CN113112873B - Airspace warning method and device - Google Patents

Abstract

The invention provides an airspace alarm method and device, and relates to the field of airspace management. The airspace warning method comprises the steps of obtaining position information of an aircraft and attribute information of the airspace, calculating a yaw distance according to related information, and comparing the yaw distance with a preset warning distance to generate warning information. The aircraft can send out airspace alarm when the aircraft does not enter or fly out of the airspace range, so that the aircraft can be reminded in time, the aircraft has enough time to adjust the own flight path, the aircraft can adjust the flight path in time, and the flight safety of the aircraft is ensured. By using the alarm distance comparison, the application range of the airspace is increased.

Description

Airspace warning method and device

technical field

The invention relates to the field of airspace management, in particular to an airspace warning method and device.

Background technique

In order to meet the needs of the three major airspace users of public transport aviation, general aviation and military aviation for the use of different airspaces, and ensure that the airspaces are used safely, rationally, fully and effectively, the airspaces are classified.

At present, in order to realize the airspace warning, the usual method is to automatically judge whether the drone has exceeded the specified flying airspace through an algorithm, and if it exceeds the limit, it will give an alarm message in real time, but this method is generally after the aircraft enters or flies out of the airspace. It is not conducive to timely reminders, and it is also not conducive to timely adjustment of the flight path of the aircraft.

Contents of the invention

The object of the present invention is to provide an airspace warning method and device to improve the problem in the prior art that the warning information is not issued until the aircraft enters or flies out of the airspace. Therefore, the aircraft can be reminded in time to adjust the flight path in time.

In the first aspect, the embodiment of the present application provides an airspace warning method, including the following steps:

Obtain the position information of the aircraft and the attribute information of the current airspace;

Calculate the yaw distance according to the position information of the aircraft and the attribute information of the airspace;

Generate warning information according to yaw distance and preset warning distance.

In the above implementation process, the position information of the aircraft and the attribute information of the airspace are obtained, and the yaw distance is calculated according to the relevant information, and then the yaw distance is compared with the preset warning distance to generate the warning information. The airspace warning can be issued before the aircraft enters or flies out of the airspace, so that the aircraft can be reminded in time, so that the aircraft has enough time to adjust its flight path, so that the aircraft can adjust the flight path in time, thereby ensuring the flight safety of the aircraft. By using the warning distance comparison, the application range of the airspace is increased.

Based on the first aspect, in some embodiments of the present invention, the step of calculating the yaw distance according to the position information of the aircraft and the attribute information of the airspace includes the following steps:

The yaw distance is extracted and calculated according to the airspace plane shape information in the airspace attribute information and the position information of the aircraft.

Based on the first aspect, in some embodiments of the present invention, the step of extracting and calculating the yaw distance according to the airspace plane shape information in the airspace attribute information and the position information of the aircraft includes the following steps:

Extract and calculate the yaw distance according to the center point position information, radius and aircraft position information of the circular airspace in the attribute information of the airspace.

Based on the first aspect, in some embodiments of the present invention, the step of extracting and calculating the yaw distance according to the airspace plane shape information in the airspace attribute information and the position information of the aircraft includes the following steps:

The yaw distance is extracted and calculated according to the information of each side of the polygonal airspace in the attribute information of the airspace and the position information of the aircraft.

Based on the first aspect, in some embodiments of the present invention, the step of extracting and calculating the yaw distance according to the information of each side of the polygonal airspace in the attribute information of the airspace and the position information of the aircraft includes the following steps:

Obtain the vertex information at both ends of each edge according to the information of each edge;

Obtain the triangle formed by the vertices at both ends of each edge and the position coordinate point of the aircraft according to the vertex information at both ends of each edge and the position information of the aircraft;

Compute the course angles of the sides of the triangle;

The yaw distance is calculated according to the course angle.

Based on the first aspect, in some embodiments of the present invention, the step of calculating the course angles of each side of the triangle includes the following steps:

Calculate the first yaw distance according to the vertex information at both ends of each edge and the position information of the aircraft;

Judging whether the first yaw distance is less than the preset warning distance, if so, generating warning information; if not, calculating the route angle and The course angle of the aircraft's position.

In the above implementation process, the distance from the position of the aircraft to the vertices at both ends of each edge is obtained by calculating the first yaw distance. When the smallest distance among them is less than the alarm distance, an alarm message is generated. In this way, the amount of calculation is small, and the aircraft can be quickly judged Whether it is out of range, for the situation where the position of the aircraft is already within the warning distance, the warning information can be quickly generated.

Based on the first aspect, in some embodiments of the present invention, the step of calculating the yaw distance according to the course angle includes the following steps:

Calculate the angle between two adjacent sides according to the route angle of each side of the triangle;

Calculate the distance from the position of the aircraft to the vertices at the two ends of each edge according to the position information of the aircraft and the vertex position information at both ends of each edge;

According to the included angle and the distance from the position of the aircraft to the vertices at both ends of each edge, the yaw distance is obtained by using the calculation formula of the yaw distance.

Based on the first aspect, in some embodiments of the present invention, the step of obtaining the position information of the aircraft and the attribute information of the current airspace includes the following steps:

Obtain airspace information;

Adjust the airspace attributes according to the airspace information to obtain the current airspace attributes.

In the above implementation process, by obtaining real-time airspace information and adjusting the attributes of the airspace in time according to the airspace information, the attributes of the airspace are all up-to-date, so that the airspace information can be dynamically adjusted to facilitate airspace management.

In the second aspect, the embodiment of the present application provides an airspace warning device, including:

The information acquisition module is used to acquire the position information of the aircraft and the attribute information of the current airspace;

Off-track distance calculation module, used to calculate the off-track distance according to the position information of the aircraft and the attribute information of the airspace;

The warning information generation module is used to generate warning information according to the yaw distance and the preset warning distance.

In the above implementation process, the position information of the aircraft and the attribute information of the airspace are obtained through the information acquisition module, the yaw distance calculation module calculates the yaw distance according to the relevant information, and then the warning information generation module compares the yaw distance with the preset warning distance Compare and generate alarm information. The airspace warning can be issued before the aircraft enters or flies out of the airspace, so that the aircraft can be reminded in time, so that the aircraft has enough time to adjust its flight path, so that the aircraft can adjust the flight path in time, thereby ensuring the flight safety of the aircraft. By using the warning distance comparison, the application range of the airspace is increased.

Based on the second aspect, in some embodiments of the present invention, it also includes:

memory for storing one or more programs;

processor;

When one or more programs are executed by the processor, the method according to any one of claims 1-8 is realized.

Embodiments of the present invention have at least the following advantages or beneficial effects:

The embodiment of the present invention provides an airspace warning method and device, by obtaining the position information of the aircraft and the attribute information of the airspace, and calculating the yaw distance according to the relevant information, and then comparing the yaw distance with the preset warning distance to generate warning information . The airspace warning can be issued before the aircraft enters or flies out of the airspace, so that the aircraft can be reminded in time, so that the aircraft has enough time to adjust its flight path, so that the aircraft can adjust the flight path in time, thereby ensuring the flight safety of the aircraft. By using the warning distance comparison, the application range of the airspace is increased. By calculating the first yaw distance, the distance from the position of the aircraft to the vertices at both ends of each edge is obtained. When the smallest distance among them is less than the warning distance, an alarm message is generated. In this way, the amount of calculation is small, and it is possible to quickly determine whether the aircraft is out of range. For When the position of the aircraft is already within the warning distance, the warning information can be quickly generated. By obtaining real-time airspace information and adjusting the attributes of the airspace in time according to the airspace information, the attributes of the airspace are all up-to-date, so that the airspace information can be dynamically adjusted to facilitate airspace management.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

FIG. 1 is a flow chart of an airspace warning method provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of a circular airspace warning provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of a triangle formed by the sides of the polygonal airspace and the position of the aircraft provided by the embodiment of the present invention;

Fig. 4 is a structural block diagram of an airspace warning device provided by an embodiment of the present invention;

Fig. 5 is a flowchart of an airspace warning provided by an embodiment of the present invention.

Icons: 1 - circular airspace; 110 - information acquisition module; 120 - yaw distance calculation module; 130 - warning information generation module.

detailed description

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. any such actual relationship or order exists between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

Example

Some implementations of the present application will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, each of the following embodiments and each feature in the embodiments can be combined with each other.

Please refer to FIG. 1 . FIG. 1 is a flowchart of an airspace warning method provided by an embodiment of the present invention. The airspace warning method includes the following steps:

Step S110: Obtain the location information of the aircraft and the attribute information of the current airspace; the aircraft can be a drone or a manned aircraft, and the location information of the aircraft includes the latitude and longitude of the aircraft, current time and altitude information, etc., and the attributes of the current airspace The information can be real-time airspace attribute information, including the restricted time of the airspace, the plane shape information of the airspace, the range of the airspace and the restricted altitude of the airspace, etc.

Step S120: Calculate the yaw distance according to the position information of the aircraft and the attribute information of the airspace. Among them, the following steps are included:

The yaw distance is extracted and calculated according to the airspace plane shape information in the airspace attribute information and the position information of the aircraft. The plane shape information of the airspace includes the position information of the center point of the circular airspace 1, the radius, the information of each side of the polygonal airspace, and so on.

When the plane shape of the airspace is a circular airspace 1, the step of extracting and calculating the yaw distance according to the plane shape information of the airspace in the attribute information of the airspace and the position information of the aircraft includes the following steps:

The yaw distance is obtained by extracting and calculating the center point position information, radius and aircraft position information of the circular airspace 1 in the attribute information of the airspace. Firstly, the center point position information and radius of the circular airspace 1 are extracted, and the distance from the aircraft to the center point of the circular airspace 1 can be calculated through the center point position information of the circular airspace 1 and the position information of the aircraft. This distance is used as the aircraft’s yaw distance. For example: as shown in FIG. 2 , FIG. 2 is a schematic diagram of an alarm in a circular airspace 1 provided by an embodiment of the present invention. Extract the center point position of the circular airspace 1 as A and the radius R, and B is the position point of the aircraft, then the distance S from the position of the aircraft to the center point can be calculated according to the coordinates of A and B, and then calculate The yaw distance H is S-R.

When the plane shape of the airspace is a polygonal airspace, the step of extracting and calculating the yaw distance according to the plane shape information of the airspace in the attribute information of the airspace and the position information of the aircraft includes the following steps:

The yaw distance is extracted and calculated according to the information of each side of the polygonal airspace in the attribute information of the airspace and the position information of the aircraft. The polygonal airspace can be regular polygonal airspace or irregular polygonal airspace, such as sector, hexagon and so on. The polygonal airspace has multiple sides. By obtaining the information of each side of the polygon, the yaw distance from the aircraft to each side can be obtained by calculation.

Step S130: Generate warning information according to the yaw distance and the preset warning distance. After the yaw distance is calculated, it can be compared with the preset warning distance. For example, the preset warning distance is 10km, 20km, or 50km. When the yaw distance is less than the warning distance, an alarm message will be generated. The alarm information can be a voice alarm, a text alarm, or a combination of voice and text alarms. The warning information can continue until the calculated yaw distance is greater than the warning distance, and then the warning will stop. The airspace warning can be issued when the aircraft enters the alerted airspace or when the aircraft flies out of the alerted airspace.

For example: the calculated yaw distance is 75 kilometers, and the preset warning distance is 80 kilometers. If the yaw distance is less than the warning distance, a voice warning message "You have entered the warning distance, please adjust the flight route as soon as possible" will be generated. The calculated yaw distance is 80 kilometers, and the preset warning distance is 90 kilometers. If the yaw distance is less than the warning distance, a text warning message "You have entered the warning distance, please adjust the flight route as soon as possible" will be generated.

In the above implementation process, the position information of the aircraft and the attribute information of the airspace are obtained, and the yaw distance is calculated according to the relevant information, and then the yaw distance is compared with the preset warning distance to generate the warning information. The airspace warning can be issued before the aircraft enters or flies out of the airspace, so that the aircraft can be reminded in time, so that the aircraft has enough time to adjust its flight path, so that the aircraft can adjust the flight path in time, thereby ensuring the flight safety of the aircraft. Increased airspace coverage by using alert distance comparisons. For different airspace shapes, different off-course distance calculation methods can be used to increase the speed of calculating airspace warnings.

Please refer to FIG. 5 . FIG. 5 is a flowchart of an airspace warning provided by an embodiment of the present invention. Before calculating the yaw distance, the following operations can also be performed:

First, determine whether the time condition is met. By comparing the current flight time of the aircraft with the airspace limit time in the airspace attribute information, it can be judged whether the current time is within the limit time range of the airspace. If it is within the limit range, the altitude judgment can be performed. , repeat step S110.

Second, determine whether the height condition is met. Altitude judgment can be based on the height information of the aircraft and the comparison of the restricted altitude of the airspace. If the flying altitude of the aircraft is less than the minimum restricted altitude of the airspace, or greater than the maximum restricted altitude of the airspace, then repeat step S110, otherwise, perform the judgment of the airspace range.

Then, determine whether it is in the airspace. The airspace range judgment is to use the ray method to judge whether the current position of the aircraft is within the airspace range. If it is within the airspace range, an alarm message is generated; otherwise, the yaw distance is calculated.

Wherein, the step of extracting and calculating the yaw distance according to the information of each side of the polygonal airspace in the attribute information of the airspace and the position information of the aircraft includes the following steps:

First, get the vertex information at both ends of each edge according to the information of each edge; there is a vertex at both ends of each edge in the polygonal airspace, and the position information of the vertex can be obtained through the information of each edge. For example, the position information of the vertex can be The coordinates of the vertex can also be the latitude and longitude of the vertex, and then converted into coordinates.

Then, according to the vertex information at both ends of each edge and the position information of the aircraft, the triangle formed by the vertexes at both ends of each edge and the position coordinate point of the aircraft is obtained; The position point of △ is C1, then the triangle formed by the two vertices of one side of the polygonal airspace and the position of the aircraft is △A1B1C1.

Then, calculate the course angle of each side of the triangle; the calculation of the course angle is an improvement based on the calculation formula of the great circle course angle in air navigation, because the calculation formula of the great circle course angle is found to be in practice. , so on the basis of this formula, quadrant judgment and 0, 90, 180, 270 degree judgment are carried out. The great-circle course angle is a prior art, so it will not be repeated here.

Finally, the yaw distance is calculated according to the course angle.

Wherein, the step of calculating the yaw distance according to the course angle includes the following steps:

First, calculate the included angle between two adjacent sides according to the course angles of each side of the triangle; the calculation of the included angle is to subtract the course angles of the two sides forming the included angle to obtain the radian of the included angle, and then obtain the included angle in radians The angle of the included angle can be obtained through the angle conversion formula and then take the absolute value. Angle conversion formula is: angle = radian * 180/PI. For example: as shown in FIG. 3 , FIG. 3 is a schematic diagram of a triangle formed by the sides of the polygonal airspace and the position of the aircraft provided by the embodiment of the present invention. The radian of ∠C1B1A1 is the course angle of B1C1 minus the course angle of B1A1, and then the angle of ∠C1B1A1 is obtained through angle conversion, and then the absolute value is taken. The radian of ∠C1A1B1 is the course angle of A1C1 minus the course angle of A1B1, and then the angle of ∠C1A1B1 is obtained through angle conversion, and then the absolute value is taken.

Then, the distance from the position of the aircraft to the vertices at both ends of each edge is calculated according to the position information of the aircraft and the vertex position information at both ends of each edge. First, the coordinates of the position of the aircraft and the coordinates of the vertices at both ends of each edge can be obtained, and then the distance from the position of the aircraft to the vertices at both ends of each edge can be calculated through the distance calculation formula.

Finally, according to the included angle and the distance from the position of the aircraft to the vertices at both ends of each edge, the yaw distance is obtained by using the calculation formula of the yaw distance. The yaw distance is the vertical distance from the position of the aircraft to each side of the polygonal airspace. You can first calculate the yaw distance from the position of the aircraft to each side, and then judge which of these yaw distances are valid and which are invalid, keep the effective yaw distance, and then use the effective yaw distance Select the smallest effective yaw distance as the final yaw distance. The judgment of the validity of the yaw distance can be calculated first after calculating the yaw distance from the position of the aircraft to each side, and then judge the validity of the yaw distance, or first judge the validity of the yaw distance, and then only use the calculation The yaw distance of is taken as the effective yaw distance.

The judgment of the validity of the yaw distance can be judged by judging the angle type of the vertices at the two ends of each side in the triangle formed by the vertices at the two ends of each side and the position coordinate point of the aircraft. When it is an acute angle, it is determined that the yaw distance is valid, otherwise it is invalid. For example: as shown in Figure 3, in the triangle △A1B1C1, ∠C1B1A1 is less than 90° is an acute angle, ∠C1A1B1 is greater than 90° is an obtuse angle, and point C1 is outside the line segment A1B1, then it is judged that the yaw distance H1 of this side is invalid . In the triangle △A2B2C2, ∠C2B2A2 is less than 90° as an acute angle, and ∠C2A2B2 is less than 90° as an acute angle, and point C2 is within the line segment A2B2, and the yaw distance H2 of this side is valid. In the triangle △A3B3C3, if ∠C3B3A3 is greater than 90°, it is an obtuse angle, and ∠C3A3B3 is less than 90°, it is an acute angle, and the point C3 is outside the line segment A3B3, then the yaw distance H3 of this side is judged to be invalid.

The formula for calculating the yaw distance is:

H＝R×ASin(sin(course angle of BA-course angle of BC)×sin(distance of BC))

Among them, H is the yaw distance, R is the radius of the earth of 6371 kilometers, A is a vertex of one side of the airspace shape, B is the other vertex of a side of the airspace shape, and C is the position of the aircraft.

In the above implementation process, the validity of the yaw distance is judged, so that the final yaw distance is more real and effective, and thus the alarm is more accurate. The calculation formula of the yaw distance is relatively simple, and the calculation amount is small, so that the speed of alarm calculation can be improved.

Wherein, the step of calculating the route angles of each side of the triangle includes the following steps:

It is judged whether the yaw distance between the position of the aircraft and the apex of the airspace is less than the warning distance.

First, the first yaw distance is calculated according to the vertex information at both ends of each edge and the position information of the aircraft. The first step is to calculate the distance from the position of the aircraft to the vertices at both ends of each edge, and then take the smallest distance as the first yaw distance.

Then, it is judged whether the first yaw distance is less than the preset warning distance, if so, the warning information is generated; if not, the route of the vertices at the two ends of each side is calculated according to the information of the vertices at the two ends of each side and the position information of the aircraft angle and the course angle of the position of the aircraft.

In the above implementation process, the distance from the position of the aircraft to the vertices at both ends of each edge is obtained by calculating the first yaw distance. When the smallest distance among them is less than the alarm distance, an alarm message is generated. In this way, the amount of calculation is small, and the aircraft can be quickly judged Whether it is out of range, for the situation where the position of the aircraft is already within the warning distance, the warning information can be quickly generated.

Wherein, the step of obtaining the position information of the aircraft and the attribute information of the current airspace includes the following steps:

First, obtain airspace information; airspace information includes restricted time ranges, altitude ranges, prohibited entry or exit airspaces, and warning distances, etc. When the airspace information changes, users can input real-time data according to the changed information. The height range includes full height, which means no height restriction.

Then, the airspace attribute is adjusted according to the airspace information to obtain the current airspace attribute. Change the properties of the airspace according to the input real-time data, and display different colors and color depths on the display page according to the properties of the adjusted airspace, combined with different conditions. For example: if the altitude range is full altitude, the airspace is displayed in solid red. If the altitude range is not full altitude, the airspace is displayed in transparent red. The current time does not meet the conditions of the time range, and the airspace is displayed in transparent green, that is to say, the airspace is not within the limit at the current time.

In the above implementation process, by obtaining real-time airspace information and adjusting the attributes of the airspace in time according to the airspace information, the attributes of the airspace are all up-to-date, so that the airspace information can be dynamically adjusted to facilitate airspace management.

Based on the same inventive concept, the present invention also proposes an airspace warning device, please refer to FIG. 4 , which is a structural block diagram of an airspace warning device provided by an embodiment of the present invention. The airspace warning device includes:

An information acquisition module 110, configured to acquire position information of the aircraft and attribute information of the current airspace;

Off-track distance calculation module 120, used to calculate off-track distance according to the position information of the aircraft and the attribute information of the airspace;

The warning information generation module 130 is configured to generate warning information according to the yaw distance and the preset warning distance.

In the above implementation process, the position information of the aircraft and the attribute information of the airspace are obtained by the information acquisition module 110, the off-track distance calculation module 120 calculates the off-track distance according to the relevant information, and then the off-track distance and the preset The alarm distance is compared to generate an alarm message. The airspace warning can be issued before the aircraft enters or flies out of the airspace, so that the aircraft can be reminded in time, so that the aircraft has enough time to adjust its flight path, so that the aircraft can adjust the flight path in time, thereby ensuring the flight safety of the aircraft. By using the warning distance comparison, the application range of the airspace is increased.

The airspace warning device also includes a memory, a processor and a communication interface, and the memory, the processor and the communication interface are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The memory can be used to store software programs and modules, such as the program instructions/modules corresponding to the airspace warning device provided in the embodiment of the present application, and the processor executes various functional applications and data processing by executing the software programs and modules stored in the memory . The communication interface can be used for signaling or data communication with other node devices.

Wherein, memory can be but not limited to, random access memory (RandomAccessMemory, RAM), read-only memory (Read Only Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable read-only Memory (Erasable Programmable Read-Only Memory, EPROM), Electrically Erasable Programmable Read-Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

A processor may be an integrated circuit chip with signal processing capabilities. The processor 102 can be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; it can also be a digital signal processor (Digital Signal Processing, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

In the embodiments provided in this application, it should be understood that the disclosed devices and methods may also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functions and possible implementations of devices, methods and computer program products according to multiple embodiments of the present application. operate. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more executable instruction. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified function or action , or may be implemented by a combination of dedicated hardware and computer instructions.

In addition, each functional module in each embodiment of the present application may be integrated to form an independent part, each module may exist independently, or two or more modules may be integrated to form an independent part.

If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

To sum up, the embodiment of the present application provides an airspace warning method and device. The airspace warning method obtains the position information of the aircraft and the attribute information of the airspace, and calculates the off-track distance according to the relevant information, and then compares the off-track distance with the predicted distance. The alarm information is generated by comparing the configured alarm distance. The airspace warning can be issued before the aircraft enters or flies out of the airspace, so that the aircraft can be reminded in time, so that the aircraft has enough time to adjust its flight path, so that the aircraft can adjust the flight path in time, thereby ensuring the flight safety of the aircraft. By using the warning distance comparison, the application range of the airspace is increased. This method can be used not only on the navigation instrument, but also on the monitoring platform, and can be applied to most alarm usage scenarios of entering and leaving the airspace.

The above are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, there may be various modifications and changes in the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, but that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and not restrictive in all points of view, and the scope of the application is defined by the appended claims rather than the foregoing description, and it is intended that the scope of the present application be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in this application. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (6)

1. A kind of airspace warning method is characterized in that, comprises the following steps: Obtain the position information of the aircraft and the attribute information of the current airspace; calculating the off-track distance according to the position information of the aircraft and the attribute information of the airspace; generating warning information according to the yaw distance and a preset warning distance; Wherein, the step of calculating the yaw distance according to the position information of the aircraft and the attribute information of the airspace includes the following steps: Extracting and calculating the yaw distance according to the airspace plane shape information in the attribute information of the airspace and the position information of the aircraft; including the following steps: Extracting and calculating the yaw distance according to the information of each edge of the polygonal airspace in the attribute information of the airspace and the position information of the aircraft; including the following steps: obtaining the vertex information at both ends of each edge according to the information of each edge Obtain the triangle formed by the vertexes at both ends of each side and the position coordinate point of the aircraft according to the vertex information at both ends of each side and the position information of the aircraft; calculate the route angle of each side of the triangle ; Calculate the yaw distance according to the course angle, including: calculate the angle between two adjacent sides according to the course angle of each side of the triangle; The distance from the position of the aircraft to the vertices at the two ends of the sides is calculated according to the vertex position information; according to the angle and the distance from the position of the aircraft to the vertices at the two ends of the sides, the calculation formula of the yaw distance is obtained yaw distance. 2. The airspace warning method according to claim 1, wherein the step of extracting and calculating the yaw distance according to the airspace plane profile information in the attribute information of the airspace and the position information of the aircraft comprises the following step: The yaw distance is obtained by extracting and calculating according to the center point position information and radius of the circular airspace in the attribute information of the airspace and the position information of the aircraft. 3. airspace warning method according to claim 1, is characterized in that, comprises the following steps before the step of the route angle of each side of described calculation triangle: calculating and obtaining a first yaw distance according to the vertex information at both ends of each edge and the position information of the aircraft; Judging whether the first yaw distance is less than the preset warning distance, if so, generating warning information; if not, calculating the information of each edge according to the vertex information at both ends of each edge and the position information of the aircraft. The course angle of the vertices at both ends of the edge and the course angle of the position of the aircraft. 4. The airspace warning method according to claim 1, wherein the step of obtaining the position information of the aircraft and the attribute information of the current airspace comprises the following steps: Obtain airspace information; The airspace attribute is adjusted according to the airspace information to obtain the current airspace attribute. 5. An airspace warning device, characterized in that it comprises: The information acquisition module is used to acquire the position information of the aircraft and the attribute information of the current airspace; Off-track distance calculation module, used to calculate the off-track distance according to the position information of the aircraft and the attribute information of the airspace; including the following steps: Extracting and calculating the yaw distance according to the information of each side of the polygonal airspace in the attribute information of the airspace and the position information of the aircraft; including the following steps: Obtaining vertex information at both ends of each edge according to the information of each edge; Obtaining the triangle formed by the vertices at both ends of each edge and the position coordinate point of the aircraft according to the vertex information at both ends of each edge and the position information of the aircraft; calculating course angles for each side of the triangle; Calculate the yaw distance according to the course angle, including: calculate the angle between two adjacent sides according to the course angle of each side of the triangle; The position information is calculated to obtain the distance from the position of the aircraft to the vertices at the two ends of the sides; according to the angle and the distance from the position of the aircraft to the vertices at the two ends of the sides, the yaw distance is obtained using the calculation formula of the yaw distance. distance; The warning information generation module is used to generate warning information according to the yaw distance and the preset warning distance. 6. The airspace warning device according to claim 5, characterized in that it comprises: memory for storing one or more programs; processor; When the one or more programs are executed by the processor, the method according to any one of claims 1-4 is realized.

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