A space domain risk early warning method, device, computer equipment, medium and product

Abstract

The application relates to a space domain risk early warning method and device, computer equipment, medium and product, and relates to the technical field of space domain flight. The method comprises the following steps: acquiring space grids corresponding to different height layers under a target space domain and risk environment data corresponding to the target space domain; for each space grid, determining risk influence information corresponding to the space grid based on the risk environment data corresponding to the space grid; acquiring a to-be-early-warned grid of a target aircraft in the target space domain; and based on the risk influence information corresponding to each space grid and the to-be-early-warned grid, performing risk early warning on the target aircraft. According to the technology of the application, a comprehensive and accurate risk map can be constructed according to the space grids under the target space domain and the risk environment data corresponding to the target space domain, so that after the to-be-early-warned grid of the target aircraft in the target space domain is acquired, accurate risk early warning can be performed on the target aircraft based on the risk map and the to-be-early-warned grid.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of airspace flight, and in particular relates to an airspace risk early warning method and device, computer equipment, medium and product. BACKGROUND

[0002] With the development and application of flight airspace becoming increasingly widespread, the use scenarios of aircrafts such as unmanned aerial vehicles are continuously expanding, and the complexity and dynamics of the airspace environment bring risks to the flight of the aircrafts, affecting the flight safety of the aircrafts.

[0003] In order to improve the flight safety of the aircrafts, a risk assessment model is used in the related technology to assess the risks of the aircrafts flying in the airspace, and then the aircrafts are given risk early warnings according to the risk assessment results. However, the accuracy of the above risk early warning method is not high, and it is difficult to accurately give risk early warnings to the aircrafts. SUMMARY

[0004] Therefore, it is necessary to provide an airspace risk early warning method, device, computer equipment, medium and product to effectively deal with the situation that the early warning of the aircrafts flying in the airspace is inaccurate.

[0005] In a first aspect, the present application provides an airspace risk early warning method, comprising:

[0006] obtaining space grids respectively corresponding to different height layers under a target airspace, and risk environment data corresponding to the target airspace;

[0007] For each space grid, based on the risk environment data corresponding to the space grid, determining risk influence information corresponding to the space grid;

[0008] obtaining a to-be-early-warned grid of a target aircraft in the target airspace;

[0009] based on the risk influence information corresponding to each space grid and the to-be-early-warned grid, giving a risk early warning to the target aircraft.

[0010] In one of the embodiments, the risk environment data includes risk feature data of an entity risk source; correspondingly, based on the risk environment data corresponding to the space grid, determining the risk influence information corresponding to the space grid includes: for each entity risk source contained in the space grid, based on the risk feature data of the entity risk source, determining a space volume occupied by the entity risk source in the space grid; based on the space volume corresponding to each entity risk source, determining the risk influence information corresponding to the space grid.

[0011] In one of the embodiments, the entity risk source comprises a static risk source; the risk feature data comprises regional position information of the static risk source; accordingly, based on the risk feature data of the entity risk source, determining the spatial volume occupied by the entity risk source in the spatial grid comprises: based on the regional position information, determining a projection region corresponding to the static risk source on a preset plane, and a contour extreme point of the static risk source; based on the height information of the contour extreme point and the projection region corresponding to the static risk source, determining the spatial volume occupied by the static risk source in the spatial grid.

[0012] In one of the embodiments, the entity risk source comprises a dynamic risk source; the risk feature data comprises movement speed information of the dynamic risk source; accordingly, based on the risk feature data of the entity risk source, determining the spatial volume occupied by the entity risk source in the spatial grid comprises: based on the movement speed information of the dynamic risk source, determining a spatial region to be passed through by the dynamic risk source in a preset time period; based on the spatial region to be passed through, determining the spatial volume occupied by the dynamic risk source in the spatial grid.

[0013] In one of the embodiments, based on the spatial region to be passed through, determining the spatial volume occupied by the dynamic risk source in the spatial grid comprises: in a case that the spatial grid belongs to the spatial region to be passed through, taking the volume of the spatial grid as the spatial volume occupied by the dynamic risk source in the spatial grid; in a case that the spatial region to be passed through belongs to the spatial grid, taking the volume of the spatial region as the spatial volume occupied by the dynamic risk source in the spatial grid; in a case that the spatial region to be passed through and the spatial grid partially intersect, based on an intersection region between the spatial region to be passed through and the spatial grid, a step length of the spatial grid and a radius of the spatial region, determining the spatial volume occupied by the dynamic risk source in the spatial grid.

[0014] In one of the embodiments, the risk environment data comprises meteorological monitoring data of a meteorological risk source; accordingly, based on the risk environment data corresponding to the spatial grid, determining the risk influence information corresponding to the spatial grid comprises: based on the meteorological monitoring data of at least one meteorological risk source and a preset safety threshold, determining the risk influence information of the at least one meteorological risk source on the spatial grid.

[0015] In one of the embodiments, the risk environment data comprises historical flight data; the historical flight data comprises a number of times of passing through the spatial grid in a same time window and a cumulative number of times of passing through the spatial grid in all time windows; accordingly, based on the risk environment data corresponding to the spatial grid, determining the risk influence information corresponding to the spatial grid comprises: based on the number of times of passing through the spatial grid in the same time window and the cumulative number of times of passing through the spatial grid in all time windows, determining the risk influence information corresponding to the spatial grid.

[0016] In one of the embodiments, the method for obtaining the space grids corresponding to different height layers in the target airspace comprises: obtaining airspace description data corresponding to different height layers in the target airspace; wherein the airspace description data comprises at least one of height information, grid step scaling parameters corresponding to each height layer, horizontal area of the target airspace, and a preset number of grids; for each height layer, determining an actual grid step corresponding to the height layer based on the airspace description data corresponding to the height layer; and performing grid division on the height layer according to the actual grid step to obtain the space grids corresponding to the height layer.

[0017] In one of the embodiments, the method for obtaining the grids to be warned in the target airspace of the target aircraft comprises: determining candidate space grids intersecting with a monitoring region in the target airspace based on an intersection between the monitoring region and the space grids; wherein the monitoring region is determined based on position information of different route points on a flight route of the target aircraft and a safe flight distance of the target aircraft at different route points; and selecting the grids to be warned from the candidate space grids based on current position information of the target aircraft.

[0018] In one of the embodiments, the method for performing risk warning on the target aircraft based on the risk influence information corresponding to each space grid and the grids to be warned comprises: determining a risk warning level of the grids to be warned based on at least one of the risk influence information corresponding to each space grid, a preset airspace basic risk threshold, a type correction parameter of the target aircraft, and a risk level parameter of the flight route; and performing risk warning on the target aircraft based on the risk warning level.

[0019] In one of the embodiments, the method for determining a risk warning level of the grids to be warned based on at least one of the risk influence information corresponding to each space grid, a preset airspace basic risk threshold, a type correction parameter of the target aircraft, and a risk level parameter of the flight route comprises: determining a risk influence information range corresponding to at least one risk warning level based on the preset airspace basic risk threshold and the type correction parameter of the target aircraft and / or the risk level parameter of the flight route; determining target risk influence information corresponding to the grids to be warned based on the risk influence information corresponding to each space grid; and determining the risk warning level of the grids to be warned based on the target risk influence information and the risk influence information range corresponding to the at least one risk warning level.

[0020] In a second aspect, the present application provides an airspace risk warning device, comprising:

[0021] A first obtaining module is configured to obtain space grids corresponding to different height layers in a target airspace and risk environment data corresponding to the target airspace.

[0022] determining, for each spatial grid, risk impact information corresponding to the spatial grid based on risk environment data corresponding to the spatial grid;

[0023] The second acquisition module is configured to acquire a to-be-alarmed grid of the target aircraft in the target airspace;

[0024] The warning module is configured to perform risk warning on the target aircraft based on the risk impact information corresponding to each spatial grid and the to-be-alarmed grid.

[0025] In a third aspect, the present application further provides a computer device, comprising a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0026] acquire spatial grids corresponding to different height layers under a target airspace and risk environment data corresponding to the target airspace;

[0027] determine, for each spatial grid, risk impact information corresponding to the spatial grid based on risk environment data corresponding to the spatial grid;

[0028] acquire a to-be-alarmed grid of the target aircraft in the target airspace;

[0029] perform risk warning on the target aircraft based on the risk impact information corresponding to each spatial grid and the to-be-alarmed grid.

[0030] In a fourth aspect, the present application further provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0031] acquire spatial grids corresponding to different height layers under a target airspace and risk environment data corresponding to the target airspace;

[0032] determine, for each spatial grid, risk impact information corresponding to the spatial grid based on risk environment data corresponding to the spatial grid;

[0033] acquire a to-be-alarmed grid of the target aircraft in the target airspace;

[0034] perform risk warning on the target aircraft based on the risk impact information corresponding to each spatial grid and the to-be-alarmed grid.

[0035] In a fifth aspect, the present application further provides a computer program product, the computer program product comprises a computer program, and the computer program is executed by a processor to implement the following steps:

[0036] acquire spatial grids corresponding to different height layers under a target airspace and risk environment data corresponding to the target airspace;

[0037] For each spatial grid, based on the risk environment data corresponding to the spatial grid, determine the risk influence information corresponding to the spatial grid;

[0038] Obtain the to-be-alarmed grid of the target aircraft in the target airspace;

[0039] Based on the risk influence information corresponding to each spatial grid and the to-be-alarmed grid, perform risk warning on the target aircraft.

[0040] The airspace risk warning method, device, computer device, medium and product can determine the risk influence information corresponding to each spatial grid according to the spatial grid corresponding to each height layer in the target airspace and the risk environment data corresponding to the target airspace, that is, a comprehensive and accurate risk map can be constructed for airspace risk warning, so that after obtaining the to-be-alarmed grid of the target aircraft in the target airspace, the target aircraft can be accurately warned of risks based on the risk map and the to-be-alarmed grid, and the accuracy of airspace risk warning is improved. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 A flowchart of an airspace risk warning method in one embodiment;

[0042] Figure 2 A flowchart of a determination step of risk influence information in one embodiment;

[0043] Figure 3 A flowchart of another determination step of risk influence information in one embodiment;

[0044] Figure 4 A flowchart of another determination step of risk influence information in one embodiment;

[0045] Figure 5 A flowchart of a spatial grid obtaining step in one embodiment;

[0046] Figure 6 A flowchart of a to-be-alarmed grid obtaining step of a target aircraft in a target airspace in one embodiment;

[0047] Figure 7 A flowchart of a risk warning step on a target aircraft in one embodiment;

[0048] Figure 8 A flowchart of another airspace risk warning method in one embodiment;

[0049] Figure 9 A structural block diagram of an airspace risk warning device in one embodiment;

[0050] Figure 10This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0052] In one alternative embodiment, such as Figure 1 As shown, an airspace risk early warning method is provided. In this embodiment, the method includes the following steps:

[0053] S110: Obtain the spatial grid corresponding to different altitude layers under the target airspace, as well as the risk environment data corresponding to the target airspace.

[0054] The target airspace can be understood as the airspace within the target area. The target area can be understood as the airspace within the target horizontal range and the target vertical range. For example, taking a logistics company as an example, the target airspace may include a horizontal range with a radius of 1500 meters centered on the logistics company, and an airspace with a height of 0 to 300 meters.

[0055] Here, different height layers can be understood as sub-airspaces with different height ranges that divide the target airspace vertically. For example, the airspace centered on a logistics company, with a horizontal range of 1500 meters in radius and a height of 0-300 meters, can be divided into: a first sub-airspace centered on the logistics company, with a horizontal range of 1500 meters in radius and a height of 0-50 meters; a second sub-airspace centered on the logistics company, with a horizontal range of 1500 meters in radius and a height of 50-150 meters; and a third sub-airspace centered on the logistics company, with a horizontal range of 1500 meters in radius and a height of 150-300 meters.

[0056] The spatial grid can be understood as a three-dimensional grid obtained by dividing the sub-spatial areas corresponding to different height levels. The spatial grid can be of any feasible shape. Optionally, the shape of the spatial grid corresponding to each height level can be the same. Optionally, the spatial grid can be a cubic grid. Optionally, the step size of the spatial grid corresponding to different height levels can be different. Optionally, the step size of the spatial grid corresponding to different height levels can be adjusted according to the spatial type of the target spatial area. Different spatial types correspond to different control accuracies. The higher the control accuracies, the smaller the step size of the spatial grid can be. For example, spatial types can include densely built-up spatial areas, open spatial areas, etc. The control accuracies corresponding to densely built-up spatial areas are higher than those corresponding to open spatial areas; therefore, the step size of the spatial grid corresponding to densely built-up spatial areas is smaller than that corresponding to open spatial areas.

[0057] The risk environment data corresponding to the target airspace can be understood as environment data that may bring flight risks to the target aircraft when the target aircraft flies in the target airspace. The risk environment data can include at least one type of data. For example, the risk environment data can include at least one of risk feature data of a physical risk source, meteorological monitoring data of a meteorological risk source, and historical flight data. The physical risk source can be understood as a risk source with physical entity. The physical risk source can include at least one of a static risk source and a dynamic risk source. The static risk source can be understood as a risk source whose position does not move. For example, the static risk source can include a building. The dynamic risk source can be understood as a risk source whose position moves. For example, the dynamic risk source can include flying birds, other flying aircrafts, etc. The risk feature data of the static risk source can include area position information of the static risk source, etc. The risk feature data of the dynamic risk source can include moving speed information of the dynamic risk source, etc. The meteorological monitoring data of the meteorological risk source can include monitoring data of at least one meteorological condition. The at least one meteorological condition can include wind speed, rainfall, thunderstorm, etc. The historical flight data can include the number of times that the target aircraft passes through the space grid in the same historical time window, etc.

[0058] In an optional embodiment, the risk environment data corresponding to the target airspace can be obtained according to the following steps: collecting initial environment data corresponding to the target airspace; performing standardization processing on the initial environment data to obtain standard environment data; and performing cleaning processing on the standard environment data to obtain the risk environment data.

[0059] The initial environment data can include static obstacle data, dynamic obstacle data, meteorological data, and historical flight data of the target aircraft. The static obstacle data can include building description data (such as height, volume, etc.) in the target airspace, terrain elevation data of the target airspace, fixed no-fly zone boundary data, etc. The dynamic obstacle data can include meteorological monitoring data (such as wind speed, wind direction, rainfall, atmospheric pressure, etc.) of at least one meteorological condition and flight data (such as motion trajectory data of birds, size, position, and speed of other aircrafts, etc.) of flying objects. The historical flight data of the target aircraft can include flight data (such as flight time, flight height, flight trajectory, etc.) and accident data (such as accident position, accident cause, etc.) of the target aircraft in a historical time period.

[0060] Different methods can be used to collect data from different initial environments. For example, static obstacle data can be obtained through a geographic information system; hourly meteorological monitoring data of at least one type of weather can be obtained by connecting to a meteorological data interface of a meteorological department; bird flight data can be obtained through radar; flight data of other aircraft can be obtained through an Automatic Dependent Surveillance Broadcast System (ADS-B) or an aircraft perception network; and historical flight data of target aircraft can be obtained through a target aircraft monitoring platform.

[0061] The standardization process may include at least one of coordinate system standardization and unit standardization.

[0062] The coordinate system standardization process for the initial environmental data may include: transforming the initial coordinate data of the initial environmental data to obtain the target coordinate data in the standard coordinate system.

[0063] For example, for initial coordinate data of latitude and longitude coordinates, coordinate transformation can be performed using the Bursa-Wolf model to obtain target coordinate data in the standard geodetic coordinate system. For initial coordinate data of 3D model coordinates, the vertical coordinates can be defined using the standard geodetic coordinate system, with the mean sea level as the reference surface at the same height, to obtain target coordinate data in the standard geodetic coordinate system.

[0064] The unit standardization process for the initial environmental data may include: converting the size units in the initial environmental data to meters, with the precision retained to one decimal place; and / or converting the acquisition time in the initial environmental data to Coordinated Universal Time (UTC); and / or converting the speed units in the initial environmental data to meters per second.

[0065] The data cleaning process may include at least one of outlier removal, missing value imputation, and format standardization. Outlier removal may include applying the Laida criterion to continuous data. (Principles), calculate the mean of the data and standard deviation It will exceed the range Samples are considered outliers and removed. Missing value imputation can include using cubic spline interpolation to fill missing values ​​if the time series data is missing for a duration less than or equal to 30 minutes; if the missing duration is greater than 30 minutes, it can be filled using a weighted average of nearby time-series data (the weights can be inversely proportional to the time difference). Format standardization can include standardizing and encoding text data from different sources using enumerated values.

[0066] S120, for each spatial grid, determining, based on the risk environment data corresponding to the spatial grid, risk influence information corresponding to the spatial grid.

[0067] The risk influence information corresponding to the spatial grid can be understood as risk influence information of the target aircraft when flying in the spatial grid.

[0068] In the case where the risk environment data corresponding to the spatial grid includes at least one, the risk influence information corresponding to the spatial grid can be determined based on the risk influence information corresponding to the at least one risk environment data. Alternatively, the risk influence information corresponding to the spatial grid can be obtained by weighting the risk influence information corresponding to the at least one risk environment data.

[0069] In an alternative embodiment, the risk influence information corresponding to the spatial grid can be predicted based on a pre-trained risk influence prediction model according to the risk environment data corresponding to the spatial grid. The risk influence prediction model can be implemented based on a traditional machine learning model or a deep learning model, and the specific network result of the risk influence prediction model is not limited in the present application.

[0070] In an alternative embodiment, the risk influence prediction model can be trained in the following manner: obtaining sample risk environment data corresponding to the spatial grid in a sample airspace, and sample risk influence information corresponding to the spatial grid in the sample airspace; taking the sample risk environment data as training input data, and taking the sample risk influence information as training output data, training the risk influence prediction model to be trained until a training termination condition is met. The training termination condition can include at least one of the number of training samples reaching a first preset number threshold, the number of iterations of model training reaching a first preset number threshold, the accuracy of the model reaching a first preset accuracy threshold, and the model tending to converge. The first preset number threshold, the first preset number threshold, and the first preset accuracy threshold can be set or adjusted by the technician according to the need or experience, or determined repeatedly through a large number of experiments, and the present application does not make any limitation thereto.

[0071] S130, obtaining a grid to be warned in the target airspace.

[0072] The grid to be warned can be understood as a grid to be warned. The grid to be warned can include at least one of a grid currently located by the target aircraft, and at least one grid to be passed in front of the target aircraft.

[0073] S140, based on the risk influence information corresponding to each spatial grid and the grid to be warned, performing risk warning on the target aircraft.

[0074] In an optional embodiment, the target risk impact information of the grid to be warned can be determined based on the risk impact information corresponding to each spatial grid and the grid to be warned. The target aircraft is warned of risks according to the target risk impact information of the grid to be warned.

[0075] In an optional embodiment, the risk warning strategy corresponding to the grid to be warned can be determined according to the target risk impact information of the grid to be warned, and the target aircraft is warned of risks according to the risk warning strategy.

[0076] In an optional embodiment, the risk warning strategy corresponding to the grid to be warned can be determined according to the target risk impact information of the grid to be warned based on a pre-trained strategy determination model. The strategy determination model can be implemented based on a traditional machine learning model or a deep learning model, and the specific network result of the strategy determination model is not limited in the present application.

[0077] In an optional embodiment, the strategy determination model can be trained in the following manner: sample risk impact information corresponding to a spatial grid in a sample airspace and sample risk warning strategies corresponding to the spatial grid in the sample airspace are obtained; the sample risk impact information is used as training input data, and the sample risk warning strategies are used as training output data; the strategy determination model to be trained is trained until a training termination condition is met. The training termination condition can include at least one of the number of training samples reaching a second preset number threshold, the number of iterations of model training reaching a second preset number threshold, the accuracy of the model reaching a second preset accuracy threshold, and the model tending to converge. The second preset number threshold, the second preset number threshold, and the second preset accuracy threshold can be set or adjusted by a technician according to needs or experience, or determined repeatedly through a large number of experiments, and the present application does not make any limitation thereto.

[0078] The airspace risk warning method can determine the risk impact information corresponding to each spatial grid according to the spatial grids corresponding to different height layers in the target airspace and the risk environment data corresponding to the target airspace, i.e., a comprehensive and accurate risk map can be constructed for airspace risk warning, so that after the grid to be warned of the target aircraft in the target airspace is obtained, the target aircraft can be accurately warned of risks based on the risk map and the grid to be warned, and the accuracy of airspace risk warning is improved.

[0079] On the basis of the technical solutions of the above embodiments, another optional embodiment is provided in the present application, in which the risk environment data is refined into risk feature data of an entity risk source, and the risk impact information determination step S120 is refined accordingly.

[0080] Referring to Figure 2The determination step of the risk impact information comprises:

[0081] In S210, for each entity risk source contained in the spatial grid, a spatial volume occupied by the entity risk source in the spatial grid is determined based on risk characteristic data of the entity risk source.

[0082] The entity risk source can include at least one of a static risk source and a dynamic risk source.

[0083] It should be noted that each entity risk source contained in the spatial grid is understood as an entity risk source without a containing relationship with each other. If there is a containing relationship between entity A and entity B, the entity A and the entity B can be determined as a whole according to the containing relationship between the entity and the entity B, and the whole is taken as an entity risk source. For example, if entity A completely contains entity B, entity A can be taken as an entity risk source.

[0084] In S220, risk impact information corresponding to the spatial grid is determined based on the spatial volume corresponding to each entity risk source.

[0085] The risk impact information can be understood as risk impact information of the target aircraft in the spatial grid when the target aircraft flies in the spatial grid. The spatial volume corresponding to each entity risk source. The greater the risk impact information corresponding to the spatial grid can be greater.

[0086] Optionally, the risk impact information can be the ratio of the spatial volume corresponding to the entity risk source to the grid volume of the spatial grid.

[0087] In an optional embodiment, taking a cubic grid as an example, the ratio of the spatial volume corresponding to the entity risk source to the grid volume of the spatial grid can be determined according to the following formula:

[0088]

[0089] In the above formula, is the ratio of the spatial volume corresponding to the entity risk source to the grid volume of the spatial grid; is the spatial volume corresponding to the entity risk source; is the side length of the spatial grid.

[0090] In an optional embodiment, the overall spatial volume of each entity risk source can be determined based on the spatial volume corresponding to each entity risk source. The risk impact information corresponding to the spatial grid is determined according to the overall spatial volume and the grid volume of the spatial grid.

[0091] The overall spatial volume can be the sum of the spatial volume corresponding to each entity risk source.

[0092] For example, determining the risk influence information corresponding to the space grid according to the overall space volume and the grid volume of the space grid can include: determining a ratio of the overall space volume to the grid volume of the space grid.

[0093] In an optional embodiment, for each entity risk source, the sub-risk influence information corresponding to the entity risk source can be determined according to the space volume corresponding to the entity risk source and the grid volume of the space grid; and the risk influence information corresponding to the space grid can be determined according to the sub-risk influence information corresponding to each entity risk source.

[0094] For example, for each entity risk source, the sub-risk influence information corresponding to the entity risk source can be determined according to the space volume corresponding to the entity risk source and the grid volume of the space grid, which can include: for each entity risk source, determining a ratio of the space volume corresponding to the entity risk source to the grid volume of the space grid.

[0095] For example, the risk influence information corresponding to the space grid can be determined according to the sub-risk influence information corresponding to each entity risk source, which can include: weighting the sub-risk influence information corresponding to each entity risk source to determine the risk influence information corresponding to the space grid.

[0096] In the optional embodiments described above, the risk influence information of the space volume of the entity risk source on the target aircraft when the target aircraft flies in the space grid can be accurately determined according to the space volume occupied by the entity risk source in the space grid, so that a comprehensive and accurate risk map can be constructed.

[0097] On the basis of the technical solutions in the above embodiments, the present application further provides another optional embodiment, in which the entity risk source is refined into a static risk source, and the risk feature data is refined into regional position information of the static risk source; and correspondingly, the determination of the space volume occupied by the entity risk source in the space grid is refined.

[0098] Specifically, the determination of the space volume occupied by the entity risk source in the space grid includes: determining a projection region corresponding to the static risk source on a preset plane and a contour extreme point of the static risk source based on the regional position information; and determining the space volume occupied by the static risk source in the space grid based on the height information of the contour extreme point and the projection region corresponding to the static risk source.

[0099] The regional position information can be understood as position information of a three-dimensional space region where the static risk source is located. According to the regional position information, coordinate information of any point of the static risk source can be determined.

[0100] Optionally, the preset plane can be a horizontal plane.

[0101] The profile maximum point can be understood as a first profile point with the highest vertical direction and a second profile point with the lowest vertical direction corresponding to each position point in the projection area.

[0102] The height information of the profile maximum point can be understood as the vertical coordinate of the profile maximum point.

[0103] In an optional embodiment, the spatial volume occupied by the static risk source in the spatial grid can be determined according to the following formula:

[0104]

[0105] In the above formula, V is the spatial volume occupied by the static risk source in the spatial grid; D is the projection area of the static risk source on the preset plane; is the vertical coordinate of the first profile point corresponding to the position point (x, y) in the projection area; is the vertical coordinate of the second profile point corresponding to the position point (x, y) in the projection area; dx and dy are infinitesimal increments in the X-axis direction and the Y-axis direction on the preset plane.

[0106] In the above optional embodiment, based on the height information of the profile maximum point and the projection area corresponding to the static risk source, the spatial volume occupied by the static risk source in the spatial grid can be determined regardless of the shape of the static risk source, which not only simplifies the determination process of the spatial volume corresponding to the static risk source, but also improves the accuracy of determining the spatial volume corresponding to the static risk source.

[0107] On the basis of the technical solutions of the above embodiments, the present application further provides another optional embodiment, in which the entity risk source is refined into a dynamic risk source, and the risk feature data is refined into the moving speed information of the dynamic risk source; accordingly, the determination step of the spatial volume occupied by the entity risk source in the spatial grid is refined.

[0108] Specifically, the determination step of the spatial volume occupied by the entity risk source in the spatial grid includes: determining the spatial region to be passed through by the dynamic risk source in a preset time period based on the moving speed information of the dynamic risk source; and determining the spatial volume occupied by the dynamic risk source in the spatial grid based on the spatial region to be passed through.

[0109] Optionally, the moving speed information can be the instantaneous moving speed. Alternatively, the moving speed information can be the average moving speed.

[0110] Illustratively, the preset time period can be 1 second.

[0111] The space region to be passed through by the dynamic risk source can be understood as a space region formed by distances to be passed through by the dynamic risk source in each direction. For example, the space region to be passed through can be a spherical region.

[0112] In an alternative embodiment, the space region to be passed through can be determined according to the following formula:

[0113]

[0114] In the above formula, is the space region to be passed through; v is the moving speed information of the dynamic risk source; is the preset time period.

[0115] In an alternative embodiment, the intersection region of the space region and the space grid can be determined according to the space region to be passed through, and the space volume occupied by the dynamic risk source in the space grid can be determined based on the volume of the intersection region.

[0116] In the above alternative embodiment, the space volume occupied by the dynamic risk source in the space grid can be determined based on the moving speed information of the dynamic risk source and the space region to be passed through by the dynamic risk source in the preset time period. The space volume corresponding to the dynamic risk source can be quickly determined, and the accuracy of determining the space volume corresponding to the dynamic risk source can be improved.

[0117] Based on the technical solutions of the above embodiments, the present application further provides another alternative embodiment, in which the step of determining the space volume occupied by the dynamic risk source in the space grid is refined.

[0118] Specifically, the space volume occupied by the dynamic risk source in the space grid is determined based on the space region to be passed through, including: in the case that the space grid belongs to the space region to be passed through, the volume of the space grid is taken as the space volume occupied by the dynamic risk source in the space grid; in the case that the space region to be passed through belongs to the space grid, the volume of the space region to be passed through is taken as the space volume occupied by the dynamic risk source in the space grid; in the case that the space region to be passed through and the space grid partially intersect, the space volume occupied by the dynamic risk source in the space grid is determined based on the intersection region between the space region to be passed through and the space grid, the step size of the space grid, and the radius of the space region to be passed through.

[0119] The space grid belongs to the space region to be passed through can be understood as that the space grid is contained in the space region to be passed through.

[0120] The space region to be passed through belongs to the space grid can be understood as that the space region to be passed through is contained in the space grid.

[0121] In an optional embodiment, in the case that the spatial grid belongs to the space region to be passed through, taking the cubic grid as an example, the spatial volume occupied by the dynamic risk source in the spatial grid can be obtained according to the following formula:

[0122]

[0123] In the above formula, v is the moving speed information of the dynamic risk source; is the length of the edge of the spatial grid.

[0124] In an optional embodiment, in the case that the space region to be passed through belongs to the spatial grid, the spatial volume occupied by the dynamic risk source in the spatial grid can be obtained according to the following formula:

[0125]

[0126] In the above formula, v is the moving speed information of the dynamic risk source; is the preset time period.

[0127] In an optional embodiment, in the case that the space region to be passed through partially intersects with the spatial grid, the intersection region between the space region to be passed through and the spatial grid can be determined based on the positional relationship between the space region to be passed through and the spatial grid. Then the intersection region is integrated to obtain the spatial volume occupied by the dynamic risk source in the spatial grid.

[0128] For example, in the rectangular coordinate system, the spatial volume occupied by the dynamic risk source in the spatial grid can be obtained according to the following formula:

[0129]

[0130] In the above formula, the range of the integral limit x can be determined according to the step length of the spatial grid; for each x, the range of the integral limit y can be determined according to x, the radius of the space region and the step length of the spatial grid; for each (x, y), the range of the integral limit z can be determined according to x, y, the radius of the space region and the step length of the spatial grid.

[0131] In an optional embodiment, in the case that the space region to be passed through partially intersects with the spatial grid, the intersection region can be divided to obtain each sub-region, and then the volumes of the sub-regions are added to obtain the spatial volume occupied by the dynamic risk source in the spatial grid.

[0132] In the above optional embodiments, the spatial volume occupied by the dynamic risk source in the spatial grid can be determined according to the inclusion relationship between the space region to be passed through and the spatial grid, so that the spatial volume occupied by the dynamic risk source in the spatial grid can be determined more accurately.

[0133] On the basis of the technical solutions of the above embodiments, the application further provides another optional embodiment, in which the risk environment data is refined into meteorological monitoring data of meteorological risk sources, and the risk influence information determination step S120 is refined accordingly.

[0134] Referring to Figure 3 The determination step of the risk influence information shown in the figure includes:

[0135] S310, determining the risk influence information of the at least one meteorological risk source on the space grid based on the meteorological monitoring data of the at least one meteorological risk source and the preset safety threshold.

[0136] The preset safety threshold can be understood as a maximum safety threshold. The preset safety thresholds of different meteorological risk sources can be different.

[0137] The risk influence information of the at least one meteorological risk source on the space grid can be understood as the risk influence information of the meteorological monitoring data of each meteorological risk source in the space grid on the target aircraft when the target aircraft flies in the space grid. The greater the meteorological monitoring data of the meteorological risk source, the greater the corresponding risk influence information of the space grid.

[0138] Optionally, the risk influence information can be the ratio of the meteorological monitoring data of the meteorological risk source to the preset safety threshold.

[0139] In an optional embodiment, the sum of the meteorological monitoring data of the at least one meteorological risk source and the sum of the preset safety thresholds of the at least one meteorological risk source can be determined; and the risk influence information of the at least one meteorological risk source on the space grid is determined according to the sum of the meteorological monitoring data and the sum of the preset safety thresholds.

[0140] In an optional embodiment, the risk influence information of the at least one meteorological risk source on the space grid can be determined according to the following formula:

[0141]

[0142] In the above formula, n is the number of types of meteorological risk sources; is the weight corresponding to the i-th type of meteorological risk source; is the meteorological monitoring data of the i-th type of meteorological risk source; is the maximum safety threshold corresponding to the i-th type of meteorological risk source.

[0143] In an optional embodiment, for each meteorological risk source, the sub-risk impact information of the meteorological risk source on the space grid can be determined according to the meteorological monitoring data of the meteorological risk source and the preset safety threshold. The risk impact information of the at least one meteorological risk source on the space grid can be determined according to the sub-risk impact information corresponding to the at least one meteorological risk source.

[0144] For example, the sub-risk impact information of each meteorological risk source on the space grid can be the ratio of the meteorological monitoring data of the meteorological risk source and the preset safety threshold.

[0145] For example, the risk impact information of the at least one meteorological risk source on the space grid can be obtained by weighting the sub-risk impact information corresponding to each meteorological risk source.

[0146] In the above optional embodiment, based on the meteorological monitoring data of the at least one meteorological risk source and the preset safety threshold, the risk impact information of the meteorological monitoring data of the meteorological risk source on the target aircraft when the target aircraft flies in the space grid can be accurately determined, so that a comprehensive and accurate risk map can be constructed.

[0147] On the basis of the technical solutions of the above embodiments, the present application further provides another optional embodiment, in which the risk environment data is refined into historical flight data, the historical flight data is refined into the number of times of passing through the space grid in a same historical time window and the cumulative number of times of passing through the space grid in all historical time windows, and correspondingly, the risk impact information determination step of S120 is refined.

[0148] Referring to Figure 4 The risk impact information determination step shown in the above embodiment includes:

[0149] S410, determining the risk impact information corresponding to the space grid based on the number of times of passing through the space grid in a same historical time window and the cumulative number of times of passing through the space grid in all historical time windows.

[0150] The same historical time window can be understood as the same time range in different historical time periods. For example, the same historical time window can be 9:00-10:00 every day in the past year.

[0151] The all historical time windows can be understood as all time ranges in different historical time periods.

[0152] The risk influence information corresponding to the spatial grid can be understood as the risk influence information of the target aircraft when the target aircraft flies in the spatial grid, the number of times the target aircraft passes through the spatial grid in the historical same time window corresponding to the spatial grid.

[0153] Optionally, the risk influence information can be a ratio of the number of times the target aircraft passes through the spatial grid in the historical same time window to the cumulative number of times the target aircraft passes through the spatial grid in all historical time windows.

[0154] In an optional embodiment, the risk influence information corresponding to the spatial grid can be determined according to the following steps:

[0155]

[0156] In the above formula, is the risk influence information corresponding to the spatial grid; is the number of times the target aircraft passes through the spatial grid in the historical same time window; is the cumulative number of times the target aircraft passes through the spatial grid in all historical time windows.

[0157] In the above optional embodiment, based on the number of times the target aircraft passes through the spatial grid in the historical same time window and the cumulative number of times the target aircraft passes through the spatial grid in all historical time windows, the risk influence information of the historical flight data on the target aircraft when the target aircraft flies in the spatial grid can be accurately determined, so that a comprehensive and accurate risk map can be constructed.

[0158] On the basis of the technical solutions of the above embodiments, the present application further provides another optional embodiment, in which the spatial grid acquisition step of S110 is refined.

[0159] Referring to the spatial grid acquisition step shown in Figure 5 includes:

[0160] S510, acquiring airspace description data respectively corresponding to different height layers under the target airspace; wherein the airspace description data includes at least one of height information, grid step scaling parameters respectively corresponding to each height layer, horizontal area of the target airspace, and a preset number of grids.

[0161] The height information can be understood as height information respectively corresponding to different height layers. The height information corresponding to each height layer can include at least one of a maximum height value, a minimum height value, and an average height value corresponding to each height layer. Optionally, the thickness (the difference between the maximum height value and the minimum height value) corresponding to each height layer can be different.

[0162] Exemplarily, the target airspace is divided into a first height layer, a second height layer and a third height layer from low to high in the vertical direction, the first height layer corresponds to height information of 0-50 meters, the second height layer corresponds to height information of 50-150 meters, and the third height layer corresponds to height information of 150-300 meters.

[0163] The grid step scaling parameter can be understood as a grid step scaling factor. The grid step scaling parameter is used to scale the preset grid step. The preset grid step can include a preset grid length, width and height. Optionally, the space grid can be a cube, and the preset grid length, width and height can be the same. Optionally, the grid step scaling parameter can be different for different height layers. Further optionally, the lower the height, the smaller the grid step scaling parameter. It can be understood that the height layer with a smaller height value has a larger density of buildings, and the risk impact on the space grid is greater, so the control accuracy of the space grid is greater. By setting a smaller grid step scaling parameter to reduce the grid step, more accurate risk early warning can be achieved for the space grid.

[0164] The horizontal area of the target airspace can be understood as the area of the projection region of the target airspace on the horizontal plane. The horizontal areas corresponding to different height layers can be the same.

[0165] The preset grid quantity can be understood as the sum of the number of space grids under the target airspace. Optionally, the number of space grids under the target airspace can be determined according to the vertex coordinate information of the target airspace and the preset grid step.

[0166] In an optional embodiment, the preset grid quantity can be determined according to the following steps: determining the maximum and minimum values of the X-axis direction, the maximum and minimum values of the Y-axis direction, and the maximum and minimum values of the Z-axis direction of the target airspace in the target coordinate system according to the vertex coordinate information of the target airspace. Determine the number of grids in the X-axis direction according to the maximum and minimum values of the X-axis direction and the preset grid step; determine the number of grids in the Y-axis direction according to the maximum and minimum values of the Y-axis direction and the preset grid step; determine the number of grids in the Z-axis direction according to the maximum and minimum values of the Z-axis direction and the preset grid step. Determine the preset grid quantity according to the number of grids in the X-axis direction, the number of grids in the Y-axis direction and the number of grids in the Z-axis direction.

[0167] Optionally, the target coordinate system can be a three-dimensional Cartesian coordinate system with an altitude of 0 meters, with the intersection of the equatorial plane and the prime meridian as the origin, with the meridian as the X-axis direction, with the latitude as the Y-axis direction, and with the vertical direction of the earth's surface as the Z-axis direction.

[0168] In one optional embodiment, taking a cube as an example, the preset number of grid cells can be determined according to the following formula:

[0169]

[0170]

[0171]

[0172]

[0173] In the above formula, This is the floor function; n is the number of grid cells in the X-axis direction; m is the number of grid cells in the Y-axis direction; p is the number of grid cells in the Z-axis direction; N is the preset number of grid cells; Preset grid step size; and These represent the maximum and minimum values ​​of the target airspace along the X-axis, respectively. and These represent the maximum and minimum values ​​of the target airspace along the Y-axis, respectively. and These represent the maximum and minimum values ​​of the target airspace along the Z-axis, respectively.

[0174] S520 determines the actual grid step size for each height layer based on the spatial description data corresponding to that height layer.

[0175] In one optional embodiment, for each height layer, the actual grid step size corresponding to that height layer can be determined based on the height information corresponding to that height layer, the grid step size scaling parameter corresponding to that height layer, the horizontal area of ​​the target airspace, and the preset number of grids.

[0176] In an alternative embodiment, the actual grid step size corresponding to each height layer can be determined according to the following formula:

[0177]

[0178] In the above formula, is the actual grid step size; s is the horizontal area of ​​the target airspace; h is the height information corresponding to each height layer, where the height information can include any one of the maximum height, minimum height, and average height. The maximum altitude that the target aircraft can fly at; N is the preset number of grid cells; The grid step size scaling parameter is the one corresponding to each height layer.

[0179] S530 divides the height layer into grids according to the actual grid step size to obtain the spatial grid corresponding to the height layer.

[0180] In the optional embodiment, by determining the step length of the spatial grid corresponding to each height layer, the accuracy requirement of the risk influence information corresponding to the spatial grid of different height layers can be met, so that the accuracy of the risk warning of the target aircraft when flying at different altitudes can be improved.

[0181] In order to realize the rapid positioning of the spatial grid, in an optional embodiment, the spatial grid corresponding to each height layer can be encoded to obtain the grid identification information corresponding to each spatial grid.

[0182] The grid identification information can be understood as information for uniquely identifying the spatial grid.

[0183] In an optional embodiment, the spatial grid can be encoded in a hierarchical encoding manner. For the spatial grid of each height layer, each spatial grid can be encoded according to the grid number of the X-axis, the Y-axis and the Z-axis and the hierarchical information corresponding to the height layer.

[0184] In another optional embodiment, each spatial grid can be encoded according to the preset grid number under the target airspace.

[0185] On the basis of the technical solutions of the above embodiments, the present application further provides an optional embodiment, in which the step of obtaining the to-be-warned grid of the target aircraft in the target airspace is refined.

[0186] Referring to the step of obtaining the to-be-warned grid of the target aircraft in the target airspace shown in FIG. 6, the step includes: Figure 6 S610, determining a candidate spatial grid intersecting with a monitoring region based on the intersection of the monitoring region and the spatial grid in the target airspace; wherein the monitoring region is determined based on the position information of different route points on the flight route of the target aircraft and the safe flight distance of the target aircraft at different route points.

[0187] The monitoring region can be understood as a region that needs to monitor the flight risk of the aircraft.

[0188] The candidate spatial grid can be understood as a spatial grid that may have a flight risk.

[0189] In an optional embodiment, the safe flight distance of the target aircraft at different route points can be obtained through a dynamics model according to the aerodynamic performance parameters of the target aircraft and the flight speed of the target aircraft. The aerodynamic performance parameters can include lift parameters and drag parameters when flying.

[0190] In an optional embodiment, the safe flight distance of the target aircraft at different route points can be obtained through a dynamics model according to the aerodynamic performance parameters of the target aircraft and the flight speed of the target aircraft. The aerodynamic performance parameters can include lift parameters and drag parameters when flying.

[0191] In an optional embodiment, a sub-monitoring region of the target aircraft at a current waypoint can be determined according to position information of the current waypoint and the safety flight distance.

[0192] In an optional embodiment, a spherical region with the current waypoint of the target aircraft as the center and the safety flight distance as the radius can be determined as the sub-monitoring region. The sum of the sub-monitoring regions can be determined as the monitoring region of the target aircraft on the flight route.

[0193] In an optional embodiment, length information of the flight route can be determined according to position information of different waypoints on the flight route of the target aircraft; a pipe-shaped region with the flight route as the center line and the safety flight distance as the radius can be determined according to the length information of the flight route and the safety flight distance, and the pipe-shaped region can be determined as the monitoring region of the target aircraft on the flight route.

[0194] In an optional embodiment, a spatial grid intersecting with the monitoring region can be determined according to position information of vertices of each spatial grid and position information of vertices in the monitoring region, and the spatial grid intersecting with the monitoring region can be determined as a candidate spatial grid.

[0195] S620, selecting a grid to be warned from the candidate spatial grids based on the current position information of the target aircraft.

[0196] The candidate spatial grids can include at least one of the following: a grid currently occupied by the target aircraft and at least one grid to be passed in front of the target aircraft.

[0197] In an optional embodiment, selecting a grid to be warned from the candidate spatial grids based on the current position information of the target aircraft can include: determining a current grid occupied by the target aircraft according to the current position information of the target aircraft and position information of each spatial grid, and determining the current grid occupied by the target aircraft as the grid to be warned.

[0198] In an optional embodiment, selecting a grid to be warned from the candidate spatial grids based on the current position information of the target aircraft can include: determining a first target grid adjacent to a current grid occupied by the target aircraft and located in front of the target aircraft according to the current position information and position information of each candidate spatial grid, and determining the first target grid as the grid to be warned.

[0199] In an optional embodiment, selecting the grid to be warned from the candidate spatial grids based on the current position information of the target aircraft can include: determining, according to the current position information and the position information of each candidate spatial grid, a second target grid of all grids to be passed in front of the target aircraft, and taking the second target grid as the grid to be warned.

[0200] In an optional embodiment, selecting the grid to be warned from the candidate spatial grids based on the current position information of the target aircraft can include: determining, according to the current position information and the position information of each candidate spatial grid, a second target grid of all grids to be passed in front of the target aircraft, and taking the second target grid as the grid to be warned.

[0201] In the above optional embodiments, the candidate spatial grids intersecting with the monitoring area can include spatial grids that can have flight risks, and by selecting the grid to be warned from the candidate spatial grids based on the current position information of the target aircraft, the grid to be warned can be more accurately selected, thereby improving the accuracy of risk warning.

[0202] Based on the technical solutions of the above embodiments, the present application further provides an optional embodiment, in which the step of risk warning is refined.

[0203] Referring to Figure 7 the step of warning the target aircraft of risks, the step includes:

[0204] S710, determining a risk warning level of the grid to be warned based on at least one of the risk influence information corresponding to each spatial grid, a preset airspace basic risk threshold, a type correction parameter of the target aircraft, and a risk level parameter of the flight route.

[0205] The preset airspace basic risk threshold can be specified by relevant safety specifications. For example, the preset airspace basic risk threshold can have a value range of [0.5, 0.8].

[0206] The type correction parameter of the target aircraft can be preset according to the type of the target aircraft. For example, the type correction parameter of the unmanned aerial vehicle can have a value of 0.8, and the type correction parameter of the manned aircraft can have a value of 0.8.

[0207] The risk level parameter of the flight route can be preset according to the type of the flight route. For example, the risk level parameter of the ordinary route can have a value of 0.5, and the risk level parameter of other routes can have a value of 0.5.

[0208] Optionally, different risk warning levels correspond to different risk severity levels.

[0209] Optionally, the risk warning level can be divided into low risk, medium risk, high risk, etc. Alternatively, the risk warning level can be divided into a first risk warning level, a second risk warning level, a third risk warning level, etc. The present application does not make any limitation on the division method of the risk warning level.

[0210] S720, based on the risk warning level, the target aircraft is warned of risk.

[0211] Optionally, the risk warning method corresponding to different risk warning levels can be different. The present application does not make any limitation on the division of the risk warning level and the risk warning method.

[0212] In the above optional embodiment, according to at least one of the risk influence information corresponding to each spatial grid, the preset airspace basic risk threshold, the type correction parameter of the target aircraft and the risk level parameter of the flight route, the risk degree, i.e. the risk warning level, can be accurately determined, so that the target aircraft can be warned of risk in a targeted manner based on the risk warning level, and the accuracy of risk warning is improved.

[0213] On the basis of the technical solutions of the above embodiments, the present application further provides an optional embodiment, in which, based on at least one of the risk influence information corresponding to each spatial grid, the preset airspace basic risk threshold, the type correction parameter of the target aircraft and the risk level parameter of the flight route, the risk warning level of the grid to be warned is determined, including: based on the preset airspace basic risk threshold, and the type correction parameter of the target aircraft and / or the risk level parameter of the flight route, determining at least one risk warning level corresponding to the risk influence information range; based on the risk influence information corresponding to each spatial grid, determining the target risk influence information corresponding to the grid to be warned; based on the target risk influence information and the risk influence information range corresponding to at least one risk warning level, determining the risk warning level of the grid to be warned.

[0214] In an optional embodiment, based on the preset airspace basic risk threshold, and the type correction parameter of the target aircraft and / or the risk level parameter of the flight route, at least one risk influence information threshold can be determined; according to the at least one risk influence information threshold, at least one risk influence information range can be determined. Each risk influence information range can correspond to one risk warning level.

[0215] In an optional embodiment, at least one risk influence information threshold can be determined according to the following formula:

[0216]

[0217] In the above formula, is a risk impact information threshold value; is a preset airspace basic risk threshold value; is a type correction parameter of the target aircraft; is a risk level parameter of the flight route.

[0218] In an optional embodiment, the risk impact information range corresponding to at least one risk warning level can be determined according to the following formula:

[0219]

[0220] In the above formula, is a risk warning level; is a first risk warning level; is a second risk warning level; is a third risk warning level; wherein the first risk warning level is lower than the second risk warning level, and the second risk warning level is lower than the third risk warning level; is risk impact information; is a first risk impact information threshold value; is a second risk impact information threshold value; wherein the first risk impact information threshold value is less than the second risk impact information threshold value.

[0221] In the above optional embodiment, by the target risk impact information and the risk impact information range corresponding to at least one risk warning level, the risk warning level of the grid to be warned can be accurately divided, so that accurate risk warning for the target aircraft can be realized.

[0222] On the basis of the technical solutions of the above embodiments, the present application further provides an optional embodiment, in which the airspace risk warning method is described in detail.

[0223] Referring to the airspace risk warning method shown in Figure 8 , the method comprises:

[0224] S801, collecting initial environment data corresponding to a target airspace.

[0225] The initial environment data can include static obstacle data, dynamic obstacle data, weather data, and historical flight data of the target aircraft.

[0226] The static obstacle data can include building description data (such as height, volume, etc.) in the target airspace, terrain elevation data of the target airspace, fixed no-fly zone boundary data, etc.

[0227] The dynamic obstacle data can include meteorological monitoring data of at least one meteorological condition (such as wind speed, wind direction, rainfall, atmospheric pressure, etc.) and flight data of the flying object (such as motion trajectory data of birds, size, position and speed of other aircraft, etc.).

[0228] The historical flight data of the target aircraft can include flight data (such as flight time, flight altitude, flight trajectory, etc.) and accident data (such as accident location, accident cause, etc.) of the target aircraft in a historical time period.

[0229] S802, standardizing the initial environment data to obtain standard environment data.

[0230] The standardization processing can include at least one of coordinate system standardization processing and unit standardization processing.

[0231] The coordinate system standardization processing on the initial environment data can include: performing coordinate system conversion on initial coordinate data of the initial environment data to obtain target coordinate data in a standard coordinate system.

[0232] S803, cleaning the standard environment data to obtain risk environment data.

[0233] The cleaning processing can include at least one of outlier rejection processing, missing value filling processing and format unification processing.

[0234] The risk environment data can include regional position information of static risk sources, moving speed information of dynamic risk sources, monitoring data of at least one meteorological condition, and the number of times that the target aircraft passes through the space grid in a historical same time window, etc. The at least one meteorological condition can include wind speed, rainfall, thunderstorm, etc.

[0235] S804, for each height layer of the target airspace, performing grid division on the height layer to obtain a space grid corresponding to the height layer.

[0236] Optionally, the space grid can be a cubic grid.

[0237] In an optional embodiment, for each height layer, an actual grid step length corresponding to the height layer can be determined according to height information corresponding to the height layer, a grid step length scaling parameter corresponding to the height layer, a horizontal area of the target airspace and a preset grid number. The height layer is divided into a space grid corresponding to the height layer according to the actual grid step length.

[0238] S805, for each space grid, determining risk influence information corresponding to the space grid based on risk environment data corresponding to the space grid.

[0239] In an optional embodiment, determining the risk impact information corresponding to the spatial grid based on the risk environment data corresponding to the spatial grid can comprise: determining, for each risk environment data, sub-risk impact information corresponding to the risk environment data; and determining the risk impact information corresponding to the spatial grid based on the sub-risk impact information corresponding to each risk environment data. In an optional embodiment, the sub-risk impact information corresponding to each risk environment data can be weighted and summed to obtain the risk impact information corresponding to the spatial grid.

[0240] In an optional embodiment, for the area position information of the static risk source, the determination of the first sub-risk impact information corresponding thereto can comprise: determining, based on the area position information, a projection area corresponding to the static risk source on a preset plane and a contour extreme point of the static risk source; determining a spatial volume occupied by the static risk source in the spatial grid based on the height information of the contour extreme point and the projection area corresponding to the static risk source; and determining the first sub-risk impact information based on the spatial volume corresponding to each static risk source.

[0241] In an optional embodiment, for the movement speed information of the dynamic risk source, the determination of the second sub-risk impact information corresponding thereto can comprise: determining, based on the movement speed information of the dynamic risk source, a spatial area to be passed through by the dynamic risk source within a preset time period; determining a spatial volume occupied by the dynamic risk source in the spatial grid based on the spatial area to be passed through; and determining the second sub-risk impact information based on the spatial volume corresponding to each dynamic risk source.

[0242] In an optional embodiment, for the monitoring data of at least one meteorological risk source, the determination of the third sub-risk impact information corresponding thereto can comprise: determining the third sub-risk impact information based on the meteorological monitoring data of the at least one meteorological risk source and a preset safety threshold.

[0243] In an optional embodiment, for the historical flight data, the determination of the fourth sub-risk impact information corresponding thereto can comprise: determining the fourth sub-risk impact information based on the number of times that the target aircraft passes through the spatial grid in a same historical time window and the cumulative number of times that the target aircraft passes through the spatial grid in all historical time windows.

[0244] S806, determining a monitoring area in the target area.

[0245] In an optional embodiment, the monitoring area in the target area can be determined based on the position information of different route points on a flight route on which the target aircraft is located and the safe flight distance of the target aircraft when located at different route points.

[0246] S807, determining a grid to be warned in the target airspace of the target aircraft based on the intersection of the monitoring area in the target airspace and the spatial grid.

[0247] In an optional embodiment, the candidate space grids intersecting with the monitoring area can be determined based on the intersection of the monitoring area and the space grids in the target airspace; and the grid to be warned can be selected from the candidate space grids based on the current position information of the target aircraft.

[0248] S808, the target aircraft is warned of risks based on the risk impact information corresponding to each space grid and the grid to be warned.

[0249] In an optional embodiment, the range of risk impact information corresponding to at least one risk warning level can be determined based on a preset airspace basic risk threshold, and a type correction parameter of the target aircraft and a risk level parameter of the flight route; the target risk impact information corresponding to the grid to be warned can be determined based on the risk impact information corresponding to each space grid; the risk warning level of the grid to be warned can be determined based on the target risk impact information and the range of risk impact information corresponding to at least one risk warning level; and the target aircraft is warned of risks based on the risk warning level.

[0250] On the basis of the technical solutions of the above embodiments, the present application further provides an optional embodiment, in which the airspace risk warning method is described in detail.

[0251] Taking the airspace above a certain urban central city area as an example, the target aircraft flying in the target airspace is warned of risks.

[0252] The target airspace corresponds to a horizontal area of 5 square kilometers and a height range of 0-300 meters.

[0253] The target airspace can contain static risk sources and dynamic risk sources. The static risk sources can include building groups (height of 50-200 meters), high-voltage power line towers, temporary construction areas, etc. The dynamic risk sources can include gusts (speed of 10 meters / second), rainfall (rainfall of 2 millimeters / hour), other unmanned aerial vehicles (average speed of 20 meters / second), etc.

[0254] According to the horizontal area of 5 square kilometers corresponding to the target airspace, the maximum flight height of 1000 meters of the target aircraft, the preset number of grids , the height range of the first height layer of 0-150 meters, the grid step scaling parameter corresponding to the first height layer, the height range of the second height layer of 150-300 meters, and the grid step scaling parameter corresponding to the second height layer, the actual grid step of the space grid corresponding to the first height layer can be obtained as:

[0255]

[0256] and the actual grid step length of the spatial grid corresponding to the second height layer is:

[0257]

[0258] In the calculation of the actual grid step length of the spatial grid corresponding to the first height layer, the height information of the first height layer used is 100 meters; in the calculation of the actual grid step length of the spatial grid corresponding to the second height layer, the height information of the second height layer used is 250 meters.

[0259] In the case of a building spacing of 20 meters, according to the actual grid step length of the first height layer, 2 spatial grids can be marked in the building spacing, which is greater than 1.5 times the grid step length, so it meets the preset safety requirements.

[0260] For irregular static obstacles and other static risk sources in the spatial grid, the projection area of the irregular static obstacle on the horizontal plane (XY plane) is set as a circular area with the center at the origin of the coordinate system and the radius r of 2 meters, and the height of the obstacle is distributed in a parabolic manner from the bottom surface to the top surface, which can be expressed as .

[0261] The bottom surface projection area can be expressed in a rectangular coordinate system as: and the polar coordinate system can be expressed as: In the polar coordinate system, the height can be expressed as: . Thus, the volume formula of the irregular static obstacle can be obtained as:

[0262]

[0263] First, integrate r to obtain:

[0264]

[0265] Then integrate to obtain:

[0266]

[0267] Finally, the volume of the irregular static obstacle can be obtained as:

[0268]

[0269] Taking the irregular static obstacle occupying the spatial grid of the first height layer as an example, the volume ratio of the irregular static obstacle in the spatial grid is obtained as:

[0270]

[0271] i.e., the first risk impact information corresponding to the static risk source = 0.03.

[0272] For the dynamic risk source in the space grid, for the meteorological risk source, three meteorological sources of gust, rainfall, and thunderstorm are set; the weight corresponding to the gust is 0.4, the weight corresponding to the rainfall is 0.3, and the weight corresponding to the thunderstorm is 0.3; the wind speed monitoring value of the gust is 10 meters / second, and the rainfall monitoring value of the rainfall is 2 millimeters / hour; the maximum safety threshold of the gust is 12 meters / second, and the maximum safety threshold of the rainfall is 5 millimeters / hour. According to the formula , the first sub-risk impact information corresponding to the meteorological source can be obtained as W = 0.73.

[0273] For other aircraft or birds, assuming that the volume of other aircraft or birds occupies the entire space grid, the volume proportion of other aircraft or birds can be obtained as 1. That is, the second sub-risk impact information corresponding to other aircraft is V = 1, and the third sub-risk impact information corresponding to birds is B = 1.

[0274] The weight corresponding to the meteorological risk source is set as , the weight corresponding to other aircraft is , and the weight corresponding to birds is The second risk impact information corresponding to the dynamic risk source can be obtained as:

[0275]

[0276] For the historical flight data corresponding to the space grid, the third risk impact information corresponding to the historical flight data can be obtained as = 0.1.

[0277] Then, the weight corresponding to the static risk source is set as , the weight corresponding to the dynamic risk source is , and the weight corresponding to the historical flight data is According to the first risk impact information, the second risk impact information, and the third risk impact information, the comprehensive risk impact information can be obtained as:

[0278]

[0279] Then, the airspace basic risk threshold is set as = [0.5, 0.8], the type correction parameter of the target aircraft is = 0.8, the risk level parameter of the flight route is = 0.5, and according to the formula , the risk impact information range corresponding to at least one risk warning level can be obtained as:

[0280]

[0281] wherein, = 0.2, = 0.3.

[0282] Finally, based on the comprehensive risk impact information and the risk impact information range corresponding to the at least one risk warning level, a risk warning level of the to-be-warned grid is determined, and a risk warning is performed on the target aircraft according to the risk warning level of the to-be-warned grid.

[0283] It should be understood that, although each step in the flowchart involved in each of the above embodiments is shown in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each of the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps.

[0284] Based on the same inventive concept, the embodiments of the present application also provide an airspace risk warning device for implementing the above-mentioned airspace risk warning method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more airspace risk warning device embodiments provided below can refer to the limitations of the airspace risk warning method in the above text, which will not be repeated here.

[0285] In one embodiment, as shown in Figure 9 an airspace risk warning device is provided, comprising: a first acquisition module 910, a determination module 920, a second acquisition module 930, and a warning module 940. Wherein,

[0286] The first acquisition module 910 is configured to acquire spatial grids corresponding to different height layers respectively under a target airspace, and risk environment data corresponding to the target airspace;

[0287] The determination module 920 is configured to, for each spatial grid, determine risk impact information corresponding to the spatial grid based on the risk environment data corresponding to the spatial grid;

[0288] The second acquisition module 930 is configured to acquire a to-be-warned grid of a target aircraft in the target airspace;

[0289] The early warning module 940 is used to provide risk warnings to target aircraft based on the risk impact information corresponding to each spatial grid and the grid to be warned.

[0290] In one embodiment, the risk environment data includes risk characteristic data of physical risk sources; correspondingly, the determining module 920 is specifically used to: for each physical risk source contained in the spatial grid, determine the spatial volume occupied by the physical risk source in the spatial grid based on the risk characteristic data of the physical risk source; and determine the risk impact information corresponding to the spatial grid based on the spatial volume corresponding to each physical risk source.

[0291] In one embodiment, the physical risk source includes a static risk source; the risk feature data includes the regional location information of the static risk source; the determination module 920 is specifically used to: determine the projection area of ​​the static risk source on a preset plane based on the regional location information, and the contour extremum point of the static risk source; and determine the spatial volume occupied by the static risk source in the spatial grid based on the height information of the contour extremum point and the projection area corresponding to the static risk source.

[0292] In one embodiment, the physical risk source includes a dynamic risk source; the risk characteristic data includes the movement speed information of the dynamic risk source; correspondingly, the determining module 920 is specifically used to: determine the spatial area to be traversed by the dynamic risk source within a preset time period based on the movement speed information of the dynamic risk source; and determine the spatial volume occupied by the dynamic risk source within the spatial grid based on the spatial area to be traversed.

[0293] In one embodiment, the determining module 920 is specifically used to: when the spatial grid belongs to the spatial region to be traversed, to take the volume of the spatial grid as the spatial volume occupied by the dynamic risk source within the spatial grid; when the spatial region to be traversed belongs to the spatial grid, to take the volume of the spatial region as the spatial volume occupied by the dynamic risk source within the spatial grid; when the spatial region to be traversed partially intersects with the spatial grid, to determine the spatial volume occupied by the dynamic risk source within the spatial grid based on the intersection area between the spatial region and the spatial grid, the step size of the spatial grid, and the radius of the spatial region.

[0294] In one embodiment, the risk environment data includes meteorological monitoring data of meteorological risk sources; correspondingly, the determination module 920 is specifically used to: determine the risk impact information of at least one meteorological risk source on the spatial grid based on the meteorological monitoring data of at least one meteorological risk source and a preset safety threshold.

[0295] In one of the embodiments, the risk environment data comprises historical flight data; the historical flight data comprises a number of times of passing through the spatial grid in a same time window and a cumulative number of times of passing through the spatial grid in all time windows; accordingly, the determining module 920 is specifically configured to determine the risk influence information corresponding to the spatial grid based on the number of times of passing through the spatial grid in the same time window and the cumulative number of times of passing through the spatial grid in all time windows.

[0296] In one of the embodiments, the first obtaining module 910 is specifically configured to obtain airspace description data corresponding to different height layers in the target airspace respectively; the airspace description data comprises at least one of height information, a grid step scaling parameter corresponding to each height layer, a horizontal area of the target airspace, and a preset number of grids; for each height layer, the actual grid step corresponding to the height layer is determined based on the airspace description data corresponding to the height layer; the height layer is divided into grids according to the actual grid step, and the spatial grid corresponding to the height layer is obtained.

[0297] In one of the embodiments, the second obtaining module 930 is specifically configured to determine candidate spatial grids intersecting with a monitoring region in the target airspace based on an intersection between the monitoring region and the spatial grid; the monitoring region is determined based on position information of different route points on a flight route of the target aircraft and a safe flight distance of the target aircraft at different route points; the grid to be warned is selected from the candidate spatial grids based on current position information of the target aircraft.

[0298] In one of the embodiments, the warning module 940 is specifically configured to determine a risk warning level of the grid to be warned based on at least one of the risk influence information corresponding to each spatial grid, a preset airspace basic risk threshold, a type correction parameter of the target aircraft, and a risk level parameter of the flight route; and perform risk warning on the target aircraft based on the risk warning level.

[0299] In one of the embodiments, the warning module 940 is specifically configured to determine a risk influence information range corresponding to at least one risk warning level based on the preset airspace basic risk threshold, and the type correction parameter of the target aircraft and / or the risk level parameter of the flight route; determine target risk influence information corresponding to the grid to be warned based on the risk influence information corresponding to each spatial grid; and determine the risk warning level of the grid to be warned based on the target risk influence information and the risk influence information range corresponding to the at least one risk warning level.

[0300] The various modules in the airspace risk early warning device described above can be implemented in whole or in part by software, hardware, and combinations thereof. The various modules can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory in the computer device in software form, so as to facilitate the processor to call and execute the operations corresponding to the various modules.

[0301] In one embodiment, a computer device is provided, which can be a server, and an internal structure diagram thereof can be as shown in Figure 10 The computer device includes a processor, a memory, a network interface, and a transceiver connected by a system bus. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The transceiver of the computer device is configured to perform the operation of receiving or sending data under the control of the processor. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The database of the computer device is configured to store data such as uplink short messages and downlink short messages. The network interface of the computer device is configured to communicate with an external terminal through a network connection. The computer program is executed by the processor to implement an airspace risk early warning method.

[0302] Those skilled in the art can understand that Figure 10 The structure shown in the above

[0303] In one embodiment, a computer device is provided, which includes a memory and a processor, and the memory stores a computer program. When the processor executes the processing logic in the computer program, the steps of the airspace risk early warning method provided in any of the above embodiments are implemented.

[0304] In one embodiment, a computer readable storage medium or computer program product is provided, which stores a computer program. When the processing logic in the computer program is executed by the processor, the steps of the airspace risk early warning method provided in any of the above embodiments are implemented.

[0305] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0306] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0307] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for early warning of airspace risks, characterized in that, The method includes: Acquire spatial grids corresponding to different altitude layers under the target airspace, as well as risk environment data corresponding to the target airspace; the risk environment data includes risk characteristic data of physical risk sources; For each entity risk source contained within each of the spatial grids, the spatial volume occupied by the entity risk source within the spatial grid is determined based on the risk characteristic data of the entity risk source. Based on the spatial volume corresponding to each of the aforementioned entity risk sources, determine the overall spatial volume of each of the aforementioned entity risk sources; Determine the ratio of the overall spatial volume to the grid volume of the spatial grid, and use the ratio as the risk impact information corresponding to the spatial grid; Acquire the target aircraft's warning grid within the target airspace; Based on the risk impact information corresponding to each of the spatial grids and the grids to be warned, risk warnings are issued for the target aircraft.

2. The method according to claim 1, characterized in that, The physical risk source includes static risk sources; the risk characteristic data includes the regional location information of the static risk source; correspondingly, determining the spatial volume occupied by the physical risk source within the spatial grid based on the risk characteristic data of the physical risk source includes: Based on the location information of the region, the projection area of ​​the static risk source on the preset plane and the maximum and minimum points of the outline of the static risk source are determined. Based on the height information of the maximum and minimum points of the contour and the projection area corresponding to the static risk source, the spatial volume occupied by the static risk source within the spatial grid is determined.

3. The method according to claim 1 or 2, characterized in that, The physical risk source includes dynamic risk sources; the risk characteristic data includes the movement speed information of the dynamic risk source; correspondingly, determining the spatial volume occupied by the physical risk source within the spatial grid based on the risk characteristic data of the physical risk source includes: Based on the moving speed information of the dynamic risk source, the spatial area that the dynamic risk source will pass through within a preset time period is determined; Based on the spatial region to be traversed, the spatial volume occupied by the dynamic risk source within the spatial grid is determined.

4. The method according to claim 3, characterized in that, Determining the spatial volume occupied by the dynamic risk source within the spatial grid based on the spatial region to be traversed includes: When the spatial grid belongs to the spatial region to be traversed, the volume of the spatial grid is taken as the spatial volume occupied by the dynamic risk source within the spatial grid. If the spatial region to be traversed belongs to the spatial grid, the volume of the spatial region is taken as the spatial volume occupied by the dynamic risk source within the spatial grid. When the spatial region to be traversed intersects with a portion of the spatial grid, the spatial volume occupied by the dynamic risk source within the spatial grid is determined based on the intersection area between the spatial region to be traversed and the spatial grid, the step size of the spatial grid, and the radius of the spatial region to be traversed.

5. The method according to claim 1, characterized in that, The risk environment data includes meteorological monitoring data of meteorological risk sources; correspondingly, determining the risk impact information corresponding to the spatial grid based on the risk environment data corresponding to the spatial grid includes: For each meteorological risk source, determine the ratio of the meteorological monitoring data of that meteorological risk source to the preset safety threshold; The risk impact information corresponding to the spatial grid is obtained by weighted summation of the ratios corresponding to each meteorological risk source.

6. The method according to claim 1 or 5, characterized in that, The risk environment data includes historical flight data; the historical flight data includes the number of times the spatial grid was passed within the same historical time window and the cumulative number of times the spatial grid was passed within all historical time windows; correspondingly, determining the risk impact information corresponding to the spatial grid based on the risk environment data corresponding to the spatial grid includes: Based on the number of times the target aircraft passes through the spatial grid in the same historical time window, and the cumulative number of times it passes through the spatial grid in all historical time windows, the risk impact information corresponding to the spatial grid is determined.

7. The method according to claim 1 or 2, characterized in that, The acquisition of spatial grids corresponding to different height layers in the target spatial domain includes: Obtain spatial description data corresponding to different height layers under the target spatial domain; wherein, the spatial description data includes at least one of the following: height information, grid step scaling parameters corresponding to each height layer, horizontal area of ​​the target spatial domain, and preset number of grids; For each height layer, the actual grid step size corresponding to the height layer is determined based on the spatial description data corresponding to the height layer. The height layer is divided into grids according to the actual grid step size to obtain the spatial grid corresponding to the height layer.

8. The method according to claim 1 or 2, characterized in that, The acquisition of the target aircraft's early warning grid in the target airspace includes: Based on the intersection of the monitoring area in the target airspace and the spatial grid, candidate spatial grids that intersect with the monitoring area are determined; wherein, the monitoring area is determined based on the position information of different waypoints on the flight path of the target aircraft, and the safe flight distance of the target aircraft when it is located at different waypoints; Based on the current position information of the target aircraft, a grid to be warned is selected from the candidate spatial grid.

9. The method according to claim 1 or 2, characterized in that, The risk warning for the target aircraft based on the risk impact information corresponding to each of the spatial grids and the grids to be warned includes: The risk warning level of the grid to be warned is determined based on at least one of the following: risk impact information corresponding to each of the spatial grids, preset airspace basic risk thresholds, type correction parameters of the target aircraft, and risk level parameters of the flight path. Based on the aforementioned risk warning level, a risk warning is issued for the target aircraft.

10. The method according to claim 9, characterized in that, The risk warning level of the grid to be warned is determined based on at least one of the following: risk impact information corresponding to each of the spatial grids, a preset airspace basic risk threshold, the type correction parameter of the target aircraft, and the risk level parameter of the flight route. This includes: Based on the preset airspace basic risk threshold, the type correction parameter of the target aircraft and / or the risk level parameter of the flight route, determine the risk impact information range corresponding to at least one risk warning level; Based on the risk impact information corresponding to each of the spatial grids, the target risk impact information corresponding to the grid to be warned is determined; Based on the target risk impact information and the risk impact information range corresponding to the at least one risk warning level, the risk warning level of the grid to be warned is determined.

11. An airspace risk early warning device, characterized in that, The device includes: The first acquisition module is used to acquire spatial grids corresponding to different height layers under the target airspace, as well as risk environment data corresponding to the target airspace; the risk environment data includes risk characteristic data of physical risk sources; The determination module is used to determine the spatial volume occupied by each entity risk source within each spatial grid based on the risk characteristic data of the entity risk source; determine the overall spatial volume of each entity risk source based on the spatial volume corresponding to each entity risk source; determine the ratio of the overall spatial volume to the grid volume of the spatial grid, and use the ratio as the risk impact information corresponding to the spatial grid. The second acquisition module is used to acquire the target aircraft's warning grid in the target airspace; The early warning module is used to provide risk warnings to the target aircraft based on the risk impact information corresponding to each of the spatial grids and the grids to be warned.

12. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 10.

14. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 10.

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