The invention provides an unmanned aerial vehicle no-fly zone alarm method, device and equipment, a storage medium and an unmanned aerial vehicle, and can be applied to the technical field of unmanned aerial vehicles. The method comprises the following steps: converting latitude and longitude coordinates of a current position of an unmanned aerial vehicle into Gaussian coordinates; a target no-fly zone of the unmanned aerial vehicle in the flight area is determined, and the area of the target no-fly zone is a polygon formed by sequentially connecting a plurality of first line segments end to end; a target first line segment is determined from the multiple first line segments according to the Gaussian coordinates of the unmanned aerial vehicle, and the ordinate of the Gaussian coordinates of the unmanned aerial vehicle is between the ordinates of the two end points of the target first line segment; the number of intersection points of a first ray and the target first line segment is determined, and the first ray is generated with the coordinate point of the unmanned aerial vehicle as the end point and the x-axis positive direction as the ray direction; when the number of the intersection points is an odd number, determining that the current position of the unmanned aerial vehicle is located in a target no-fly zone; and sending alarm information based on the current position of the unmanned aerial vehicle.
本公开提供了一种无人机禁飞区告警方法、装置、设备、存储介质及无人机,可以应用于无人机技术领域。该方法包括:将无人机的当前位置的经纬度坐标转换为高斯坐标;确定无人机在飞行区域内的目标禁飞区,其中,目标禁飞区的区域为多条第一线段首尾顺次相接组成的多边形;根据无人机的高斯坐标从多条第一线段中确定目标第一线段,其中,无人机的高斯坐标的纵坐标在目标第一线段的两个端点的纵坐标之间;确定第一射线与目标第一线段的交点数量,其中,第一射线为以无人机的坐标点为端点、x轴正方向为射线方向生成的;在交点数量为奇数的情况下,确定无人机的当前位置位于目标禁飞区;基于无人机的当前位置,发出告警信息。
Unmanned aerial vehicle no-fly zone alarm method, device and equipment, storage medium and unmanned aerial vehicle
无人机禁飞区告警方法、装置、设备、存储介质及无人机
2022-12-30
Patent
Elektronische Ressource
Chinesisch
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