Unmanned aerial vehicle monitoring network layout method based on geospatial information

Abstract

The present application relates to the field of ecological monitoring, in particular to a kind of unmanned aerial vehicle monitoring network layout method based on geographic space information, by constructing ecological source service supply area and the ecological resistance surface of ecological source service supply area, identify ecological corridor area and ecological strategic point, according to ecological source service supply area, ecological corridor area and ecological strategic point, construct unmanned aerial vehicle monitoring network, to form unified independent unmanned aerial vehicle ecological system monitoring system, realize the reasonable layout of unmanned aerial vehicle networking, meet the monitoring demand for high frequency, real-time dynamic, realize the precise matching of unmanned aerial vehicle monitoring area coverage and monitoring demand.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ecological monitoring, and in particular to a method and device for laying out a UAV monitoring network based on geographic spatial information, a computer device and a storage medium. BACKGROUND

[0002] The construction of a UAV monitoring network, as an important part of low-altitude economic infrastructure, faces problems such as site selection difficulties, unstable communication signals and mismatch with actual monitoring needs. In the disciplines of aviation, computer science and communication science, the construction of a UAV network has been widely studied, with a focus on algorithm optimization and simulation experiments. Although these studies have to some extent solved the problems of UAV network layout and communication stability, they are still difficult to apply directly to the actual construction stage due to the lack of geographic spatial information.

[0003] The development of low-altitude geography provides a new solution for the construction of a UAV network. By matching the layout of a UAV monitoring network with specific geographic spatial features, high-precision and high-efficiency monitoring of target areas can be achieved. This precise positioning ensures the effectiveness and accuracy of monitoring data, avoids resource waste and repeated monitoring, and also enables a comprehensive understanding of the overall status of the ecological system. However, in the face of monitoring needs such as dynamic changes in the ecological system, landscape pattern diversity and the complexity of ecological functions, the current technical solutions for constructing a UAV monitoring network are difficult to accurately match with geographic spatial element information, and cannot meet the needs of high-frequency, real-time dynamic monitoring. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a method and device for laying out a UAV monitoring network based on geographic spatial information, a computer device and a storage medium. By constructing an ecological source service supply area and an ecological resistance surface of the ecological source service supply area, identifying an ecological corridor area and an ecological strategic point, and constructing a UAV monitoring network based on the ecological source service supply area, the ecological corridor area and the ecological strategic point, a unified and independent UAV ecological system monitoring system is formed, which realizes the rational layout of a UAV network, meets the needs of high-frequency, real-time dynamic monitoring, and achieves precise matching of UAV monitoring area coverage and monitoring needs.

[0005] In a first aspect, the present application provides a method for laying out a UAV monitoring network based on geographic spatial information, comprising the following steps:

[0006] obtaining a region to be laid out and geographic spatial information data and ecological system service supply data of the region to be laid out, wherein the geographic spatial information data includes land use data, digital elevation model data and normalized vegetation index data;

[0007] The morphological spatial pattern analysis method is used to identify an ecological source region of the to-be-layout region according to the land use data, and an ecological source region is obtained.

[0008] An ecological system service supply region is identified according to the ecological system service supply data of the to-be-layout region, and an ecological system service supply region is obtained.

[0009] An ecological resistance surface of the ecological source service supply region is constructed according to the land use data, digital elevation model data and normalized vegetation index data.

[0010] An ecological corridor region and an ecological strategic point are constructed according to the ecological source service supply region and the ecological resistance surface of the ecological source service supply region.

[0011] In a second aspect, an embodiment of the present application provides a device for laying out a UAV monitoring network based on geographic spatial information, comprising:

[0012] A data obtaining module is configured to obtain a to-be-layout region and geographic spatial information data, ecological system service supply data of the to-be-layout region, wherein the geographic spatial information data comprises land use data, digital elevation model data and normalized vegetation index data.

[0013] A region identifying module is configured to identify an ecological source region of the to-be-layout region according to the land use data by using a morphological spatial pattern analysis method, and obtain an ecological source region.

[0014] A region constructing module is configured to identify an ecological system service supply region of the to-be-layout region according to the ecological system service supply data, and obtain an ecological system service supply region; and construct an ecological source service supply region by superimposing the ecological source region and the ecological system service supply region.

[0015] An ecological resistance surface constructing module is configured to construct an ecological resistance surface of the ecological source service supply region according to the land use data, digital elevation model data and normalized vegetation index data.

[0016] A UAV monitoring network laying out module is configured to construct an ecological corridor region and an ecological strategic point according to the ecological source service supply region and the ecological resistance surface of the ecological source service supply region; and construct a UAV monitoring network according to the ecological source service supply region, the ecological corridor region and the ecological strategic point.

[0017] In a third aspect, an embodiment of the present application provides a computer device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method for monitoring network layout of a UAV based on geographic spatial information according to the first aspect when executing the computer program.

[0018] In a fourth aspect, an embodiment of the present application provides a storage medium, which stores a computer program, and the computer program implements the steps of the method for monitoring network layout of a UAV based on geographic spatial information according to the first aspect when executed by a processor.

[0019] In the embodiment of the present application, a method, device, computer device and storage medium for monitoring network layout of a UAV based on geographic spatial information are provided, an ecological source service supply area and an ecological resistance surface of the ecological source service supply area are constructed, an ecological corridor area and an ecological strategic point are identified, and a UAV monitoring network is constructed according to the ecological source service supply area, the ecological corridor area and the ecological strategic point, so as to form a unified and independent UAV ecological system monitoring system, and the reasonable layout of the UAV network is realized, the monitoring demand for high frequency and real-time dynamic is met, and the precise matching of the UAV monitoring area coverage and the monitoring demand is realized.

[0020] For better understanding and implementation, the present application is described in detail below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 A flowchart of the method for monitoring network layout of a UAV based on geographic spatial information provided by an embodiment of the present application is shown;

[0022] Figure 2 A schematic diagram of S2 in the flow of the method for monitoring network layout of a UAV based on geographic spatial information provided by an embodiment of the present application is shown;

[0023] Figure 3 A schematic diagram of S3 in the flow of the method for monitoring network layout of a UAV based on geographic spatial information provided by an embodiment of the present application is shown;

[0024] Figure 4 A schematic diagram of S4 in the flow of the method for monitoring network layout of a UAV based on geographic spatial information provided by an embodiment of the present application is shown;

[0025] Figure 5 A schematic diagram of S5 in the flow of the method for monitoring network layout of a UAV based on geographic spatial information provided by an embodiment of the present application is shown;

[0026] Figure 6A schematic diagram of S5 in a flow of a method for unmanned aerial vehicle monitoring network layout based on geographic spatial information provided by an embodiment of the present application;

[0027] Figure 7 A schematic diagram of S57 in a flow of a method for unmanned aerial vehicle monitoring network layout based on geographic spatial information provided by an embodiment of the present application;

[0028] Figure 8 A structural schematic diagram of an apparatus for unmanned aerial vehicle monitoring network layout based on geographic spatial information provided by an embodiment of the present application;

[0029] Figure 9 A structural schematic diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0030] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, the same or similar components are designated by the same or similar reference numerals, and the description thereof will not be repeated. The following exemplary embodiments described in the following description are not presented to cause ambiguity with respect to the scope of the present application. Instead, they are presented merely to most effectively convey the method and apparatus of some aspects of the present application, as detailed in the claims.

[0031] The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0032] It is to be understood that the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0033] Reference will now be made to Figure 1 , Figure 1 A flow schematic diagram of a method for unmanned aerial vehicle monitoring network layout based on geographic spatial information provided by an embodiment of the present application, the method comprising the following steps:

[0034] S1: obtaining a region to be laid out and geographic spatial information data and ecosystem service supply data of the region to be laid out.

[0035] The execution subject of the geographic space information based unmanned aerial vehicle monitoring network layout method is a layout device (hereinafter referred to as a layout device) of the geographic space information based unmanned aerial vehicle monitoring network layout method. In an optional embodiment, the layout device can be a computer device, can be a server, or a server cluster formed by a plurality of computer devices.

[0036] In the embodiment, the layout device can obtain geographic space information data and ecosystem service supply data of a region to be laid out in a preset database, wherein the geographic space information data includes land use data, digital elevation model data, and normalized vegetation index data.

[0037] The land use data is data reflecting the state, characteristics, dynamic changes, distribution characteristics of the land use system and land use elements, and human development and utilization, management and transformation, management and protection, and land use planning of the land.

[0038] The digital elevation model data (Digital Elevation Model) can reflect the local topographic features of a certain resolution, and is an important raw data for studying and analyzing topography, watershed, and ground object identification.

[0039] The normalized vegetation index data (Normalized Difference Vegetation Index) is an index used for remote sensing image analysis, which aims to evaluate and quantify the vegetation coverage of the ground surface. It is calculated based on the difference between the reflectivity of the near-infrared band (NIR) and the red band (Red).

[0040] The ecosystem service supply data reflects the supply degree of the service function of various materials and non-materials of the ecosystem to social and economic development and ecological environment maintenance, wherein the ecosystem service supply data includes ecosystem service supply data of a plurality of ecosystem types.

[0041] Specifically, the ecosystem service supply data of the plurality of ecosystem types includes habitat quality service supply data, carbon fixation service supply data, and soil conservation service supply data. The habitat quality service supply data reflects the sustainability, flexibility, and self-recovery ability of biodiversity, and reflects the supply capacity under the habitat quality service. The carbon fixation service supply data reflects the supply capacity of the ecosystem to directly fix carbon dioxide in the atmosphere through natural vegetation photosynthesis. The soil conservation service supply data reflects the supply capacity of the erosion control ability of the ecosystem to prevent soil loss and the supply capacity of the soil conservation ability to store sediment.

[0042] S2: Adopting a morphological spatial pattern analysis method, identifying an ecological source region of the to-be-layout region according to the land use data, and obtaining an ecological source region.

[0043] The morphological spatial pattern analysis (MSPA) is based on the mathematical morphological principle to analyze the spatial pattern of a grid image, and can accurately distinguish the types and structures of an ecological system and identify important patches that play an important role in improving ecological security connectivity.

[0044] In this embodiment, the layout device adopts a morphological spatial pattern analysis method, identifies an ecological source region of the to-be-layout region according to the land use data, and obtains an ecological source region.

[0045] Please refer to Figure 2 , Figure 2 The schematic diagram of S2 in the flow of the unmanned aerial vehicle monitoring network layout method based on geographic spatial information provided by an embodiment of the present application includes steps S21-S22, and the details are as follows:

[0046] S21: Taking farmland, unused land and construction land data in the land use data as background data, and taking forest, beach and wetland data in the land use data as foreground data, a plurality of candidate patch regions of the to-be-layout region are identified, and area data of the plurality of candidate patch regions is obtained.

[0047] In this embodiment, the layout device takes the farmland, unused land and construction land data in the land use data as background data, and takes the forest, beach and wetland data in the land use data as foreground data based on the Guidos software, and adopts an eight-domain analysis method to identify a plurality of non-overlapping initial patch regions of types in the to-be-layout region, wherein the initial patch regions include core areas, bridge areas, pores, ring lines, branch lines, edge areas and island patch regions.

[0048] The layout device takes the core area patch region as a candidate patch region to represent a potential ecological source, and obtains area data of a plurality of candidate patch regions.

[0049] S22: Determining a minimum area threshold, extracting a plurality of target patch regions from the plurality of candidate patch regions according to the area data of the plurality of candidate patch regions and the minimum area threshold, and constructing the ecological source region.

[0050] Due to the limited supply capacity of the core area patch area with small area, in the embodiment, the layout device obtains a minimum ratio corresponding to a plurality of candidate area thresholds according to the area data of a plurality of candidate patch areas, a plurality of preset candidate area thresholds and an area threshold minimum ratio calculation algorithm, takes the candidate area threshold with the minimum minimum ratio as the minimum area threshold, and determines the minimum area threshold. The area threshold minimum ratio calculation algorithm is:

[0051]

[0052] In the formula, is the area threshold minimum ratio, i is the candidate area threshold, i =0, 0.5, 1.0, 1.5, …; is the area data of the candidate patch area satisfying the candidate area threshold i is the area data of the candidate patch area satisfying the candidate area threshold i+0.5.

[0053] The layout device extracts a plurality of target patch areas from a plurality of candidate patch areas according to the area data of a plurality of candidate patch areas and the minimum area threshold, takes the candidate patch area as a target patch area if the area data of the candidate patch area is greater than the minimum area threshold, and constructs the ecological source area.

[0054] S3: According to the ecological system service supply data, the ecological system service supply area identification is performed on the to-be-laid-out area to obtain an ecological system service supply area; and the ecological source area and the ecological system service supply area are superimposed to construct an ecological source service supply area.

[0055] In the embodiment, the layout device performs ecological system service supply area identification on the to-be-laid-out area according to the ecological system service supply data to obtain an ecological system service supply area.

[0056] The layout device superimposes the ecological source area and the ecological system service supply area to construct an ecological source service supply area, wherein the ecological source service supply area includes a plurality of levels of ecological source service supply sub-areas, the plurality of levels of ecological source service supply sub-areas include a first-level ecological source service supply sub-area, a second-level ecological source service supply sub-area and a third-level ecological source service supply sub-area, the first-level ecological source service supply sub-area represents an ecological system service function high supply area, the second-level ecological source service supply sub-area represents an ecological system service function medium supply area, and the third-level ecological source service supply sub-area represents an ecological system service function light supply area.

[0057] Please refer toFigure 3 , Figure 3 FIG. 3 is a schematic diagram of S3 in the flow of the method for laying out a UAV monitoring network based on geographic spatial information according to an embodiment of the present application, including steps S31-S33, and specifically as follows:

[0058] S31: performing grid unit division on the region to be laid out to obtain a plurality of grid units of the region to be laid out; and performing ecosystem service comprehensive index calculation according to ecosystem service supply data of a plurality of types and corresponding weight parameters of a plurality of grid units by using an ecosystem service comprehensive index layer mutual superposition method to obtain ecosystem service comprehensive indexes of the plurality of grid units.

[0059] In this embodiment, the layout device performs grid unit division on the region to be laid out to obtain a plurality of grid units of the region to be laid out.

[0060] The layout device performs ecosystem service comprehensive index calculation according to ecosystem service supply data of a plurality of types and corresponding weight parameters of a plurality of grid units by using an ecosystem service comprehensive index layer mutual superposition method to obtain ecosystem service comprehensive indexes of the plurality of grid units.

[0061] S32: performing grade division on a plurality of grid units by using a natural breakpoint method according to ecosystem service comprehensive indexes of the plurality of grid units to obtain ecosystem service supply grade data of the plurality of grid units.

[0062] In this embodiment, the layout device performs grade division on a plurality of grid units by using a natural breakpoint method according to ecosystem service comprehensive indexes of the plurality of grid units to obtain ecosystem service supply grade data of the plurality of grid units, wherein the ecosystem service supply grade data includes a high supply grade, a moderate supply grade, and a light supply grade.

[0063] S33: taking a plurality of grid units with the high supply grade, the moderate supply grade, and the light supply grade of the ecosystem service supply grade data as target grid units, combining a plurality of target grid units with the same ecosystem service supply grade data, constructing a plurality of grade ecosystem service supply sub-regions, and obtaining the ecosystem service supply region.

[0064] In the embodiment, the layout device takes a plurality of grid cells of high, medium and low ecosystem service supply level data as target grid cells, combines a plurality of target grid cells of the same ecosystem service supply level data, constructs a plurality of level ecosystem service supply sub-regions, and obtains the ecosystem service supply region.

[0065] S4: constructing an ecological resistance surface of the ecological source service supply region according to the land use data, the digital elevation model data and the normalized vegetation index data.

[0066] In the embodiment, the layout device constructs an ecological resistance surface of the ecological source service supply region according to the land use data, the digital elevation model data and the normalized vegetation index data.

[0067] Referring to Figure 4 , Figure 4 The flowchart of the method for laying out a UAV monitoring network based on geographic spatial information provided by an embodiment of the application includes S4, which is illustrated in FIG. 4, and includes steps S41-S43, and specifically as follows.

[0068] S41: obtaining a plurality of types of ecological resistance factors and corresponding resistance values of a plurality of grid cells of the ecological source service supply region according to the land use data, the digital elevation model data and the normalized vegetation index data.

[0069] In the embodiment, the layout device constructs a plurality of types of ecological resistance factors of a plurality of grid cells of the ecological source service supply region from the aspects of ecological attributes and human disturbance, as core resistance factors affecting ecological safety, wherein the ecological resistance factors include ecological attribute resistance factors and human disturbance resistance factors; the ecological attribute resistance factors include elevation resistance factors, slope resistance factors and normalized vegetation index resistance factors; and the human disturbance resistance factors include land use factors, distance from water system resistance factors and distance from road resistance factors.

[0070] In order to eliminate the interference of multiple collinearity between factors, the layout device obtains resistance values corresponding to a plurality of different types of ecological resistance factors of a plurality of grid cells according to the corresponding relationship between a plurality of types of ecological resistance factors of the plurality of grid cells and corresponding resistance values in a preset ecological resistance factor corresponding table.

[0071] Specifically, the layout device converts each ecological resistance factor into raster data by using an ArcGIS platform through a conversion tool, divides the resistance factors into five levels of extremely low, low, medium, high and extremely high respectively by using a natural breakpoint method, and assigns different resistance coefficients to obtain the levels corresponding to the ecological resistance factors of the corresponding types, traverses the ecological resistance factor corresponding table according to the levels corresponding to the ecological resistance factors of the corresponding types, and obtains the resistance values corresponding to the levels of the ecological resistance factors of the types.

[0072] S42: According to the land use data, the digital elevation model data and the normalized vegetation index data, the layout device obtains the weight parameters corresponding to the ecological resistance factors of different types of a plurality of grid units in the ecological source service supply area by using a principal component analysis method.

[0073] In this embodiment, the layout device uses a spatial principal component analysis tool in the ArcGIS software to calculate the eigenvalues, contribution rates and load matrices of each principal component according to the land use data, the digital elevation model data and the normalized vegetation index data by using a principal component analysis method, and obtains the ecological resistance factors of different types of a plurality of grid units in the ecological source service supply area and the corresponding weight parameters.

[0074] S43: According to the resistance values and the corresponding weight parameters of the ecological resistance factors of different types, the layout device obtains the ecological resistance data of a plurality of grid units, and constructs an ecological resistance surface of the ecological source service supply area.

[0075] In this embodiment, the layout device obtains the ecological resistance data of a plurality of grid units by weighting and superimposing a plurality of ecological resistance factors of different types of a plurality of grid units and the corresponding weight parameters, and constructs an ecological resistance surface of the ecological source service supply area, wherein the ecological resistance data is:

[0076]

[0077] In the formula, CF is the ecological resistance data, n is the number of ecological resistance factors, is the resistance value corresponding to the kth type of ecological resistance factor, is the weight parameter of the kth type of ecological resistance factor.

[0078] The ecological resistance surface is constructed from two aspects of natural factors and human factors, the difficulties experienced by the species migration in the moving process are explored, the energy transmission resistance condition of the ecological source service supply area can be more comprehensively analyzed, as the basis for constructing the unmanned aerial vehicle monitoring network, and the efficiency of the ecosystem monitoring is improved.

[0079] S5: Construct an ecological corridor area and an ecological strategic point according to the ecological source service supply area and the ecological resistance surface of the ecological source service supply area; and construct an unmanned aerial vehicle monitoring network according to the ecological source service supply area, the ecological corridor area and the ecological strategic point.

[0080] In this embodiment, the layout device constructs an ecological corridor area and an ecological strategic point according to the ecological source service supply area and the ecological resistance surface of the ecological source service supply area, wherein the ecological corridor area is an optimal path for information transmission between ecological sources, and plays a key role in maintaining ecological safety. The ecological strategic point is a high-value area of cumulative current frequently crossing the ecological corridor area, and is a key node of energy flow and development and construction of the ecological corridor area, and has a key value for the overall circulation of the ecological corridor area.

[0081] The layout device constructs an unmanned aerial vehicle monitoring network according to the ecological source service supply area, the ecological corridor area and the ecological strategic point. The unmanned aerial vehicle monitoring network is reasonably laid out on the basis of the constructed ecological source service supply area, the ecological corridor area and the ecological strategic point. On the one hand, the unmanned aerial vehicle monitoring area coverage and the monitoring demand are accurately matched; on the other hand, the unmanned aerial vehicle base station is taken as a carrier and a component node of the unmanned aerial vehicle monitoring network, and has higher network stability, so that the problem of unstable communication caused by the traditional unmanned aerial vehicle ad hoc network due to the centerless and self-organizing characteristics is effectively solved.

[0082] Please refer to Figure 5 , Figure 5 The schematic diagram of S5 in the flow of the unmanned aerial vehicle monitoring network layout method based on geographic spatial information provided by an embodiment of the present application includes steps S51-S54, and specifically as follows:

[0083] S51: A minimum cost path method is used to obtain minimum cumulative resistance values between a plurality of ecological source service supply sub-areas according to ecological resistance data of a plurality of grid cells of the ecological source service supply sub-areas.

[0084] In this embodiment, the layout device uses a minimum cost path method to obtain minimum cumulative resistance values between a plurality of ecological source service supply sub-areas according to ecological resistance data of a plurality of grid cells of the ecological source service supply sub-areas.

[0085] Specifically, the deployment device uses the Linkage Pathway—Build Network and Map Linkages tool in the Linkage Mapper toolbox to obtain the minimum cumulative resistance value between several ecological source service supply sub-regions based on the ecological resistance data of several grid cells in several ecological source service supply sub-regions.

[0086] S52: Based on the minimum cumulative resistance value between several ecological source service supply sub-regions and the preset resistance threshold, obtain several combinations of ecological source service supply sub-regions, and construct ecological corridors corresponding to several ecological source service supply sub-regions based on the combinations of several ecological source service supply sub-regions.

[0087] In this embodiment, the layout device obtains a combination of several ecological source service supply sub-regions based on the minimum cumulative resistance value between several ecological source service supply sub-regions and a preset resistance threshold. If the minimum cumulative resistance value is less than or equal to the resistance threshold, the layout device constructs ecological corridors corresponding to several ecological source service supply sub-regions based on the combination of several ecological source service supply sub-regions.

[0088] S53: Construct an interaction force matrix for ecological source service supply regions. Based on the interaction force values ​​between several ecological source service supply sub-regions in the interaction force matrix, classify the ecological corridors corresponding to the combinations of several ecological source service supply sub-regions into levels, obtain several levels of ecological corridors, and construct the ecological corridor regions.

[0089] In this embodiment, the deployment device constructs an interaction force matrix for ecological source service supply areas. This matrix includes interaction force values ​​between several ecological source service supply sub-regions, and the interaction force values ​​are as follows:

[0090]

[0091] In the formula, For the first i The ecological source service supply sub-region and the first j The interaction force value between the ecological source service supply sub-regions , The first i The ecological source service supply sub-region and the first j The resistance value of the supply of ecological source services in a sub-region , The first i The ecological source service supply sub-region and the first j The area of ​​each ecological source service supply sub-region a minimum cumulative resistance value of the ecological corridor corresponding to the first ecological source service supply sub-region and the second ecological source service supply sub-region, i a maximum cumulative resistance value of all ecological corridors. j The layout device divides the ecological corridors corresponding to the combinations of the plurality of ecological source service supply sub-regions into levels using a natural breakpoint method according to the interaction force values between the plurality of ecological source service supply sub-regions in the ecological source service supply region interaction force matrix, obtains a plurality of levels of ecological corridors, and constructs the ecological corridor region, wherein the levels of the ecological corridors include a first level, a second level, and a third level, the first level of ecological corridors represents an energy high-flow region, the second level of ecological corridors represents an energy moderate-flow region, and the third level of ecological corridors represents an energy light-flow region.

[0092] S54: Using a circuit simulation method, ecological strategic points of the plurality of levels of ecological corridors are identified according to the ecological resistance data of the plurality of grid cells of the plurality of levels of ecological corridors in the ecological corridor region, and ecological strategic points in the ecological corridor region are obtained.

[0093] In this embodiment, the layout device uses a circuit simulation method to identify ecological strategic points of the plurality of levels of ecological corridors according to the ecological resistance data of the plurality of grid cells of the plurality of levels of ecological corridors in the ecological corridor region, and obtains ecological strategic points in the ecological corridor region.

[0094] In this embodiment, the layout device uses a circuit simulation method to identify ecological strategic points of the plurality of levels of ecological corridors according to the ecological resistance data of the plurality of grid cells of the plurality of levels of ecological corridors in the ecological corridor region, and obtains ecological strategic points in the ecological corridor region.

[0095] ​Specifically, the layout device calls Circuitscape through the Linkage Mapper tool to determine the ecosystem service strategic points in the model operation process, takes the ecological source service supply sub-regions in the combination of the ecological source service supply sub-regions corresponding to the ecological corridor region as circuit power sources and circuit terminals respectively, takes an arbitrary ecological source service supply sub-region as a circuit power source and another ecological source service supply sub-region as a circuit terminal if the ecological source service supply sub-regions in the ecological source service supply sub-regions have the same level, takes an ecological source service supply sub-region with a relatively high level as a circuit power source and an ecological source service supply sub-region with a relatively low level as a circuit terminal if the ecological source service supply sub-regions in the ecological source service supply sub-regions have different levels, takes the ecological resistance data of a plurality of grid units in the ecological corridor region as a conductive surface, analyzes the current intensity in the ecological corridor region by simulating the flow of current in the ecological corridor region, identifies the ecological strategic points in the ecological corridor region, and quantitatively evaluates the importance of the ecological corridor region and the ecological strategic points for maintaining the landscape connectivity of the entire region in terms of current value. In an optional embodiment, in order to improve the efficiency and accuracy of the layout of base station sites in the unmanned aerial vehicle monitoring network, the layout device only takes the ecological strategic points of the first-level ecological corridor and the second-level ecological corridor, and deletes the ecological strategic points of the third-level ecological corridor.

[0096] The transmission resistance is comprehensively considered to accurately evaluate the ecological resistance surface of the region, and then the ecological corridor region and the ecological strategic points in the ecological corridor region are constructed, which reflects the continuous influence of natural and human factors on ecological safety, and provides scientific decision support for urban development and ecological system management.

[0097] Please refer to Figure 6 , Figure 6 The schematic diagram of S5 in the flow of the unmanned aerial vehicle monitoring network layout method based on geographic spatial information provided by an embodiment of the present application includes steps S55-S57, and specifically as follows:

[0098] S55: Take a plurality of levels of ecological corridors in the ecological corridor region and a plurality of levels of ecological source sub-regions in the ecological source region as monitoring demand regions, obtain the center points of the plurality of monitoring demand regions, take the center points and the ecological strategic points as base station sites, take the ecological corridor region as a communication link, and construct an initial unmanned aerial vehicle monitoring network according to the base station sites and the communication link.

[0099] The ecological source service supply area is an important patch for guaranteeing ecological security of the research area and providing necessary ecological functions. In the embodiment, the layout device takes the ecological corridors of several levels in the ecological corridor area and the ecological source sub-areas of several levels in the ecological source area as monitoring demand areas, and obtains the center points of the several monitoring demand areas.

[0100] The layout device takes the center points and the ecological strategic points as base station sites. Specifically, the layout device takes the center points of the first-level ecological source service supply sub-areas and the first-level ecological corridors as first-level base station sites, the center points of the second-level ecological source service supply sub-areas and the second-level ecological corridors as second-level base station sites, and the center points of the third-level ecological source service supply sub-areas and the third-level ecological corridors as third-level base station sites, so as to set corresponding monitoring tasks according to the distribution of the base station sites.

[0101] Considering that the base station sites may not comprehensively cover the area, the layout device takes the ecological strategic points as supplementary base station sites of the unmanned aerial vehicle monitoring network, so as to play the role of stepping stone and be conducive to the benign operation of the regional ecological network and the exchange of matter and energy and the migration of species in the region. Specifically, the layout device takes the strategic points of the first-level ecological corridors as first-level base station sites and the strategic points of the second-level ecological corridors as second-level base station sites.

[0102] The ecological corridor area is an important bridge and link connecting patches, greatly influences the connectivity between patches and the exchange of species, nutrients and energy between patches, and the layout device takes the ecological corridor area as a communication link. According to the several base station target sites and the communication link, the layout device integrates the unmanned aerial vehicle base stations set by the multiple base station target sites into a complete network structure through wireless communication links, constructs the initial unmanned aerial vehicle monitoring network, and improves the monitoring efficiency of the unmanned aerial vehicle monitoring.

[0103] S56: Constructing a topology structure of the initial unmanned aerial vehicle monitoring network; performing topology feature analysis and invulnerability feature analysis according to the topology structure of the initial unmanned aerial vehicle monitoring network, and obtaining topology feature data and invulnerability feature data.

[0104] In the embodiment, the layout device abstracts the initial unmanned aerial vehicle monitoring network into a directionless network by using Gephi software, takes the base station sites of the initial unmanned aerial vehicle monitoring network as nodes and the communication links as edges, and constructs the topology structure of the initial unmanned aerial vehicle monitoring network.

[0105] Topology is a key factor affecting the connectivity and stability of the UAV monitoring network. Based on the node characteristics and link characteristics of the UAV topology structure, the layout device performs topology feature analysis and invulnerability feature analysis according to the topology structure of the initial UAV monitoring network, and obtains topology feature data and invulnerability feature data. The topology feature data reflects the importance of the nodes in the monitoring network, and the invulnerability feature data refers to the degree of the ability of the UAV monitoring network to maintain reconstruction or recovery when it is subjected to external interference or internal structure changes.

[0106] Specifically, the topology feature data includes a degree indicator, a closeness centrality indicator, and a betweenness centrality indicator. The degree indicator refers to the number of edges connected to the node. The larger the node degree, the higher the importance of the base station site corresponding to the node in the UAV monitoring network. The closeness centrality indicator refers to the number of nodes directly connected to the node. The larger the degree, the more base station sites are connected to it, and the higher the importance of the node. The betweenness centrality indicator reflects the control degree of the node over other nodes. The higher the centrality, the stronger the control ability over other nodes.

[0107] The UAV monitoring network usually faces two crises: random attacks and deliberate attacks. Random attacks refer to nodes (edges) in the network being randomly destroyed with a certain probability, such as extreme weather events. Deliberate attacks refer to nodes (edges) in the network being activated in order from high to low according to some importance, such as human attacks. In this embodiment, the layout device calculates the connectivity robustness indicators of the UAV monitoring network under the two attack scenarios as the invulnerability feature data to evaluate the invulnerability features of the network.

[0108] S57: Obtain area data of a plurality of monitoring demand areas; according to the area data of a plurality of monitoring demand areas, topology feature data, invulnerability feature data, and a preset UAV base station site selection model, reduce the base station sites in the initial UAV monitoring network to obtain the UAV monitoring network.

[0109] In this embodiment, the layout device obtains area data of a plurality of monitoring demand areas; the layout device reduces the base station sites in the initial UAV monitoring network according to the area data of a plurality of monitoring demand areas, topology feature data, invulnerability feature data, and a preset UAV base station site selection model, to obtain the UAV monitoring network.

[0110] Please refer to Figure 7 , Figure 7 The flowchart of the UAV monitoring network layout method based on geographic spatial information provided by an embodiment of the present application is provided in S57 of the flowchart, which includes steps S571-S572, as follows:

[0111] S571: Construct an objective function based on the objective function of maximizing the coverage of the monitoring demand area and the objective function of maximizing network stability in the UAV base station site selection model.

[0112] The objective function for maximizing the coverage of the monitoring demand area is:

[0113]

[0114] In the formula, To monitor the maximum coverage of the required area, These refer to the number of Level 1, Level 2, and Level 3 base station sites, respectively. These are the weight parameters for Level 1, Level 2, and Level 3 base station sites, respectively. For the first i The first base station site for the first j Coverage area data for each monitoring requirement area, For the first i The decision variable for each base station site indicates whether that base station site is selected. For the first j Area data for each monitoring requirement area.

[0115] The objective function for maximizing network stability is:

[0116]

[0117] In the formula, To monitor the maximum coverage of the required area, The first i The degree index, tight centrality index, and between centrality index of each base station site. These are the weight parameters corresponding to the degree index, the tight centrality index, and the betweenness centrality index, respectively.

[0118] In this embodiment, the deployment device constructs an objective function based on the objective function of maximizing the coverage of the monitoring demand area and the objective function of maximizing network stability in the UAV base station site selection model, wherein the objective function is:

[0119]

[0120] In the formula, F The objective function is denoted as .

[0121] S572: According to the area data of a plurality of monitoring demand areas, the topological feature data, the invulnerability feature data, the monitoring demand area coverage rate constraint condition in the unmanned aerial vehicle base station site selection model, the communication link constraint condition, the base station service radius constraint condition, and the attack scenario constraint condition, the target function is solved, a plurality of target sites are determined from a plurality of base station sites, the initial unmanned aerial vehicle monitoring network is reduced except for the target sites, and the unmanned aerial vehicle monitoring network is obtained.

[0122] The monitoring demand area coverage rate constraint condition is:

[0123]

[0124] In the formula, is the minimum monitoring coverage rate of the i th monitoring demand area, j is the number of monitoring demand areas, is the number of base station sites. S The communication link constraint condition is:

[0125]

[0126] In the formula,

[0127] is the communication link length between the i th base station site and the j th base station site, is the maximum length of the communication link. i k The base station service radius constraint condition is:

[0128]

[0129]

[0130] In the formula, is the monitoring service radius of the i th base station site, i is the maximum monitoring service radius. The attack scenario constraint condition is:

[0131]

[0132] In the formula,

[0133] is the number of nodes in the maximum connected subgraph of the unmanned aerial vehicle monitoring network, is the number of nodes of the initial unmanned aerial vehicle monitoring network, n is the number of attacked nodes, is the invulnerability threshold. C

[0134] ​​​​In the embodiment, the layout device determines a target function according to area data of a plurality of monitoring demand areas, topological feature data, invulnerability feature data, and monitoring demand area coverage rate constraint conditions, communication link constraint conditions, base station service radius constraint conditions, and attack scenario constraint conditions in the unmanned aerial vehicle base station site selection model, determines a plurality of target sites from the plurality of base station sites, prunes other base station sites in the initial unmanned aerial vehicle monitoring network except the target sites, and obtains the unmanned aerial vehicle monitoring network.

[0135] Reference is made to Figure 8 , Figure 8 An embodiment of the application provides a structure schematic diagram of an unmanned aerial vehicle monitoring network layout device based on geographic spatial information. The device can realize all or part of the unmanned aerial vehicle monitoring network layout device based on geographic spatial information through software, hardware or a combination of both. The device 8 comprises:

[0136] A data obtaining module 81 is configured to obtain a region to be laid out and geographic spatial information data and ecosystem service supply data of the region to be laid out, wherein the geographic spatial information data comprises land use data, digital elevation model data and normalized vegetation index data.

[0137] A region identifying module 82 is configured to identify an ecological source region of the region to be laid out according to the land use data by adopting a morphological spatial pattern analysis method, and obtain the ecological source region.

[0138] A region constructing module 83 is configured to identify an ecosystem service supply region of the region to be laid out according to the ecosystem service supply data, and obtain the ecosystem service supply region; and superimpose the ecological source region and the ecosystem service supply region to construct an ecological source service supply region.

[0139] An ecological resistance surface constructing module 84 is configured to construct an ecological resistance surface of the ecological source service supply region according to the land use data, the digital elevation model data and the normalized vegetation index data.

[0140] An unmanned aerial vehicle monitoring network layout module 85 is configured to construct an ecological corridor region and an ecological strategic point according to the ecological source service supply region and the ecological resistance surface of the ecological source service supply region; and construct an unmanned aerial vehicle monitoring network according to the ecological source service supply region, the ecological corridor region and the ecological strategic point.

[0141] In the embodiment of the present application, the data obtaining module obtains the to-be-laid-out region and geographical space information data and ecosystem service supply data of the to-be-laid-out region, wherein the geographical space information data comprises land use data, digital elevation model data and normalized vegetation index data; the region identifying module identifies the ecological source region of the to-be-laid-out region according to the land use data by using a morphological spatial pattern analysis method, and obtains the ecological source region; the region constructing module identifies the ecosystem service supply region of the to-be-laid-out region according to the ecosystem service supply data, and obtains the ecosystem service supply region; the ecological source region and the ecosystem service supply region are superimposed to construct the ecological source service supply region; the ecological resistance surface constructing module constructs the ecological resistance surface of the ecological source service supply region according to the land use data, the digital elevation model data and the normalized vegetation index data; the unmanned aerial vehicle monitoring network laying module constructs the ecological corridor region and the ecological strategic point according to the ecological source service supply region and the ecological resistance surface of the ecological source service supply region; the initial unmanned aerial vehicle monitoring network is constructed according to the ecological source service supply region, the ecological corridor region and the ecological strategic point; the unmanned aerial vehicle monitoring network adjusting module constructs an unmanned aerial vehicle monitoring network optimization model, adjusts the initial unmanned aerial vehicle monitoring network according to the unmanned aerial vehicle monitoring network optimization model, and obtains the target unmanned aerial vehicle monitoring network. By constructing the ecological source service supply region and the ecological resistance surface of the ecological source service supply region, identifying the ecological corridor region and the ecological strategic point, and constructing the unmanned aerial vehicle monitoring network according to the ecological source service supply region, the ecological corridor region and the ecological strategic point, a unified and independent unmanned aerial vehicle ecosystem monitoring system is formed, the reasonable layout of the unmanned aerial vehicle network is realized, the high-frequency and real-time dynamic monitoring demand is met, and the precise matching of the unmanned aerial vehicle monitoring area coverage and the monitoring demand is realized.

[0142] Please refer to Figure 9 , Figure 9 The structural schematic diagram of the computer device provided in an embodiment of the present application comprises a processor 91, a memory 92, and a computer program 93 stored in the memory 92 and capable of running on the processor 91; the computer device can store a plurality of instructions, the instructions being suitable for being loaded by the processor 91 and executing the method steps of the embodiments shown in Figures 1 to 7 . The specific execution process can be referred to the specific description of the embodiments shown in Figures 1 to 7 . Details are not described herein.

[0143] The processor 91 can include one or more processing cores. The processor 91 connects various parts within the server by running or executing instructions, programs, code sets or instruction sets stored in the memory 92, and calling data in the memory 92, to perform various functions and process data of the unmanned aerial vehicle monitoring network layout device 8 based on geographic information. Optionally, the processor 91 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programable logic array (PLA). The processor 91 can be integrated with one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes operating systems, user interfaces, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the touch display screen; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 91, but can be realized by a separate chip.

[0144] The memory 92 can include a random access memory (RAM) and a read-only memory (ROM). Optionally, the memory 92 includes a non-transitory computer-readable storage medium. The memory 92 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 92 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as touch instructions, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store data involved in the above-mentioned various method embodiments, etc. The memory 92 can also be at least one storage device located away from the aforementioned processor 91.

[0145] The embodiments of the present application also provide a storage medium, which can store a plurality of instructions. The instructions are suitable for being loaded and executed by a processor to perform the specific steps and specific execution processes of the embodiments of the present application. Figures 1 to 7 The specific steps and specific execution processes of the embodiments shown in the above-mentioned embodiments can be referred to the specific description of the embodiments shown in the above-mentioned embodiments, and will not be repeated here. Figures 1 to 7 The specific steps and specific execution processes of the embodiments shown in the above-mentioned embodiments can be referred to the specific description of the embodiments shown in the above-mentioned embodiments, and will not be repeated here.

[0146] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be realized in the form of hardware or software. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0147] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0148] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the algorithm. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0149] In the embodiments provided by the present application, it should be understood that the disclosed apparatus / terminal device and method can be implemented by other ways. For example, the above-mentioned apparatus / terminal device embodiments are only schematic, and the division of the modules or units is only a logical function division, and there can be another division way in actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0150] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment scheme according to actual needs.

[0151] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0152] The integrated module / unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application realizes all or part of the processes in the above-mentioned embodiment methods, and can also be completed by a computer program instructing related hardware. The computer program can be stored in a computer readable storage medium, and the computer program can realize the steps of each method embodiment when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, an executable file or some intermediate form.

[0153] The present application is not limited to the above-described embodiments, and various modifications or changes can be made to the present application without departing from the spirit and scope of the present application. The present application is intended to include such modifications and changes if they fall within the scope of the claims and their equivalents.

Claims

1. A method for monitoring network layout of unmanned aerial vehicles based on geospatial information, characterized in that, The method comprises the following steps: obtaining a region to be laid out and geographical spatial information data and ecosystem service supply data of the region to be laid out, wherein the geographical spatial information data comprises land use data, digital elevation model data and normalized vegetation index data; performing ecological source region identification on the region to be laid out according to the land use data by using a morphological spatial pattern analysis method to obtain an ecological source region; performing ecosystem service supply region identification on the region to be laid out according to the ecosystem service supply data to obtain an ecosystem service supply region; and superimposing the ecological source region and the ecosystem service supply region to construct an ecological source service supply region; constructing an ecological resistance surface of the ecological source service supply region according to the land use data, the digital elevation model data and the normalized vegetation index data; obtaining minimum cumulative resistance values between a plurality of ecological source service supply sub-regions by using a minimum cost path method according to ecological resistance data of a plurality of grid cells in the plurality of ecological source service supply sub-regions in the ecological source service supply region; obtaining a plurality of ecological source service supply sub-region combinations according to the minimum cumulative resistance values between the plurality of ecological source service supply sub-regions and a preset resistance threshold, and constructing ecological corridors corresponding to the plurality of ecological source service supply sub-region combinations according to the plurality of ecological source service supply sub-region combinations; constructing an ecological source service supply region interaction force matrix, wherein the ecological source service supply region interaction force matrix comprises interaction force values between the plurality of ecological source service supply sub-regions, and the interaction force values are as follows: In the formula, For the first i The ecological source service supply sub-region and the first j The interaction force value between the ecological source service supply sub-regions , The first i The ecological source service supply sub-region and the first j The resistance value of the supply of ecological source services in a sub-region , The first i The ecological source service supply sub-region and the first j The area of ​​each ecological source service supply sub-region For the first i The ecological source service supply sub-region and the first j The minimum cumulative resistance value of the ecological corridor corresponding to the ecological source service supply sub-region. This represents the maximum cumulative resistance value for all ecological corridors. performing hierarchical division on the ecological corridors corresponding to the plurality of ecological source service supply sub-region combinations by using a natural breakpoint method according to the interaction force values between the plurality of ecological source service supply sub-regions in the ecological source service supply region interaction force matrix to obtain a plurality of hierarchical ecological corridors, and constructing an ecological corridor region, wherein the ecological corridor region comprises the plurality of hierarchical ecological corridors; the hierarchy of the ecological corridors comprises a first level, a second level and a third level, the first level ecological corridor represents an energy high-flow region, the second level ecological corridor represents an energy moderate-flow region, and the third level ecological corridor represents an energy light-flow region; According to the ecological resistance data of the grid units of the ecological corridors of several levels in the ecological corridor region, the ecological source service supply sub-regions in the ecological corridor region corresponding ecological source service supply sub-region group are respectively taken as circuit power supply and circuit terminal. If the levels of the ecological source service supply sub-regions are the same, any one of the ecological source service supply sub-regions is taken as the circuit power supply, and the other ecological source service supply sub-region is taken as the circuit terminal. If the levels of the ecological source service supply sub-regions are different, the ecological source service supply sub-region with a relatively high level is taken as the circuit power supply, and the ecological source service supply sub-region with a relatively low level is taken as the circuit terminal. The ecological resistance data of the grid units in the ecological corridor region are taken as the conductive surface. By simulating the flow of current in the ecological corridor region, the current intensity in the ecological corridor region is analyzed, the ecological strategic points of the ecological corridors of several levels are identified, and the ecological strategic points in the ecological corridor region are obtained. According to the ecological source service supply region, the ecological corridor region and the ecological strategic point, the ecological corridors of several levels in the ecological corridor region and the ecological source sub-regions of several levels in the ecological source region are taken as the monitoring demand regions, and the center points of the several monitoring demand regions are obtained. The center points and the ecological strategic points are taken as base station sites. The ecological corridor region is taken as a communication link. According to the base station sites and the communication link, an initial unmanned aerial vehicle monitoring network is constructed. The topology structure of the initial unmanned aerial vehicle monitoring network is constructed. Topological feature analysis and invulnerability feature analysis are performed according to the topology structure of the initial unmanned aerial vehicle monitoring network, and topological feature data and invulnerability feature data are obtained. The topological feature data reflects the importance of the nodes in the monitoring network, and the invulnerability feature data refers to the degree of the ability of the unmanned aerial vehicle monitoring network to maintain reconstruction or recovery when it is subjected to external interference or internal structure changes. Area data of the several monitoring demand regions are obtained. According to the area data of the several monitoring demand regions, the topological feature data, the invulnerability feature data and a preset unmanned aerial vehicle base station site selection model, a target function is constructed according to a monitoring demand region coverage rate maximization objective function and a network stability maximization objective function in the unmanned aerial vehicle base station site selection model. The monitoring demand region coverage rate maximization objective function is: wherein, is a maximum value of demand area coverage, are the number of primary, secondary and tertiary base station sites, respectively, are weight parameters for primary, secondary and tertiary base station sites, respectively, is the coverage area data of the i base station site for the j monitoring demand area, is the decision variable for the i base station site, indicating whether the base station site is selected, is the area data of the j monitoring demand area. The network stability maximization objective function is: In the formula, To monitor the demand area coverage maximization value, The degree index, the closeness centrality index and the betweenness centrality index of the first i Base station site respectively, The degree index, the closeness centrality index and the betweenness centrality index correspond to the weight parameters respectively; The target function is: In the formula, F is the objective function; According to the area data of a plurality of monitoring demand areas, the topological feature data, the invulnerability feature data, the monitoring demand area coverage rate constraint condition in the unmanned aerial vehicle base station site selection model, the communication link constraint condition, the base station service radius constraint condition, and the attack scenario constraint condition, the target function is solved, a plurality of target sites are determined from a plurality of base station sites, the base station sites other than the target sites in the initial unmanned aerial vehicle monitoring network are pruned, and an unmanned aerial vehicle monitoring network is obtained, wherein the monitoring demand area coverage rate constraint condition is: wherein is the minimum monitoring coverage for the j th monitoring demand area, is the number of monitoring demand areas, S is the number of base station sites; The communication link constraint condition is: wherein is the length of the communication link between the first i base station site and the second k base station site, is the maximum length of the communication link. The base station service radius constraint condition is: wherein is the monitoring service radius of the i th base site, is the maximum monitoring service radius; The attack scenario constraint condition is: wherein is the number of nodes in the largest connected subgraph of the UAV monitoring network, n is the number of nodes of the initial UAV monitoring network, is the number of attacked nodes, C is the invulnerability threshold.

2. The geospatial information based UAV monitoring network layout method of claim 1, wherein, The morphological spatial pattern analysis method is used to identify ecological source areas in the layout area according to the land use data, and an ecological source area is obtained, including the following steps: The farmland, unused land, and construction land data in the land use data are taken as background data, and the forest, beach, and wetland data in the land use data are taken as foreground data, a plurality of candidate patch areas in the layout area are identified, and area data of a plurality of candidate patch areas is obtained; A minimum area threshold is determined, a plurality of target patch areas are extracted from a plurality of candidate patch areas according to the area data of a plurality of candidate patch areas and the minimum area threshold, and the ecological source area is constructed.

3. The geospatial information based UAV monitoring network layout method of claim 2, wherein: The ecosystem service supply data includes ecosystem service supply data of a plurality of ecosystem types, and the ecosystem service supply data of a plurality of ecosystem types includes habitat quality service supply data, carbon fixation service supply data, and soil conservation service supply data; The ecosystem service supply area is identified in the layout area according to the ecosystem service supply data, including the following steps: The layout area is divided into a plurality of grid cells, the ecosystem service comprehensive index of a plurality of grid cells is calculated according to the ecosystem service supply data of a plurality of types and the corresponding weight parameters by using the mutual superposition method of the ecosystem service comprehensive index layer, and the ecosystem service comprehensive index of a plurality of grid cells is obtained; According to the ecosystem service comprehensive index of a plurality of grid cells, the natural breakpoint method is used to divide a plurality of grid cells into grades, and the ecosystem service supply grade data of a plurality of grid cells is obtained, wherein the ecosystem service supply grade data includes high supply grade, medium supply grade, and light supply grade; The plurality of grid cells with high supply grade, medium supply grade, and light supply grade in the ecosystem service supply grade data are taken as target grid cells, a plurality of target grid cells with the same ecosystem service supply grade data are combined, a plurality of ecosystem service supply sub-areas of different grades are constructed, and the ecosystem service supply area is obtained.

4. The geospatial information based UAV monitoring network layout method of claim 3, wherein, The method comprises the following steps: According to the land use data, digital elevation model data and normalized vegetation index data, the ecological resistance factors of several types and corresponding resistance values of several grid cells in the ecological service supply area are obtained; According to the land use data, digital elevation model data and normalized vegetation index data, the weight parameters corresponding to the ecological resistance factors of several types in the ecological service supply area are obtained by using the principal component analysis method; According to the resistance values and corresponding weight parameters of the ecological resistance factors of several types, the ecological resistance data of several grid cells are obtained, and the ecological resistance surface of the ecological service supply area is constructed.

5. A geospatial information based unmanned aerial vehicle monitoring network layout apparatus, characterized in that, Comprise: The data obtaining module is used for obtaining the to-be-laid-out area and the geographic spatial information data and the ecological system service supply data of the to-be-laid-out area, wherein the geographic spatial information data comprises land use data, digital elevation model data and normalized vegetation index data; The region identification module is used for identifying the ecological source region of the to-be-laid-out area according to the land use data by using the morphological spatial pattern analysis method, and obtaining the ecological source region; The region construction module is used for identifying the ecological system service supply region of the to-be-laid-out area according to the ecological system service supply data, obtaining the ecological system service supply region, and superimposing the ecological source region and the ecological system service supply region to construct the ecological source service supply region; The ecological resistance surface construction module is used for constructing the ecological resistance surface of the ecological source service supply region according to the land use data, digital elevation model data and normalized vegetation index data; The unmanned aerial vehicle monitoring network layout module is used for obtaining the minimum cumulative resistance values between several ecological source service supply sub-regions according to the ecological resistance data of several grid cells in the ecological source service supply sub-regions in the ecological source service supply region by using the minimum cost path method; According to the minimum cumulative resistance values between several ecological source service supply sub-regions and the preset resistance threshold, several ecological source service supply sub-region combinations are obtained, and the ecological corridors corresponding to several ecological source service supply sub-regions are constructed according to several ecological source service supply sub-region combinations; The ecological source service supply region interaction force matrix is constructed, wherein the ecological source service supply region interaction force matrix comprises the interaction force values between several ecological source service supply sub-regions, and the interaction force values are: In the formula, For the first i The ecological source service supply sub-region and the first j The interaction force value between the ecological source service supply sub-regions , The first i The ecological source service supply sub-region and the first j The resistance value of the supply of ecological source services in a sub-region , The first i The ecological source service supply sub-region and the first j The area of ​​each ecological source service supply sub-region For the first i The ecological source service supply sub-region and the first j The minimum cumulative resistance value of the ecological corridor corresponding to the ecological source service supply sub-region. This represents the maximum cumulative resistance value for all ecological corridors. According to the interaction force values between the several ecological source service supply sub-regions in the ecological source service supply region interaction force matrix, the natural breakpoint method is used to grade the ecological corridors corresponding to the several ecological source service supply sub-region combinations, to obtain several levels of ecological corridors, and to construct an ecological corridor region, wherein the ecological corridor region includes several levels of ecological corridors; the levels of the ecological corridors include first, second and third levels, the first level ecological corridor represents an energy high-flow region, the second level ecological corridor represents an energy moderate-flow region, and the third level ecological corridor represents an energy light-flow region; According to the ecological resistance data of the several grid units of the several levels of ecological corridors in the ecological corridor region, the ecological source service supply sub-regions in the ecological source service supply sub-region combination corresponding to the ecological corridor region are respectively taken as circuit power supply and circuit terminal by using the circuit simulation method, if the levels of the ecological source service supply sub-regions are the same, any one of the ecological source service supply sub-regions is taken as the circuit power supply, and the other ecological source service supply sub-region is taken as the circuit terminal, if the levels of the ecological source service supply sub-regions are different, the ecological source service supply sub-region with a relatively high level is taken as the circuit power supply, and the ecological source service supply sub-region with a relatively low level is taken as the circuit terminal; the ecological resistance data of the several grid units in the ecological corridor region are taken as the conductive surface, the current flow in the ecological corridor region is simulated, the current intensity in the ecological corridor region is analyzed, the ecological strategic points of the several levels of ecological corridors are identified, and the ecological strategic points in the ecological corridor region are obtained; According to the ecological source service supply region, the ecological corridor region and the ecological strategic points, the several levels of ecological corridors in the ecological corridor region and the several levels of ecological source sub-regions in the ecological source region are taken as monitoring demand regions, the center points of the several monitoring demand regions are obtained; the center points and the ecological strategic points are taken as base station sites; the ecological corridor region is taken as a communication link, and according to the base station sites and the communication link, an initial unmanned aerial vehicle monitoring network is constructed; The topology structure of the initial unmanned aerial vehicle monitoring network is constructed; the topology feature analysis and the invulnerability feature analysis are performed according to the topology structure of the initial unmanned aerial vehicle monitoring network, to obtain topology feature data and invulnerability feature data, wherein the topology feature data reflects the importance of the nodes in the monitoring network, and the invulnerability feature data refers to the degree of the ability of the unmanned aerial vehicle monitoring network to maintain reconstruction or recovery when it is subjected to external interference or internal structure changes; Obtain area data of a plurality of monitoring demand areas; according to the area data of a plurality of monitoring demand areas, topological feature data, invulnerability feature data, and a preset unmanned aerial vehicle base station site selection model, construct a target function according to a monitoring demand area coverage maximization objective function and a network stability maximization objective function in the unmanned aerial vehicle base station site selection model, wherein the monitoring demand area coverage maximization objective function is: wherein, is a maximum value of demand area coverage, is a number of primary base station sites, secondary base station sites and tertiary base station sites, respectively, is a weight parameter of primary base station sites, secondary base station sites and tertiary base station sites, respectively, is a coverage area data of the i th base station site to the j th monitoring demand area, is a decision variable of the i th base station site, indicating whether the base station site is selected, is an area data of the j th monitoring demand area; The network stability maximization objective function is: In the formula, To monitor the demand area coverage maximization value, The degree index, the closeness centrality index and the betweenness centrality index of the first i Base station site respectively, The degree index, the closeness centrality index and the betweenness centrality index correspond to the weight parameters respectively; The target function is: In the formula, F is the objective function; Solve the target function according to the area data of a plurality of monitoring demand areas, topological feature data, invulnerability feature data, and a monitoring demand area coverage constraint condition, a communication link constraint condition, a base station service radius constraint condition, and an attack scenario constraint condition in the unmanned aerial vehicle base station site selection model, determine a plurality of target sites from a plurality of base station sites, reduce other base station sites in the initial unmanned aerial vehicle monitoring network except the target sites, and obtain an unmanned aerial vehicle monitoring network, wherein the monitoring demand area coverage constraint condition is: wherein is the minimum monitoring coverage ratio for the j monitoring demand area, is the number of monitoring demand areas, S is the number of base station sites; The communication link constraint condition is: wherein is the length of the communication link between the first base station site and the second base station site, i is the length of the communication link between the first base station site and the second base station site, k is the length of the communication link between the first base station site and the second base station site, is the maximum length of the communication link; The base station service radius constraint condition is: wherein is the monitoring service radius of the i th base site, is the maximum monitoring service radius; The attack scenario constraint condition is: wherein is the number of nodes in the largest connected subgraph of the UAV monitoring network, n is the number of nodes of the initial UAV monitoring network, is the number of attacked nodes, C is the invulnerability threshold.

6. A computer device, comprising: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the geographic space information-based unmanned aerial vehicle monitoring network layout method according to any one of claims 1 to 4 when executing the computer program.

7. A storage medium characterized by: The storage medium stores a computer program, and the computer program implements the steps of the geographic space information-based unmanned aerial vehicle monitoring network layout method according to any one of claims 1 to 4 when executed by a processor.

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