Method and device for generating an airspace situation picture

Abstract

The application provides a kind of airspace situation map generation method and device, it is related to traffic management technical field.A kind of airspace situation map generation method, comprising: according to the current position and predicted trajectory of aircraft, based on preset database, dynamic intercepts airspace slice, wherein, preset database includes 4D space-time field database;According to data type, the airspace slice is layered rendering, and situation map is obtained;Situation map is issued to aircraft, and is shown.The application is according to the current position and predicted trajectory of aircraft, from including 4D space-time field database in preset database, dynamic intercepts airspace slice, and according to data type is layered rendering on the basis of the airspace slice of interception, and situation map is obtained;Situation map is issued to aircraft and is shown.The application converts 4D space-time field data into ontology as the center dynamic airspace situation map, provides class real-time airspace perception service for aircraft, realizes the class real-time airspace perception of aircraft.

Description

Technical Field

[0001] This application relates to the field of traffic management technology, specifically to a method and apparatus for generating airspace situation maps. Background Technology

[0002] Currently, situational awareness for low-altitude aircraft mainly relies on local sensors (such as vision and radar) and static airspace data. However, the detection range of local sensors is usually less than 500m, which cannot provide macroscopic situational awareness within a 5km range. At the same time, static airspace data can only provide preset waypoint information, resulting in aircraft lacking real-time dynamic airspace information (such as information on other aircraft, temporary control areas, etc.).

[0003] As a result, low-altitude aircraft are usually in a "blind flight" state, meaning that the pilot / autopilot system lacks macroscopic airspace situational awareness, relies heavily on ground control station commands, and cannot make autonomous decisions. Summary of the Invention

[0004] Based on this, this application provides a method and apparatus for generating airspace situation maps, enabling the provision of near-real-time airspace awareness for aircraft.

[0005] According to one aspect of this application, a method for generating an airspace situation map is proposed, comprising: dynamically extracting airspace slices based on a preset database according to the current position and predicted trajectory of the aircraft, wherein the preset database includes a 4D spatiotemporal field database; performing layered rendering of the airspace slices according to data type to obtain a situation map; and sending the situation map to the aircraft for display.

[0006] According to some embodiments, based on the current position and predicted trajectory of the aircraft, and using a preset database, airspace slices are dynamically extracted, including: calculating the slice generation center based on the predicted trajectory and a first preset time advance; determining a first bounding box based on the slice generation center and the aircraft's preset line-of-sight distance; obtaining terrain vector data and / or building vector data from the preset database based on the first bounding box, as first static terrain data; obtaining voxels with occupancy intensity greater than a preset occupancy intensity threshold from a 4D spatiotemporal field database based on the first bounding box, the current time, and the first preset time advance, as first dynamic obstacle data; mapping the first static terrain data and the first dynamic obstacle data to a raster system in the same coordinate system and performing layer overlay to obtain first rasterized data; and performing multi-resolution compression based on the first rasterized data, using the compression result as an airspace slice.

[0007] According to some embodiments, multi-resolution compression is performed based on the first rasterized data, and the compression result is used as a spatial slice, including: retaining the resolution of the first rasterized data in the near field range of the aircraft, and downsampling the first rasterized data in the far field range of the aircraft to obtain the compression result; and encoding the compression result using a quadtree structure to output it as a spatial slice.

[0008] According to some embodiments, based on the aircraft's current position and predicted trajectory, and using a preset database, airspace slices are dynamically extracted, including: calculating the predicted position center based on the predicted trajectory and a second preset time advance; determining a second bounding box based on the predicted position center and a preset area range; obtaining terrain vector data and / or building vector data from the preset database based on the second bounding box, as second static terrain data; obtaining voxels with occupancy intensity greater than a preset occupancy intensity threshold from a 4D spatiotemporal field database based on the second bounding box, the current time, and the second preset time advance, as second dynamic obstacle data; mapping the second static terrain data and the second dynamic obstacle data to a raster system in the same coordinate system and overlaying the layers to obtain second rasterized data; performing multi-resolution compression based on the second rasterized data, and using the compression result as extended airspace data; preloading extended airspace data of a preset area range around the predicted position center; and extracting airspace slices from the extended airspace data based on the aircraft's preset line-of-sight distance, wherein the preset area range is larger than the diameter of the airspace slice.

[0009] According to some embodiments, airspace slices are rendered in layers according to data type to obtain a situation map, including: dividing airspace slices into static layer data, dynamic layer data and meteorological layer data according to data type; and performing visualization rendering on the static layer data, dynamic layer data and meteorological layer data according to a pre-set rendering strategy to obtain a situation map.

[0010] According to some embodiments, static layer data includes terrain elevation, buildings, and controlled areas; dynamic layer data includes cooperative aircraft and risk warning signs; and meteorological layer data includes meteorological data.

[0011] According to some embodiments, static layer data, dynamic layer data, and meteorological layer data are visualized and rendered according to a pre-set rendering strategy to obtain a situation map, including: rendering terrain elevation, buildings, and controlled areas based on color and / or texture; labeling cooperative aircraft in the dynamic layer data based on movement icons and predicted trajectories, and color-coding the risk level of cooperative aircraft; setting the risk warning signs in the dynamic layer data as dynamic ring apertures, wherein the dynamic ring aperture includes an inner ring and an outer ring; and displaying meteorological data in a semi-transparent overlay according to a preset effect.

[0012] According to some embodiments, the risk warning sign is generated using an aerial collision avoidance system based on a 4D spatiotemporal field database.

[0013] According to some embodiments, the method further includes updating the extended spatial domain data using a differential update mechanism.

[0014] According to some embodiments, the extended spatial domain data is updated using a differential update mechanism, including: comparing the current extended spatial domain data with the extended spatial domain data of the previous time step to obtain the changed region and its corresponding spatial domain data; masking the changed region of the extended spatial domain data of the previous time step, and encoding the spatial domain data corresponding to the changed region of the current extended spatial domain data into an incremental packet; and updating the masked extended spatial domain data of the previous time step according to the incremental packet.

[0015] According to some embodiments, updating the extended spatial domain data of the previous time step after masking based on incremental packets includes: updating the extended spatial domain data of the previous time step after masking based on incremental packets according to a preset priority order.

[0016] According to some embodiments, the situation map is sent to the aircraft and displayed, including: compressing and encoding the situation map to obtain the compressed encoding result; sending the compressed encoding result to the aircraft and displaying it.

[0017] According to some embodiments, the compressed encoding results are sent to the aircraft and displayed, including: loading the compressed encoding results according to the key performance indicators of the aircraft based on a preset priority order; rendering the text labels of the compressed encoding results using distance field font technology; and / or triggering an alarm based on a preset warning logic according to the risk warning indicators in the compressed encoding results.

[0018] According to one aspect of this application, an apparatus for generating an airspace situation map includes: an airspace slicing unit, used to dynamically extract airspace slices based on the current position and predicted trajectory of an aircraft and a preset database, wherein the preset database includes a 4D spatiotemporal field database; a situation map unit, used to perform layered rendering of the airspace slices according to data type to obtain a situation map; and an airborne display unit, used to send the situation map to the aircraft and display it.

[0019] According to one aspect of this application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs; and, when the one or more programs are executed by the one or more processors, causing the one or more processors to implement the method as described above.

[0020] According to one aspect of this application, a computer-readable medium is provided that stores a computer program or instructions thereon, which, when executed by a processor, implement the method as described above.

[0021] Through the embodiments provided in this application, based on the current position and predicted trajectory of the aircraft, airspace slices are dynamically extracted from a preset database including a 4D spatiotemporal field database. These extracted airspace slices are then rendered in layers according to data type to obtain a situational map. This situational map is then sent to the aircraft for display. This application transforms 4D spatiotemporal field data into a dynamic airspace situational map centered on the aircraft itself, providing near-real-time airspace perception services and enabling near-real-time airspace perception for the aircraft. Attached Figure Description

[0022] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application.

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings, without exceeding the scope of protection claimed by this application.

[0024] Figure 1 A flowchart illustrating the method for generating an airspace situation map provided in this application embodiment;

[0025] Figure 2 This is one of the flowcharts for extracting airspace slices in the airspace situation map generation method provided in the embodiments of this application; Figure 3 The second flowchart of the method for generating an airspace situation map provided in the embodiments of this application, which involves capturing airspace slices; Figure 4 A flowchart illustrating the rendering of a situation map using the method for generating an airspace situation map provided in this application embodiment; Figure 5 A flowchart illustrating the method for generating an airspace situation map according to an embodiment of this application, including updating and extending airspace data; Figure 6 A flowchart of an aircraft display situation diagram for the airspace situation diagram generation method provided in the embodiments of this application; Figure 7 A flowchart illustrating the distribution and display of the compressed encoding results of the airspace situation map generation method provided in this application embodiment; Figure 8 A block diagram of an apparatus for generating an airspace situation map provided in an embodiment 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

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0028] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0029] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0030] It should be understood that although the terms first, second, third, etc., may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another. Therefore, the first component discussed below may be referred to as the second component without departing from the teachings of this application. As used herein, the term "and / or" includes all combinations of any one and more of the associated listed items.

[0031] For specific implementation details, please refer to the following examples.

[0032] Figure 1 A flowchart illustrating the method for generating an airspace situation map provided in this application embodiment. For example... Figure 1 As shown, the method includes steps S110-S130.

[0033] In step S110, based on the current position and predicted trajectory of the aircraft, airspace slices are dynamically extracted using a preset database, which includes a 4D spatiotemporal field database.

[0034] Aircraft include drones, eVTOL (electric vertical takeoff and landing aircraft), etc.

[0035] This application does not restrict the method of obtaining the aircraft's current position and predicted trajectory; the method can be selected according to the actual situation.

[0036] According to the example embodiment, the predicted trajectory is the result of 4D trajectory prediction, including a set of discrete points { It describes the complete flight path of the aircraft.

[0037] The preset database includes a 4D spatiotemporal field database, which contains spatiotemporal information such as 4D spatiotemporal field, that is, real-time dynamic airspace information of spatial coordinates at different times (such as information on other aircraft, temporary control areas, etc.).

[0038] Based on the aircraft's current position and predicted trajectory, and using a pre-defined database, a pre-defined size of airspace is captured in real time as an airspace slice.

[0039] In step S120, the spatial slices are rendered in layers according to the data type to obtain a situation map.

[0040] This application sets different rendering layers and rendering methods for different data types. Based on the settings, the spatial domain slices are rendered in layers, and the rendering results serve as a situation map.

[0041] This application upgrades the local perception in the prior art to an egocentric mapping of the macroscopic airspace situation, providing aircraft with near real-time airspace perception services.

[0042] In step S130, the situation map is sent to the aircraft and displayed.

[0043] The rendered situation map is compressed and encoded before being sent to the aircraft's onboard terminal for rendering, display, and early warning.

[0044] This application dynamically extracts airspace slices from a pre-defined database, including a 4D spatiotemporal field database, based on the aircraft's current position and predicted trajectory. The extracted airspace slices are then rendered in layers according to data type to obtain a situational awareness map. This situational awareness map is then distributed to the aircraft for display. This application transforms 4D spatiotemporal field data into a dynamic airspace situational awareness map centered on the aircraft itself, providing near-real-time airspace perception services and enabling near-real-time airspace awareness for the aircraft.

[0045] According to some embodiments, refer to Figure 2 In step S110, based on the current position and predicted trajectory of the aircraft, airspace slices are dynamically extracted using a preset database. This can be achieved through steps S210-S260.

[0046] In step S210, the slice generation center is calculated based on the predicted trajectory and the first preset time advance.

[0047] The slice generation center is the anchor point for spatial slices and also the anchor point for data loading.

[0048] The predicted trajectory includes a set of discrete points { }

[0049] Center for slice generation The slice generation center is set at the first preset time advance of the predicted trajectory, that is, at the point where the slice is generated. It is a sampling point of the predicted trajectory with a first preset time lead, to offset the time spent on network transmission and data decompression, and to ensure that the surrounding map data has been rendered when the aircraft actually arrives at the location.

[0050] According to the example embodiment, the first preset time advance amount Setting it to 2s means setting the center of the slice generation center at the predicted trajectory. =2s.

[0051] It should be noted that the slice generation center It is not the geometric center of the predicted trajectory, but it is strictly dependent on the results of the 4D trajectory prediction.

[0052] According to the example embodiment, the slice generation center is calculated according to the first preset formula. .

[0053] The first preset formula includes: .

[0054] in, To predict the trajectory, the speed of the aircraft at its current position is... x The components of the axis; To predict the trajectory, the speed of the aircraft at its current position is... y The components of the axis; This is the first preset time lead time.

[0055] It is understandable that the slice generation center is calculated according to the first preset formula. In essence, it is a first-order linear approximation of the predicted trajectory (within the first preset time lead).

[0056] In step S220, the first bounding box is determined based on the slice generation center and the preset line-of-sight distance of the aircraft.

[0057] Based on the calculated slice generation center, and according to the aircraft's preset line-of-sight distance, the horizontal bounding box is determined. The height and layer range are used as the first bounding box.

[0058] According to the example embodiment, the preset line-of-sight distance of the aircraft is 5 km.

[0059] The altitude layer range needs to cover the current layer plus the adjacent layers above and below. The altitude layer range can be a preset value (e.g., 50m) or determined based on the vertical velocity component of the aircraft at its current position in the predicted trajectory. For example, if the predicted trajectory indicates that the aircraft is about to climb or descend through the current altitude layer, the altitude range of the slice will be automatically adjusted. ).

[0060] It should be noted that the predicted trajectory mainly plays a role in "Field of View Guidance" and "Spatio-temporal Alignment" in dynamic spatial tile generation. Specifically, this is reflected in the following two aspects: 1) Dynamic offset of the slice center point: Traditional static slicing uses the current physical location as the offset. The geometric center is the reference point. However, during high-speed flight, the pilot / flight control system focuses more on the airspace "ahead." Therefore, this application utilizes a predicted trajectory. A dynamic offset is calculated. The actual generation center of the slice is not the current physical location of the aircraft, but a "virtual center" extending forward a certain distance along the predicted trajectory. This ensures that the field of view in front of the aircraft (high interest area) is greater than that behind it in the generated airspace slice.

[0061] 2) Intelligent selection of altitude layer: The predicted trajectory includes a vertical velocity component. If the predicted trajectory indicates that the aircraft is about to climb or descend through the current altitude layer, the system will automatically adjust the altitude range of the slice. For example, when the predicted trajectory indicates an ascent of 30 meters in 2 seconds, the upper bound of the slice generation... It will automatically adjust upwards and preload data from adjacent layers at the previous altitude to prevent the spacecraft from breaking out of the current data bounding box.

[0062] In step S230, terrain vector data and / or building vector data are obtained from a preset database based on the first bounding box, and used as the first static terrain data.

[0063] After obtaining the first bounding box, perform multi-source data retrieval.

[0064] Specifically, based on the coordinates of the first bounding box, terrain vector data and / or building vector data are obtained from a preset database and denoted as the first static terrain data.

[0065] According to the example embodiment, the preset database includes an onboard or cloud-based GIS database.

[0066] Based on the above embodiments, the corresponding terrain (DEM) and / or building vector data are indexed from an airborne or cloud-based GIS database according to the coordinates of the first bounding box.

[0067] Furthermore, the terrain (DEM) and / or building vector data extracted from the GIS database are further processed, for example, their outer contours are extracted and simplified into a LoD2 model.

[0068] In step S240, based on the first bounding box, the current time, and the first preset time advance, voxels with occupancy intensity greater than the preset occupancy intensity threshold are obtained from the 4D spatiotemporal field database as the first dynamic obstacle data.

[0069] Based on the coordinates of the first bounding box and the current time The prediction time window is determined by retrieving all voxels within the 4D spatiotemporal field database whose occupancy intensity exceeds a preset occupancy intensity threshold, and recording them as the first dynamic obstacle data. The prediction time window is determined based on the current time and a first preset time lead.

[0070] According to the example embodiment, the preset occupancy intensity threshold is set to 0.7.

[0071] In one specific embodiment, step S240 further includes: a preset database including an air traffic control system database, a meteorological API, etc. Control area data is extracted from the air traffic control system database and processed into boundary polygons + semantic tags (no-fly zone / altitude restriction); meteorological data is extracted through the meteorological API and voxelized into wind speed / precipitation / visibility raster; the processed control area data and meteorological data, along with voxels extracted from the 4D spatiotemporal field database, are used as the first dynamic obstacle data.

[0072] Furthermore, the first dynamic obstacle data also includes: risk targets and / or risk levels obtained based on conflict detection technology. For example, high-risk areas where the conflict risk output by conflict detection technology is greater than a preset value (e.g., thermal value > 0.5).

[0073] In step S250, the first static terrain data and the first dynamic obstacle data are uniformly mapped to a raster system under the same coordinate system, and the layers are overlaid to obtain the first rasterized data.

[0074] The retrieved first static terrain data and first dynamic obstacle data are uniformly mapped to a raster system under the same coordinate system.

[0075] Layers are overlaid on data from different sources (i.e., first static terrain data and first dynamic obstacle data). For example, the polygon data of the "no-fly zone" is rasterized and overlaid on the map layer. The resulting data is denoted as the first rasterized data.

[0076] In step S260, multi-resolution compression is performed based on the first rasterized data, and the compression result is used as a spatial slice.

[0077] To save computational resources, the first rasterized data is subjected to multi-resolution compression (LOD Processing), and the compression result is used as a spatial slice.

[0078] Multi-resolution compression includes partitioning the first rasterized data and applying different compression ratios to different regions.

[0079] Based on the calculated slice generation center, this embodiment constructs a first bounding box, adopts a dynamic slicing mechanism to extract airspace slices, and constructs data for displaying the situation map through egocentric mapping of the macroscopic airspace situation.

[0080] According to some embodiments, in step S260, multi-resolution compression is performed based on the first rasterized data, and the compression result is used as a spatial slice. Specifically, this can be achieved through steps S261-S262.

[0081] In step S261, the resolution of the first rasterized data in the near field range of the aircraft is preserved, and the first rasterized data in the far field range of the aircraft is downsampled to obtain a compressed result.

[0082] With the aircraft as the center, the first bounding box is divided into the near field and the far field.

[0083] According to the example embodiment, the near-field range includes the range of less than 1 km from the center of the circle, and the far-field range includes the range of 1-2.5 km from the center of the circle.

[0084] The first rasterized data in the near field retains the original high-precision data (e.g., 1m resolution), while the first rasterized data in the far field is downsampled (e.g., 5m resolution) to obtain a compressed result.

[0085] In step S262, a quadtree structure is used to encode and output the compression result as a spatial slice.

[0086] The compression result is encoded and output using a quadtree structure, and the output result is denoted as a spatial slice.

[0087] According to some embodiments, refer to Figure 3In step S110, based on the current position and predicted trajectory of the aircraft, airspace slices are dynamically extracted using a preset database. This can be achieved through steps S310-S380.

[0088] In step S310, the predicted location center is calculated based on the predicted trajectory and the second preset time advance.

[0089] The predicted location center is a pre-loaded anchor point. (Predicted location center) It is the slice generation center Subsequent points on the same predicted trajectory.

[0090] In actual operation, the predicted location center will be... Set at the second preset time advance of the predicted trajectory, that is, at the center of the predicted location. This is a sampling point of the predicted trajectory under a second preset time lead. Second preset time lead Greater than the first preset time advance .

[0091] What needs to be explained is the slice generation center. This serves as the "visual rendering center," used to determine the core location of the map currently displayed on the screen. A relatively short initial preset time lead is set. This is to ensure real-time display and closely follow the pilot's input feedback. Predicted position center. It is a "data acquisition center". A relatively long second preset time lead is set. This is to address network latency and data decompression time. The second preset time lead time... and the first preset time advance The difference can be understood as the safety margin reserved for data transmission and processing.

[0092] According to the example embodiment, the second preset time advance amount Set to 3 seconds.

[0093] The calculation method for the predicted location center can be found in the slice generation center method. The calculation method.

[0094] According to the example embodiment, the predicted location center is calculated according to the second preset formula. .

[0095] The second preset formula includes:

[0096] in, To predict the trajectory, the speed of the aircraft at its current position is... xThe axis component, through the velocity of the aircraft at its current position. v The heading θ is calculated from the heading. To predict the trajectory, the speed of the aircraft at its current position is... y The axis component, through the velocity of the aircraft at its current position. v The heading θ is calculated from the heading. This is the second preset time lead time.

[0097] In step S320, the second bounding box is determined based on the predicted location center and the preset area range.

[0098] The preset region is larger than the horizontal bounding box constructed based on a preset view distance. According to the example embodiment, the preset region is the predicted location center. A 6km x 6km area is defined by a horizontal bounding box around the slice generation center. 5KM 5KM area.

[0099] The height range of the second bounding box can be set with reference to the height range of the first bounding box.

[0100] In step S330, terrain vector data and / or building vector data are obtained from a preset database based on the second bounding box, and used as the second static terrain data.

[0101] In step S340, based on the second bounding box, the current time, and the second preset time advance, voxels with occupancy intensity greater than the preset occupancy intensity threshold are obtained from the 4D spatiotemporal field database as the second dynamic obstacle data.

[0102] In step S350, the second static terrain data and the second dynamic obstacle data are uniformly mapped to a raster system under the same coordinate system, and the layers are overlaid to obtain the second rasterized data.

[0103] In step S360, multi-resolution compression is performed based on the second rasterized data, and the compression result is used as extended spatial domain data.

[0104] Steps S330-S360 can be referred to steps S230-S260, and will not be repeated here.

[0105] In step S370, extended spatial data of a preset area around the predicted location center is preloaded.

[0106] To ensure a smooth experience, predict the location center. The relevant extended spatial domain data is responsible for "transferring" data in the background, while the slice generation center... The relevant airspace slices are responsible for "displaying" the data on the front end.

[0107] For the predicted location center Relevant extended airspace data is preloaded to prevent issues if the aircraft accelerates towards the slice generation center. At times, map gaps (black borders) appear at the edges.

[0108] In step S380, an airspace slice is extracted from the extended airspace data according to the aircraft's preset line-of-sight distance, wherein the preset area range is larger than the diameter of the airspace slice.

[0109] Based on the extended spatial data preloaded in the background, spatial slices are extracted from it.

[0110] The center of the spatial slice can be referenced from the slice generation center in step S210. The area covered by the airspace slice can be referred to the first bounding box in step S220.

[0111] This application employs a multi-stage buffering mechanism to pre-load extended airspace data and display airspace slices based on this extended airspace data, in order to prevent issues when the aircraft accelerates to the slice generation center. At times, map gaps (black borders) appear at the edges.

[0112] According to some embodiments, in step S120, the spatial slices are rendered in layers according to the data type to obtain a situation map, which can be specifically implemented through steps S121-S122.

[0113] In step S121, the airspace slices are divided into static layer data, dynamic layer data, and meteorological layer data according to the data type.

[0114] Based on data type, the airspace slices are divided into three layers: static layer, dynamic layer, and meteorological layer, with corresponding data being static layer data, dynamic layer data, and meteorological layer data.

[0115] The static layer can also be understood as the basic layer. Static layer data includes static terrain data, dynamic layer data includes non-meteorological data in dynamic obstacle data, and meteorological layer data includes meteorological data.

[0116] In step S122, the static layer data, dynamic layer data, and meteorological layer data are visualized and rendered according to a pre-set rendering strategy to obtain a situation map.

[0117] The pre-set rendering strategy includes rendering methods for static layer data, dynamic layer data, and meteorological layer data. Based on the rendering strategy settings, the static layer data, dynamic layer data, and meteorological layer data are rendered separately, and the rendering results serve as a situation map.

[0118] According to some embodiments, static layer data includes terrain elevation, buildings, and controlled areas; dynamic layer data includes cooperative aircraft and risk warning signs; and meteorological layer data includes meteorological data.

[0119] According to some embodiments, refer to Figure 4 In step S122, the static layer data, dynamic layer data and meteorological layer data are visualized and rendered according to the preset rendering strategy to obtain the situation map. This can be achieved through steps S410-S440.

[0120] In step S410, the terrain elevation, buildings, and controlled areas are rendered based on color and / or texture, respectively.

[0121] Specifically, different color- and / or texture-based rendering methods are set for terrain elevation, buildings, and controlled areas in the static layer data.

[0122] According to an example embodiment, color- and / or texture-based rendering includes: Topographic elevation: Contour lines are overlaid with pseudo-color. Elevation 0-100m: green gradient, elevation 100-200m: yellow gradient, elevation >200m: red.

[0123] Building: wireframe with semi-transparent fill, height coded by color: blue for the bottom layer and red for the top layer.

[0124] Controlled areas: highlighted boundaries with textured fill; No-fly zones: red diagonal stripes; Restricted-altitude zones: yellow dots.

[0125] In step S420, the cooperative aircraft in the dynamic layer data are labeled based on movement icons and predicted trajectories, and the risk level of the cooperative aircraft is color-coded.

[0126] Specifically, different labeling methods are set for cooperative aircraft and risk levels in the dynamic layer data.

[0127] According to the example embodiment, the annotation methods include: Cooperative aircraft: movement icon + predicted trajectory; risk level is coded by color: green indicates safe, yellow indicates caution, and red indicates danger.

[0128] Furthermore, it should be noted that, according to the example embodiment, the risk level is determined by a combination of spatial distance and time urgency (TCPA) dimensions, along with a "heat value." Specifically, the risk levels include safe, caution, and danger.

[0129] 1) Safety: The target is at a safe distance and the predicted trajectories do not intersect, and the corresponding spatiotemporal thermal value is <0.3.

[0130] 2) Note: Spatial conditions must be met: the target must be within a 1km-2km range. Or, temporal conditions must be met: the estimated time to close the approach must be between 30s and 60s. Corresponding thermal values: 0.3 - 0.5.

[0131] 3) Danger: Spatial condition met: Target enters a range of <1KM ("inner ring" area). Or temporal condition met: Expected encounter time <30s. Corresponding thermal value: >0.7 (indicating extremely high probability of collision).

[0132] In step S430, the risk warning indicator in the dynamic layer data is set as a dynamic ring aperture, wherein the dynamic ring aperture includes an inner ring and an outer ring.

[0133] The warning is visualized as an egocentric, dynamic ring-shaped aperture. The aperture consists of an inner ring and an outer ring.

[0134] Understandably, the inner and outer rings are used to warn of different levels of risk. For example, the inner ring is used to warn of risk targets less than 1 km away from the aircraft, and flashes red when a warning is issued. The outer ring is used to warn of risk targets 1-2 km away from the aircraft, and flashes yellow when a warning is issued.

[0135] In step S440, the meteorological data is displayed in a semi-transparent overlay according to a preset effect.

[0136] Different display methods are set for different weather types, and they are overlaid in a semi-transparent form.

[0137] According to the example implementation, wind speed is represented by streamlined arrow density, with denser arrows in areas with wind speeds >10m / s. Precipitation is represented by particle effects, with light rain represented by sparse white dots and heavy rain by dense blue dots. Visibility is represented by fog transparency; when visibility is <1KM, the transparency of far-field objects is reduced to 30%.

[0138] Furthermore, the method also includes: Height layer switching: Users can slide to select the display height layer (e.g., 0-50m / 50-100m / 100-150m).

[0139] Risk Focus: Click on the warning target to bring up detailed conflict information (such as estimated encounter time, relative altitude, etc.).

[0140] According to some embodiments, the risk warning sign is generated using an aerial collision avoidance system based on a 4D spatiotemporal field database.

[0141] Specifically, risk warning signs are generated through TCAS (Airborne Collision Avoidance System), and the warnings are visualized as an egocentric dynamic ring.

[0142] The "TCAS-like" warning in this application is generated based on 4D spatiotemporal field data. It is understood that the 4D spatiotemporal field database can continuously provide 4D trajectory prediction data for all aircraft in the airspace, as well as static and dynamic layer information such as airspace restrictions, weather, and terrain.

[0143] Compared with traditional TCAS early warning, the embodiments of this application do not rely on airborne transponder signals. That is to say, even if the other aircraft does not have a transponder installed (non-cooperative target), as long as the ground radar or perception system maps it into the 4D spatiotemporal field, this application can still generate an early warning.

[0144] In addition, this application visualizes the warning as an egocentric dynamic ring (inner ring flashing red / outer ring constantly yellow), and overlays it directly onto the 3D terrain and building model, providing "environmental context" information that traditional TCAS does not have (for example, prompting the aircraft to not only avoid enemy aircraft, but also avoid buildings behind it).

[0145] According to some embodiments, the method further includes updating the extended spatial domain data using a differential update mechanism.

[0146] Predict the future position (i.e., predict the center of position) based on the aircraft's speed and heading. (This involves) preloading extended spatial data around the predicted location and transmitting only the changed areas through a differential update mechanism.

[0147] According to some embodiments, refer to Figure 5 The extended spatial domain data is updated using a differential update mechanism, which can be implemented through steps S510-S530.

[0148] In step S510, the current extended spatial data is compared with the extended spatial data of the previous time step to obtain the changed region and its corresponding spatial data.

[0149] When updating extended airspace data using the differential update mechanism, only data on changed areas (such as newly added aircraft, sudden weather changes, etc.) is transmitted. In this case, the changed area data is acquired first. That is, by comparing the current extended airspace data with the extended airspace data of the previous time step, the changed area and its corresponding airspace data are obtained.

[0150] In step S520, the changed region of the extended spatial data in the previous time step is masked, and the spatial data corresponding to the changed region of the current extended spatial data is encoded into an incremental packet.

[0151] Incremental encoding is used during the update process. That is, new data = base graph + change mask + update vector.

[0152] Using the extended spatial data from the previous time step as the base graph, the changed regions of the extended spatial data from the previous time step are masked, and the spatial data corresponding to the changed regions of the current extended spatial data are encoded into incremental packets, which are then used as update vectors.

[0153] In step S530, the extended spatial domain data of the previous time step after the mask is updated according to the incremental packet.

[0154] According to some embodiments, in step S530, the extended spatial domain data of the previous time step after the mask is updated according to the incremental packet, which can be specifically implemented through step S531.

[0155] In step S531, based on a preset priority order, the extended spatial domain data of the previous time step after the mask is updated according to the incremental packet.

[0156] To save bandwidth, when updating extended spatial domain data using the differential update mechanism, the data is updated according to the set priority order.

[0157] According to the example implementation, the priority order includes: risk data > aircraft data > meteorological data > static terrain.

[0158] According to some embodiments, refer to Figure 6 In step S130, the situation map is sent to the aircraft and displayed, which can be achieved through steps S610-S620.

[0159] In step S610, the situation map is compressed and encoded to obtain the compressed encoding result.

[0160] The rendered situation map is compressed and encoded to save bandwidth during distribution. The specific compression and encoding method can be selected according to the actual situation, and the data obtained from the compression and encoding is recorded as the compression and encoding result.

[0161] According to the example embodiment, static data uses the JPEG-LS compression algorithm, and dynamic data uses the H.266 / VVC compression algorithm.

[0162] In step S620, the compression encoding result is sent to the aircraft and displayed.

[0163] The compressed encoding results are sent to the airborne terminal for display. During the display, lightweight rendering is performed on the airborne terminal, and multi-level warnings are triggered based on the risk level.

[0164] According to the example embodiment, step S620 further includes maintaining the update frequency at 3-5Hz.

[0165] According to some embodiments, refer to Figure 7 In step S620, the compression encoding result is sent to the aircraft and displayed. This can be achieved through one or more of steps S710-S730.

[0166] In step S710, the compressed encoding results are loaded according to the key performance indicators of the aircraft and based on a preset priority order.

[0167] To save bandwidth, when loading compressed encoding results, the details of the loaded data are automatically switched based on the set priority order and GPU load. For example, weather particles are disabled under high load.

[0168] The GPU load can be reflected through the aircraft's key performance indicators.

[0169] According to the example implementation, the key performance characteristics of the aircraft include: GPU utilization, video memory usage, power consumption, and temperature.

[0170] According to the example implementation, the priority order includes: risk data > aircraft data > meteorological data > static terrain.

[0171] In step S720, the text labels of the compressed encoding result are rendered using distance field font technology.

[0172] Text labels are rendered using Distance Field Font (SDF) technology. As you can understand, the core principle of SDF is to store the signed distance from each pixel to the text outline, rather than the pixel itself. This means that in the GPU shader, sharp edges can be generated smoothly and in real-time at any magnification through simple distance comparisons and interpolation. No matter how many times the text is magnified, the edges remain smooth and sharp, perfectly solving the pixel jaggedness and blurring problems that occur when traditional bitmap fonts are magnified.

[0173] In step S730, an alarm is triggered based on the risk warning identifier in the compression encoding result and a preset warning logic.

[0174] The preset warning logic specifies the interaction method for alarms.

[0175] According to the example embodiment, the preset warning logic is shown in Table 1.

[0176] Table 1 Early Warning Logic

[0177] Furthermore, step S730 also includes: setting an early warning lead time to issue an early warning for risks.

[0178] The advance warning time can be dynamically calculated based on the type of aircraft (e.g., 15s for drones and 30s for eVTOL).

[0179] The following describes an apparatus embodiment of this application, which can be used to perform the method embodiment of this application. For details not disclosed in the apparatus embodiment of this application, please refer to the method embodiment of this application.

[0180] Figure 8 A block diagram of an apparatus for generating a spatial situation map according to an exemplary embodiment is shown.

[0181] Figure 8 The apparatus shown can perform the aforementioned method for generating an airspace situation map according to the embodiments of this application.

[0182] like Figure 8 As shown, the device for generating an airspace situation map may include: See Figure 8 Referring to the preceding description, the airspace slicing unit 810 is used to dynamically extract airspace slices based on the aircraft's current position and predicted trajectory, using a preset database, which includes a 4D spatiotemporal field database.

[0183] The situation map unit 820 is used to perform layered rendering of airspace slices according to data type to obtain a situation map.

[0184] The airborne display unit 830 is used to send situation maps to the aircraft and display them.

[0185] The device performs functions similar to those described above; other functions are described in the preceding descriptions and will not be repeated here.

[0186] This application discloses an electronic device, including: a processor; and a memory storing a computer program, which, when executed by the processor, causes the processor to execute the above-described instruction generation method.

[0187] For example, refer to Figure 9 , Figure 9 The illustrated electronic device 900 includes a processor 901 and a memory 903. The processor 901 and the memory 903 are connected, for example, via a bus 902. Optionally, the electronic device 900 may also include a transceiver 904. It should be noted that in practical applications, the transceiver 904 is not limited to one type, and the structure of this electronic device 900 does not constitute a limitation on the embodiments of this application.

[0188] Processor 901 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in this application. Processor 901 may also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0189] Bus 902 may include a pathway for transmitting information between the aforementioned components. Bus 902 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 902 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 9 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0190] The memory 903 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other storage medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0191] The memory 903 stores application code that executes the scheme of this application, and its execution is controlled by the processor 901. The processor 901 executes the application code stored in the memory 903 to implement the content shown in the foregoing method embodiments.

[0192] Figure 9 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0193] This application discloses a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, causes the processor to execute an instruction generation method.

[0194] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0195] The above are only some embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for generating an airspace situation map, characterized in that, include: Based on the aircraft's current position and predicted trajectory, airspace slices are dynamically extracted using a preset database, which includes a 4D spatiotemporal field database. According to the data type, the spatial domain slices are rendered in layers to obtain a situation map; The situation map is sent to the aircraft and displayed.

2. The method according to claim 1, characterized in that, Based on the aircraft's current position and predicted trajectory, and using a pre-set database, airspace slices are dynamically extracted, including: The slice generation center is calculated based on the predicted trajectory and the first preset time advance. The first bounding box is determined based on the slice generation center and the preset line-of-sight distance of the aircraft; Based on the first bounding box, terrain vector data and / or building vector data are obtained from a preset database as the first static terrain data; Based on the first bounding box, the current time, and the first preset time advance, voxels with occupancy intensity greater than a preset occupancy intensity threshold are obtained from the 4D spatiotemporal field database and used as the first dynamic obstacle data. The first static terrain data and the first dynamic obstacle data are uniformly mapped to a raster system under the same coordinate system, and the layers are overlaid to obtain the first rasterized data. Based on the first rasterized data, multi-resolution compression is performed, and the compression result is used as the spatial slice.

3. The method according to claim 2, characterized in that, Based on the first rasterized data, multi-resolution compression is performed, and the compression result is used as the spatial slice, including: The resolution of the first rasterized data in the near field range of the aircraft is preserved, and the first rasterized data in the far field range of the aircraft is downsampled to obtain a compressed result; The compression result is encoded and output using a quadtree structure as the spatial slice.

4. The method according to claim 1, characterized in that, Based on the aircraft's current position and predicted trajectory, and using a pre-set database, airspace slices are dynamically extracted, including: Calculate the predicted location center based on the predicted trajectory and the second preset time advance. The second bounding box is determined based on the predicted location center and the preset area range; Based on the second bounding box, terrain vector data and / or building vector data are obtained from a preset database as second static terrain data; Based on the second bounding box, the current time, and the second preset time advance, voxels with occupancy intensity greater than a preset occupancy intensity threshold are obtained from the 4D spatiotemporal field database as the second dynamic obstacle data; The second static terrain data and the second dynamic obstacle data are mapped to a raster system under the same coordinate system and the layers are overlaid to obtain the second rasterized data. Based on the second rasterized data, multi-resolution compression is performed, and the compression result is used as extended spatial domain data. Preload extended spatial data of the preset area surrounding the predicted location center; Based on the aircraft's preset line-of-sight distance, an airspace slice is extracted from the extended airspace data, wherein the preset area is larger than the diameter of the airspace slice.

5. The method according to claim 1, characterized in that, According to the data type, the spatial slices are rendered in layers to obtain a situation map, including: According to the data type, the airspace slices are divided into static layer data, dynamic layer data and meteorological layer data; According to the pre-set rendering strategy, the static layer data, the dynamic layer data, and the meteorological layer data are visualized and rendered to obtain a situation map.

6. The method according to claim 5, characterized in that, The static layer data includes terrain elevation, buildings, and controlled areas; the dynamic layer data includes cooperative aircraft and risk warning signs; and the meteorological layer data includes meteorological data.

7. The method according to claim 6, characterized in that, According to a pre-set rendering strategy, the static layer data, the dynamic layer data, and the meteorological layer data are visualized and rendered to obtain a situation map, including: The terrain elevation, the buildings, and the controlled area are rendered based on color and / or texture, respectively. The cooperative aircraft in the dynamic layer data are labeled based on movement icons and predicted trajectories, and the risk level of the cooperative aircraft is color-coded. The risk warning indicator in the dynamic layer data is set as a dynamic ring aperture, wherein the dynamic ring aperture includes an inner ring and an outer ring; The meteorological data is displayed in a semi-transparent overlay according to a preset effect.

8. A device for generating an airspace situation map, characterized in that, include: The airspace slicing unit is used to dynamically extract airspace slices based on the current position and predicted trajectory of the aircraft and a preset database, wherein the preset database includes a 4D spatiotemporal field database. The situation map unit is used to perform layered rendering of the spatial domain slices according to data type to obtain a situation map; An airborne display unit is used to send the situation map to the aircraft and display it.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed by a processor, they implement the method as described in any one of claims 1-7.

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