A method, device and medium for constructing a multi-scale gridded airspace of a low-altitude air route
By obtaining the safety interval and weight coefficients of low-altitude aircraft, determining the minimum and maximum scale of the grid, traversing the hierarchy and scale sequence, and constructing a multi-scale three-dimensional gridded airspace, the problem that existing gridded airspace cannot meet the needs of different aircraft is solved, thus improving airspace utilization and planning flexibility.
Patent Information
- Application Number
- CN202610744550.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-05-27
- Publication Date
- 2026-07-14
AI Technical Summary
The existing gridded airspace system fails to effectively take into account the safety separation requirements of different low-altitude aircraft, resulting in a surge in computing and storage overhead or waste of airspace resources and reduced airspace utilization.
By obtaining the safety intervals and weighting coefficients of various low-altitude aircraft, the minimum and maximum scales of the horizontal and vertical zones are determined. All possible hierarchical and scale sequence schemes are traversed, and the optimal number of hierarchical levels and scales are selected based on the weighting coefficients to construct a multi-scale three-dimensional gridded airspace.
It minimizes the number of grid representations while meeting the safety separation requirements of various low-altitude aircraft, thereby improving airspace utilization and route planning flexibility.
Smart Images
Figure CN122389491A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of airspace grid planning technology, and in particular to a multi-scale gridded airspace construction method, equipment and medium for low-altitude air routes. Background Technology
[0002] With the rapid development of the low-altitude economy, the number of various low-altitude aircraft, such as drones and electric vertical takeoff and landing aircraft, has surged. Their flight missions are diverse, their performance varies greatly, and their operational needs are dynamically changing, posing a severe challenge to the safe management and efficient utilization of low-altitude airspace. As designated airspace for various low-altitude aircraft, low-altitude public air routes require a technological solution capable of refined management of airspace resources.
[0003] Gridded airspace, by discretizing continuous airspace into several airspace units, can effectively support the safe flight of aircraft and is an important technical path to achieve refined airspace management and improve utilization efficiency. Although various gridded airspace systems exist, existing systems do not fully consider the operational characteristics of low-altitude aircraft. They mainly use single-scale grids or simple multi-level partitioning methods, with grid levels and scales usually predetermined based on experience or maximum safe separation, often resulting in poor application performance. Furthermore, because the required safe separations vary significantly among different low-altitude aircraft—for example, small drones require only tens of meters of separation, while large cargo drones may require hundreds of meters—fixed-scale or simply hierarchical grids cannot simultaneously adapt to the operational needs of multiple types of aircraft. Regarding the representation of a single safe separation, using excessively fine grids, while accurately representing the separation, leads to an explosion in the number of grids and a dramatic increase in computational and storage costs; conversely, using excessively coarse grids, while reducing the number of grids, results in a large amount of airspace resources being locked up and not actually utilized, reducing airspace utilization. For various types of security interval representations, mismatched grid scales at different levels can lead to a double consequence: a surge in computational and storage costs and a reduction in spatial utilization. Therefore, there is an urgent need to design a gridded spatial domain construction method that can match actual security interval requirements while also considering spatial utilization. Summary of the Invention
[0004] To address the aforementioned technical problems, this invention provides a multi-scale gridded airspace construction method, device, and medium for low-altitude air routes. This method can adaptively meet the safety separation requirements of various types of low-altitude aircraft while minimizing the number of grid representations, thereby improving airspace utilization and the planning flexibility of low-altitude airspace routes.
[0005] According to a first aspect of the present invention, a method for constructing a multi-scale gridded airspace for low-altitude air routes is provided, comprising the following steps: S1, obtain the safety separation and weighting coefficients of various low-altitude aircraft; the safety separation includes horizontal safety separation and vertical safety separation.
[0006] S2, based on the preset minimum granularity requirements corresponding to low-altitude aircraft, determines the minimum scale of the planar grid and the minimum scale of the altitude zone, and based on the maximum values of various safety intervals, determines the maximum scale of the planar grid and the maximum scale of the altitude zone.
[0007] S3, according to the preset division rules, from the minimum scale to the maximum scale corresponding to the planar grid and the height zone respectively, obtain the maximum number of levels of the planar grid and the maximum number of levels of the height zone, as well as the planar grid scale or height zone scale corresponding to each level; wherein, the scale of the next level is an integer multiple of the scale of the previous level.
[0008] S4, within the corresponding levels in the horizontal and vertical directions, traverse all possible maximum levels and several scale sequence schemes corresponding to each maximum level. Based on various weight coefficients, with the goal of minimizing the weighted sum of the number of grids required to represent various safety intervals, select the optimal number of levels and the corresponding scales for each level.
[0009] S5, based on the optimal number of levels and the corresponding scales of each level obtained in the horizontal and vertical directions respectively, decouples and combines the corresponding multi-level planar grids with multi-level height regions to construct a multi-scale three-dimensional gridded spatial domain.
[0010] According to a second aspect of the present invention, a non-transitory computer-readable storage medium is provided, wherein at least one instruction or at least one program is stored therein, the at least one instruction or the at least one program being loaded and executed by a processor to implement the above-described method for constructing a multi-scale gridded airspace for low-altitude routes.
[0011] According to a third aspect of the present invention, an electronic device is provided, including a processor and the aforementioned non-transitory computer-readable storage medium.
[0012] The present invention has at least the following beneficial effects: This invention provides a multi-scale gridded airspace construction method for low-altitude airways. First, it obtains the safety separations and weighting coefficients for various low-altitude aircraft. Then, it determines the minimum scale of the planar grid, the minimum scale of the altitude zone, and the maximum scale of the planar grid and the maximum scale of the altitude zone to prevent excessively large grid scales from wasting computational resources for airspace digitization. Next, it obtains the maximum number of planar grid levels and the maximum number of altitude zone levels, as well as the planar grid scale or altitude zone scale corresponding to each level. The maximum number of levels determined in this process avoids redundant calculations and reduces computational redundancy. Then, within the corresponding level ranges in the horizontal and vertical directions, it traverses all possible maximum levels and several scale sequence schemes corresponding to each maximum level. Based on various weighting coefficients, it constructs a grid-based system. Safety and efficiency are unified into quantitative indicators. The goal is to minimize the weighted sum of the number of grids required to represent various safety intervals. The optimal number of levels and corresponding scales for each level are selected. Finally, based on the optimal number of levels and corresponding scales obtained in the horizontal and vertical directions, the corresponding multi-level planar grids and multi-level altitude zones are decoupled and combined to construct a multi-scale three-dimensional gridded airspace. This process, through the safety interval requirements and weights of various low-altitude aircraft, unifies the two evaluation dimensions of safety and efficiency using the number of grids. It automatically selects the optimal number of levels and scales, adaptively meeting the safety interval requirements of various low-altitude aircraft while minimizing the number of grid representations, thus improving airspace utilization. Furthermore, the decoupling and combination of planar grids and altitude zones enhances the flexibility of route planning. Attached Figure Description
[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0014] Figure 1 A flowchart illustrating the multi-scale gridded airspace construction method for low-altitude air routes provided in this embodiment of the invention. Detailed Implementation
[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0016] This invention provides a multi-scale gridded airspace construction method for low-altitude air routes, such as... Figure 1As shown, the method includes the following steps: S1, Obtain the safety separations and weighting coefficients for various types of low-altitude aircraft; the safety separations include horizontal safety separations and vertical safety separations; this can be understood as: the horizontal safety separations include longitudinal safety separations and lateral safety separations. In specific implementations, the horizontal and vertical safety separations are empirical values set by those skilled in the art based on different types of low-altitude aircraft.
[0017] Specifically, the weighting coefficient for each type of low-altitude aircraft refers to the proportion of the operating time of low-altitude aircraft within the safety separation corresponding to its own category in the total operating time of all low-altitude aircraft. That is, when two types of low-altitude aircraft have the same safety separation, their weighting coefficient is the proportion of the sum of the operating times of the two types of low-altitude aircraft to the total operating time of all low-altitude aircraft; where "same safety separation" means that both the horizontal and vertical safety separations are the same.
[0018] The above-mentioned method, by obtaining the safety intervals and weight coefficients of various low-altitude aircraft, clarifies the differentiated requirements of different types of aircraft for airspace grids. The weight coefficients reflect the proportion of the operating time of various types of aircraft, providing a reasonable basis for subsequent optimization and making the gridded airspace design results more in line with actual operating scenarios.
[0019] S2, based on the preset minimum granularity requirements corresponding to low-altitude aircraft, determines the minimum scale of the planar grid and the minimum scale of the altitude zone, and based on the maximum values of various safety intervals, determines the maximum scale of the planar grid and the maximum scale of the altitude zone; this can be understood as: the maximum value of the horizontal safety interval is the smaller of the longitudinal safety interval and the lateral safety interval among the various horizontal safety intervals.
[0020] Specifically, the preset minimum granularity requirement is an empirical value set by those skilled in the art based on the need to distinguish the occupied or vacant status of a planar grid or altitude zone without further subdividing the specific occupied area within the grid; it can be understood as the minimum spatial unit scale set to distinguish the grid occupancy status based on human experience or industry standards such as aircraft physical dimensions, positioning errors, communication sensing accuracy, and computing resource limitations.
[0021] Specifically, the maximum dimension of the height zone is the maximum value of the vertical safety interval among all types of safety intervals.
[0022] Specifically, the maximum scale of the planar grid is the maximum value of the horizontal safety interval among all types of safety intervals; it can be understood as: the planar grid is a square with the same scale on all four sides.
[0023] The minimum scale is determined based on the minimum granularity requirement to ensure that the grid can distinguish the basic occupancy status of aircraft and avoid the drastic increase in airspace digitization computing costs caused by excessively fine grids. At the same time, the maximum scale is determined based on the maximum safety interval to limit the grid range within the effective range and prevent the extensive waste of airspace resources caused by excessively large grid scales.
[0024] S3, according to the preset division rules, from the minimum scale to the maximum scale corresponding to the planar grid and the height zone respectively, obtain the maximum number of levels of the planar grid and the maximum number of levels of the height zone, as well as the planar grid scale or height zone scale corresponding to each level; wherein, the scale of the next level is an integer multiple of the scale of the previous level.
[0025] Specifically, the maximum number of levels in the planar mesh meets the following conditions: I max =rounddown(log2(S max / S1))+1, where, I max S represents the maximum number of levels in the planar mesh, S1 is the minimum scale of the planar mesh, and S... max `i` represents the maximum scale of the planar mesh, and `rounddown()` is the function for rounding down. The smaller the series `i`, the smaller the corresponding planar mesh scale.
[0026] Similarly, the maximum number of levels in the height zone meets the following condition: J max =rounddown(log2(T max / T1))+1, where J max T represents the maximum number of levels in the height zone, T1 represents the minimum scale in the height zone, and T... max This represents the maximum scale of the height region. The smaller the level number j, the smaller the corresponding height region scale.
[0027] Furthermore, the subsequent level scale is an integer multiple of the previous level scale, satisfying the following condition: S i+1 =n i ×S i , of which S i Let S be the scale of the planar mesh at level i. i+1 Let n be the scale of the planar grid at level i+1. i The integer n is not less than 2, and the corresponding n for different levels is... i They can be the same or different; it can be understood as: when the maximum level is fixed, due to the differences in n between different levels i They can be the same or different, and there can be multiple scale sequence schemes, as long as the scale of the largest level is not greater than S. max That's all.
[0028] Similarly, Tj+1 =m j ×T j , among which, T j Let T be the height region scale of the j-th level. j+1 For the height region scale of level j+1, m j The value of m is an integer not less than 2, and the corresponding values of m at different levels are... j They can be the same or different.
[0029] Furthermore, by selecting a corresponding n for each level i or m j This determines the planar grid scale or height zone scale corresponding to each level.
[0030] By using the aforementioned predefined partitioning rules, a multi-level progressive structure from the smallest to the largest scale is established, and it is stipulated that the next level is an integer multiple of the previous level, ensuring the nesting relationship between each level of grid. Based on this, the maximum number of levels is obtained by using the maximum scale of the planar grid and the maximum scale of the altitude region, respectively, as the upper limit range of the enumeration. This avoids the situation where the maximum scale of the largest level exceeds the maximum value of the safety interval after the number of levels exceeds this upper limit, causing the planar grid or altitude region of that level to be unable to effectively represent the safety interval of any type of aircraft. Therefore, the maximum number of levels determined by the above method can avoid infinite traversal, reduce computational redundancy, and provide a complete and discrete scheme space for subsequent traversal optimization.
[0031] S4. Within the corresponding hierarchical ranges in the horizontal and vertical directions, traverse all possible maximum hierarchies and several scale sequence schemes corresponding to each maximum hierarchy. Based on various weighting coefficients, with the goal of minimizing the weighted sum of the required number of grids for each type of safety interval, select the optimal number of hierarchies and the corresponding scales for each hierarchical level. In one embodiment, the required number of grids for the safety interval is obtained based on the number of cells required for each hierarchical cell to cover the safety interval itself and the number of cells required to fill redundant regions with the minimum cells.
[0032] Specifically, the horizontal level range refers to the range from the first level of the planar mesh to the maximum level of the planar mesh; it can be understood as follows: when traversing all possible maximum levels within the level range, each level within the horizontal level range is a possible maximum level, and because n differs between different levels... i If the scales can be the same or different, then each planar grid maximum level corresponds to one or more scale sequence schemes; similarly, each height zone maximum level also corresponds to one or more scale sequence schemes.
[0033] Specifically, the vertical level range refers to the range between the first level of the height zone and the maximum level of the height zone; it can be understood as: each level within the vertical level range is the maximum possible level.
[0034] The above-mentioned method traverses all possible levels and scale sequences in both the horizontal and vertical directions, unifying the two evaluation dimensions of safety and efficiency. It optimizes the grid by weighting and minimizing the number of grids required to represent various safety intervals. This method can automatically balance the grid requirements of different types of low-altitude aircraft, enabling high-weight or small-interval low-altitude aircraft to obtain more refined representations, while avoiding excessive expansion of the overall grid number. Under the premise of low-altitude aircraft operation safety, it achieves a dual improvement in airspace utilization and route planning flexibility.
[0035] In a preferred embodiment, for any scale sequence scheme corresponding to any maximum level, the required number of grids for any type of safety interval is obtained in the horizontal direction as follows: S401, traverse from the first level to the current maximum level, and calculate the k-th vertical safety margin L for each level. k and lateral safety separation L k The required number of planar meshes at each level, a ki and b ki The longitudinal safety interval and the lateral safety interval are combined to form a horizontal safety interval.
[0036] Specifically, a ki The following conditions must be met: a ki =roundup(L k / S i ), where roundup() is the round-up function, S i is the planar grid scale corresponding to the i-th level.
[0037] Specifically, b ki The following conditions must be met: b ki =roundup(W k / S i ).
[0038] When calculating the required planar grid for each level, the rounding up method is used to ensure that the number of planar grids obtained can completely cover the safety interval, thus avoiding route overlap between different aircraft during subsequent grid optimization and allocation.
[0039] S403, calculate the number of first-level planar meshes u required for the longitudinal and transverse redundancy lengths after covering with the i-th level planar mesh. ki and v ki .
[0040] Specifically, u ki and v ki Each of the following conditions must be met: u ki =rounddown((aki ×S i -L k ) / S1).
[0041] v ki =rounddown((b ki ×S i -W k ) / S1).
[0042] For redundant regions, a rounding down approach is used, counting only the number of first-level planar grids that can be completely filled in the redundant region. Parts that are less than one first-level planar grid do not need to be divided during allocation and therefore do not need to be included in the subsequent calculation of the initial grid number. That is, only the number of whole grids that can be completely filled is counted, ignoring the small redundancy of less than one grid, avoiding overestimation of the actual number of grids needed to fill the gap. This reduces the consumption of computational resources, automatically leaves a safe planning distance for low-altitude aircraft, avoids allocating grids close to the redundancy boundary, and ensures that the error between the gridded representation and the actual safe interval is controlled within the minimum grid scale.
[0043] S405, based on a ki b ki u ki and v ki Calculate the initial grid size G of the k-th security interval at the i-th level. ki Among them, G ki G meets the following conditions: ki =a ki ×b ki +u ki ×v ki .
[0044] S407, based on the initial number of grids for the k-th safety interval at each level, uses the minimum initial number of grids as the required number of grids for the k-th safety interval.
[0045] The above introduces a planar dimension in the 3D mesh. By traversing all levels and calculating the initial mesh count for each type of safety interval at each level, the optimal representative planar mesh level is automatically matched for each type of safety interval. This avoids the problem of excessive or insufficient precision caused by applying a fixed level to all types. At the same time, the mesh required to cover the main body and the mesh required to fill redundancy are calculated separately, which can accurately quantify the actual impact of different level selections on the overall mesh count. This unifies the two evaluation dimensions of safety and efficiency, and provides an accurate evaluation basis for subsequent weighted optimization.
[0046] Similarly, for any scale sequence scheme corresponding to any maximum level, the required number of grids for any type of safety interval is obtained in the vertical direction as follows: S402, traverse from the first level to the current maximum level, and calculate the k-th vertical safety interval H for each level. k The required number of height zones per level, c kj .
[0047] Specifically, c kj The following conditions must be met: c kj =roundup(H k / T j ), where T j denoted as the height zone scale corresponding to the j-th level.
[0048] S404, Calculate the number d of first-level height zones required for redundant height after covering with the j-th level height zone. kj .
[0049] Specifically, d kj The following conditions must be met: d kj =rounddown((c kj ×T j -H k ) / T1).
[0050] S406, based on C kj and d kj Calculate the initial grid number F of the k-th security interval at the j-th level. kj Among them, F kj F meets the following conditions: kj =c kj +d kj .
[0051] S408, based on the initial number of grids for the k-th type of safety interval at each level, uses the minimum initial number of grids as the required number of grids for the k-th type of safety interval.
[0052] The above method introduces the height dimension in the three-dimensional mesh to calculate the corresponding required number of meshes, automatically matching the optimal characterization height zone level for each type of safety interval. This avoids the problem of excessive or insufficient precision caused by applying a fixed level to all types. At the same time, it calculates the height zone required to cover the main body separately from the height zone required to fill redundancy. This allows for precise quantification of the actual impact of different level selections on the overall number of height zones, unifying the two evaluation dimensions of safety and efficiency, and providing an accurate evaluation basis for subsequent weighted optimization.
[0053] Furthermore, the step of selecting the optimal number of levels and the corresponding scales for each level, with the goal of minimizing the weighted sum of the number of grids required to characterize various safety intervals, includes the following steps: S410, for each scale sequence scheme, the comprehensive grid complexity corresponding to the scale sequence scheme is calculated by weighting the required number of grids for each type of safety interval and the weight coefficients of each type.
[0054] Specifically, for the horizontal direction, the comprehensive grid complexity X corresponding to the scale sequence scheme satisfies the following conditions: Where K is the total number of safety interval types, and P k E represents the weighting coefficient for the k-th type of safety interval. k This represents the required number of grid cells in the horizontal direction corresponding to the k-th type of safety interval.
[0055] Specifically, for the vertical direction, the comprehensive grid complexity R corresponding to the scale sequence scheme satisfies the following condition: , where Q k This represents the required number of grid cells in the vertical direction corresponding to the k-th type of safety interval.
[0056] S420 takes the minimum comprehensive grid complexity among all scale sequence schemes under the current maximum level as the target grid complexity corresponding to the current maximum level; this can be understood as: the target grid complexity is the optimal grid complexity under the current maximum level.
[0057] S430: Compare the target mesh complexity corresponding to each maximum level, take the maximum level corresponding to the minimum target mesh complexity as the optimal number of levels, and determine the scale of each level based on the scale sequence scheme corresponding to the minimum target mesh complexity. Specifically: when the minimum target mesh complexity is determined, trace back to the scale sequence scheme corresponding to the minimum target mesh complexity to determine the scale of each level.
[0058] The above method achieves a two-level joint optimization of "number of levels" and "scale sequence" by first comparing schemes of each scale sequence within the same maximum level, selecting the optimal scheme and its comprehensive grid complexity at that level, and then comparing the optimal comprehensive grid complexity of each level across levels. This method can automatically determine the globally optimal number of grid levels and the specific scale of each level, avoiding subjective bias caused by manually presetting the number of levels, and achieving the best match between the spatial grid structure and actual operational requirements, thus significantly improving the utilization rate of the spatial grid.
[0059] S5, based on the optimal number of levels and the corresponding scales of each level obtained in the horizontal and vertical directions respectively, decouples and combines the corresponding multi-level planar grids with multi-level height regions to construct a multi-scale three-dimensional gridded spatial domain.
[0060] Specifically, the S5 steps include the following: S501: Select any level of planar mesh from the optimal level number corresponding to the horizontal direction, and select any level of height region from the optimal level number corresponding to the vertical direction to combine them into a three-dimensional mesh unit of the corresponding scale. S502, based on several combined three-dimensional mesh units, constructs a multi-scale three-dimensional meshed spatial domain; it can be understood as: forming a three-dimensional meshed spatial domain of multiple scales, which is the product of the optimal planar mesh level number and the optimal height region level number.
[0061] The above-mentioned method decouples and combines the multi-level planar grids selected in the horizontal direction with the multi-level height zones selected in the vertical direction. This combination method retains the independent optimization results of the horizontal and vertical directions, while supporting the selection of appropriate grid granularity from multiple scales as needed, thereby improving the airspace's ability to flexibly adapt to mixed scenarios of different types of aircraft.
[0062] In one specific embodiment, the method further includes the following steps: S10: For each level of the planar grid corresponding to the optimal level number in the horizontal direction, perform planar encoding in descending order of level number; where the maximum level code is located at the starting position; this can be understood as: arranging the corresponding code elements from front to back in descending order of level number.
[0063] Specifically, the planar encoding adopts row and column number order or zigzag order, and uses numbers or characters for encoding.
[0064] S20, for each level height region corresponding to the optimal level number in the vertical direction, perform height encoding in descending order of level number; where the maximum level code element is located at the start position.
[0065] S30: For any 3D mesh cell at any scale, obtain the planar code and height code truncated to the corresponding level of the scale itself, and concatenate the planar code and height code using a preset connector to obtain the code identifier of the current 3D mesh cell. For example, if the maximum level in the horizontal direction is four and the maximum level in the height region is three, the code identifier of the 3D mesh cell corresponding to the second-level horizontal mesh and the first-level height region is A4A3A2-B3B2B1.
[0066] As described above, by encoding multi-level grids from largest to smallest in terms of level, the encoding of any scale grid becomes a prefix of the encoding of a finer-grained grid, forming a natural nested inclusion relationship. Based on this encoding structure, the corresponding level grid cell can be quickly located through the truncated encoding prefix, which greatly improves the efficiency of spatial indexing and dynamic scale switching.
[0067] Embodiments of the present invention also provide a non-transitory computer-readable storage medium, which can be disposed in an electronic device to store at least one instruction or at least one program related to implementing a method in the method embodiments, wherein the at least one instruction or the at least one program is loaded and executed by the processor to implement the multi-scale gridded airspace construction method for low-altitude routes provided in the above embodiments.
[0068] Embodiments of the present invention also provide an electronic device, including a processor and the aforementioned non-transitory computer-readable storage medium.
[0069] While specific embodiments of the invention have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. It should also be understood that various modifications can be made to the embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims
1. A method for constructing a multi-scale gridded airspace for low-altitude air routes, characterized in that, The method includes the following steps: S1, obtain the safety separation and weighting coefficients for various low-altitude aircraft; the safety separation includes horizontal safety separation and vertical safety separation; S2, based on the preset minimum granularity requirements corresponding to low-altitude aircraft, determine the minimum scale of the planar grid and the minimum scale of the altitude zone, and based on the maximum values of various safety intervals, determine the maximum scale of the planar grid and the maximum scale of the altitude zone; S3, according to the preset division rules, from the minimum scale to the maximum scale corresponding to the planar grid and the height zone respectively, obtain the maximum number of levels of the planar grid and the maximum number of levels of the height zone, as well as the planar grid scale or height zone scale corresponding to each level; wherein, the scale of the next level is an integer multiple of the scale of the previous level; S4. Within the corresponding levels in the horizontal and vertical directions, traverse all possible maximum levels and several scale sequence schemes corresponding to each maximum level. Based on various weight coefficients, with the goal of minimizing the weighted sum of the number of grids required to represent various safety intervals, select the optimal number of levels and the corresponding scales of each level. S5, based on the optimal number of levels and the corresponding scales of each level obtained in the horizontal and vertical directions respectively, decouples and combines the corresponding multi-level planar grids with multi-level height regions to construct a multi-scale three-dimensional gridded spatial domain.
2. The multi-scale gridded airspace construction method for low-altitude routes according to claim 1, characterized in that, In step S1, the weighting coefficient for each type of low-altitude aircraft refers to the proportion of the operating time of low-altitude aircraft equipped with the safety separation corresponding to its own category in the low-altitude airway to the total operating time of all low-altitude aircraft.
3. The multi-scale gridded airspace construction method for low-altitude routes according to claim 1, characterized in that, In step S3, the maximum number of levels of the planar mesh meets the following condition: I max =rounddown(log2(S max / S1))+1, where, I max S represents the maximum number of levels in the planar mesh, S1 is the minimum scale of the planar mesh, and S... max This represents the maximum scale of the planar mesh, and rounddown() is the function for rounding down.
4. The multi-scale gridded airspace construction method for low-altitude routes according to claim 1, characterized in that, In step S3, the scale of the next level is an integer multiple of the scale of the previous level, satisfying the following condition: S i+1 =n i ×S i , of which S i Let S be the scale of the planar mesh at level i. i+1 Let n be the scale of the planar grid at level i+1. i The integer n is not less than 2, and the corresponding n for different levels is... i They can be the same or different; by selecting the corresponding n for each level. i This determines the planar grid scale corresponding to each level.
5. The multi-scale gridded airspace construction method for low-altitude routes according to claim 1, characterized in that, In step S4, for any scale sequence scheme corresponding to any maximum level, the required number of grids for any type of safety interval is obtained in the horizontal direction as follows: S401, traverse from the first level to the current maximum level, and calculate the k-th vertical safety margin L for each level. k and lateral safety separation L k The required number of planar meshes at each level, a ki and b ki The longitudinal safety interval and the lateral safety interval are combined to form a horizontal safety interval. S403, calculate the number of first-level planar meshes u required for the longitudinal and transverse redundancy lengths after covering with the i-th level planar mesh. ki and v ki ; S405, based on a ki b ki u ki and v ki Calculate the initial grid size G of the k-th security interval at the i-th level. ki Among them, G ki G meets the following conditions: ki =a ki ×b ki +u ki ×v ki ; S407, based on the initial number of grids for the k-th safety interval at each level, uses the minimum initial number of grids as the required number of grids for the k-th safety interval.
6. The multi-scale gridded airspace construction method for low-altitude routes according to claim 1, characterized in that, In step S4, selecting the optimal number of levels and the corresponding scales for each level, with the objective of minimizing the weighted sum of the required number of grids to characterize various safety intervals, includes the following steps: S410, for each scale sequence scheme, the comprehensive grid complexity corresponding to the scale sequence scheme is calculated by weighting the required number of grids for each type of safety interval and the weight coefficients of each type. S420: The minimum comprehensive grid complexity among all scale sequence schemes at the current maximum level is taken as the target grid complexity corresponding to the current maximum level. S430: Compare the target mesh complexity corresponding to each maximum level, take the maximum level corresponding to the minimum target mesh complexity as the optimal number of levels, and determine the scale of each level based on the scale sequence scheme corresponding to the minimum target mesh complexity.
7. The multi-scale gridded airspace construction method for low-altitude routes according to claim 1, characterized in that, The S5 steps include the following: S501: Select any level of planar mesh from the optimal level number corresponding to the horizontal direction, and select any level of height region from the optimal level number corresponding to the vertical direction to combine them into a three-dimensional mesh unit of the corresponding scale. S502, based on several combined three-dimensional mesh units, constructs a multi-scale three-dimensional meshed spatial domain.
8. The multi-scale gridded airspace construction method for low-altitude routes according to claim 1, characterized in that, The method further includes the following steps: S10, For each level of the planar grid corresponding to the optimal level number in the horizontal direction, perform planar encoding in descending order of level number; where the maximum level code element is located at the start bit; S20, for each level height region corresponding to the optimal level number in the vertical direction, perform height encoding in descending order of level number; where the maximum level code element is located at the start position; S30: For any three-dimensional mesh cell at any scale, obtain the planar code and height code truncated to the corresponding level of the scale itself, and concatenate the planar code and height code through a preset connector to obtain the code identifier of the current three-dimensional mesh cell.
9. A non-transitory computer-readable storage medium, wherein the storage medium stores at least one instruction or at least one program segment, characterized in that, The at least one instruction or the at least one program segment is loaded and executed by the processor to implement the multi-scale gridded airspace construction method for low-altitude routes as described in any one of claims 1-8.
10. An electronic device, characterized in that, Includes a processor and the non-transitory computer-readable storage medium as described in claim 9.