A route static detection and automatic re-planning method based on grid code

Abstract

The present application relates to a kind of route static detection and automatic re-planning method based on grid code, belong to aviation control technical field, by integrating grid code and grid conversion and operation ability in airspace manager, all aviation data is converted into grid code and is saved, when new route or no-fly zone data is added to airspace manager, by converting it into grid code, the quick operation with existing aviation data grid code can be realized, and based on the efficient conversion between grid code and grid, make new route not only effectively avoid conflict, but also ensure the safety distance with existing route, no-fly zone, solve the problems of low efficiency, large amount of calculation, slow speed and re-planning route not fully considering safety factors in existing route conflict detection and automatic re-planning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of air traffic control, and particularly relates to a route static detection and automatic re-planning method based on a grid code. BACKGROUND

[0002] In the existing airspace route control technology, whether routes conflict with each other, whether routes and no-fly zones conflict with each other, and the like are more determined by the distance between two routes. If the amount of route data in the airspace is large (such as more than 1000 routes), each new route needs to be spatially determined with other routes in the airspace before being added to the airspace manager to determine whether the new route is safe, which is relatively time-consuming, and may not meet the requirements in some time-sensitive scenarios.

[0003] Even if a conflict is detected, only a flight path quick recovery is performed, and no route re-planning considering safety factors is performed, which has certain risks.

[0004] Therefore, there is an urgent need for a route conflict detection and automatic re-planning technology that is efficient, fast, has small computational complexity, and fully considers safety factors to solve the existing problems. SUMMARY

[0005] In view of the above analysis, the embodiments of the present application aim to provide a route static detection and automatic re-planning method based on a grid code to solve the problems of low efficiency, large computational complexity, slow speed, and insufficient consideration of safety factors in the existing route conflict detection and automatic re-planning.

[0006] In one aspect, the embodiments of the present application provide a route static detection and automatic re-planning method based on a grid code. After an airspace manager is started, existing no-fly zone and route data in the managed airspace are loaded and automatically converted into grid codes and grids, respectively. When a new air demand is added to the airspace manager, the airspace manager detects and avoids conflict risks through the following steps, which include:

[0007] converting the new air demand into a grid code;

[0008] sorting the new air demand grid code and the existing no-fly zone and route grid codes by size after merging, sequentially traversing and determining whether there are adjacent grid codes with repetition or inclusion relationship; if so, identifying the conflict type, when the conflict type is route conflict, determining whether the shortest distance between the conflicting parties is less than a safety threshold, if so, automatically re-planning the conflicting route, and storing; when the conflict type is route and no-fly zone conflict, automatically re-planning the conflicting route, and storing;

[0009] otherwise, the new air demand is successfully added.

[0010] The beneficial effects of the above technical solutions are as follows: the application of the grid code in the route conflict detection greatly reduces the operation complexity and improves the conflict detection speed; on the basis of finding the conflict risk through the rapid calculation of the grid code, the safety distance of the conflict parties is further calculated, which can effectively avoid the possible omission of the coarse-grained calculation of the grid code; the grid code conversion grid is used for automatic re-planning of the route, and the advantage is also in fully utilizing the respective advantages of the grid code and the grid for rapid conversion, further reducing the operation amount loss, and improving the efficiency and response speed of the automatic re-planning of the route.

[0011] Based on the further improvement of the above method, the grid code is based on a geographical area based on 2 n The tree one-dimensional integral geographical coordinate subdivision grid coding method converts the aviation data into a grid code.

[0012] The beneficial effects of the above further improvement scheme are as follows: the grid code technology adopted by the present application is based on 2 n The tree one-dimensional integral geographical coordinate subdivision grid coding method (i.e., GeoSOT) is developed, the GeoSOT grid has the characteristics of non-overlapping boundary, orthogonal grid, consistent longitude and latitude, and can realize point and surface integration representation.

[0013] Based on the further improvement of the above method, the new aviation demand includes new routes and new no-fly zones; the conflict type includes the conflict between the new no-fly zone and the existing route, the conflict between the new route and the existing no-fly zone, or the conflict between the new route and the existing route.

[0014] The beneficial effects of the above further improvement scheme are as follows: the technical scheme of the present application combines and expands the existing conflict detection object types, so that the technical scheme of the present application has more perfect practicability.

[0015] Based on the further improvement of the above method, when the new no-fly zone and the existing route conflict, or the new route and the existing no-fly zone conflict, the shortest flight segment of the conflict route is found based on the adjacent grid codes with repetition or containing relationship, wherein the two end points of the shortest flight segment are not in the adjacent grid code area with repetition or containing relationship; the route between the two end points of the shortest flight segment is automatically re-planned, and is converted into a grid code to replace the grid code with repetition or containing relationship in the conflict route grid code.

[0016] The beneficial effects of the above further improvement scheme are as follows: the grid code calculation reduces the operation amount of the conflict calculation; the calculation of the shortest flight segment grid code helps to more accurately locate the conflict range, so that the operation amount and complexity of the subsequent automatic re-planning of the route are further reduced; the end point grid code is removed in the conflict route grid code in order to remove the effective area and ensure that the calculation result of the conflict shortest flight segment grid code is more accurate.

[0017] Further improvement based on the above method, when the conflict type is inter-route conflict, the shortest flight segment of the two conflict routes in the adjacent grid code area with repetition or containing relationship is found, wherein the two end points of the shortest flight segment are not in the adjacent grid code area with repetition or containing relationship,

[0018] When the distance between the shortest flight segments has any of the following conditions, the shortest flight segment belonging to the newly added route is automatically re-planned, the conditions include:

[0019] The shortest perpendicular line distance between the shortest flight segments of the conflict routes is less than the safety threshold;

[0020] The shortest perpendicular line distance between the respective points of the conflict routes and the shortest flight segment of the other route is less than the safety threshold;

[0021] The shortest distance between the respective points of the conflict routes and the respective points of the other route is less than the safety threshold.

[0022] The beneficial effect of the above further improvement scheme is that based on the fast calculation of the grid code of the conflict route grid position, the shortest distance between the routes is further calculated, and the calculation accuracy of the technical scheme is further improved.

[0023] Further improvement based on the above method, the route loaded into the airspace manager is converted into a grid code by the following method:

[0024] For a route, the route is segmented with the safety threshold as the step length from the starting point of the route;

[0025] The distance constraint grid set is calculated and established for each route segment one by one, and the grid de-duplication calculation and aggregation calculation are performed to generate the route grid code and store it.

[0026] The beneficial effect of the above further improvement scheme is that the grid code conversion module in the technical scheme of the application corresponds to typical route data in airspace data, and the region data respectively provides a processing submodule, and for route data, the route is segmented by setting the safety threshold, thereby efficiently calculating the grid set of each route segment within a threshold range without having to operate on all intersecting grids, greatly reducing the amount of calculation and algorithm complexity; and the calculation result of the previous route segment can effectively reduce the amount of calculation of the next segment, further improving the grid code calculation efficiency.

[0027] Further improvement based on the above method, the distance constraint grid set is calculated and established for each route segment one by one by the following steps, the steps include:

[0028] If the two end points of the flight segment are in the same grid, the grid is selected as the selected grid, and if the selected grid does not exist in the distance constraint grid set, the selected grid is added to the distance constraint grid set;

[0029] If the two end points of the flight segment are in different grids, the two different grids are added to the distance constraint grid set, a first selected area is obtained based on the longitude and latitude of the two different grids, redundant grids are removed from the first selected area, and grids meeting the preset condition are selected from the remaining grids of the first selected area and added to the distance constraint grid set;

[0030] The selected grid or the first selected area is expanded based on the safety threshold to obtain a second selected area, redundant grids are removed from the second selected area, and grids meeting the preset condition are selected from the remaining grids of the second selected area and added to the distance constraint grid set.

[0031] The beneficial effect of the above further improvement scheme is that, based on the calculation of the grid code of the flight segment based on the safety threshold, the added grid code between the flight segments is de-redundant, so that the calculation result of the previous flight segment can effectively reduce the calculation amount of the next segment, and the calculation efficiency of the flight grid code is further improved.

[0032] Based on the further improvement of the above method, the safety threshold is an aircraft safety threshold, and any one of the grid code width equal to the aircraft safety threshold or the grid code width of the two adjacent levels closest to the aircraft safety threshold is selected to determine the lowest level grid in the distance constraint grid set.

[0033] The beneficial effect of the above further improvement scheme is that the safety threshold of the present application is set to be consistent with the aircraft safety threshold, and the lowest level of the grid map is determined based on the aircraft safety threshold. For the processing of the route by the grid map, it is a suitable and reasonable choice, which neither increases the calculation burden too much nor affects the distance constraint too much, and also enables the route segment to be approximately straight when the route is divided, thereby reducing the calculation complexity.

[0034] Based on the further improvement of the above method, the management airspace and the no-fly zone loaded into the airspace manager are automatically converted into grid codes by the following method:

[0035] For any one region in the management airspace and the no-fly zone, the lowest level grid code containing the region is obtained based on the grid code level rule decomposition, and is taken as a grid code to be processed;

[0036] A boundary line grid code set satisfying the distance constraint with the region boundary line is calculated and obtained;

[0037] The region grid code set is obtained by the following process:

[0038] S11: converting each grid code in the boundary line grid code set to the grid code of the level corresponding to the to-be-processed grid, and removing the duplicates to obtain each grid code in the updated boundary line grid code set;

[0039] S12: if the level corresponding to the to-be-processed grid code is higher than the set minimum level, decomposing the to-be-processed grid code into a next-level grid code, otherwise ending;

[0040] If the next-level grid code exists in the area boundary line grid set, the next-level grid code is taken as the to-be-processed grid code of the next iteration;

[0041] Otherwise, if the grid corresponding to the next-level grid code is located in the area boundary line, the next-level grid code is added to the area grid code set; returning to step S11;

[0042] Merging the area grid code set and the area boundary line grid code set, and then removing the duplicates and aggregating to obtain the area grid code and store it.

[0043] The beneficial effect of the above further improved scheme is that the operation complexity and operation amount are greatly reduced compared with the optimized algorithm of the prior art, the area grid code set can be obtained quickly, and the operation performance and speed are greatly improved.

[0044] Based on the further improvement of the above method, the automatic re-planning is realized by the following steps, which include:

[0045] Calculating the grid corresponding to the two end waypoint grid codes of the shortest flight segment in the conflict flight route;

[0046] Establishing the topological relationship of the two end waypoints based on the eight-direction connectivity modeling of the grid;

[0047] Planning the re-planned flight route between the two end waypoints based on the topological relationship and the minimum cost principle;

[0048] Converting the re-planned flight route between the two end waypoints into a grid code, removing the two end waypoint grid codes, and then replacing the grid codes with repetition or containing relationship in the conflict flight route.

[0049] The beneficial effect of the above further improved scheme is that the operation amount between the grid code and the grid is greatly improved compared with the traditional three-dimensional data conversion grid based on longitude, latitude and height, which greatly improves the operation efficiency and flight planning speed, so that the aircraft can respond faster in emergency situations and fly safely based on the newly planned flight route.

[0050] The above technical solutions can be combined with each other in the present application to achieve more preferred combination solutions. Other features and advantages of the present application will be described in the subsequent description, and some advantages will become apparent from the description, or will be understood by implementing the present application. The objects and other advantages of the present application can be achieved and obtained from the contents specifically pointed out in the description and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0051] The accompanying drawings are included to provide a further understanding of the present application, and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application, and together with the description serve to explain the principles of the present application, and should not be necessarily construed as limiting the present application.

[0052] Figure 1 Schematic diagram of the grid code set covered by the waypoint distance constraint of the embodiment of the present application;

[0053] Figure 2 Schematic diagram of the route segment of the embodiment of the present application;

[0054] Figure 3 Schematic diagram of the first selected area of the embodiment of the present application;

[0055] Figure 4 Schematic diagram of the second selected area of the embodiment of the present application;

[0056] Figure 5 Schematic diagram of the route segment of the route segment of the embodiment of the present application;

[0057] Figure 6 Schematic diagram of the grid code of the generated area boundary line of the embodiment of the present application;

[0058] Figure 7 Schematic diagram of the grid code algorithm of the generated area of the embodiment of the present application;

[0059] Figure 8 Schematic diagram of the grid code aggregation operation of the embodiment of the present application;

[0060] Figure 9 Schematic diagram of the conflict route repeated grid code of the embodiment of the present application;

[0061] Figure 10 Schematic diagram of the vertical line between routes of the embodiment of the present application;

[0062] Figure 11 Schematic diagram of the relationship between the waypoint and the vertical line between routes of the embodiment of the present application;

[0063] Figure 12 Schematic diagram of the grid code conversion grid of the embodiment of the present application. DETAILED DESCRIPTION

[0064] To facilitate the understanding of the technical solutions of the present application, the following lists the explanations of the terms used or involved in the present application.

[0065] Intelligent airspace: refers to the airspace in which the aircraft flies, through technical means to realize the intelligentization of airspace information, the platformization of management data and the refinement of flight control, etc., to realize the efficient, safe and controllable flight of the aircraft in the controlled airspace. It mainly includes two parts: data acquisition and processing. Data acquisition uses various sensor technologies to collect multi-dimensional data such as aircraft position, speed, heading, etc. Data processing uses artificial intelligence and other technologies to make aircraft flight more intelligent and safe.

[0066] Grid code: a kind of multi-scale, discrete, global geographic grid coding model suitable for navigation and positioning services developed on the basis of global subdivision grid. The grid coding model proposes a set of unified identification and expression methods for global spatial regional location information, which can identify both location and region. It has the characteristics of non-overlapping boundary, orthogonal grid, consistent longitude and latitude, good compatibility with traditional data specifications, and can perform point and area integration representation. Through the coding design of the shaped number, the complexity of identification, expression and calculation of the regional information can be greatly simplified, and the information calculation speed, information index efficiency, information exchange and integration can effectively solve the organization problem of massive, multi-source and heterogeneous spatial information.

[0067] Static detection of route conflict: static detection mainly refers to the safety distance between the flight route of the aircraft and other routes in the same airspace or the no-fly area in the airspace during the planning and generation of the flight route, to ensure safe flight.

[0068] Elevation: refers to the distance of a point along the vertical line to the absolute base surface, called absolute elevation, simply referred to as elevation. The distance of a point along the vertical line to a certain assumed level surface is called assumed elevation.

[0069] The so-called grid eight-direction connectivity can also be called eight-neighborhood connectivity or eight-connected region connectivity. The so-called eight-connected region or eight-neighborhood refers to the positions corresponding to the upper, lower, left, right, upper left, upper right, lower left, and lower right, which are the positions adjacent to the position and the positions adjacent to the position in the diagonal direction, a total of 8 directions, so it is called 8-connected region or eight-neighborhood.

[0070] The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings, wherein the drawings constitute a part of this application and serve to explain the principles of the embodiments of the present application, but are not used to limit the scope of the present application.

[0071] One specific embodiment of the present application discloses a route static detection and automatic re-planning method based on grid code.

[0072] After the airspace manager is started, existing no-fly zones and route data in the managed airspace are loaded and automatically converted into grid codes and grids respectively, and when a new air demand is added to the airspace manager, the airspace manager detects and avoids conflict risks by the following steps, which include:

[0073] Converting the new air demand into a grid code;

[0074] After the new air demand grid code is merged with the existing no-fly zone and route grid codes, the grid codes are sorted by size, and adjacent grid codes are traversed in turn to determine whether there is a repetition or inclusion relationship; if so, the conflict type is identified, when the conflict type is an inter-route conflict, it is determined whether the shortest distance of the conflicting parties is less than a safety threshold, if so, the conflicting route is automatically re-planned and stored;

[0075] When the conflict type is an inter-route and no-fly zone conflict, the conflicting route is automatically re-planned and stored;

[0076] Otherwise, the new air demand is successfully added.

[0077] Specifically, to solve the problems of low computational efficiency, slow speed, and excessive computational load in the prior art route conflict detection and automatic re-planning, and the problem that safety factors are not fully considered in route automatic re-planning, the embodiment discloses a route static conflict detection and automatic re-planning method based on grid codes, the main idea of which is to provide grid code conversion and operation functions in the airspace manager, load existing route and no-fly zone data into the airspace manager to convert them into grid codes and store them, and mark the existing routes and no-fly zones as non-flyable areas with grid codes.

[0078] Further, the grid code is based on geographic regions based on 2 n The tree one-dimensional integral geographic coordinate subdivision grid coding method converts the air data into grid codes.

[0079] The advantage of marking air data with grid codes is that very fine air coordinates and elevation data are converted into grid codes with flexible granularity and integrated coordinates and elevation data. Due to the uniqueness of grid codes in geographic marking and the flexibility of the scale, a grid code can mark an area that includes rich coordinate and elevation information. In this way, when performing any spatial operation, only the corresponding grid code needs to be converted to quickly locate the object area, and then different processing of routes and areas through grid codes can accurately locate the spatial position of the object through very small computational load.

[0080] In particular, the grid map in the embodiment is converted into the grid code of the corresponding level according to the specified improved GeoSOT level and the latitude and longitude coordinates of the point, and is quickly located to the corresponding grid. A complete grid information includes grid code, grid coordinates, grid level and other information.

[0081] For example, as shown in FIG. 1, the grid map is divided into 16 levels, and the grid size of each level is shown in Table 1. Figure 1 Taking the coordinates (39°54'20"N, 116°25'29"E) of point A as an example, the 16-level grid code (the grid size is about 1 km) is calculated, and the specific algorithm is as follows:

[0082] ①First, the latitude and longitude coordinates of point A are encoded according to the following grid size table. The encoding process is to divide the coordinate value by the grid size of each level, and the quotient is the grid code value of the level. The division is performed until the specified encoding level is reached.

[0083] The 16-level encoding of the longitude value 116°25'29" is as follows:

[0084]

[0085] The 16-level encoding of the latitude 39°54'20" is as follows:

[0086]

[0087] The final 16-level binary grid code of point A is obtained by cross-encoding the latitude and longitude, which is as follows: 00000111010011101010110110100100

[0089] If converted into quaternary, it is 0013103222312210.

[0090] Table 1: Grid size table

[0091]

[0092] ②The grid rectangular coordinates are calculated as follows:

[0093] Rect.Left = 116°25'29"-29" = 116°25';

[0094] Rect.Bottom = 39°54'20"-20" = 39°54';

[0095] Rect.Right = Rect.Left+32" = 116°25'32";

[0096] Rect.Top = Rect.Bottom+32" = 39°54'32";

[0097] ③Consider the distance constraint grid code set calculation:

[0098] As shown in Figure 1 , the requirement of calculation is not only to obtain the grid information of point A, but also to obtain the information of all grids within a certain range from point A. The distance constraint range is expressed by the dashed box in the figure, and the actual calculation result is the set of all grids with diagonal lines, which contains a total of 9 grids, each of which includes the corresponding level grid code and the corresponding grid coordinates and other information.

[0099] Further, as shown in Figure 2 , the flight path loaded into the airspace manager is converted into a grid code by the following method:

[0100] For a flight path, the flight path is segmented with the safety threshold as the step size from the starting point of the flight path;

[0101] Calculate and establish the distance constraint grid set for each flight path segment one by one, and generate the flight path grid code and store it after grid deduplication calculation and aggregation calculation.

[0102] Further, as shown in Figure 3 , Figure 4 , the following steps are taken to complete the calculation and establishment of the distance constraint grid set for each flight path segment one by one, which includes:

[0103] If the two endpoints of the flight path segment are in the same grid, the grid is selected as the selected grid, and if the selected grid does not exist in the distance constraint grid set, the selected grid is added to the distance constraint grid set;

[0104] If the two endpoints of the flight path segment are in different grids, the two different grids are added to the distance constraint grid set, and a first selected area is obtained based on the longitude and latitude of the two different grids, redundant grids are removed from the first selected area, and grids that meet the preset conditions are selected from the remaining grids of the first selected area and added to the distance constraint grid set;

[0105] Based on the safety threshold, the selected grid or the first selected area is expanded to obtain a second selected area, redundant grids are removed from the second selected area, and grids that meet the preset conditions are selected from the remaining grids of the second selected area and added to the distance constraint grid set.

[0106] For example, assuming that the lowest level grid is 16 levels, according to Table 1, the size of the 16-level grid is 1 km, and the size is 32", so the minimum value of the safety threshold is the width of the 16-level grid.

[0107] Specifically, first, from the starting point A, a temporary intermediate node is inserted in the middle of AB to segment the route by a threshold as a step, the threshold is preferably set as the width of the lowest level grid, if the route AB is less than one step, no need to insert a point, when the distance between the last inserted node and B is less than one step, the insertion of the point is also stopped, such as Figure 2 7 intermediate nodes are inserted in the middle, forming route segments AA1, A1A2,..., A7B.

[0108] Next, as shown in Figure 3 , each segment is processed, starting with the AA1 segment, first calculate the grid code of point A and point A1 as G A , G A1 , if G A = G A1 , it means that A and A1 are in the same grid, at this time, the grid where point A and A1 are located together is saved to the distance constraint grid set G.

[0109] It should be noted that the distance constraint grid set is initially set as an empty set, when all route segments AA1, A1A2,..., A7B are traversed, the grid codes corresponding to each route segment are stored in the set.

[0110] As shown in Figure 3 , if the grid code G A where point A is located is different from the grid code G A1 where point A1 is located, then it is merged into a large grid G Inner , specifically, according to the range of G A , G A1 , that is, the longitude and latitude of the grids where points A and A1 are located are sorted respectively, taking the grid range covered by the maximum difference of longitude and latitude of the grids where points A and A1 are located as the first selected area, that is, G Inner .

[0111] For example, assume that the longitude and latitude of the grid where point A is located are:

[0112] ARect.Left = 116°25′;

[0113] ARect.Bottom = 39°54′32″;

[0114] ARect.Right = 116°25′32″;

[0115] ARect.Top = 39°54′;

[0116] The longitude and latitude of the grid where point A1 is located are:

[0117] A1Rect.Left = 116°25′32″;

[0118] A1Rect.Bottom = 39°55′4″;

[0119] A1Rect.Right = 116°26′4″;

[0120] A1Rect.Top = 39°54′32″;

[0121] Sort the longitude of points A and A1, and we can get: ARect.Left, ARect.Right, A1Rect.Left, A1Rect.Right. It can be seen that the longitude difference between ARect.Left and A1Rect.Right is the largest, so we retain these two longitudes as the longitude of G Inner . Similarly, we obtain the two latitudes ARect.Top and A1Rect.Bottom with the largest difference between points A and A1 as the latitude of G Inner , and then we can obtain G Inner , the rectangular area containing the grid code.

[0122] Remove G Inner from G A , and the remaining two grid codes are marked as G A1 and G LT , respectively. RB

[0123] Further, the safety threshold is an aircraft safety threshold, and any one of the grid code width equal to the aircraft safety threshold or the grid code width closest to the aircraft safety threshold is selected to determine the lowest level grid in the distance-constrained grid set.

[0124] Specifically, the lowest level grid code width depends on the aircraft safety threshold, which is a factory parameter based on the aircraft maneuvering attribute. Preferably, the grid code width equal to or closest to the value of the aircraft safety threshold is selected as the lowest level grid code width. This processing has the advantage of not only ensuring the aircraft safety threshold range, but also preventing the grid code width from being too large to cause coarse granularity errors or too small to cause invalid computation amount increase due to low grid code precision.

[0125] The distance relationship between AA1 and G LT , G RB is determined respectively. If the distance between the point farthest from the route segment AA1 in G LT , G RB and the perpendicular distance of the route segment AA1 is less than the safety threshold, G LT and G RB are saved to the distance-constrained grid set G.​

[0126] Then, continue to expand G according to the safety threshold Inner Cheng G Outer , specifically, from G Inner The top, bottom, left, and right sides extend outward by a threshold width, such as Figure 4 As shown, in the embodiment G Inner The original rectangular area containing 2*2, that is, 4 grids, is expanded to G Outer After that, it becomes a 4*4 rectangular area, making G Outer Just cover all grids within the AA1 segment threshold range.

[0127] Specifically, from G Outer Remove G from Inner The remaining grids are strictly compared with AA1, and the grids with distances less than the threshold are saved in the distance constraint grid set G.

[0128] After processing the AA1 segment, continue processing the A1A2 segment. When processing the A1A2 segment, it is also processed in a similar way to the previous AA1 segment. However, due to the adjacent relationship between AA1 and A1A2, there will be repeated grid areas at the connection. Many grids have been marked and retained when processing the AA1 segment. Therefore, after removing the redundant grids, the repeated verification of the overlapping grids of AA1 and A1A2 can be skipped directly. No secondary processing is required. Only the newly added grids with a distance greater than the safety threshold from the previous processing are processed to reduce the number of comparisons. This process is repeated until the last route segment is processed, and finally a grid like Figure 5 The total route grid code set shown.

[0129] Furthermore, the managed airspace and no-fly zone loaded into the airspace manager are automatically converted into a grid code by the following method:

[0130] For any area in the managed airspace or the no-fly zone, decomposing the lowest-level grid code containing the area based on the grid code hierarchy rule and using it as the grid code to be processed;

[0131] Specifically, to calculate the minimum level grid containing the area, the maximum grid (256*256) can be decomposed level by level. Each time the current grid is decomposed down one level, it is converted into four sub-grids. Suppose the current grid is G A , the four subgrids are G A1 , G A2 , G A3 , G A4 , if G A1 , G A2 , G A3 , G A4If a certain grid completely contains the region, replace G with the sub-grid A , and process in a loop. Until the next level of sub-grid no longer meets the requirements, the current level of grid is the minimum level of grid containing the region, and the calculation ends. As shown in Figure 6 , the dashed large grid G O is the minimum level of grid containing the region, and the O point is the grid center point.

[0132] Calculate the boundary line grid code set that meets the distance constraint with the region boundary line;

[0133] As shown in Figure 7 , the region grid code set is obtained by the following process:

[0134] Exemplarily, the region boundary line grid code set is denoted as G Line , and the grid code set to be processed is denoted as G Intersect . First, the minimum level of grid code G O containing the region obtained in step S1 is added to G Intersect .

[0135] S11: Convert each grid code in the boundary line grid code set to the grid code of the corresponding level of the grid to be processed, and remove the duplicates to obtain each grid code in the updated boundary line grid code set;

[0136] Remove the low level bits and codes of each grid code in the boundary line grid code set, and only keep the codes of the same level and number of bits as the grid to be processed.

[0137] Exemplarily, the level of the grid code in the current G Intersect is denoted as L C , and all grid codes in G Line are converted to the L C level grid code, and the duplicates are removed. The grid code set after conversion is denoted as G C .

[0138] S12: If the level corresponding to the grid code to be processed is higher than the set minimum level, decompose the grid code to be processed into the next level grid code, otherwise end;

[0139] If the next level grid code exists in the region boundary line grid set, the next level grid code is taken as the grid code to be processed in the next iteration;

[0140] Otherwise, if the grid corresponding to the next level grid code is located in the region boundary line, the next level grid code is added to the region grid code set; return to step S11;

[0141] Exemplarily, GIntersect Any one of the grid codes is denoted as variable symbol G i , and each G Intersect is judged one by one whether it is equal to some grid code in the grid code set G i , C

[0142] If yes, it means that the current G i is contained in the boundary grid code set G Line , and G Line contained in the current G i is decomposed into the next level grid codes: G i0 , G i1 , G i2 , G i3 , and G i0 , G i1 , G i2 , G i3 are added to the standby grid code set G Bak , and G Intersect containing G Line is deleted from G i ;

[0143] Otherwise, the current G i has two cases: either G i is completely inside the region or completely outside the region. Next, the grid center point of G i is obtained, and the spatial relationship with the region is judged. Specifically, the maximum longitude, minimum longitude, maximum latitude, and minimum latitude of the region are obtained by sorting the longitude and latitude of the region boundary line, and the rectangle formed by the maximum longitude, minimum longitude, maximum latitude, and minimum latitude is taken as the minimum bounding rectangle of the region. The center point coordinates of the current G i are compared with the minimum bounding rectangle. If the center point coordinates of the current G i are inside the minimum bounding rectangle, the current G i is taken as the result grid code and is reserved in the standby grid code set G Surin , and the current G Intersect is deleted from G i . If the center point is outside the region, the current G Intersect is also deleted from G i , and the judgment of the current G i ends.

[0144] After all the grid codes in G Intersect are processed, the set G Intersect is emptied, all the grid codes in G Bak are assigned to G Intersect , and step S3 is executed in a loop until G Intersect ​grid code level in G Line The loop ends if the lowest grid code level in G

[0145] After the above steps, the set G Line is obtained. Surin .

[0146] The area grid code set and the area boundary line grid code set are merged, and the area grid code is obtained by removing duplicates and aggregation.

[0147] For example, G Line and G Surin are merged into a set G ALL , and G ALL is processed by grid code deduplication and aggregation.

[0148] Specifically, according to the principle of the least grid code, the grid codes of some areas need to be aggregated upwards to reduce the number of grid codes to the minimum.

[0149] Since the grid coding principle follows the equal latitude and longitude quadtree subdivision grid system, through sorting processing, if the adjacent 4 grid codes simultaneously satisfy: The level is the same, The upper level grid codes are the same; then the 4 grid codes can be aggregated into an upper level grid code.

[0150] For example, as shown in Figure 8 :

[0151] The large grid where point C is located is originally 4 small grids G C1 , G C2 , G C3 , and G C4 , and the level of the small grid is the 16th, and the grid codes are respectively:

[0152] G C1 = 00000111010011101010110110100100;

[0153] G C2 = 00000111010011101010110110100101;

[0154] G C3 = 00000111010011101010110110100110;

[0155] G C4 = 00000111010011101010110110100111;

[0156] Since G C1, G C2 , G C3 , G C4 The upper level grid code is 000001110100111010101101101001, recorded as G C ,

[0157] Meet the merging requirements, the merged grid G C Become the 15th level grid.

[0158] Theoretically, after a grid code is aggregated once, it can continue to aggregate upwards until all adjacent grid codes no longer meet the conditions, and then the aggregation process is stopped.

[0159] For example, the grid code G O Decomposed into 4 sub-grid codes G O0 , G O1 , G O2 , G O3 , let L O =15, then L O0 =L O1 =L O2 =L O3 =16, and the boundary line grid code set G Line The minimum level is level 19 ( Figure 7 Minimum accuracy, that is, the level of the minimum grid). Since G O0 , G O1 , G O2 , G O3 Included in G at level 16 Line , need to keep G O0 , G O1 , G O2 , G O3 And continue to judge. O2 For example, G O2 Continue to decompose into: G O20 , G O21 , G O22 , G O23 , after comparing G O20 , G O22 , G O23 Not included in G at level 17 Line , it can be deleted directly after further judgment. O21 Included in G at level 17 Line , continue to retain and make further judgments. This cycle continues until G Intersect and G Line After the 18th level grid code inclusion relationship judgment is completed, all grid codes included in the region are temporarily stored in the grid code set G Surin In, such as Figure 7G 012 can be directly added to G Surin . Then G Surin and G Line are merged into G ALL , and G ALL grid codes are de-duplicated and aggregated by calling step S4, and then the regional grid code algorithm is completed.

[0160] After the airspace manager has the above-mentioned grid code conversion capability of the flight restricted area, the air route and other objects, when the relevant objects are added to the airspace, the corresponding grid code set is generated synchronously and is associated with the object. The life cycle of the air route or flight restricted area object and its grid code set will be kept synchronous.

[0161] Further, the new air demand includes a new air route and a new flight restricted area; the conflict type includes a conflict between the new flight restricted area and an existing air route, a conflict between the new air route and an existing flight restricted area or an existing air route.

[0162] Further, when the new flight restricted area and the existing air route conflict or the new air route and the existing flight restricted area conflict, the shortest flight segment of the conflict air route is found based on the adjacent grid codes with the repetition or inclusion relationship, wherein the two end waypoints of the shortest flight segment are not in the adjacent grid code area with the repetition or inclusion relationship; the air route between the two end waypoints of the shortest flight segment is automatically re-planned and is converted into a grid code to replace the grid code with the repetition or inclusion relationship in the conflict air route grid code.

[0163] Further, when the conflict type is an air route conflict, the shortest flight segment of the two conflict air routes in the adjacent grid code area with the repetition or inclusion relationship is found, wherein the two end waypoints of the shortest flight segment are not in the adjacent grid code area with the repetition or inclusion relationship.

[0164] Specifically, whether the new air route demand is to generate a flight restricted area or to add a new air route, there is a conflict between the flight restricted area and the air route with the existing flight restricted area or the existing air route, or there is a conflict between the existing air route and the new air route, the overlapping area can be quickly found and the grid code with the conflict risk can be located through the grid code calculation in the above-mentioned algorithm.

[0165] Exemplarily, as shown in FIG. 6, the algorithm process is explained below with the conflict between the new air route and the existing air route. Figure 9

[0166] First, the grid code set of the new air route is generated and is recorded as G New ; the grid code set in the airspace manager is recorded as G Left , and if there is no air route in the airspace, G Left is an empty set. At this time, the problem of whether the new air route can be added to the airspace manager is converted into: only G New ​and G Left It only matters whether there is an intersection. If there is an intersection, it means that the new route conflicts with the existing route. If there is no intersection, it means that the new route does not conflict with the existing route.

[0167] Figure 9 The specific algorithm process is: first temporarily merge G New and G Left G All , for G All Do a quick sort of the grid code, then traverse G once All , see whether there are repeated values ​​or inclusion relationships between the adjacent grid codes, that is, to judge whether G New and G Left Is there an intersection? If yes, it means that the new route conflicts with the existing routes in the airspace; if not, the route is safely added to the airspace manager and G is updated. Left G All The cost of this process is basically the time it takes to do a quick sort, and it is very efficient.

[0168] Furthermore, for conflicts between routes, although grid codes can be used to quickly locate grid codes with duplication risks, due to the altitude difference between routes, two routes with overlapping grid codes can be considered to have no conflict risk if the altitude difference reaches a safety threshold, and the new route can be successfully added. Therefore, it is necessary to further determine the distance between conflicting routes with repeated or included grid codes to make the algorithm more accurate.

[0169] Furthermore, the grid codes that overlap or contain each other correspond to segments with conflicting routes. Therefore, automatic replanning only requires replanning segments within the grid code's coverage area. When planning a route, valid waypoints (i.e., those without conflicting risks) are used as nodes. Therefore, for the smallest segment covered by the overlapping or containing grid codes, the closest waypoints without conflicting risks are selected as endpoints.

[0170] By using the above method to find the flight segments with conflict risks between the routes, the distance relationship between the flight segments can be further determined.

[0171] If the distance between the shortest segments meets any of the following conditions, the shortest segment of the newly added route will be automatically replanned, including:

[0172] like Figure 10 As shown, the shortest common perpendicular distance between the shortest segments of the conflicting routes is less than the safety threshold;

[0173] like Figure 11 As shown, the shortest perpendicular distance between each waypoint of the conflicting route and the other route is less than the safety threshold;

[0174] The shortest distance between each waypoint of the conflicting route and each waypoint of the other route is less than a safety threshold.

[0175] Specifically, the distance relationship for the flight segments with conflict risk is determined based on the three scenarios described above. The longitude, latitude, and altitude of the flight segments are compared to determine the distance relationship and whether the distance relationship is less than the safety threshold. Because the shortest flight segment with conflict risk is previously determined through grid code calculation, the amount of calculation required for the longitude, latitude, and altitude comparison is significantly reduced.

[0176] Furthermore, the automatic replanning is achieved by the following steps, which include:

[0177] Calculating the grids corresponding to the two end waypoints based on the two end waypoint grid codes of the shortest segment in the conflicting route;

[0178] Establishing the topological relationship between the two end waypoints based on the grid eight-directional connectivity modeling;

[0179] Planning a re-route between the two end waypoints based on the topological relationship and the principle of minimum cost;

[0180] The re-planned route between the two end waypoints is converted into a grid code, and after removing the grid codes of the two end waypoints, the grid codes with duplicate or inclusive relationships in the conflicting route are replaced.

[0181] Specifically, the airspace manager automatically converts input routes and no-fly zones into grid codes and grids. Grids are another method for marking routes and no-fly zones, using grids of equal size, each labeled with cost weight information, for automated route planning. The eight-way grid connectivity modeling calculates the import range for cost weight data based on the locations between currently planned waypoints. This data is then imported all at once, and a topological relationship connecting the eight directions of the nodes is constructed. The cost weights between nodes are calculated based on the slope values ​​of neighboring nodes and stored in a corresponding memory data structure, where they remain resident until a plan is completed.

[0182] It should be noted that the cost weight is an important parameter for calculating eight-directional connectivity and topological relationships using a grid. Those skilled in the art may select a specific type of cost weight according to different circumstances. For example, slope data may be used as the cost weight.

[0183] Generally, the grid-based eight-directional connectivity modeling is to convert very fine-grained data such as the latitude, longitude, and elevation information of flight routes or no-fly zones into grids.

[0184] For example, Figure 12 As shown, the method of converting the grid code into a grid is:

[0185] The index positions of the four corner points of the grid code rectangle in the grid data are calculated, and the grid corresponding to the grid code is a dashed grid in the figure, and are respectively denoted as: L T (X L ,Y T ), R T (X R ,Y T ), R B (X R ,Y B ), L B (X L ,Y B ).

[0186] The grids in the (X L ,X R ), (Y B ,Y T ) are set to be null values, that is, marked as invalid areas of route planning, and do not participate in automatic route planning.

[0187] The route planning algorithm is executed based on the grid again, the grid conversion can be completed with very small calculation amount, then the route planning is completed based on the grid and the related algorithm, and the planned route is converted and saved as a grid code after the planned route is obtained.

[0188] Those skilled in the art can understand that all or part of the processes of the above-mentioned embodiments can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. The computer readable storage medium is a disk, an optical disk, a read-only memory or a random access memory, etc.

[0189] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A method for static route detection and automatic replanning based on grid codes, characterized in that: After the airspace manager is started, it loads the existing no-fly zones and route data within the managed airspace and automatically converts them into grid codes and raster grids, respectively. When new aviation requirements are added to the airspace manager, including new routes and new no-fly zones, the airspace manager detects and avoids conflict risks through the following steps: Converting the new aviation requirements into a grid code; Merge the new aviation demand grid code with the existing no-fly zone and route grid codes, sort them by size, and traverse them in sequence to determine whether there are any adjacent grid codes that are repeated or contain each other; If yes, identify the conflict type, including the conflict between the newly added no-fly zone and the existing route, the conflict between the newly added route and the existing no-fly zone, or the conflict between the existing route, When the conflict type is a route conflict, determine whether the shortest distance between the conflicting parties is less than the safety threshold. If so, automatically replan the conflicting route and store it; When the conflict type is a conflict between a route and a no-fly zone, the conflicting route is automatically replanned and stored, including: When a newly added no-fly zone conflicts with an existing route, or a newly added route conflicts with an existing no-fly zone, the shortest segment of the conflicting route is found based on the adjacent grid codes that are repeated or included, wherein both end waypoints of the shortest segment are not within the area of ​​the adjacent grid codes that are repeated or included; the route between the end waypoints of the shortest segment is automatically replanned and converted into grid codes, replacing the grid codes that are repeated or included in the grid codes of the conflicting route; Otherwise, the new aviation requirement is added successfully.

2. A method for static route detection and automatic replanning based on grid codes according to claim 1, characterized in that: The grid code is based on the geographical area based on 2 n The tree one-dimensional integral geographic coordinate subdivision grid encoding method is used to convert aerial data into grid codes.

3. The method for static route detection and automatic replanning based on grid code according to claim 1, characterized in that: If the conflict type is an inter-route conflict, the shortest segments of the two conflicting routes in the adjacent grid code areas with overlapping or containing relationships are found, wherein both end points of the shortest segment are not in the adjacent grid code areas with overlapping or containing relationships. If the distance between the shortest segments meets any of the following conditions, the shortest segment of the newly added route will be automatically replanned, including: The shortest common perpendicular distance between the shortest segments of the conflicting routes is less than the safety threshold; The shortest perpendicular distance between each waypoint of the conflicting route and the other route is less than a safety threshold; The shortest distance between each waypoint of the conflicting route and each waypoint of the other route is less than a safety threshold.

4. The method for static route detection and automatic replanning based on grid code according to claim 1, characterized in that: The routes loaded into the airspace manager are converted into grid codes through the following process: For a route, starting from the starting point of the route, the route is divided into segments with the safety threshold as a step size; Calculate each route segment one by one and establish a distance constraint grid set, and after grid deduplication calculation and aggregation calculation, generate the route grid code and store it.

5. The method for static route detection and automatic replanning based on grid code according to claim 4, characterized in that: The calculation of each route segment one by one and the establishment of a distance constraint grid set are completed by the following steps, which include: If the two endpoints of the route segment are in the same grid, the grid is selected as the selected grid. If the selected grid does not exist in the distance constraint grid set, the selected grid is added to the distance constraint grid set. If the two endpoints of the route segment are in different grids, the two different grids are added to the distance-constrained grid set, and a first selected area is obtained based on the longitude and latitude of the two different grids. Redundant grids are removed from the first selected area, and grids that meet preset conditions are selected from the remaining grids in the first selected area and added to the distance-constrained grid set. The selected grid or the first selected area is expanded based on the safety threshold to obtain a second selected area, redundant grids are removed from the second selected area, and grids that meet preset conditions are selected from the remaining grids in the second selected area to be added to the distance constraint grid set.

6. The method for static route detection and automatic replanning based on grid code according to claim 3, characterized in that: The safety threshold is an aircraft safety threshold, and a grid code width equal to the aircraft safety threshold or any one of the two closest adjacent grid code widths is selected to determine the lowest level grid in the distance constraint grid set.

7. The method for static route detection and automatic replanning based on grid code according to claim 1, characterized in that: The managed airspace and no-fly zone loaded into the airspace manager are automatically converted into a grid code through the following process: For any area in the managed airspace or the no-fly zone, decomposing the lowest-level grid code containing the area based on the grid code hierarchy rule and using it as the grid code to be processed; Calculating and obtaining a boundary line grid code set that satisfies a distance constraint with the boundary line of the region; The regional grid code set is obtained through the following process: S11: converting each grid code in the boundary line grid code set into a grid code of a corresponding level of the grid to be processed, and performing deduplication to obtain the grid codes as each grid code in the updated boundary line grid code set; S12: If the level corresponding to the grid code to be processed is higher than the set minimum level, decompose the grid code to be processed into grid codes of the next level; otherwise, end; If the next level grid code exists in the area boundary grid set, the next level grid code is used as the grid code to be processed in the next iteration; Otherwise, if the grid corresponding to the next-level grid code is located within the regional boundary line, the next-level grid code is added to the regional grid code set; Return to step S11; The regional grid code set and the regional boundary line grid code set are merged, and then deduplication and aggregation are performed to obtain the regional grid code and store it.

8. The method for static route detection and automatic replanning based on grid code according to claim 1, characterized in that: The automatic replanning is achieved by the following steps, which include: Calculating the grids corresponding to the two end waypoints based on the two end waypoint grid codes of the shortest segment in the conflicting route; Establishing the topological relationship between the two end waypoints based on the grid eight-directional connectivity modeling; Planning a re-route between the two end waypoints based on the topological relationship and the principle of minimum cost; The re-planned route between the two end waypoints is converted into a grid code, and after removing the grid codes of the two end waypoints, the grid codes with duplicate or inclusive relationships in the conflicting route are replaced.

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