Urban low-altitude traffic ground network point and air channel planning method

Abstract

The invention belongs to the field of flight network and channel planning, particularly relates to a ground network point and air channel planning method for urban low-altitude traffic, and aims to solve the problems that in an urban traffic scene, flight of a large number of aircrafts is difficult to manage in a standardized manner, and flight trajectories intersect randomly to easily cause aircraft conflicts in a dense flight scene. The method comprises the following steps: setting a plurality of aircraft flight ground base stations based on a honeycomb structure; determining an initial website and an end website; acquiring a website flight path through a path approximation selection algorithm; an air channel planning path is formed by the starting point-initial network point of the aircraft, the network point flight path and the ending network point-ending point of the aircraft; and carrying out flight height layering according to the flight direction in the branch flight path. The air traffic flight system solves the problems that the flight of a large number of aircrafts is difficult to standardize and the flight tracks are crossed randomly to easily cause aircraft conflicts, and is high in flight efficiency, high in flight safety and convenient to manage.

Description

Technical Field

[0001] The present invention belongs to the field of flight network and airway planning, and specifically relates to a method, system, electronic equipment and computer-readable storage medium for planning ground network points and airways for urban low-altitude transportation. Background Art

[0002] As an important part of the low-altitude economy, urban air traffic generally carries out flight activities in low-altitude airspace below 1,000 meters in vertical altitude, and can be extended to no more than 3,000 meters according to actual needs.

[0003] At present, flight activities within visual range are relatively arbitrary, and most beyond visual range and long-distance routes still require reporting or approval to open.

[0004] However, in the dense flight scenario of urban air traffic, it is obviously not possible to allow arbitrary flights: there are great safety risks, and it is also impossible to open routes one by one: the number of point-to-point flight paths is huge.

[0005] Therefore, in order to solve the above problems, a unified urban flight network and route planning method is needed to provide efficient and relatively safe flight routes. There is currently a lack of patent technologies in the field of flight network and route planning methods. Summary of the invention

[0006] In order to solve the above problems in the prior art, that is, to solve the problem that a large number of aircraft flights are difficult to manage in a standardized manner in urban traffic scenes and the problem that random crossing of flight trajectories in dense flight scenes easily causes aircraft conflicts, the first aspect of the present invention proposes a ground network point and air route planning method for urban low-altitude traffic, the method comprising:

[0007] A plurality of aircraft flight ground base stations are established based on a cellular structure; the aircraft flight ground base stations are distributed in different areas of the city to form a grid network covering the entire city;

[0008] Determine the initial network point and the end network point according to the base station network information of each ground base station of the aircraft flight, combined with the starting point and the end point of the aircraft; the base station network information includes the location, coverage and supported flight direction;

[0009] In combination with the initial grid point and the end grid point, a line connecting the starting point of the aircraft and the end point of the aircraft is used as a reference direction, and a grid point flight path is obtained by a path approximation selection algorithm;

[0010] The starting point of the aircraft-initial grid point, grid point flight path, and ending grid point-end point of the aircraft constitute an air route planning path for output; wherein, in the grid point flight path, the flight altitude is layered according to the flight direction.

[0011] In some preferred embodiments, multiple aircraft flight ground base stations are distributed in an urban area according to a hexagonal cellular structure, each aircraft flight ground base station supports flight in 12 directions within its adjacent hexagonal area, and the lines between adjacent aircraft flight ground base stations form a 30° sector.

[0012] In some preferred embodiments, the 30° sector between every two adjacent aircraft flight ground base stations forms a rectangular flight area space, and the rectangular flight area space is divided into multiple channel path areas along the longitudinal and height directions according to the aircraft spacing requirements.

[0013] In some preferred implementations, the initial and ending points are determined by:

[0014] The adjacent network point corresponding to the minimum angle between the connecting line of the aircraft's starting point and the aircraft's end point and the connecting line of the aircraft's starting point and the adjacent network point is taken as the initial network point;

[0015] The adjacent network point corresponding to the point where the angle between the starting point of the aircraft and the end point of the aircraft and the end point of the aircraft and the adjacent network point is the smallest is taken as the end network point.

[0016] In some preferred implementations, the point flight path is obtained by a path approximation selection algorithm, and the method is as follows:

[0017] A ray on the same side with the smallest angle with the line connecting the starting point of the aircraft and the end point of the aircraft is cast from each of the initial grid point and the end grid point, and the intersection is the inflection point, forming a grid point flight path.

[0018] In some preferred embodiments, the flight altitude is layered according to the flight direction, and the method is as follows:

[0019] The flight network plane in the urban area is divided into multiple altitude layers according to the flight direction. An independent altitude layer is assigned to every three different flight directions to ensure that the flight directions of aircraft in the same altitude layer are similar.

[0020] In some preferred embodiments, within the same flight altitude zone, the maximum flight angle of the aircraft does not exceed 60°, and the maximum approach speed during flight is 50% of the sum of the flight speeds of the two aircraft; and when flying in opposite directions, the maximum approach speed is 100% of the sum of the flight speeds of the two aircraft.

[0021] The second aspect of the present invention provides a ground network point and air route planning system for urban low-altitude transportation, the system comprising:

[0022] A base station setting module is configured to establish a plurality of aircraft flight ground base stations based on a cellular structure; the aircraft flight ground base stations are distributed in different areas of the city to form a grid network covering the entire city;

[0023] A network point determination module is configured to determine an initial network point and an end network point according to base station network information of each aircraft flight ground base station, combined with a starting point of the aircraft and an end point of the aircraft; the base station network information includes a location, a coverage range, and a supported flight direction;

[0024] A path approximation selection module is configured to combine the initial network point and the end network point, take the line connecting the starting point of the aircraft and the end point of the aircraft as a reference direction, and obtain the network point flight path through a path approximation selection algorithm;

[0025] The path planning module is configured to output an air route planning path composed of the starting point of the aircraft-initial grid point, the grid point flight path, and the ending grid point-the end point of the aircraft; wherein, in the grid point flight path, the flight altitude is layered according to the flight direction.

[0026] According to a third aspect of the present invention, an electronic device is provided, comprising:

[0027] At least one processor; and a memory communicatively connected to at least one of the processors; wherein the memory stores instructions executable by the processor, the instructions being executed by the processor to implement the above-mentioned method for planning ground network points and air routes for urban low-altitude transportation.

[0028] In a fourth aspect of the present invention, a computer-readable storage medium is proposed, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to be executed by a computer to implement the above-mentioned ground network point and air route planning method for urban low-altitude transportation.

[0029] Beneficial effects of the present invention:

[0030] The present invention provides a networked flight management method without a significant loss of efficiency, which solves the problem that a large number of aircraft flights are difficult to manage in a standardized manner in urban traffic scenarios, and the problem that random intersections of flight trajectories in dense flight scenarios easily cause aircraft conflicts. The present invention can efficiently manage the flight space in dense flight scenarios such as cities, and provide an air traffic flight system with high flight efficiency, strong flight safety, and convenient management. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings.

[0032] Figure 1It is a flow chart of a method for planning ground network points and air routes for urban low-altitude transportation according to an embodiment of the present invention;

[0033] Figure 2 is a schematic diagram of gridding a flight area through a honeycomb structure according to an embodiment of the present invention;

[0034] Figure 3 It is a schematic diagram of the channel design between network points according to an embodiment of the present invention;

[0035] Figure 4 is a schematic diagram of a flight area space according to an embodiment of the present invention;

[0036] Figure 5 is a schematic diagram of an aircraft flight path planning process according to an embodiment of the present invention;

[0037] Figure 6 is a schematic diagram of network point route flight path verification according to an embodiment of the present invention;

[0038] Figure 7 is a highly layered schematic diagram of directional intersecting waterways according to an embodiment of the present invention;

[0039] Figure 8 It is a schematic diagram of speed calculation for directional crossing channels according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiment is a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0042] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0043] A method for planning ground network points and air routes for urban low-altitude transportation in a first embodiment of the present invention is as follows: Figure 1 As shown, the following steps are included:

[0044] A plurality of aircraft flight ground base stations are established based on a cellular structure; the aircraft flight ground base stations are distributed in different areas of the city to form a grid network covering the entire city;

[0045] Determine the initial network point and the end network point according to the base station network information of each ground base station of the aircraft flight, combined with the starting point and the end point of the aircraft; the base station network information includes the location, coverage and supported flight direction;

[0046] In combination with the initial grid point and the end grid point, a line connecting the starting point of the aircraft and the end point of the aircraft is used as a reference direction, and a grid point flight path is obtained by a path approximation selection algorithm;

[0047] The starting point of the aircraft-initial grid point, grid point flight path, and ending grid point-end point of the aircraft constitute an air route planning path for output; wherein, in the grid point flight path, the flight altitude is layered according to the flight direction.

[0048] In order to more clearly illustrate the ground network point and air route planning method for urban low-altitude transportation of the present invention, each step in an embodiment of the method of the present invention is described in detail below with reference to the accompanying drawings.

[0049] The present invention provides a method for planning ground network points and air routes for urban low-altitude traffic, which can efficiently manage the flight space in dense flight scenes such as cities, and provide an air traffic flight system with high flight efficiency, strong flight safety and convenient management. The specific process is as follows:

[0050] A plurality of aircraft flight ground base stations are established based on a cellular structure; the aircraft flight ground base stations are distributed in different areas of the city to form a grid network covering the entire city;

[0051] In this embodiment, based on the cellular structure, an aircraft flight ground base station is established, such as Figure 2 As shown, the urban area can be efficiently covered, while facilitating the aircraft to enter the nearest flight path starting point.

[0052] At the same time, the honeycomb structure grids the flight area, facilitates the establishment of restricted flight areas, and provides controllable detour paths, which can improve management convenience and controllability.

[0053] A single grid point supports flight to any grid point in the adjacent hexagonal area, that is, 12 directions, forming 12 15° angles with the take-off grid point, such as Figure 3 As shown in the figure, a sector of a circular area of ​​a single mesh point is divided, and the sectors with a subtending angle of 30° between every two mesh points form a rectangular flight area space between mesh points. According to the aircraft spacing requirements, the flight area is divided into multiple channel path areas by longitudinal direction and height, which can effectively and safely divide the flight space in the city. Figure 4 shown.

[0054] Determine the initial network point and the end network point according to the base station network information of each ground base station of the aircraft flight, combined with the starting point and the end point of the aircraft; the base station network information includes the location, coverage and supported flight direction;

[0055] In combination with the initial grid point and the end grid point, a line connecting the starting point of the aircraft and the end point of the aircraft is used as a reference direction, and a grid point flight path is obtained by a path approximation selection algorithm;

[0056] The starting point of the aircraft-initial network point, the network point flight path, and the ending network point-the end point of the aircraft constitute the air route planning path for output.

[0057] In this embodiment, the flight from the aircraft starting point to the end point is divided into two parts: (1) departure and arrival flight; and (2) network route flight.

[0058] (1) Departure and arrival flights

[0059] The departure and arrival flight routes are respectively based on the "starting point-initial point" and "ending point-end point" connection paths; that is, the aircraft first needs to reach the point (i.e., the initial point) with the smallest angle between the "starting point-adjacent point connection line" and the "starting point-end point connection line" from the starting point, and then is allowed to fly to any node of the adjacent hexagon, and perform point route flight planning according to the flight direction, and finally reach the point (i.e., the ending point) with the smallest angle between the "end point-adjacent point connection line" and the "starting point-end point connection line" near the destination, and finally reach the end point. Figure 5 shown.

[0060] (2) Network route flight

[0061] During the dot route flight, the flight points are selected by approximation: the "starting point-end point line" is taken as the approximate flight direction, and a same-side ray with the smallest angle with the "starting point-end point line" is cast from the initial and ending points. The intersection is the inflection point, forming a flight path, and the aircraft completes the dot route flight along the path.

[0062] With this flight path design, the path loss of "starting point-initial point" and "ending point-end point" can be ignored in long-distance flight scenarios. During the flight process of "starting point-end point", the maximum path loss scenario occurs when the "starting point-end point connection line" is in the middle of the adjacent angles. This problem is abstracted as the problem of finding the shortest sum of the two short sides of an obtuse triangle. The calculation process is as follows:

[0063] Let the two acute angles of the obtuse triangle be α and β, and the obtuse angle be γ. The corresponding side lengths are a, b, c and α and β are multiples of 15 degrees.

[0064] Since γ is an obtuse angle, γ>90° and α+β=180°-γ.

[0065] According to the law of sines for triangles:

[0066] but:

[0067] According to the traversal calculation results, when the two acute angles are 15° and the obtuse angle is 150°, the sum of the short side lengths reaches the minimum, and the corresponding sum of the side lengths is 1.035*c, such as Figure 6 shown.

[0068] According to the above derivation, it can be obtained that the flight path length in this scenario is 103.525% of that of straight-line flight, the flight path loss is only about 3.5%, and the flight efficiency is relatively high.

[0069] In addition, if Figure 7 As shown, the altitude stratification method for direction-intersecting channels is as follows (i.e., in the grid point flight path, the flight altitude stratification is performed according to the flight direction. In other embodiments, according to the actual situation, the altitude stratification of the starting point-initial grid point of the aircraft and the ending grid point-the end point of the aircraft can also be performed according to the following method): the flight grid point plane of the urban area is spread out, and according to the different flight directions between the grid points, an altitude layer is divided for every 3 flight directions, and only aircraft with specific flight directions are allowed to fly, so that aircraft with large direction deviations can be isolated from each other to avoid conflicts. At the same time, since the aircrafts in the same flight altitude zone have a maximum flight angle of 60°, the limit approach speed (i.e., the maximum approach speed) during the flight is 50% of the sum of the flight speeds of the two aircrafts, and the relative speed of the opposite flight is 100% (i.e., based on the principle of altitude stratification, there is no opposite flight, the maximum approach speed is (v1+v2) / 2, i.e., half of the sum of the speeds, and no stratification is performed. The maximum approach speed during opposite flight is v1+v2, i.e., the sum of the speeds), which improves the avoidance degree and reduces the risk of collision. Figure 8 shown.

[0070] A ground network point and air route planning system for urban low-altitude transportation according to a second embodiment of the present invention comprises:

[0071] A base station setting module is configured to establish a plurality of aircraft flight ground base stations based on a cellular structure; the aircraft flight ground base stations are distributed in different areas of the city to form a grid network covering the entire city;

[0072] A network point determination module is configured to determine an initial network point and an end network point according to base station network information of each aircraft flight ground base station, combined with a starting point of the aircraft and an end point of the aircraft; the base station network information includes a location, a coverage range, and a supported flight direction;

[0073] A path approximation selection module is configured to combine the initial network point and the end network point, take the line connecting the starting point of the aircraft and the end point of the aircraft as a reference direction, and obtain the network point flight path through a path approximation selection algorithm;

[0074] The path planning module is configured to output an air route planning path composed of the starting point of the aircraft-initial grid point, the grid point flight path, and the ending grid point-the end point of the aircraft; wherein, in the grid point flight path, the flight altitude is layered according to the flight direction.

[0075] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process and related instructions of the system described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0076] It should be noted that the above-mentioned embodiment provides a ground network point and air route planning system for urban low-altitude transportation, which is only illustrated by the division of the above-mentioned functional modules. In practical applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be decomposed or combined. For example, the modules in the above-mentioned embodiments can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not regarded as improper limitations of the present invention.

[0077] An electronic device according to the third embodiment of the present invention comprises: at least one processor; and a memory communicatively connected to at least one of the processors; wherein the memory stores instructions executable by the processor, and the instructions are used to be executed by the processor to implement the above-mentioned method for planning ground network points and air routes for urban low-altitude transportation.

[0078] A computer-readable storage medium according to a fourth embodiment of the present invention stores computer instructions, and the computer instructions are used to be executed by the computer to implement the above-mentioned ground network point and air route planning method for urban low-altitude transportation.

[0079] Technicians in the technical field can clearly understand that, for the convenience and brevity of description, the specific working process and related instructions of the electronic device and computer-readable storage medium described above can refer to the corresponding process in the aforementioned method example and will not be repeated here.

[0080] Those skilled in the art should be able to appreciate that the modules and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two, and the programs corresponding to the software modules and method steps can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the technical field. In order to clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0081] The terms "first", "second", etc. are used to distinguish similar objects rather than to describe or indicate a particular order or sequence.

[0082] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus / device.

[0083] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A method for planning ground network points and air routes for urban low-altitude transportation, characterized in that: The method comprises the following steps: A plurality of aircraft flight ground base stations are established based on a cellular structure; the aircraft flight ground base stations are distributed in different areas of the city to form a grid network covering the entire city; Determine the initial network point and the end network point according to the base station network information of each ground base station of the aircraft flight, combined with the starting point and the end point of the aircraft; the base station network information includes the location, coverage and supported flight direction; In combination with the initial grid point and the end grid point, a line connecting the starting point of the aircraft and the end point of the aircraft is used as a reference direction, and a grid point flight path is obtained by a path approximation selection algorithm; The starting point of the aircraft-initial grid point, grid point flight path, and ending grid point-end point of the aircraft constitute an air route planning path for output; wherein, in the grid point flight path, the flight altitude is layered according to the flight direction.

2. A method for planning ground network points and air routes for urban low-altitude transportation according to claim 1, characterized in that: Multiple aircraft flight ground base stations are distributed in the urban area according to a hexagonal cellular structure. Each aircraft flight ground base station supports flight in 12 directions within its adjacent hexagonal area, and the lines between adjacent aircraft flight ground base stations form a 30° sector.

3. A method for planning ground network points and air routes for urban low-altitude transportation according to claim 2, characterized in that: The 30° sector between every two adjacent aircraft flight ground base stations forms a rectangular flight area space, and the rectangular flight area space is divided into multiple channel path areas along the longitudinal and height directions according to the aircraft spacing requirements.

4. A method for planning ground network points and air routes for urban low-altitude transportation according to claim 3, characterized in that: The method for determining the initial and ending points is as follows: The adjacent network point corresponding to the minimum angle between the connecting line of the aircraft's starting point and the aircraft's end point and the connecting line of the aircraft's starting point and the adjacent network point is taken as the initial network point; The adjacent network point corresponding to the point where the angle between the starting point of the aircraft and the end point of the aircraft and the end point of the aircraft and the adjacent network point is the smallest is taken as the end network point.

5. A method for planning ground network points and air routes for urban low-altitude transportation according to claim 4, characterized in that: The method for obtaining the point flight path is as follows: A ray on the same side with the smallest angle with the line connecting the starting point of the aircraft and the end point of the aircraft is cast from each of the initial grid point and the end grid point, and the intersection is the inflection point, forming a grid point flight path.

6. A method for planning ground network points and air routes for urban low-altitude transportation according to claim 5, characterized in that: The flight altitude is layered according to the flight direction. The method is as follows: The flight network plane in the urban area is divided into multiple altitude layers according to the flight direction. An independent altitude layer is assigned to every three different flight directions to ensure that the flight directions of aircraft in the same altitude layer are similar.

7. A method for planning ground network points and air routes for urban low-altitude transportation according to claim 6, characterized in that: In the same flight altitude zone, the maximum flight angle of the aircraft shall not exceed 60°, and the maximum approach speed during flight shall be 50% of the sum of the flight speeds of the two aircraft; when flying in opposite directions, the maximum approach speed shall be 100% of the sum of the flight speeds of the two aircraft.

8. A ground network point and air route planning system for urban low-altitude transportation, characterized in that: The system includes: A base station setting module is configured to establish a plurality of aircraft flight ground base stations based on a cellular structure; the aircraft flight ground base stations are distributed in different areas of the city to form a grid network covering the entire city; A network point determination module is configured to determine an initial network point and an end network point according to base station network information of each aircraft flight ground base station, combined with a starting point of the aircraft and an end point of the aircraft; the base station network information includes a location, a coverage range, and a supported flight direction; A path approximation selection module is configured to combine the initial network point and the end network point, take the line connecting the starting point of the aircraft and the end point of the aircraft as a reference direction, and obtain the network point flight path through a path approximation selection algorithm; The path planning module is configured to output an air route planning path consisting of the starting point of the aircraft-initial grid point, the grid point flight path, and the ending grid point-the end point of the aircraft; wherein, in the grid point flight path, the flight altitude is layered according to the flight direction.

9. An electronic device, characterized in that: include: at least one processor; And a memory communicatively connected to at least one of the processors; wherein the memory stores instructions executable by the processor, and the instructions are used to be executed by the processor to implement a ground network point and air route planning method for urban low-altitude transportation as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to be executed by a computer to implement a ground network point and air route planning method for urban low-altitude transportation as described in any one of claims 1-7.

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