Spatial conflict resolution method and device, electronic equipment and storage medium

Abstract

The application provides a kind of airspace conflict resolution method, device, electronic equipment and storage medium, belong to the field of aircraft airspace control technology, the method comprises: in the case where the conflict exists between the airspace applied by any two aircraft, the attribute information of the airspace convex hull model corresponding to each aircraft is analyzed, and the airspace adjustment strategy corresponding to each aircraft is determined;The airspace convex hull model is determined based on the airspace applied by each aircraft;Based on the airspace adjustment strategy corresponding to each aircraft, the attribute information of the airspace convex hull model corresponding to each aircraft is adjusted to eliminate the conflict between the airspace applied by the aircraft;The attribute information includes airspace height interval, airspace time interval and airspace horizontal projection.The application can efficiently eliminate the conflict between large-scale aircraft airspace demand, has high reliability, good effect, and can well meet large-scale airspace demand.

Description

Technical Field

[0001] This invention relates to the field of airspace management technology for aircraft, and in particular to a method, apparatus, electronic device, and storage medium for resolving airspace conflicts. Background Technology

[0002] With the development of society and the economy, the contradiction between the surge in airspace demand from various types of aircraft and the limited airspace resources has become increasingly prominent. Timely and efficient conflict detection and resolution of large-scale airspace demand is a key issue in the field of aircraft management research. Airspace conflicts between aircraft may lead to accidents such as dangerous approaches and mid-air collisions. Therefore, conflict detection and resolution need to be carried out during airspace planning to avoid collision risks caused by airspace conflicts in advance.

[0003] However, most existing airspace conflict detection and resolution methods consider only one detection factor and have limited conflict resolution means, resulting in low reliability and poor effectiveness in airspace conflict resolution, which cannot meet the needs of large-scale airspace use.

[0004] Therefore, how to better resolve airspace conflicts has become a pressing technical problem for the industry. Summary of the Invention

[0005] This invention provides a method, apparatus, electronic device, and storage medium for resolving airspace conflicts, in order to better achieve airspace conflict resolution.

[0006] This invention provides a method for resolving airspace conflicts, comprising:

[0007] If a conflict is found between the airspace requests of any two aircraft, the attribute information of the airspace convex hull model corresponding to each aircraft is analyzed to determine the airspace adjustment strategy corresponding to each aircraft; the airspace convex hull model is determined based on the airspace requests of each aircraft.

[0008] Based on the airspace adjustment strategy corresponding to each aircraft, the attribute information of the airspace convex hull model corresponding to each aircraft is adjusted to resolve the conflicts between the airspace applications of the aircraft; the attribute information includes airspace altitude range, airspace time range, and airspace horizontal projection.

[0009] According to the airspace conflict resolution method provided by the present invention, before analyzing the attribute information of the airspace convex hull model corresponding to each aircraft and determining the airspace adjustment strategy corresponding to each aircraft when a conflict is determined between the requested airspaces of any two aircraft, the method further includes:

[0010] Based on the attribute information of the airspace convex hull model corresponding to each of the aforementioned aircraft, the airspace altitude interval spacing, airspace time interval spacing, and airspace horizontal projection spacing between the two airspace convex hull models are determined.

[0011] If the distance between the airspace altitude intervals is not greater than the altitude safety interval, the distance between the airspace time intervals is not greater than the time safety interval, and the distance between the airspace horizontal projections is not greater than the horizontal safety interval, then it is determined that there is a conflict between the airspace requests of any two aircraft.

[0012] According to the airspace conflict resolution method provided by the present invention, the step of analyzing the attribute information of the airspace convex hull model corresponding to each aircraft and determining the airspace adjustment strategy corresponding to each aircraft includes:

[0013] A greedy strategy is adopted to search for adjustment strategies for the spatial height interval, spatial time interval, and spatial horizontal projection of the spatial convex hull model, until it is determined that the attribute information of each spatial convex hull model satisfies the conflict resolution condition. The conflict resolution condition includes that the spatial height interval spacing is greater than the height safety interval, or the spatial time interval spacing is greater than the time safety interval, or the spatial horizontal projection spacing is greater than the horizontal safety interval.

[0014] Obtain the attribute information of each of the spatial convex hull models to satisfy the target adjustment strategy under the condition of conflict resolution;

[0015] Based on the adjustment strategies for each target, the airspace adjustment strategy corresponding to each aircraft is obtained.

[0016] According to the airspace conflict resolution method provided by the present invention, after analyzing the attribute information of the airspace convex hull model corresponding to each aircraft and determining the airspace adjustment strategy corresponding to each aircraft when a conflict is determined between the requested airspaces of any two aircraft, the method further includes:

[0017] If it is determined that the airspace adjustment strategy corresponding to each of the aircraft is empty, obtain the set of trajectory points for each of the aircraft.

[0018] Based on the altitude safety interval, the time safety interval, and the time safety interval, determine the safe airspace convex hull model for each trajectory point in the trajectory point set of either of the two aircraft;

[0019] Based on the safe airspace convex hull model of any one of the aircraft at each moment, and the minimum distance between the target trajectory segment of the other of the two aircraft, it is detected whether a trajectory conflict occurs between the two aircraft.

[0020] According to the airspace conflict resolution method provided by the present invention, after detecting whether a trajectory conflict has occurred between the two aircraft based on the minimum distance between the target trajectory segment of the two aircraft and the safe airspace convex hull model of each aircraft at each time moment, the method further includes:

[0021] In the event that a trajectory conflict is determined between the two aircraft, the minimum circumscribing body of the safe airspace of either aircraft during the conflict period is determined.

[0022] Determine the intersection geometry and difference geometry of the minimum circumscribed body and the airspace convex hull model of the other aircraft;

[0023] The trajectory of the other aircraft is adjusted using the intersection geometry and the difference geometry to resolve the trajectory conflict between the two aircraft.

[0024] According to a method for resolving airspace conflicts provided by the present invention, adjusting the trajectory of another aircraft using the intersection geometry and the difference geometry includes:

[0025] The trajectory of the other aircraft during the conflict period is adjusted to a curve along the surface of the intersection geometry;

[0026] The curve is smoothly connected to the original trajectory of the other aircraft within the difference geometry to generate a new trajectory curve for the other aircraft.

[0027] The present invention also provides an airspace conflict resolution device, comprising:

[0028] The analysis module is used to analyze the attribute information of the airspace convex hull model corresponding to each aircraft when a conflict is found between the requested airspaces of any two aircraft, and to determine the airspace adjustment strategy corresponding to each aircraft; the airspace convex hull model is determined based on the requested airspace of each aircraft.

[0029] The adjustment module is used to adjust the attribute information of the airspace convex hull model corresponding to each aircraft based on the airspace adjustment strategy corresponding to each aircraft, so as to resolve the conflict between the airspace applications of the aircraft; the attribute information includes airspace altitude range, airspace time range and airspace horizontal projection.

[0030] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement any of the above-described spatial conflict resolution methods.

[0031] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the spatial conflict resolution method as described above.

[0032] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements any of the above-described spatial conflict resolution methods.

[0033] The airspace conflict resolution method, apparatus, electronic device, and storage medium provided by this invention resolve conflicts based on a completely isolated airspace usage mode by constructing an airspace convex hull. This decouples the conflict resolution problem of airspace demand applications into three independent problems: airspace altitude interval conflict resolution, airspace horizontal projection conflict resolution, and airspace time interval conflict resolution. Furthermore, it analyzes the airspace altitude interval, airspace time interval, and airspace horizontal projection of the airspace convex hull model corresponding to each aircraft to obtain the airspace adjustment strategy corresponding to each aircraft for resolving airspace conflicts. This method can efficiently resolve conflicts between large-scale aircraft airspace usage demands, with high reliability and good results, and can well meet large-scale airspace usage demands. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0035] Figure 1 This is a flowchart illustrating the airspace conflict resolution method provided by the present invention;

[0036] Figure 2 This is a schematic diagram of the process of spatial convex hull modeling in the spatial conflict resolution method provided by the present invention;

[0037] Figure 3 This is a schematic diagram of spatial convex hull conflict in the spatial conflict resolution method provided by the present invention;

[0038] Figure 4 This is a schematic diagram showing the result of constructing a safe airspace from trajectory points in the airspace conflict resolution method provided by this invention.

[0039] Figure 5 This is a schematic diagram of the trajectory conflict resolution process in the airspace conflict resolution method provided by the present invention;

[0040] Figure 6 This is a schematic diagram of the airspace conflict resolution device provided by the present invention;

[0041] Figure 7This is a schematic diagram of the physical structure of the electronic device provided by the present invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0043] In the description of the invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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 according to the specific circumstances.

[0044] The following is combined Figures 1-7 The present invention describes the airspace conflict resolution method, apparatus, electronic device, and storage medium.

[0045] Figure 1 This is a flowchart illustrating the airspace conflict resolution method provided by the present invention, as shown below. Figure 1 As shown, it includes:

[0046] Step 110: If a conflict is found between the airspace requests of any two aircraft, analyze the attribute information of the airspace convex hull model corresponding to each aircraft to determine the airspace adjustment strategy corresponding to each aircraft; the airspace convex hull model is determined based on the airspace requests of each aircraft.

[0047] Step 120: Based on the airspace adjustment strategy corresponding to each aircraft, adjust the attribute information of the airspace convex hull model corresponding to each aircraft to resolve the conflict between the airspace applications of the aircraft; the attribute information includes airspace altitude range, airspace time range and airspace horizontal projection.

[0048] Specifically, the airspace convex hull model described in this embodiment of the invention is based on the airspace requested by each aircraft. The airspace convex hull model of each requested airspace is constructed using the modeling methods of the minimum bounding convex polygon and the minimum bounding ellipse.

[0049] The modeling method for the minimum bounding convex polygon is as follows: it is represented by the vertices of the minimum bounding convex polygon that contains the requested spatial region (when the requested spatial region is a polygon, the minimum bounding polygon is itself), which can be denoted as S = {(x i ,y i )}, where (x i ,y i ) represents the coordinates of vertex i in the world coordinate system, which can represent the horizontal projection of the spatial domain.

[0050] Modeling the minimum bounding ellipse: The minimum bounding rectangle containing the requested airspace is used as the model. The height range H of the requested airspace can be denoted as the upper and lower bounds of the airspace height, i.e., H = [h1, h2]. Here, h1 represents the minimum height of the requested airspace, and h2 represents the maximum height. Let T be the time range of the airspace request. Then, the requested airspace As can be modeled as a convex hull model, which is represented as follows:

[0051] As={(x,y,z,t)|(x,y)∈S,z∈H,t∈T};

[0052] That is, the airspace convex hull model of each aircraft is a cylindrical region with a duration of T.

[0053] Figure 2 This is a flowchart illustrating the spatial convex hull modeling process in the spatial conflict resolution method provided by this invention, as shown below. Figure 2 As shown, in an embodiment of the present invention, a minimum circumscribed cylinder model is constructed based on the airspace requested by the aircraft and its trajectory in the world coordinate system to obtain the airspace convex hull model of the airspace requested by the aircraft.

[0054] The attribute information described in this embodiment of the invention refers to the relevant attribute information of the airspace convex hull model corresponding to each aircraft, including the airspace altitude interval H, the airspace time interval T, and the airspace horizontal projection S. The airspace horizontal projection S represents the projection of the airspace convex hull model onto the horizontal plane below it; for example, when the airspace convex hull model is represented as a cylinder, its airspace horizontal projection is a circular surface.

[0055] The airspace adjustment strategy described in this embodiment of the invention is used to adjust the various attribute information of the airspace convex hull model of each aircraft, so as to eliminate the conflict between the airspace requests of each aircraft.

[0056] It should be noted that airspace conflict detection and resolution refers to detecting and identifying potential airspace conflicts within the set of airspace request applications, adjusting them, and providing a reasonable airspace usage plan. An airspace conflict occurs when two or more aircraft users apply for airspace that overlaps in area or is too close to each other at the same time. In other words, the prerequisite for conflict-free airspace is that a necessary safe distance must be maintained between the airspace applications of the two aircraft.

[0057] In an embodiment of the present invention, in step 110, airspace conflict detection is performed on the airspace application of each aircraft. If a conflict is found between the airspace application applications of any two aircraft, the attribute information of the airspace convex hull model corresponding to each aircraft is analyzed. By analyzing the airspace altitude range, airspace time range, and airspace horizontal projection one by one, the airspace adjustment strategy corresponding to each aircraft is determined.

[0058] Furthermore, in an embodiment of the present invention, in step 120, based on the airspace adjustment strategy determined in step 1110 for each aircraft, the attribute information of the airspace convex hull model corresponding to each aircraft is adjusted. The type of the adjusted parameter can be categorized as altitude adjustment, horizontal adjustment, and time adjustment based on the type of attribute information. Typically, after adjusting one parameter to meet the interval standard for a conflict, the conflict resolution between the requested airspaces of the aircraft can be completed.

[0059] The airspace conflict resolution method of this invention resolves conflicts based on a completely isolated airspace usage mode by constructing an airspace convex hull. It decouples the conflict resolution problem of airspace demand applications into three independent problems: airspace altitude interval conflict resolution, airspace horizontal projection conflict resolution, and airspace time interval conflict resolution. Then, it analyzes the airspace altitude interval, airspace time interval, and airspace horizontal projection of the airspace convex hull model corresponding to each aircraft to obtain the airspace adjustment strategy corresponding to each aircraft for resolving airspace conflicts. This method can efficiently resolve conflicts between airspace usage demands of large-scale aircraft, with high reliability and good results, and can well meet large-scale airspace usage demands.

[0060] Based on the above embodiments, as an optional embodiment, before analyzing the attribute information of the airspace convex hull model corresponding to each aircraft and determining the airspace adjustment strategy corresponding to each aircraft, when it is determined that there is a conflict between the requested airspaces of any two aircraft, the method further includes:

[0061] Based on the attribute information of the airspace convex hull model corresponding to each aircraft, the airspace altitude interval spacing, airspace time interval spacing, and airspace horizontal projection spacing between two airspace convex hull models are determined.

[0062] If the distance between airspace altitude intervals is determined to be no greater than the altitude safety interval, the distance between airspace time intervals is determined to be no greater than the time safety interval, and the distance between airspace horizontal projections is determined to be no greater than the horizontal safety interval, then a conflict exists between the airspace requests of any two aircraft.

[0063] Specifically, in the embodiments of the present invention, after completing the airspace convex hull modeling for each aircraft's requested airspace, the conflict detection problem of airspace demand application can also be decoupled into three independent problems: airspace altitude interval conflict detection, airspace horizontal projection conflict detection, and airspace time interval conflict detection.

[0064] In an embodiment of the present invention, the height safety interval is denoted as h. s The horizontal safety interval is represented as p s The time safety interval is represented as t. s If the airspace convex hull models of any two aircraft are represented as airspace 1 and airspace 2 respectively, then the airspace convex hull collision detection problem is modeled as the following problem of solving the minimum distance between convex sets.

[0065] The spacing between airspace height intervals is calculated as the minimum one-dimensional distance between regions as follows:

[0066] min|x1-x2|

[0067]

[0068] In the formula, x1 and x2 represent points in the altitude intervals of airspace 1 and airspace 2, respectively; h 1,1 ,h 1,2 and h 2,1 ,h 2,2 These represent the parameters for the altitude ranges of airspace 1 and airspace 2, respectively.

[0069] This problem can be solved analytically as follows, where the spatial height interval spacing d1 is:

[0070]

[0071] Similarly, the spatial time interval spacing is calculated as the minimum distance between one-dimensional regions as follows:

[0072] min|x1-x2|

[0073]

[0074] In the formula, x1 and x2 represent points in the time intervals of spatial domain 1 and spatial domain 2, respectively; t 1,1 ,t 1,2 and t 2,1 ,t 2,2 These represent the parameters for the time intervals of spatial domain 1 and spatial domain 2, respectively.

[0075] The analytical solution to this problem, with the spatial time interval d2, is:

[0076]

[0077] It should be noted that the horizontal projection of the spatial domain obtained by modeling the spatial domain convex hull is a convex set. Under the L2 norm, the spatial domain horizontal projection spacing d3 can be defined as follows:

[0078] d3=inf{‖x1-x2‖2|x1∈S1,x2∈S2};

[0079] In the formula, x1 and x2 represent points in the horizontal projection sets S1 and S2 of spatial domain 1 and spatial domain 2, respectively, and inf represents the infim function.

[0080] Furthermore, S1 and S2 can be described by the following system of convex inequalities:

[0081] S1={x|f i (x)≤0,i=1,...,m};

[0082] S2={x|g i (x)≤0,i=1,...,p};

[0083] In the formula, m and p represent the number of points in the horizontal projection sets S1 and S2, respectively.

[0084] Among them, f i (x),g i All (x) are convex functions, and the problem is transformed into the following convex programming problem:

[0085] min‖x1-x2‖2

[0086]

[0087] This problem can be solved quickly using a convex optimization algorithm, taking Newton's method as an example.

[0088] In embodiments of the present invention, airspace request applications are characterized by three types of parameters: the requested altitude range, the requested location set, and the requested time range. For two airspace request applications, determining whether an airspace conflict exists between them requires simultaneously satisfying the following three criteria:

[0089] 1) The airspace altitude ranges overlap or the distance between altitude ranges is not greater than the altitude safety interval;

[0090] 2) The horizontal projections of the airspace coincide or the horizontal projection spacing is not greater than the horizontal safety interval;

[0091] 3) The airspace time intervals overlap or the time interval spacing is not greater than the time safety interval.

[0092] Airspace conflict resolution involves adjusting certain parameters (including airspace altitude range, airspace horizontal projection, and airspace time range) of one of the airspace requests in a conflict pair (i.e., two conflicting airspace requests) to resolve the conflict. Applications for airspace requests whose conflicts cannot be resolved can be rejected.

[0093] Therefore, the detection results of the conflict airspace can be expressed as follows:

[0094] if((d1≤h s AND(d2≤t) s AND (d3≤p) s ));

[0095] In other words, if the distance between the airspace altitude intervals is no greater than the altitude safety interval, the distance between the airspace time intervals is no greater than the time safety interval, and the distance between the airspace horizontal projections is no greater than the horizontal safety interval, it can be determined that there is a conflict between the airspace applications of the two aircraft.

[0096] The method of this invention decouples the conflict detection problem of airspace demand application into three independent problems by modeling the convex hull of airspace based on the completely isolated airspace usage mode. This decouples the conflict detection problem of airspace demand application into three independent problems: airspace altitude interval conflict detection, airspace horizontal projection conflict detection, and airspace time interval conflict detection. This method can effectively and quickly solve the conflict detection problem in large-scale airspace demand in aircraft management and control, with high reliability and good detection effect.

[0097] Based on the above embodiments, as an optional embodiment, the attribute information of the airspace convex hull model corresponding to each aircraft is analyzed to determine the airspace adjustment strategy corresponding to each aircraft, including:

[0098] A greedy strategy is adopted to search for adjustment strategies for the airspace height interval, airspace time interval, and airspace horizontal projection of the airspace convex hull model until the attribute information of each airspace convex hull model satisfies the conflict resolution conditions. The conflict resolution conditions include that the airspace height interval spacing is greater than the height safety interval, or the airspace time interval spacing is greater than the time safety interval, or the airspace horizontal projection spacing is greater than the horizontal safety interval.

[0099] Obtain the attribute information of each spatial domain convex hull model to satisfy the target adjustment strategy under the condition of conflict resolution;

[0100] Based on the adjustment strategies for each target, the airspace adjustment strategy corresponding to each aircraft is obtained.

[0101] Specifically, in the embodiments of the present invention, when an airspace "conflict pair" is detected, it is determined that the detection result of airspace 1 and airspace 2 meets the criteria for conflicting airspaces. At this time, it is necessary to adjust the airspace conflict, which can be divided into altitude adjustment, horizontal adjustment, and time adjustment. Under normal circumstances, for a conflict, adjusting one parameter to reach the interval standard is sufficient to complete the conflict resolution.

[0102] In an embodiment of the present invention, the maximum allowable altitude adjustment, horizontal adjustment, and time adjustment for airspace coordination are denoted as h. m ,p m ,t m Furthermore, based on a greedy algorithm, adjustment strategies are searched for the spatial height interval, spatial time interval, and spatial horizontal projection of the spatial convex hull model, respectively. The specific steps of the above process include:

[0103] Step S1: Find the optimal strategy for resolving spatial "conflict pairs", that is, find the target adjustment strategy that satisfies the attribute information of the two spatial convex hull models under the condition of conflict resolution, including the spatial adjustment strategy Δh1, Δp1, Δt1 of spatial domain 1 and the spatial adjustment strategy Δh2, Δp2, Δt2 of spatial domain 2.

[0104] Where, Δh1≤h m Δh2≤h m ;Δp1≤p m Δp2≤p m ;Δt1≤t m Δt2≤t m .

[0105] The adjusted space pairs can be represented as follows:

[0106] ΔAs1={(x,y,z,t)|(x,y)∈S1(Δp1),z∈H1+Δh1,t∈T1+Δt1};

[0107] ΔAs2={(x,y,z,t)|(x,y)∈S2(Δp2),z∈H2+Δh2,t∈T2+Δt2};

[0108] So that the adjusted spatial pairs ΔAs1 and ΔAs2 satisfy the following conflict resolution conditions:

[0109] (d1≤h s OR(d2≤t) s OR(d3≤p) s );

[0110] That is, the spacing between airspace height intervals is greater than the height safety interval, or the spacing between airspace time intervals is greater than the time safety interval, or the spacing between airspace horizontal projections is greater than the horizontal safety interval.

[0111] At the same time, it should be noted that the following adjustment principles must also be followed during the search process of the adjustment strategy based on the greedy algorithm:

[0112] 1) Adjust the single spatial convex hull model as much as possible, i.e., it must satisfy:

[0113] Δp1Δp2=0, Δh1Δh2=0, Δt1Δt2=0;

[0114] 2) Minimize the adjustment amount, i.e.:

[0115]

[0116] In this embodiment, based on the spatial height interval, spatial time interval, and spatial horizontal projection of the spatial convex hull model, strategy searches are performed from three dimensions: height, horizontal, and time. All feasible adjustment strategies obtained are denoted as follows:

[0117] P = {P} i |P i =[I i ,Δ i ]};

[0118] Among them, I i ∈R3 is a three-dimensional adjustment indicator, corresponding to the adjustment method of the adjustment strategy. Taking height adjustment as an example, I = [1,0,0]; Δ i For the corresponding airspace adjustment, taking an altitude adjustment of 100m in airspace 1 and -50m in airspace 2 as an example, Δ i =[100,-50].

[0119] Step S2: Based on the aforementioned conflict airspace detection results, re-detect the conflict in the adjusted airspace.

[0120] Step S3: If a conflict is detected, repeat step S1 to resolve the conflict. Adjustments must meet the following requirements: That is, each airspace is not allowed to make repeated adjustments within the same dimension until no adjustment is possible or no conflict occurs.

[0121] The method of this invention employs a greedy algorithm to search for strategies for each spatial convex hull model from three dimensions: height, level, and time. This effectively solves the conflict resolution problem based on the completely isolated use of spatial domains, improving the efficiency and effectiveness of spatial conflict resolution.

[0122] It should be noted that the aforementioned airspace conflict detection and resolution is based on the premise that all airspace is completely isolated in airspace planning. However, with the increasing number of aircraft and the growing demand for airspace capacity, dynamic planning of airspace demand, which combines specific flight plans and the actual operating trajectories of aircraft, could potentially improve the flexibility of airspace use.

[0123] Figure 3 This is a schematic diagram of spatial convex hull conflict in the spatial conflict resolution method provided by the present invention, as shown below. Figure 3 The two airspace request applications shown are for a rectangular airspace and a cylindrical airspace, respectively. According to the aforementioned airspace conflict detection criteria, the two airspaces conflict. However, if we consider the actual flight schedule and the corresponding airspace usage plan, such as... Figure 3 As shown, two aircraft operating in overlapping airspace will not appear in the overlapping area at the same time, so it can be considered that there is no airspace conflict between them. Therefore, considering the spatiotemporal operation of aircraft, the standard for determining airspace conflict is actually changed from judging the interval between airspaces to judging the dynamic spatiotemporal interval between aircraft, requiring that the aircraft maintain the interval standard that meets the safety interval requirements at any time. For two airspace request applications, by superimposing the flight plans and spatiotemporal operation trajectories of the aircraft, it may be possible to apply for airspace ranges and usage time that were originally unavailable.

[0124] Based on the above embodiments, as an optional embodiment, when it is determined that there is a conflict between the airspace requests of any two aircraft, after analyzing the attribute information of the airspace convex hull model corresponding to each aircraft and determining the airspace adjustment strategy corresponding to each aircraft, the method further includes:

[0125] Given that the airspace adjustment strategy for each aircraft is empty, obtain the set of trajectory points for each aircraft.

[0126] Based on the altitude safety interval, time safety interval, and time safety interval, determine the safe airspace convex hull model for each trajectory point in the trajectory point set of either of the two aircraft.

[0127] Based on the safe airspace convex hull model of any aircraft at each time step, and the minimum distance between the target trajectory segment of the other aircraft, it is used to detect whether a trajectory conflict occurs between the two aircraft.

[0128] Specifically, in an embodiment of the present invention, if it is determined that the airspace adjustment strategy corresponding to each aircraft is empty, it means that the "conflict pair" cannot be resolved by airspace and trajectory conflict detection and resolution are required.

[0129] Furthermore, in an embodiment of the present invention, a set of trajectory points for each aircraft is obtained, and convex hull modeling is performed on the aircraft trajectory points, i.e., according to the altitude safety interval h. s Horizontal safety interval p s Time safety interval t s Establish a cylindrical safe spatial convex hull model for each trajectory point.

[0130] Figure 4 This is a schematic diagram illustrating the result of constructing a safe airspace from trajectory points in the airspace conflict resolution method provided by this invention, as shown below. Figure 4 As shown, for any trajectory point on the aircraft's trajectory, with that trajectory point as the center, according to the altitude safety interval h s Horizontal safety interval p s Time safety interval t s Construct a cylindrical safe airspace.

[0131] Furthermore, in embodiments of the present invention, trajectory conflicts exist only in the conflict spatial domain, and trajectory conflict detection can be transformed into the following distance calculation problem:

[0132] d4=inf{‖x1-x2‖2|x1∈As1(t),x2∈l2(tt s ,t+t s )};

[0133] As1(t)={(x,y,z)|(x,y)∈S(t),z∈H(t)},t∈T;

[0134] Where As1(t) represents the safe airspace convex hull model of the trajectory point of aircraft 1 at time t; l2(tt) s ,t+t s ) indicates that aircraft 2 is in the time period [tt] s ,t+t s The trajectory within ] is the target trajectory segment; d4 represents the minimum distance between the safe airspace convex hull model of aircraft 1 at each moment and the target trajectory segment of aircraft 2.

[0135] In an embodiment of the present invention, d4 can be calculated to detect whether a trajectory conflict occurs between aircraft 1 and aircraft 2. If d4 = 0, it can be determined that a trajectory conflict has occurred between aircraft 1 and aircraft 2; otherwise, it can be determined that no trajectory conflict has occurred between aircraft 1 and aircraft 2.

[0136] The method of this invention, when it is determined that complete airspace isolation cannot be achieved, constructs the trajectory convex hull of the aircraft by considering the aircraft's operating time and motion trajectory, and superimposes the aircraft's flight plan and spatiotemporal trajectory. This transforms the standard for airspace conflict determination from judging the interval between airspaces to judging the dynamic spatiotemporal interval between aircraft, realizing the detection of aircraft trajectory conflicts under space reuse and improving the efficiency of airspace use.

[0137] Based on the above embodiments, as an optional embodiment, after detecting whether a trajectory conflict occurs between two aircraft based on the minimum distance between the target trajectory segment of the other aircraft and the safe airspace convex hull model of any aircraft at each moment, the method further includes:

[0138] In the event that a trajectory conflict is determined between two aircraft, determine the minimum circumscribing body of the safe airspace for either aircraft during the conflict period.

[0139] Determine the intersection and difference geometry of the minimum circumscribed body and the airspace convex hull model of another aircraft;

[0140] By using intersection geometry and difference geometry, the trajectory of another aircraft can be adjusted to resolve trajectory conflicts between the two aircraft.

[0141] Specifically, the safe airspace during the conflict period described in the embodiments of the present invention refers to the airspace formed by sequentially connecting the safe airspace convex hull models of all trajectory points of any aircraft during the conflict period.

[0142] The minimum circumscribed body described in this embodiment of the invention refers to the geometric body with the smallest volume among the minimum circumscribed sphere and the minimum circumscribed cylinder of the aforementioned safe airspace.

[0143] The intersection geometry described in this embodiment of the invention refers to the geometry formed by the intersection of the minimum circumscribed body and the spatial convex hull model of another aircraft in a spatial region.

[0144] The difference set geometry described in this embodiment of the invention refers to the geometry formed by removing the intersection geometry of the minimum circumscribed body and the airspace convex hull model of another aircraft.

[0145] Figure 5 This is a schematic diagram of the trajectory conflict resolution process in the airspace conflict resolution method provided by the present invention, as shown below. Figure 5 As shown, in an embodiment of the present invention, one aircraft is designated as aircraft 1, and the other aircraft is designated as aircraft 2. When a trajectory conflict is determined between the two aircraft, i.e., when a trajectory conflict is detected between aircraft 1 and aircraft 2, the conflict time period is recorded as [t]. c1 ,t c2First, determine the time period of conflict for aircraft 1 [t]. c1 ,t c2 The smallest circumscribed body G of the safe airspace within the conflict time period [t] is the boundary condition for the conflict time period [t]. c1 ,t c2 Construct a safe airspace convex hull model for all trajectory points of the internal aircraft 1. The safe airspace convex hull models corresponding to all trajectory points can be combined to form a safe airspace. Find the minimum circumscribed sphere and minimum circumscribed cylinder for this safe airspace, and take the smallest geometry among the minimum circumscribed sphere and minimum circumscribed cylinder as the minimum circumscribed body G.

[0146] Furthermore, in an embodiment of the present invention, the intersection geometry of the minimum circumscribed body and the spatial convex hull model As2 of the aircraft 2 in space is calculated, that is, the closed spatial domain of spatial overlap, and the difference geometry, that is, the spatial domain other than the spatial domain occupied by the intersection geometry in the closed spatial domain formed by the minimum circumscribed body and the spatial convex hull model As2.

[0147] Furthermore, in an embodiment of the present invention, the intersection geometry and the difference geometry can be used to adjust the trajectory of the aircraft 2 within the convex hull of the airspace, so as to resolve the trajectory conflict between the two aircraft.

[0148] The method of this invention, when determining that a trajectory conflict occurs between two aircraft, comprehensively considers the flight plans and spatiotemporal trajectories of the aircraft, and uses the spatial positional relationship between the safe airspace of one aircraft and the airspace convex hull model of the other aircraft during the conflict period to readjust the trajectory of the aircraft. This can effectively resolve the trajectory conflict between the two aircraft and realize the reuse of space.

[0149] Based on the above embodiments, as an optional embodiment, the trajectory of another aircraft is adjusted using intersection geometry and difference geometry, including:

[0150] Adjust the trajectory of the other aircraft during the conflict period to a curve along the surface of the intersection geometry;

[0151] The curve is smoothly connected to the original trajectory of another aircraft within the difference geometry to generate a new trajectory curve for the other aircraft.

[0152] Specifically, continue to refer to Figure 5 In an embodiment of the present invention, the intersection geometry G of the smallest circumscribed body G of aircraft 1 and the airspace convex hull model As2 of aircraft 2 is determined. j The geometric shape G of the difference set d Subsequently, during the conflict period [t] c1 ,t c2 Within [the spacecraft], the trajectory of spacecraft 2 is adjusted to follow the intersection geometry G. jThe curve of surface movement.

[0153] Furthermore, in an embodiment of the present invention, the adjusted trajectory curve segment of the aircraft 2 and the unadjusted original trajectory segment of the aircraft 2 are compared in the difference geometry G. d The internal connection is smoothed to generate a new trajectory curve for the adjusted aircraft 2. At this time, the trajectory conflict between aircraft 1 and aircraft 2 will be resolved.

[0154] The method of this invention utilizes the intersection and difference between the safe airspace of one aircraft and the airspace convex hull model of another aircraft during the conflict period to quickly adjust the trajectory of the aircraft. While efficiently resolving trajectory conflicts between aircraft, it does not affect the detection results of other airspace conflicts, which is conducive to better meeting the large-scale airspace needs in aircraft management.

[0155] The airspace conflict resolution device provided by the present invention is described below. The airspace conflict resolution device described below and the airspace conflict resolution method described above can be referred to in correspondence.

[0156] Figure 6 This is a schematic diagram of the airspace conflict resolution device provided by the present invention, as shown below. Figure 6 As shown, the device includes an analysis module 610 and an adjustment module 620 connected in sequence.

[0157] The analysis module 610 is used to analyze the attribute information of the airspace convex hull model corresponding to each aircraft when it is determined that there is a conflict between the airspace applications of any two aircraft, and to determine the airspace adjustment strategy corresponding to each aircraft; the airspace convex hull model is determined based on the airspace application of each aircraft.

[0158] The adjustment module 620 is used to adjust the attribute information of the airspace convex hull model corresponding to each aircraft based on the airspace adjustment strategy corresponding to each aircraft, so as to resolve the conflict between the airspace applications of the aircraft; the attribute information includes airspace altitude range, airspace time range and airspace horizontal projection.

[0159] The airspace conflict resolution device described in this embodiment can be used to execute the airspace conflict resolution method embodiment described above. Its principle and technical effect are similar, and will not be repeated here.

[0160] The airspace conflict resolution device of this invention resolves conflicts based on a completely isolated airspace usage mode by constructing an airspace convex hull. It decouples the conflict resolution problem of airspace demand applications into three independent problems: airspace altitude interval conflict resolution, airspace horizontal projection conflict resolution, and airspace time interval conflict resolution. Then, it analyzes the airspace altitude interval, airspace time interval, and airspace horizontal projection of the airspace convex hull model corresponding to each aircraft to obtain the airspace adjustment strategy corresponding to each aircraft to resolve airspace conflicts. It can efficiently resolve conflicts between airspace usage demands of large-scale aircraft, with high reliability and good effect, and can well meet large-scale airspace usage demands.

[0161] Figure 7 This is a schematic diagram of the physical structure of the electronic device provided by the present invention, such as... Figure 7 As shown, the electronic device may include a processor 710, a communications interface 720, a memory 730, and a communication bus 740, wherein the processor 710, communications interface 720, and memory 730 communicate with each other via the communication bus 740. The processor 710 can call logical instructions in the memory 730 to execute the airspace conflict resolution methods provided by the above methods. This method includes: when a conflict is determined between the requested airspaces of any two aircraft, analyzing the attribute information of the airspace convex hull model corresponding to each aircraft to determine the airspace adjustment strategy corresponding to each aircraft; the airspace convex hull model is determined based on the requested airspace of each aircraft; based on the airspace adjustment strategy corresponding to each aircraft, adjusting the attribute information of the airspace convex hull model corresponding to each aircraft to resolve the conflict between the requested airspaces of the aircraft; the attribute information includes airspace altitude range, airspace time range, and airspace horizontal projection.

[0162] Furthermore, the logical instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0163] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the airspace conflict resolution method provided by the above methods. The method includes: when it is determined that there is a conflict between the requested airspaces of any two aircraft, analyzing the attribute information of the airspace convex hull model corresponding to each aircraft to determine the airspace adjustment strategy corresponding to each aircraft; the airspace convex hull model is determined based on the requested airspace of each aircraft; and adjusting the attribute information of the airspace convex hull model corresponding to each aircraft based on the airspace adjustment strategy corresponding to each aircraft to resolve the conflict between the requested airspaces of the aircraft; the attribute information includes airspace altitude range, airspace time range, and airspace horizontal projection.

[0164] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, is implemented to perform the airspace conflict resolution method provided by the above methods. The method includes: when a conflict is determined between the requested airspaces of any two aircraft, analyzing the attribute information of the airspace convex hull model corresponding to each aircraft to determine the airspace adjustment strategy corresponding to each aircraft; the airspace convex hull model is determined based on the requested airspace of each aircraft; and based on the airspace adjustment strategy corresponding to each aircraft, adjusting the attribute information of the airspace convex hull model corresponding to each aircraft to resolve the conflict between the requested airspaces of the aircraft; the attribute information includes an airspace altitude range, an airspace time range, and an airspace horizontal projection.

[0165] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0166] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0167] 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 the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for resolving airspace conflicts, characterized in that, include: In the case where it is determined that there is a conflict between the airspace applications of any two aircraft, the attribute information of the airspace convex hull model corresponding to each aircraft is analyzed to determine the airspace adjustment strategy corresponding to each aircraft. The airspace convex hull model is determined based on the airspace requested by each of the aircraft; Based on the airspace adjustment strategy corresponding to each of the aforementioned aircraft, the attribute information of the airspace convex hull model corresponding to each of the aforementioned aircraft is adjusted to resolve conflicts between the airspace requests of the aforementioned aircraft; the attribute information includes airspace altitude range, airspace time range, and airspace horizontal projection; If it is determined that the airspace adjustment strategy corresponding to each of the aircraft is empty, obtain the set of trajectory points for each of the aircraft. Based on the altitude safety interval, time safety interval, and horizontal safety interval, determine the safe airspace convex hull model for each trajectory point in the trajectory point set of either of the two aircraft. Based on the safe airspace convex hull model of any one of the aircraft at each time moment, and the minimum distance between the target trajectory segment of the other of the two aircraft, it is detected whether a trajectory conflict occurs between the two aircraft. In the event that a trajectory conflict is determined between the two aircraft, the minimum circumscribing body of the safe airspace of either aircraft during the conflict period is determined. Determine the intersection geometry and difference geometry of the minimum circumscribed body and the airspace convex hull model of the other aircraft; The trajectory of the other aircraft during the conflict period is adjusted to a curve along the surface of the intersection geometry; The curve is smoothly connected to the original trajectory of the other aircraft within the difference geometry to generate a new trajectory curve for the other aircraft, thereby resolving the trajectory conflict between the two aircraft.

2. The airspace conflict resolution method according to claim 1, characterized in that, Before analyzing the attribute information of the airspace convex hull model corresponding to each aircraft and determining the airspace adjustment strategy corresponding to each aircraft in the event that a conflict exists between the requested airspaces of any two aircraft, the method further includes: Based on the attribute information of the airspace convex hull model corresponding to each of the aforementioned aircraft, the airspace altitude interval spacing, airspace time interval spacing, and airspace horizontal projection spacing between the two airspace convex hull models are determined. If the distance between the airspace altitude intervals is not greater than the altitude safety interval, the distance between the airspace time intervals is not greater than the time safety interval, and the distance between the airspace horizontal projections is not greater than the horizontal safety interval, then it is determined that there is a conflict between the airspace requests of any two aircraft.

3. The airspace conflict resolution method according to claim 2, characterized in that, The step of analyzing the attribute information of the airspace convex hull model corresponding to each of the aforementioned aircraft to determine the airspace adjustment strategy corresponding to each of the aforementioned aircraft includes: A greedy strategy is adopted to search for adjustment strategies for the spatial height interval, spatial time interval, and spatial horizontal projection of the spatial convex hull model, until it is determined that the attribute information of each spatial convex hull model satisfies the conflict resolution condition. The conflict resolution condition includes that the spatial height interval spacing is greater than the height safety interval, or the spatial time interval spacing is greater than the time safety interval, or the spatial horizontal projection spacing is greater than the horizontal safety interval. Obtain the attribute information of each of the spatial convex hull models to satisfy the target adjustment strategy under the condition of conflict resolution; Based on the adjustment strategies for each target, the airspace adjustment strategy corresponding to each aircraft is obtained.

4. An airspace conflict resolution device, characterized in that, include: The analysis module is used to analyze the attribute information of the airspace convex hull model corresponding to each aircraft when it is determined that there is a conflict between the airspace applications of any two aircraft, and to determine the airspace adjustment strategy corresponding to each aircraft. The airspace convex hull model is determined based on the airspace requested by each of the aircraft; An adjustment module is used to adjust the attribute information of the airspace convex hull model corresponding to each aircraft based on the airspace adjustment strategy corresponding to each aircraft, so as to resolve the conflict between the requested airspaces of the aircraft. The attribute information includes airspace altitude interval, airspace time interval, and airspace horizontal projection. When it is determined that the airspace adjustment strategy corresponding to each aircraft is empty, the module obtains the trajectory point set of each aircraft. Based on the altitude safety interval, time safety interval, and horizontal safety interval, the module determines the safe airspace convex hull model of each trajectory point in the trajectory point set of any two aircraft. Based on the minimum distance between the safe airspace convex hull model of any aircraft at each time moment and the target trajectory segment of the other aircraft, the module detects whether a trajectory conflict has occurred between the two aircraft. In the event of a trajectory conflict between two aircraft, the minimum bounding body of the safe airspace of either aircraft during the conflict period is determined; the intersection geometry and difference geometry of the minimum bounding body and the airspace convex hull model of the other aircraft are determined; the trajectory of the other aircraft during the conflict period is adjusted to a curve along the surface of the intersection geometry; the curve is smoothly connected to the original trajectory of the other aircraft within the difference geometry to generate a new trajectory curve for the other aircraft, thereby resolving the trajectory conflict between the two aircraft.

5. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the airspace conflict resolution method as described in any one of claims 1 to 3.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the airspace conflict resolution method as described in any one of claims 1 to 3.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the airspace conflict resolution method as described in any one of claims 1 to 3.

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