Low-altitude space-time mesh generation method, system, device, medium and program product

Abstract

The invention provides a low-altitude space-time grid division method, system and device, a medium and a program product. The low-altitude space-time grid division method comprises the steps that a low-altitude space domain is divided into a space domain plane dimension, a space domain height dimension and a time dimension; progressively dividing the spatial domain plane dimension into a plurality of plane hierarchies according to longitude and latitude directions; dividing the spatial domain height dimension into a plurality of height levels by adopting a recursive dichotomy; dividing natural days for the time dimension, and progressively dividing the natural days into a plurality of time levels; and dynamically selecting the plane hierarchy, and / or the height hierarchy, and / or the time hierarchy based on management and control requirements. According to the method, the optimal space-time precision grade can be intelligently matched according to the attributes and control requirements of a specific region, so that the differentiated control granularity requirements in a global range are efficiently and uniformly adapted. The characteristic integrating high efficiency, flexibility and uniformity provides indispensable underlying support for refined low-altitude management and control application requiring extremely low delay response and high concurrent processing capability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of low-altitude airspace and time-domain collaborative management, in particular to a low-altitude airspace-time grid division method, system, device, medium and program product. BACKGROUND

[0002] Low-altitude airspace refers to the activity area of an aircraft within a specific altitude range. With the rapid increase in the number of various low-altitude aircraft, the complexity of efficient and safe management has significantly increased. To address this challenge, an air-time grid is proposed as a core data organization framework. This framework essentially discretizes the three-dimensional geographic space (longitude, latitude, and altitude) contained in the low-altitude airspace and the time dimension together to form grid cells. Through this digital means, low-altitude airspace is structured into computable and schedulable resource units, providing a unified and efficient management and scheduling foundation for massive flight activities, supporting digital airspace operations.

[0003] Current mainstream technical solutions typically use spatial grid independent division and superimposed discrete timestamps to construct the management framework. Although this method can achieve basic data organization and recording of airspace status, it has significant design flaws: the spatial dimension and the time dimension are mutually disjoint in the data structure, and there is a lack of a unified multi-scale spatial division mechanism covering the entire domain, which cannot dynamically adjust the spatio-temporal resolution of the grid according to actual needs. This deficiency makes it difficult to effectively adapt to the highly differentiated regulatory precision requirements within the management area. At the same time, due to the lack of continuity and efficient spatio-temporal aggregation capability within the grid, the framework is difficult to support real-time flight scheduling and dynamic control tasks that require extremely high timeliness. SUMMARY

[0004] To address this, the present application provides a low-altitude airspace-time grid division method, system, device, medium and program product to at least partially solve the above technical problems.

[0005] The present application provides a low-altitude airspace-time grid division method, comprising the following method steps: Divide the low-altitude airspace into spatial domain plane dimension, spatial domain height dimension, and time dimension; For the spatial domain plane dimension, progressively divide it into multiple plane levels according to the longitude and latitude directions For the spatial domain height dimension, use the recursive bisection method to divide it into multiple height levels; Divide the time dimension into natural days, and progressively divide the natural days into multiple time levels; Dynamically select the plane levels, and / or the height levels, and / or the time levels based on control requirements.

[0006] Further, the step of dividing the spatial domain plane dimension into multiple plane levels in longitude and latitude directions comprises: mapping the earth surface into a grid in longitude and latitude as a 0th plane level; taking the intersection of the latitude reference line and the zero longitude line as the 0th plane origin, dividing the 0th plane level in longitude and latitude directions to obtain multiple 1st plane grids with a scale of ; dividing each 1st plane grid in longitude and latitude directions according to a preset 1st origin to obtain multiple standard plane grids with a scale of ; recursively dividing each standard plane grid until the grid scale is smaller than a preset grid scale threshold; wherein different grid scales correspond to different plane levels.

[0007] Further, the step of mapping the earth surface into a grid in longitude and latitude as a 0th plane level comprises: mapping the complete longitude range of the earth surface and the latitude range excluding the two regions into a grid as a 0th plane level.

[0008] Further, the step of dynamically selecting the plane level, and / or the height level, and / or the time level based on control requirements comprises: selecting the plane level, and / or the height level based on the density of the aircraft.

[0009] Further, the step of dividing the spatial domain height dimension into multiple height levels using recursive binary division comprises: taking a preset first height as a height reference point and a preset second height as a height upper limit to determine the height between the height reference point and the height upper limit as a 0th height level; dividing the 0th height level into multiple height levels using recursive binary division until the height scale of the last height level is smaller than a preset height scale threshold.

[0010] Further, the step of dividing a natural day into multiple time levels comprises: taking a natural day as a 0th time level; dividing the 0th time level into multiple standard time periods as a 1st time level; dividing the standard time period into multiple time levels using recursive binary division until the time scale of the last time level is smaller than a preset time scale threshold.

[0011] Another aspect of the present application also provides a low-altitude airspace-time grid division system, comprising: A first division module is configured to divide the low-altitude airspace into a spatial domain plane dimension, a spatial domain height dimension and a time dimension; A second division module is configured to progressively divide the spatial domain plane dimension into multiple plane levels according to a preset plane division ratio in the longitude and latitude directions; A third division module is configured to divide the spatial domain height dimension into multiple height levels using a recursive bisection method; A fourth division module is configured to divide the time dimension into natural days, and progressively divide the natural days into multiple time levels; A selection module is configured to dynamically select the plane levels, and / or the height levels, and / or the time levels based on control requirements.

[0012] Another aspect of the present application also provides an electronic device, comprising at least one processor, and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the low-altitude airspace-time grid division method as described above.

[0013] Another aspect of the present application provides a computer-readable storage medium having stored thereon computer program instructions executable by a processor to implement the low-altitude airspace-time grid division method as described above.

[0014] Another aspect of the present application provides a computer program product comprising a computer program, which, when executed by a processor, implements the low-altitude airspace-time grid division method as described above.

[0015] The present application proposes a three-dimensional integrated airspace-time grid division method that integrates longitude-latitude plane progressive division, height dimension recursive bisection and time dimension natural day benchmark division, and has a built-in dynamic level selection mechanism. The method can intelligently match the optimal space-time precision level according to the properties and control requirements of a specific region, thereby efficiently and uniformly adapting to the differentiated control granularity requirements in the entire region. This feature, which integrates efficiency, flexibility and uniformity, provides indispensable underlying support for fine low-altitude control applications that require extremely low delay response and high concurrency processing capability. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0017] Figure 1 is a flow chart of a low-altitude space-time grid division method provided by an embodiment of the present application; Figure 2 is a schematic diagram of a 0th level height provided by an embodiment of the present application; Figure 3 is a structural schematic diagram of a low-altitude space-time grid division system provided by an embodiment of the present application; Figure 4 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the personnel in the technical field better understand the present application, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments only constitute some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0019] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, or product including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, device, or product.

[0020] In this document, the term "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor is it independent or alternative to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0021] Please refer to Figure 1 as shown, Figure 1is a flowchart of a low-altitude airspace-time grid division method disclosed by an embodiment of the present application. As shown in Figure 1 The low-altitude airspace-time grid division method can include the following operations: S101, dividing a low-altitude airspace into a spatial domain plane dimension, a spatial domain height dimension, and a time dimension; In this optional embodiment, the low-altitude airspace refers to a three-dimensional space region within a certain vertical height range from the ground or water surface, which is an important component of civil low-altitude airspace resources, serving low-altitude flight activities such as general aviation, unmanned aerial vehicle operation, emergency rescue, etc. Its boundary is jointly defined by the horizontal range (longitude and latitude coordinates) and the vertical range (altitude or height above ground), which is a key control field for implementing airspace classification management, ensuring the safe, orderly, and efficient operation of low-altitude aircraft, and connecting ground activities and separating from medium and high-altitude flight airspace.

[0022] The spatial domain plane dimension refers to the surface projection region developed in the horizontal direction, which is expressed based on the longitude and latitude coordinate system of the Earth. The spatial domain plane dimension defines the coverage range and position identifier of the grid cell in the longitude and latitude directions on the geographical plane, providing a geographical coordinate basis for spatial location.

[0023] The spatial domain height dimension refers to the vertical direction dimension representing the reference height of an aerial object from the ground surface or sea level, which can be quantified and layered in terms of altitude or height above ground. The spatial domain height dimension defines the range, layer thickness, and position of the grid cell in the vertical space.

[0024] The time dimension refers to the continuous dimension describing the time segments and their order experienced or occupied by the state of the airspace, the availability of resources, and flight activities. The reference of the time dimension can be based on natural periods (such as year, month, and day) or more detailed units (such as hours, minutes, and seconds). The time dimension defines the time window, starting and ending time, or timestamp associated with the grid cell, providing a dynamically changing time sequence association for each spatial grid cell.

[0025] S102, according to the longitude and latitude directions, the spatial domain plane dimension is progressively divided into multiple plane levels; In this optional embodiment, the division scales in the longitude direction and the latitude direction are consistent, i.e., in the division process of constructing the low-altitude airspace-time grid, the division unit adopted by each level of grid in the longitude direction and the latitude direction maintains consistency in angle, i.e., the angle span of the longitude direction and the latitude direction is equal. This approach ensures that each level of grid presents a square structure in angle representation, facilitating unified coding and multi-level index management.

[0026] It should be noted that although the Earth is an ellipsoid, in actual geographic space, the actual physical distance corresponding to the same latitude and longitude angle span is not exactly equal at different latitude locations. For example, the actual span of longitude in high latitude regions is smaller than that in equatorial regions. However, in this grid system, in order to ensure the uniformity of the grid division structure, a two-dimensional planar grid is constructed by symmetrically dividing the grid using latitude and longitude angle values, without correcting for surface projection deformation.

[0027] In an optional embodiment, the step of progressively dividing the spatial domain plane dimension into multiple plane levels according to the longitude and latitude directions includes: The Earth's surface is mapped as a grid according to longitude and latitude, which is used as the 0th level planar layer; Using the intersection of the latitude baseline and the zero-degree meridian as the origin of the 0th-level plane, the 0th-level plane hierarchy is divided equally along both the longitude and latitude directions to obtain multiple scales. Level 1 planar mesh; Based on the preset first-level origin, each first-level planar grid is equally divided along the longitude and latitude directions to obtain multiple scales. Standard planar grid; For each standard planar grid, a recursive bisection method is used to divide it multiple times until the resulting grid scale is less than a preset grid scale threshold; different grid scales correspond to different planar levels.

[0028] In this optional embodiment, the Earth's surface longitude is... Between, latitude The area between them is used as The grid, i.e., the 0th level planar layer.

[0029] In this optional embodiment, and All values ​​are integers greater than 1. The recursive bisection method refers to a spatial partitioning method that achieves multi-scale discretization through layer-by-layer equal division: Starting with the initial global domain as the parent unit, it recursively performs bisection operations along a specified dimension to generate sub-units. After each division, the scale of the sub-unit decreases to half that of the parent unit, and binary code identifiers are assigned based on spatial location or temporal order, until a preset precision threshold is reached. For example, using the recursive bisection method to divide the height from the Earth's surface to an elevation of H meters, the first division yields two sub-units: 0-0.5H meters and 0.5HH meters. Further bisection of the 0.5HH meter sub-unit generates 0.5H-0.75H meters and 0.75HH meters sub-units, and so on, forming different levels.

[0030] As can be seen, this optional embodiment fully considers the spherical characteristics of the Earth's surface. Through progressive division, it can ensure the consistency of grid scale while flexibly adjusting the fineness of the grid, thereby achieving effective expression and management of the spatial domain planar dimension at different levels and improving the adaptability and scalability of low-altitude spatiotemporal grid division.

[0031] In an optional embodiment, the step of mapping the Earth's surface to a grid according to longitude and latitude as a level 0 planar layer includes: The entire longitude range of the Earth's surface, excluding the latitude range of the two pole regions, is mapped onto a grid, which serves as the 0th level planar layer.

[0032] As can be seen, this optional embodiment fully considers the integrity and continuity of the Earth's surface. By excluding the polar regions, it avoids grid distortion and singularities at the poles. At the same time, by setting a level 0 planar layer, it provides a unified basis and reference for subsequent multi-level grid division, which helps to ensure the integrity and consistency of low-altitude time-space grid division and improves the reliability and practicality of the division results.

[0033] In an optional embodiment, after excluding the latitude range of the two-level regions, the 0th level planar layer corresponds to longitude. Between, latitude The region between these points. The grid corresponding to the 0th level planar layer is divided into 90 equal parts along the longitude direction, with the 0th level planar origin as the dividing point; further divided into 22 equal parts along the latitude baseline towards both levels, resulting in 3960 grids. The first-level planar grid. For each first-level planar grid, with its lower left corner as the first-level origin, it is divided into 15 equal parts along the longitude direction and 15 equal parts along the latitude direction, resulting in 225 grids. The first-level planar mesh, i.e., the standard planar mesh, is divided multiple times using a recursive bisection method for each standard planar mesh until the resulting mesh scale is less than a preset mesh scale threshold. In this embodiment, the final mesh scale corresponding to the last planar level is... The grid scales of each planar level and their corresponding side lengths on Earth are shown in Table 1: Table 1. Statistics of Voll Scales at Various Levels of the Low-Altitude Spatial-Time Grid.

[0034] As shown in Table 1, in order to ensure consistency in the 7th level of partitioning, the following steps are taken: Expand to ;right The grid is bisected to obtain a level 7 planar grid, with a scale of [scale value missing]. .

[0035] S103, dividing the spatial domain height dimension into multiple height levels by using recursive bisection method; In an optional embodiment, the step of dividing the spatial domain height dimension into multiple height levels by using recursive bisection method comprises: Taking a preset first height as a height reference point and a preset second height as a height upper limit, determining the height between the height reference point and the height upper limit as a 0th level height level; Dividing the 0th level height level into multiple height levels by using recursive bisection method until the height scale of the last height level is less than a preset height scale threshold.

[0036] In an optional embodiment, the first height is set to an altitude of 0 meters, and the second height is set to an altitude of 4096 meters to cover the height limit of mainstream low-altitude aircraft, and the height range between the two is the 0th level height level, as shown in Figure 2 The 0th level height level is bisected, and each equal part corresponds to a 1st level height level, and the height scale of the 1st level height level is 2048m. The 1st level height level is bisected, and each equal part corresponds to a 2nd level height level, and the height scale of the 2nd level height level is 1024m. In this embodiment, the height scale of the last height level is 0.125 meters, and the height scales of the height levels are shown in Table 2: Table 2: Statistics of the height dimension of the low-altitude airspace space-time grid at each level

[0037] It can be seen that this optional embodiment fully considers the vertical characteristics of low-altitude airspace, determines the range and boundary of height division by setting a height reference point and a height upper limit, and realizes fine expression of the height dimension at different levels by using recursive bisection method, which is beneficial to improve the accuracy and resolution of low-altitude space-time grid division and meet the demand of height information for different application scenarios.

[0038] S104, dividing the time dimension into natural days and progressively dividing the natural days into multiple time levels.

[0039] In an optional embodiment, the natural day is divided by using a natural calendar, which is a method of formulating and organizing time based on the periodicity of the earth's movement, taking the time for the earth to complete one revolution around the sun as a basic unit, i.e. a solar year, and taking the time for the moon to complete one revolution around the earth as another basic unit, i.e. a lunar month, and through the combination and adjustment of the solar year and the lunar month, forming a calendar system coordinated with the rhythm of nature. Using the natural calendar to divide the natural day means that, based on the natural calendar, a solar year is divided into a number of natural days as the basic unit of time dimension. Specifically, it takes the time for the earth to complete one revolution as a natural day, and takes midnight as the starting point of the natural day, and each natural day is divided into 24 hours, each hour is divided into 60 minutes, and each minute is divided into 60 seconds, forming the time measurement system commonly used in modern society.

[0040] In an optional embodiment, the step of progressively dividing the natural day into multiple time levels includes: taking one natural day as the 0th time level; equally dividing the 0th time level into a plurality of standard time periods as the 1st time level; using the recursive bisection method to divide the standard time period into multiple time levels until the time scale of the last time level is less than the preset time scale threshold.

[0041] In an optional embodiment, the time scale of the 1st time level is 8 hours, and the time scales of other time levels refer to Table 3: Table 3: Statistics of time dimension of low-altitude airspace space-time grid at each time level

[0042] As shown in Table 3, when the 5th division is performed, in order to ensure the consistency of the division, 1 hour is expanded to 64 minutes; the 5th time slice is obtained by bisection of 64 minutes, and the 5th time scale is 32 minutes. Similarly, when the 11th division is performed, 1 minute is expanded to 64 seconds.

[0043] It can be seen that the optional embodiment makes full use of the periodicity of the natural day, realizes the standardization of the time dimension through the setting of the standard time period, and realizes the fine management of the time dimension at different levels through the recursive bisection method, which is conducive to improving the time resolution and timeliness of the low-altitude airspace space-time grid division, meeting the needs of different application scenarios for time information, and improving the practicality and scalability of the division results.

[0044] S105, dynamically selecting the plane level, and / or the height level, and / or the time level based on the management and control requirements.

[0045] In an optional embodiment, the step of dynamically selecting the plane level, and / or the height level, and / or the time level based on the control requirement comprises: The plane level, and / or the height level is selected based on the aircraft density.

[0046] In this optional embodiment, the control requirement can include aircraft density, safety level, etc. The system selects the grid with the smallest scale that meets the requirement by comparing the requirement threshold with the level precision. When the aircraft density exceeds a preset threshold, the plane level and / or the height level can be increased. For example, in a low-altitude airspace, the airspace is controlled with a space-time grid division precision of plane level 7 and height level 6. When the aircraft density in the airspace exceeds the threshold, the airspace is controlled with a space-time grid division precision of plane level 8 and height level 7.

[0047] Please refer to Figure 3 , Figure 3 is a structural schematic diagram of a low-altitude space-time grid division system disclosed in the embodiments of the present application. As Figure 3 shown, the system comprises: A first division module 501 is configured to divide a low-altitude airspace into a spatial domain plane dimension, a spatial domain height dimension, and a time dimension. A second division module 502 is configured to divide the spatial domain plane dimension into multiple plane levels in a progressive manner according to the longitude and latitude directions. A third division module 503 is configured to divide the spatial domain height dimension into multiple height levels by using a recursive bisection method. A fourth division module 504 is configured to divide the time dimension into natural days and divide the natural days into multiple time levels in a progressive manner. A selection module 505 is configured to dynamically select the plane level, and / or the height level, and / or the time level based on a control requirement.

[0048] The specific limitations of the low-altitude space-time grid division system can be referred to the limitations of the low-altitude space-time grid division method described above, which will not be repeated here. The modules in the above low-altitude space-time grid division system can be realized by software, hardware, and combinations thereof, in whole or in part. The above modules can be embedded in or independent of the processor in the electronic device in hardware format, or can be stored in the memory in the electronic device in software format, so that the processor can call the operations of the above modules.

[0049] It should be noted that, in order to highlight the innovative part of the present application, modules that are not closely related to solving the technical problems proposed in the present application are not introduced in the embodiments, but this does not mean that there are no other modules in the embodiments.

[0050] As Figure 4As shown, the electronic device 1 provided by the present application can include a memory 12, a processor 13 and a bus, and can further include a computer program, such as a low-altitude air-time grid division program, stored in the memory 12 and executable on the processor 13.

[0051] The memory 12 includes at least one type of readable storage medium, such as a flash memory, a mobile hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. In some embodiments, the memory 12 can be an internal storage unit of the electronic device 1, such as a mobile hard disk of the electronic device 1. In other embodiments, the memory 12 can also be an external storage device of the electronic device 1, such as a plug-in mobile hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 12 can include both an internal storage unit and an external storage device of the electronic device 1. The memory 12 can be used to store application software and various data installed in the electronic device 1, such as the code of the low-altitude air-time grid division, and can also be used to temporarily store data that has been output or will be output.

[0052] The processor 13 can be composed of an integrated circuit in some embodiments, such as a single packaged integrated circuit or a plurality of packaged integrated circuits with the same or different functions, including one or more combinations of a central processing unit (CPU), a microprocessor, a digital processing chip, a graphics processor and various control chips, etc. The processor 13 is a control unit of the electronic device 1, which connects various components of the electronic device 1 through various interfaces and lines, executes programs or modules (such as the low-altitude air-time grid division program, etc.) stored in the memory 12 and calls data stored in the memory 12, to perform various functions and process data of the electronic device 1.

[0053] The processor 13 executes an operating system and various application programs installed in the electronic device 1. The processor 13 executes the application programs to implement the steps in the low-altitude air-time grid division method described above.

[0054] The computer program can be divided into one or more modules, which are stored in the memory 12 and executed by the processor 13 to complete the present application. The one or more modules can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the electronic device 1. For example, the computer program can be divided into a first division module 501, a second division module 502, a third division module 503, a fourth division module 504, and a selection module 505.

[0055] The integrated unit in the form of the software function module described above can be stored in a computer readable storage medium, which can be non-volatile or volatile. The software function module described above is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a computer device, or a network device, etc.) or a processor to execute part of the functions of the low-altitude air-time grid division method described in various embodiments of the present application.

[0056] The embodiments of the present application also provide a computer program product, and the computer program product includes a computer program, which, when executed by a processor, implements the steps in any of the low-altitude air-time grid division method embodiments described above.

[0057] In summary, the low-altitude air-time grid division method, system, device, and medium disclosed in the present application propose a three-dimensional integrated air-time grid division method that integrates latitude and longitude plane progressive division, height dimension recursive bisection, and time dimension natural day reference division. The built-in dynamic level selection mechanism can intelligently match the optimal space-time precision level according to the attributes and control requirements of specific regions, thereby efficiently and uniformly adapting to the differentiated control granularity requirements in the global range. This feature, which integrates efficiency, flexibility, and unity, provides indispensable bottom support for fine low-altitude control applications that require extremely low delay response and high concurrency processing capability. Therefore, the present application effectively overcomes the shortcomings of the prior art and has high industrial utilization value.

[0058] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not intended to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical idea disclosed in the present application should be covered by the claims of the present application.

Claims

1. A low-altitude space-time mesh partitioning method, characterized in that, The method comprises the following steps: dividing the low-altitude airspace into a spatial domain plane dimension, a spatial domain height dimension, and a time dimension; for the spatial domain plane dimension, progressively dividing into multiple plane levels according to longitude and latitude directions; for the spatial domain height dimension, dividing into multiple height levels using a recursive bisection method; for the time dimension, dividing into natural days, and progressively dividing the natural days into multiple time levels; dynamically selecting the plane levels, and / or the height levels, and / or the time levels based on control requirements.

2. The low space-time trellis partitioning method of claim 1, wherein, The step of progressively dividing the spatial domain plane dimension into multiple plane levels according to longitude and latitude directions comprises: mapping the earth's surface according to longitude and latitude into a grid as a 0th plane level; With the intersection of the latitude reference line and the zero-degree meridian as the 0th level plane origin, the 0th level plane hierarchy is divided in longitude and latitude directions to obtain a plurality of first level plane grids with a scale of ​ According to the preset first-level origin, each first-level plane grid is divided in longitude and latitude directions to obtain a plurality of standard plane grids with a scale of ​ for each standard plane grid, using a recursive bisection method to divide multiple times until the grid scale obtained by the division is smaller than a preset grid scale threshold; wherein different grid scales correspond to different plane levels.

3. The low space-time trellis partitioning method of claim 2, wherein, The step of mapping the earth's surface according to longitude and latitude into a grid as a 0th plane level comprises: mapping the complete longitude range of the earth's surface and the latitude range excluding two regions into a grid as a 0th plane level.

4. The low space-time trellis partitioning method of claim 1, wherein, The step of dynamically selecting the plane levels, and / or the height levels, and / or the time levels based on control requirements comprises: selecting the plane levels, and / or the height levels based on aircraft density.

5. The low space-time trellis partitioning method of claim 1, wherein, The step of dividing the spatial domain height dimension into multiple height levels using a recursive bisection method comprises: taking a preset first height as a height reference point and a preset second height as a height upper limit, determining the height between the height reference point and the height upper limit as a 0th height level; using a recursive bisection method to divide the 0th height level into multiple height levels until the height scale of the last height level is smaller than a preset height scale threshold.

6. The low space-time trellis partitioning method of claim 1, wherein, The step of progressively dividing a natural day into multiple time levels comprises: taking a natural day as a 0th time level; dividing the 0th time level into multiple standard time periods as a 1st time level; using a recursive bisection method to divide the standard time periods into multiple time levels until the time scale of the last time level is smaller than a preset time scale threshold.

7. A low-altitude space-time meshed grid system, characterized by, comprise: a first division module for dividing the low-altitude airspace into a spatial domain plane dimension, a spatial domain height dimension, and a time dimension; a second division module for progressively dividing the spatial domain plane dimension into multiple plane levels according to longitude and latitude directions; a third division module for dividing the spatial domain height dimension into multiple height levels using a recursive bisection method; a fourth division module for dividing the time dimension into natural days, and progressively dividing the natural days into multiple time levels; a selection module for dynamically selecting the plane levels, and / or the height levels, and / or the time levels based on control requirements.

8. An electronic device, comprising: at least one processor; and a memory connected in communication with the at least one processor; wherein, The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the low-altitude air-time mesh partitioning method of any one of claims 1-6.

9. A computer readable medium having stored thereon computer program instructions executable by a processor to implement the low-altitude air-time mesh partitioning method of any one of claims 1-6.

10. A computer program product comprising a computer program which, when executed by a processor, implements the low-altitude air-time mesh partitioning method of any one of claims 1-6.

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