A method, system and terminal for controlling aircraft in low-altitude airspace

Abstract

The present invention discloses a method, system and terminal for controlling aircraft in low-altitude airspace, the method comprising: obtaining flight, measurement and detection information of a target aircraft and preprocessing it to obtain target data, fusing the target data based on a fusion algorithm, generating positioning information, obtaining a grid area of ​​the target aircraft according to the positioning information, if the aircraft meets the flight standard of the grid area, obtaining historical flight data of the grid area, inputting the historical flight data into a trajectory prediction model, obtaining the future flight trajectory of the target aircraft, obtaining the flight trajectory corridor of other aircraft in the grid area, if the future flight trajectory does not conflict with the flight trajectory corridor of other aircraft, then generating a target flight trajectory corridor, and controlling the target aircraft to fly according to the target flight trajectory corridor. The present invention uses triple positioning to enhance the accuracy of positioning, combines grid division to implement the planned flight route, and realizes standardized control of low-altitude airspace.

Description

Technical Field

[0001] The present invention relates to the technical field of airspace management, and in particular to an aircraft control method, system, terminal and computer-readable storage medium in low-altitude airspace. Background Art

[0002] With the widespread application and popularization of civil unmanned aerial vehicles and the rapid development of industrial technology, the current low-altitude safety risks are accumulating, and low-altitude safety issues are gradually becoming prominent, becoming an important risk point for the future development of the low-altitude industry. In order to ensure the safety and stability of low-altitude airspace and promote the sustainable development of the low-altitude economy, standardized airspace control is essential.

[0003] However, the current mature low-altitude airspace control system consists of a low-altitude surveillance system and a flight plan and reporting system. In terms of control, it can only clarify the coordinates and approximate route of the aircraft. It has weak real-time performance, poor planning, and little dimensional information description, resulting in the inability to form a standardized airspace control rule and system.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The main purpose of the present invention is to provide a method, system, terminal and computer-readable storage medium for aircraft control in low-altitude airspace, aiming to solve the problems in the prior art that the aircraft control in low-altitude airspace is not strong enough, the planning is not strong, and the safety and stability of the low-altitude airspace cannot be guaranteed.

[0006] To achieve the above object, the present invention provides a method for controlling aircraft in low-altitude airspace, the method comprising the following steps:

[0007] When a target aircraft is detected to enter a low-altitude airspace, flight information, measurement information, and detection information of the target aircraft are acquired, and the flight information, the measurement information, and the detection information are preprocessed to obtain preprocessed target data;

[0008] Analyze and fuse the target data based on a preset fusion algorithm to generate positioning information, obtain the grid area of ​​the target aircraft according to the positioning information, and obtain the type of the target aircraft;

[0009] If the target aircraft of the type meets the flight standard of the grid area, historical flight data of the grid area is obtained, and the historical flight data is input into a preset low-altitude aircraft trajectory prediction model for prediction to obtain the future flight trajectory of the target aircraft;

[0010] The flight trajectory corridors of other aircraft in the grid area are obtained. If the future flight trajectory does not conflict with the flight trajectory corridors of other aircraft, a target flight trajectory corridor is generated according to the future flight trajectory and the grid area, the target aircraft is controlled to fly according to the target flight trajectory corridor, and the target flight trajectory corridor is set to a locked state.

[0011] Optionally, in the method for controlling aircraft in low-altitude airspace, the step of obtaining flight information, measurement information and detection information of the target aircraft specifically includes:

[0012] Regularly obtain flight information sent by the sensor and navigation system of the target aircraft, the flight information including: aircraft position information, aircraft speed information, and aircraft direction information;

[0013] Periodically acquiring the beacon signal received by the target aircraft, calculating the relative position relationship between the target aircraft and the beacon through a signal propagation model, and determining measurement information through geometric calculation or optimization algorithm based on the relative position relationship;

[0014] Regularly obtain the detection information of the target aircraft obtained by the base station through active detection through radar reflection and radio signal propagation technology.

[0015] Optionally, the method for controlling an aircraft in low-altitude airspace, wherein the preprocessing of the flight information, the measurement information and the detection information to obtain the preprocessed target data specifically includes:

[0016] cleaning the flight information, the measurement information and the detection information respectively, removing missing values ​​and abnormal values ​​in the flight information, the measurement information and the detection information, and obtaining valid information;

[0017] The effective information is normalized and standardized to obtain pre-processed target data.

[0018] Optionally, the method for controlling aircraft in low-altitude airspace, wherein the target data is analyzed and fused based on a preset fusion algorithm to generate positioning information, specifically includes:

[0019] Acquire the accuracy and reliability of each of the preprocessed flight information, the preprocessed measurement information, and the preprocessed detection information in the target data, perform correlation analysis based on the accuracy and reliability, and obtain the correlation between the preprocessed flight information, the preprocessed measurement information, and the preprocessed detection information;

[0020] The weights of the preprocessed flight information, the preprocessed measurement information and the preprocessed detection information are determined according to the correlation, and the preprocessed flight information, the preprocessed measurement information and the preprocessed detection information are fused by adopting a weighted average method to generate positioning information.

[0021] Optionally, the method for controlling aircraft in low-altitude airspace, wherein the step of obtaining a grid area of ​​the target aircraft according to the positioning information, further comprises:

[0022] According to the aircraft type, three default grid areas with different airspace ranges are set, the aircraft types include small unmanned aerial vehicles, medium unmanned aerial vehicles, large unmanned aerial vehicles, helicopters and passenger planes, and the default grid areas include a first default grid area, a second default grid area and a third default grid area;

[0023] The first default grid area is a single-layer distribution, and the flight standard of the first default grid area is to allow only small unmanned aerial vehicle type aircraft to fly;

[0024] The second default grid area is a single-layer distribution, and the flight standard of the second default grid area is that only medium-sized unmanned aerial vehicles, large unmanned aerial vehicles or helicopters are allowed to fly;

[0025] The third default grid area is distributed in three layers, and the flight standard of the third default grid area is to allow only passenger aircraft to fly.

[0026] Optionally, in the method for controlling aircraft in low-altitude airspace, the preset low-altitude aircraft trajectory prediction model includes a BiGRU network model and a GNN network model.

[0027] Optionally, the method for controlling aircraft in low-altitude airspace, wherein the step of obtaining the type of the target aircraft further comprises:

[0028] If the target aircraft of the type does not meet the flight standards of the grid area, it means that the aircraft of the type is in a no-fly grid area, and a command is sent to the aircraft of the type to warn the aircraft to modify the route, and relevant personnel are notified to handle it.

[0029] In addition, to achieve the above-mentioned purpose, the present invention further provides an aircraft control system for low-altitude airspace, wherein the aircraft control system for low-altitude airspace comprises:

[0030] A flight data acquisition module is used to acquire flight information, measurement information and detection information of the target aircraft when it is detected that the target aircraft enters the low-altitude airspace, and pre-process the flight information, the measurement information and the detection information to obtain pre-processed target data;

[0031] A grid area confirmation module is used to analyze and fuse the target data based on a preset fusion algorithm to generate positioning information, obtain the grid area of ​​the target aircraft according to the positioning information, and obtain the type of the target aircraft;

[0032] A flight trajectory prediction module is used to obtain historical flight data of the grid area if the target aircraft of the type meets the flight standard of the grid area, input the historical flight data into a preset low-altitude aircraft trajectory prediction model for prediction, and obtain the future flight trajectory of the target aircraft;

[0033] The trajectory safety judgment module is used to obtain the flight trajectory corridor of other aircraft in the grid area. If the future flight trajectory does not conflict with the flight trajectory corridor of other aircraft, a target flight trajectory corridor is generated according to the future flight trajectory and the grid area, the target aircraft is controlled to fly according to the target flight trajectory corridor, and the target flight trajectory corridor is set to a locked state.

[0034] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal, wherein the terminal includes: a memory, a processor, and an aircraft control program for low-altitude airspace stored in the memory and executable on the processor, and when the aircraft control program for low-altitude airspace is executed by the processor, the steps of the aircraft control method for low-altitude airspace as described above are implemented.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores an aircraft control program for low-altitude airspace, and when the aircraft control program for low-altitude airspace is executed by a processor, the steps of the aircraft control method for low-altitude airspace as described above are implemented.

[0036] In the present invention, the flight, measurement and detection information of the target aircraft is obtained and preprocessed to obtain the target data, the target data is fused through a fusion algorithm to generate positioning information, the grid area of ​​the target aircraft is obtained according to the positioning information, if the aircraft meets the flight standard of the grid area, the historical flight data of the grid area is obtained, the historical flight data is input into the trajectory prediction model, the future flight trajectory of the target aircraft is obtained, the flight trajectory corridor of other aircraft in the grid area is obtained, if the future flight trajectory does not conflict with the flight trajectory corridor of other aircraft, then the target flight trajectory corridor is generated, and the target aircraft is controlled to fly according to the target flight trajectory corridor. The present invention uses triple positioning to enhance the accuracy of positioning, combines grid division to plan the flight route, and realizes the standardized control of low-altitude airspace. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a flow chart of a preferred embodiment of the method for controlling aircraft in low-altitude airspace of the present invention;

[0038] Figure 2 It is a flow chart of a preferred embodiment of the method for controlling aircraft in low-altitude airspace of the present invention;

[0039] Figure 3 It is a structural diagram of a preferred embodiment of the aircraft control system for low-altitude airspace of the present invention;

[0040] Figure 4 Schematic diagram of the operating environment of a preferred embodiment of the terminal of the present invention. DETAILED DESCRIPTION

[0041] The present application provides a method and related equipment for controlling aircraft in low-altitude airspace. In order to make the purpose, technical solution and effect of the present application clearer and more specific, the present application is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0042] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0043] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0044] The method for controlling aircraft in low-altitude airspace according to a preferred embodiment of the present invention is as follows: Figure 1 and Figure 2 As shown, the aircraft control method in the low-altitude airspace includes the following steps:

[0045] Step S10: When it is detected that the target aircraft enters the low-altitude airspace, the flight information, measurement information and detection information of the target aircraft are obtained, and the flight information, the measurement information and the detection information are preprocessed to obtain the preprocessed target data.

[0046] When an aircraft is detected in the low-altitude airspace, the aircraft is taken as a target aircraft and the flight information, measurement information and detection information of the target aircraft are acquired.

[0047] Specifically, flight information sent by the sensor and navigation system of the target aircraft is regularly acquired, and the flight information includes: aircraft position information, aircraft speed information, and aircraft direction information.

[0048] It is understandable that the sensors and navigation systems on the aircraft can provide data such as its position, speed, direction, etc. These data are usually sent to the ground control station system in the form of regular reports.

[0049] The beacon signal received by the target aircraft is obtained regularly, and the relative position relationship between the target aircraft and the beacon is calculated through a signal propagation model. Based on the relative position relationship, measurement information is determined through geometric calculation or optimization algorithm.

[0050] In this embodiment, the beacons (navigation signal markers) arranged in the flight area can send wireless signals. After receiving these signals, the aircraft can measure the distance or angle information from the beacon and send it as report data to the ground control station. Specifically, the relative position relationship between the aircraft and the beacon is calculated by using the beacon signal received by the aircraft and combining it with the signal propagation model (such as arrival time difference, arrival angle, etc.). Then, combined with the known position of the beacon, the position of the aircraft is determined by geometric calculation or optimization algorithm.

[0051] The base station regularly obtains detection information of target aircraft through active detection by radar reflection and radio signal propagation technology. Beacons arranged in the flight area can send wireless signals. After receiving these signals, the aircraft can measure the distance or angle information from the beacon and send it to the ground control station as feedback data.

[0052] It is understandable that in this embodiment, the base station can be a 5G-A synesthesia base station (5G-Advanced is based on the evolution and enhancement of the 5G network in terms of function and coverage. It is a key information technology that supports the 3D, cloud, intelligent Internet of Things, integrated communication perception, flexible intelligent manufacturing and other industrial digital upgrades of the Internet industry). The 5G-A synesthesia base station can actively detect the position of the aircraft and send the detection results to the ground control station. Specifically, the synesthesia base station obtains the position information of the aircraft through active detection. This is usually achieved through physical principles such as radar reflection and radio signal propagation. The position information detected by the synesthesia base station is used as another independent position estimate.

[0053] It can be seen that the present invention adopts triple positioning technology, and by combining three different positioning sources, triple positioning can provide more accurate location information. Each positioning source has its unique advantages. By fusing their data, they can complement each other and reduce the errors caused by a single method. The triple positioning technology can provide high-precision aircraft position information. By combining aircraft report information, beacon report information and telepathic base station detection, accurate tracking and positioning of aircraft can be achieved. This helps to reduce positioning errors and improve the accuracy of airspace control.

[0054] Further, the preprocessing of the flight information, the measurement information and the detection information to obtain the preprocessed target data specifically includes:

[0055] The flight information, the measurement information and the detection information are cleaned up respectively, and missing values ​​and abnormal values ​​in the flight information, the measurement information and the detection information are removed to obtain valid information; and the valid information is normalized and standardized to obtain preprocessed target data.

[0056] In this embodiment, in order to ensure the accuracy of subsequent processing of the quality of the acquired flight information, the measurement information and the detection information, the flight information, the measurement information and the detection information are first cleaned, and the cleaning mainly includes removing missing values ​​and abnormal values ​​in the flight information, the measurement information and the detection information to extract valid information therefrom; further, the valid information is formatted, including normalizing and standardizing the valid information to obtain preprocessed target data, i.e., preprocessed flight information, preprocessed measurement information and preprocessed detection information, in the form of standardized data to facilitate subsequent processing.

[0057] Step S20: Analyze and fuse the target data based on a preset fusion algorithm to generate positioning information, obtain the grid area of ​​the target aircraft according to the positioning information, and obtain the type of the target aircraft.

[0058] Specifically, the accuracy and reliability of the preprocessed flight information, the preprocessed measurement information and the preprocessed detection information in the target data are obtained, and correlation analysis is performed based on the accuracy and reliability to obtain the correlation between the preprocessed flight information, the preprocessed measurement information and the preprocessed detection information.

[0059] In this embodiment, the target data, i.e., preprocessed flight information, preprocessed measurement information, and preprocessed detection information, are obtained, and the accuracy and reliability of the three preprocessed data are analyzed to obtain the accuracy and reliability of each of the three preprocessed data. The accuracy and the reliability are variable elements with correlation, and correlation analysis can be performed to measure the degree of correlation between the two variable factors. Correlation analysis is performed based on the accuracy and reliability to obtain the correlation between the three preprocessed data.

[0060] Furthermore, the respective weights of the preprocessed flight information, the preprocessed measurement information and the preprocessed detection information are determined according to the correlation, and the preprocessed flight information, the preprocessed measurement information and the preprocessed detection information are fused by adopting a weighted average method to generate positioning information.

[0061] It can be understood that, according to the correlation analysis results of the three data (i.e., the correlation coefficient), a larger weight can be assigned to the one with a larger correlation coefficient, and a smaller weight can be assigned to the one with a smaller correlation coefficient, thereby determining the weights of the preprocessed flight information, the preprocessed measurement information, and the preprocessed detection information. Then, a weighted average (a statistical term, in a weighted average, each data point has a corresponding weight value, which determines the importance of the data point when calculating the average value. The weighted average is obtained by multiplying the value of each data point by the weight value, summing the results, and then dividing them by the sum of all weight values) is used to fuse the three preprocessed data to generate positioning information.

[0062] It should be noted that in addition to fusing data by weighted averaging, Kalman filtering, least squares and other methods can also be used to fuse the three pre-processed data, and the accuracy, reliability and correlation between different positioning methods must also be considered during the fusion.

[0063] Furthermore, the target data is analyzed and fused based on a preset fusion algorithm to generate positioning information, and then the method further includes:

[0064] Determine whether the positioning information is within the allowable error range. If the positioning information matches within the error range, the positioning is considered accurate, and the positioning data is subsequently visualized to obtain the airspace grid area of ​​the positioning information. If the positioning information matches beyond the error range, the positioning is considered inaccurate, which may be a false alarm from the aircraft. At this time, an alarm should be issued and relevant personnel should be notified to handle it.

[0065] Furthermore, the step of obtaining the grid area of ​​the target aircraft according to the positioning information further includes:

[0066] According to the aircraft type, three default grid areas with different airspace ranges are set, the aircraft types include small unmanned aerial vehicles, medium unmanned aerial vehicles, large unmanned aerial vehicles, helicopters and passenger planes, and the default grid areas include a first default grid area, a second default grid area and a third default grid area;

[0067] Among them, the first default grid area is a single-layer distribution, and the flight standard of the first default grid area is to allow only small unmanned aerial vehicles to fly; the second default grid area is a single-layer distribution, and the flight standard of the second default grid area is to allow only medium-sized unmanned aerial vehicles, large unmanned aerial vehicles or helicopters to fly; the third default grid area is a three-layer distribution, and the flight standard of the third default grid area is to allow only passenger aircraft to fly.

[0068] Specifically, this method mainly processes positioning information and visualization operations based on airspace grid division. Different divisions can be made according to the size and type of aircraft in different altitude layers:

[0069] The first default grid area (0-120m): At this altitude, most of the flying units are small drones with a single vertical distribution, so it is set to a single-layer grid distribution with a small unit grid size of 100m (length) * 100m (width) * 120m (height);

[0070] Second default grid area (120-300m): At this altitude, most of the flying units are composed of medium and large drones and helicopters, with a single vertical distribution, so it is set to a single-layer grid distribution. The unit grid is larger than the W class, with a size of 200m (length) * 200m (width) * 180m (height);

[0071] The third default grid area (300m-1200m): The main flying units at this altitude are medium and large passenger aircraft, and the headings show altitude differences, so the altitude presents a three-layer grid distribution. Due to the large size of passenger aircraft, the unit grid size should be set to a larger 300m (length) * 300m (width) * 300m (height). Furthermore, the grid size and shape in different altitude layers can be adjusted according to actual conditions to meet different flight needs.

[0072] It can be seen that the present invention can better plan and utilize airspace resources through gridding of airspace, and significantly improve the utilization rate of airspace; gridding of airspace division also makes airspace management simpler and clearer, reduces the difficulty and complexity of management; and makes information sharing between grids easier, which is conducive to the standardization, coordination and integration of airspace management; through gridding of airspace division, flight activities in the airspace can be better monitored and controlled, and flight conflicts and accidents can be reduced.

[0073] By dividing the airspace into several grids, the management and control of aircraft within each grid can be clearer and more orderly. This helps reduce flight conflicts and improve the efficiency of airspace use. At the same time, the airspace control system also needs to formulate corresponding rules to ensure that all aircraft can operate in an orderly and safe manner in the gridded airspace.

[0074] Furthermore, a grid area of ​​the target aircraft is obtained according to the positioning information, and the type of the target aircraft is acquired.

[0075] In this embodiment, the positioning information can be used to determine which range of the above three default grid areas the target aircraft belongs to, and to determine the grid area where the target aircraft is located, and then obtain the type of the target aircraft, which includes small drones, medium drones, large drones, helicopters and passenger planes; after obtaining the type of the target aircraft, the type is compared with the flight standard of the corresponding grid area. For example, the type of the target aircraft is a medium drone, but it is detected that the grid area where the target aircraft is located is the first default grid area, and the first default grid area does not allow medium drones to fly. At this time, the type of aircraft does not meet the flight standard of the grid area.

[0076] Step S30: If the target aircraft of the type meets the flight standard of the grid area, historical flight data of the grid area is obtained, and the historical flight data is input into a preset low-altitude aircraft trajectory prediction model for prediction to obtain the future flight trajectory of the target aircraft.

[0077] Specifically, if the type of the aircraft meets the flight standard of the grid area, historical flight data of the grid area is obtained, wherein the historical flight data includes the type of historical aircraft, the flight trajectory data of the historical aircraft, and the flight speed of the historical aircraft.

[0078] The historical flight data is input into a preset low-altitude aircraft trajectory prediction model for prediction. The preset low-altitude aircraft trajectory prediction model is composed of a BiGRU (Bidirectional Recurrent Neural Network) model and a GNN (Graph Neural Network) model. Based on the low-altitude aircraft trajectory prediction model, the future flight trajectory of the target aircraft is predicted according to the existing historical flight data to achieve real-time calculation prediction, so as to better avoid safety problems caused by trajectory deviation and other reasons of the aircraft.

[0079] It should be noted that the low-altitude aircraft trajectory prediction model here can be adjusted according to actual conditions. For example, the low-altitude aircraft trajectory prediction model can also be composed of an LSTM (Long Short-Term Memory) model and a CNN (Convolutional Neural Networks) model, and there is no restriction here.

[0080] Furthermore, if the target aircraft of the type does not meet the flight standards of the grid area, it means that the target aircraft is located in a non-flyable or prohibited-fly grid area. At this time, a warning will be sent to the target aircraft, instructing the aircraft to modify the route and notifying relevant personnel to handle it; if the target aircraft is located in a flyable grid area, the historical flight data will be input into the flight trajectory prediction system.

[0081] Step S40, obtaining the flight trajectory corridors of other aircraft in the grid area. If the future flight trajectory does not conflict with the flight trajectory corridors of other aircraft, a target flight trajectory corridor is generated according to the future flight trajectory and the grid area, the target aircraft is controlled to fly according to the target flight trajectory corridor, and the target flight trajectory corridor is set to a locked state.

[0082] Specifically, after the aircraft control system in the low-altitude airspace receives historical flight data, it predicts the future flight trajectory of the target aircraft based on the low-altitude aircraft trajectory prediction model, and obtains the flight trajectory corridors of other aircraft in the grid area.

[0083] If the future flight trajectory conflicts with the trajectory corridor of other aircraft, the target aircraft is warned to modify the route to avoid accidents. If there is no conflict, a flight trajectory corridor is formed in the visual grid system, and the corridor grid is locked to set it to a non-flyable state for other aircraft.

[0084] If there is no conflict between the future flight trajectory and the flight trajectory corridor of other aircraft, a target flight trajectory corridor is generated according to the future flight trajectory and the grid area (a flight trajectory corridor is formed in a visual grid system), the target aircraft is controlled to fly according to the target flight trajectory corridor, and the target flight trajectory corridor is set to a locked state. When the target flight trajectory corridor is in the locked state, it means that other aircraft cannot fly in the target flight trajectory corridor, so as to ensure the safe operation of the target aircraft.

[0085] Beneficial effects of the present invention:

[0086] (1) Improve airspace utilization: Through grid-based airspace division, airspace resources can be managed more finely, the use of ineffective airspace can be reduced, and the overall utilization of airspace can be improved. At the same time, combined with triple positioning technology, the location information of the aircraft can be accurately grasped, the flight path can be further optimized, unnecessary flights can be reduced, and the efficiency of airspace use can be further improved.

[0087] (2) Enhanced flight safety: Triple positioning technology can provide high-precision aircraft position information, which helps to detect potential flight conflicts in a timely manner and take measures to intervene and avoid them in advance through flight trajectory prediction technology. In addition, the airspace control system can also monitor aircraft in real time to ensure that they fly within the specified airspace and avoid entering dangerous areas or colliding with other aircraft.

[0088] (3) Improve control efficiency: The system can automatically process large amounts of data and information to achieve real-time flight monitoring and control. This can greatly reduce the need for manual intervention and improve control efficiency. At the same time, based on the application of artificial intelligence technology, the system can also realize automatic conflict detection and solution generation, further reducing the workload of controllers.

[0089] (4) Optimizing resource allocation: Through grid-based airspace division and accurate grasp of aircraft location information, the system can more reasonably allocate ground support facilities and other resources. For example, ground vehicles, equipment and other resources can be dispatched in advance based on the actual location and flight trajectory of the aircraft to ensure that they can arrive at the designated location in time when needed, providing the necessary support and guarantee for the aircraft.

[0090] (5) Support for complex flight missions: The system is flexible and real-time and can support a variety of complex flight missions. Whether it is a regular flight or a special training or rescue mission, the system can perform airspace management and flight control according to actual needs to ensure the smooth progress of the mission.

[0091] (6) Reduce the risk of human error: Through automation and intelligent technology, the system can reduce the need for human intervention, thereby reducing the risk of human error. At the same time, the system can also monitor and warn the status of the aircraft in real time, detect potential problems in a timely manner and deal with them, ensuring the safe operation of the aircraft.

[0092] Furthermore, if Figure 3 As shown, based on the above-mentioned low-altitude airspace aircraft control method, the present invention also provides a low-altitude airspace aircraft control system, wherein the low-altitude airspace aircraft control system includes:

[0093] The flight data acquisition module 41 is used to acquire the flight information, measurement information and detection information of the target aircraft when it is detected that the target aircraft enters the low-altitude airspace, and pre-process the flight information, the measurement information and the detection information to obtain the pre-processed target data;

[0094] A grid area confirmation module 42 is used to analyze and fuse the target data based on a preset fusion algorithm to generate positioning information, obtain the grid area of ​​the target aircraft according to the positioning information, and obtain the type of the target aircraft;

[0095] A flight trajectory prediction module 43 is used to obtain historical flight data of the grid area if the target aircraft of the type meets the flight standard of the grid area, input the historical flight data into a preset low-altitude aircraft trajectory prediction model for prediction, and obtain the future flight trajectory of the target aircraft;

[0096] The trajectory safety judgment module 44 is used to obtain the flight trajectory corridors of other aircraft in the grid area. If the future flight trajectory does not conflict with the flight trajectory corridors of other aircraft, a target flight trajectory corridor is generated according to the future flight trajectory and the grid area, the target aircraft is controlled to fly according to the target flight trajectory corridor, and the target flight trajectory corridor is set to a locked state.

[0097] Furthermore, if Figure 4 As shown, based on the above-mentioned aircraft control method and system in low-altitude airspace, the present invention also provides a terminal accordingly, and the terminal includes a processor 10, a memory 20 and a display 30. Figure 4Only some components of the terminal are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0098] In some embodiments, the memory 20 may be an internal storage unit of the terminal, such as a hard disk or memory of the terminal. In other embodiments, the memory 20 may also be an external storage device of the terminal, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the terminal. Further, the memory 20 may also include both an internal storage unit of the terminal and an external storage device. The memory 20 is used to store application software and various types of data installed in the terminal, such as the program code of the installation terminal. The memory 20 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 20 stores an aircraft control program 40 for low-altitude airspace, and the aircraft control program 40 for low-altitude airspace can be executed by the processor 10, thereby realizing the aircraft control method for low-altitude airspace in the present application.

[0099] In some embodiments, the processor 10 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run the program code or process data stored in the memory 20, such as executing the aircraft control method in the low-altitude airspace.

[0100] In some embodiments, the display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 30 is used to display information on the terminal and to display a visual user interface. The components of the terminal communicate with each other via a system bus.

[0101] In one embodiment, when the processor 10 executes the low-altitude airspace aircraft control program 40 in the memory 20, the following steps are implemented:

[0102] When a target aircraft is detected to enter a low-altitude airspace, flight information, measurement information, and detection information of the target aircraft are acquired, and the flight information, the measurement information, and the detection information are preprocessed to obtain preprocessed target data;

[0103] Analyze and fuse the target data based on a preset fusion algorithm to generate positioning information, obtain the grid area of ​​the target aircraft according to the positioning information, and obtain the type of the target aircraft;

[0104] If the target aircraft of the type meets the flight standard of the grid area, historical flight data of the grid area is obtained, and the historical flight data is input into a preset low-altitude aircraft trajectory prediction model for prediction to obtain the future flight trajectory of the target aircraft;

[0105] The flight trajectory corridors of other aircraft in the grid area are obtained. If the future flight trajectory does not conflict with the flight trajectory corridors of other aircraft, a target flight trajectory corridor is generated according to the future flight trajectory and the grid area, the target aircraft is controlled to fly according to the target flight trajectory corridor, and the target flight trajectory corridor is set to a locked state.

[0106] The step of obtaining the flight information, measurement information and detection information of the target aircraft specifically includes:

[0107] Regularly obtain flight information sent by the sensor and navigation system of the target aircraft, the flight information including: aircraft position information, aircraft speed information, and aircraft direction information;

[0108] Periodically acquiring the beacon signal received by the target aircraft, calculating the relative position relationship between the target aircraft and the beacon through a signal propagation model, and determining measurement information through geometric calculation or optimization algorithm based on the relative position relationship;

[0109] Regularly obtain the detection information of the target aircraft obtained by the base station through active detection through radar reflection and radio signal propagation technology.

[0110] The preprocessing of the flight information, the measurement information and the detection information to obtain the preprocessed target data specifically includes:

[0111] cleaning the flight information, the measurement information and the detection information respectively, removing missing values ​​and abnormal values ​​in the flight information, the measurement information and the detection information, and obtaining valid information;

[0112] The effective information is normalized and standardized to obtain pre-processed target data.

[0113] The step of analyzing and fusing the target data based on a preset fusion algorithm to generate positioning information specifically includes:

[0114] Obtaining the accuracy and reliability of each of the three pre-processed data in the target data, performing correlation analysis based on the accuracy and reliability, and obtaining the correlation between the three pre-processed data;

[0115] The weights of the preprocessed flight information, the preprocessed measurement information and the preprocessed detection information are determined according to the correlation, and the three preprocessed data are fused by weighted averaging to generate positioning information.

[0116] Wherein, obtaining the grid area of ​​the target aircraft according to the positioning information further includes:

[0117] According to the aircraft type, three default grid areas with different airspace ranges are set, the aircraft types include small unmanned aerial vehicles, medium unmanned aerial vehicles, large unmanned aerial vehicles, helicopters and passenger planes, and the default grid areas include a first default grid area, a second default grid area and a third default grid area;

[0118] The first default grid area is a single-layer distribution, and the flight standard of the first default grid area is to allow only small unmanned aerial vehicle type aircraft to fly;

[0119] The second default grid area is a single-layer distribution, and the flight standard of the second default grid area is that only medium-sized unmanned aerial vehicles, large unmanned aerial vehicles or helicopters are allowed to fly;

[0120] The third default grid area is distributed in three layers, and the flight standard of the third default grid area is to allow only passenger aircraft to fly.

[0121] Among them, the preset low-altitude aircraft trajectory prediction model includes a BiGRU network model and a GNN network model.

[0122] The step of obtaining the type of the target aircraft further includes:

[0123] If the target aircraft of the type does not meet the flight standards of the grid area, it means that the aircraft of the type is in a no-fly grid area, and a command is sent to the aircraft of the type to warn the aircraft to modify the route, and relevant personnel are notified to handle it.

[0124] In summary, the present invention provides a method, system and terminal for aircraft control in low-altitude airspace, the method comprising: obtaining flight, measurement and detection information of the target aircraft and preprocessing it to obtain target data, fusing the target data through a fusion algorithm, generating positioning information, obtaining a grid area of ​​the target aircraft according to the positioning information, if the aircraft meets the flight standard of the grid area, obtaining historical flight data of the grid area, inputting the historical flight data into a trajectory prediction model, obtaining the future flight trajectory of the target aircraft, obtaining the flight trajectory corridor of other aircraft in the grid area, if the future flight trajectory does not conflict with the flight trajectory corridor of other aircraft, then generating a target flight trajectory corridor, and controlling the target aircraft to fly according to the target flight trajectory corridor. The present invention uses triple positioning to enhance the accuracy of positioning, combines grid division to plan the flight route, and realizes standardized control of low-altitude airspace.

[0125] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or terminal including the element.

[0126] Of course, those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0127] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A method for controlling aircraft in low-altitude airspace, characterized in that: The method for controlling aircraft in low-altitude airspace includes: When a target aircraft is detected to enter a low-altitude airspace, flight information, measurement information, and detection information of the target aircraft are acquired, and the flight information, the measurement information, and the detection information are preprocessed to obtain preprocessed target data; The obtaining of the flight information, measurement information and detection information of the target aircraft specifically includes: Regularly obtain flight information sent by the sensor and navigation system of the target aircraft, the flight information including: aircraft position information, aircraft speed information, and aircraft direction information; Periodically acquiring the beacon signal received by the target aircraft, calculating the relative position relationship between the target aircraft and the beacon through a signal propagation model, and determining measurement information through geometric calculation or optimization algorithm based on the relative position relationship; Regularly obtain the detection information of the target aircraft obtained by the base station through active detection through radar reflection and radio signal propagation technology; According to the aircraft type, three default grid areas with different airspace ranges are set, the aircraft types include small unmanned aerial vehicles, medium unmanned aerial vehicles, large unmanned aerial vehicles, helicopters and passenger planes, and the default grid areas include a first default grid area, a second default grid area and a third default grid area; The first default grid area is a single-layer distribution, and the flight standard of the first default grid area is to allow only small unmanned aerial vehicle type aircraft to fly; The second default grid area is a single-layer distribution, and the flight standard of the second default grid area is that only medium-sized unmanned aerial vehicles, large unmanned aerial vehicles or helicopters are allowed to fly; The third default grid area is distributed in three layers, and the flight standard of the third default grid area is that only aircraft of the passenger aircraft type are allowed to fly; Analyze and fuse the target data based on a preset fusion algorithm to generate positioning information, obtain the grid area of ​​the target aircraft according to the positioning information, and obtain the type of the target aircraft; If the target aircraft of the type meets the flight standard of the grid area, historical flight data of the grid area is obtained, and the historical flight data is input into a preset low-altitude aircraft trajectory prediction model for prediction to obtain the future flight trajectory of the target aircraft; The flight trajectory corridors of other aircraft in the grid area are obtained. If the future flight trajectory does not conflict with the flight trajectory corridors of other aircraft, a target flight trajectory corridor is generated according to the future flight trajectory and the grid area, the target aircraft is controlled to fly according to the target flight trajectory corridor, and the target flight trajectory corridor is set to a locked state.

2. The method for controlling aircraft in low-altitude airspace according to claim 1, characterized in that: The preprocessing of the flight information, the measurement information and the detection information to obtain the preprocessed target data specifically includes: cleaning the flight information, the measurement information and the detection information respectively, removing missing values ​​and abnormal values ​​in the flight information, the measurement information and the detection information, and obtaining valid information; The effective information is normalized and standardized to obtain pre-processed target data.

3. The method for controlling aircraft in low-altitude airspace according to claim 1, characterized in that: The target data is analyzed and integrated based on a preset fusion algorithm to generate positioning information, specifically including: Acquire the accuracy and reliability of each of the preprocessed flight information, the preprocessed measurement information, and the preprocessed detection information in the target data, perform correlation analysis based on the accuracy and reliability, and obtain the correlation between the preprocessed flight information, the preprocessed measurement information, and the preprocessed detection information; The weights of the preprocessed flight information, the preprocessed measurement information and the preprocessed detection information are determined according to the correlation, and the preprocessed flight information, the preprocessed measurement information and the preprocessed detection information are fused by adopting a weighted average method to generate positioning information.

4. The method for controlling aircraft in low-altitude airspace according to claim 1, characterized in that: The preset low-altitude aircraft trajectory prediction model includes a BiGRU network model and a GNN network model.

5. The method for controlling aircraft in low-altitude airspace according to claim 1, characterized in that: The step of obtaining the type of the target aircraft further includes: If the target aircraft of the type does not meet the flight standards of the grid area, it means that the aircraft of the type is in a no-fly grid area, and a command is sent to the aircraft of the type to warn the aircraft to modify the route, and relevant personnel are notified to handle it.

6. An aircraft control system for low-altitude airspace, characterized in that: The aircraft control system in the low-altitude airspace includes: A flight data acquisition module is used to acquire flight information, measurement information and detection information of the target aircraft when it is detected that the target aircraft enters the low-altitude airspace, and pre-process the flight information, the measurement information and the detection information to obtain pre-processed target data; The obtaining of the flight information, measurement information and detection information of the target aircraft specifically includes: Regularly obtain flight information sent by the sensor and navigation system of the target aircraft, the flight information including: aircraft position information, aircraft speed information, and aircraft direction information; Periodically acquiring the beacon signal received by the target aircraft, calculating the relative position relationship between the target aircraft and the beacon through a signal propagation model, and determining measurement information through geometric calculation or optimization algorithm based on the relative position relationship; Regularly obtain the detection information of the target aircraft obtained by the base station through active detection through radar reflection and radio signal propagation technology; A grid area confirmation module is used to analyze and fuse the target data based on a preset fusion algorithm to generate positioning information, obtain the grid area of ​​the target aircraft according to the positioning information, and obtain the type of the target aircraft; Wherein, obtaining the grid area of ​​the target aircraft according to the positioning information further includes: According to the aircraft type, three default grid areas with different airspace ranges are set, the aircraft types include small unmanned aerial vehicles, medium unmanned aerial vehicles, large unmanned aerial vehicles, helicopters and passenger planes, and the default grid areas include a first default grid area, a second default grid area and a third default grid area; The first default grid area is a single-layer distribution, and the flight standard of the first default grid area is to allow only small unmanned aerial vehicle type aircraft to fly; The second default grid area is a single-layer distribution, and the flight standard of the second default grid area is that only medium-sized unmanned aerial vehicles, large unmanned aerial vehicles or helicopters are allowed to fly; The third default grid area is distributed in three layers, and the flight standard of the third default grid area is that only aircraft of the passenger aircraft type are allowed to fly; A flight trajectory prediction module is used to obtain historical flight data of the grid area if the target aircraft of the type meets the flight standard of the grid area, input the historical flight data into a preset low-altitude aircraft trajectory prediction model for prediction, and obtain the future flight trajectory of the target aircraft; The trajectory safety judgment module is used to obtain the flight trajectory corridor of other aircraft in the grid area. If the future flight trajectory does not conflict with the flight trajectory corridor of other aircraft, a target flight trajectory corridor is generated according to the future flight trajectory and the grid area, the target aircraft is controlled to fly according to the target flight trajectory corridor, and the target flight trajectory corridor is set to a locked state.

7. A terminal, characterized in that: The terminal includes: a memory, a processor, and a low-altitude airspace aircraft control program stored in the memory and executable on the processor. When the low-altitude airspace aircraft control program is executed by the processor, the steps of the low-altitude airspace aircraft control method as described in any one of claims 1-5 are implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an aircraft control program for low-altitude airspace, and when the aircraft control program for low-altitude airspace is executed by a processor, the steps of the aircraft control method for low-altitude airspace as described in any one of claims 1-5 are implemented.

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