.

[0012] One possible implementation also includes: The three-dimensional warning range, alarm range, and alert range are displayed in a distinctive manner; The alarm range is the range outside the three-dimensional stereoscopic warning range within the reference range of the three-dimensional traffic alarm. The warning range is a preset range located outside the alarm range.

[0013] Secondly, embodiments of this application provide an electronic device, including a memory and a processor; The memory is used to store computer programs; The processor is configured to implement the airborne traffic warning method described in any one of the first aspects when executing the computer program.

[0014] Thirdly, embodiments of this application provide a computer-readable storage medium, characterized in that the storage medium stores a computer program, which, when executed by a processor, implements the airborne traffic alarm method described in any one of the first aspects.

[0015] The beneficial effects of the airborne traffic warning method in this application embodiment are: By determining the horizontal and vertical alarm ranges of the second aircraft relative to the first aircraft, and then determining the three-dimensional warning range based on the horizontal and vertical alarm ranges, alarms in both the horizontal and vertical directions are taken into account, thereby ensuring flight safety.

[0016] Furthermore, when the minimum horizontal distance is less than the flight airspace clearance and the first flight time is less than the minimum maneuvering time, the horizontal alarm range of the second aircraft relative to the first aircraft is determined. When the minimum vertical distance is less than the flight airspace clearance and the second flight time is less than the minimum maneuvering time, the vertical alarm range of the second aircraft relative to the first aircraft is determined. This dual judgment based on time and distance can filter out non-emergency risk scenarios, improving alarm efficiency and timeliness.

[0017] Furthermore, by incorporating the relative speed angle, heading / pitch angle, and maximum maneuver angle, the horizontal and vertical warning ranges are defined to better align with the actual maneuverability and motion of the first aircraft, ensuring a high degree of match between the warning boundaries and the actual risk areas.

[0018] Furthermore, based on the three-dimensional warning range displayed by the first aircraft, it can provide the crew with an intuitive and comprehensive risk space perception, enabling the crew to quickly determine the location and range of potential collision risks of the second aircraft, buy time for maneuver avoidance decisions, and quickly leave the warning area, thereby greatly improving flight safety. Attached Figure Description

[0019] Figure 1 A flowchart illustrating an airborne traffic alarm method provided in an embodiment of this application; Figure 2 A schematic diagram illustrating the construction of a three-dimensional warning range provided in an embodiment of this application; Figure 3 A schematic diagram of the first and second aircraft in horizontal projection provided for embodiments of this application; Figure 4 A flowchart illustrating the process of determining the range of a horizontal alarm provided in an embodiment of this application; Figure 5 A schematic diagram showing the relative velocity angle between the first aircraft and the second aircraft at the minimum horizontal distance after the first aircraft adjusts its flight direction, as provided in the embodiments of this application. Figure 6 A flowchart illustrating the display of a three-dimensional warning range provided in an embodiment of this application; Figure 7 A schematic diagram illustrating the display status of three ranges in the horizontal direction as provided in an embodiment of this application; Figure 8 The reference range for the three-dimensional traffic alarm provided in the embodiments of this application; Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0020] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0021] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0022] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0023] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0024] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0025] Figure 1 This is a flowchart illustrating an airborne traffic warning method provided in an embodiment of this application. The method can be executed by a processor in a first aircraft, and this embodiment of the application does not impose any special limitations on it.

[0026] Below, in conjunction with Figure 1 and Figure 2 The method is described below and may include the following steps: 110. Obtain the position, speed, airspace clearance, minimum maneuver time, horizontal maneuver characteristics, vertical maneuver characteristics, horizontal heading, pitch angle of the first aircraft, and the position and speed of the second aircraft.

[0027] The position and velocity of the second spacecraft are collected by relevant systems within the second spacecraft and transmitted to the first spacecraft.

[0028] The position, speed, flight clearance, minimum maneuver time, horizontal maneuver characteristics, vertical maneuver characteristics, horizontal heading, and pitch angle of the first aircraft can be collected by relevant systems within the first aircraft.

[0029] Flight clearance range refers to the minimum safe distance from other aircraft in all directions centered on the first aircraft. Minimum maneuver time refers to the minimum maneuver time required for the first aircraft to escape danger.

[0030] 120. Based on the position and velocity of the first aircraft and the position and velocity of the second aircraft, determine the position and velocity of the first aircraft and the second aircraft on the horizontal projection, respectively.

[0031] By projecting the position and velocity of the first aircraft horizontally, we can obtain the position and velocity of the first aircraft on the horizontal projection.

[0032] By projecting the position and velocity of the second aircraft horizontally, we can obtain the position and velocity of the second aircraft on the horizontal projection.

[0033] 130. Determine the minimum horizontal distance and the first flight time based on the position and speed of the first and second aircraft on the horizontal projection.

[0034] Among them, the minimum horizontal distance refers to the minimum horizontal distance between the first and second aircraft, and the first flight time refers to the minimum horizontal distance between the first and second aircraft after the first flight time has elapsed from the current moment.

[0035] For example, the minimum horizontal distance can be determined using the following formula: s=Rsinα Where R is the straight-line distance between the first and second aircraft on the horizontal projection, α is the angle between the relative velocities of the first and second aircraft on the horizontal projection, and s is the minimum horizontal distance. The straight-line distance between the first and second aircraft on the horizontal projection is determined based on their positions on the horizontal projection, and the angle between their relative velocities on the horizontal projection is determined based on their velocities on the horizontal projection.

[0036] The first flight time can be determined using the following formula: t=Rcosα / │V1│ Where t is the first flight time, and V1 is the magnitude of the relative velocity between the first and second aircraft on the horizontal projection. The magnitude of the relative velocity between the first and second aircraft on the horizontal projection is determined based on the velocities of the first and second aircraft on the horizontal projection.

[0037] Figure 3 A schematic diagram of the first and second aircraft in horizontal projection provided for embodiments of this application. Figure 3 The following information is provided: the straight-line distance R between the first and second aircraft on the horizontal projection, the minimum horizontal distance s, the angle α between the relative velocities of the first and second aircraft on the horizontal projection, and the flight clearance range D.

[0038] 140. When the minimum horizontal distance is less than the flight clearance range and the first flight time is less than the minimum maneuver time, the horizontal warning range of the second aircraft relative to the first aircraft is determined based on the minimum horizontal distance, the straight-line distance between the first aircraft and the second aircraft on the horizontal projection, the angle between the relative velocities of the first aircraft and the second aircraft on the horizontal projection, the horizontal heading of the first aircraft, and the maximum horizontal maneuver angle in the horizontal maneuver characteristics.

[0039] If the minimum horizontal distance is less than the flight clearance and the first flight time is less than the minimum maneuver time, it indicates that the second aircraft poses a danger to the first aircraft, and it is necessary to determine the horizontal warning range of the second aircraft relative to the first aircraft. The determination of the horizontal warning range will be explained below and will not be repeated here.

[0040] 150. Based on the position and velocity of the first aircraft and the position and velocity of the second aircraft, determine the position and velocity of the first aircraft and the second aircraft on the vertical projection, respectively.

[0041] 160. Determine the minimum vertical distance and the second flight time based on the position and velocity of the first and second aircraft in the vertical projection.

[0042] Among them, the minimum vertical distance refers to the minimum vertical distance between the first and second aircraft, and the second flight time refers to the interval between the first and second aircraft after the second flight time starting from the current moment, which is the minimum vertical distance.

[0043] The principle for determining the minimum vertical distance and the second flight time can be found in the relevant principle of 130 above, the difference being that the data are all replaced with data on the vertical projection.

[0044] 170. When the minimum vertical distance is less than the flight clearance range and the second flight time is less than the minimum maneuver time, the vertical warning range of the second aircraft relative to the first aircraft is determined based on the minimum vertical distance, the straight-line distance between the first aircraft and the second aircraft on the vertical projection, the angle between the relative velocities of the first aircraft and the second aircraft on the vertical projection, the pitch angle of the first aircraft, and the maximum vertical maneuver angle in the vertical maneuver characteristics.

[0045] If the minimum vertical distance is less than the flight clearance and the second flight time is less than the minimum maneuver time, it indicates that the second aircraft poses a danger to the first aircraft, and it is necessary to determine the vertical warning range of the second aircraft relative to the first aircraft. The determination of the vertical warning range will be explained below and will not be repeated here.

[0046] 180. Based on the horizontal alarm range of the second aircraft relative to the first aircraft and the vertical alarm range of the second aircraft relative to the first aircraft, determine the three-dimensional warning range and display the three-dimensional warning range based on the first aircraft.

[0047] As can be seen from the above, by determining the horizontal and vertical alarm ranges of the second aircraft relative to the first aircraft, and then determining the three-dimensional warning range based on the horizontal and vertical alarm ranges, alarms in both the horizontal and vertical directions are taken into account, thereby ensuring flight safety.

[0048] Furthermore, when the minimum horizontal distance is less than the flight airspace clearance and the first flight time is less than the minimum maneuvering time, the horizontal alarm range of the second aircraft relative to the first aircraft is determined. When the minimum vertical distance is less than the flight airspace clearance and the second flight time is less than the minimum maneuvering time, the vertical alarm range of the second aircraft relative to the first aircraft is determined. This dual judgment based on time and distance can filter out non-emergency risk scenarios, improving alarm efficiency and timeliness.

[0049] Furthermore, by incorporating the relative speed angle, heading / pitch angle, and maximum maneuver angle, the horizontal and vertical warning ranges are defined to better align with the actual maneuverability and motion of the first aircraft, ensuring a high degree of match between the warning boundaries and the actual risk areas.

[0050] Furthermore, based on the three-dimensional warning range displayed by the first aircraft, it can provide the crew with an intuitive and comprehensive risk space perception, enabling the crew to quickly determine the location and range of potential collision risks of the second aircraft, buy time for maneuver avoidance decisions, and quickly leave the warning area, thereby greatly improving flight safety.

[0051] Figure 4 A flowchart illustrating the process of determining the level alarm range provided in this application embodiment is shown below. Figure 4 As shown, it includes the following steps: 410. Based on the minimum horizontal distance and the straight-line distance between the first and second aircraft on the horizontal projection, determine the relative velocity angle between the first aircraft and the second aircraft when the first aircraft adjusts its flight direction and is at the minimum horizontal distance.

[0052] For example, the relative velocity angle between the first aircraft and the second aircraft at the minimum horizontal distance after the first aircraft adjusts its flight direction can be determined according to the following formula: λ = arcsin(s / R) Where λ is the relative velocity angle between the first aircraft and the second aircraft at the minimum horizontal distance after the first aircraft adjusts its flight direction, s is the minimum horizontal distance, and R is the straight-line distance between the first aircraft and the second aircraft on the horizontal projection.

[0053] like Figure 5 As shown, λ, determined in the above manner, has two values, λ1 and λ2, and satisfies λ1 < α < λ2.

[0054] 420. Based on the relative velocity angle between the first aircraft and the second aircraft at the minimum horizontal distance after the first aircraft adjusts its flight direction, and the relative velocity angle between the first aircraft and the second aircraft on the horizontal projection, determine the horizontal leftward maneuverability angle and the horizontal rightward maneuverability angle.

[0055] Specifically, the horizontal leftward maneuvering angle is α-λ1, and the horizontal rightward maneuvering angle is λ.2- α.

[0056] 430. Based on the horizontal leftward maneuverability angle, the horizontal rightward maneuverability angle, the horizontal heading of the first aircraft, and the maximum horizontal maneuverability angle in the horizontal maneuverability characteristics, determine the horizontal warning range of the second aircraft relative to the first aircraft.

[0057] For example, 430 can be implemented as follows: The initial horizontal warning range is determined based on the horizontal leftward maneuverability angle, the horizontal rightward maneuverability angle, and the horizontal heading of the first aircraft.

[0058] Specifically, the initial horizontal warning range is (H-(α-λ1), H+(λ2-α)), where H is the horizontal heading of the first aircraft.

[0059] When both the horizontal leftward maneuverability angle and the horizontal rightward maneuverability angle are less than or equal to the maximum horizontal maneuverability angle, the initial horizontal alarm range is determined as the horizontal alarm range.

[0060] When the horizontal leftward maneuverability angle is greater than the maximum horizontal maneuverability angle, the left starting point in the initial horizontal alarm range is corrected to obtain the horizontal alarm range.

[0061] Specifically, the left starting point in the initial horizontal alarm range is corrected by shifting it 90° to the right. The corrected left starting point is (α-λ1)+90°. Thus, the horizontal alarm range is ((α-λ1)+90°, H+( ... 2- α).

[0062] When the horizontal rightward maneuverable angle is greater than the maximum horizontal maneuverable angle, the right starting point in the initial horizontal alarm range is corrected to obtain the horizontal alarm range.

[0063] Specifically, the right starting point in the initial horizontal alarm range is corrected by shifting it 90° to the left. The corrected right starting point is: (λ) 2- α)-90°, so the horizontal alarm range is (H-(α-λ1), (λ2-α)-90°).

[0064] When both the horizontal leftward maneuverability angle and the horizontal rightward maneuverability angle are greater than the maximum horizontal maneuverability angle, the left and right starting points of the initial horizontal alarm range are corrected to obtain the horizontal alarm range.

[0065] Specifically, the horizontal alarm range is ((α-λ1)+90°, (λ 2- α) -90°).

[0066] The process of determining the vertical alarm range is explained below.

[0067] First, based on the minimum vertical distance and the straight-line distance between the first and second aircraft on the vertical projection, determine the relative velocity angle between the first aircraft and the second aircraft when the minimum vertical distance is reached after the first aircraft adjusts its flight direction.

[0068] It should be noted that the underlying principle can be found above, and no special limitations are made here.

[0069] Similarly, the relative velocity angle between the first aircraft and the second aircraft at the minimum perpendicular distance after the first aircraft adjusts its flight direction has two values, λ3 and λ4. Where λ3 < β < λ4.

[0070] Then, based on the relative velocity angle between the first aircraft and the second aircraft at the minimum vertical distance after the first aircraft adjusts its flight direction, and the relative velocity angle between the first aircraft and the second aircraft on the vertical projection, the vertically downward maneuverable angle and the vertically upward maneuverable angle are determined.

[0071] Specifically, the vertical downward maneuvering angle is β-λ3, and the vertical upward maneuvering angle is λ4-β.

[0072] Next, based on the vertical downward maneuverability angle, the vertical upward maneuverability angle, the pitch angle of the first aircraft, and the maximum vertical maneuverability angle in the vertical maneuverability characteristics, the vertical warning range of the second aircraft relative to the first aircraft is determined.

[0073] The specific implementation method is as follows: The initial vertical warning range is determined based on the vertical downward maneuverability angle, the vertical upward maneuverability angle, and the pitch angle of the first aircraft.

[0074] Specifically, the initial vertical warning range is (P-(β-λ3), P+(λ4-β)), where P is the pitch angle of the first aircraft.

[0075] When both the vertical downward maneuverability angle and the vertical upward maneuverability angle are less than or equal to the maximum vertical maneuverability angle, the initial vertical alarm range is determined as the vertical alarm range.

[0076] When the vertical downward maneuverable angle is greater than the maximum vertical maneuver angle, the lower starting point in the initial vertical alarm range is corrected to obtain the vertical alarm range.

[0077] Specifically, the vertical alarm range is ((β-λ3)+90°, P+(λ4-β)).

[0078] When the vertically upward maneuverable angle is greater than the maximum vertical maneuverable angle, the upper starting point in the initial vertical alarm range is corrected to obtain the vertical alarm range.

[0079] Specifically, the vertical alarm range is (P-(β-λ3), (λ4-β)-90°).

[0080] When both the vertical downward maneuvering angle and the vertical upward maneuvering angle are greater than the maximum vertical maneuvering angle, the upper and lower starting points in the initial vertical alarm range are corrected to obtain the vertical alarm range.

[0081] Specifically, the vertical alarm range is ((β-λ3)+90°, (λ4-β)-90°).

[0082] Figure 6 This is a flowchart illustrating the display of a three-dimensional warning range provided in an embodiment of this application, such as... Figure 6 As shown, it includes the following steps: 601. Using the position of the first aircraft as a reference and in conjunction with the flight clearance range, draw the reference range for the three-dimensional traffic warning. That is, with the position of the first aircraft as the center (i.e., the reference) and the flight clearance range as the radius, draw a sphere, which is the reference range for the three-dimensional traffic warning.

[0083] It should be noted that an icon of an aircraft can be drawn at the reference position. The aircraft icon can point directly forward or to the right. This application does not impose any special restrictions on this.

[0084] The reference range for three-dimensional traffic alerts may include heading and altitude scales.

[0085] 602. Draw the horizontal alarm range on the baseline range of the three-dimensional traffic alarm based on the horizontal alarm range.

[0086] 603. Draw the vertical alarm range on the baseline range of the three-dimensional traffic alarm based on the vertical alarm range.

[0087] The horizontal alarm range, vertical alarm range, and reference range of three-dimensional traffic alarms can be colored differently for distinctive display.

[0088] 604. The two intersection points of the horizontal alarm range and the reference range of the three-dimensional traffic alarm, and the two intersection points of the vertical alarm range and the reference range of the three-dimensional traffic alarm are taken as the four vertices of the bottom surface of the three-dimensional warning range.

[0089] 605. Based on the four vertices of the bottom surface of the three-dimensional warning range, draw an arc-shaped surface within the range of the four vertices that is in contact with the surface of the reference range of the three-dimensional traffic warning, and use the arc-shaped surface as the bottom surface of the three-dimensional warning range. Draw lines connecting the four vertices to the position of the first aircraft to obtain four connecting lines.

[0090] 606. Define the area constructed by connecting the four lines with the bottom surface of the 3D warning range as the 3D warning range, and display the 3D warning range.

[0091] For example, the three-dimensional warning range can be a cone, or it can be an elliptical cone, a sphere, a cylinder, etc. This application embodiment does not make any special limitation on this, and the specific range can be set according to the application scenario, requirements, etc.

[0092] In some embodiments, the speeds of the first and second aircraft are corrected for their own flight speeds based on wind speed and direction. This takes into account the influence of wind speed and direction, improving the accuracy of determining the three-dimensional warning range.

[0093] In some embodiments, the horizontal alarm range of the second aircraft relative to the first aircraft can also be determined in the following manner: The horizontal warning range of the second aircraft relative to the first aircraft is determined based on the minimum horizontal distance, the straight-line distance between the first and second aircraft on the horizontal projection, the angle between the relative velocities of the first and second aircraft on the horizontal projection, the horizontal heading of the first aircraft, the maximum horizontal maneuver angle in the horizontal maneuver characteristics, the height and position of fixed obstacles, meteorological information and no-fly zones.

[0094] That is, after determining the horizontal warning range in the above manner, the horizontal warning range determined in the above manner can be modified according to the height and position of fixed obstacles, meteorological information (based on meteorological information to determine the no-fly zone) and the no-fly zone, so as to obtain the final horizontal warning range.

[0095] Clearly, by incorporating the height and location of fixed obstacles, meteorological information, and the impact of no-fly zones on the warning range, the final determined horizontal warning range is more accurate and better suited to the actual flight environment.

[0096] In some embodiments, the vertical alarm range of the second aircraft relative to the first aircraft can also be determined in the following manner: Based on the minimum vertical distance, the straight-line distance between the first and second aircraft on the vertical projection, the angle between the relative velocities of the first and second aircraft on the vertical projection, the pitch angle of the first aircraft, the maximum vertical maneuver angle in the vertical maneuver characteristics, the height and position of fixed obstacles, meteorological information, and no-fly zones, the vertical warning range of the second aircraft relative to the first aircraft is determined.

[0097] That is, after determining the vertical alarm range in the above manner, the vertical alarm range determined in the above manner can be corrected according to the height and position of fixed obstacles, meteorological information (i.e., determining the no-fly zone based on meteorological information) and the no-fly zone, so as to obtain the final vertical alarm range.

[0098] Clearly, by incorporating the height and location of fixed obstacles, meteorological information, and the influence of no-fly zones on the warning range, the final determined vertical warning range is more accurate and better suited to the actual flight environment.

[0099] In some embodiments, the method may further include: determining a warning distance based on the three-dimensional warning range, the warning time and speed of the first aircraft, and in combination with the geometric relationship between the three-dimensional warning range and the distance.

[0100] In some embodiments, the method further includes: distinguishably displaying the three-dimensional warning range, alarm range, and alert range; The alarm range is the area outside the three-dimensional warning range within the baseline range of the three-dimensional traffic alarm. The warning range is a preset range located outside the alarm range.

[0101] It should be noted that the warning range can also be determined by combining the warning range with the above-mentioned principle for determining the three-dimensional warning range.

[0102] Distinctive display can refer to using different colors, different transparency, etc., to improve the readability of the display.

[0103] For example, such as Figure 7 The display status of three ranges in the horizontal direction is shown, and obviously, these three ranges are displayed by different colors.

[0104] For example, Figure 8 The reference range, horizontal alarm range, and vertical alarm range of the three-dimensional traffic alarm are shown. Among them, the reference range of the three-dimensional traffic alarm is the sphere indicated by 901, the horizontal alarm range is the sector indicated by 904, the vertical alarm range is the sector indicated by 903, 906 is the first aircraft, 902 is the altitude scale, and 905 is the heading scale.

[0105] like Figure 9As shown, an electronic device 900 provided in this embodiment of the invention may include a processor 910 and a memory 920; the memory 920 is used to store a computer program; the processor 910 is used to implement an airborne traffic alarm method as described above when the computer program is executed.

[0106] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements an airborne traffic alarm method as described above.

[0107] The present invention will now describe an electronic device 900 that can serve as a server or client of the present invention, which is an example of a hardware device that can be applied to various aspects of the present invention. Electronic device 900 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0108] Electronic device 900 includes a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or a computer program loaded from a storage unit into random access memory (RAM). The RAM may also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0109] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0110] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An airborne traffic warning method, characterized in that, include: Obtain the position, speed, airspace clearance, minimum maneuver time, horizontal maneuver characteristics, vertical maneuver characteristics, horizontal heading, pitch angle of the first aircraft, and the position and speed of the second aircraft; Based on the position and velocity of the first aircraft and the position and velocity of the second aircraft, determine the position and velocity of the first aircraft and the second aircraft on the horizontal projection, respectively; Based on the position and speed of the first and second aircraft in the horizontal projection, determine the minimum horizontal distance and the first flight time; Wherein, the minimum horizontal distance refers to the minimum horizontal distance between the first aircraft and the second aircraft, and the first flight time refers to the horizontal distance interval between the first aircraft and the second aircraft after the first flight time has elapsed from the current moment; When the minimum horizontal distance is less than the flight clearance range and the first flight time is less than the minimum maneuver time, the horizontal warning range of the second aircraft relative to the first aircraft is determined based on the minimum horizontal distance, the straight-line distance between the first aircraft and the second aircraft on the horizontal projection, the angle between the relative velocities of the first aircraft and the second aircraft on the horizontal projection, the horizontal heading of the first aircraft, and the maximum horizontal maneuver angle in the horizontal maneuver characteristics. Based on the position and velocity of the first aircraft and the position and velocity of the second aircraft, determine the position and velocity of the first aircraft and the second aircraft in the vertical projection, respectively; Based on the position and velocity of the first and second aircraft in the vertical projection, determine the minimum vertical distance and the second flight time; Wherein, the minimum vertical distance refers to the minimum vertical distance between the first aircraft and the second aircraft, and the second flight time refers to the interval between the vertical distances between the first aircraft and the second aircraft after the second flight time has elapsed from the current moment. When the minimum vertical distance is less than the flight clearance range and the second flight time is less than the minimum maneuver time, the vertical warning range of the second aircraft relative to the first aircraft is determined based on the minimum vertical distance, the straight-line distance between the first aircraft and the second aircraft on the vertical projection, the angle between the relative velocities of the first aircraft and the second aircraft on the vertical projection, the pitch angle of the first aircraft, and the maximum vertical maneuver angle in the vertical maneuver characteristics. Based on the horizontal alarm range of the second aircraft relative to the first aircraft and the vertical alarm range of the second aircraft relative to the first aircraft, a three-dimensional warning range is determined, and the three-dimensional warning range is displayed based on the first aircraft.

2. The method according to claim 1, characterized in that, The step of determining the minimum horizontal distance and the first flight time based on the positions and velocities of the first and second aircraft in the horizontal projection includes: The minimum horizontal distance is determined using the following formula: s=Rsinα Where R is the straight-line distance between the first aircraft and the second aircraft on the horizontal projection, α is the angle between the relative velocities of the first aircraft and the second aircraft on the horizontal projection, s is the minimum horizontal distance, the straight-line distance between the first aircraft and the second aircraft on the horizontal projection is determined based on the positions of the first aircraft and the second aircraft on the horizontal projection, and the angle between the relative velocities of the first aircraft and the second aircraft on the horizontal projection is determined based on the velocities of the first aircraft and the second aircraft on the horizontal projection; The first flight time is determined using the following formula: t=Rcosα / │V1│ Where t is the first flight time, and V1 is the magnitude of the relative velocity of the first aircraft and the second aircraft on the horizontal projection. The magnitude of the relative velocity of the first aircraft and the second aircraft on the horizontal projection is determined based on the velocities of the first aircraft and the second aircraft on the horizontal projection.

3. The method according to claim 1, characterized in that, The determination of the horizontal warning range of the second aircraft relative to the first aircraft based on the minimum horizontal distance, the straight-line distance between the first and second aircraft in the horizontal projection, the angle between the relative velocities of the first and second aircraft in the horizontal projection, the horizontal heading of the first aircraft, and the maximum horizontal maneuver angle in the horizontal maneuver characteristics includes: Based on the minimum horizontal distance and the straight-line distance between the first aircraft and the second aircraft on the horizontal projection, determine the relative velocity angle between the first aircraft and the second aircraft when the minimum horizontal distance is reached after the first aircraft adjusts its flight direction. Based on the relative velocity angle between the first aircraft and the second aircraft at the minimum horizontal distance after the first aircraft adjusts its flight direction, and the relative velocity angle between the first aircraft and the second aircraft on the horizontal projection, determine the horizontal leftward maneuverability angle and the horizontal rightward maneuverability angle. The horizontal warning range of the second aircraft relative to the first aircraft is determined based on the horizontal leftward maneuverability angle, the horizontal rightward maneuverability angle, the horizontal heading of the first aircraft, and the maximum horizontal maneuverability angle in the horizontal maneuverability characteristics.

4. The method according to claim 3, characterized in that, The step of determining the horizontal warning range of the second aircraft relative to the first aircraft based on the horizontal leftward maneuverability angle, the horizontal rightward maneuverability angle, the horizontal heading of the first aircraft, and the maximum horizontal maneuverability angle in the horizontal maneuverability characteristics includes: The initial horizontal warning range is determined based on the horizontal leftward maneuverability angle, the horizontal rightward maneuverability angle, and the horizontal heading of the first aircraft. When both the horizontal leftward maneuvering angle and the horizontal rightward maneuvering angle are less than or equal to the maximum horizontal maneuvering angle, the initial horizontal alarm range is determined as the horizontal alarm range. If the horizontal leftward maneuverable angle is greater than the horizontal maximum maneuver angle, the left starting point in the initial horizontal alarm range is corrected to obtain the horizontal alarm range. If the horizontal rightward maneuverable angle is greater than the horizontal maximum maneuverable angle, the right starting point in the initial horizontal alarm range is corrected to obtain the horizontal alarm range. When both the horizontal leftward maneuvering angle and the horizontal rightward maneuvering angle are greater than the maximum horizontal maneuvering angle, the left and right starting points of the initial horizontal alarm range are corrected to obtain the horizontal alarm range.

5. The method according to claim 1, characterized in that, The step of determining a three-dimensional warning range based on the horizontal warning range of the second aircraft relative to the first aircraft and the vertical warning range of the second aircraft relative to the first aircraft, and displaying the three-dimensional warning range based on the first aircraft, includes: Based on the position of the first aircraft and in combination with the flight clearance range, the reference range for three-dimensional traffic warning is drawn. The horizontal alarm range is plotted on the reference range of the three-dimensional traffic alarm based on the horizontal alarm range. The vertical alarm range is plotted on the reference range of the three-dimensional traffic alarm based on the vertical alarm range; The two intersection points of the horizontal alarm range and the reference range of the three-dimensional traffic alarm, and the two intersection points of the vertical alarm range and the reference range of the three-dimensional traffic alarm are taken as the four vertices of the bottom surface of the three-dimensional warning range; Based on the four vertices of the bottom surface of the three-dimensional warning range, draw an arc-shaped surface within the range of the four vertices and conforming to the surface of the reference range of the three-dimensional traffic warning, and use the arc-shaped surface as the bottom surface of the three-dimensional warning range. Draw lines connecting the four vertices to the position of the first aircraft to obtain four connecting lines. The area constructed by connecting the four lines and the bottom surface of the three-dimensional warning range is defined as the three-dimensional warning range, and the three-dimensional warning range is displayed.

6. The method according to claim 1, characterized in that, The speeds of the first and second aircraft are based on the corrected speeds of the first and second aircraft after adjusting for wind speed and direction. The determination of the horizontal warning range of the second aircraft relative to the first aircraft based on the minimum horizontal distance, the straight-line distance between the first and second aircraft in the horizontal projection, the angle between the relative velocities of the first and second aircraft in the horizontal projection, the horizontal heading of the first aircraft, and the maximum horizontal maneuver angle in the horizontal maneuver characteristics includes: Based on the minimum horizontal distance, the straight-line distance between the first and second aircraft on the horizontal projection, the angle between the relative velocities of the first and second aircraft on the horizontal projection, the horizontal heading of the first aircraft, the maximum horizontal maneuver angle in the horizontal maneuver characteristics, the height and position of fixed obstacles, meteorological information, and no-fly zones, the horizontal warning range of the second aircraft relative to the first aircraft is determined. The determination of the vertical warning range of the second aircraft relative to the first aircraft based on the minimum vertical distance, the straight-line distance between the first and second aircraft in the vertical projection, the angle between the relative velocities of the first and second aircraft in the vertical projection, the pitch angle of the first aircraft, and the maximum vertical maneuver angle in the vertical maneuver characteristics includes: Based on the minimum vertical distance, the straight-line distance between the first and second aircraft on the vertical projection, the angle between the relative velocities of the first and second aircraft on the vertical projection, the pitch angle of the first aircraft, the maximum vertical maneuver angle in the vertical maneuver characteristics, the height and position of fixed obstacles, meteorological information, and no-fly zones, the vertical warning range of the second aircraft relative to the first aircraft is determined.

7. The method according to claim 1, characterized in that, The method further includes: The warning distance is determined based on the three-dimensional warning range, the warning time and speed of the first aircraft, and the geometric relationship between the three-dimensional warning range and the distance.

8. The method according to claim 5, characterized in that, Also includes: The three-dimensional warning range, alarm range, and alert range are displayed in a distinctive manner; Wherein, the alarm range is the range outside the three-dimensional stereoscopic warning range in the reference range of the three-dimensional traffic alarm; The warning range is a preset range located outside the alarm range.

9. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the airborne traffic alarm method as described in any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the airborne traffic alarm method as described in any one of claims 1 to 8.

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