diff --git a/src/assets/js/cesium-map/measureDistance.js b/src/assets/js/cesium-map/measureDistance.js
index 12ede66..1788a91 100644
--- a/src/assets/js/cesium-map/measureDistance.js
+++ b/src/assets/js/cesium-map/measureDistance.js
@@ -304,15 +304,14 @@ export default class MeasureDistance {
     showAirLine(line){
         let degreesArr = []
         for (let i = 0; i < line.points.length; i++) {
-            degreesArr.push(line.points[i].lon)
-            degreesArr.push(line.points[i].lat)
-            degreesArr.push(line.points[i].alt)
+            let coord = new Cartesian3.fromDegrees(line.points[i].lon,line.points[i].lat,line.points[i].alt)
+            degreesArr.push(coord)
         }
         let airlineEntity = new Cesium.Entity({
             name: line.name,
             id: line.name+line.totalDistance,
             polyline: {
-                positions:Cesium.Cartesian3.fromDegreesArray(degreesArr),
+                positions: degreesArr,
                 width: 2,
                 material: Cesium.Color.ORANGE,
                 clampToGround: true,
@@ -322,9 +321,11 @@ export default class MeasureDistance {
     }
 
     addAirplaneEntity(modelPath,StrUavTypeID){
+        this.viewer.scene.globe.depthTestAgainstTerrain = true;
+        store.uav.ModelIDinMap = "ID: " + StrUavTypeID
         let entity =  this.viewer.entities.add({
             name: StrUavTypeID,
-            id: "ID: "+StrUavTypeID,
+            id: "ID: " + StrUavTypeID,
             position: new Cesium.CallbackProperty(() => {
                 return new Cesium.Cartesian3.fromDegrees(this.dynamicData.lon, this.dynamicData.lat, this.dynamicData.alt)
             }, false),
@@ -347,7 +348,8 @@ export default class MeasureDistance {
                 clampAnimations: true,
                 color: Cesium.Color.fromAlpha(Cesium.Color.RED, parseFloat(1.0)),
                 colorBlendMode: Cesium.ColorBlendMode['MIX'],
-                colorBlendAmount: 0
+                colorBlendAmount: 0,
+                clampToGround: true,
             }
         });
         this.viewer.trackedEntity = entity;
diff --git a/src/assets/js/websocketProtocol.ts b/src/assets/js/websocketProtocol.ts
index b7a374f..0cebea0 100644
--- a/src/assets/js/websocketProtocol.ts
+++ b/src/assets/js/websocketProtocol.ts
@@ -1,4 +1,5 @@
 import {Airline, AirlinePoint, UavDynamicInfo} from "@/types/entityoptions.ts";
+import {useLayerStore} from "@/store/layerManagerStore.ts";
 
 /**
  * 处理来自中心指控websocket的数据，返回所需数据
@@ -39,32 +40,49 @@ function dataProcess_fromQT(websocketDataQT:any): UavDynamicInfo|null {
     let data:UavDynamicInfo = {
         alt: 0, groundSpeed: 0, heading: 0, lat: 0, lon: 0, uavId: "", uavType: ""
     }
-    data.uavId = websocketDataQT.uavId
-    data.uavType = websocketDataQT.uavType
-    data.heading = websocketDataQT.HeadAngle
-    data.lon = websocketDataQT.lon
-    data.lat = websocketDataQT.lat
-    data.alt = websocketDataQT.height
-    data.groundSpeed = websocketDataQT.groundSpeed   //km/h
+    data.uavId = websocketDataQT.pos.uavId
+    data.uavType = websocketDataQT.pos.uavType
+    data.heading = websocketDataQT.pos.HeadAngle
+    data.lon = websocketDataQT.pos.lon
+    data.lat = websocketDataQT.pos.lat
+    data.alt = websocketDataQT.pos.height
+    data.groundSpeed = websocketDataQT.pos.groundSpeed   //km/h
+
+    useLayerStore().navi.currentRouteID = websocketDataQT.navi.currentRouteID
+    useLayerStore().navi.nextRouteID = websocketDataQT.navi.nextRouteID
+    useLayerStore().navi.nextPoint = websocketDataQT.navi.nextPoint
+    useLayerStore().navi.distonext = websocketDataQT.navi.distonext
+
+    console.log(data.lon,data.lat, data.alt)
 
     return data.lon==0? null: data
 }
 
-function getAirline(data: any): Airline | null {
-    let line: Airline = {totalDistance: 0, PtNum: 0, name: "", isClose: false, points: []}
-    line.PtNum = data.PtNum
-    line.name = data.Name
-    line.isClose = data.isClose
-    line.totalDistance = data.totalDistance
-    for (let i = 0; i < data.ListPoints.length; i++) {
-        let point: AirlinePoint = {
-            alt: 0, lat: 0, lon: 0
-        }
-        line.points.push(point)
+function dataProcess_fromQT_route(websocketDataQT:any): Airline|null {
+    let data: Airline = {
+        code: 0, PtNum: 0, isClose: false, name: "", points: [], totalDistance: 0
     }
-    return line
-}
+    if(!websocketDataQT.route)  return null
+    data.PtNum = websocketDataQT.route.length
+    for (let i = 1; i < websocketDataQT.route.length; i++) {
+        let aPt: AirlinePoint = {alt: 0, ch1: 0, ch2: 0, lat: 0, lon: 0, nPt: 0, speed: 0}
+        aPt.lon = websocketDataQT.route[i].lon
+        aPt.lat = websocketDataQT.route[i].lat
+        aPt.alt = websocketDataQT.route[i].height
+        aPt.ch1 = websocketDataQT.route[i].ch1
+        aPt.ch2 = websocketDataQT.route[i].ch2
+        aPt.nPt = websocketDataQT.route[i].nPt
+        aPt.speed = websocketDataQT.route[i].nV
+        data.code = websocketDataQT.route[i].nL
+        data.points.push(aPt)
+    }
+    if(data.points[data.PtNum-2].ch1 ==2)
+        data.isClose = true
 
+    data.name = "lineID-" + data.code.toString()
+    console.log(data)
+    return data.PtNum==0? null: data
+}
 
 function getUavTypeStr(type: number) : string{
     switch (type) {
@@ -73,4 +91,4 @@ function getUavTypeStr(type: number) : string{
         default: return 'test'
     }
 }
-export {dataProcess_fromQT,getAirline}
\ No newline at end of file
+export {dataProcess_fromQT,dataProcess_fromQT_route}
\ No newline at end of file
diff --git a/src/components/CollisionDetection.vue b/src/components/CollisionDetection.vue
new file mode 100644
index 0000000..6c0cf9d
--- /dev/null
+++ b/src/components/CollisionDetection.vue
@@ -0,0 +1,50 @@
+<script setup lang="ts">
+import {
+  drawEcharts_CollisionDetection,
+  profileAnalyse
+} from "@/utils/map/SpatialAnalysis.ts";
+import {Cartesian3} from "cesium";
+import {nextTick, onMounted} from "vue";
+import * as echarts from "echarts";
+import {EChartsType} from "echarts";
+
+let myChart: EChartsType = undefined
+
+onMounted(()=>{
+  myChart = echarts.init(document.getElementById('detection-chart'))
+  // nextTick(()=>{
+  //
+  // })
+})
+/**
+ * 绘制地形碰撞检测折线图
+ * @param height 飞机高度，作为检测线
+ * @param currentPos 当前飞机经纬度，作为原点
+ * @param nextPos 下一航点经纬度，作为目标点
+ */
+const drawDetection = (height: number, currentPos:Cartesian3, nextPos: Cartesian3) => {
+  // 计算地形剖面
+  let res = profileAnalyse(window.viewer, [currentPos, nextPos], 10)
+  // 弹出图表窗口
+  nextTick(()=>{
+    drawEcharts_CollisionDetection(myChart, res.distanceArray, res.elevationArray, height)
+  })
+}
+
+defineExpose({
+  drawDetection,
+})
+
+</script>
+
+<template>
+<div id="detection-chart"></div>
+</template>
+
+<style scoped>
+#detection-chart{
+  width: 50rem;
+  height: 15rem;
+  position: relative;
+}
+</style>
\ No newline at end of file
diff --git a/src/components/toolbar.vue b/src/components/toolbar.vue
index 0761401..d9dd4c4 100644
--- a/src/components/toolbar.vue
+++ b/src/components/toolbar.vue
@@ -9,22 +9,29 @@ import {RulerAlt} from '@vicons/carbon'
 import {TerrainSharp} from '@vicons/material'
 import {DrawPolygon} from '@vicons/fa'
 import {useMessage} from 'naive-ui'
-import {ref} from "vue";
+import {nextTick, ref} from "vue";
 import {useStaticStore} from "@/store/staticOptions.js";
-import {requestAirline} from "@/assets/js/request.js";
-import {dataProcess_fromQT, getAirline} from "@/assets/js/websocketProtocol.ts";
+import {dataProcess_fromQT, dataProcess_fromQT_route} from "@/assets/js/websocketProtocol.ts";
 import SpatialAnalysis from "@/components/SpatialAnalysis.vue";
 import LayerManager from "@/components/map/LayerManager.vue";
+import CollisionDetection from "@/components/CollisionDetection.vue";
+import {useLayerStore} from "@/store/layerManagerStore.ts";
+import {Cartesian3} from "cesium";
+import * as echarts from "echarts";
 
 const message = useMessage();
 let SceneValue;
 let showModal = ref(false);
+let showDetection = ref(false);
 let hasPlane = ref(false);
 let store = useStaticStore();
+let lStore = useLayerStore();
 
-const spatialAnalyse= ref(null)
-const layerManager= ref(null)
+const spatialAnalyse = ref(null)
+const layerManager = ref(null)
+const collisionDetection = ref(null)
 SceneValue = ref('untrace');
+let frameCount = 0
 
 function handleSceneSelect(key){
   if(!hasPlane.value)   return;
@@ -32,7 +39,7 @@ function handleSceneSelect(key){
   if(key === 'untrace') {
     window.measureViewer.setNoTrack()
   }else if(key === 'fallow') {
-    window.viewer.trackedEntity = window.viewer.entities.getById('websocket-flying-plane');
+    window.viewer.trackedEntity = window.viewer.entities.getById(store.uav.ModelIDinMap);
   }
 }
 let layerValue = ref('layer1');
@@ -40,7 +47,7 @@ let barIsOpen = ref(true);
 
 function handleEditSelect(key) {
   if(key === 'requestLine') {
-    getUavAirline()
+
   }
   else{
     // 航线管理页面
@@ -151,16 +158,53 @@ async function connectWebSocket() {
 
   store.webskt.ws.onmessage = (event) => {
     //收到消息后的处理流程....
-    let data = dataProcess_fromQT(JSON.parse(event.data))
-    console.log(data);
-    // 添加飞机三维图标
-    if (!hasPlane.value && data != null) {
-      window.measureViewer.addAirplaneEntity(store.models.defaultAirPlane, data.uavId + data.uavType)
-      SceneValue.value = 'fallow'
-      hasPlane.value = true;
+    let sktData = JSON.parse(event.data)
+    // console.log(sktData);
+    frameCount++
+    if(sktData.type === 0){
+      let ycData = dataProcess_fromQT(sktData)
+      if (ycData != null) {
+        // 更新遥测数据（飞机位置）
+        window.measureViewer.updateDynamicData(ycData)
+        // 添加飞机三维图标
+        if(!hasPlane.value){
+          window.measureViewer.addAirplaneEntity(store.models.defaultAirPlane, ycData.uavId + ycData.uavType)
+          SceneValue.value = 'fallow'
+          hasPlane.value = true;
+        }
+        /************************测试代码（以下）******************/
+        // if(frameCount>50) {   //(50帧更新一次)
+        //   frameCount = 0
+        //   //TODO: 调用子组件函数、测试
+        //   let cartesianTarget = Cartesian3.fromDegrees(114.6, 37.8)
+        //   let cartesianCurr = Cartesian3.fromDegrees(ycData.lon, ycData.lat, ycData.alt)
+        //   collisionDetection.value?.drawDetection(ycData.alt, cartesianCurr, cartesianTarget)
+        // }
+
+        /************************测试代码（以上）******************/
+        // 加载和更新碰撞检测图(20帧更新一次)
+        if(lStore.navi.airlines.length>0 && frameCount>50){
+          frameCount = 0
+          lStore.navi.airlines.forEach(airline => {
+            if(airline.code === lStore.navi.currentRouteID){
+              let targetPos = airline.points[lStore.navi.nextPoint]
+              //TODO: 调用子组件函数、测试
+              let cartesianTarget = Cartesian3.fromDegrees(targetPos.lon, targetPos.lat,targetPos.alt)
+              let cartesianCurr = Cartesian3.fromDegrees(ycData.lon, ycData.lat,ycData.alt)
+              collisionDetection.value?.drawDetection(ycData.alt, cartesianCurr, cartesianTarget)
+
+            }
+          })
+        }
+      }
     }
-    if (data != null) {
-      window.measureViewer.updateDynamicData(data)
+    if(sktData.type === 1){
+      let routeData = dataProcess_fromQT_route(sktData)
+      lStore.navi.airlines.push(routeData)
+      console.log(routeData)
+      if(routeData != null){
+        window.measureViewer.showAirLine(routeData)
+      }
     }
   };
 }
@@ -174,20 +218,6 @@ function closeWS(){
   }
 }
 
-/**
- * 请求航线接口
- */
-function getUavAirline() {
-  if(sessionStorage.getItem('uavId')){
-    requestAirline(sessionStorage.getItem('uavId')).then(rsp => {
-      console.log(rsp.data)
-      window.measureViewer.showAirLine(getAirline(rsp.data))
-    })
-  }else {
-    message.warning('当前未连接飞机')
-  }
-}
-
 function manageLayer(){
   layerManager.value?.open_closeSidebar()
 }
@@ -273,6 +303,9 @@ function manageLayer(){
     </n-button>
     </n-row>
   </n-space>
+  <n-space id="detectionGraph" v-show="showDetection">
+    <CollisionDetection ref="collisionDetection"></CollisionDetection>
+  </n-space>
 
   <n-modal v-model:show="showModal"
         style="width: 30%"
@@ -316,4 +349,13 @@ function manageLayer(){
   border-radius: 7px;
   background: rgba(21, 21, 21, 0.94);
 }
+
+#detectionGraph{
+  position: absolute;
+  bottom: 2rem;
+  width: 100rem;
+  height: 15rem;
+  border-radius: 7px;
+  background: rgba(21, 21, 21, 0.94);
+}
 </style>
diff --git a/src/store/layerManagerStore.ts b/src/store/layerManagerStore.ts
index bbf7a6d..e241b3a 100644
--- a/src/store/layerManagerStore.ts
+++ b/src/store/layerManagerStore.ts
@@ -1,4 +1,5 @@
 import {defineStore} from "pinia";
+import {Airline} from "@/types/entityoptions.ts";
 type layer = {
     lName: string
     lId: string
@@ -10,7 +11,14 @@ type layer = {
 export const useLayerStore = defineStore('LayerStore', {
     state: ()=>{
         return {
-            Layers: [] as layer[]
+            Layers: [] as layer[],
+            navi: {
+                airlines: [] as Airline[],
+                currentRouteID: undefined,  //当前航线号
+                nextRouteID: undefined,     //下一航线号
+                nextPoint: undefined,       //下一航点号
+                distonext: undefined,       //待飞距离
+            },
         }
     },
     actions: {
diff --git a/src/store/staticOptions.js b/src/store/staticOptions.js
index 2f50462..e2593a9 100644
--- a/src/store/staticOptions.js
+++ b/src/store/staticOptions.js
@@ -53,6 +53,10 @@ export const useStaticStore = defineStore('staticOptions',{
                 defaultAirPlane: cesiumAirPlane,
             },
             hasPlane: false,
+            uav: {
+              ModelIDinMap:  '',    //地图中的飞机entity ID
+            },
+
             analysisVars: {
                 //当前的空间分析类型，剖面1 通视2
                 analysisType: -1,
diff --git a/src/types/entityoptions.ts b/src/types/entityoptions.ts
index 633eca9..91c33a6 100644
--- a/src/types/entityoptions.ts
+++ b/src/types/entityoptions.ts
@@ -39,10 +39,15 @@ export type AirlinePoint = {
   lon:number,
   lat:number,
   alt:number,
+  ch2:number,
+  ch1:number,   //任务特征字, 2为闭合航线 0为开航线
+  speed:number, //航点特征字
+  nPt:number,   //航点号
 }
 
 export type Airline = {
   name: string,
+  code: number,       //航线编号
   PtNum: number,
   isClose: boolean,
   totalDistance: number,
diff --git a/src/utils/map/SpatialAnalysis.ts b/src/utils/map/SpatialAnalysis.ts
index 9070274..458d175 100644
--- a/src/utils/map/SpatialAnalysis.ts
+++ b/src/utils/map/SpatialAnalysis.ts
@@ -7,6 +7,7 @@
 import {getDistance, getElevation} from "@/utils/map/geocomputation.ts";
 import {Cartesian3, Viewer} from "cesium";
 import * as echarts from "echarts";
+import {EChartsType} from "echarts";
 type ProfileResult = {
  distanceArray:number[],
  elevationArray:number[],
@@ -245,30 +246,37 @@ export function drawEchartsProfileAnalyse(xData:number[], yData:number[]) {
 
 
 /**
- *  绘制折线图（航线碰撞检测）
+ *  绘制地形碰撞检测剖面图
+ * @param myChart ECharts对象
  * @param xData x数组
  * @param yData y数组，以面积线绘制
- * @param yData2 y数组，以折线绘制
+ * @param height 水平辅助线的高度
  */
-export const drawEchartsAirlineDetect = (xData:number[],yData:number[],yData2:number[]) => {
- let myChart = echarts.init(document.getElementById('profileEChart'))
+export function drawEcharts_CollisionDetection(myChart: EChartsType, xData:number[], yData:number[], height:number) {
  // 绘制图表
  myChart.setOption({
-  legend:{
+  legend: {
    show: true,
    type: 'plain',
-   top: '7%',
+   top: '5%',
    data:[
     {
-     name: 'groundLine',
+     name: '地形',
      itemStyle: 'inherit',
      lineStyle: 'inherit',
     },
-    {
-     name: 'airLine',
-     itemStyle: 'inherit',
-     lineStyle: 'inherit',
-    }]
+    { //视线图例
+     name: '飞机高度',
+     lineStyle: {
+      type: 'dotted',
+      width: 3,
+      color: '#f8364d'
+     },
+     itemStyle: {
+      fontSize: 18
+     }
+    }
+    ]
   },
   tooltip: {
    show: true,
@@ -276,11 +284,11 @@ export const drawEchartsAirlineDetect = (xData:number[],yData:number[],yData2:nu
    axisPointer: {
     type: 'cross'
    },
-   formatter:'地表高度: {c0}<br>航线高度: {c1}'
+   formatter:'地表高度: {c0}'
   },
   xAxis: {
    data: xData,
-   name: '距离',
+   name: '距离/米',
    nameTextStyle: {
     fontWeight:'bolder',
     fontSize: 14
@@ -293,7 +301,7 @@ export const drawEchartsAirlineDetect = (xData:number[],yData:number[],yData2:nu
     symbolSize: [7, 10]
    },
    axisLabel: {
-    formatter: '{value} m',
+    formatter: '{value}',
     margin: 5,
    },
    axisTick: {
@@ -308,7 +316,7 @@ export const drawEchartsAirlineDetect = (xData:number[],yData:number[],yData2:nu
   },
   yAxis: {
    type: 'value',
-   name: '高度',
+   name: '高度/米',
    nameTextStyle: {
     fontWeight:'bolder',
     fontSize: 14
@@ -316,7 +324,7 @@ export const drawEchartsAirlineDetect = (xData:number[],yData:number[],yData2:nu
    nameLocation: 'end',
    position: 'left',
    axisLabel: {
-    formatter: '{value} m'
+    formatter: '{value}'
    },
    axisLine: {
     show: true,
@@ -324,23 +332,66 @@ export const drawEchartsAirlineDetect = (xData:number[],yData:number[],yData2:nu
     symbolSize: [7, 10]
    }
   },
+  visualMap: {
+   type: 'piecewise',
+   show: false,
+   dimension: 1,
+   // seriesIndex: [0, 1], // 虽然可以指定多个series，但是线的颜色只能设置一条
+   seriesIndex: [0, 1],
+   pieces: [{
+    gt: height,
+    color: 'red'
+   }, {
+    lt: 0,
+    color: 'blue'
+   }],
+   outOfRange: { // 在选中范围外 的视觉元素，这里设置在正常范围内的图形颜色
+    color: 'blue',
+   },
+  },
   series: [
    {
-    name:'groundLine',
+    name:'地形',
     type: 'line',
     data: yData,
     areaStyle: {
      color: '#37a5fb',
      opacity: 0.5
-    }
+    },
+    markLine: {
+     name: "飞机高度",
+     data: [
+      {
+       yAxis: height,
+       itemStyle: {
+        normal: { color: '#c60c30' }
+       }
+      }
+     ],
+     symbol:['circle', 'arrow'],
+     label:{
+      formatter: "飞机高度",
+      show: true,
+      position: 'middle',
+      fontSize: 15,
+      fontWeight: 'bold',
+      color: '#e73d3d',
+     },
+     lineStyle: {                 //标注线样式
+      type: 'dashed',
+      color: 'red',
+      with: 10
+     }
+    },
    },
    {
-    name:'airLine',
     type: 'line',
-    data: yData2,
+    symbol: 'none',
+    name: '飞机高度',
+    color: 'transparent'
    }
   ]
- });
+ }, false);
 }