A low-altitude airspace space range setting method

Abstract

This invention discloses a method for delineating the spatial extent of low-altitude airspace, comprising the following steps: S1, acquiring low-altitude airspace environmental data; S2, classifying low-altitude airspace into controlled airspace, reporting airspace, and monitored airspace, and determining the airspace type of the selected area based on the definitions of the three types of low-altitude airspace; S3, determining the horizontal extent of the selected area according to the airspace type; S4, determining the vertical extent of the selected area according to the airspace type; S5, outputting the spatial extent composed of the horizontal and vertical extents of the selected area. This invention, employing the above-mentioned method for delineating the spatial extent of low-altitude airspace, proposes a method for delineating low-altitude airspace based on refined classification from the perspective of ensuring aircraft flight safety and improving airspace utilization. This method meets the needs and requirements for low-altitude airspace operational safety and is of great significance for planning urban low-altitude airspace environments that meet the flight needs of various general aviation users and UAV users.

Description

Technical Field

[0001] This invention relates to the field of low-altitude airspace delineation technology, and in particular to a method for delineating the spatial extent of low-altitude airspace. Background Technology

[0002] Low-altitude airspace refers to flight areas below 1,000 meters. It is an important national strategic resource and the main operating space for general aviation and unmanned aerial vehicles.

[0003] To facilitate safe aviation operations, low-altitude airspace needs to be designated. Based on this purpose, prior application CN202310244498.5 disclosed a method for refined classification and designation of low-altitude airspace. This method establishes a standardized model and process for classifying and designating urban low-altitude airspace based on the urban low-altitude airspace environment and its actual physical constraints, designating controlled airspace, reporting airspace, and monitored airspace. However, it does not clearly define the horizontal range of these three airspace categories, making it unable to meet the needs of my country's general aviation for low-altitude airspace and ensure safety.

[0004] At the same time, China has not yet developed a classification and delineation method or standard for low-altitude controlled airspace, reporting airspace, and surveillance airspace that takes into account the characteristics of my country's low-altitude airspace, and there is a lack of relevant research to provide scientific theoretical support for the classification and delineation of low-altitude airspace. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a method for delineating low-altitude airspace. From the perspective of ensuring aircraft flight safety and improving airspace utilization, it proposes a method for delineating low-altitude airspace based on refined classification, which meets the needs and requirements for low-altitude airspace operation safety. This method is of great significance for planning urban low-altitude airspace environments that meet the flight needs of various general aviation users and UAV users.

[0006] To achieve the above objectives, the present invention provides a method for delineating the spatial range of low-altitude airspace, comprising the following steps:

[0007] S1. Obtain low-altitude airspace environmental data and clarify the authority for low-altitude airspace demarcation;

[0008] S2. Divide low-altitude airspace into controlled airspace, reporting airspace, and surveillance airspace, and determine the airspace type of the selected area based on the definitions of the three types of low-altitude airspace.

[0009] S3. Determine the horizontal range of the selected area based on the airspace type;

[0010] S4. Determine the vertical range of the selected area based on the airspace type;

[0011] S5. Outputs the spatial range consisting of the horizontal and vertical ranges of the selected area, and counts the total number of selected areas.

[0012] Preferably, the airspace types of the controlled airspace mentioned in step S2 include no-fly zones, dangerous air zones, terminal control zones, key national air defense target zones, and controlled zones of military and civil aviation transport airports;

[0013] The airspace types reported include rectangular general aviation airports and their temporary take-off and landing points, circular general aviation airports and their temporary take-off and landing points, and general aviation flight areas.

[0014] Preferably, in step S2, when it is determined that the selected area is controlled airspace;

[0015] Step S3 specifically includes the following steps:

[0016] S31. Obtain the set of boundary point coordinates of the controlled airspace: Set = {Zone1,Zone2,Zone3,…,Zone…} n}, where Zone is the set of boundary point coordinates. i ={Z1,Z2,Z3,…,Z m}, 1≤i≤n;

[0017] S32. Calculate and obtain the minimum convex hull containing all boundary coordinate points according to the Grhm scan method;

[0018] S33. Determine the spatial domain type of the region corresponding to the minimum convex hull, and calculate the horizontal range of the region corresponding to the spatial domain type based on the determination result;

[0019] The vertical range mentioned in step S4 is 0-3000 meters.

[0020] Preferably, in step S33, when the airspace type of the area corresponding to the minimum convex hull is a restricted airspace, a dangerous airspace, or a terminal control area, the area corresponding to the minimum convex hull is directly designated as controlled airspace.

[0021] When the airspace type of the area corresponding to the smallest convex hull is the national key air defense target area, the convex hull extension algorithm is used to extend it outward by 5 kilometers to designate it as a controlled airspace.

[0022] When the airspace type corresponding to the smallest convex hull is the controlled zone of military and civil aviation transport airports, the controlled airspace is defined as the area extending 25 kilometers along both ends of the runway centerline and 10 kilometers on both sides of the runway, centered on the runway center point.

[0023] Preferably, in step S2, when it is determined that the selected area is a reporting airspace;

[0024] Step S3 specifically includes the following steps:

[0025] S31. Obtain the set of coordinates of the report's spatial boundary points, ψ = {d1, ..., d2}.n}, where the set of boundary point coordinates d i ={(x1,y1), ...,(x m ,y m )}, 1≤i≤n;

[0026] S32. Using the Grhm scan method, calculate and obtain the minimum convex hull containing all boundary coordinates, and output the vertex set φ = {S1(x1,y1),S2(x2,y2),…,S…} j (x j ,y j ),…,S q (x q ,y q )}

[0027] S33. Determine the spatial type of the region corresponding to the minimum convex hull, and calculate the horizontal range of the region corresponding to the spatial type based on the determination result.

[0028] Preferably, in step S33, when the airspace type of the area corresponding to the minimum convex hull is a rectangular general aviation airport and its temporary take-off and landing point, the airspace is designated as the reporting airspace within a 10-kilometer range extending from both ends of the runway centerline and within a 10-kilometer range extending from both sides of the runway, with the runway center point as the center; at this time, the vertical range mentioned in step S4 is 0-3000 meters.

[0029] When the airspace type of the area corresponding to the minimum convex hull is a circular general aviation airport and its temporary take-off and landing point, the area with a radius of R′=R+10 centered on the FTO center point is designated as the reporting airspace, where R is the radius of the circular general aviation airport in kilometers; at this time, the vertical range mentioned in step S4 is 0-3000 meters.

[0030] When the airspace type of the region corresponding to the minimum convex hull is a general aviation flight area, the convex hull extension algorithm is used, and the extension distance is set to 5 kilometers to define it as the reporting airspace; at this time, the vertical range mentioned in step S4 is H. min -3000, in kilometers;

[0031] Minimum safe altitude H for general aviation aircraft min The calculation formula is as follows:

[0032] H min =h max +Δh

[0033] In the formula, h max Δh represents the highest obstacle height in the region corresponding to the minimum convex hull; Δh represents the obstacle clearance height for general aviation aircraft.

[0034] Preferably, the convex hull extension algorithm includes the following steps:

[0035] Step 1: Calculate the centroid G(x,y) of the convex hull based on the coordinates of all boundary points of the region corresponding to the known minimum convex hull.

[0036]

[0037]

[0038] In the formula, x and y are the horizontal and vertical coordinates of the centroid of the convex hull, respectively; x j y j A represents the x and y coordinates of the j-th vertex of the convex hull, respectively; j It is the area of ​​the j-th triangle formed by the vertices of the convex hull, where q represents the number of vertices of the convex hull;

[0039] The second step is to, based on the known centroid G(x,y) of the convex hull and the set of boundary point coordinates Point, follow the vector... By setting the direction and extending the distance d, a new set of coordinates Point′={P1′,P2′,…,P j ′,…,P q Connect P1′, P2′, ..., P′ in sequence. j ′,…,P q ′, which is the extended convex hull.

[0040] Preferably, in step S2, when it is determined that the selected area is a surveillance airspace;

[0041] Step S3 specifically includes the following steps:

[0042] S31. Assume the entire low-altitude airspace is U, and the entire controlled airspace is GZ = {G1, G2, ..., G...} N The reported airspace is BG = {B1, B2, ..., B}. M}, then monitor the set of airspace.

[0043] S32. Determine the horizontal range of the surveillance airspace based on the surveillance airspace set;

[0044] The vertical range mentioned in step S4 is H min -3000, in kilometers;

[0045] Minimum safe altitude H for general aviation aircraft min The calculation formula is as follows:

[0046] H min =h max +Δh

[0047] In the formula, h max Δh represents the highest obstacle height in the region corresponding to the minimum convex hull; Δh represents the obstacle clearance height for general aviation aircraft.

[0048] The present invention has the following beneficial effects:

[0049] This invention provides technical support for the lack of refined classification and delineation of low-altitude airspace, and improves the safety supervision capabilities and general aviation service guarantee level of low-altitude airspace.

[0050] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0051] Figure 1 A flowchart of a method for delineating low-altitude airspace boundaries provided by the present invention;

[0052] Figure 2 This is a flowchart illustrating the controlled airspace delineation process as described in the embodiments of the present invention;

[0053] Figure 3 A schematic diagram of the method for delineating controlled airspace such as no-fly zones and danger zones as provided in the embodiments of the present invention;

[0054] Figure 4 This is a schematic diagram of the convex hull centroid solution method provided in the embodiments of the present invention;

[0055] Figure 5 This is a schematic diagram illustrating the method for delineating controlled airspace, such as key national air defense target areas, as described in an embodiment of the present invention.

[0056] Figure 6 This is a schematic diagram of the airport zone controlled airspace delineation method provided in the embodiments of the present invention;

[0057] Figure 7 This is a flowchart illustrating the reporting airspace delineation process as described in the embodiments of the present invention;

[0058] Figure 8 A schematic diagram of the method for delineating the airspace for a rectangular general-purpose airport and its temporary take-off and landing points, as described in an embodiment of the present invention.

[0059] Figure 9 A schematic diagram of the method for delineating the airspace for a circular general aviation airport and its temporary take-off and landing points, as described in an embodiment of the present invention.

[0060] Figure 10 This is a schematic diagram of the method for delineating reporting airspace for general aviation flight activities, etc., as provided in the embodiments of the present invention;

[0061] Figure 11 This is a schematic diagram illustrating the minimum safe height calculation method as described in the embodiments provided by the present invention;

[0062] Figure 12 The flowchart for the delineation of monitoring airspace is provided in the embodiments of the present invention. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages disclosed in the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of the present invention and are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments in this application without creative effort are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout.

[0064] It should be noted that the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0065] Similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0066] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0067] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0068] like Figures 1-2 As shown, a method for delineating the spatial extent of low-altitude airspace includes the following steps:

[0069] S1. Based on the needs of refined management of low-altitude airspace, development of general aviation and application of drones, combined with the layout planning of general airports, distribution of transport airports and other airports and the current status of airspace use, study and analyze the available resources and usage needs of low-altitude airspace, so as to obtain low-altitude airspace environmental data, and comprehensively consider factors such as flight demand, support capabilities, airport layout, environmental protection, and terrain characteristics to clarify the authority for the delineation of low-altitude airspace.

[0070] S2. Divide low-altitude airspace into controlled airspace, reporting airspace, and surveillance airspace, and determine the airspace type of the selected area based on the definitions of the three types of low-altitude airspace.

[0071] Preferably, the airspace types of the controlled airspace mentioned in step S2 include no-fly zones, dangerous air zones, terminal control zones, key national air defense target zones, and controlled zones of military and civil aviation transport airports;

[0072] The airspace types reported include rectangular general aviation airports and their temporary take-off and landing points, circular general aviation airports and their temporary take-off and landing points, and general aviation flight areas.

[0073] In step S2 of this embodiment, the definitions of controlled airspace, monitored airspace, and reporting airspace are as follows:

[0074] Controlled airspace is typically designated in areas with high flight activity, including airport takeoff and landing zones, restricted airspace, no-fly zones, danger zones, restricted airspace, important ground targets, and border areas. All airspace use within this airspace must be approved by the flight control department and subject to flight control. Controlled airspace provides air traffic control services for low-altitude aircraft, and its specific designation requirements are as follows: 1. No-fly zones and danger zones; 2. Within 10 kilometers on the Chinese side of the border; 3. National key air defense target areas and the area within 5 kilometers surrounding key air defense targets; 4. Terminal (approach) control area; 5. Control zones of military and civil aviation transport airports (for military airports undertaking flight support tasks but without designated airport control zones, the area extends 25 kilometers to each end and 10 kilometers to each side along the runway centerline, centered on the runway center point); 6. Other areas requiring key protection (such as government, agency, and military airfield training airspace).

[0075] Surveillance airspace is typically designated around controlled airspace. Within this airspace, all airspace activities are organized and implemented independently by the airspace user after submitting their flight plan to flight control, and the user is responsible for flight safety. Flight control closely monitors airspace activities and provides flight information services and alerting services. Surveillance airspace refers to the airspace that provides flight information services, aviation meteorological services, aeronautical information services, and alerting services for flight activities. There are no specific requirements for the designation of surveillance airspace; generally, airspace outside of controlled and reporting airspace is designated as surveillance airspace.

[0076] Reporting airspace is typically designated above areas far from no-fly zones, danger zones, restricted zones, national borders, important ground targets, areas with high flight density, and airport control zones. Within this airspace, all airspace activities are organized and implemented independently by the airspace user after submitting their flight plan to flight control, who is responsible for flight safety. Flight control provides aeronautical information services as needed. Reporting airspace provides meteorological and warning services for low-altitude aircraft. Specific requirements for the designation of reporting airspace are as follows:

[0077] 1. Within 10 kilometers of general aviation airports and temporary take-off and landing points (including heliports, drone take-off and landing sites, etc.); 2. Within a 5-kilometer radius of areas where cultural, sports, tourism, and aerial advertising activities are conducted with relatively fixed operations and concentrated time, without relying on general aviation airports and temporary take-off and landing points; 3. General aviation flight areas where operations are relatively fixed and concentrated time, and do not affect military and civil transport aviation flights.

[0078] S3. Determine the horizontal range of the selected area based on the airspace type;

[0079] S4. Determine the vertical range of the selected area based on the airspace type;

[0080] Preferably, in step S2, when it is determined that the selected area is controlled airspace;

[0081] Step S3 specifically includes the following steps:

[0082] S31. Obtain the set of boundary point coordinates of the controlled airspace: Set = {Zone1,Zone2,Zone3,…,Zone…} n}, where Zone is the set of boundary point coordinates. i ={Z1,Z2,Z3,…,Z m}, 1≤i≤n;

[0083] S32. Calculate and obtain the minimum convex hull containing all boundary coordinate points according to the Grhm scan method;

[0084] S33. Determine the spatial domain type of the region corresponding to the minimum convex hull, and calculate the horizontal range of the region corresponding to the spatial domain type based on the determination result;

[0085] To ensure airspace safety, general aviation aircraft are generally not permitted to enter controlled airspace. The vertical range mentioned in step S4 is 0-3000 meters.

[0086] Preferably, in step S33, as Figure 3As shown, when the airspace type of the area corresponding to the minimum convex hull is a restricted airspace, a dangerous airspace, or a terminal control area, the area corresponding to the minimum convex hull is directly designated as controlled airspace.

[0087] When the airspace type of the area corresponding to the smallest convex hull is the national key air defense target area, the convex hull extension algorithm is used to extend it outward by 5 kilometers to designate it as a controlled airspace.

[0088] When the airspace type corresponding to the minimum convex hull is a controlled zone of military and civil aviation transport airports, the controlled airspace is defined as a range extending 25 kilometers along both ends of the runway centerline and 10 kilometers on both sides of the runway, centered on the runway center point. In this embodiment, as... Figure 6 As shown, input the vertex coordinates P of P1P2P3P4. j (x j ,y j (j = 1, 2, 3, 4), along and Extending outwards by 10km, you can obtain the airport's controlled airspace, which is composed of P′1, P′2, P′3, and P′4 connected in sequence.

[0089] like Figure 7 As shown, preferably, in step S2, when it is determined that the selected area is a reporting airspace;

[0090] Step S3 specifically includes the following steps:

[0091] S31. Obtain the set of coordinates of the report's spatial boundary points, ψ = {d1, ..., d2}. n}, where the set of boundary point coordinates d i ={(x1,y1), ...,(x m ,y m )}, 1≤i≤n;

[0092] S32. Using the Grhm scan method, calculate and obtain the minimum convex hull containing all boundary coordinates, and output the vertex set φ = {S1(x1,y1),S2(x2,y2),…,S…} j (x j ,y j ),…,S q (x q ,y q )}

[0093] S33. Determine the spatial type of the region corresponding to the minimum convex hull, and calculate the horizontal range of the region corresponding to the spatial type based on the determination result.

[0094] Preferably, in step S33, when the airspace type corresponding to the minimum convex hull is a rectangular general aviation airport and its temporary take-off and landing point, the reporting airspace is defined as a range extending 10 kilometers from both ends of the runway centerline and 10 kilometers from both sides of the runway, centered on the runway center point; for example... Figure 8 As shown, in this embodiment, the input S j vertex coordinates S j (x j ,y j (j=1,2,3,4), along and direction, and Extending outwards by 10 kilometers, the airport's reported airspace range can be obtained, consisting of S′1, S′2, S′3, and S′4 connected sequentially. At this point, the vertical range described in step S4 is 0-3000 meters.

[0095] like Figure 9 As shown, when the airspace type of the area corresponding to the minimum convex hull is a circular general aviation airport and its temporary take-off and landing point, the area with a radius of R′=R+10 centered on the FTO center point is designated as the reporting airspace, where R is the radius of the circular general aviation airport in kilometers; at this time, the vertical range mentioned in step S4 is 0-3000 meters.

[0096] When the airspace type corresponding to the minimum convex hull is a general aviation flight area, the convex hull extension algorithm is used, and the extension distance is set to 5 kilometers to define the reporting airspace; for example... Figure 10 As shown, the area enclosed by the outermost coordinates is the reporting airspace; at this time, as... Figure 11 The vertical range mentioned in step S4 is H. min -3000, in kilometers;

[0097] Minimum safe altitude H for general aviation aircraft min The calculation formula is as follows:

[0098] H min =h max +Δh

[0099] In the formula, h max Δh represents the highest obstacle height in the region corresponding to the minimum convex hull; Δh represents the obstacle clearance height for general aviation aircraft.

[0100] like Figure 4 As shown, the preferred convex hull extension algorithm includes the following steps:

[0101] Step 1: Calculate the centroid G(x,y) of the convex hull based on the coordinates of all boundary points of the region corresponding to the known minimum convex hull.

[0102]

[0103]

[0104] In the formula, x and y are the horizontal and vertical coordinates of the centroid of the convex hull, respectively; x j y j A represents the x and y coordinates of the j-th vertex of the convex hull, respectively; j It is the area of ​​the j-th triangle formed by the vertices of the convex hull, and there are a total of q-2 triangles, where q represents the number of vertices of the convex hull;

[0105] The second step is to, based on the known centroid G(x,y) of the convex hull and the set of boundary point coordinates Point, follow the vector... By setting the direction and extending the distance d, a new set of coordinates Point′={P1′,P2′,…,P j ′,…,P q Connect P1′, P2′, ..., P′ in sequence. j ′,…,P q ′, which means as Figure 5 The extended convex hull shown is the region enclosed by the outermost coordinates.

[0106] Preferably, in step S2, when it is determined that the selected area is a surveillance airspace;

[0107] like Figure 12 As shown, step S3 specifically includes the following steps:

[0108] S31. Assume the entire low-altitude airspace is U, and the entire controlled airspace is GZ = {G1, G2, ..., G...} N The reported airspace is BG = {B1, B2, ..., B}. M}, then monitor the set of airspace.

[0109] S32. Determine the horizontal range of the surveillance airspace based on the surveillance airspace set;

[0110] The vertical range mentioned in step S4 is H min -3000, in kilometers;

[0111] Minimum safe altitude H for general aviation aircraft min The calculation formula is as follows:

[0112] H min =h max +Δh

[0113] In the formula, h max Δh represents the highest obstacle height in the region corresponding to the minimum convex hull; Δh represents the obstacle clearance height for general aviation aircraft.

[0114] S5. Outputs the spatial range consisting of the horizontal and vertical ranges of the selected area, and counts the total number of selected areas.

[0115] In this embodiment, the method for calculating the minimum convex hull of the boundary coordinate points is as follows:

[0116] Step 1: Find the starting point. Take the smallest ordinate and abscissa in the set of coordinate points as the starting point P0.

[0117] The second step is to assume that the pole is P0 and sort all the points in the coordinate point set in ascending order according to the size of the polar angle. When the polar angles of two coordinate points are the same, they can be sorted in ascending order according to the distance between the coordinate points and P0.

[0118] The third step is to obtain the order of the coordinate points in the set after the sorting in the second step, and push the first three coordinate points P0, P1 and P2 in the set into the created stack.

[0119] Step 4: Arrange the remaining coordinates in ascending counter-clockwise order and traverse the polar angles. If the line connecting the new left point and the current coordinate point is to the left of the line connecting the top two points of the stack, then this coordinate point can be considered a convex point, and it is pushed onto the stack as a vertex of the convex hull; if it is to the right of the line connecting the top two points of the stack, then this coordinate point can be considered a concave point, and it is not a vertex of the convex hull, so it should be removed, and the top element of the stack is popped.

[0120] Step 5: Repeat step 4 until the traversal is complete. The vertices of the convex hull are the points that are finally kept in the stack.

[0121] Step 6: Output the set of convex hull vertices: Point = {P1(x1,y1),P2(x2,y2),…,P…} j (x j ,y j ),…,P q (x q ,y q )}, containing q convex hull vertices.

[0122] Therefore, this invention adopts the low-altitude airspace spatial range delineation method with the above-mentioned structure. From the perspective of ensuring the flight safety of aircraft and improving airspace utilization, it proposes a low-altitude airspace delineation method based on refined classification, which meets the needs and requirements of low-altitude airspace operation safety. It is of great significance for planning urban low-altitude airspace environments that meet the flight needs of various general aviation users and UAV users.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for delineating the spatial extent of low-altitude airspace, characterized in that: Includes the following steps: S1. Obtain low-altitude airspace environmental data and clarify the authority for low-altitude airspace demarcation; S2. Divide low-altitude airspace into controlled airspace, reporting airspace, and surveillance airspace, and determine the airspace type of the selected area based on the definitions of the three types of low-altitude airspace. S3. Determine the horizontal range of the selected area based on the airspace type; S4. Determine the vertical range of the selected area based on the airspace type; S5. Output the spatial range consisting of the horizontal and vertical ranges of the selected area, and count the total number of selected areas; The airspace types of controlled airspace mentioned in step S2 include no-fly zones, dangerous air zones, terminal control zones, key national air defense target zones, and controlled zones of military and civil aviation transport airports; The airspace types reported include rectangular general aviation airports and their temporary take-off and landing points, circular general aviation airports and their temporary take-off and landing points, and general aviation flight areas; In step S2, when it is determined that the selected area is controlled airspace; Step S3 specifically includes the following steps: S31. Obtain the set of boundary point coordinates of the controlled airspace. Among them, the set of boundary point coordinates , 1≤i≤n; S32. Calculate and obtain the minimum convex hull containing all boundary coordinate points according to the Grhm scan method; S33. Determine the spatial domain type of the region corresponding to the minimum convex hull, and calculate the horizontal range of the region corresponding to the spatial domain type based on the determination result; The vertical range mentioned in step S4 is 0-3000 meters; In step S33, when the airspace type of the area corresponding to the minimum convex hull is a restricted airspace, a dangerous airspace, or a terminal control area, the area corresponding to the minimum convex hull is directly designated as controlled airspace. When the airspace type of the area corresponding to the smallest convex hull is the national key air defense target area, the convex hull extension algorithm is used to extend it outward by 5 kilometers to designate it as a controlled airspace. When the airspace type corresponding to the smallest convex hull is the controlled zone of military and civil aviation transport airports, the controlled airspace is defined as the area extending 25 kilometers along both ends of the runway centerline and 10 kilometers on both sides of the runway, centered on the runway center point. In step S2, when it is determined that the selected area is a reporting airspace; Step S3 specifically includes the following steps: S31. Obtain the set of coordinates of the report's airspace boundary points. Among them, the set of boundary point coordinates , 1≤i≤n; S32. Using the Grhm scan method, calculate and obtain the minimum convex hull containing all boundary coordinates, and output the set of convex hull vertices. S33. Determine the spatial domain type of the region corresponding to the minimum convex hull, and calculate the horizontal range of the region corresponding to the spatial domain type based on the determination result; In step S2, when it is determined that the selected area is a monitoring airspace; Step S3 specifically includes the following steps: S31. Assuming the entire low-altitude airspace is... The entire controlled airspace is The report covers the entire airspace. Then monitor the airspace set ; S32. Determine the horizontal range of the surveillance airspace based on the surveillance airspace set; The vertical range mentioned in step S4 is The unit is kilometers; Minimum safe altitude for general aviation aircraft The calculation formula is as follows: In the formula, This represents the height of the highest obstacle in the region corresponding to the minimum convex hull. This refers to the obstacle clearance altitude for general aviation aircraft.

2. The method for delineating low-altitude airspace according to claim 1, characterized in that: In step S33, when the airspace type of the area corresponding to the minimum convex hull is a rectangular general airport and its temporary take-off and landing point, the area extending 10 kilometers along both ends of the runway centerline and 10 kilometers on both sides of the runway, with the runway center point as the center, is designated as the reporting airspace. At this point, the vertical range described in step S4 is 0-3000 meters; When the airspace type of the region corresponding to the minimum convex hull is a circular general aviation airport and its temporary take-off and landing point, with the center point of the take-off and landing field (FTO) as the center and the radius as... The area is designated as the reporting airspace, in which The radius of a circular general aviation airport, expressed in kilometers; At this point, the vertical range described in step S4 is 0-3000 meters; When the airspace type of the area corresponding to the minimum convex hull is a general aviation flight area, the convex hull extension algorithm is used to set the extension distance to 5 kilometers and designate it as the reporting airspace. At this point, the vertical range described in step S4 is The unit is kilometers; Minimum safe altitude for general aviation aircraft The calculation formula is as follows: In the formula, This represents the height of the highest obstacle in the region corresponding to the minimum convex hull. This refers to the obstacle clearance altitude for general aviation aircraft.

3. A method for delineating low-altitude airspace according to claim 1 or 2, characterized in that: The convex hull extension algorithm includes the following steps: Step 1: Calculate the centroid of the convex hull based on the coordinates of all boundary points of the region corresponding to the known minimum convex hull. : In the formula, These are the x and y coordinates of the centroid of the convex hull, respectively. , Representing the first The x and y coordinates of the vertices of the convex hull; The first convex hull vertex is the first convex hull vertex. The area of ​​each triangle, among which This indicates the number of vertices in the convex hull. Step 2: Based on the known centroid of the convex hull With the set of boundary point coordinates Along vector Direction setting extension distance This yields a new set of coordinates. Connect in sequence This is the extended convex hull.

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