Low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversified deployment method and system

Abstract

The invention provides a low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversified deployment method and system, and belongs to the technical field of air traffic management and flight supervision information, and the method comprises the steps: generating an initial flight plan of a single machine, and deducing a process flight path of the initial flight plan; performing multi-aircraft track conflict detection, and identifying static and dynamic flight conflicts; heterogeneous unmanned aerial vehicle multi-factor priority evaluation is carried out, and the space resource use sequence of unmanned aerial vehicles is determined; diversified strategies such as flight routes, take-off time and flight speed are designed, and optimal release is achieved. According to the method, the optimal conflict resolution of the heterogeneous unmanned aerial vehicles in the low-altitude airspace in the pre-tactical stage is realized, the conflict of multiple unmanned aerial vehicles on limited airspace time and space use is effectively avoided, and the requirements of reasonable use and continuous safety of low-altitude airspace resources are met.

Description

Technical Field

[0001] The present invention relates to the field of air traffic management and flight supervision information technology, and in particular to a method and system for pre-tactical diversified deployment of low-altitude heterogeneous unmanned aerial vehicle flight plans. Background Art

[0002] In recent years, as a new user of low-altitude airspace, civil drones have shown a rapid growth in flight demand and have been widely used in logistics, emergency rescue, agriculture, forestry, animal husbandry and fishery, etc. However, the introduction of a large number of drones has also brought a series of safety issues. When multiple drones operate together, it is easy to cause space-time cluster flight conflicts. Especially with the trend of drones gradually integrating into the entire national airspace system, their operation will also affect traditional airspace users such as public transport aviation and military aviation. This has become the focus of attention of the aviation industry at home and abroad.

[0003] Traditional manned aviation adopts a phased management approach: the strategic phase, usually a few months before operation; the pre-tactical phase, usually carried out the day before operation; the tactical phase, usually carried out on the day of operation. However, the flight plan of UAVs is highly temporary, and activity applications are mostly submitted the day before the flight. Strategic management several months in advance is no longer applicable. Conflict management in the pre-tactical phase needs to ensure that the space-time tracks of large-scale UAVs do not interfere with each other within a limited time frame, which places high demands on the performance of flight plan deployment methods. In addition, low-altitude airspace is an activity space with the interweaving influence of multiple types of airspace users such as logistics transportation and emergency rescue. The characteristics of personalized flight missions and differentiated flight performance further increase the difficulty of flight plan coordination. How to quickly identify flight conflicts of heterogeneous UAVs with different mission types and flight performance in dense airspace, reasonably allocate flight routes and process time in their flight plans, ensure that the space-time tracks of multiple aircraft do not interfere with each other, and thus reduce collision avoidance maneuvers during actual operation are the current research difficulties in the field of air traffic management. Summary of the invention

[0004] The purpose of the present invention is to provide a method and system for pre-tactical diversified deployment of flight plans of low-altitude heterogeneous UAVs, which can effectively realize the diversified resolution of flight conflicts in the pre-tactical stage of low-altitude heterogeneous UAVs in low-altitude airspace, and ensure the continuous safety and stability of low-altitude airspace, so as to solve at least one technical problem existing in the above-mentioned background technology.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a method for pre-tactical diversified deployment of low-altitude heterogeneous UAV flight plans, comprising:

[0007] Generate an individual initial flight plan based on each drone's independent flight mission; determine the time and speed of the drone passing through the waypoints on its flight path based on the initial flight plan;

[0008] Based on the speed information provided by multiple drone flight plans, the time it takes for drones to pass through key waypoints is predicted, and it is determined whether there is a static or dynamic flight conflict between drones and avoidance zones, or between drones.

[0009] According to the flight plan submission order, flight mission type, flight performance and user demand level of UAVs, the CRITIC objective weighting method is used to determine the spatial resource usage order of heterogeneous UAVs;

[0010] According to the order of space-time resource usage of heterogeneous UAVs, the flight route, take-off time and flight speed in the flight plan of the conflicting UAVs are adjusted.

[0011] As a further limitation of the first aspect of the present invention, based on the speed information provided by the flight plans of multiple drones, predicting the time for drones to pass through key waypoints, and determining whether there is a static or dynamic flight conflict between drones and avoidance zones, or between drones; including:

[0012] Determine whether the waypoints in the UAV flight plan pass through low-altitude static environment targets. If so, it is considered that there is a static flight conflict;

[0013] Further judgment is made on waypoints that do not have static flight conflicts. By connecting to the initial flight plans of other drones, it is determined whether the waypoint is shared with other drones. If the time difference between two or more drones passing the point is less than the preset minimum time interval, it is considered that there is a dynamic flight conflict; continue to move to the next waypoint until all waypoints in the flight plans of all drones are traversed.

[0014] As a further limitation of the first aspect of the present invention, the CRITIC objective weighting method is used to determine the time and space resource usage order of heterogeneous UAVs according to the UAV flight plan submission order, flight mission type, flight performance and user demand level; including:

[0015] The order of UAV flight plan submission is used as evaluation indicator 1 to determine the UAV score of each UAV flight plan submitted;

[0016] Based on the common flight activities of drones, the drone flight mission is used as the evaluation indicator 2 to determine the corresponding score of each type of drone performing a flight mission;

[0017] Based on the flight capabilities of the drone, such as the endurance time, the flight performance is used as the evaluation index 3 to determine the corresponding score of each type of drone with different flight performance;

[0018] According to the urgency of the drone user's needs, the user demand level is used as the evaluation index 4, and the corresponding score of each type of drone with each demand level is determined;

[0019] Comprehensive evaluation index 1, evaluation index 2, evaluation index 3 and evaluation index 4, assign evaluation index values ​​to all drones, and perform average normalization processing on them;

[0020] According to the assigned values ​​after average normalization, calculate the fluctuation of the values ​​of different indicators and the correlation with other indicators;

[0021] According to the fluctuation of value differences and the correlation with other indicators, the relative importance of each indicator is calculated and its objective weight is determined;

[0022] According to the objective weights and combined with the average normalized index values ​​of each UAV, the multi-factor priority values ​​of heterogeneous UAVs are obtained after composite superposition.

[0023] As a further limitation of the first aspect of the present invention, the flight route, take-off time and flight speed in the flight plan of the conflicting UAV are adjusted according to the order of using the space-time resources of the heterogeneous UAVs; including:

[0024] Determine whether there is a static flight conflict in the UAV flight plan. If so, change the flight path and randomly select another path from the set of alternative paths;

[0025] Determine whether the number of dynamic conflicts in the UAV flight plan is greater than the preset threshold. If so, delay the take-off time at a certain time interval and update the speed in the flight plan. If less than the preset threshold, adjust the speed of the UAV passing the conflicting waypoint at a certain speed interval to increase the time interval between the UAV passing the waypoint and the high-priority UAV passing the waypoint.

[0026] Determine whether there is any flight conflict in the adjusted UAV flight plan. If so, continue to adjust until all UAV flight plans have no conflicts.

[0027] As a further limitation of the first aspect of the present invention, the four evaluation indicators j=1,...,4 are combined to assign evaluation indicators x to all drones i=1,...N. ij , and perform average normalization processing on it as follows:

[0028]

[0029] in, is the average value of index j;

[0030] Calculate the fluctuation of the values ​​of different indicators, standard deviation S jThe larger the value, the greater the difference in the numerical value of the UAV flight plan of indicator j, and the stronger the evaluation strength of the indicator itself:

[0031]

[0032] Calculate the correlation between different indicators j and other indicators k. The larger the correlation coefficient, the stronger the correlation between the indicator and other indicators, which weakens the evaluation strength of the indicator to a certain extent:

[0033]

[0034] Calculate the information content of indicator j. The greater the information content of the indicator, the greater the relative importance of the indicator:

[0035]

[0036] The objective weight w of the final indicator j j for:

[0037]

[0038] Get the numerical score of the multi-factor priority of heterogeneous UAVs after composite superposition i for:

[0039] Score i =w1×x i1 +w2×x i2 +w3×x i3 +w4×x i4 .

[0040] As a further limitation of the first aspect of the present invention, another path is randomly selected from the set of candidate paths, and the selection probability prob of the i-th path is i Its path length i Inversely proportional to the number of dynamic conflicts in the UAV flight plan; determine whether the number of dynamic conflicts in the UAV flight plan is greater than the preset threshold. If it is greater than the preset threshold, the take-off time is delayed by 2 minutes, and the take-off time t in the flight plan is changed to orig Update to the adjusted speed t new :

[0041] t new =t orig +2min,t orig ←t new ;

[0042] If it is less than the preset threshold, the speed of the UAV passing the conflicting waypoint is adjusted at intervals of 0.1 km / min to increase the UAV passing time t and the time interval between the passing time of the high-priority UAV:

[0043]

[0044] Among them, t j The time for high priority drones to pass.

[0045] In a second aspect, the present invention provides a low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment system, comprising:

[0046] The flight plan initialization module is used to generate an individual initial flight plan based on the independent flight mission of each drone; based on the initial flight plan, determine the time and speed of the drone passing through the waypoints of its flight path;

[0047] The conflict identification module is used to predict the time when drones pass through key waypoints based on the speed information provided by the flight plans of multiple drones, and to determine whether there is a static or dynamic flight conflict between drones and avoidance zones, or between drones;

[0048] The priority evaluation module is used to determine the order of space resource usage of heterogeneous UAVs using the CRITIC objective weighting method based on the order of UAV flight plan submission, flight mission type, flight performance, and user demand level;

[0049] The diversified deployment module is used to adjust the flight route, take-off time and flight speed in the flight plan of conflicting drones according to the order of space-time resource usage of heterogeneous drones.

[0050] In a third aspect, the present invention provides a non-transitory computer-readable storage medium, which is used to store computer instructions. When the computer instructions are executed by a processor, the low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment method as described in the first aspect is implemented.

[0051] In a fourth aspect, the present invention provides a computer device comprising a memory and a processor, wherein the processor and the memory communicate with each other, the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment method as described in the first aspect.

[0052] In a fifth aspect, the present invention provides an electronic device, comprising: a processor, a memory, and a computer program; wherein the processor is connected to the memory, and the computer program is stored in the memory. When the electronic device is running, the processor executes the computer program stored in the memory so that the electronic device executes instructions for implementing the low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment method as described in the first aspect.

[0053] The beneficial effects of the present invention are as follows: the optimal conflict resolution of heterogeneous UAVs in low-altitude airspace in the pre-tactical stage is achieved, the conflict in the use of time and space of limited airspace by multiple UAVs is effectively avoided, and the rational use of low-altitude airspace resources and continuous safety requirements are met.

[0054] Additional advantages of the present invention will be more clearly given in the following description or learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0056] Figure 1 This is a flow chart of the pre-tactical diversified deployment method for low-altitude heterogeneous UAV flight planning according to an embodiment of the present invention.

[0057] Figure 2 This is a flow chart of a method for identifying static and dynamic flight conflicts of a UAV according to an embodiment of the present invention.

[0058] Figure 3 This is a flow chart of the multi-factor priority calculation method for heterogeneous drones based on CRITIC according to an embodiment of the present invention.

[0059] Figure 4 This is a flowchart of adjusting the diversified flight plan of a UAV according to an embodiment of the present invention.

[0060] Figure 5 This is a functional principle block diagram of the low-altitude heterogeneous UAV flight planning pre-tactical diversified deployment system described in an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below by the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0062] It should be understood by those skilled in the art that unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which this invention belongs.

[0063] It should also be understood that terms, such as those defined in commonly used dictionaries, should be understood to have a meaning consistent with that in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless as defined herein.

[0064] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements and / or groups thereof.

[0065] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. Different embodiments or examples described in this specification and features of different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

[0066] To facilitate understanding of the present invention, the present invention is further explained below with reference to specific embodiments in conjunction with the accompanying drawings, and the specific embodiments do not constitute a limitation on the embodiments of the present invention.

[0067] Those skilled in the art should understand that the drawings are merely schematic diagrams of embodiments, and the components in the drawings are not necessarily necessary for implementing the present invention.

[0068] The adaptive allocation of heterogeneous UAV flight plans in the pre-tactical stage refers to the diversified adjustment of the flight routes and process times in the flight plans based on the flight plans submitted by heterogeneous UAVs of different mission types and flight performances before the UAVs perform flight activities, so as to achieve the pre-resolution of flight conflicts. The flight plan allocation of low-altitude UAVs in the pre-tactical stage is an important means to ensure the continuous safety and stability of low-altitude airspace. Low-altitude heterogeneous UAVs can effectively avoid the overlap of time and space usage of limited airspace by multiple airspace users by adjusting flight plans to resolve flight conflicts. The present invention provides a pre-tactical diversified allocation method for low-altitude heterogeneous UAV flight plans. Based on the flight mission application submitted by the UAV, the idea of ​​diversified allocation of UAV flight plans in the pre-tactical stage is used to carry out multi-factor priority evaluation of heterogeneous UAVs. By adjusting the flight route, take-off time, and flight speed in the flight plan, optimal conflict resolution of multiple aircraft is achieved to ensure safe and efficient operation at low altitudes.

[0069] Example 1

[0070] In this embodiment 1, a method for pre-tactical diversified deployment of low-altitude heterogeneous UAV flight plans is provided. In this method, first, an individual initial flight plan is generated according to the independent flight mission of each UAV; based on the initial flight plan, the passing time and passing speed of the UAV passing through the waypoints of its flight path are determined. Then, based on the speed information provided by the flight plans of multiple UAVs, the passing time of the UAV passing the key waypoints is predicted, and it is determined whether there is a static or dynamic flight conflict between the UAV and the avoidance zone, and between UAVs. Then, based on the order of submission of UAV flight plans, flight mission type, flight performance and user demand level, the CRITIC objective weighting method is used to determine the order of use of heterogeneous UAV space resources. Finally, according to the order of use of heterogeneous UAV space resources, the flight route, take-off time and flight speed in the flight plan of the conflicting UAV are adjusted.

[0071] like Figure 1 As shown, the above-mentioned low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment method specifically includes the following process steps:

[0072] Step 101, the initial flight plan of a single aircraft is generated, and its process trajectory is deduced.

[0073] According to the independent flight mission of each drone, an individual initial flight plan is generated for it. The initial flight plan specifically includes the nature of the flight mission, the expected start and end time of the flight, and the flight path. In order to minimize the flight cost, the flight path in the initial flight plan is usually the shortest path. Based on the initial flight plan, the passing time and speed of the drone passing through the waypoints of its flight path are deduced. In order to reduce the computational complexity, the deduction process is usually linear extrapolation, that is, it is assumed that the drone moves in a uniform straight line at the cruising speed.

[0074] Step 102, multi-aircraft track conflict detection, identifying static and dynamic flight conflicts.

[0075] like Figure 2 As shown, judging whether there is a static or dynamic flight conflict between a UAV and an avoidance zone or between UAVs specifically includes the following steps:

[0076] (1) Determine whether the waypoints in the UAV flight plan pass through low-altitude static environmental targets. Static environmental targets include low-altitude obstacles, no-fly zones, etc. If so, it is considered that there is a static flight conflict;

[0077] (2) Further judge the waypoints that do not have static flight conflicts, and judge whether the waypoint is shared with other drones by connecting to the initial flight plans of other drones. If the time difference between two or more drones passing the waypoint is less than the preset minimum time interval, it is considered that there is a dynamic flight conflict. The specific drone passing time calculation formula is as follows, where the cruising phase passing time calculation refers to formula (1), the climbing and descending phase passing time calculation refers to formula (2), and the calculation process refers to formula (3);

[0078]

[0079] Where (a1, b1) and (a2, b2) are the coordinates of two adjacent waypoints, v gs is the cruising speed of the drone. T is the thrust of the drone, f is the air resistance, m is the mass of the drone, H is the altitude of the drone, i is the flight segment number, and g is the acceleration of gravity.

[0080] (3) Continue to the next waypoint until all the waypoints in the UAV flight plan are traversed.

[0081] Step 103, conduct a multi-factor priority evaluation of heterogeneous UAVs to determine the order of using UAV space resources.

[0082] Based on the order of drone plan submission, flight mission type, flight performance, user demand level and other factors, the CRITIC objective weighting method is used to evaluate the multi-factor priority order of heterogeneous drones. The specific process is as follows: Figure 3 shown.

[0083] According to ICAO's Doc 4444 Annex 11, the use of airspace by drones follows the "first come, first served" principle, that is, priority is given to the order in which the flight plan is submitted to reduce potential unfair treatment. In this regard, the order in which the drone plan is submitted is used as the evaluation indicator 1, and the score calculation formula for the i-th drone that submitted the plan is:

[0084]

[0085] According to the common flight activities of drones, the drone flight mission is used as the evaluation index 2 and divided into 6 categories. The corresponding scores of drones performing the i-th flight mission are as follows: Category I aerial measurement, score x i2 =1; Category II entertainment and leisure, score x i2 =2; Category III flight training, score x i2 =3; Category IV aviation surveillance, score x i2 =4; V-type transportation and other public services, score x i2 =5; Category VI search and rescue and other emergency services, score x i2 =6.

[0086] According to the flight capabilities of drones such as flight time, the flight performance is used as the evaluation index 3 and divided into 3 categories. The corresponding scores of drones with the i-th category of flight performance are as follows: Category I long flight time, score x i3 =1; Category II flight time, score x i3 =2; Category III short-haul, score x i3 =5.

[0087] According to the urgency of the drone user's needs, the user demand level is used as the evaluation index 4, and the corresponding scores of the drones of the i-th demand level are as follows: Class I users are not time sensitive, with a score of x i4 =1; Category II users are time sensitive, score x i4 =10.

[0088] Based on the above four evaluation indicators j=1,...,4, all drones i=1,...N are assigned evaluation indicators x ij , and perform average normalization on it:

[0089]

[0090] In the formula, is the average value of index j.

[0091] Calculate the fluctuation of the values ​​of different indicators, standard deviation S j The larger the value, the greater the difference in the numerical value of the UAV flight plan of indicator j, and the stronger the evaluation strength of the indicator itself:

[0092]

[0093] Calculate the correlation between different indicators j and k. The larger the correlation coefficient, the stronger the correlation between the indicator and other indicators, which weakens the evaluation strength of the indicator to a certain extent:

[0094]

[0095] Calculate the information content of indicator j. The greater the information content of the indicator, the greater the relative importance of the indicator:

[0096]

[0097] The objective weight w of the final indicator j j The calculation formula is as follows:

[0098]

[0099] Get the numerical score of the multi-factor priority of heterogeneous UAVs after composite superposition i :

[0100] Score i =w1×x i1 +w2×x i2 +w3×x i3 +w4×x i4 (10)

[0101] Step 104, design diversified strategies such as flight route, take-off time, flight speed, etc. to achieve optimal release.

[0102] After determining the priority of heterogeneous drones, the flight route, take-off time, flight speed, etc. in the flight plan of the conflicting drones are adjusted. The specific process is as follows: Figure 4 shown.

[0103] (1) Determine whether there is a static flight conflict in the UAV flight plan. If so, change the flight path and randomly select other paths from the set of alternative paths. The probability of selecting the i-th path is prob i Its path length i Inversely proportional;

[0104]

[0105] (2) Determine whether the number of dynamic conflicts in the UAV flight plan is greater than the preset threshold. If so, delay the take-off time by 2 minutes and change the take-off time t in the flight plan to orig Update to the adjusted speed t new :

[0106] t new =t orig +2min, t orig ←t new (12)

[0107] If it is less than, the speed of the UAV passing the conflicting waypoint is adjusted at intervals of 0.1km / min to increase the UAV passing time t and the time interval between the passing time of the high-priority UAV:

[0108]

[0109] Among them, t j The time for high priority drones to pass.

[0110] (3) Determine whether there is any flight conflict in the adjusted UAV flight plan. If so, continue to adjust until all UAV flight plans are conflict-free.

[0111] In summary, the pre-tactical diversified deployment method for low-altitude heterogeneous UAV flight plans provided in this embodiment first initializes the single-machine flight plan and deduce its process track, and then uses the multi-machine flight plan to identify the static and dynamic conflicts between the UAV and the avoidance zone and other UAVs. Furthermore, a CRITIC multi-factor priority evaluation is carried out on the conflicting UAVs, including factors such as plan submission order, flight mission type, flight performance, and user demand level. Finally, the flight route, take-off time, flight speed, etc. in the flight plan are adjusted in a diversified manner according to the priority order. This can effectively eliminate potential flight conflicts in heterogeneous UAV flight plans and ensure the continued safety and stability of low-altitude airspace.

[0112] Example 2

[0113] like Figure 5 As shown, in this embodiment 2, a low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment system is provided, which can specifically include a flight plan initialization module 1, a conflict identification module 2, a priority evaluation module 3 and a diversified deployment module 4. Among them, the flight plan initialization module 1 is used to generate the initial flight plan of a single UAV and deduce the process track; the conflict identification module 2 is used to identify the static conflict between the UAV and the avoidance zone and the dynamic conflict between UAVs; the priority evaluation module 3 is used to realize the priority order setting of heterogeneous UAVs based on multiple factors; the diversified deployment module 4 is used to realize the strategic adjustment of the flight route, take-off time, flight speed, etc. in the UAV flight plan.

[0114] The flight plan initialization module 1 may include an initial flight plan generation module 11 and a process track deduction module 12. The initial flight plan generation module 11 is used to determine the nature of the flight mission, the estimated flight start and end time, and the flight path, and the process track deduction module 12 is used to determine the passing time and speed of the drone passing through the waypoints of its flight path.

[0115] The conflict identification module 2 may include a static conflict identification module 21 and a dynamic conflict identification module 22. The static conflict identification module 21 is used to determine whether a waypoint in the UAV flight plan passes through low-altitude static environmental targets such as low-altitude obstacles and no-fly zones, and the dynamic conflict identification module 22 is used to determine whether a waypoint in the UAV flight plan is shared with other UAVs and whether the time difference between the waypoints is less than the minimum time interval.

[0116] The priority evaluation module 3 may include a multi-factor assignment module 31, a CRITIC objective weighting module 32 and a priority numerical calculation module 33. The multi-factor assignment module 31 is used to calculate the scores of different evaluation indicators such as the order of submission of UAV plans, flight mission types, flight performance, and user demand levels, the objective weighting module 32 is used to set the objective weights of different information indicators, and the priority numerical calculation module 33 is used to determine the priority order of UAVs after composite superposition.

[0117] Specifically, the diversified deployment module 4 may include a strategy selection module 41 and a loop judgment module 42. The strategy selection module 41 is used to provide flight suggestions such as flight route adjustment, take-off time adjustment, and flight speed adjustment to the conflicting UAVs, and the loop judgment module 42 is used to resolve conflicts in all UAV flight plans.

[0118] The low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment system provided in this embodiment 2 is used to implement the low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment method described in embodiment 1. The specific implementation process can be referred to embodiment 1 and will not be repeated here.

[0119] In summary, the system described in this embodiment 2, by setting a flight plan initialization module, a conflict identification module, a priority assessment module and a diversified deployment module, deduces the process trajectory of a single UAV according to the generated initial flight plan, identifies the static conflict between the UAV and the avoidance zone and the dynamic conflict between UAVs, determines the priority order of heterogeneous UAV flight activities by comprehensively evaluating multiple indicators, and finally adjusts the flight route, take-off time, flight speed, etc. in the flight plan of the conflicting UAV according to the priority order, so as to realize the resolution of potential flight conflicts of heterogeneous UAV flight plans in the pre-tactical stage and ensure the continuous safety and stability of low-altitude airspace.

[0120] Example 3

[0121] This embodiment 3 provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the method for pre-tactical diversified deployment of low-altitude heterogeneous UAV flight plans as described above is implemented. The method includes:

[0122] Generate an individual initial flight plan based on each drone's independent flight mission; determine the time and speed of the drone passing through the waypoints on its flight path based on the initial flight plan;

[0123] Based on the speed information provided by multiple drone flight plans, the time it takes for drones to pass through key waypoints is predicted, and it is determined whether there is a static or dynamic flight conflict between drones and avoidance zones, or between drones.

[0124] According to the flight plan submission order, flight mission type, flight performance and user demand level of UAVs, the CRITIC objective weighting method is used to determine the spatial resource usage order of heterogeneous UAVs;

[0125] According to the order of space-time resource usage of heterogeneous UAVs, the flight route, take-off time and flight speed in the flight plan of the conflicting UAVs are adjusted.

[0126] Example 4

[0127] This embodiment 4 provides a computer device, including a memory and a processor, the processor and the memory communicate with each other, the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the above-mentioned low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment method, the method comprising:

[0128] Generate an individual initial flight plan based on each drone's independent flight mission; determine the time and speed of the drone passing through the waypoints on its flight path based on the initial flight plan;

[0129] Based on the speed information provided by multiple drone flight plans, the time it takes for drones to pass through key waypoints is predicted, and it is determined whether there is a static or dynamic flight conflict between drones and avoidance zones, or between drones.

[0130] According to the flight plan submission order, flight mission type, flight performance and user demand level of UAVs, the CRITIC objective weighting method is used to determine the spatial resource usage order of heterogeneous UAVs;

[0131] According to the order of space-time resource usage of heterogeneous UAVs, the flight route, take-off time and flight speed in the flight plan of the conflicting UAVs are adjusted.

[0132] Example 5

[0133] This embodiment 5 provides an electronic device, including: a processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes instructions for implementing the method for pre-tactical diversified deployment of low-altitude heterogeneous unmanned aerial vehicle flight plans as described above, the method comprising:

[0134] Generate an individual initial flight plan based on each drone's independent flight mission; determine the time and speed of the drone passing through the waypoints on its flight path based on the initial flight plan;

[0135] Based on the speed information provided by multiple drone flight plans, the time it takes for drones to pass through key waypoints is predicted, and it is determined whether there is a static or dynamic flight conflict between drones and avoidance zones, or between drones.

[0136] According to the flight plan submission order, flight mission type, flight performance and user demand level of UAVs, the CRITIC objective weighting method is used to determine the spatial resource usage order of heterogeneous UAVs;

[0137] According to the order of space-time resource usage of heterogeneous UAVs, the flight route, take-off time and flight speed in the flight plan of the conflicting UAVs are adjusted.

[0138] In summary, the pre-tactical diversified deployment method for low-altitude heterogeneous UAV flight plans described in the embodiment of the present invention generates an initial flight plan for the UAV and deduce its process track by initializing a single-machine flight plan, and then, based on the multi-machine flight plan, uses the predicted time information of the UAV passing through key waypoints to effectively identify static and dynamic conflicts between the UAV and the avoidance zone and other UAVs. For conflicting UAVs, a multi-factor priority evaluation mechanism for heterogeneous UAVs is established, including factors such as plan submission order, flight mission type, flight performance, and user demand level, and the flight route, take-off time, flight speed, etc. in the flight plan are adjusted in a diversified manner according to the priority order. The present invention realizes the optimal conflict resolution of heterogeneous UAVs in low-altitude airspace in the pre-tactical stage, effectively avoids conflicts in the use of time and space of limited airspace by multiple UAVs, and meets the reasonable use of low-altitude airspace resources and continuous safety requirements.

[0139] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0140] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0141] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0142] These computer program instructions can also be loaded onto a computer or other programmable data processing device, and a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0143] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative work on the basis of the technical solution disclosed in the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for pre-tactical diversified deployment of low-altitude heterogeneous UAV flight plans, characterized in that: include: Generate individual initial flight plans based on each drone's independent flight mission; According to the initial flight plan, determine the time and speed of the drone passing through the waypoints of its flight path; Based on the speed information provided by multiple drone flight plans, the time it takes for drones to pass through key waypoints is predicted, and it is determined whether there is a static or dynamic flight conflict between drones and avoidance zones, or between drones. According to the flight plan submission order, flight mission type, flight performance and user demand level of UAVs, the CRITIC objective weighting method is used to determine the spatial resource usage order of heterogeneous UAVs; According to the order of space-time resource usage of heterogeneous UAVs, the flight route, take-off time and flight speed in the flight plan of the conflicting UAVs are adjusted.

2. The low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment method according to claim 1 is characterized in that: Based on the speed information provided by multiple drone flight plans, the time it takes for drones to pass through key waypoints is predicted, and whether there is a static or dynamic flight conflict between drones and avoidance zones, or between drones; including: Determine whether the waypoints in the UAV flight plan pass through low-altitude static environment targets. If so, it is considered that there is a static flight conflict; Further judgment is made on waypoints that do not have static flight conflicts. By connecting to the initial flight plans of other drones, it is determined whether the waypoint is shared with other drones. If the time difference between two or more drones passing the point is less than the preset minimum time interval, it is considered that there is a dynamic flight conflict; continue to move to the next waypoint until all waypoints in the flight plans of all drones are traversed.

3. The low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment method according to claim 1 is characterized in that: According to the order of flight plan submission, flight mission type, flight performance and user demand level of UAVs, the CRITIC objective weighting method is used to determine the order of space resource use of heterogeneous UAVs; including: The order of UAV flight plan submission is used as evaluation indicator 1 to determine the UAV score of each UAV flight plan submitted; Based on the common flight activities of drones, the drone flight mission is used as the evaluation indicator 2 to determine the corresponding score of each type of drone performing a flight mission; Based on the flight capabilities of the drone, such as the endurance time, the flight performance is used as the evaluation index 3 to determine the corresponding score of each type of drone with different flight performance; According to the urgency of the drone user's needs, the user demand level is used as the evaluation index 4, and the corresponding score of each type of drone with each demand level is determined; Comprehensive evaluation index 1, evaluation index 2, evaluation index 3 and evaluation index 4, assign evaluation index values ​​to all drones, and perform average normalization processing on them; According to the assigned values ​​after average normalization, calculate the fluctuation of the values ​​of different indicators and the correlation with other indicators; According to the fluctuation of value differences and the correlation with other indicators, the relative importance of each indicator is calculated and its objective weight is determined; According to the objective weights and combined with the average normalized index values ​​of each UAV, the multi-factor priority values ​​of heterogeneous UAVs are obtained after composite superposition.

4. The low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment method according to claim 1 is characterized in that: According to the order of using space-time resources of heterogeneous UAVs, the flight route, take-off time and flight speed in the flight plan of the conflicting UAVs are adjusted; including: Determine whether there is a static flight conflict in the UAV flight plan. If so, change the flight path and randomly select another path from the set of alternative paths; Determine whether the number of dynamic conflicts in the UAV flight plan is greater than the preset threshold. If so, delay the take-off time at a certain time interval and update the speed in the flight plan. If less than the preset threshold, adjust the speed of the UAV passing the conflicting waypoint at a certain speed interval to increase the time interval between the UAV passing the waypoint and the high-priority UAV passing the waypoint. Determine whether there is any flight conflict in the adjusted UAV flight plan. If so, continue to adjust until all UAV flight plans have no conflicts.

5. The low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment method according to claim 3 is characterized in that: Comprehensively consider the four evaluation indicators j=1,...,4, and assign the evaluation indicator x to all drones i=1,...N ij , and perform average normalization processing on it as follows: in, is the average value of index j; Calculate the fluctuation of the values ​​of different indicators, standard deviation S j The larger the value, the greater the difference in the numerical value of the UAV flight plan of indicator j, and the stronger the evaluation strength of the indicator itself: Calculate the correlation between different indicators j and other indicators k. The larger the correlation coefficient, the stronger the correlation between the indicator and other indicators, which weakens the evaluation strength of the indicator to a certain extent: Calculate the information content of indicator j. The greater the information content of the indicator, the greater the relative importance of the indicator: The objective weight w of the final indicator j j for: Get the numerical score of the multi-factor priority of heterogeneous UAVs after composite superposition i for: Score i =w1×x i1 +w2×x i2 +w3×x i3 +w4×x i4 。 6. The low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment method according to claim 4 is characterized in that: Randomly select other paths from the set of alternative paths, and the probability of selecting the i-th path is prob i Its path length i Inversely proportional to the number of dynamic conflicts in the UAV flight plan; determine whether the number of dynamic conflicts in the UAV flight plan is greater than the preset threshold. If it is greater than the preset threshold, the take-off time is delayed by 2 minutes, and the take-off time t in the flight plan is changed to orig Update to the adjusted speed t new : t new =t orig +2min,t orig ←t new ; If it is less than the preset threshold, the speed of the UAV passing the conflicting waypoint is adjusted at intervals of 0.1 km / min to increase the UAV passing time t and the time interval between the passing time of the high-priority UAV: Among them, t j The time for high priority drones to pass.

7. A low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment system, characterized by: include: The flight plan initialization module is used to generate individual initial flight plans based on the independent flight missions of each drone; According to the initial flight plan, determine the time and speed of the drone passing through the waypoints of its flight path; The conflict identification module is used to predict the time when drones pass through key waypoints based on the speed information provided by the flight plans of multiple drones, and to determine whether there is a static or dynamic flight conflict between drones and avoidance zones, or between drones; The priority evaluation module is used to determine the order of space resource usage of heterogeneous UAVs using the CRITIC objective weighting method based on the order of UAV flight plan submission, flight mission type, flight performance, and user demand level; The diversified deployment module is used to adjust the flight route, take-off time and flight speed in the flight plan of conflicting drones according to the order of space-time resource usage of heterogeneous drones.

8. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by the processor, the low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment method as described in any one of claims 1-6 is implemented.

9. A computer device, characterized in that: It includes a memory and a processor, the processor and the memory communicate with each other, the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment method as described in any one of claims 1-6.

10. An electronic device, characterized in that: include: A processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory so that the electronic device executes instructions for implementing the low-altitude heterogeneous UAV flight plan pre-tactical diversified deployment method as described in any one of claims 1-6.

Images