Collection method of unmanned aerial vehicle flight control airspace

Abstract

The present invention relates to the field of electronic digital data processing technology, and specifically provides a method for collecting unmanned aircraft flight control airspace, including the following steps: the management department issues the unmanned aircraft control airspace reporting task to the corresponding unit of the controlled airspace at the prefecture-level; the corresponding unit collects the corresponding control range according to the controlled airspace, and reports it to the prefecture-level management department; the prefecture-level management department summarizes and verifies the data set, and reports it to the regional management department; the regional management department summarizes and verifies the data, and reports it to the management department; the management department summarizes and verifies the regional controlled airspace data, and publishes the national controlled airspace data. The demarcation and collection method provided by the present invention improves the efficiency of unmanned controlled airspace data collection and reporting, and can quickly perform airspace expansion calculations, improve the speed and accuracy of collected data, and generate detailed and accurate control ranges through reporting and summarizing level by level.

Description

Technical Field

[0001] The invention relates to the technical field of electronic digital data processing, and mainly to a method for collecting data of flight control airspace of an unmanned aerial vehicle. Background Art

[0002] In recent years, with the widespread application of unmanned aerial vehicles in various industries, low-altitude safety urgently needs to be fully guaranteed. Against this background, the "Interim Regulations on Unmanned Aerial Vehicle Flight Management" was promulgated.

[0003] Specifically, the "Interim Regulations on the Management of Unmanned Aerial Vehicle Flights" stipulates that controlled airspace should include specified places or areas and a certain surrounding range. However, in the process of users reporting controlled airspace in accordance with the "Interim Regulations on the Management of Unmanned Aerial Vehicle Flights", users only have the actual range data of their own places or areas, but do not have data on a certain surrounding range, resulting in a deviation between user statistical data and the data that needs to be reported; especially for places or areas such as roads, railways, power lines and national boundaries, the data stored by users often only have route maps, without specific widths and data on a certain surrounding range; if these data are re-measured, a huge amount of data will be generated, which will bring a huge workload to the users to be reported. Summary of the invention

[0004] The purpose of the present invention is to provide a method for collecting data in the flight control airspace of unmanned aircraft, which can solve the defects of difficulty and heavy workload in data collection for users, support the reporting business of unmanned aircraft control airspace data, realize the demarcation and collection of national control airspace data, effectively collect data and form a version of national unmanned aircraft control airspace data.

[0005] The present invention provides a method for collecting unmanned aircraft flight control airspace, and the method for collecting unmanned aircraft flight control airspace comprises the following steps:

[0006] Step 1: The national air traffic management department will issue the unmanned aircraft control airspace reporting task to the corresponding units of the nine types of controlled airspace at the prefecture and city levels;

[0007] Step 2: The corresponding unit collects the corresponding control range according to the controlled airspace, and generates a unit control range data set to report to the prefecture-level management department;

[0008] Step 3: The prefecture-level management department summarizes and verifies the unit control scope data set, and generates a prefecture-level control scope data set to report to the regional management department;

[0009] Step 4: The regional management department summarizes and verifies the prefecture-level control range data set, and generates a regional control range data set to report to the national air traffic management department;

[0010] Step 5: The national air traffic management department summarizes and verifies the regional control range data set, generates a national control range data set, and publishes the national control range data set;

[0011] Step 21, each corresponding unit collects controlled airspace data;

[0012] The controlled airspace data includes controlled airspace information and boundary point information;

[0013] Step 22, standardize the controlled airspace data using a unified time reference, a unified geographic space drawing method, and a unified data description method to generate standardized controlled airspace data;

[0014] Step 23, expanding the boundary point information through an expansion algorithm to generate an actual controlled airspace;

[0015] Step 24, using the standard controlled airspace data and the actual controlled airspace data to generate a unit control range data set and export it for reporting;

[0016] In step 23, the expansion algorithm includes:

[0017] Step 231, line segment expansion algorithm;

[0018] The line segment expansion algorithm uses the line segment midline node as a reference to calculate the safety buffer zone boundary, including the following steps:

[0019] Step 2311: The encrypted midline node geographic coordinates (Lon i , Lat i ) is converted into geodetic plane coordinates (X i , Y i );

[0020] Step 2312, using the geodetic plane coordinates (X i , Y i ), and the geodetic plane coordinates of the next midline node (X i+1 , Y i+1 ) coordinates to calculate the coordinate azimuth θ of the two points, the calculation formula is:

[0021] θ = arctan2(M, N);

[0022] Where M = sin(X i -X i+1 )×cos X i , N = cosY i sinY i+1 -sinY i cosY i+1 ×cos(Y i+1-Y i );

[0023] For the area expanded on the left, the azimuth is rotated 90° to the left to obtain the rotated coordinate azimuth θ L , when θ-90°≤-180°:

[0024] θ L =θ-90°+360°;

[0025] When -180°<θ-90°<180°:

[0026] θ L =θ-90°;

[0027] Step 2313, (X i , Y i ) Shift left D buffer Get the plane coordinates after expanding to the left (X L，i , Y L，i ) The calculation formula is shown in the following formula. Similarly, the plane coordinates (X R，i , Y R，i );

[0028] X L，i =X i +D buffer cosθ L

[0029] Y L，i =Y i +D buffer cosθ L ;

[0030] D buffer Indicates the distance perpendicular to the midline, θ L Indicates the coordinate azimuth after rotating to the left;

[0031] Step 2314: change the plane coordinates (X L，i , Y L，i ) and / or right expansion node plane coordinates (X R，i , Y R，i ) is converted to the left outer node geographic coordinates (Lon L，i , Lat L，i ) and / or right outward node geographic coordinates (Lon R，i , Lat R,i ).

[0032] Furthermore, in step 1, the controlled airspace is divided into special airspace, airport airspace, national border airspace, confidential unit airspace, important facilities and hazardous chemicals area airspace, public infrastructure airspace, electromagnetic environment protection airspace, cultural relics airspace and other types of airspace.

[0033] Furthermore, in step 21, the controlled airspace information includes airspace UUID, airspace name, airspace type, region, facility location, facility management unit, facility management personnel, and management personnel telephone number;

[0034] The boundary point information includes spatial geometry information.

[0035] Furthermore, in step 22, the unified time reference adopts the absolute time in the Eastern Time Zone 8;

[0036] The unified geographic space rendering unifies the airspace geometric information into an oblong, a circle, a sector, an ellipse, an arc, a line segment, a polygon and a complex polygon;

[0037] The unified data unifies the data name, data format, and data expression method of measurement unit.

[0038] Furthermore, in step 23, the line segment expansion algorithm further includes unilateral expansion of the line segment;

[0039] The line segment is unilaterally expanded and expanded along one end of the line segment D buffer Distance, the encrypted coordinates (Lon i , Lat i ) perpendicular to the center line outward expansion distance D buffer ; and based on the left or right expansion algorithm in the expansion on both sides of the line segment in step 231, the geographic coordinates of the expansion nodes are obtained.

[0040] Furthermore, in step 23, the expansion algorithm further includes:

[0041] Step 232, polyline expansion algorithm;

[0042] The polyline expansion algorithm groups polyline point sequences into multiple groups of line segments, expands the multiple groups of line segments respectively to obtain a set of expanded quadrilaterals, merges the set of expanded quadrilaterals, and obtains a point set of the merged set of expanded quadrilaterals.

[0043] Furthermore, in step 23, the expansion algorithm further includes:

[0044] Step 233, polygon expansion algorithm, the polygon expansion algorithm includes the following steps:

[0045] Step 2331, determining the type of the expansion point, which includes concave points, convex points and flat points;

[0046] Among them, a concave point refers to an external angle with the contour point corresponding to the current expansion point as the vertex less than 180°; a convex point refers to an external angle with the contour point corresponding to the current expansion point as the vertex greater than 180°; a flat point refers to an external angle with the contour point corresponding to the current expansion point as the vertex equal to 180°;

[0047] P i-1 Indicates P i The previous contour point, P i+1 Indicates P i The next contour point, vector e i and e i+1 Respectively represent from P i-1 Point to P i and P i Point to P i+1 The unit vector of :

[0048]

[0049] If the contour point P i is a concave point, then the formula for generating the outer expansion point is:

[0050]

[0051] If the contour point P i is a convex point, then the formula for generating the outer expansion point is:

[0052]

[0053] If the contour point P i is a flat point, then the formula for generating the external expansion point is:

[0054]

[0055] Among them, the expansion distance is R, the contour point P i The outer expansion point is represented by Q i ,θ i Indicates P i-1 P i and P i+1 P i The angle between.

[0056] Furthermore, in step 3, the verification includes three aspects of the integrity, legality and repeatability of the control scope data set;

[0057] The integrity check mainly verifies the data structure and data content of various tables in the database of the control scope data center, including the verification of key fields and the setting of verification rules for the key fields of airspace name and airspace shape;

[0058] The verification of legality mainly includes the verification of the data format, data type and data value range of the element information in the control scope data set;

[0059] The duplication verification mainly includes checking the duplicate data of the controlled airspace information in the controlled range data set according to the unique identifier of the controlled airspace data.

[0060] Furthermore, in step 233, the polygon expansion algorithm further includes the following steps:

[0061] Step 2332, processing the invalid outward expansion line segments, specifically includes:

[0062] Step 23321, identifying invalid outward expansion line segments;

[0063] It is determined by the positive or negative value of the dot product of the two vectors:

[0064]

[0065] P i ,P i+1 The expansion points are Q i ,Q i+1 , Represents the contour point P i ,P i+1 The vector value of Indicates the expansion point Q i ,Q i+1 The vector value of ;

[0066] Step 23322, updating the outward expansion points; the outward expansion points include two situations: invalid outward expansion line segments are discontinuous and invalid outward expansion line segments are continuous; wherein, invalid outward expansion line segments are discontinuous means that the adjacent line segments of an invalid outward expansion line segment are all valid line segments; invalid outward expansion line segments are continuous means that there is at least one invalid line segment among the adjacent line segments of an invalid outward expansion line segment;

[0067] Step 23323, processing steps for invalid outward expansion line segment discontinuity:

[0068] Calculate the leading edge Q of the invalid outward expansion segment i+1 Q i+2 and the trailing edge Q i-1 Q i The intersection point M;

[0069] Update the leading edge Q of the invalid outward expansion segment i+1 Q i-2 The starting point is the intersection M, change to MQ i-2 , update the back-end edge Q i- 1Q i The end point is M;

[0070] The leading edge is the first line segment of the invalid outward expansion line segment forward in the contour direction, and the trailing edge is the first line segment of the invalid outward expansion line segment backward in the contour direction.

[0071] Furthermore, in step 2332, the following steps are also included:

[0072] Step 23324, invalid outward expansion line segment includes the following processing steps:

[0073] Find the original contour P corresponding to the invalid expansion line segment i P i-1 , P i+1 P i+2 , calculate the outward expansion line segment Q i Q i+1 , Q i+1 Q i+2 ;

[0074] Calculate the intersection points of the outward expansion line segment with the leading edge and the trailing edge respectively, and update the starting point of the leading edge as the intersection point and the end point of the trailing edge as the intersection point; invalid outward expansion line segment Q i Q i+1 The leading edge is Q i+1 Q i+2 Rear side Q i-1 Q i , the intersection is M1, and the trailing edge is updated to Q i-1 M1; invalid outward expansion line segment Q i+1 Q i+2 The leading edge Q i+2 Q i+3 , rear edge Q i Q i+1 , the intersection is M2, and the preceding edge is updated to M2Q i+3 ;

[0075] Calculate the leading edge M2Q i+3 and the trailing edge Q i-1 The intersection point M3 of M1 serves as the expansion point;

[0076] After obtaining all the expansion points, the expansion points are connected in series to obtain the expansion polygon.

[0077] The beneficial effects achieved by the present invention are:

[0078] The unmanned airspace data method of the present invention, on the one hand, sorts, refines and standardizes the 9 categories and 46 types of controlled airspace data involved in the "Interim Regulations on Flight Management of Unmanned Aerial Vehicles", and forms a standardized unmanned airspace data model. On the other hand, according to the characteristics of airspace composition, the association and fusion between controlled airspace data and boundary point data are realized, effectively solving the existing problems of "data involving multiple fields, different standards, and imperfect data standards".

[0079] The present invention proposes to adopt unified time base, unified geographic space drawing, unified data specification key technical specifications to control airspace data; the unified time base adopts absolute time under the East 8 time zone, formulates data timestamp, and provides reference standards for subsequent data maintenance, updating, and release; the unified geographic space drawing unifies the airspace geometry information into long circles, circles, sectors, ellipses, arcs, line segments, polygons, and complex polygons, covering all requirements of airspace geometry, and complex graphics are composed of multiple point sequences; the unified data unifies the data name, data format, and data expression method of the unit of measurement, unifies the data expression method, and facilitates users to use the data for business processing, and unifies the standards to facilitate subsequent data maintenance.

[0080] According to the requirements of different controlled airspaces, the present invention provides line segment, broken line and polygon controlled airspace expansion algorithms to solve the problem of inaccurate and inconvenient measurement of the expansion range by users. For example, for highway and railway type data, their professional field data are generally line center data. The system provides an expansion algorithm to facilitate users to correctly delineate the controlled airspace range.

[0081] The present invention proposes an unmanned aircraft controlled airspace verification technology, designs data unique identifiers and required item identifiers for the data composition of the unmanned aircraft controlled airspace, verifies and judges the integrity, legality and repeatability of user input data, and assists users in verifying the accuracy of unmanned aircraft controlled airspace data.

[0082] The present invention collects and reports controlled airspace data, improves the efficiency of collecting and reporting data in unmanned controlled airspace, shortens the collection and reporting cycle, and can verify data to improve the accuracy of collected data.

[0083] The present invention designs the coding rules of the data field to provide support for the subsequent entry of controlled airspace data. At the same time, it provides data storage management functions, supports the unified storage, management, maintenance and access services of various types of controlled airspace data, and supports the classified storage of data and the creation of database indexes.

[0084] The unmanned aerial vehicle controlled airspace collection method of the present invention combines user needs, provides the export of controlled airspace data Excel files, database files and data templates, and assists users to conveniently carry out data collection and reporting work.

[0085] The invention of the external expansion algorithm provided by the present invention greatly reduces the workload of users in collecting data on unmanned aerial vehicle controlled airspace. Users only save the actual airspace range. In the definition of unmanned aerial vehicle controlled airspace data, it is required to collect and report the actual airspace and a certain range of surrounding areas. For users, it is necessary to recalculate the longitude and latitude along the actual airspace range. If the type is road or railway, the amount of data has reached 5,000 to 6,000 data points. Recalculation is not practical and will waste a lot of manpower and material resources. In order to reduce the user's workload of collection and reporting, the external expansion algorithm facilitates users to automatically calculate the external expansion range based on the actual airspace. It takes less than 1 minute to obtain the range of a road or railway, which greatly reduces the user's workload. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1 It is a schematic flow chart of a method for collecting information of unmanned aerial vehicle flight control airspace provided by the present invention;

[0087] Figure 2 It is a line segment expansion effect diagram in a method for collecting unmanned aircraft flight control airspace provided by the present invention;

[0088] Figure 3 It is a schematic diagram of a polygon expansion algorithm in a method for collecting unmanned aircraft flight control airspace provided by the present invention;

[0089] Figure 4 It is a schematic diagram of the effect of discontinuity of invalid outward expansion line segments in a method for collecting unmanned aerial vehicle flight control airspace provided by the present invention;

[0090] Figure 5 It is a schematic diagram of the effect of the continuity of invalid outward expansion line segments in a method for collecting unmanned aerial vehicle flight control airspace provided by the present invention;

[0091] Figure 6 It is a business flow chart of an unmanned aircraft control airspace demarcation and collection system provided by the present invention;

[0092] Figure 7 It is a functional structure diagram of an unmanned aerial vehicle controlled airspace demarcation and collection system provided by the present invention. DETAILED DESCRIPTION

[0093] The technical solution of the present invention is described in more detail below in conjunction with the accompanying drawings. The present invention includes but is not limited to the following embodiments.

[0094] Embodiment 1

[0095] like Figure 1As shown, the present invention provides a method for collecting unmanned aerial vehicle flight control airspace, which adopts a hierarchical reporting mode to manage and maintain the control airspace data, including the following steps:

[0096] Step 1: The national air traffic management department will issue the unmanned aircraft control airspace reporting task to the corresponding units of the nine types of controlled airspace at the prefecture and city levels;

[0097] The national air traffic management department issues the unmanned aerial vehicle control airspace reporting task, and the relevant units receive the task and send it to the municipal-level confidential units, water conservancy, railways, airports, important facilities and hazardous chemicals areas, urban rail transit, electromagnetic environment, and cultural relics units;

[0098] The unmanned aircraft controlled airspace demarcation model is based on Article 19 of the Interim Regulations on the Management of Unmanned Aircraft Flights, and the airspace above 120 meters true altitude is designated as unmanned aircraft controlled airspace (hereinafter referred to as controlled airspace), with a total of 9 categories and 46 types of unmanned aircraft controlled airspace data.

[0099] Controlled airspace is divided into nine categories: special airspace, airports, national borders, confidential units, important facilities and hazardous chemicals areas, public infrastructure, electromagnetic environment protection, cultural relics, and others.

[0100] Step 2: The corresponding unit collects the corresponding control range according to the controlled airspace, and generates a unit control range data set to report to the prefecture-level management department;

[0101] The municipal-level confidential units, water conservancy, railways, airports, important facilities and hazardous chemicals areas, urban rail transit, electromagnetic environment, and cultural relics measurement units input the control area data and control area boundary point information into the system as input parameters. Users set the expansion parameters according to their needs (different types of controlled airspace require different perimeters to be expanded). The system background generates the controlled airspace range based on the controlled airspace expansion algorithm, and exports the generated controlled airspace into Excel and database files, and reports them to the municipal management department and the zoning management department for data collection;

[0102] Specifically, the following steps are included:

[0103] Step 21, each corresponding unit collects controlled airspace data;

[0104] Controlled airspace data includes controlled airspace information and boundary point information, and establishes a mapping relationship between their attribute information;

[0105] 1) Controlled airspace information, which is used to describe the basic attribute information of controlled airspace, including airspace UUID, airspace name, airspace type, region, facility location, facility management unit, facility management personnel, and management personnel telephone number;

[0106] 2) Boundary point information, which is used to describe the spatial geographic information of the controlled airspace, that is, the airspace geometry information, which forms complex geometric figures according to a certain order and graphic type;

[0107] Step 22, standardize the controlled airspace data using a unified time base, unified geographic space drawing and unified data to generate standardized controlled airspace data;

[0108] Specifically include:

[0109] Unified time base;

[0110] Domestic civil and military aviation information generally uses the absolute time in the Eastern Time Zone 8, which is the Universal Coordinated Time (UTC) plus eight hours, using T(t) = UTC(t) + 8, where T(t) represents Beijing time and UTC(t) represents the Universal Coordinated Time. Formulate data timestamps to provide reference standards for the maintenance, update, and release of subsequent data. At the same time, the time standards used by military and civil aviation are different. Time standards are formulated for unmanned aircraft control airspace to facilitate the subsequent military and civil aviation to call unmanned aircraft control airspace data.

[0111] Unified geospatial mapping methods;

[0112] Unify the drawing methods of spatial information, unify the drawing methods of geometric figures into types such as oval, circle, sector, ellipse, arc, line segment, polygon, complex polygon, etc., and unify the drawing methods of various types of figures.

[0113] ①Circle, with longitude and latitude as the center point, and the radius forming a circle;

[0114] ② Fan-shaped, with longitude and latitude as the center, and the radius angle starting angle and ending angle;

[0115] ③ Ellipse, which is centered on longitude and latitude, and consists of the major axis radius, minor axis radius, and major axis azimuth;

[0116] ④Arc, consisting of the starting point, center point, end point, arc distance, and starting and ending angles;

[0117] ⑤ Long circle, composed of four vertices of longitude and latitude and two arc vertices;

[0118] ⑥ Line segment, an unclosed figure composed of longitude and latitude;

[0119] ⑦Polygon, a closed figure composed of line segments;

[0120] ⑧Complex geometric figures, complex polygons are composed of arcs and polygons.

[0121] Unify the data description method;

[0122] Unify the description method of business attribute data, unify the data expression methods such as data name, data format, and unit of measurement, refer to relevant standards and requirements, and design data attributes based on the principles of easy to understand, concise, clear, and standard.

[0123] In this implementation, the standardized controlled airspace data are shown in Tables 1-3 respectively.

[0124] Table 1 Controlled airspace information table

[0125]

[0126]

[0127] Table 2 Boundary point data attribute table

[0128]

[0129]

[0130] Among them, only one of the decimal and sexagesimal latitude and longitude in the boundary point data attributes needs to be filled in. This method can realize automatic conversion and filling without the need for special processing by the user, which is convenient for user input operations and does not require base conversion calculation operations.

[0131] Table 3 Parameter information of airspaces of different shapes

[0132] Serial number shape Geometry Description 1 Round The circle is formed with longitude and latitude as the center and radius as the center. 2 sector With longitude and latitude as the center, the radius angle consists of the starting angle and the ending angle. 3 Oval It is composed of longitude and latitude as the center, and consists of the major axis radius, minor axis radius, and major axis azimuth. 4 arc It consists of starting point, center point, end point, arc distance, and starting and ending angles. 5 Line segment An unclosed figure consisting of longitude and latitude. 6 Polygon A closed figure is formed by combining line segments. 7 Complex polygons A closed figure composed of line segments and arcs.

[0133] Step 23, expanding the boundary point information through an expansion algorithm to generate an actual controlled airspace;

[0134] In view of the one-sided expansion requirements and the two-sided expansion requirements of railway electrification lines, urban rail transit elevated lines, and high-voltage overhead power lines, a data expansion algorithm is set. Data expansion calculation can save a lot of data collection costs. Data collectors only need to obtain the center line point and width to calculate the airspace range. Specifically, it includes line segment expansion, polyline expansion, and polygon expansion.

[0135] Step 231, an algorithm for expanding both sides of the line segment;

[0136] The safety buffer boundary is calculated based on the midline node of the line segment.

[0137] Along both ends of the line, expand D buffer Distance, calculate the longitude and latitude coordinates of two points;

[0138] The encrypted coordinates (Lon i , Lat i ) perpendicular to the center line and extending to the left and right by a distance D buffer , and calculate the coordinates after expansion (LonL , Lat L )、(Lon R , Lat R ),Effect Figure 2 As shown;

[0139] The specific implementation is as follows:

[0140] Step 2311: The encrypted midline node geographic coordinates (Lon i , Lat i ) is converted into geodetic plane coordinates (X i , Y i ), whose conversion method is a general method;

[0141] Step 2312, using the current point coordinates (X i , Y i ), the next point coordinates (X i+1 , Y i+1 ) coordinates to calculate the coordinate azimuth θ of the two points, the calculation formula is:

[0142] θ = arctan2(M, N);

[0143] Where M = sin(X i -X i+1 )×cos X i , N = cosY i sinY i+1 -sinY i cosY i+1 ×cos(Y i+1 -Y i ).

[0144] For the area expanded on the left, the azimuth is rotated 90° to the left to obtain the rotated coordinate azimuth θ L , the calculation formula is:

[0145] When θ-90°≤-180°:

[0146] θ L =θ-90°+360°;

[0147] When -180°<θ-90°<180°:

[0148] θ L =θ-90°;

[0149] Step 2313, (X i , Y i ) Shift left D buffer Get the plane coordinates after expanding to the left (X L，i , Y L，i) The calculation formula is shown in the following formula. Similarly, the plane coordinates after expanding to the right (X R，i , Y R，i ).

[0150] X L，i =X i +D buffer cosθ L

[0151] Y L，i =Y i +D buffer cosθ L ;

[0152] Step 2314: convert the plane coordinates (X L，i , Y L，i ) and / or (X R，i , Y R，i ) is converted to the geographic coordinates of the left and right external nodes (Lon L，i , Lat L，i ) and / or (Lon R，i , Lat R，i ).

[0153] For the scenario where the line segment is expanded on one side, in step 231, the expansion D is performed along one end of the line. buffer Distance, the encrypted coordinates (Lon i , Lat i ) perpendicular to the center line outward expansion distance D buffer ; The calculation steps are based on the left or right expansion algorithm of the expansion on both sides of the line segment.

[0154] Step 232, polyline expansion algorithm;

[0155] Refer to the line segment expansion method, group the polyline point sequence and split it into multiple groups of line segments. Expand the multiple groups of line segments separately to obtain the expanded quadrilateral set. Merge the sets to obtain the point set of the merged polygon.

[0156] Step 233, polygon expansion algorithm;

[0157] Step 2331, generation of expansion points: first determine the type of expansion points, which are divided into concave points, convex points and flat points.

[0158] Concave point: The external angle with the contour point as the vertex is less than 180°, such as Figure 3 a;

[0159] Convex point: The external angle with the contour point as the vertex is greater than 180°, such as Figure 3 b;

[0160] Flat point: The external angle with the contour point as the vertex is equal to 180°, such as Figure 3 c;

[0161] Assume that the expansion distance is R, the contour point P i The outer expansion point is represented by Q i , P i-1 Indicates P i The previous contour point, P i+1 Indicates P i The next contour point, then θ i Indicates P i-1 P i and P i+1 P i The angle between

[0162]

[0163] P i is the contour point, P i-1 Indicates P i The previous contour point, P i+1 Indicates P i The next contour point, vector e i and e i+1 Respectively represent from P i-1 Point to P i and P i Point to P i+1 The unit vector of

[0164] If the contour point P i is a concave point, such as Figure 3 a, then the expansion point Q i The generating formula is:

[0165]

[0166] θ i Indicates P i-1 P i and P i+1 P i The angle between.

[0167] If the contour point P i is a convex point, such as Figure 3 b, then the expansion point Q i The generating formula is:

[0168]

[0169] If the contour point P i is a flat point, such as Figure 3 c, then the expansion point Q i The generating formula is:

[0170]

[0171] Step 2332, processing of invalid outward expansion line segments;

[0172] like Figure 4-5 As shown in FIG. 1 , if the contour line segment is too short and the outward expansion distance is too large, an invalid outward expansion line segment may be generated. The outward expansion line segment of the polygon is judged to determine whether it is an invalid outward expansion line segment.

[0173] If all of them are valid expansion line segments, the expansion points are directly connected in series as the vertices of the expansion polygon to obtain the polygon expansion range. If there are invalid expansion line segments, the specific operations are as follows:

[0174] Step 23321, invalid outward expansion line segments need to be identified, and the direction of the invalid outward expansion line segments is opposite to the direction of the original contour line segments. That is, if the contour point, P i ,P i+1 The expansion points are Q i ,Q i+1 , which is determined by the positive or negative value of the dot product of the two vectors:

[0175]

[0176] Represents the contour point P i ,P i+1 The vector value of Indicates the expansion point Q i ,Q i+1 The vector value of .

[0177] Step 23322, update the outward expansion point. There are two situations of invalid outward expansion line segments, including invalid outward expansion line segments are discontinuous and invalid outward expansion line segments are continuous. Invalid outward expansion line segments are discontinuous. The adjacent line segments of an invalid outward expansion line segment are all valid line segments. i P i+1 For invalid outward expansion line segment, P i-1 P i , P i+1 P i+2 All of them are valid outward expansion line segments. Invalid outward expansion line segments are continuous, and there is at least one invalid line segment adjacent to an invalid outward expansion line segment, which means P i P i+1 For invalid outward expansion line segment, P i-1 P i , P i+1 P i+2 At least one of the extension lines is invalid.

[0178] Step 23323, processing steps for invalid outward expansion line segment discontinuity:

[0179] Calculate the leading edge Q of the invalid outward expansion segment i+1 Q i+2 and the trailing edge Q i-1 Q i The intersection point M;

[0180] Update the leading edge Q of the invalid outward expansion segment i+1 Q i-2 The starting point is the intersection M, and it is changed to MQ i-2 , update the back-end edge Q i- 1Q i The end point is M;

[0181] The leading edge is the first line segment of the invalid outward expansion line segment forward in the contour direction, and the trailing edge is the first line segment of the invalid outward expansion line segment backward in the contour direction.

[0182] Step 23324, invalid outward expansion line segment includes the following processing steps:

[0183] Find the original contour P corresponding to the invalid expansion line segment i P i+1 , P i+1 P i+2 , calculate the outward expansion line segment Q i Q i+1 , Q i+1 Q i+2 ;

[0184] Calculate the intersection points of the outward expansion line segment with the leading edge and the trailing edge respectively, and update the starting point of the leading edge as the intersection point and the end point of the trailing edge as the intersection point; invalid outward expansion line segment Q i Q i+1 The leading edge is Q i+1 Q i+2 Rear side Q i-1 Q i , the intersection point is M1, and the trailing edge is updated to Q i-1 M1; invalid outward expansion line segment Q i+1 Q i+2 The leading edge Q i+2 Q i+3 , rear edge Q i Q i+1 , the intersection is M2, and the preceding edge is updated to M2Q i+3 ;

[0185] Calculate the leading edge M2Q i+3 and the trailing edge Q i-1 The intersection point M3 of M1 serves as the expansion point.

[0186] After obtaining all the expansion points, the expansion points are connected in series to obtain the expansion polygon.

[0187] The invention of the external expansion algorithm greatly reduces the workload of users in collecting data on unmanned aerial vehicle controlled airspace. Users only save the actual airspace range. In the definition of unmanned aerial vehicle controlled airspace data, it is required to collect and report the actual airspace and a certain range of surrounding areas. For users, it is necessary to recalculate the longitude and latitude along the actual airspace range. If the type is road or railway, the data volume has reached 5,000 to 6,000 data points. Recalculation is not practical and will waste a lot of manpower and material resources. In order to reduce the user's workload of collection and reporting, the external expansion algorithm facilitates users to automatically calculate the external expansion range based on the actual airspace. It takes less than 1 minute to obtain the range of a road or railway, greatly reducing the user's workload.

[0188] Step 24, using the standard controlled airspace data and the actual controlled airspace data to generate a unit control range data set, and export it to report to the prefecture-level management department;

[0189] Through the Excel file export and database file import and export functions, data export specifications are defined according to the composition of the controlled airspace information and boundary point information of the unmanned aerial vehicle controlled airspace demarcation model to support the data collection and reporting needs of different users.

[0190] Step 3: The prefecture-level management department summarizes and verifies the unit control scope data set, and generates a prefecture-level control scope data set to report to the regional management department;

[0191] The municipal management department and the sub-district management department collect Excel and database files for import, perform data verification during the data import process, verify the integrity, legality and duplication of the data, generate a prefecture-level control range data set, and export the verified data as Excel and database files to report to the regional management department;

[0192] Among them, the integrity, legality and repeatability of the data set in the control scope are verified, data rules are established, and a data rule base is formed.

[0193] 1. The integrity check rules mainly check the data structure and data content of various tables in the database, including the verification of key fields, and the setting of verification rules for key fields such as airspace name and airspace shape.

[0194] 2. The legality verification rules mainly include verification of the data format, data type and data value range of the element information;

[0195] The data format of the feature information is converted according to the unified standard requirements. The longitude and latitude are expressed in sexagesimal and decimal formats. The sexagesimal (degrees, minutes, seconds) format is 38.5001, 115.3735, and the decimal (degrees) format is 38.833611111, 115.62638889. Positive numbers represent north latitude and east longitude, and negative numbers represent south latitude and west longitude. The two formats can be converted to each other to facilitate user input operations and ensure data consistency for different users.

[0196] The unit format is unified, such as the upper and lower limits of the airspace, altitude, and distance units are uniformly converted to meters;

[0197] Data type validation rules, such as the height field data type numeric type cannot be set to character type, etc.;

[0198] Data value range, such as safety height cannot be less than 0;

[0199] Airspace shape range, airspace shape type cannot exceed the type range.

[0200] Latitude and longitude correction:

[0201] This solution can recognize Chinese numerals, Arabic numerals, English fonts, Chinese fonts, text units and symbol units commonly used to represent longitude and latitude, and convert them into a unified writing format.

[0202] For example, the following special characters can be recognized: -,,.1234567890NENE SWSWsswwenen, "East longitude, North latitude, West longitude, South latitude" can be recognized, and the Chinese format 1234567890 can be recognized as the English format 1234567890, and W124.12256 can be recognized as: -124.12256. The sexagesimal longitude and latitude edit box can recognize the special characters of degree, minute, second, '(minute), and (second) on the basis of recognizing the above characters. W124.2'5" can be recognized as: -124.0205.

[0203] 3. The duplication verification rules mainly include checking the duplicate data of the controlled airspace information in the control range data set according to the unique identifier (airspace UUID) of the controlled airspace data in the control range data set.

[0204] Step 4: The regional management department summarizes and verifies the prefecture-level control range data set, and generates a regional control range data set to report to the national air traffic management department;

[0205] The regional management department collects data from each sub-district and city-level unit and imports the data into Excel and database files. During the data import process, data verification is performed to verify the integrity, legality, and duplication of the data, generate a regional control range data set, and export the verified data into Excel and database files and report them to the national air traffic management department;

[0206] Step 5: The national air traffic management department summarizes and verifies the regional control range data set, generates a national control range data set, and publishes the national control range data set;

[0207] The national air traffic management department collects the control range data sets of each region and imports the Excel and database files. During the data import process, data verification is performed to verify the integrity, legality, and duplication of the data, and a national control range data set is generated. The national air traffic management department publishes the national control range data set.

[0208] Embodiment 2

[0209] As attached Figure 6-7 As shown, this embodiment provides a data collection system for unmanned aerial vehicle flight control airspace, and the data collection system includes a data entry module, a data export module, a data import module, a data verification module and a visualization module.

[0210] The collection system of unmanned aircraft flight control airspace mainly analyzes the data characteristics of 9 categories and 46 types of unmanned aircraft control airspace, constructs control airspace data, including control airspace information and boundary point information, designs the coding rules of data fields, and provides support for the subsequent entry of control airspace data. At the same time, it provides data storage management functions, supports the unified storage, management, maintenance and access services of various types of control airspace data, and supports the classified storage of data and the creation of database indexes.

[0211] The data entry module provides manual entry functions for 9 categories and 46 types of controlled airspace data, supports operations such as adding, modifying, deleting, and querying controlled airspace, and provides data paging query functions to facilitate the viewing of controlled airspace data.

[0212] The data import module supports single entry and batch import of controlled airspace data, batch import of collected data in the form of EXCEL files and database sql files, stores the imported controlled airspace data in the database, and supports data query, modification and deletion operations. For users in remote areas who are inconvenient to install software, it supports the export of excel collection templates. Users can input the data of their unit according to the template examples for reporting, solving the problem of multiple types of user data and different collection levels.

[0213] The data verification module provides verification functions for collected and imported data, including integrity, legality, and duplication verification functions, to assist data managers in discovering data errors, data rule inconsistencies, and other problems, to ensure data accuracy and improve data availability.

[0214] Integrity check: Check whether the required attributes of the airspace basic data and boundary point data of the controlled airspace are empty.

[0215] Legality check: It is a check on the value range of the controlled airspace data elements, mainly including altitude, date, time, longitude and latitude, airspace shape, etc. During the check, it is determined whether the data meets the value range requirements. If it exceeds the reasonable range, necessary reminders are given and the correct range content is prompted. For example, the absolute value of latitude is between 0° and 90°.

[0216] Duplicate check: Check certain types of duplicate data based on the unique identifier of the controlled airspace data (name, ID, etc.) and use special colors to remind.

[0217] The data export module exports the required data in Excel spreadsheet and database file formats, and provides the function of generating approval reports. To assist users in convenient import and export operations, it supports the data export report generation function and data template generation function.

[0218] The system exports information such as data type and number of exported items, and automatically outputs approval reports combining data and images in the form of word documents.

[0219] Provides data template export function, users can input controlled airspace data according to the template and import the collected data.

[0220] The visualization module provides a unified MGIS access control interface to support the graphical display of controlled airspace data. Through the operation of zooming in, zooming out, roaming and full-width display of the map, users can quickly browse the data through the map. The data is presented in the form of layers, and the background color, text description, line and fill style can be set for different element layer information.

[0221] The present invention is not limited to the above-mentioned specific implementation modes. A person skilled in the art may implement the present invention in various other specific implementation modes according to the embodiments and the disclosure of the drawings. Therefore, any design that adopts the design structure and concept of the present invention and makes some simple transformations or changes shall fall within the scope of protection of the present invention.

Claims

1. A method for collecting unmanned aircraft flight control airspace, characterized in that: The method for collecting unmanned aerial vehicle flight control airspace comprises the following steps: Step 1: The national air traffic management department will issue the unmanned aircraft control airspace reporting task to the corresponding units of the nine types of controlled airspace at the prefecture and city levels; Step 2: The corresponding unit collects the corresponding control range according to the controlled airspace, and generates a unit control range data set to report to the prefecture-level management department; Step 3: The prefecture-level management department summarizes and verifies the unit control scope data set, and generates a prefecture-level control scope data set to report to the regional management department; Step 4: The regional management department summarizes and verifies the prefecture-level control range data set, and generates a regional control range data set to report to the national air traffic management department; Step 5: The national air traffic management department summarizes and verifies the regional control range data set, generates a national control range data set, and publishes the national control range data set; Step 21, each corresponding unit collects controlled airspace data; The controlled airspace data includes controlled airspace information and boundary point information; Step 22, standardize the controlled airspace data using a unified time reference, a unified geographic space drawing method, and a unified data description method to generate standardized controlled airspace data; Step 23, expanding the boundary point information through an expansion algorithm to generate an actual controlled airspace; Step 24, using the standard controlled airspace data and the actual controlled airspace data to generate a unit control range data set and export it for reporting; In step 23, the expansion algorithm includes: Step 231, line segment expansion algorithm; The line segment expansion algorithm uses the line segment midline node as a reference to calculate the safety buffer zone boundary, including the following steps: Step 2311: The encrypted midline node geographic coordinates (Lon i , Lat i ) is converted into geodetic plane coordinates (X i , Y i ); Step 2312, using the geodetic plane coordinates (X i , T i ), and the geodetic plane coordinates of the next midline node (X i+1 , Y i+1 ) coordinates to calculate the coordinate azimuth θ of the two points, the calculation formula is: θ = arctan2(M,N); where M = sin(X i - X i+1 ) × cosY i , N = cos Y i sin Y i+1 - sin Y i cos Y i+1 × cos(Y i+1 - Y i ); For the area expanded on the left, the azimuth is rotated 90° to the left to obtain the rotated coordinate azimuth θ L , when θ-90°≤-180°: i L =θ-90°+360°; When -180°<θ-90°<180°: i L =θ-90°; Step 2313, (X i , Y i ) Shift left D bu ff er Get the plane coordinates after expanding to the left (X L,i , Y L,i ) The calculation formula is shown in the following formula. Similarly, the plane coordinates after expanding to the right (X R,i , Y R,i ); X L，i =X i +D buffer cosθ L Y L，i =Y i +D buffer cosθ L ; D Bu ff er Indicates the distance perpendicular to the midline, θ L Indicates the coordinate azimuth after rotating to the left; Step 2314: change the plane coordinates (X L,i , Y L,i ) and / or right expansion node plane coordinates (X R,i , Y R,i ) is converted to the left outer node geographic coordinates (Lon L,i , Lat L,i ) and / or right outward node geographic coordinates (Lon R,i , Lat R,i ).

2. The method for collecting unmanned aerial vehicle flight control airspace according to claim 1, characterized in that: In step 1, the controlled airspace is divided into special airspace, airport airspace, national border airspace, confidential unit airspace, important facilities and hazardous chemicals area airspace, public infrastructure airspace, electromagnetic environment protection airspace, cultural relics airspace and other types of airspace.

3. The method for collecting unmanned aerial vehicle flight control airspace according to claim 1, characterized in that: In step 21, the controlled airspace information includes airspace UUID, airspace name, airspace type, region, facility location, facility management unit, facility management personnel, and management personnel telephone number; The boundary point information includes spatial geometry information.

4. The method for collecting unmanned aerial vehicle flight control airspace according to claim 3 is characterized in that: In step 22, the unified time reference adopts the absolute time in the Eastern Time Zone 8; The unified geographic space rendering method unifies the airspace geometric information into an oblong, a circle, a sector, an ellipse, an arc, a line segment, a polygon and a complex polygon; The unified data description method unifies the data expression methods of data name, data format and measurement unit.

5. The method for collecting unmanned aerial vehicle flight control airspace according to claim 1, characterized in that: In step 23, the line segment expansion algorithm also includes unilateral expansion of the line segment; The line segment is unilaterally expanded and expanded along one end of the line segment D buffer Distance, the encrypted coordinates (Lon i , Lat i ) perpendicular to the center line outward expansion distance D buffer ; and based on the left or right expansion algorithm in the expansion on both sides of the line segment in step 231, the geographic coordinates of the expansion nodes are obtained.

6. The method for collecting unmanned aerial vehicle flight control airspace according to claim 1, characterized in that: In step 23, the expansion algorithm further includes: Step 232, polyline expansion algorithm; The polyline expansion algorithm groups polyline point sequences into multiple groups of line segments, expands the multiple groups of line segments respectively to obtain a set of expanded quadrilaterals, merges the set of expanded quadrilaterals, and obtains a point set of the merged set of expanded quadrilaterals.

7. The method for collecting unmanned aerial vehicle flight control airspace according to claim 1, characterized in that: In step 23, the expansion algorithm further includes: Step 233, polygon expansion algorithm, the polygon expansion algorithm includes the following steps: Step 2331, determine the type of the expansion point, the expansion point type includes concave point, convex point and flat point; Among them, a concave point refers to an external angle with the contour point corresponding to the current expansion point as the vertex less than 180°; a convex point refers to an external angle with the contour point corresponding to the current expansion point as the vertex greater than 180°; a flat point refers to an external angle with the contour point corresponding to the current expansion point as the vertex equal to 180°; P i-1 Indicates P i The previous contour point, P i+1 Indicates P i The next contour point, vector e i and e i+1 Respectively represent from P i-1 Point to P i and P i Point to P i+1 The unit vector of : If the contour point P i is a concave point, then the formula for generating the outer expansion point is: If the contour point P i is a convex point, then the formula for generating the outer expansion point is: If the contour point P i is a flat point, then the formula for generating the external expansion point is: Among them, the expansion distance is R, the contour point P i The outer expansion point is represented by Q i ,θ i Indicates P i-1 P i and P i+1 P i The angle between.

8. The method for collecting unmanned aerial vehicle flight control airspace according to claim 1, characterized in that: In step 3, the verification includes three aspects of the integrity, legality and repeatability of the control scope data set; The integrity check verifies the data structure and content of various tables in the database of the control scope data center, including the verification of key fields, and the setting of verification rules for the key fields of airspace name and airspace shape; The verification of legality includes the verification of the data format, data type and data value range of the element information in the control scope dataset; The duplication check includes checking the duplicate data of the controlled airspace information in the control range data set based on the unique identifier of the controlled airspace data.

9. The method for collecting unmanned aerial vehicle flight control airspace according to claim 7, characterized in that: In step 233, the polygon expansion algorithm further includes the following steps: Step 2332, processing the invalid outward expansion line segments, specifically includes: Step 23321, identifying invalid outward expansion line segments; It is determined by the positive or negative value of the dot product of the two vectors: P i ,P i+1 The expansion points are Q i ,Q i+1 , Represents the contour point P i ,P i+1 The vector value of Indicates the expansion point Q i ,Q i+1 The vector value of ; Step 23322, updating the outward expansion points; the outward expansion points include two situations: invalid outward expansion line segments are discontinuous and invalid outward expansion line segments are continuous; wherein, invalid outward expansion line segments are discontinuous means that the adjacent line segments of an invalid outward expansion line segment are all valid line segments; invalid outward expansion line segments are continuous means that there is at least one invalid line segment among the adjacent line segments of an invalid outward expansion line segment; Step 23323, processing steps for invalid outward expansion line segment discontinuity: Calculate the leading edge Q of the invalid outward expansion segment i+1 Q i+2 and the trailing edge Q i-1 Q i The intersection point M; Update the leading edge Q of the invalid outward expansion segment i+1 Q i+2 The starting point is the intersection M, change to MQ i+2 , update the back-end edge Q i-1 Q i The end point is M; The leading edge is the first line segment of the invalid outward expansion line segment forward in the contour direction, and the trailing edge is the first line segment of the invalid outward expansion line segment backward in the contour direction.

10. The method for collecting unmanned aerial vehicle flight control airspace according to claim 9, characterized in that: In step 2332, the following steps are also included: Step 23324, invalid outward expansion line segment includes the following processing steps: Find the original contour P corresponding to the invalid expansion line segment i P i+1 , P i+1 P i+2 , calculate the outward expansion line segment Q i Q i+1 , Q i+1 Q i+2 ; Calculate the intersection points of the outward expansion line segment with the leading edge and the trailing edge respectively, and update the starting point of the leading edge as the intersection point and the end point of the trailing edge as the intersection point; invalid outward expansion line segment Q i Q i+1 The leading edge is Q i+1 Q i+2 Rear side Q i-1 Q i , the intersection is M1, and the trailing edge is updated to Q i-1 M1; invalid outward expansion line segment Q i+1 Q i+2 The leading edge Q i+2 Q i+3 , rear edge Q i Q i+1 , the intersection is M2, and the preceding edge is updated to M2Q i+3 ; Calculate the leading edge M2Q i+3 and the trailing edge Q i-1 The intersection point M3 of M1 serves as the expansion point; After obtaining all the expansion points, the expansion points are connected in series to obtain the expansion polygon.

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