A multi-user airspace rapid planning tool and method

Abstract

The present invention discloses a multi-user airspace rapid planning tool and method, wherein the tool includes: information input module, airspace environment analysis module, airspace use demand processing module, airspace planning rule base module, airspace automatic planning module, airspace dynamic planning module and information output module; the method includes: obtaining basic information of multiple users; extracting airspace planning element information and generating airspace real-time situation map; generating airspace use demand information; generating airspace demarcation rules; demarcating airspace for each user, generating conflict-free airspace planning scheme for multi-user joint use of airspace; setting a time window, detecting newly added airspace restrictions within the current time window, and executing completed, cancelled and newly added airspace use plans, and generating airspace dynamic planning schemes in the air use implementation stage. The present invention provides implementation tools and technical basis for air traffic management, airspace management, and command and control.

Description

Technical Field

[0001] The present invention relates to an airspace planning tool and method, in particular to a multi-user airspace rapid planning tool and method. Background Art

[0002] This section merely provides background information related to the present disclosure and is not necessarily prior art.

[0003] Airspace is an important resource and plays a fundamental role in air use activities such as civil transport aviation and general aviation. Airspace planning is one of the key technologies for air traffic management and command and control. It mainly includes airspace classification, flight procedure design, route network planning, airspace sector design and other technologies. A large number of studies have been conducted at home and abroad, forming a certain theoretical method system and standard specifications. Existing technologies generally plan and design relatively fixed airspace structures such as routes, terminal areas, and sectors, with limited flexibility; some technologies also carry out airspace planning based on the characteristics of aerial operations, but they are not universal enough. At present, there is still a lack of a rapid airspace planning method that can centrally plan airspace from a global perspective when multiple users are using air at the same time and try to meet the differentiated needs of users.

[0004] In terms of system tools, in the existing technology, local and sub-regional airspace management systems have been developed, including airspace planning modules, which realize functions such as airspace reservation, information release and airspace allocation; in the existing technology, special airspace management systems have been developed, which realize functions such as airspace status information release; there are also some airspace planning and flight program design software, which realize the visualization and interactive design of airspace units. At present, there is still a lack of a general, portable and embeddable airspace rapid planning tool for multi-user joint use.

[0005] Airspace planning technology and equipment are constantly developing. New aircraft, new air use modes and flight modes are constantly emerging, which puts higher requirements on airspace planning technology and equipment capabilities. Airspace planning technology and equipment still have great research and application potential. Therefore, a new technical solution is needed to solve the above technical problems.

[0006] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0007] Purpose of the invention: The technical problem to be solved by the present invention is to provide a multi-user airspace rapid planning tool and method in view of the deficiencies in the prior art.

[0008] In order to solve the above technical problems, the present invention discloses a multi-user airspace rapid planning tool and method, wherein the tool comprises: an information input module, an airspace environment analysis module, an airspace use demand processing module, an airspace planning rule base module, an airspace automatic planning module, an airspace dynamic planning module and an information output module; wherein,

[0009] The information input module is used to receive the multi-user airspace basic data, airspace type data, each user's air use plan or flight plan, aviation meteorology and aviation intelligence;

[0010] The airspace environment analysis module is used to extract airspace planning element information from the information received by the information input module; based on the airspace basic data, generate an airspace real-time situation map, wherein the content includes the above-mentioned airspace planning element information;

[0011] The airspace use demand processing module is used to extract the information received by the information input module and generate the airspace use demand information of each user in a unified format;

[0012] The airspace planning rule base module is used to generate various airspace demarcation rules from the information received by the information input module;

[0013] The airspace automatic planning module is used to demarcate airspace for each user in the airspace planning stage according to the airspace real-time situation map generated by the airspace environment analysis module, the airspace use demand information generated by the airspace use demand processing module, and the airspace demarcation rules generated by the airspace planning rule base module, and generate a conflict-free airspace planning scheme for multi-user joint airspace use;

[0014] The airspace dynamic planning module is used to set a time window according to the airspace real-time situation map generated by the airspace environment analysis module, detect new airspace restrictions within the current time window, and execute completed, cancelled and newly added airspace use plans, and generate an airspace dynamic planning plan in the air use implementation stage;

[0015] The information output module is used to publish various airspace planning schemes, including the conflict-free airspace planning scheme for multi-user joint use of airspace generated by the airspace automatic planning module and the airspace dynamic planning scheme generated by the airspace dynamic planning module.

[0016] Furthermore, the airspace planning element information includes: airspace structure, airspace meteorological conditions, restricted areas, danger zones, restricted areas, airspace occupation or release status, types of airspace aircraft and flight missions;

[0017] The airspace usage requirement information includes: airspace user name, airspace type, airspace horizontal range requirement, airspace altitude range requirement, airspace frequency range requirement, airspace usage start time and airspace usage end time.

[0018] The present invention also proposes a multi-user airspace rapid planning method, which uses the above-mentioned tool to perform multi-user airspace rapid planning, including the following steps:

[0019] Step 1: Obtain basic information of multiple users, including: basic airspace data, airspace type data, airspace use plan or flight plan of each user, aviation meteorology and aviation intelligence;

[0020] Step 2, extracting airspace planning element information from the basic information obtained in step 1, and generating a real-time airspace situation map;

[0021] Step 3, extracting the basic information obtained in step 1 and generating the airspace use demand information of each user in a unified format;

[0022] Step 4, generating airspace demarcation rules from the basic information obtained in step 1;

[0023] Step 5: Based on the real-time airspace situation map generated in step 2, the airspace use demand information generated in step 3, and the airspace demarcation rules generated in step 4, airspace is demarcated for each user in the airspace planning stage, and a conflict-free airspace planning scheme for joint use of multiple users is generated;

[0024] Step 6: According to the real-time airspace situation map generated in step 2, a time window is set to detect new airspace restrictions within the current time window and the execution of completed, cancelled and newly added airspace use plans, and an airspace dynamic planning scheme is generated in the air use implementation stage;

[0025] Step 7: Publish the airspace planning solution generated in steps 5 and 6.

[0026] Furthermore, the generation of airspace demarcation rules described in step 4 specifically includes:

[0027] Step 4-1, establish the airspace type model, which is expressed as follows:

[0028] A i ={Dep i ,Ac i ,Lat i ,Lgt i ,Hgt i ,Feq i ,Pon i ,Tra i ,Rad i}

[0029]

[0030] Among them, Dep i Indicates the i-th airspace type A i Name, Ac i Indicates airspace type A i The applicable aircraft set, Lat i Indicates airspace type A i The lateral range, Lgt i Indicates airspace type A i The vertical interval, Hgt i Indicates airspace type A i The height interval, Feq i Indicates airspace type A i Frequency range Pon i Indicates airspace type A i A reference point, datum point or other set of positioning points, Tra i Indicates airspace type A i The nominal track, reference track or other standard track set of Rad i Indicates airspace type A i The radius interval, R + is the set of positive real numbers, and Respectively represent Lat i The minimum and maximum values ​​of and Respectively represent Lgt i The minimum and maximum values ​​of and Respectively represent Hgt i The minimum and maximum values ​​of and Respectively represent Feq i The minimum and maximum values ​​of and Rad i The minimum and maximum values ​​of

[0031] Step 4-2, using the airspace type model established in step 4-1 to process the airspace type data received in step 1, to generate an airspace type set, as follows:

[0032] A={A i}

[0033] Where i = 1, 2, ..., I, I is the number of airspace types;

[0034] Step 4-3, each element A in the space type set A i As the rules for the demarcation of this type of airspace, the rules for the demarcation of various types of airspace are generated.

[0035] Furthermore, the generation of a conflict-free airspace planning scheme for multi-user joint use of airspace described in step 5 specifically includes:

[0036] Step 5-1, based on the airspace use demand information generated in step 3, the airspace demarcation rules generated in step 4 are used to establish the airspace use plan model for each user, as shown below:

[0037]

[0038] Among them, P j represents the j-th airspace usage plan, usr j Indicates airspace usage plan P j The name of the airspace user, Indicates airspace usage plan P j Airspace Type A i Name, Indicates airspace usage plan P j of aircraft, Indicates airspace usage plan P j The lateral extent of the airspace used, Indicates airspace usage plan P j the longitudinal extent of the airspace used, Indicates airspace usage plan P j The altitude range of the airspace used, Indicates airspace usage plan P j The frequency interval of the airspace used, Indicates airspace usage plan P j The fix points of the airspace used, Indicates airspace usage plan P j The track of the airspace used, Indicates airspace usage plan P j The radius of the airspace used, Indicates airspace usage plan P j The start time of using the airspace, Indicates airspace usage plan P j The end time of use of the airspace;

[0039] Step 5-2: Generate an airspace use plan set based on the airspace use plan model established in step 5-1, as follows:

[0040] P={P j}

[0041] Where, j = 1, 2, ..., J, J is the number of airspace use plans of all airspace users;

[0042] Step 5-3: Based on the airspace use plan model established in step 5-1 and the airspace use plan set generated in step 5-2, the objective function of multi-user joint airspace planning is established with the goal of minimizing the change in airspace use plans of all airspace users, which is expressed as follows:

[0043]

[0044] in, and Airspace Utilization Plan P j The positive and negative deviation variables of the u-th element in , where u=1,2,…,U, where U represents the airspace usage plan P j The number of elements in ; and is the weight, λ j Plan P for airspace use j Priority;

[0045] Step 5-4, based on the airspace real-time situation map generated in step 2 and the objective function of the multi-user joint airspace planning established in step 5-3, establish constraints, including: airspace restriction constraints, airspace use plan conflict constraints and target constraints;

[0046] Step 5-5, establishing a target planning model for multi-user joint airspace planning based on the objective function of the multi-user joint airspace planning established in step 5-3 and the constraint conditions established in step 5-4;

[0047] Step 5-6, solve the target planning model of multi-user joint airspace planning established in step 5-5, and obtain a conflict-free airspace planning solution for multi-user joint airspace use.

[0048] Furthermore, the airspace restriction constraint described in step 5-4 indicates that the airspace use plan cannot overlap with the unavailable airspace in space or time, as specifically expressed as follows:

[0049]

[0050] or

[0051]

[0052] Among them, P j ∈P,C h ∈C, h is a positive integer, C represents the set of unavailable spatial domains, Indicates unavailable airspace space C h The starting moment, Indicates unavailable airspace space C h The ending moment.

[0053] Furthermore, the airspace use plan conflict constraint described in step 5-4 indicates that there cannot be spatial or temporal overlap between airspace use plans, which is specifically expressed as follows:

[0054]

[0055] or

[0056]

[0057] Among them, P k represents the kth airspace usage plan, P k ∈P;

[0058] Furthermore, the target constraint described in step 5-4 indicates that the spatial domain usage plan is allowed to have positive or negative deviations when reaching the target value, which is specifically expressed as follows:

[0059]

[0060] Among them, 1≤u≤U, Indicates the target value.

[0061] Furthermore, the target planning model of the multi-user joint airspace planning described in step 5-5 is expressed as follows:

[0062]

[0063] Furthermore, the generation of the airspace dynamic planning scheme described in step 6 specifically includes:

[0064] Step 6-1, according to the real-time airspace situation map generated in step 2, set the time window, detect the new airspace restrictions within the current time window, and execute the completed, cancelled and new airspace use plans;

[0065] Step 6-2, delete the airspace use plans that have been completed and cancelled in the airspace planning scheme generated in step 5 and detected by step 6-1, convert the remaining airspace use plans in the airspace planning scheme into airspace restrictions, add them to the unavailable airspace space set, and add the newly added airspace restrictions detected in step 6-1 to the unavailable airspace space set;

[0066] Step 6-3, applying the method for establishing the target planning model for multi-user joint airspace planning in step 5-5 within the current time window to construct a new target planning model; wherein the airspace use plan set only includes the newly added airspace use plan detected in step 6-1;

[0067] Step 6-4, solving the new target planning model established in step 6-3 within the current time window to obtain the airspace dynamic planning solution.

[0068] Beneficial effects:

[0069] 1. It provides an implementation tool for air traffic management, airspace management, and command and control, which is easy to embed into air traffic control systems and airspace user-related command and control systems, and provides technical support for the development and upgrading of air traffic control systems, airspace user-related command and control systems, airspace simulation and evaluation systems, and other systems;

[0070] 2. It provides a technical basis for airspace use plan management, airspace allocation, and air use action control in the air use planning and implementation stages, and the implementation method is simple, fast, and easy to operate;

[0071] 3. It provides a technical basis for airspace planning and air traffic management under the condition of joint use of air by a large number of users. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more clear.

[0073] Figure 1 The software module composition and internal information relationship diagram of the multi-user airspace rapid planning tool of the present invention.

[0074] Figure 2 The present invention is a flowchart of a method for rapid multi-user airspace planning.

[0075] Figure 3 The present invention is a flowchart of the method for generating airspace demarcation rules.

[0076] Figure 4 The present invention is a flowchart of the multi-user joint airspace planning method.

[0077] Figure 5 It is a flow chart of the airspace dynamic planning method of the present invention.

[0078] Figure 6 A schematic diagram of an airspace usage plan in one embodiment. DETAILED DESCRIPTION

[0079] The invention proposes a tool and method for rapid multi-user airspace planning. Based on the extraction of airspace planning elements, airspace usage requirements and other information, it realizes conflict-free airspace planning and dynamic airspace planning for multi-user joint use, tries to meet the differentiated airspace usage requirements of various airspace users, and provides centralized airspace planning and management means for air traffic control and command and control personnel.

[0080] The invention discloses a multi-user airspace rapid planning tool, and the specific technical scheme includes: an information input module, an airspace environment analysis module, an airspace use demand processing module, an airspace planning rule base module, an airspace automatic planning module, an airspace dynamic planning module, an information output module, a server, a workstation and a comprehensive information access device;

[0081] The information input module is used to receive airspace basic data, airspace type data, airspace use plans or flight plans of each user, aviation meteorology, aviation intelligence and other information involved in the joint use of air by multiple users;

[0082] The airspace environment analysis module is used to extract airspace planning element information from the information received by the information input software module, including: airspace structure, airspace meteorological conditions, restricted areas, danger zones, restricted areas, airspace occupation or release status, types of airspace aircraft, flight missions, etc., and generate an airspace real-time situation map based on the airspace basic data, the content of which includes but is not less than the above-mentioned airspace planning element information;

[0083] The airspace use demand processing module is used to extract the information received by the information input module and generate the airspace use demand information of each user in a unified format, including: airspace user name, airspace type, airspace horizontal range requirement, airspace altitude range requirement, airspace frequency range requirement, airspace use start time, airspace use end time, etc.;

[0084] The airspace planning rule base module is used to generate various airspace demarcation rules from the information received by the information input module;

[0085] The airspace automatic planning module is used to demarcate airspace for each user in the airspace planning stage according to the airspace real-time situation map generated by the airspace environment analysis module, the airspace use demand information generated by the airspace use demand processing module, and the airspace demarcation rules generated by the airspace planning rule base module, and generate a conflict-free airspace planning scheme for multi-user joint use of airspace;

[0086] The airspace dynamic planning module is used to set a time window of a certain length according to the real-time airspace situation map generated by the airspace environment analysis module, detect new airspace restrictions within the current time window, and execute completed, canceled and new airspace use plans, and generate an airspace dynamic planning plan in the airspace implementation stage.

[0087] The information output module is used to publish various airspace planning schemes.

[0088] The server is used to calculate, store and manage various types of information of the tool and complete the functional response of each module.

[0089] The workstation is used for various graphic image processing, data calculation and human-computer interaction of the tool.

[0090] The comprehensive information access device is used as an interface for information input of the tool.

[0091] The present invention also provides a multi-user airspace rapid planning method, the specific scheme includes the following steps:

[0092] Step 1, the information input module receives the basic airspace data involved in the joint use of air by multiple users, airspace type data, airspace use plans or flight plans of each user, aviation meteorology, aviation intelligence and other information;

[0093] Step 2, the airspace environment analysis module extracts airspace planning element information from the information received in step 1, including: airspace structure, airspace meteorological conditions, restricted areas, danger zones, restricted areas, airspace occupation or release status, types of airspace aircraft, flight missions, etc., and generates an airspace real-time situation map based on the airspace basic data, including but not limited to the above airspace planning element information;

[0094] Step 3: The airspace use demand processing module extracts the information received in step 1 and generates the airspace use demand information of each user in a unified format, including: airspace user name, airspace type, airspace horizontal range requirement, airspace altitude range requirement, airspace frequency range requirement, airspace use start time, airspace use end time, etc.

[0095] Step 4, the airspace planning rule base module generates rules for demarcation of various airspaces from the information received in step 1;

[0096] Step 5: The airspace automatic planning module demarcates airspace for each user in the airspace planning stage according to the airspace real-time situation map generated in step 2, the airspace use demand information generated in step 3, and the airspace demarcation rules generated in step 4, and generates a conflict-free airspace planning scheme for multi-user joint airspace use;

[0097] Step 6: The airspace dynamic planning module sets a time window of a certain length according to the real-time airspace situation map generated in step 2, detects the newly added airspace restrictions and the completed, cancelled and newly added airspace use plans within the current time window, and generates an airspace dynamic planning plan in the air use implementation stage;

[0098] Step 7: The information output module publishes various airspace planning schemes generated in steps 5 and 6.

[0099] In step 4, the airspace demarcation rule generation method includes the following steps:

[0100] Step 4.1, establish the airspace type model, expressed as:

[0101] A i ={Dep i ,Aci ,Lat i ,lgt i ,Hgt i ,Feq i ,Pon i ,Tra i ,Rad i}

[0102]

[0103] Among them, Dep i Indicates airspace type A i Name, Ac i Indicates airspace type A i The applicable aircraft set, Lat i Indicates airspace type A i The lateral range, Lgt i Indicates airspace type A i The vertical interval, Hgt i Indicates airspace type A i The height interval, Feq i Indicates airspace type A i The frequency range of Pon i Indicates airspace type A i A reference point, datum point or other set of positioning points, Tra i Indicates airspace type A i The nominal track, reference track or other standard track set of Rad i Indicates airspace type A i The radius interval;

[0104] Step 4.2, using the airspace type model established in step 4.1 to process the airspace type data received in step 1, generating an airspace type set A = {A i}(i=1,2,…,I, I is the number of airspace types);

[0105] Step 4.3, each element A of the space type set A i As the rules for the demarcation of this type of airspace, the rules for the demarcation of various types of airspace are generated.

[0106] In step 5, the multi-user joint airspace planning method includes the following steps:

[0107] Step 5.1: Based on the airspace usage demand information generated in step 3, the airspace demarcation rules generated in step 4 are used to establish the airspace usage plan model for each user, which can be expressed as:

[0108]

[0109]

[0110] Among them, P j Indicates airspace usage plan j, usr j represents the name of the airspace user of airspace usage plan j, Indicates the airspace type A used by airspace use plan j i Name, represents the aircraft of airspace use plan j, represents the lateral range of the airspace used by airspace usage plan j, represents the longitudinal interval of the airspace used by airspace usage plan j, represents the altitude range of the airspace used by airspace use plan j, represents the frequency interval of the airspace used by airspace use plan j, pon i A reference point, datum point or other location representing the airspace used by the airspace utilization plan j. represents the nominal track, reference track or other standard track of the airspace used by the airspace use plan j, represents the radius interval of the airspace used by airspace use plan j, represents the start time of using the airspace in airspace use plan j, Indicates the end time of the use of airspace by airspace use plan j;

[0111] Step 5.2: Generate an airspace usage plan set P = {P j}(j=1,2,…,J, J is the number of airspace usage plans of all airspace users);

[0112] Step 5.3, based on the airspace use plan model established in step 5.1 and the airspace use plan set generated in step 5.2, with the goal of minimizing the change in the airspace use plan of all airspace users, establish the objective function of multi-user joint airspace planning, expressed as:

[0113]

[0114] Among them, d ju + ,d ju - (d ju + ,d ju - ≥0, u=1,2,…,U) are the airspace usage plans P j The positive deviation variable and negative deviation variable of the u-th element in , ω ju + ,ω ju - They are d ju+ ,d ju - The weight, λ j Plan P for airspace use j Priority;

[0115] Step 5.4, based on the real-time airspace situation map generated in step 2 and the objective function of the multi-user joint airspace planning established in step 5.3, establish the constraint conditions, which are expressed as:

[0116] or P j ∈P,C h ∈C, h is a positive integer representing the airspace restriction constraint, indicating that the airspace use plan cannot overlap with unavailable airspaces such as restricted areas, dangerous areas, restricted areas, and dangerous weather areas in space (including frequency) or time. C represents the set of unavailable airspace space (including frequency), str h c Indicates unavailable airspace (including frequency) C h The starting moment, ter h c Indicates unavailable airspace (including frequency) C h The end moment;

[0117] or P j ,P k ∈P is the airspace use plan conflict constraint, which means that there can be no spatial (including frequency) or temporal overlap between airspace use plans;

[0118] P j ∈P,1≤u≤U is the target constraint, which means reaching the target value d ju 0 The space-time domain usage plan allows for positive or negative deviations;

[0119] Step 5.5, based on the objective function of the multi-user joint airspace planning established in step 5.3 and the constraints established in step 5.4, establish the target planning model of the multi-user joint airspace planning, which is expressed as:

[0120]

[0121] Step 5.6, solving the target planning model of multi-user joint airspace planning established in step 5.5, and automatically generating a conflict-free airspace planning scheme for multi-user joint air use, the airspace planning scheme including a revised airspace use plan;

[0122] In step 5.7, in addition to automatically generating a conflict-free airspace planning scheme for multi-user joint use of airspace using steps 5.1 to 5.6, the airspace use plan can also be manually edited and adjusted based on the real-time airspace situation map generated in step 2, and the airspace planning scheme can be manually edited and generated.

[0123] In step 6, the airspace dynamic planning method includes the following steps:

[0124] Step 6.1, according to the real-time airspace situation map generated in step 2, set a time window of a certain length, detect the newly added airspace restrictions within the current time window, and execute the completed, cancelled and newly added airspace use plans;

[0125] Step 6.2, delete the airspace use plans that have been completed and cancelled in the airspace planning scheme generated in step 5 and detected in step 6.1, and convert the remaining airspace use plans in the airspace planning scheme into airspace restrictions and add them to the unusable airspace space (including frequency) set, and add the newly added airspace restrictions detected in step 6.1 to the unusable airspace space (including frequency) set;

[0126] Step 6.3, applying the target planning model of multi-user joint airspace planning established in step 5.5 within the current time window, wherein the airspace use plan set only includes the newly added airspace use plan detected in step 6.1;

[0127] Step 6.4, solving the target planning model of the multi-user joint airspace planning established in step 5.5 within the current time window, and automatically generating an airspace dynamic planning scheme, which includes a revised additional airspace use plan;

[0128] In step 6.5, in addition to automatically generating the airspace dynamic planning plan using steps 6.1 to 6.4, you can also manually edit and adjust the newly added airspace use plan based on the real-time airspace situation map generated in step 2, and manually edit and generate the airspace dynamic planning plan.

[0129] Embodiment 1:

[0130] like Figure 1 As shown, the present invention discloses a multi-user airspace rapid planning tool, including: an information input module, an airspace environment analysis module, an airspace use demand processing module, an airspace planning rule base module, an airspace automatic planning module, an airspace dynamic planning module, an information output module, a server, a workstation and a comprehensive information access device;

[0131] The information input module is used to receive airspace basic data, airspace type data, airspace use plans or flight plans of each user, aviation meteorology, aviation intelligence and other information involved in the joint use of airspace by multiple users. Such information generally comes from air traffic control systems, airspace user-related command and control systems and other systems;

[0132] The airspace environment analysis module is used to extract airspace planning element information from the information received by the information input software module, including: airspace structure, airspace meteorological conditions, restricted areas, danger zones, restricted areas, airspace occupation or release status, types of airspace aircraft, flight missions, etc., and generate an airspace real-time situation map based on the airspace basic data, the content of which includes but is not less than the above-mentioned airspace planning element information;

[0133] The airspace use demand processing module is used to extract the information received by the information input module and generate the airspace use demand information of each user in a unified format, including: airspace user name, airspace type, airspace horizontal range requirement, airspace altitude range requirement, airspace frequency range requirement, airspace use start time, airspace use end time, etc.;

[0134] The airspace planning rule base module is used to generate various airspace demarcation rules from the information received by the information input module;

[0135] The airspace automatic planning module is used to demarcate airspace for each user in the airspace planning stage according to the airspace real-time situation map generated by the airspace environment analysis module, the airspace use demand information generated by the airspace use demand processing module, and the airspace demarcation rules generated by the airspace planning rule base module, and generate a conflict-free airspace planning scheme for multi-user joint use of airspace;

[0136] The airspace dynamic planning module is used to set a time window of a certain length according to the real-time airspace situation map generated by the airspace environment analysis module, detect new airspace restrictions within the current time window, and execute completed, canceled and new airspace use plans, and generate an airspace dynamic planning plan in the airspace implementation stage.

[0137] The information output module is used to publish various airspace planning schemes, and the publishing objects are generally air traffic control, airspace users, airspace management agencies and other relevant parties.

[0138] The server is used to calculate, store and manage various types of information of the tool, including: basic airspace data involved in the joint use of air by multiple users, airspace type data, airspace use plans or flight plans of each user, aviation meteorology, aviation intelligence and other information received by the information input module, airspace planning element information extracted by the airspace environment analysis module and the real-time airspace situation map generated, airspace use demand information extracted and generated by the airspace use demand processing module, airspace demarcation rules generated by the airspace planning rule base module, conflict-free airspace planning scheme for the joint use of air by multiple users generated by the airspace automatic planning module, airspace dynamic planning scheme generated by the airspace dynamic planning module, and other information generated during the software operation process, to complete the functional response to each module.

[0139] The workstation is used for various graphic image processing, data calculation and human-computer interaction of the tool, supports the display of information such as real-time airspace situation maps, airspace usage requirements, airspace demarcation rules, conflict-free airspace planning schemes for multi-user joint use, and airspace dynamic planning schemes, and supports manual operation interfaces, etc.

[0140] The comprehensive information access device is used as an interface for information input of the tool, and supports the connection of the tool with various information sources such as aviation meteorology and aviation intelligence.

[0141] like Figure 2 As shown, the present invention discloses a multi-user airspace rapid planning method, comprising the following steps:

[0142] Step 1, the information input module receives the basic airspace data involved in the joint use of air by multiple users (a certain designated area such as a demarcated area), airspace type data, airspace use plans or flight plans of each user, aviation meteorology, aviation intelligence and other information;

[0143] Step 2, the airspace environment analysis module extracts airspace planning element information from the information received in step 1, including: airspace structure, airspace meteorological conditions, restricted areas, danger zones, restricted areas, airspace occupation or release status, types of airspace aircraft, flight missions, etc., and generates an airspace real-time situation map based on the airspace basic data, including but not limited to the above-mentioned airspace planning element information, and intuitively displays the airspace environment involved in the joint use of air by multiple users in a designated area such as a certain demarcated area;

[0144] Step 3: The airspace use demand processing module extracts the information received in step 1 and generates the airspace use demand information of each user in a unified format, including: airspace user name, airspace type, airspace horizontal range requirement, airspace altitude range requirement, airspace frequency range requirement, airspace use start time, airspace use end time, etc.

[0145] Step 4: The airspace planning rule base module generates rules for demarcating various airspaces from the information received in step 1. These rules describe the spatial form, frequency requirements, etc. of various airspaces.

[0146] Step 5: The airspace automatic planning module demarcates airspace for each user in the airspace planning stage according to the airspace real-time situation map generated in step 2, the airspace use demand information generated in step 3, and the airspace demarcation rules generated in step 4, and generates a conflict-free airspace planning scheme for multi-user joint airspace use;

[0147] Step 6: The airspace dynamic planning module sets a time window of a certain length according to the real-time airspace situation map generated in step 2, detects the newly added airspace restrictions and the completed, cancelled and newly added airspace use plans within the current time window, and generates an airspace dynamic planning plan in the air use implementation stage;

[0148] Step 7: The information output module publishes various airspace planning schemes generated in steps 5 and 6.

[0149] like Figure 3 As shown, the step 4 of the multi-user airspace rapid planning method disclosed in the present invention proposes an airspace demarcation rule generation method, including the following steps:

[0150] Step 4.1, establish the airspace type model, expressed as:

[0151] A i ={Dep i ,Ac i ,Lat i ,Lgt i ,Hgt i ,Feq i ,Pon i ,Tra i ,Rad i}

[0152]

[0153] Among them, Dep i Indicates airspace type A i Name, Ac i Indicates airspace type A i The applicable aircraft set, Lat i Indicates airspace type A i The lateral range, Lgt i Indicates airspace type A i The vertical interval, Hgt i Indicates airspace type A i The height interval, Feq i Indicates airspace type A i The frequency range of Pon i Indicates airspace type A i A reference point, datum point or other set of positioning points, Tra i Indicates airspace type A i The nominal track, reference track or other standard track set of Rad i Indicates airspace type A i The radius interval;

[0154] Step 4.2, using the airspace type model established in step 4.1 to process the airspace type data received in step 1, generating an airspace type set A = {A i}(i=1,2,…,I, I is the number of airspace types);

[0155] Step 4.3, each element A of the space type set A i As the rules for the demarcation of this type of airspace, the rules for the demarcation of various types of airspace are generated.

[0156] like Figure 4 As shown, the step 5 of the multi-user airspace rapid planning method disclosed in the present invention proposes a multi-user joint airspace planning method, including the following steps:

[0157] Step 5.1: Based on the airspace usage demand information generated in step 3, the airspace demarcation rules generated in step 4 are used to establish the airspace usage plan model for each user, which can be expressed as:

[0158]

[0159]

[0160] Among them, P j Indicates airspace usage plan j, usr j represents the name of the airspace user of airspace usage plan j, Indicates the airspace type A used by airspace use plan j i Name, represents the aircraft of airspace use plan j, represents the lateral range of the airspace used by airspace usage plan j, represents the longitudinal interval of the airspace used by airspace usage plan j, represents the altitude range of the airspace used by airspace use plan j, represents the frequency interval of the airspace used by airspace use plan j, pon i A reference point, datum point or other location representing the airspace used by the airspace utilization plan j. represents the nominal track, reference track or other standard track of the airspace used by the airspace use plan j, represents the radius interval of the airspace used by airspace use plan j, represents the start time of using the airspace in airspace use plan j, Indicates the end time of the use of airspace by airspace use plan j;

[0161] Step 5.2: Generate an airspace usage plan set P = {P j}(j=1,2,…,J, J is the number of airspace usage plans of all airspace users);

[0162] Step 5.3, based on the airspace use plan model established in step 5.1 and the airspace use plan set generated in step 5.2, with the goal of minimizing the change in the airspace use plan of all airspace users, establish the objective function of multi-user joint airspace planning, expressed as:

[0163]

[0164] Among them, d ju + ,d ju - (d ju + ,d ju - ≥0, u=1,2,…,U) are the airspace usage plans P j The positive deviation variable and negative deviation variable of the u-th element in , ω ju + ,ω ju - They are d ju + ,d ju - The weight, λ j Plan P for airspace use j Priority;

[0165] Step 5.4, based on the real-time airspace situation map generated in step 2 and the objective function of the multi-user joint airspace planning established in step 5.3, establish the constraint conditions, which are expressed as:

[0166] or P j ∈P,C h ∈C, h is a positive integer, which is an airspace restriction constraint. It is an absolute constraint, indicating that the airspace use plan cannot overlap with unavailable airspaces such as restricted areas, dangerous areas, restricted areas, and dangerous weather areas in space (including frequency) or time. Among them, C represents the set of unavailable airspace space (including frequency), str h c Indicates unavailable airspace (including frequency) C h The starting moment, ter h c Indicates unavailable airspace (including frequency) C h The end moment;

[0167] or P j ,P k ∈P is the airspace use plan conflict constraint, which is an absolute constraint, indicating that there can be no spatial (including frequency) or temporal overlap between airspace use plans;

[0168] P j ∈P,1≤u≤U is the target constraint, which means reaching the target value d ju 0The space-time domain usage plan allows for positive or negative deviations;

[0169] Step 5.5, based on the objective function of the multi-user joint airspace planning established in step 5.3 and the constraints established in step 5.4, establish the target planning model of the multi-user joint airspace planning, which is expressed as:

[0170]

[0171] Step 5.6, solving the target planning model of multi-user joint airspace planning established in step 5.5, and automatically generating a conflict-free airspace planning scheme for multi-user joint air use, the airspace planning scheme including a revised airspace use plan;

[0172] In step 5.7, in addition to automatically generating a conflict-free airspace planning scheme for multi-user joint use of airspace using steps 5.1 to 5.6, the airspace use plan can also be manually edited and adjusted based on the real-time airspace situation map generated in step 2, and the airspace planning scheme can be manually edited and generated.

[0173] like Figure 5 As shown, the step 6 of the multi-user airspace fast planning method disclosed in the present invention proposes an airspace dynamic planning method, including the following steps:

[0174] Step 6.1, according to the real-time airspace situation map generated in step 2, set a time window of a certain length, detect the newly added airspace restrictions within the current time window, and execute the completed, cancelled and newly added airspace use plans;

[0175] Step 6.2, delete the airspace use plans that have been completed and cancelled in the airspace planning scheme generated in step 5 and detected in step 6.1, and convert the remaining airspace use plans in the airspace planning scheme into airspace restrictions and add them to the unusable airspace space (including frequency) set, and add the newly added airspace restrictions detected in step 6.1 to the unusable airspace space (including frequency) set;

[0176] Step 6.3, applying the target planning model of multi-user joint airspace planning established in step 5.5 within the current time window, wherein the airspace use plan set only includes the newly added airspace use plan detected in step 6.1;

[0177] Step 6.4, solving the target planning model of the multi-user joint airspace planning established in step 5.5 within the current time window, and automatically generating an airspace dynamic planning scheme, which includes a revised additional airspace use plan;

[0178] In step 6.5, in addition to automatically generating the airspace dynamic planning plan using steps 6.1 to 6.4, you can also manually edit and adjust the newly added airspace use plan based on the real-time airspace situation map generated in step 2, and manually edit and generate the airspace dynamic planning plan.

[0179] Embodiment 2:

[0180] Take a certain airspace simulation operation data as an example, Figure 6 As shown in the figure, a certain airspace unit (gray part) in the airspace is occupied by three airspace use plans at the same time. There is spatial and temporal overlap between the three airspace use plans, and the airspace needs to be quickly planned. The airspace used by Airspace Use Plan 1 and Airspace Use Plan 2 is regional. In this example, spatial position translation is used as the spatial change method of the airspace use plan; the airspace used by Airspace Use Plan 3 is linear. In this example, rerouting is used as the spatial change method of the airspace use plan. In this example, the time change method of the airspace use plan is delay.

[0181] Table 1 Data related to changes in airspace use plan

[0182] Space change (unit distance) Time change (unit time) Airspace Use Plan1 2 5 Airspace Use Plan 2 3 2 Airspace Use Plan 3 4 2

[0183] In Table 1, both spatial change and temporal change are dimensionless numbers. The unit distance can be expressed in kilometers, and the unit time can be expressed in minutes, depending on the mission characteristics of different airspace users.

[0184] The requirements of this airspace planning include: first, the time changes of Airspace Use Plan 1 should not exceed 30 as far as possible; second, the spatial changes of Airspace Use Plan 2 should not exceed 12 as far as possible; third, the time changes of Airspace Use Plan 3 should not exceed 20 as far as possible.

[0185] The generated airspace planning scheme is: Airspace use plan 1 has no change, Airspace use plan 2 has a spatial change of 4 unit distance, and Airspace use plan 3 has a time change of 10 unit time.

[0186] In a specific implementation, the present application provides a computer storage medium and a corresponding data processing unit, wherein the computer storage medium can store a computer program, and when the computer program is executed by the data processing unit, the invention content of a multi-user airspace rapid planning tool and method provided by the present invention and some or all steps in each embodiment can be executed. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0187] Those skilled in the art can clearly understand that the technical solutions in the embodiments of the present invention can be implemented by means of computer programs and their corresponding general hardware platforms. Based on such an understanding, the technical solutions in the embodiments of the present invention can be essentially or partly contributed to the prior art in the form of computer programs, i.e., software products, which can be stored in a storage medium and include several instructions for enabling a device including a data processing unit (which can be a personal computer, a server, a single-chip microcomputer, an MCU or a network device, etc.) to execute the methods described in various embodiments of the present invention or certain parts of the embodiments.

[0188] The present invention provides a multi-user airspace rapid planning tool and method. There are many methods and ways to implement the technical solution. The above is only a preferred implementation of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention. All components not specified in this embodiment can be implemented by existing technologies.

Claims

1. A multi-user airspace rapid planning tool, characterized in that: include: Information input module, airspace environment analysis module, airspace use demand processing module, airspace planning rule base module, airspace automatic planning module, airspace dynamic planning module and information output module; among them, The information input module is used to receive the multi-user airspace basic data, airspace type data, each user's air use plan or flight plan, aviation meteorology and aviation intelligence; The airspace environment analysis module is used to extract airspace planning element information from the information received by the information input module; based on the airspace basic data, generate an airspace real-time situation map, wherein the content includes the above-mentioned airspace planning element information; The airspace use demand processing module is used to extract the information received by the information input module and generate the airspace use demand information of each user in a unified format; The airspace planning rule base module is used to generate various airspace demarcation rules from the information received by the information input module; The airspace automatic planning module is used to demarcate airspace for each user in the airspace planning stage according to the airspace real-time situation map generated by the airspace environment analysis module, the airspace use demand information generated by the airspace use demand processing module, and the airspace demarcation rules generated by the airspace planning rule base module, and generate a conflict-free airspace planning scheme for multi-user joint airspace use; The airspace dynamic planning module is used to set a time window according to the airspace real-time situation map generated by the airspace environment analysis module, detect new airspace restrictions within the current time window, and execute completed, cancelled and newly added airspace use plans, and generate an airspace dynamic planning plan in the air use implementation stage; The information output module is used to publish various airspace planning schemes, including the conflict-free airspace planning scheme for multi-user joint use of air generated by the airspace automatic planning module and the airspace dynamic planning scheme generated by the airspace dynamic planning module; Among them, demarcating airspace includes: establishing an airspace type model, which is expressed as follows: <h2 style=";text-align:left;direction:ltr">A<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> ={Dep<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> ,Ac<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> ,,Lat<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> LGT<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> Hgt<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> ,Feq<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> ,Pon<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> Tra<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> Rad<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr">} Among them, Dep i Indicates the i-th airspace type A i Name, Ac i Indicates airspace type A i The applicable aircraft set, Lat i Indicates airspace type A i The lateral range, Lgt i Indicates airspace type A i The vertical interval, Hgt i Indicates airspace type A i The height interval, Feq i Indicates airspace type A i Frequency range Pon i Indicates airspace type A i A reference point, datum point or other set of positioning points, Tra i Indicates airspace type A i The nominal track, reference track or other standard track set of Rad i Indicates airspace type A i The radius interval, R + is the set of positive real numbers, and Respectively represent Lat i The minimum and maximum values ​​of and Respectively represent Lgt i The minimum and maximum values ​​of and Respectively represent Hgt i The minimum and maximum values ​​of and Respectively represent Feq i The minimum and maximum values ​​of and Rad i The minimum and maximum values ​​of Generate conflict-free airspace planning solutions for multi-user joint use of airspace, including: The airspace use plan model for each user is established as follows: Among them, P j represents the j-th airspace usage plan, usr j Indicates airspace usage plan P j The name of the airspace user, Indicates airspace usage plan P j Airspace Type A i Name, Indicates airspace usage plan P j of aircraft, Indicates airspace usage plan P j The lateral extent of the airspace used, Indicates airspace usage plan P j the longitudinal extent of the airspace used, Indicates airspace usage plan P j The altitude range of the airspace used, Indicates airspace usage plan P j The frequency interval of the airspace used, Indicates airspace usage plan P j The fix points of the airspace used, Indicates airspace usage plan P j The track of the airspace used, Indicates airspace usage plan P j The radius of the airspace used, Indicates airspace usage plan P j The start time of using the airspace, Indicates airspace usage plan P j The time when the use of the airspace ends.

2. A multi-user airspace rapid planning tool according to claim 1, characterized in that: The airspace planning element information includes: airspace structure, airspace meteorological conditions, restricted areas, danger zones, restricted areas, airspace occupation or release status, types of airspace aircraft and flight missions; The airspace usage requirement information includes: airspace user name, airspace type, airspace horizontal range requirement, airspace altitude range requirement, airspace frequency range requirement, airspace usage start time and airspace usage end time.

3. A multi-user airspace rapid planning method, characterized in that: Using the tool described in any one of claims 1 to 2 to perform multi-user airspace rapid planning, comprising the following steps: Step 1: Obtain basic information of multiple users, including: basic airspace data, airspace type data, airspace use plan or flight plan of each user, aviation meteorology and aviation intelligence; Step 2, extracting airspace planning element information from the basic information obtained in step 1, and generating a real-time airspace situation map; Step 3, extracting the basic information obtained in step 1 and generating the airspace use demand information of each user in a unified format; Step 4, generating airspace demarcation rules from the basic information obtained in step 1; Step 5: Based on the real-time airspace situation map generated in step 2, the airspace use demand information generated in step 3, and the airspace demarcation rules generated in step 4, airspace is demarcated for each user in the air use planning stage, and a conflict-free airspace planning scheme for multi-user joint air use is generated; Step 6: According to the real-time airspace situation map generated in step 2, a time window is set to detect new airspace restrictions within the current time window and the execution of completed, cancelled and newly added airspace use plans, and an airspace dynamic planning scheme is generated in the air use implementation stage; Step 7: Publish the airspace planning solution generated in steps 5 and 6.

4. A multi-user airspace rapid planning method according to claim 3, characterized in that: The generation of airspace demarcation rules described in step 4 specifically includes: Step 4-1, establish the airspace type model, which is expressed as follows: <h2 style=";text-align:left;direction:ltr">A<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> ={Dep<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> AC<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> ,Lat<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> LGT<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> Hgt<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> Feq<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> Pon<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> Tra<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> Rad<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr">} Among them, Dep i Indicates the i-th airspace type A i Name, Ac i Indicates airspace type A i The applicable aircraft set, Lat i Indicates airspace type A i The lateral range, Lgt i Indicates airspace type A i The vertical interval, Hgt i Indicates airspace type A i The height interval, Feq i Indicates airspace type A i Frequency range Pon i Indicates airspace type A i A reference point, datum point or other set of positioning points, Tra i Indicates airspace type A i The nominal track, reference track or other standard track set of Rad i Indicates airspace type A i The radius interval, R + is the set of positive real numbers, and Respectively represent Lat i The minimum and maximum values ​​of and Respectively represent Lgt i The minimum and maximum values ​​of and Respectively represent Hgt i The minimum and maximum values ​​of and Respectively represent Feq i The minimum and maximum values ​​of and Rad i The minimum and maximum values ​​of Step 4-2, using the airspace type model established in step 4-1 to process the airspace type data received in step 1, to generate an airspace type set, as follows: A={A i } Where, i = 1, 2, ..., I, I is the number of airspace types; Step 4-3, each element A in the space type set A i As the rules for the demarcation of this type of airspace, the rules for the demarcation of various types of airspace are generated.

5. A multi-user airspace rapid planning method according to claim 4, characterized in that: The generation of a conflict-free airspace planning scheme for multi-user joint use of airspace described in step 5 specifically includes: Step 5-1, based on the airspace use demand information generated in step 3, the airspace demarcation rules generated in step 4 are used to establish the airspace use plan model for each user, as shown below: Among them, P j represents the j-th airspace usage plan, usr j Indicates airspace usage plan P j The name of the airspace user, Indicates airspace usage plan P j Airspace Type A i Name, Indicates airspace usage plan P j of aircraft, Indicates airspace usage plan P j The lateral extent of the airspace used, Indicates airspace usage plan P j the longitudinal extent of the airspace used, Indicates airspace usage plan P j The altitude range of the airspace used, Indicates airspace usage plan P j The frequency interval of the airspace used, Indicates airspace usage plan P j The fix points of the airspace used, Indicates airspace usage plan P j The track of the airspace used, Indicates airspace usage plan P j The radius of the airspace used, Indicates airspace usage plan P j The start time of using the airspace, Indicates airspace usage plan P j The end time of use of the airspace; Step 5-2: Generate an airspace use plan set based on the airspace use plan model established in step 5-1, as follows: P={P j } Wherein, j = 1, 2, ..., J, J is the number of airspace use plans of all airspace users; Step 5-3: Based on the airspace use plan model established in step 5-1 and the airspace use plan set generated in step 5-2, the objective function of multi-user joint airspace planning is established with the goal of minimizing the change in airspace use plans of all airspace users, which is expressed as follows: in, and Airspace Utilization Plan P j The positive and negative deviation variables of the u-th element in , where U stands for Airspace Use Plan P j The number of elements in ; and is the weight, λ j Plan P for airspace use j Priority; Step 5-4, based on the airspace real-time situation map generated in step 2 and the objective function of the multi-user joint airspace planning established in step 5-3, establish constraints, including: airspace restriction constraints, airspace use plan conflict constraints and target constraints; Step 5-5, establishing a target planning model for multi-user joint airspace planning based on the objective function of the multi-user joint airspace planning established in step 5-3 and the constraint conditions established in step 5-4; Step 5-6, solve the target planning model of multi-user joint airspace planning established in step 5-5, and obtain a conflict-free airspace planning solution for multi-user joint airspace use.

6. A multi-user airspace rapid planning method according to claim 5, characterized in that: The airspace restriction constraint described in step 5-4 means that the airspace use plan cannot overlap with unavailable airspace in space or time, as shown below: or Among them, P j ∈P,C h ∈C, h is a positive integer, C represents the set of unavailable spatial domains, Indicates unavailable airspace space C h The starting moment, Indicates unavailable airspace space C h The ending moment.

7. A multi-user airspace rapid planning method according to claim 6, characterized in that: The airspace use plan conflict constraint described in step 5-4 means that there cannot be spatial or temporal overlap between airspace use plans, as shown below: or Among them, P k represents the kth airspace usage plan, P k ∈P.

8. A multi-user airspace rapid planning method according to claim 7, characterized in that: The target constraint described in step 5-4 indicates that the spatial domain usage plan is allowed to have positive or negative deviations when reaching the target value, which is specifically expressed as follows: Among them, 1≤u≤U, Indicates the target value.

9. A multi-user airspace rapid planning method according to claim 8, characterized in that: The target planning model of the multi-user joint airspace planning described in step 5-5 is expressed as follows:

10. A multi-user airspace rapid planning method according to claim 9, characterized in that: The generation of the airspace dynamic planning scheme described in step 6 specifically includes: Step 6-1, according to the real-time airspace situation map generated in step 2, set the time window, detect the new airspace restrictions in the current time window, and execute the completed, cancelled and new airspace use plans; Step 6-2, delete the airspace use plans that have been completed and cancelled in the airspace planning scheme generated in step 5 and detected by step 6-1, convert the remaining airspace use plans in the airspace planning scheme into airspace restrictions, add them to the unavailable airspace space set, and add the newly added airspace restrictions detected in step 6-1 to the unavailable airspace space set; Step 6-3, applying the method for establishing the target planning model for multi-user joint airspace planning in step 5-5 within the current time window to construct a new target planning model; wherein the airspace use plan set only includes the newly added airspace use plan detected in step 6-1; Step 6-4, solving the new target planning model established in step 6-3 within the current time window to obtain the airspace dynamic planning solution.

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