An airspace safety management system based on a variable three-dimensional electronic fence

Abstract

This invention discloses an airspace safety management system based on a variable 3D electronic fence, comprising a fence acquisition module, a storage module, a spatial calculation module, an approval module, a fence configuration management module, and a display module. The fence acquisition module acquires variable 3D electronic fence data. The storage module stores the data and provides data access services to other modules. The spatial calculation module performs spatial calculations based on the acquired variable 3D electronic fence data. The approval module determines the validity of the fence data through manual review. The fence configuration management module configures control strategies, activation settings, and safety points for the variable 3D electronic fence after approval. The display module provides an interactive interface for the system. This invention ensures both the safety of no-fly zones and the rationality of airspace use within the airspace, as well as the effectiveness of managing unmanned aerial vehicles in open airspace.

Description

Technical Field

[0001] This invention belongs to the technical field of airspace management, specifically relating to an airspace safety management system based on a variable three-dimensional electronic fence that can both ensure the safety of no-fly airspace and the rationality of airspace use, and ensure the effectiveness of management of unmanned aerial vehicles in open airspace. Background Technology

[0002] With the increasing popularity of unmanned aerial vehicles (UAVs), more and more people are using them. Based on their functions, UAVs can be categorized into recreational and functional types. Recreational UAVs are used for things like taking pictures of scenery; functional UAVs include agricultural UAVs used for spraying pesticides, UAVs used for traffic control, and police UAVs, among others. A common problem encountered during their use is determining which airspaces are safe to enter and which are prohibited. Currently, most UAVs rely on manual judgment or fixed routes for control. This means that UAVs can only fly within known safe airspaces; they cannot determine whether an airspace is safe to enter. They also cannot automatically avoid obstacles or oncoming UAVs. Therefore, there is an urgent need for UAVs to be able to automatically determine the safety of a given airspace, entering only if it is safe and avoiding it otherwise.

[0003] In order for unmanned aerial vehicles to determine whether a certain airspace is safe, it is necessary to divide the airspace and define which airspaces are no-fly zones and which airspaces are open airspaces.

[0004] As the country gradually deepens its opening up of low-altitude airspace, developing the low-altitude economy has become an important tool for building a new national development pattern. Safety is the bottom line in developing the low-altitude economy. At this critical juncture of the transformation and leapfrog development of my country's low-altitude economy, there is a lack of reasonable planning and efficient supervision technologies to ensure flight safety and public safety on the basis of fully guaranteeing air defense security.

[0005] To this end, we have developed an airspace safety management system based on a variable three-dimensional electronic fence, which can ensure the safety of no-fly zones and the rationality of airspace use, as well as the effectiveness of unmanned aerial vehicle management in open airspace. Summary of the Invention

[0006] The purpose of this invention is to provide an airspace safety management system based on a variable three-dimensional electronic fence that can both ensure the safety of no-fly zones and the rationality of airspace use, and ensure the effectiveness of unmanned aerial vehicle management in open airspace.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an airspace safety management system based on a variable three-dimensional electronic fence, comprising a fence acquisition module, a storage module, a spatial calculation module, an auditing module, a fence configuration management module, and a display module;

[0008] The fence acquisition module can obtain latitude and longitude coordinate data with altitude by using fixed ground equipment, mobile ground equipment or unmanned aerial vehicles based on navigation satellites or scanners, based on the authorized airspace management altitude of the system, and form a variable three-dimensional electronic fence.

[0009] The storage module is used to store system data, data of the variable three-dimensional electronic fence, and related configuration data of the variable three-dimensional electronic fence, and to provide data access services for other modules.

[0010] The spatial calculation module performs spatial calculations based on the data of the variable three-dimensional electronic fence already collected in the system, using 3D calculation methods.

[0011] The review module can further manually review the data of variable three-dimensional electronic fences submitted by lower-level systems and the data of variable three-dimensional electronic fences collected at this level, based on the results of spatial calculations. The validity of the fence data is ultimately determined by the results of the manual review.

[0012] The fence configuration management module can configure control strategies, activation settings, and security point settings for the variable three-dimensional electronic fence after it has been approved.

[0013] The control strategy configuration can perform an emergency landing operation for the unmanned aerial vehicle (UAV) when it intrudes into the fence; and can also perform control operations on the UAV when it intrudes into the fence.

[0014] The activation configuration can configure an effective time period and an ineffective time period for the variable three-dimensional electronic fence;

[0015] The safety point configuration can be used as a safety point for the mapping and data collection of the variable three-dimensional electronic fence when the unmanned aerial vehicle is re-landing or controlled. The safety point is defined as an open location where there is no obstruction of navigation satellite signals, no other strong signal interference, and the conditions for the take-off and landing of the unmanned aerial vehicle are met.

[0016] The display module provides an interactive interface for the system, including no-fly airspace display and open airspace display based on 3D maps, no-fly airspace display and open airspace display based on 2D maps, and a variable 3D electronic fence review page.

[0017] Preferably, the airspace safety management system based on the variable three-dimensional electronic fence further includes an open interface module; the open interface module provides an open interface to other systems through a RESTful interface based on the HTTPS protocol, for obtaining data of the variable three-dimensional electronic fence and configuration-related data of the variable three-dimensional electronic fence.

[0018] Preferably, the data submission method of the variable three-dimensional electronic fence is network transmission or USB transmission. The data submitted by both transmission methods is in GeoJson format, and a latitude and longitude coordinate height value is added to the two-dimensional array of standard format coordinate data.

[0019] Preferably, the storage module uses a MongoDB non-relational database.

[0020] Preferably, the spatial calculation is divided into calculations for no-fly zones, warning zones, and dedicated open airspace;

[0021] The calculation of the no-fly zone and the warning zone is as follows:

[0022] a) Based on the data of the variable three-dimensional electronic fences already collected in the system, construct a virtual 3D stereoscopic graphic; perform deduplication calculation on the variable three-dimensional electronic fences, with the deduplication factors being the upper limit height, lower limit height, and maximum plane coverage; that is: when new variable three-dimensional electronic fence data is input, match the data of existing variable three-dimensional electronic fences in the database according to the upper limit height, lower limit height, and perimeter range of the new variable three-dimensional electronic fence. The matching method is to match the existing fence data within twice the area of ​​the quadrilateral formed by the four vertices of the perimeter of the newly added variable three-dimensional electronic fence.

[0023] If the overlap rate between the height range of the new variable three-dimensional electronic fence and the height range of the existing fence is greater than 30%, it is determined that the height range of the new variable three-dimensional electronic fence and the existing fence overlaps. Based on the maximum and minimum values ​​of the latitude and longitude of the new variable three-dimensional electronic fence and the existing fence, a quadrilateral is constructed and the plane area is calculated. If the area overlap rate is greater than 30%, it is determined that the coverage area of ​​the new variable three-dimensional electronic fence and the existing fence overlaps.

[0024] b) Based on the calculation steps in a), obtain the existing fence data that overlaps with the new variable 3D electronic fence, and then perform a full calculation.

[0025] That is: a 3D model is constructed based on the full data of the new variable 3D electronic fence and the existing fence, and their respective volumes are calculated. When the volume overlap rate is greater than 20%, it is considered to be overlapping. At this time, the data status of the new variable 3D electronic fence is invalid data, and it needs to be adjusted, modified or re-collected until the overlap rate is less than 20%. The full data refers to the latitude, longitude and height data of all coordinate points of the fence.

[0026] The calculation of dedicated open airspace is as follows:

[0027] Based on the data of the variable three-dimensional electronic fence already collected within the system, calculations are performed on the latitude and longitude coordinates of the dedicated open airspace obtained from the survey. The calculations determine whether the coordinates are within the range of the no-fly zone variable three-dimensional electronic fence and the buffer zone variable three-dimensional electronic fence, and then the coordinates are marked.

[0028] Preferably, when reviewing data submitted by a lower-level system for a variable three-dimensional electronic fence, if the validity of the data cannot be determined, it can be submitted to the higher-level system for review again. Therefore, the review of variable three-dimensional electronic fence data can not only be carried out at the current level, but also on the data submitted by the lower level, and can be submitted for review level by level.

[0029] Preferably, the application process of the airspace safety management system based on the variable three-dimensional electronic fence is as follows:

[0030] 1) After the coordinate data of the variable three-dimensional electronic fence is collected by the acquisition device in the fence acquisition module, GeoJson format data is submitted to the fence acquisition module via network or USB.

[0031] 2) After receiving the data, the fence acquisition module verifies the submitted data in GeoJson format to check the integrity of the data and whether the format is correct.

[0032] 3) After verification, the data is submitted to the spatial calculation module to calculate whether the spatial calculation meets the deployment requirements; the spatial space where the fence is located is calculated based on the fence data to determine whether the deployment of the fence is duplicated with other deployed fences;

[0033] 4) After the calculation results are submitted to the review module, they will be reviewed manually.

[0034] 5) After the review is approved, the data of the variable three-dimensional electronic fence will be stored in the database. At this time, the data of the variable three-dimensional electronic fence is valid but does not meet the conditions for publication.

[0035] 6) The parameters of the variable three-dimensional electronic fence can be manually configured through the fence configuration management module, and the configuration is stored in the database after completion. At this time, the fence configuration is effective, and the data of the variable three-dimensional electronic fence that matches it is ready for publication. External services can obtain the data of the variable three-dimensional electronic fence through the open interface module.

[0036] Compared with existing technologies, this invention provides an airspace safety management system based on a variable three-dimensional electronic fence and its establishment method, which has the following beneficial effects:

[0037] The airspace safety management system based on variable three-dimensional electronic fences described in this invention is deployed hierarchically based on the airspace planning and safety management system of variable three-dimensional electronic fences, granting airspace range and altitude permissions to different levels. Authorized management agencies can use the system to rationally and effectively plan and manage the use of airspace according to local policies, and assign it open nature and open rules. Combining the unmanned aerial vehicle safety control system based on the Internet of Things and variable three-dimensional electronic fences with variable three-dimensional electronic fence technology and methods, it not only ensures the safety of no-fly airspace and the rationality of airspace use, but also ensures the effectiveness of unmanned aerial vehicle management in open airspace. Attached Figure Description

[0038] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0039] Figure 1 This is a schematic diagram of the airspace safety management system based on a variable three-dimensional electronic fence as described in this invention;

[0040] Figure 2 This is a schematic diagram of the first application scenario of the airspace safety management system based on a variable three-dimensional electronic fence as described in this invention;

[0041] Figure 3 This is a schematic diagram of the second application scenario of the airspace safety management system based on a variable three-dimensional electronic fence as described in this invention;

[0042] Figure 4 This is a schematic diagram illustrating the application process of the airspace safety management system based on a variable three-dimensional electronic fence as described in this invention. Detailed Implementation

[0043] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0044] Please see Figure 1 The present invention provides a technical solution: an airspace safety management system based on a variable three-dimensional electronic fence, including a fence acquisition module, a storage module, a spatial calculation module, an audit module, a fence configuration management module, a display module, and an open interface module;

[0045] The fence acquisition module can obtain latitude and longitude coordinate data with altitude by using fixed ground equipment, mobile ground equipment, or aerial equipment such as unmanned aerial vehicles based on navigation satellites or scanners, based on the authorized airspace management altitude of the system, thus forming a variable three-dimensional electronic fence. The data submission method of the variable three-dimensional electronic fence is network transmission or USB transmission. The data submitted by both transmission methods is in GeoJson format, with an additional latitude and longitude coordinate altitude value added to the two-dimensional array of standard format coordinate data.

[0046] The storage module is used to store system data, data of the variable three-dimensional electronic fence, and related configuration data of the variable three-dimensional electronic fence, and to provide data access services for other modules; the storage module uses a MongoDB non-relational database.

[0047] The spatial calculation module uses 3D calculation methods to perform spatial calculations based on the data of the variable three-dimensional electronic fence already collected in the system. The spatial calculations are divided into calculations for no-fly zones, warning zones, and dedicated open airspace.

[0048] The calculation of the no-fly zone and the warning zone is as follows:

[0049] a) Based on the data of the variable three-dimensional electronic fences already collected in the system, construct a virtual 3D stereoscopic graphic; perform deduplication calculation on the variable three-dimensional electronic fences, with the deduplication factors being the upper limit height, lower limit height, and maximum plane coverage; that is: when new variable three-dimensional electronic fence data is input, match the data of existing variable three-dimensional electronic fences in the database according to the upper limit height, lower limit height, and perimeter range of the new variable three-dimensional electronic fence. The matching method is to match the existing fence data within twice the area of ​​the quadrilateral formed by the four vertices of the perimeter of the newly added variable three-dimensional electronic fence.

[0050] If the overlap rate between the height range of the new variable three-dimensional electronic fence and the height range of the existing fence is greater than 30%, it is determined that the height range of the new variable three-dimensional electronic fence and the existing fence overlaps. Based on the maximum and minimum values ​​of the latitude and longitude of the new variable three-dimensional electronic fence and the existing fence, a quadrilateral is constructed and the plane area is calculated. If the area overlap rate is greater than 30%, it is determined that the coverage area of ​​the new variable three-dimensional electronic fence and the existing fence overlaps.

[0051] b) Based on the calculation steps in a), obtain the existing fence data that overlaps with the new variable 3D electronic fence, and then perform a full calculation.

[0052] That is: a 3D model is constructed based on the full data of the new variable 3D electronic fence and the existing fence, and their respective volumes are calculated. When the volume overlap rate is greater than 20%, it is considered to be overlapping. At this time, the data status of the new variable 3D electronic fence is invalid data, and it needs to be adjusted, modified or re-collected until the overlap rate is less than 20%. The full data refers to the latitude, longitude and height data of all coordinate points of the fence.

[0053] The calculation of dedicated open airspace is as follows:

[0054] Based on the data of the variable three-dimensional electronic fence already collected within the system, calculations are performed on the latitude and longitude coordinate data of the dedicated open airspace obtained from the survey. The calculations determine whether the coordinates are within the range of the variable three-dimensional electronic fence in the no-fly zone and the variable three-dimensional electronic fence in the buffer zone, and then the coordinates are marked accordingly.

[0055] The review module can further manually review the data of variable 3D electronic fences submitted by lower-level systems and the data of variable 3D electronic fences collected at the current level, based on the results of spatial calculations. The validity of the fence data is ultimately determined by the results of the manual review. When reviewing the data of variable 3D electronic fences submitted by lower-level systems, if the validity of the data cannot be determined, it can be submitted to the higher-level system for review again. Therefore, the review of variable 3D electronic fence data can not only review the data at the current level, but also review the data submitted by lower-level systems, and submit the data for review level by level upwards.

[0056] The fence configuration management module can configure control strategies, activation settings, and security point settings for the variable three-dimensional electronic fence after it has been approved.

[0057] The control strategy configuration can perform an emergency landing operation for the unmanned aerial vehicle (UAV) when it intrudes into the fence; and can also perform control operations on the UAV when it intrudes into the fence.

[0058] The activation configuration allows you to set an effective time period and an ineffective time period for the variable three-dimensional electronic fence, such as: effective from 9:00 to 12:00 and ineffective from 13:00 to 15:00. The effective time period and the ineffective time period must be mutually exclusive. The activation configuration can also configure the effective time period and the ineffective time period independently, such as: effective from 9:00 to 12:00, and ineffective at other times.

[0059] The safety point configuration can be used as a safety point for the mapping and data collection of the variable three-dimensional electronic fence when the unmanned aerial vehicle is re-landing or controlled. The safety point is defined as an open location where there is no obstruction of navigation satellite signals, no other strong signal interference, and the conditions for the take-off and landing of the unmanned aerial vehicle are met.

[0060] The display module provides an interactive interface for the system, including no-fly airspace display and open airspace display based on 3D maps, no-fly airspace display and open airspace display based on 2D maps, and a variable three-dimensional electronic fence review page, etc.

[0061] The open interface module provides an open interface to other systems through a RESTful interface based on the HTTPS protocol, which is used to obtain data of the variable three-dimensional electronic fence and configuration-related data of the variable three-dimensional electronic fence.

[0062] like Figure 4 As shown, the application process of the airspace safety management system based on the variable three-dimensional electronic fence is as follows:

[0063] 1. After the coordinate data of the variable three-dimensional electronic fence is collected by the acquisition device in the fence acquisition module, GeoJson format data is submitted to the fence acquisition module via network or USB.

[0064] 2. After receiving the data, the fence acquisition module verifies the submitted data in GeoJson format to check the integrity of the data and whether the format is correct.

[0065] 3. After verification, submit to the spatial calculation module to calculate whether the spatial calculation meets the deployment requirements; calculate the spatial space of the fence based on the fence data, and determine whether the deployment of the fence is duplicated with other deployed fences;

[0066] 4. After the calculation results are submitted to the review module, they will be reviewed manually.

[0067] 5. After the review is approved, the data of the variable three-dimensional electronic fence will be stored in the database. At this time, the data of the variable three-dimensional electronic fence is valid but does not meet the conditions for publication.

[0068] 6. The parameters of the variable three-dimensional electronic fence can be manually configured through the fence configuration management module, and the configuration is stored in the database after completion. At this time, the fence configuration is effective, and the data of the matching variable three-dimensional electronic fence is ready for publication. External services can obtain the data of the variable three-dimensional electronic fence through the open interface module.

[0069] As mentioned above, data on variable 3D electronic fences is collected using data acquisition devices according to different needs and actual conditions. The data collection targets of variable 3D electronic fences are mainly no-fly zones, buffer zones, dedicated open airspace, and layered airspace within dedicated open airspace. After a systematic process of data collection, calculation, review, and publication, a no-fly zone planning and safety management system is constructed that can change over time and be applied in layers, relative to unmanned aerial vehicles.

[0070] The airspace safety management system based on variable three-dimensional electronic fence described in this invention is mainly used for planning and managing no-fly zones and dedicated open airspace based on variable three-dimensional electronic fence technology and methods, national low-altitude airspace opening policies, and actual airspace utilization. The system is deployed in a hierarchical manner using airspace planning and management methods based on national administrative divisions.

[0071] like Figure 2 As shown, the no-fly airspace is the airspace in which unmanned aerial vehicles are not allowed to enter. It includes the no-fly zone enclosed by a variable three-dimensional electronic fence, the warning zone enclosed by a variable three-dimensional electronic fence, and the dedicated open airspace based on variable three-dimensional electronic fence technology that is mapped out in addition to the no-fly zone and the warning zone.

[0072] like Figure 2 As shown, open airspace is the airspace outside of no-fly zones, which is the airspace that unmanned aerial vehicles can enter; the no-fly zone includes no-fly areas, buffer zones, and dedicated open airspace.

[0073] The above four types of variable three-dimensional electronic fences constitute the entire airspace safety management system, namely the management of no-fly airspace and open airspace.

[0074] like Figure 3 As shown, the dedicated open airspace is a dedicated open airspace defined by the variable three-dimensional electronic fence of the no-fly zone and the variable three-dimensional electronic fence of the warning zone. According to different uses, national low-altitude opening policies, and actual airspace utilization, variable three-dimensional electronic fences at different altitude levels are constructed to achieve further refined airspace stratification.

[0075] Compared with the prior art, the present invention has the following beneficial effects:

[0076] The airspace safety management system based on variable three-dimensional electronic fences described in this invention is deployed hierarchically based on the airspace planning and safety management system of variable three-dimensional electronic fences, granting airspace range and altitude permissions to different levels. Authorized management agencies can use the system to rationally and effectively plan and manage the use of airspace according to local policies, and assign it open nature and open rules. Combining the unmanned aerial vehicle safety control system based on the Internet of Things and variable three-dimensional electronic fences with variable three-dimensional electronic fence technology and methods, it not only ensures the safety of no-fly airspace and the rationality of airspace use, but also ensures the effectiveness of unmanned aerial vehicle management in open airspace.

[0077] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A variable volumetric electronic fence based airspace safety management system characterized by: It includes a fence data collection module, a storage module, a spatial calculation module, an approval module, a fence configuration management module, and a display module; The fence acquisition module can obtain latitude and longitude coordinate data with altitude by using fixed ground equipment, mobile ground equipment or unmanned aerial vehicles based on navigation satellites or scanners, based on the authorized airspace management altitude of the system, and form a variable three-dimensional electronic fence. The storage module is used to store system data, data of the variable three-dimensional electronic fence, and related configuration data of the variable three-dimensional electronic fence, and to provide data access services for other modules. The spatial calculation module performs spatial calculations based on the data of the variable three-dimensional electronic fence already collected in the system, using 3D calculation methods. The review module can further manually review the data of variable three-dimensional electronic fences submitted by lower-level systems and the data of variable three-dimensional electronic fences collected at this level, based on the results of spatial calculations. The validity of the fence data is ultimately determined by the results of the manual review. The fence configuration management module can configure control strategies, activation settings, and security point settings for the variable three-dimensional electronic fence after it has been approved. The control strategy configuration can perform an emergency landing operation for the unmanned aerial vehicle (UAV) when it intrudes into the fence; and can also perform control operations on the UAV when it intrudes into the fence. The activation configuration can configure an effective time period and an ineffective time period for the variable three-dimensional electronic fence; The safety point configuration can be used as a safety point for the mapping and data collection of the variable three-dimensional electronic fence when the unmanned aerial vehicle is re-landing or controlled. The safety point is defined as an open location where there is no obstruction of navigation satellite signals, no other strong signal interference, and the conditions for the take-off and landing of the unmanned aerial vehicle are met. The display module provides an interactive interface for the system, including no-fly airspace display and open airspace display based on 3D maps, no-fly airspace display and open airspace display based on 2D maps, and a variable 3D electronic fence review page.

2. The variable stereoscopic electronic fence based airspace safety management system of claim 1, wherein: It also includes an open interface module; the open interface module provides an open interface to other systems through a RESTful interface based on the HTTPS protocol, which is used to obtain data of the variable three-dimensional electronic fence and configuration-related data of the variable three-dimensional electronic fence.

3. The variable stereoscopic electronic fence based airspace safety management system of claim 1, wherein: The variable three-dimensional electronic fence submits data via network transmission or USB transmission. Both transmission methods submit data in GeoJson format, with an additional latitude and longitude coordinate height value added to the standard format coordinate data two-dimensional array.

4. The variable stereoscopic electronic fence based airspace safety management system of claim 1, wherein: The storage module uses the MongoDB non-relational database.

5. The variable stereoscopic electronic fence based airspace safety management system of claim 1, wherein: The spatial calculations are divided into calculations for no-fly zones, warning zones, and dedicated open airspace; The calculation of the no-fly zone and the warning zone is as follows: a) Based on the data of the variable three-dimensional electronic fence already collected in the system, construct a virtual 3D stereoscopic graphic; perform deduplication calculation on the variable three-dimensional electronic fence, with the deduplication factors being the upper limit height, the lower limit height, and the maximum plane coverage area; That is, when new variable three-dimensional electronic fence data is input, the upper and lower limits of the new variable three-dimensional electronic fence and the perimeter of the fence are matched with the existing variable three-dimensional electronic fence data in the database. The matching method is to match the existing fence data within twice the area of ​​the quadrilateral formed by the four vertices of the perimeter of the newly added variable three-dimensional electronic fence. If the overlap rate between the height range of the new variable three-dimensional electronic fence and the height range of the existing fence is greater than 30%, it is determined that the height range of the new variable three-dimensional electronic fence and the existing fence overlaps. Based on the maximum and minimum values ​​of the latitude and longitude of the new variable three-dimensional electronic fence and the existing fence, a quadrilateral is constructed and the plane area is calculated. If the area overlap rate is greater than 30%, it is determined that the coverage area of ​​the new variable three-dimensional electronic fence and the existing fence overlaps. b) Based on the calculation steps in a), obtain the existing fence data that overlaps with the new variable 3D electronic fence, and then perform a full calculation. That is: a 3D model is constructed based on the full data of the new variable 3D electronic fence and the existing fence, and their respective volumes are calculated. When the volume overlap rate is greater than 20%, it is considered to be overlapping. At this time, the data status of the new variable 3D electronic fence is invalid data, and it needs to be adjusted, modified or re-collected until the overlap rate is less than 20%. The full data refers to the latitude, longitude and height data of all coordinate points of the fence. The calculation of dedicated open airspace is as follows: Based on the data of the variable three-dimensional electronic fence already collected within the system, calculations are performed on the latitude and longitude coordinates of the dedicated open airspace obtained from the survey. The calculations determine whether the coordinates are within the range of the no-fly zone variable three-dimensional electronic fence and the buffer zone variable three-dimensional electronic fence, and then the coordinates are marked.

6. The variable stereoscopic electronic fence based airspace safety management system of claim 1, wherein: When reviewing data on variable three-dimensional electronic fences submitted by subordinates, if the validity of the data cannot be determined, it can be submitted to the superior system for review again. Therefore, the review of data for variable three-dimensional electronic fences can include not only the review of data submitted at the current level, but also the review of data submitted by lower levels, and the review of data submitted upwards level by level.

7. The variable stereoscopic electronic fence based airspace safety management system of claim 1, wherein: The application process of the airspace safety management system based on the variable three-dimensional electronic fence is as follows: 1) After the coordinate data of the variable three-dimensional electronic fence is collected by the acquisition device in the fence acquisition module, GeoJson format data is submitted to the fence acquisition module via network or USB. 2) After receiving the data, the fence acquisition module verifies the submitted data in GeoJson format to check the integrity of the data and whether the format is correct. 3) After verification, the data is submitted to the spatial calculation module to calculate whether the spatial calculation meets the deployment requirements; the spatial space where the fence is located is calculated based on the fence data to determine whether the deployment of the fence is duplicated with other deployed fences; 4) After the calculation results are submitted to the review module, they will be reviewed manually. 5) After the review is approved, the data of the variable three-dimensional electronic fence will be stored in the database. At this time, the data of the variable three-dimensional electronic fence is valid but does not meet the conditions for publication. 6) The parameters of the variable three-dimensional electronic fence can be configured manually through the fence configuration management module, and the configuration is stored in the database after completion; At this point, the fence configuration is effective, and the data of the matching variable 3D electronic fence is ready for publication; external services can obtain the data of the variable 3D electronic fence through the open interface module.

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