Target guidance display method and device, unmanned aerial vehicle interception system and storage medium

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a target guidance display method and device, an unmanned aerial vehicle interception system and a storage medium, and the method comprises the steps: obtaining the first position information of a first unmanned aerial vehicle and the second position information of a second unmanned aerial vehicle; determining a deviation angle, a horizontal projection distance and a vertical distance of the second unmanned aerial vehicle relative to the first unmanned aerial vehicle according to the first position information and the second position information; determining a target pitch angle of the first unmanned aerial vehicle flying to the current position of the second unmanned aerial vehicle according to the horizontal projection distance and the vertical distance; the target pitch angle, a dial comprising a plurality of scales and an indication mark pointing to the target scale in the dial are displayed on the display interface, so that a user controls the first unmanned aerial vehicle to fly based on data displayed on the display interface, the second unmanned aerial vehicle is intercepted through the first unmanned aerial vehicle, and different scales correspond to different azimuth angles; the azimuth angle corresponding to the target scale is equal to the offset angle. The unmanned aerial vehicle interception success rate can be improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a target guidance display method, device, a first UAV interception system, a second UAV interception system, and a storage medium. Background Technology

[0002] With the rapid development of drone technology, the use of drones has become very common. However, drones also bring a series of security risks, such as privacy violations and conflicts over flight zones. Therefore, effective detection and interception of drones is extremely important.

[0003] Because drones offer advantages such as flexible deployment, low cost, and easy precise control, and because they can identify and track target drones at close range, they can be intercepted. However, given that target drones are constantly in flight and their positions change rapidly, improving the success rate of interception is a problem that needs to be solved. Summary of the Invention

[0004] In view of the above problems, this application provides a target guidance display method, device, first drone interception system, second drone interception system and storage medium to solve the problem of the difficulty in intercepting dynamically moving target drones in the prior art.

[0005] According to one aspect of the embodiments of this application, a target guidance display method is provided. The method includes: acquiring first position information of a first drone and second position information of a second drone at a current moment; determining, based on the first position information and the second position information, the offset angle, horizontal projection distance, and vertical distance of the second drone relative to the first drone; determining, based on the horizontal projection distance and the vertical distance, a target pitch angle from the first drone to the current position of the second drone, wherein the current position of the second drone is the position indicated by the second position information; displaying, on a display interface, the target pitch angle, a dial including multiple scales, and an indicator pointing to the target scale on the dial, so that a user controls the flight of the first drone based on the data displayed on the display interface, so as to intercept the second drone through the first drone, wherein different scales correspond to different azimuth angles, and the azimuth angle corresponding to the target scale is equal to the offset angle.

[0006] In one optional approach, displaying the target pitch angle on the display interface includes: displaying a vertical axis on the display interface, wherein the vertical axis includes multiple pitch angle scales, and the multiple pitch angle scales correspond one-to-one with multiple pitch angles; displaying the target pitch angle at a preset position on the vertical axis, the target pitch angle corresponding to the target pitch angle scale; if the target pitch angle exceeds a pitch angle threshold, displaying a first identifier on the display interface to indicate that the target pitch angle exceeds the pitch angle threshold.

[0007] In an optional embodiment, the method further includes: displaying the horizontal projection distance near the indicator; and, if the indicator exceeds the target area in the display interface, displaying a second indicator in the display interface to indicate that the indicator exceeds the target area, wherein different positions in the display interface correspond to different physical positions in the world coordinate system, and the physical area corresponding to the target area is the area detected by the first UAV when its field of view angle is a first field of view angle.

[0008] In one optional approach, determining the offset angle of the second UAV relative to the first UAV based on the first position information and the second position information includes: establishing a reference coordinate system with the current position of the first UAV as a reference point, wherein the current position of the first UAV is the position indicated by the first position information; determining the position coordinates (x1, y1) of the second UAV in the reference coordinate system based on the first position information and the second position information; and using the formula θ=atan2(x1...y1...y2...y1 ... x0, (y1 The offset angle θ is determined by y0))×(180 / π), where (x0, y0) are the position coordinates of the first UAV in the reference coordinate system.

[0009] In one alternative embodiment, the indicator is an arrow with a three-dimensional display effect. Displaying the indicator pointing to a target scale on the dial on the display interface includes: determining a base point on the display interface; determining the depth of the arrow based on the horizontal projection distance; determining a target point on the display interface based on the offset angle and the depth, wherein the distance between the target point and the base point is equal to the depth, the angle between the line connecting the target point and the base point and the longitudinal line passing through the base point is equal to the offset angle, and the extension of the line connecting the target point and the base point passes through the target scale; and displaying the arrow pointing from the base point to the target point.

[0010] In one alternative embodiment, the arrow includes a torso and a head, the torso being trapezoidal and the head being a triangle formed by a first side, a second side, and a third side; displaying the arrow pointing from the base point to the target point includes: displaying the torso between the base point and the first point in the display interface, wherein the first point is the midpoint of the junction of the torso and the head, and the width of the torso gradually decreases along the direction of the arrow; displaying the head in the display interface, wherein the first side coincides with the top side of the torso, and the length of the first side is greater than the length of the top side, and the intersection of the second side and the third side is the target point.

[0011] In one alternative approach, displaying the torso between the base point and the first point in the display interface includes: determining a target interval to which the horizontal projection distance belongs in a plurality of preset intervals, wherein different preset intervals correspond to different numbers of torso segments; and displaying N sub-torso segments arranged along the direction of the arrow in the display interface, wherein N is equal to the number of sub-torso segments included in the torso corresponding to the target interval.

[0012] According to another aspect of the embodiments of this application, a target guidance display device is provided, including a display device, a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the target guidance display method as described above, and the display device is used to display the target pitch angle, the dial, and the indicator.

[0013] According to another aspect of the embodiments of this application, a first unmanned aerial vehicle (UAV) interception system is provided, including a first electronic device and a first UAV. The first UAV is configured to acquire first position information of the first UAV and second position information of the second UAV at the current moment. Based on the first and second position information, it determines the offset angle, horizontal projection distance, and vertical distance of the second UAV relative to the first UAV. Based on the horizontal projection distance and the vertical distance, it determines the target pitch angle of the first UAV flying to the current position of the second UAV. It transmits the target pitch angle and the offset angle to the first electronic device, wherein the current position of the second UAV is the position indicated by the second position information. The first electronic device is configured to receive the target pitch angle and the offset angle, and display the target pitch angle, a scale including multiple graduations, and an indicator pointing to the target graduation on the scale on a display interface, so that a user can control the flight of the first UAV based on the data displayed on the display interface to intercept the second UAV. Different graduations correspond to different azimuth angles, and the azimuth angle corresponding to the target graduation is equal to the offset angle.

[0014] According to another aspect of the embodiments of this application, a second drone interception system is provided, including a first drone and a second electronic device, wherein the second electronic device is a target guidance display device as described above; the first drone is used to determine the first location information and transmit the first location information to the second electronic device.

[0015] In one alternative approach, the first drone is used to determine the second location information and transmit the second location information to the second electronic device; or the second drone interception system further includes a drone detection device, which is used to detect and determine the second location information of the second drone and transmit the second location information to the second electronic device.

[0016] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the target guidance display method as described above.

[0017] In this embodiment, the position information of the first UAV and the second UAV is determined, and the offset angle of the second UAV relative to the first UAV and the target pitch angle of the first UAV flying to the current position of the second UAV are determined based on their position information. The target pitch angle is displayed on the display interface, and the offset angle of the second UAV relative to the first UAV is displayed intuitively on the display interface through a combination of indicator marks and dials. This allows the operator to intuitively and quickly grasp the spatial relative position and attitude of the second UAV without having to manually perform complex spatial coordinate calculations and orientation judgments. The operator can clearly understand the flight direction and pitch angle that need to be adjusted, thereby efficiently and accurately controlling the first UAV to complete the interception mission of the second UAV.

[0018] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0019] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 The illustration shows an application scenario provided by an embodiment of this application; Figure 2 A flowchart illustrating the target guidance display method provided in an embodiment of this application is shown; Figure 3 This document illustrates a flowchart of a process for displaying the pitch angle of a target on a display interface, as provided in an embodiment of this application. Figure 4 A schematic diagram of the display interface provided in an embodiment of this application is shown; Figure 5 A schematic diagram of the target guidance display device provided in an embodiment of this application is shown; Figure 6 A schematic diagram of a second drone interception system provided in an embodiment of this application is shown. Detailed Implementation

[0020] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein.

[0021] With the widespread adoption of drone technology, the security risks it poses are becoming increasingly prominent, necessitating the detection and interception of illegal drones. Utilizing the flexibility, low cost, and precise control of drones to intercept target drones is gradually becoming an important countermeasure. However, target drones are typically in high-speed, dynamic flight, which presents a significant challenge to interception. How to achieve accurate tracking and real-time coordination of high-speed moving targets to ensure the success rate of interception missions is a problem that needs to be solved.

[0022] To ensure a drone can successfully intercept a target drone, it needs to be relatively close to the target drone. Therefore, during the tracking process, if the drone can accurately control its flight direction and distance to maintain a certain distance from the target drone in a complex environment, it can intercept the target drone.

[0023] For ease of distinction, the drone used for interception will be referred to as the first drone, and the target drone to be intercepted will be referred to as the second drone. To successfully intercept the second drone using the first drone, this application proposes a target guidance display method. This method acquires the position information of both the first and second drones in real time, determines the offset angle of the second drone relative to the first drone, and the target pitch angle of the first drone flying to the current position of the second drone based on their position information. The target pitch angle is then displayed on a screen, and the offset angle is indicated by a combination of indicators (such as arrows) and a dial. This allows for intuitive control of the first drone to fly towards the second drone based on the data displayed on the screen, thus enabling successful interception of the second drone using the first drone.

[0024] Figure 1A schematic diagram illustrating an application scenario provided by an embodiment of this application is shown. For example... Figure 1 As shown, the target guidance display method provided in this application is applied to a first drone interception system 1. The first drone interception system 1 includes a first drone 11, which can be controlled by a user to intercept a second drone 12 (i.e., the target). To facilitate control of the flight direction of the first drone 11, the first drone interception system 1 also includes a first electronic device 13, which can be a remote control, mobile phone, tablet computer, or other electronic device capable of controlling the flight of the first drone 11. Figure 2 A flowchart illustrating the target guidance display method provided in an embodiment of this application is shown. Figure 1 and Figure 2 As shown, the method includes the following steps 110 to 140, wherein steps 110 to 130 are performed by the first drone 11 and step 140 is performed by the first electronic device 13.

[0025] Step 110: Determine the first position information of the first UAV 11 and the second position information of the second UAV 12 at the current moment.

[0026] The first UAV 11 can be equipped with a Global Positioning System (GPS), which allows it to determine its initial location information. This initial location information may include the three-dimensional spatial coordinates of the first UAV 11, namely longitude, latitude, and altitude, as well as a corresponding timestamp. The first UAV 11 can be equipped with a detection device (such as a lidar) to detect the second UAV 12's second location information. This second location information is similar to the first, including the second UAV 12's longitude, latitude, and altitude, as well as a corresponding timestamp.

[0027] Step 120: Based on the first position information and the second position information, determine the offset angle, horizontal projection distance and vertical distance of the second UAV 12 relative to the first UAV 11.

[0028] Specifically, the offset angle can be determined through the following steps a1 to a3.

[0029] Step a1: Establish a reference coordinate system with the current position of the first UAV 11 as the reference point.

[0030] In this step, the current position of the first UAV 11 is the position indicated by the first position information. Using the current spatial position of the first UAV 11 as a reference point, a local coordinate system is established with itself as the reference. By establishing a reference coordinate system centered on the first UAV 11 and dynamically changing with its attitude and position, it is easier to subsequently convert the absolute position information of the second UAV 12 into parameters such as orientation and distance relative to the first UAV 11. In this coordinate system, the coordinates of the first UAV 11 are (x0, y0), where both x0 and y0 are zero.

[0031] Step a2: Based on the first position information and the second position information, determine the position coordinates (x1, y1) of the second UAV 12 in the reference coordinate system.

[0032] Specifically, the second position information of the second UAV 12 is transformed into coordinates. Based on the latitude and longitude difference and altitude difference between the first UAV 11 and the second UAV 12, the second position information is projected and mapped onto the reference coordinate system. (x1, y1) are the coordinates of the current position of the second UAV 12 in the reference coordinate system. These coordinates intuitively reflect the spatial orientation and distance of the second UAV 12 relative to the first UAV 11.

[0033] Step a3: Determine the offset angle θ using the following formula (1).

[0034] θ=atan2(x1 x0, (y1 y0))×(180 / π)(1) In step 120, to determine the horizontal projection distance, the latitude and longitude of the first UAV 11 and the second UAV 12 can be transformed into the same Cartesian coordinate system using a specific map projection algorithm (such as Gauss-Kruger projection or Universal Transverse Mercator projection) to obtain their two-dimensional coordinates on that plane. Then, by applying the distance formula between two points in a plane, the straight-line distance between these two points can be calculated; this straight-line distance is the horizontal projection distance. To determine the vertical distance, the altitude of the second UAV 12 can be subtracted from the altitude of the first UAV 11. If the altitude value is greater than zero, it means the second UAV 12 is above the first UAV 11; if the altitude value is less than zero, it means the second UAV 12 is below the first UAV 11.

[0035] Step 130: Determine the target pitch angle of the first UAV 11 flying to the current position of the second UAV 12 based on the horizontal projection distance and the vertical distance.

[0036] The current position of the second drone 12 is the position indicated by the second position information. The target pitch angle is the angle at which the nose of the first drone 11 needs to be raised or lowered when flying from the first drone 11 to the current position of the second drone 12.

[0037] It is worth noting that after the first UAV 11 determines the target pitch angle and offset angle, in order to enable the first electronic device 13 to display the target pitch angle and offset angle so that the user can control the flight of the first UAV 11 based on the displayed data, so as to intercept the second UAV 12 through the first UAV 11, in this embodiment of the application, before step 140, the first UAV 11 also transmits the target pitch angle and offset angle to the first electronic device 13. After receiving the target pitch angle and offset angle, the first electronic device 13 executes the following step 140.

[0038] Step 140: Display the target pitch angle, a dial with multiple scales, and an indicator pointing to the target scale on the display interface, so that the user can control the flight of the first UAV 11 based on the data displayed on the display interface, so as to intercept the second UAV 12 through the first UAV 11.

[0039] As mentioned above, this step is performed by the first electronic device 13, that is, this step is to display the target pitch angle, a dial with multiple scales, and an indicator pointing to the target scale on the display interface of the electronic device 13.

[0040] Different scale markings correspond to different azimuth angles, and the azimuth angle corresponding to the target scale marking is equal to the offset angle. In some implementations, the target pitch angle can be displayed using numerical display (e.g., "Pitch: {target pitch angle}"), scale / axis display, graphic indicator display, or a combination of multiple methods.

[0041] Figure 3 This illustration shows a flowchart of displaying the target pitch angle on a display interface, as provided in an embodiment of this application. Figure 3 As shown, the target pitch angle can be displayed on the display interface through the following steps 141 to 144.

[0042] Step 141: Display the vertical axis on the display interface.

[0043] Figure 4 A schematic diagram of the display interface provided in an embodiment of this application is shown. Figure 4 As shown, the display interface shows a first vertical axis and a second vertical axis. Taking the first vertical axis as an example, the first vertical axis includes seven pitch angle scales, each corresponding to a different pitch angle, with a pitch angle interval of 5° between adjacent scales.

[0044] It is worth noting that this example uses two vertical axes and does not limit the number of vertical axes. In some embodiments, only one vertical axis may be displayed.

[0045] Step 142: Display the target pitch angle at a preset position on the target pitch angle scale on the vertical axis. The target pitch angle corresponds to the target pitch angle scale.

[0046] like Figure 4 As shown, this example illustrates the situation where the first UAV 11 and the second UAV 12 are at the same altitude. At this time, the target pitch angle is 0°, so 0° is displayed near the 0° mark on the first vertical axis. The preset position of the pitch angle scale can be any position near this pitch angle scale.

[0047] When the display interface shows multiple vertical axes, the target pitch angle can also be displayed near the target pitch angle scale on each vertical axis. Furthermore, Figure 4 The purpose of displaying two vertical axes on the interface is to define the current optimal field of view for the first drone, which will be explained later.

[0048] Step 143: Determine if the target pitch angle exceeds the pitch angle threshold. If yes, proceed to step 144; otherwise, end the process.

[0049] The pitch angle threshold can be an upper or lower limit value on the vertical axis. If the target pitch angle is greater than the upper limit or less than the lower limit value, then the target pitch angle is determined to exceed the pitch angle threshold. Figure 4 The target pitch angle is displayed near the target pitch angle scale on the first vertical axis, with an upper limit of 15° and a lower limit of -15°. Therefore, if the target pitch angle is greater than 15° or less than -15°, it is determined that the target pitch angle exceeds the pitch angle threshold.

[0050] Step 144: Display the first identifier on the display interface.

[0051] The first identifier can be a prominent dynamic pointer, a highlighted horizontal baseline, or a marker of a specific color, so that the operator can intuitively and quickly identify the target's pitch angle. If the target's pitch angle exceeds the pitch angle threshold, the first identifier is generated and displayed in this step. Figure 4 In the middle, the target's pitch angle is 0°, which does not exceed the upper and lower limits of the vertical axis, so the first identifier is not generated and displayed.

[0052] In step 140, after generating the dial and indicator, the dial and indicator are displayed on the display interface. Specifically, as follows... Figure 4As shown, the display interface shows a dial 20 with 13 graduations. Different graduations correspond to different azimuth angles, and preferably, the graduation corresponding to the current azimuth angle of the first UAV 11 is displayed in the center of the dial so as to observe the direction of the second UAV 12 relative to the first UAV 11. Figure 4 The scale corresponding to the character "N" in the figure is used to represent the current azimuth angle of the first UAV 11. The current azimuth angle of the first UAV shown in the figure is 0°, which means that the horizontal angle between the direction of the UAV's nose and the reference north direction is 0°.

[0053] In step 140, after displaying the dial, an indicator pointing to the target mark on the dial is generated and displayed on the display interface.

[0054] Wherein, the azimuth angle corresponding to the target scale on the dial is equal to the offset angle of the second UAV 12 relative to the first UAV 11 determined in step 120. The indicator can be an arrow, guide line, scale line, or symbol, etc. In this application, to improve the display effect, preferably, the indicator is as follows: Figure 4 Arrow 30 in the image has a 3D display effect. (Example:) Figure 4 As shown, if the interval between two adjacent graduations on the dial 20 is 5°, and the value of the offset angle determined in step 120 is 20° (that is, 20° east of north in the world coordinate system), then the target graduation is the fourth graduation to the right from the graduation corresponding to the 0° azimuth angle (that is, the graduation corresponding to true north). The direction pointed to by the green arrow 30 in the figure is 20° east of north. The position of the dial indicated by the arrow can be intuitively and quickly understood relative to the first UAV 11.

[0055] In this embodiment, the position information of the first UAV 11 and the second UAV 12 is determined, and the offset angle of the second UAV 12 relative to the first UAV 11 and the target pitch angle of the first UAV 11 flying to the current position of the second UAV 12 are determined based on their position information. The target pitch angle is displayed on the display interface, and the offset angle of the second UAV 12 relative to the first UAV 11 is displayed intuitively on the display interface through a combination of indicator marks and dials. This allows the operator to intuitively and quickly grasp the spatial relative position and attitude of the second UAV, without the need for complex spatial coordinate calculations and orientation judgments. The operator can clearly understand the flight direction and pitch angle that need to be adjusted, thereby efficiently and accurately controlling the first UAV 11 to complete the interception mission of the second UAV 12.

[0056] In some embodiments, the target guidance display method further includes the following steps b1 to b3.

[0057] Step b1: Display the horizontal projection distance near the indicator.

[0058] Taking arrow 30 as an example, in this step, the horizontal projection distance can be displayed near the end of arrow 30. The end of arrow 30 can be on the side pointing in the direction of arrow 30, or it can be on the opposite side. Figure 4 As shown, the horizontal projection distance between the first UAV 11 and the second UAV is 650m. Therefore, 650m is displayed near the end of arrow 30 so that the operator can intuitively know the horizontal projection distance between the first UAV 11 and the second UAV 12, thereby fully grasping the position information of the second UAV 12 and providing the operator with a key distance reference for judging the timing of intercepting the second UAV 12.

[0059] Step b2: Determine if the indicator is within the target area of ​​the display interface. If yes, proceed to step b3; otherwise, end the process.

[0060] In this context, different locations on the display interface correspond to different physical locations in the world coordinate system, and the physical area corresponding to the target area is the current optimal field of view range of the first UAV. For example... Figure 4 As shown, the area between the first and second vertical axes is the target area.

[0061] Step b3: Display a second identifier on the display interface to indicate that the indicator extends beyond the target area. Set a second identifier for arrow 30 and display the second identifier on the display interface.

[0062] The target area refers to the physical area detected by the first UAV 11 when its field of view is at a first field of view angle (e.g., between 120° and 150°). This area represents the optimal field of view of the first UAV 11. If the indicator is not within the target area, it means that the second UAV 12 has exceeded the optimal field of view of the first UAV 11, i.e., it has flown out of the effective detection or interception range of the first UAV 11. In this case, the first UAV 11 may not be able to directly intercept the second UAV 12. By generating and displaying a second indicator, a clear visual alert can be issued to the operator, intuitively indicating that the second UAV 12 may have exceeded the effective interception range, thereby prompting the operator to adjust the interception strategy in a timely manner to ensure the smooth progress of the interception mission. The second indicator can be a secondary indicator set for the indicator, for example, by setting the color of arrow 30 to red to set a secondary indicator for the indicator.

[0063] Taking arrow 30, which is an indicator with a 3D display effect, as an example, the following will describe in detail how to generate and display arrow 30. Specifically, arrow 30 can be generated and displayed through the following steps c1 to c4.

[0064] Step c1: Determine the base point in the display interface.

[0065] This base point serves as the starting position of arrow 30. Figure 4 In the diagram, the base point is point A.

[0066] Step c2: Determine the depth of arrow 30 based on the horizontal projection distance.

[0067] The depth of the arrow is the distance between the tip and the top of the arrow. Figure 4 In the diagram, point B is the top of arrow 30, and the distance between point A and point B is the depth of arrow 30. In this step, if the horizontal projection distance is larger, the depth of arrow 30 can be determined to be a larger value, or a ratio can be preset, setting the depth of arrow 30 as the product of the horizontal projection distance and the ratio, so that the size of the horizontal projection distance can be intuitively reflected by the depth of arrow 30.

[0068] Step c3: Determine the target point in the display interface based on the offset angle and depth.

[0069] The angle between the line connecting the target point and the base point and the longitudinal line passing through the base point is equal to the offset angle, and the extension of the line connecting the target point and the base point passes through the target scale. Figure 4 In the diagram, the target point is point B.

[0070] Step c4: Display arrow 30 pointing from the base point to the target point.

[0071] Points A and B can be directly connected to generate an arrow composed of lines. Arrow 30 can be divided into a torso and a head. To improve the display effect of arrow 30, the torso can be set as a trapezoid and the head can be set as a triangle formed by the first side, the second side, and the third side. Then step c4 can be achieved through the following steps c41 to c2.

[0072] For ease of introduction, Figure 4 In this context, the midpoint of the junction between the torso and the head is defined as point C.

[0073] Step c41: Display the torso between the base point and the first point in the display interface.

[0074] To improve the display effect of the torso of arrow 30, the torso is set as a trapezoid, and the width of the torso gradually decreases along the direction in which arrow 30 points, making arrow 30 look more three-dimensional and enhancing the operator's intuitive perception of the direction pointed by arrow 30.

[0075] In some embodiments, step c41 includes the following steps c411 to c4112.

[0076] Step c4111: Determine the target interval to which the horizontal projection distance belongs among multiple preset intervals, where different preset intervals correspond to different numbers of torso segments.

[0077] For example, three intervals are preset: the first interval is [0, 500], the second interval is [500, 1000], and the third interval is (1000, +∞). The number of torso segments corresponding to the first interval is 1, the number of torso segments corresponding to the second interval is 2, and the number of torso segments corresponding to the third interval is 3. In this step, the interval to which the horizontal projection distance belongs is determined from the three intervals.

[0078] Step c4112: Display N sub-torsos arranged along the direction of arrow 30 on the display interface, where N is equal to the number of sub-torsos included in the torso corresponding to the target interval.

[0079] like Figure 4 As shown, since the horizontal projection distance is 650m, the corresponding target interval is [500, 1000]. The number of torso segments corresponding to this interval is 2. Therefore, the torso is divided into 2 sub-torso segments arranged along the direction of arrow 30, so that the 2 sub-torso segments arranged along the direction of arrow 30 can be displayed on the display interface.

[0080] Step c42: Display the head on the display interface, wherein the first side coincides with the top side of the torso, and the length of the first side is greater than the length of the top side, and the intersection of the second and third sides is the target point.

[0081] First, determine the length of the first side, then connect both ends of the first side to point B to generate the head of the triangle. It's worth noting that the first side, which serves as the base of the triangle, can have two display effects: for example, it can still display as a complete line segment when it coincides with the top edge of the body, or when it coincides with the top edge of the body, the overlapping part is not displayed, only the non-overlapping part is shown, thus improving the display effect of arrow 30.

[0082] Figure 4In this design, the dial 20 is arc-shaped. In some embodiments, to generate an arc-shaped dial 20, the radius R can be determined by the formula R=width / (2×sin(bendAngle×(π / 360))), where width is the width of the display interface, and bendAngle is the angle of the arc displayed in the display interface. bendAngle can be set as needed.

[0083] The y-coordinate y' of the circle's center can be determined using the formula y'=R+labelOffset+labelFont / 2+padTop, where labelOffset, labelFont, and padTop are pre-set parameters, and the x-coordinate of the center is the x-coordinate of the center point of the display interface. After determining the center coordinates and radius R, an arc-shaped dial 20 can be generated.

[0084] In most graphics rendering techniques, achieving complex visual effects (such as 3D projection, rotation, and perspective) typically requires a significant amount of computation and graphics processing. This can lead to low rendering efficiency on low-performance devices, affecting the smoothness of graphics, especially in applications requiring real-time updates and interactivity, where the computational overhead of rendering becomes a limiting factor.

[0085] In order to generate Figure 4 The arrow 30, which has a three-dimensional perspective, can, in some embodiments, have its display interface width and height set to width and height, respectively. The base point of the arrow is (cx, cy), and the arrow's direction angle is angle, where angle of 0° indicates that the arrow is pointing upwards, and angle is positive in a clockwise direction. The total depth of the arrow (i.e., the distance from the base point to the tip of the arrow) is totalDepth. After the torso is divided into N segments, the ratio of the N segments is segmentHeights = [r1:r2:...:rN]. The depth of the arrowhead is headDepth.

[0086] After generating the arrow, you can apply rotation (θ), vertical compression (scaleY(s)), and horizontal skew (skewX(φ)) transformations sequentially in the local coordinate system to make the arrow 30 simulate a realistic 3D perspective effect. Here, φ is the skew angle, used to control the angle of the perspective "tilt"; kskew is the skew coefficient, used to determine the intensity of perspective distortion, usually an empirical parameter (e.g., 0.3–0.7); θ is the rotation angle, representing the rotation angle of the arrow relative to the display interface, usually calculated from the target point. When the arrow is horizontal (θ=0), sinθ=0, and the arrow has no skew; when the arrow points left or right, sinθ≠0, and the arrow exhibits a horizontal perspective effect; kskew is used to control the "exaggeration" of the perspective.

[0087] After the above processing, a point in the arrow changes from coordinates (x, y) to (x', y'). The relationship between (x, y) and (x', y') is as follows: ; .

[0088] for Figure 4 The arrow 30 shown in this application generates a 3D perspective arrow 30 for guidance display without introducing 3D rendering. In this application, the arrow 30 is generated using the above method, employing only 2D affine transformations (matrix multiplication, simple trigonometric functions) to generate a perspective-like projection effect, significantly reducing computational load and ensuring real-time refresh and low-power operation. Furthermore, the arrow 30 has a visual perspective effect; rotation ensures that the arrow 30 accurately points to the target direction on the horizontal plane. Vertical compression (scaleY) creates a "top-down" perspective, transforming the circular symbol into an ellipse, conforming to human perspective habits. Horizontal skew (skewX) dynamically adjusts the left and right offset according to the angle, simulating asymmetrical perspective ("near objects appear larger, far objects smaller"). The arrow 30 generated by the above combination of operations automatically exhibits visual tilt and offset when the direction changes, making it more natural and intuitive than traditional 2D arrows.

[0089] Furthermore, in this application, the dial provides the offset angle and drives the arrow direction, while the vertical axis provides the target pitch angle scale. The arrow, dial, and vertical axis are visually coordinated, improving the display effect.

[0090] It is worth noting that in some embodiments, Figure 2 The provided embodiments can be executed by the same electronic device, that is, the relevant steps of the above-described target guidance display method embodiments can all be executed by the same electronic device.

[0091] Figure 5 The diagram shows a schematic of the target guidance display device provided in an embodiment of this application. The specific embodiments of this application do not limit the specific implementation of the target guidance display device.

[0092] like Figure 5 As shown, the target guidance display device 2 may include: a display device 21, a processor 22, and a memory 23.

[0093] The display device 111 is used to display a display interface, and displays the target pitch angle, dial 20 and indicator marks (such as arrows 30) on the display interface.

[0094] The memory 23 is used to store the computer program 24. The memory 23 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk drive. The computer program 24 may include computer-executable instructions.

[0095] The processor 22 is used to execute the computer program 24 to achieve the above-described objective guidance display method embodiment.

[0096] Processor 23 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The target guidance display device 2 includes one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0097] Figure 6 A schematic diagram of a second drone interception system provided in an embodiment of this application is shown. Figure 6 As shown, the second drone interception system 3 includes a first drone 11 and a target guidance display device 2. After determining first location information and second location information, the first drone 11 transmits the first location information and second location information to the target guidance display device 2. The target guidance display device 2 executes steps 110 to 140 as described above, and all the steps mentioned in the above-described target guidance display method embodiment.

[0098] In some embodiments, the second drone interception system 3 further includes a drone detection device. The first drone 11 determines first location information and transmits the first location information to the target guidance display device 2. After the drone detection device detects the second drone 12 and determines second location information, it transmits the second location information to the target guidance display device 2. The target guidance display device 2 executes steps 110 to 140 above, and all the steps mentioned in the above-described target guidance display method embodiments.

[0099] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described target guidance display method embodiment.

[0100] This application provides a computer program that can be executed by a processor to implement the above-described objective guidance display method embodiment.

[0101] This application provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described target guidance display method embodiment.

[0102] In the several embodiments provided in this application, any function, if implemented as a software functional module / unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of this application can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or other electronic device) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing computer program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0103] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of this application are not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0104] It should be noted that the above embodiments are illustrative of this application and not restrictive, and those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In claims enumerating several means, several units or modules of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

[0105] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for displaying target guidance, characterized in that, The method includes: Obtain the first position information of the first UAV and the second position information of the second UAV at the current moment; Based on the first position information and the second position information, determine the offset angle, horizontal projection distance, and vertical distance of the second UAV relative to the first UAV; Based on the horizontal projection distance and the vertical distance, the target pitch angle of the first UAV flying to the current position of the second UAV is determined, wherein the current position of the second UAV is the position indicated by the second position information; The display interface shows the target pitch angle, a dial with multiple scales, and an indicator pointing to the target scale on the dial, so that the user can control the flight of the first drone based on the data displayed on the display interface, so as to intercept the second drone through the first drone. Different scales correspond to different azimuth angles, and the azimuth angle corresponding to the target scale is equal to the offset angle.

2. The method according to claim 1, characterized in that, The target pitch angle is displayed on the display interface, including: The display interface displays a vertical axis, which includes multiple pitch angle scales, and each pitch angle scale corresponds to a pitch angle. In the vertical axis, the target pitch angle is displayed at a preset position on the target pitch angle scale, and the target pitch angle corresponds to the target pitch angle scale. If the target pitch angle exceeds the pitch angle threshold, a first indicator is displayed on the display interface to indicate that the target pitch angle exceeds the pitch angle threshold.

3. The method according to claim 1, characterized in that, The method further includes: The horizontal projection distance is displayed near the indicator sign; If the indicator exceeds the target area in the display interface, a second indicator is displayed in the display interface to indicate that the indicator exceeds the target area. Different positions in the display interface correspond to different physical positions in the world coordinate system, and the physical area corresponding to the target area is the area detected by the first UAV when the field of view angle is the first field of view angle.

4. The method according to claim 1, characterized in that, Determining the offset angle of the second drone relative to the first drone based on the first location information and the second location information includes: A reference coordinate system is established with the current position of the first UAV as the reference point, wherein the current position of the first UAV is the position indicated by the first position information; Based on the first position information and the second position information, the position coordinates (x1, y1) of the second UAV are determined in the reference coordinate system; Using the formula θ=atan2(x1) x0, (y1 The offset angle θ is determined by y0))×(180 / π), where (x0, y0) are the position coordinates of the first UAV in the reference coordinate system.

5. The method according to claim 1, characterized in that, The indicator is an arrow with a three-dimensional display effect, which points to the target mark on the dial in the display interface, including: Determine the base point in the display interface; The depth of the arrow is determined based on the horizontal projection distance; Based on the offset angle and the depth, a target point is determined in the display interface, wherein the distance between the target point and the base point is equal to the depth, the angle between the line connecting the target point and the base point and the longitudinal line passing through the base point is equal to the offset angle, and the extension of the line connecting the target point and the base point passes through the target scale. The arrow pointing from the base point to the target point is displayed.

6. The method according to claim 5, characterized in that, The arrow includes a torso and a head, the torso being trapezoidal and the head being a triangle formed by a first side, a second side, and a third side; The display of the arrow pointing from the base point to the target point includes: The torso is displayed between the base point and the first point in the display interface, wherein the first point is the midpoint of the junction between the torso and the head, and the width of the torso gradually decreases along the direction of the arrow. The head is displayed on the display interface, wherein the first side coincides with the top side of the torso, and the length of the first side is greater than the length of the top side, and the intersection of the second side and the third side is the target point.

7. The method according to claim 6, characterized in that, Displaying the torso between the base point and the first point in the display interface includes: The target interval to which the horizontal projection distance belongs is determined among multiple preset intervals, wherein different preset intervals correspond to different numbers of torso segments; The display interface shows N sub-torsos arranged along the direction of the arrow, where N is equal to the number of sub-torsos included in the torso corresponding to the target interval.

8. A target guidance display device, comprising a display unit, a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the target guidance display method according to any one of claims 1 to 7, wherein the display device is used to display the target pitch angle, the dial, and the indicator.

9. A first unmanned aerial vehicle (UAV) interception system, characterized in that, Includes a first electronic device and a first drone, wherein, The first UAV is used to acquire the first position information of the first UAV and the second position information of the second UAV at the current moment. Based on the first position information and the second position information, the first UAV determines the offset angle, horizontal projection distance and vertical distance of the second UAV relative to the first UAV. Based on the horizontal projection distance and the vertical distance, the first UAV determines the target pitch angle of the second UAV flying to the current position of the second UAV. The first UAV transmits the target pitch angle and the offset angle to the first electronic device. The current position of the second UAV is the position indicated by the second position information. The first electronic device is used to receive the target pitch angle and the offset angle, and to display the target pitch angle, a dial with multiple scales and an indicator pointing to the target scale on the display interface, so that the user can control the flight of the first drone based on the data displayed on the display interface, so as to intercept the second drone through the first drone. The different scales correspond to different azimuth angles, and the azimuth angle corresponding to the target scale is equal to the offset angle.

10. A second unmanned aerial vehicle (UAV) interception system, characterized in that, It includes a first drone and a second electronic device, wherein the second electronic device is the target guidance display device as described in claim 8; The first drone is used to determine the first location information and transmit the first location information to the second electronic device.

11. The second unmanned aerial vehicle (UAV) interception system according to claim 10, characterized in that, The first drone is used to determine the second location information and transmit the second location information to the second electronic device; or The second drone interception system also includes a drone detection device, which is used to detect and determine the second location information of the second drone and transmit the second location information to the second electronic device.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the target guidance display method according to any one of claims 1 to 7.

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