A cesium-based three-dimensional map real-time display system and method

Abstract

The application discloses a kind of real-time display system and method of three-dimensional map based on Cesium, belong to three-dimensional map visualization technical field, data receiving module real-time receiving carrier remote sensing data and topographic remote sensing data;Data filtering error correction module carries out real-time noise correction using Kalman filtering algorithm, and using the spatial data filtering algorithm based on dynamic distance threshold carries out abnormal detection and position reconstruction;Attitude solution module is output object attitude parameter by ENU local reference system solution and quaternion interpolation method;Three-dimensional map rendering module realizes illumination calculation and special effect simulation, and based on 3DTiles fusion topographic data;Model dynamic updating module real-time updates the position and attitude of carrier;Interactive control module supports dual-mode camera control and smooth view angle switching.The application realizes abnormal data filtering and error correction in high dynamic scene, carrier real-time attitude adjustment and comprehensive visualization in multidimensional business scene, significantly improves trajectory continuity and data reliability.

Description

Technical Field

[0001] This invention belongs to the field of 3D map visualization technology, specifically relating to a real-time 3D map display system and method based on Cesium. Background Technology

[0002] With the rapid development of technologies such as digital twins and virtual reality, the demand for 3D map visualization systems in fields such as 3D simulation, Geographic Information Systems (GIS), and smart cities is increasing. Cesium, as a mainstream open-source WebGIS 3D engine, is widely used to build online 3D map applications due to its WebGL-based cross-platform rendering capabilities.

[0003] However, existing Cesium-based 3D mapping systems mainly rely on static data loading and basic rendering functions, and suffer from the following technical bottlenecks: 1. Insufficient data processing efficiency: Traditional systems lack efficient filtering and error correction mechanisms when parsing telemetry data chains (such as latitude, longitude, and altitude data), making it difficult to cope with data loss or abnormal fluctuations in highly dynamic scenarios.

[0004] 2. Lack of interactive performance optimization: Dynamic loading of large-scale terrain and models can easily lead to rendering lag, especially in small-scale deployment scenarios on local area networks, where system response latency significantly affects user experience.

[0005] 3. Limited functional scalability: Existing solutions are mostly focused on basic map display and lack integrated support for complex functions such as ground station annotation, model tracking, and multi-window interaction, making it difficult to meet the multi-dimensional needs of the real-time display system. Summary of the Invention

[0006] In response to one or more of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a Cesium-based real-time 3D map display system and method, which realizes the visualization of motion state and real-time attitude adjustment of the model through dynamic binding of 3D models. At the same time, it can also filter and correct abnormal data, ensure trajectory continuity and data reliability, and meet the comprehensive needs of real-time display systems in multi-dimensional business scenarios.

[0007] To achieve the above objectives, this invention provides a Cesium-based real-time 3D map display system, comprising a data receiving module, a data filtering and error correction module, a pose calculation module, a 3D map rendering module, a model dynamic update module, and an interactive control module: wherein, The data receiving module is used to receive vehicle remote sensing data and terrain remote sensing data in real time. The data filtering and error correction module is configured to: use the Kalman filter algorithm to perform real-time noise correction on the telemetry data, and use a spatial data filtering algorithm based on dynamic distance threshold to perform anomaly detection and position reconstruction on the telemetry data, and output corrected data; The attitude calculation module is configured to: calculate the vehicle's three-dimensional homogeneous transformation matrix in the geocentric coordinate system, and then output the object's attitude parameters through ENU local reference system calculation and quaternion interpolation. The 3D map rendering module is configured to: use Cesium and Vue3 technology stack, combine GLSL shaders to realize lighting calculation and special effects simulation, and fuse terrain remote sensing data based on Cesium's 3DTiles data format to realize terrain rendering and output dynamic models; The model dynamic update module is configured to update the position and attitude of the vehicle in the dynamic model in real time based on the correction data and object attitude parameters. The interactive control module is configured to support dual-modal camera control and achieve smooth viewpoint switching through the Camera's flyTo method combined with an interpolation algorithm.

[0008] As a further preferred embodiment of the present invention, the spatial data filtering algorithm for the dynamic distance threshold includes the following steps: Calculate the dynamic distance threshold based on the current vehicle speed; Convert the latitude, longitude, and altitude data in the vehicle remote sensing data into real-time coordinates of the subsequent location in the Cesium Cartesian coordinate system; The first point is used as the initial valid position. The Euclidean distance between the subsequent positions and the nearest valid position is calculated. Then, it is determined whether the Euclidean distance is less than the dynamic distance threshold. If so, the latest valid position is updated. If not, a three-level caching mechanism is triggered.

[0009] As a further preferred embodiment of the present invention, the three-level cache buffering mechanism is configured as follows: The abnormal jump is determined by the rate of change of distance between adjacent points in the cache queue. If it is determined to be abnormal, the effective position is reconstructed by linear interpolation or outlier removal strategy.

[0010] As a further preferred embodiment of the present invention, the ENU local reference frame solution and quaternion interpolation method includes the following steps: Analyze the three-dimensional homogeneous transformation matrix of the vehicle in the geocentric-ground-fixed coordinate system; The rotation transformation matrix from the ENU coordinate system to the ECEF is constructed based on the matrix translation components, and the pose alignment from the global coordinate system to the local reference system is achieved through inverse matrix operations. The influence of the scale factor is eliminated by orthogonal normalization of the rotation matrix, and the pure rotation components relative to the ENU coordinate system are solved by quaternion interpolation. The object's pose parameters are output through Tait-Bryan angle decomposition.

[0011] As a further preferred embodiment of the present invention, the object attitude parameters include the heading angle, pitch angle and roll angle output in the "ZY-X" rotation sequence, and the angle error is controlled within ±0.3°.

[0012] As a further preferred embodiment of the present invention, a communication visualization module is also included, the communication visualization module being configured to: Establish bidirectional real-time communication between the server and the client using the WebSocket protocol; A dynamic polyline flowing light material system based on GLSL shaders is adopted. The shader is injected through a singleton registration mechanism. The frame number drives a segmented gradient algorithm for head enhancement, body maintenance and tail decay to realize the visualization of the flowing light effect of the communication status between the ground station and the model.

[0013] As a further preferred embodiment of the present invention, a satellite motion simulation module is also included, the satellite motion simulation module being configured as follows: Download the satellite's Two-Line Element orbital parameter file; The TLE parameters are converted into satellite position and velocity vectors in the geocentric inertial coordinate system based on the SGP4 / SDP4 orbit propagation algorithm. By mapping the coordinate system to three-dimensional coordinates on the Earth's surface using a coordinate system transformation algorithm, the satellite's position can be calculated in real time and generated in CZML format.

[0014] As a further preferred embodiment of the present invention, a configuration loading module is also included, wherein the configuration loading module is configured to: Spatial features can be dynamically loaded via JSON configuration files, supporting configurable dynamic loading of model, annotation, and trajectory states.

[0015] As a further preferred embodiment of the present invention, the interactive control module is configured to also support the functions of adding ground stations, adding motion trajectories, and displaying navigation satellite status, and to provide at least a number of function keys and a number of keyboard shortcuts to form a human-computer interaction system.

[0016] This invention also discloses a Cesium-based real-time 3D map display method, which employs the aforementioned Cesium-based real-time 3D map display system and includes the following steps: S1. Set up the Cesium development environment, configure the Nginx server, and load high-precision topographic maps, imagery maps, and road network data; S2. The latitude, longitude, altitude, and status information of the vehicle are acquired in real time through ground stations or telemetry equipment and sent to the server via a dedicated network; S3. After parsing the data, the server pushes it to the front-end 3D map system via WebSocket. S4. The system uses Kalman filtering and dynamic distance threshold filtering algorithms to perform real-time filtering and error correction on position data, and calculates the vehicle's heading angle, pitch angle and roll angle. S5. Update the position and attitude of the vehicle 3D model in the Cesium scene in real time based on the filtered position and attitude angle, and dynamically render lighting and cloud effects. S6 responds to user key presses, switches camera views, adds annotations or trajectory lines, and triggers particle effects and volumetric cloud rendering when needed.

[0017] In summary, the beneficial effects of the above-described technical solutions conceived by this invention compared with the prior art include: This invention relates to a Cesium-based real-time 3D map display system and method. It employs a bidirectional communication mechanism built on the WebSocket protocol, combined with dynamic flow line visualization technology, to achieve low-latency feedback and high-fidelity rendering of communication status between the ground station and the model, effectively improving human-machine collaboration efficiency. Through a composite interactive design, coupled with a dual-modal camera control system, it supports multi-dimensional observation modes such as orthophoto projection and free-viewpoint, optimizing operation response time to sub-second levels and significantly improving control efficiency in complex scenes. Simultaneously, it utilizes a JSON configuration loading mechanism and TLE dynamic orbit parsing technology to support plug-and-play use of spatial elements such as points, lines, surfaces, and satellite orbits, enabling adaptive fusion of multi-source heterogeneous data. Furthermore, by combining a dynamic distance threshold filtering algorithm with ENU coordinate system attitude analysis technology, it improves the accuracy of position anomaly detection by 40%, and controls the angle smoothing calculation error within ±0.3°, meeting the millimeter-level spatial registration requirements in highly dynamic environments. Additionally, through a three-level caching algorithm, it constructs a self-healing system for abnormal positions, ensuring smooth movement of points and maintaining high system availability under interference conditions. Attached Figure Description

[0018] Figure 1 This is a block diagram of the filtering algorithm of the real-time 3D map display system based on Cesium in an embodiment of the present invention; Figure 2 This is a flowchart of a Cesium-based method for real-time display of 3D maps in an embodiment of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0022] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0024] Example: Please see Figures 1-2 The Cesium-based real-time 3D map display system and method in the preferred embodiment of the present invention realizes the visualization of motion state and real-time attitude adjustment of the model through dynamic binding of 3D model. At the same time, it can also filter and correct abnormal data, ensure trajectory continuity and data reliability, and meet the comprehensive needs of real-time display system in multi-dimensional business scenarios.

[0025] It's just a matter of specifics, such as Figure 1 As shown in the preferred embodiment of this application, the Cesium-based real-time 3D map display system includes a data receiving module, a data filtering and error correction module, a pose calculation module, a 3D map rendering module, a model dynamic update module, and an interactive control module: wherein, The data receiving module is used to receive vehicle remote sensing data and terrain remote sensing data in real time; The data filtering and error correction module is configured to: use the Kalman filter algorithm to perform real-time noise correction on the telemetry data, and use a spatial data filtering algorithm based on dynamic distance thresholds to perform anomaly detection and location reconstruction on the telemetry data, and output corrected data; The attitude calculation module is configured to: calculate the vehicle's three-dimensional homogeneous transformation matrix in the geocentric coordinate system, and then output the object's attitude parameters through ENU local reference system calculation and quaternion interpolation. The 3D map rendering module is configured to: use Cesium and Vue3 technology stack, combine GLSL shaders to realize lighting calculation and special effects simulation, and fuse terrain remote sensing data based on Cesium's 3DTiles data format to realize terrain rendering and output dynamic models; The model dynamic update module is configured to update the position and attitude of the vehicle in the dynamic model in real time based on the correction data and object attitude parameters; The interactive control module is configured to support dual-modal camera control and achieve smooth viewpoint switching through the Camera's flyTo method combined with an interpolation algorithm.

[0026] Furthermore, in a preferred embodiment of this application, the spatial data filtering algorithm for dynamic distance thresholds includes the following steps: Calculate the dynamic distance threshold based on the current vehicle speed; Convert the latitude, longitude, and altitude data in the vehicle remote sensing data into real-time coordinates of the subsequent location in the Cesium Cartesian coordinate system; The first point is used as the initial valid position. The Euclidean distance between the subsequent positions and the nearest valid position is calculated. Then, it is determined whether the Euclidean distance is less than the dynamic distance threshold. If it is, the latest valid position is updated. If not, a three-level caching mechanism is triggered.

[0027] Furthermore, in a preferred embodiment of this application, the three-level cache buffer mechanism is configured as follows: The abnormal jump is determined by the rate of change of distance between adjacent points in the cache queue. If it is determined to be abnormal, the effective position is reconstructed by linear interpolation or outlier removal strategy.

[0028] Furthermore, in a preferred embodiment of this application, the ENU local reference frame solution and quaternion interpolation method includes the following steps: Analyze the three-dimensional homogeneous transformation matrix of the vehicle in the geocentric-ground-fixed coordinate system; The rotation transformation matrix from the ENU coordinate system to the ECEF is constructed based on the matrix translation components, and the pose alignment from the global coordinate system to the local reference system is achieved through inverse matrix operations. The influence of the scale factor is eliminated by orthogonal normalization of the rotation matrix, and the pure rotation components relative to the ENU coordinate system are solved by quaternion interpolation. The object's pose parameters are output through Tait-Bryan angle decomposition.

[0029] Furthermore, in a preferred embodiment of this application, the object attitude parameters include the output of the heading angle, pitch angle, and roll angle in a "ZY-X" rotation sequence. Preferably, the angular errors of the heading angle, pitch angle, and roll angle are within ±0.3°.

[0030] Furthermore, in a preferred embodiment of this application, a communication visualization module is also included, which is configured as follows: Establish bidirectional real-time communication between the server and the client using the WebSocket protocol; A dynamic polyline flowing light material system based on GLSL shaders is adopted. The shader is injected through a singleton registration mechanism. The frame number drives a segmented gradient algorithm for head enhancement, body maintenance and tail decay to realize the visualization of the flowing light effect of the communication status between the ground station and the model.

[0031] Furthermore, in a preferred embodiment of this application, a satellite motion simulation module is also included, which is configured as follows: Download the satellite's Two-Line Element orbital parameter file; The TLE parameters are converted into satellite position and velocity vectors in the geocentric inertial coordinate system based on the SGP4 / SDP4 orbit propagation algorithm. By mapping the coordinate system to three-dimensional coordinates on the Earth's surface using a coordinate system transformation algorithm, the satellite's position can be calculated in real time and generated in CZML format.

[0032] Furthermore, in a preferred embodiment of this application, a configuration loading module is also included, which is configured to: Spatial elements such as points, lines, surfaces, volumes, and PNG icons can be dynamically loaded via JSON configuration files, and the state of models, annotations, and trajectories can be dynamically loaded in a configurable manner.

[0033] Furthermore, in a preferred embodiment of this application, the interactive control module is configured to also support the functions of adding ground stations, adding motion trajectories, and displaying navigation satellite status, and to provide at least a number of function keys and a number of keyboard shortcuts to form a human-computer interaction system.

[0034] Further preferably, in the preferred embodiment of this application, in the Cesium-based 3D geographic visualization system, the camera motion control and viewpoint switching mechanism achieves efficient collaboration through a hierarchical architecture. Through the Camera class core controller, a camera state model containing attitude parameters, position parameters, and field of view parameters is constructed. It uses the Camera.flyTo method combined with the EasingFunction.QUARTIC_IN_OUT interpolation algorithm to achieve a smooth transition of the flight path, thereby realizing the dynamic switching of the dual-modal control framework between preset fixed viewpoint and free viewpoint modes.

[0035] More specifically, in the preferred embodiment of this application, the architecture achieves seamless switching between 3D immersive observation and 2D global overview through Cesium's hybrid view capability and a custom data fusion strategy, while maintaining the consistency of the spatial coordinate system (WGS84 / EPSG:3857 conversion), meeting users' multi-dimensional interactive needs for complex geographical scenes.

[0036] Furthermore, in a preferred embodiment of this application, to ensure a more realistic display effect, volumetric cloud and fog effects are added to the system. These effects employ a ray stepping technique, calculating a ray on each pixel. When the ray enters the volume texture area, it is subdivided into smaller ray fragments for iterative stepping, calculating the corresponding intensity information at each step. After the final iteration, all stepping results are superimposed to obtain the pixel's color, thereby achieving the rendering of the 3D graphics.

[0037] Furthermore, such as Figure 2 As shown in another preferred embodiment of this application, the present invention also discloses a Cesium-based real-time 3D map display method, which employs the aforementioned Cesium-based real-time 3D map display system and includes the following steps: S1. Set up the Cesium development environment, configure the Nginx server, and load high-precision topographic maps, imagery maps, and road network data; S2. The latitude, longitude, altitude, and status information of the vehicle are acquired in real time through ground stations or telemetry equipment and sent to the server via a dedicated network; S3. After parsing the data, the server pushes it to the front-end 3D map system via WebSocket. S4. The system uses Kalman filtering and dynamic distance threshold filtering algorithms to perform real-time filtering and error correction on position data, and calculates the vehicle's heading angle, pitch angle and roll angle. S5. Update the position and attitude of the vehicle 3D model in the Cesium scene in real time based on the filtered position and attitude angle, and dynamically render lighting and cloud effects. S6 responds to user key presses, switches camera views, adds annotations or trajectory lines, and triggers particle effects and volumetric cloud rendering when needed.

[0038] The Cesium-based real-time 3D map display system and method of this invention employs a bidirectional communication mechanism built on the WebSocket protocol, combined with dynamic flow line visualization technology, to achieve low-latency feedback and high-fidelity rendering of communication status between the ground station and the model, effectively improving human-machine collaboration efficiency. Through a composite interactive design, coupled with a dual-modal camera control system, it supports multi-dimensional observation modes such as orthographic projection and free-viewpoint, optimizing operation response time to sub-second levels, significantly improving control efficiency in complex scenes. Simultaneously, it adopts a JSON configuration loading mechanism and TLE dynamic orbit parsing technology, supporting plug-and-play use of spatial elements such as points, lines, surfaces, and satellite orbits, achieving adaptive fusion of multi-source heterogeneous data. Furthermore, through a dynamic distance threshold filtering algorithm combined with ENU coordinate system attitude analysis technology, the accuracy of position anomaly detection is improved by 40%, and the angle smoothing calculation error is controlled within ±0.3°, meeting the millimeter-level spatial registration requirements in highly dynamic environments. At the same time, a three-level caching algorithm is used to construct a self-healing system for abnormal positions, ensuring smooth movement of points and maintaining system availability in highly interference environments.

[0039] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A real-time 3D map display system based on Cesium, characterized in that, It includes a data receiving module, a data filtering and error correction module, an attitude calculation module, a model dynamic update module, a 3D map rendering module, and an interactive control module: among which, The data receiving module is used to receive vehicle remote sensing data and terrain remote sensing data in real time. The data filtering and error correction module is configured to: use the Kalman filter algorithm to perform real-time noise correction on the telemetry data, and use a spatial data filtering algorithm based on dynamic distance threshold to perform anomaly detection and position reconstruction on the telemetry data, and output corrected data; The attitude calculation module is configured to: calculate the vehicle's three-dimensional homogeneous transformation matrix in the geocentric coordinate system, and then output the object's attitude parameters through ENU local reference system calculation and quaternion interpolation. The 3D map rendering module is configured to: use Cesium and Vue3 technology stack, combine GLSL shaders to realize lighting calculation and special effects simulation, and fuse terrain remote sensing data based on Cesium's 3DTiles data format to realize terrain rendering and output dynamic models; The model dynamic update module is configured to update the position and attitude of the vehicle in the dynamic model in real time based on the correction data and object attitude parameters. The interactive control module is configured to support dual-modal camera control and achieve smooth viewpoint switching through the Camera's flyTo method combined with an interpolation algorithm.

2. The Cesium-based real-time 3D map display system according to claim 1, characterized in that, The spatial data filtering algorithm with dynamic distance threshold includes the following steps: Calculate the dynamic distance threshold based on the current vehicle speed; Convert the latitude, longitude, and altitude data in the vehicle remote sensing data into real-time coordinates of the subsequent location in the Cesium Cartesian coordinate system; The first point is used as the initial valid position. The Euclidean distance between the subsequent positions and the nearest valid position is calculated. Then, it is determined whether the Euclidean distance is less than the dynamic distance threshold. If yes, update the latest valid position; otherwise, trigger the three-level caching mechanism.

3. The Cesium-based real-time 3D map display system according to claim 2, characterized in that, The three-level cache mechanism is configured as follows: The abnormal jump is determined by the rate of change of distance between adjacent points in the cache queue. If it is determined to be abnormal, the effective position is reconstructed by linear interpolation or outlier removal strategy.

4. The Cesium-based real-time 3D map display system according to claim 1, characterized in that, The ENU local reference frame solution and quaternion interpolation method includes the following steps: Analyze the three-dimensional homogeneous transformation matrix of the vehicle in the geocentric-ground-fixed coordinate system; The rotation transformation matrix from the ENU coordinate system to the ECEF is constructed based on the matrix translation components, and the pose alignment from the global coordinate system to the local reference system is achieved through inverse matrix operations. The influence of the scale factor is eliminated by orthogonal normalization of the rotation matrix, and the pure rotation components relative to the ENU coordinate system are solved by quaternion interpolation. The object's pose parameters are output through Tait-Bryan angle decomposition.

5. The Cesium-based real-time 3D map display system according to claim 3, characterized in that, The object's attitude parameters include the heading angle, pitch angle, and roll angle, output in the "ZY-X" rotation sequence.

6. The Cesium-based real-time 3D map display system according to any one of claims 1 to 5, characterized in that, It also includes a communication visualization module, which is configured as follows: Establish bidirectional real-time communication between the server and the client using the WebSocket protocol; A dynamic polyline flowing light material system based on GLSL shaders is adopted. The shader is injected through a singleton registration mechanism. The frame number drives a segmented gradient algorithm for head enhancement, body maintenance and tail decay to realize the visualization of the flowing light effect of the communication status between the ground station and the model.

7. The Cesium-based real-time 3D map display system according to any one of claims 1 to 5, characterized in that, It also includes a satellite motion simulation module, which is configured to: Download the satellite's Two-Line Element orbital parameter file; The TLE parameters are converted into satellite position and velocity vectors in the geocentric inertial coordinate system based on the SGP4 / SDP4 orbit propagation algorithm. By mapping the coordinate system to three-dimensional coordinates on the Earth's surface using a coordinate system transformation algorithm, the satellite's position can be calculated in real time and generated in CZML format.

8. The Cesium-based real-time 3D map display system according to any one of claims 1 to 5, characterized in that, It also includes a configuration loading module, which is configured as follows: Spatial features can be dynamically loaded via JSON configuration files, supporting configurable dynamic loading of model, annotation, and trajectory states.

9. The Cesium-based real-time 3D map display system according to any one of claims 1 to 5, characterized in that, The interactive control module is configured to support the addition of ground stations, the addition of motion trajectories, and the display of navigation satellite status, and provides at least a number of function keys and a number of keyboard shortcuts to form a human-computer interaction system.

10. A method for real-time display of 3D maps based on Cesium, characterized in that, The real-time 3D map display system based on Cesium, as described in any one of claims 1 to 9, comprises the following steps: S1. Set up the Cesium development environment, configure the Nginx server, and load high-precision topographic maps, imagery maps, and road network data; S2. The latitude, longitude, altitude, and status information of the vehicle are acquired in real time through ground stations or telemetry equipment and sent to the server via a dedicated network; S3. After parsing the data, the server pushes it to the front-end 3D map system via WebSocket. S4. The system uses Kalman filtering and dynamic distance threshold filtering algorithms to perform real-time filtering and error correction on position data, and calculates the vehicle's heading angle, pitch angle and roll angle. S5. Update the position and attitude of the vehicle 3D model in the Cesium scene in real time based on the filtered position and attitude angle, and dynamically render lighting and cloud effects. S6 responds to user key presses, switches camera views, adds annotations or trajectory lines, and triggers particle effects and volumetric cloud rendering when needed.

Images