Method and system for quickly constructing visual low-altitude navigation airspace, and electronic equipment

Abstract

The invention relates to the technical field of scheme design for quickly constructing a visual low-altitude navigation airspace, in particular to a method and system for quickly constructing a visual low-altitude navigation airspace and electronic equipment. According to the method and the device, the grids without the impassable area or the limited flight area or the preset dangerous area in the target area are set to be in the first color, and the grids with the impassable area or the limited flight area or the preset dangerous area in the target area are set to be in the color different from the first color. According to the method, the low-altitude navigation airspace in any region can be quickly subjected to grid division according to different grid division rules, and the flight-influencing related elements in the low-altitude field, such as an impassable region or a limited flight region or a preset dangerous region, are unified into the grid units, so that the construction efficiency of the visual model is improved, and meanwhile, the construction efficiency of the visual model is improved. The display effect of each element is enhanced, and related managers can conveniently and quickly observe and position the areas corresponding to the related elements.

Description

Technical Field

[0001] The present invention relates to the technical field of scheme design for rapidly constructing a visualized low-altitude navigation airspace, and in particular to a method and system, and electronic equipment for rapidly constructing a visualized low-altitude navigation airspace. Background Art

[0002] With the development of my country's economy, the demand for transportation is increasing. Among various means of transportation, drones, as a new mode of transportation, have received extensive attention and research. The traditional drone route visualization management system requires manual operation, which can easily lead to untimely and inaccurate route planning, especially in complex environments. This untimely and inaccurate planning may cause serious flight accidents. At the same time, the visualization effect of the traditional drone route visualization management system is usually poor, and it is difficult to clearly reflect the actual position and speed of the drone. It is difficult to ensure the real-time acquisition of flight data, which may lead to the inability to provide timely warnings and flight hazards.

[0003] Therefore, the prior art needs to be further developed. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide a method and system and electronic equipment for quickly constructing a visualized low-altitude navigation airspace to solve the problems existing in the prior art.

[0005] To achieve the above technical objectives, according to a first aspect of the present invention, the present invention provides a method for quickly constructing a visualized low-altitude navigation airspace, comprising: S100, obtaining a geographic coordinate range and a height range of a target area, and establishing a three-dimensional visualization model of the target area according to the geographic coordinate range and the height range of the target area; S200, dividing the three-dimensional visualization model of the target area according to a preset grid division rule and a preset grid division level, and obtaining a first longitude and latitude grid code and a first height domain code of all grids of the three-dimensional visualization model of the target area; S300, determine whether there are inaccessible areas, restricted flight areas, or preset dangerous areas in each grid of the target area, set the grids in the target area where there are no inaccessible areas, restricted flight areas, or preset dangerous areas to a first color, and set the grids in the target area where there are inaccessible areas, restricted flight areas, or preset dangerous areas to a color different from the first color.

[0006] Specifically, the method further includes: A grid storage data table is established according to the latitude and longitude grid codes and the height domain codes of all the grids.

[0007] Specifically, the three-dimensional visualization model of the target area is divided according to a preset grid division rule and a preset grid division level, including: The 3D visualization model of the target area is divided according to the Beidou grid division rules or the GeoSOT grid division rules.

[0008] Specifically, the step of determining whether there is an inaccessible area, a restricted flight area, or a preset dangerous area in each grid of the target area includes: Obtain the geographic coordinate range and height range of all LOD bounding boxes of the target area, divide all LOD bounding boxes of the target area according to a preset grid division rule and a preset grid division level, and obtain the second longitude and latitude grid codes and the second height domain codes of all target grids corresponding to each LOD bounding box of the target area; Select a second longitude and latitude grid code and a second altitude domain code of a target grid, and determine whether, in the grid storage data table, there is a grid whose first longitude and latitude grid code and first altitude domain code are the same as the second longitude and latitude grid code and the second altitude domain code; If yes, it is determined that the grid has an inaccessible area; if no, it is determined that the grid does not have an inaccessible area.

[0009] Specifically, the step of determining whether there is an inaccessible area, a restricted flight area, or a preset dangerous area in each grid of the target area includes: Obtaining the geographic coordinate range and altitude range of the restricted flight area in the target area, dividing the restricted flight area of ​​the target area according to a preset grid division rule and a preset grid division level, and obtaining the third longitude and latitude grid codes and the third altitude domain codes of all target grids in the restricted flight area in the target area; Select a third longitude and latitude grid code and a third altitude domain code of a target grid, and determine whether, in the grid storage data table, there is a grid whose first longitude and latitude grid code and first altitude domain code are the same as the third longitude and latitude grid code and the third altitude domain code; If yes, it is determined that the grid has a restricted flight area, and if no, it is determined that the grid does not have a restricted flight area.

[0010] Specifically, the step of determining whether there is an inaccessible area, a restricted flight area, or a preset dangerous area in each grid of the target area includes: Obtaining the geographic coordinate range and height range of the low-altitude signal blind area that meets the preset conditions in the target area, dividing the low-altitude signal blind area in the target area according to the preset grid division rule and the preset grid division level, and obtaining the fourth longitude and latitude grid codes and the fourth altitude domain codes of all target grids in the low-altitude signal blind area in the target area; Select a fourth longitude and latitude grid code and a fourth altitude domain code of a target grid, and determine whether, in the grid storage data table, there is a grid whose first longitude and latitude grid code and first altitude domain code are the same as the fourth longitude and latitude grid code and fourth altitude domain code; If yes, it is determined that the grid has a preset danger zone, and if no, it is determined that the grid does not have a preset danger zone.

[0011] Specifically, the step of setting the grids in the target area where there is an inaccessible area, a restricted flight area, or a preset dangerous area to a color different from the first color includes: The grids in the target area that have impassable areas are set to a second color; Set the grids in the target area where there is a restricted flight area to a third color; The grids in the target area where there is a preset danger area are set to the fourth color.

[0012] Specifically, the geographic coordinate range and altitude range of the target area, the range of the inaccessible area or the restricted flight area or the preset dangerous area are defined and input by the user.

[0013] According to a second aspect of the present invention, a system for quickly constructing a visualized low-altitude navigation airspace is provided, comprising: An acquisition module is used to obtain the geographic coordinate range and altitude range of the target area; The control module is used to establish a three-dimensional visualization model of the target area according to the geographic coordinate range and altitude range of the target area; to divide the three-dimensional visualization model of the target area according to a preset grid division rule and a preset grid division level to obtain a first longitude and latitude grid code and a first altitude domain code of all grids of the three-dimensional visualization model of the target area; to determine whether there is an inaccessible area, a restricted flight area, or a preset dangerous area in each grid of the target area, to set the grids in the target area that do not have the inaccessible area, the restricted flight area, or the preset dangerous area to a first color, and to set the grids in the target area that have the inaccessible area, the restricted flight area, or the preset dangerous area to a color different from the first color.

[0014] According to a third aspect of the present invention, there is provided an electronic device, comprising: a memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method for rapidly constructing a visualized low-altitude navigation airspace is implemented.

[0015] Beneficial effects: The present invention can quickly grid the low-altitude navigation airspace in any area according to different grid division rules, and unify the flight-related factors in the low-altitude area into grid units, such as impassable areas or restricted flight areas or preset dangerous areas. While improving the efficiency of visual model construction, it enhances the display effect of each factor, making it convenient for relevant management personnel to quickly observe and locate the areas corresponding to the relevant factors, and providing scientific and efficient data support for regulatory route and domain planning and aircraft activity management. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flowchart of a method for quickly constructing a visualized low-altitude navigation airspace provided in a specific embodiment of the present invention; Figure 2 : is a schematic diagram of the system composition of a system for rapidly constructing a visualized low-altitude navigation airspace provided in a specific embodiment of the present invention; Figure 3 It is a schematic diagram of the three-dimensional effect of the low-altitude navigation airspace to be calculated provided in a specific embodiment of the present invention; Figure 4 It is a schematic diagram of the effect after the line graphics calculation provided in a specific embodiment of the present invention; Figure 5 It is a schematic diagram of the effect after surface graphics calculation provided in a specific embodiment of the present invention; Figure 6 It is a schematic diagram of the effect after volume graphics calculation provided in a specific embodiment of the present invention; Figure 7 It is a schematic diagram of the 21-level subdivision and encoding effect of the GeoSOT grid provided in a specific embodiment of the present invention; Figure 8 It is a schematic diagram of grid storage data provided in a specific embodiment of the present invention; Fig. 9 is a schematic diagram of a LOD bounding box of inclined real scene three-dimensional data provided in a specific embodiment of the present invention; Fig.10 It is a top view schematic diagram of the GeoSOT grid effect of the inclined real-scene three-dimensional grid conflicting in the low-altitude navigation airspace provided in a specific embodiment of the present invention; Fig.11 It is a side view schematic diagram of the GeoSOT grid effect of the inclined real-scene three-dimensional grid conflicting in the low-altitude navigation airspace provided in a specific embodiment of the present invention; Fig.12 It is a schematic diagram of the effect of the restricted flight area in the low-altitude navigation airspace grid provided in a specific embodiment of the present invention; Fig.13 1 is a top view schematic diagram of the GeoSOT grid effect of the restricted flight area grid in the low-altitude navigation airspace provided in a specific embodiment of the present invention; Fig.14 It is a side view schematic diagram of the GeoSOT grid effect of the restricted flight area grid in the low-altitude navigation airspace provided in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0018] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0019] See also Figure 1 The present invention provides a method for quickly constructing a visualized low-altitude navigation airspace, comprising: S100: Acquire a geographic coordinate range and a height range of a target area, and establish a three-dimensional visualization model of the target area according to the geographic coordinate range and the height range of the target area.

[0020] S200, dividing the three-dimensional visualization model of the target area according to a preset grid division rule and a preset grid division level, and obtaining a first longitude and latitude grid code and a first height domain code of all grids of the three-dimensional visualization model of the target area.

[0021] Specifically, the method further includes: A grid storage data table is established based on the latitude and longitude grid codes and height domain codes of all the grids. The grid storage data table is as follows: Figure 8 shown.

[0022] Specifically, the three-dimensional visualization model of the target area is divided according to a preset grid division rule and a preset grid division level, including: The 3D visualization model of the target area is divided according to the Beidou grid division rules or the GeoSOT grid division rules.

[0023] It should be noted here that the present invention first extends custom functions based on PostgreSQL spatial database, including calculating geographic coordinates used to express Beidou stereo grids and GeoSOT stereo grid graphics according to GeoSOT grid subdivision rules and Beidou grid subdivision rules, calculating Beidou grid codes and GeoSOT grid codes used to identify each grid according to Beidou grid coding rules and GeoSOT grid coding rules, automatically creating grid storage data tables, importing stereo grid data and other functions. The calculation functions of other categories of grids can be further expanded according to other corresponding grid subdivision and coding rules.

[0024] It is understandable that the Beidou grid location code (GB / T 39409-2020) and GeoSOT (GB / T 40087-2021). Through the code of the PostgreSQL spatial database, the geographic space segmentation and encoding method introduced in the standard is implemented. Different application scenarios have different rules for spatial segmentation and encoding. The common point is that they all involve spatial segmentation and encoding, but the specific rules and applicable scenarios are different. Therefore, the calculation functions of other categories of grids only need to be modified accordingly according to their respective segmentation and encoding rules, and the subsequent steps are the same.

[0025] Furthermore, the target area is recorded as the low-altitude navigation airspace for which a visualization model is to be established. The present invention obtains the plane coordinates and altitude range of the low-altitude navigation airspace and assembles them into a data format input by a database custom function, inputs the Beidou grid or GeoSOT grid partitioning rules and grid partitioning levels, and calls the database custom function to automatically calculate the three-dimensional grid geographic coordinates and grid code of the low-altitude navigation airspace, and imports them into the created grid storage data table. Figure 3 The white wireframe in the middle is the 3D effect of the low-altitude airspace to be calculated. The effect diagram uses the 21st level of GeoSOT grid division rules for calculation. You can choose different levels from 1 to 32 as needed. Beidou grid division only supports levels 1 to 10.

[0026] The effect of GeoSOT grid 21-level subdivision and encoding is as follows Figure 7 shown.

[0027] It should be further explained that there are two custom functions called by the present invention: 1) Grid code calculation function: Input any point (longitude, latitude, height) and the grid level to be calculated, and the code of the grid where the point is located can be calculated.

[0028] 2) Grid space coordinate calculation function: supports the input of geographic coordinates of lines (longitude, latitude, height), faces (longitude, latitude, height), cubes (plane longitude and latitude, bottom height, top height), and grid division levels, and calculates all grids occupied by the graphics. The effect of the line graphics after calculation is as follows Figure 4 As shown, the surface graphics calculation effect is as follows Figure 5 As shown, the effect after the volume graphics calculation is as follows Figure 6 shown.

[0029] S300, determine whether there are inaccessible areas, restricted flight areas, or preset dangerous areas in each grid of the target area, set the grids in the target area where there are no inaccessible areas, restricted flight areas, or preset dangerous areas to a first color, and set the grids in the target area where there are inaccessible areas, restricted flight areas, or preset dangerous areas to a color different from the first color.

[0030] Specifically, the step of determining whether there is an inaccessible area, a restricted flight area, or a preset dangerous area in each grid of the target area includes: Obtain the geographic coordinate range and height range of all LOD bounding boxes of the target area, divide all LOD bounding boxes of the target area according to a preset grid division rule and a preset grid division level, and obtain the second longitude and latitude grid codes and the second height domain codes of all target grids corresponding to each LOD bounding box of the target area; Select a second longitude and latitude grid code and a second altitude domain code of a target grid, and determine whether, in the grid storage data table, there is a grid whose first longitude and latitude grid code and first altitude domain code are the same as the second longitude and latitude grid code and the second altitude domain code; If yes, it is determined that the grid has an inaccessible area; if no, it is determined that the grid does not have an inaccessible area.

[0031] Specifically, the present invention obtains the spatial coordinates of the LOD (level of detail) bounding box of the inclined real-life three-dimensional data in the low-altitude navigation airspace, that is, the plane coordinates and heights of the four vertices of each bounding box, assembles them into the data format input by the database custom function, inputs the same Beidou grid or GeoSOT grid division rule and grid division level as the previous step, calls the database custom function to automatically calculate the grid code of the three-dimensional space of the bounding box, automatically searches the grid storage data table for the data with the same grid code and altitude layer as the calculated three-dimensional space grid of the bounding box through the database query statement, sets the grid pass cost to 1, and the reason for impassability is an obstacle (model-root). Please refer to Figure 9-11 In the rendering, red grids are used to represent the inaccessible grids within the low-altitude navigation airspace grid.

[0032] It should be specifically explained that the database custom function refers to reading the configuration file of the tilted real-life 3D data, calculating all LOD (level of detail) bounding boxes at the high-precision level of the model, calculating the corresponding grid code, and finding the record with the same calculated grid code in the grid storage data table, and then setting the reason for the grid airspace being impassable and the grid pass cost. Since the high-level LOD (level of detail) can accurately express the shape of the building in the bounding box through a simple wireframe, using this method to calculate airspace conflicts can significantly improve the calculation efficiency and accuracy. While improving the efficiency of visual model construction, it also enhances the display effect of each element, making it easier for relevant managers to quickly observe and locate the areas corresponding to the relevant elements, and providing scientific and efficient data support for regulatory route and domain planning and aircraft activity management.

[0033] It is understandable that the high-precision level of detail bounding box can accurately express the ups and downs of the surface model in the area, including the three-dimensional range of buildings, terrain, vegetation and other surface objects. Compared with only using the outline of the building to calculate the no-fly area, reading the detail bounding box data in the 3D configuration file is simpler to obtain data, convenient to merge with the grid, and more accurate to calculate the no-fly area.

[0034] Specifically, the calculation method of the high-precision LOD (level of detail) bounding box includes: Taking the real-life 3D model data in 3Dtiles format as an example, read the tileset.json (or json with other names) configuration file in the root directory, and parse the model's highest-precision hierarchical information, which is usually expressed as a sphere (center point + radius), a box (center point + semi-axis length), or an area (radian + height). Depending on the type, the sphere type reads the center (centerX, centerY, centerZ) and radius; the box type reads the center (centerX, centerY, centerZ) and half-width halfWidthX, halfWidthY, halfWidthZ; the area type directly reads west, south, east, north (radians) and converts them into degrees. Calculate the maximum and minimum boundaries, top and bottom heights of the spatial range contained in each Tile.

[0035] Specifically, the input data format is: Parameter 1: A collection of the spatial range plane coordinates, top surface and bottom surface heights of all tile bounding boxes.

[0036] Parameter 2: Meshing level.

[0037] Parameter 3: The reason why the grid is inaccessible (model-root), indicating conflict with the building space.

[0038] Parameter 4: Grid pass cost: 1 means that the grid cannot be passed due to spatial conflict, and 0 means that the grid can be passed.

[0039] Parameter 5: represents the grid division rule used for calculation (geosot): 'geosot': GeoSOT division rule, 'beidou': Beidou division rule, other types can be defined by the user of the present invention.

[0040] Specifically, the database query statement means to search for the record with the same mesh code as the calculated mesh in the mesh storage data table created in the previous step. For example, in the mesh of bounding box calculation, one of the meshes has a code of "G001311200011210003012" and a height layer of 2. Query the mesh storage data table for the record with code = "G001311200011210003012" and layer = 2, so as to set the type value to 1 and the cost value to "model-root" in the query record.

[0041] Specifically, the step of determining whether there is an inaccessible area, a restricted flight area, or a preset dangerous area in each grid of the target area includes: Obtaining the geographic coordinate range and altitude range of the restricted flight area in the target area, dividing the restricted flight area of ​​the target area according to a preset grid division rule and a preset grid division level, and obtaining the third longitude and latitude grid codes and the third altitude domain codes of all target grids in the restricted flight area in the target area; Select a third longitude and latitude grid code and a third altitude domain code of a target grid, and determine whether, in the grid storage data table, there is a grid whose first longitude and latitude grid code and first altitude domain code are the same as the third longitude and latitude grid code and the third altitude domain code; If yes, it is determined that the grid has a restricted flight area, and if no, it is determined that the grid does not have a restricted flight area.

[0042] Specifically, the method includes: Get the spatial coordinates of restricted areas, airport clearance protection areas and other areas in the low-altitude navigation airspace, that is, express the plane coordinates and altitude of the restricted flight area, assemble them into the data format input by the database custom function, input the same Beidou grid or GeoSOT grid division rules and grid division levels as the previous two steps, call the database custom function to automatically calculate the grid code of the restricted flight area, and automatically find the data in the grid storage data table that is the same as the grid code and altitude layer of the calculated three-dimensional space grid of the restricted flight area through the database query statement, set the grid pass cost to 1, and the reason for inaccessibility is restricted area (air-zone). Please refer to Figure 12-14 In the rendering, the purple three-dimensional graphics represent the restricted flight area, and the red grids represent the inaccessible grids within the low-altitude navigation airspace grid.

[0043] Specifically, the step of determining whether there is an inaccessible area, a restricted flight area, or a preset dangerous area in each grid of the target area includes: Obtaining the geographic coordinate range and height range of the low-altitude signal blind area that meets the preset conditions in the target area, dividing the low-altitude signal blind area in the target area according to the preset grid division rule and the preset grid division level, and obtaining the fourth longitude and latitude grid codes and the fourth altitude domain codes of all target grids in the low-altitude signal blind area in the target area; Select a fourth longitude and latitude grid code and a fourth altitude domain code of a target grid, and determine whether, in the grid storage data table, there is a grid whose first longitude and latitude grid code and first altitude domain code are the same as the fourth longitude and latitude grid code and fourth altitude domain code; If yes, it is determined that the grid has a preset danger zone, and if no, it is determined that the grid does not have a preset danger zone.

[0044] Specifically, the method for determining the low-altitude signal blind area that meets the preset conditions is: The communication detection module equipment mounted on the drone is used to collect signal data at different heights and locations, and the low-altitude signal coverage map is drawn in combination with the GPS trajectory and signal strength of the drone. By analyzing the signal changes, the coordinate range and height range of the low-altitude signal blind area are calculated, so as to accurately identify the low-altitude signal blind area.

[0045] Specifically, the method for determining the low-altitude signal blind area that meets the preset conditions is as follows: (1) Plan the flight path of the drone according to the center point of the grid, and use a grid scanning method to ensure uniform coverage of signal data; (2) The drone is equipped with signal detection equipment and flies along a preset path at each layer (at different altitudes) of the spatial grid to collect satellite signal data in real time, including but not limited to signal power (dBm), frequency, timestamp and geographic location information (latitude, longitude, altitude); (3) The collected signal data is stored separately according to each layer of the spatial grid to facilitate the calculation of the signal blind area of ​​each layer.

[0046] (4) Signal data preprocessing: setting the signal strength threshold, and dividing the collected signal data into normal signals and blind zone signals: normal signal: power > -90dBm; blind zone signal: power < -90dBm; (5) Data denoising: using mean filtering to remove abnormal data points and improve data reliability; (6) Use the Kriging interpolation method to interpolate the measured data and generate a signal strength contour map; (7) According to the set signal strength threshold, the area below the threshold is extracted to generate the blind spot boundary, and the shape of the blind spot boundary is characterized as a circle or an irregular polygon using a geometric fitting method.

[0047] Specifically, the step of setting the grids in the target area where there is an inaccessible area, a restricted flight area, or a preset dangerous area to a color different from the first color includes: The grids in the target area that have impassable areas are set to a second color; Set the grids in the target area where there is a restricted flight area to a third color; The grids in the target area where there is a preset danger area are set to the fourth color.

[0048] It is understandable that the second color is preferably red, the third color is preferably purple, and the fourth color is preferably orange. The above settings are obtained by the technicians of the present invention through a large number of tests, which can further enhance the display effect of each element and facilitate relevant managers to quickly observe and locate the areas corresponding to relevant elements.

[0049] Specifically, the geographic coordinate range and altitude range of the target area, the range of the inaccessible area or the restricted flight area or the preset dangerous area are defined and input by the user.

[0050] It can be understood that the present invention can quickly grid the low-altitude navigation airspace in any area according to different grid division rules, and unify the factors related to flight in the low-altitude area into grid units, such as impassable areas or restricted flight areas or preset dangerous areas. While improving the efficiency of building a visualization model, it enhances the display effect of each factor, making it convenient for relevant management personnel to quickly observe and locate the areas corresponding to the relevant factors, and provide scientific and efficient data support for regulatory route and domain planning and aircraft activity management.

[0051] See also Figure 2The present invention provides another embodiment, which provides a system for quickly constructing a visualized low-altitude navigation airspace. The system for quickly constructing a visualized low-altitude navigation airspace includes: An acquisition module 100 is used to acquire a geographic coordinate range and a height range of a target area; The control module 200 is used to establish a three-dimensional visualization model of the target area according to the geographic coordinate range and altitude range of the target area; to divide the three-dimensional visualization model of the target area according to a preset grid division rule and a preset grid division level to obtain a first longitude and latitude grid code and a first altitude domain code of all grids of the three-dimensional visualization model of the target area; to determine whether there is an inaccessible area, a restricted flight area, or a preset dangerous area in each grid of the target area, to set the grids in the target area that do not have the inaccessible area, the restricted flight area, or the preset dangerous area to a first color, and to set the grids in the target area that have the inaccessible area, the restricted flight area, or the preset dangerous area to a color different from the first color.

[0052] It should be noted here that the present invention can quickly grid the low-altitude navigation airspace in any area according to different grid division rules, and unify the factors related to flight in the low-altitude area into grid units, such as impassable areas or restricted flight areas or preset dangerous areas. While improving the efficiency of building a visualization model, it enhances the display effect of each factor, making it convenient for relevant management personnel to quickly observe and locate the areas corresponding to the relevant factors, and provide scientific and efficient data support for regulatory route and domain planning and aircraft activity management.

[0053] In a preferred embodiment, the present application further provides an electronic device, the electronic device comprising: A memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method for quickly constructing a visualized low-altitude navigation airspace is implemented. The computer device can be broadly a server, a terminal, or any other electronic device with the necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected via a system bus. The processor of the computer device can be used to provide the necessary computing, processing and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices through a network. When the computer program is executed by the processor, the steps of the method of the present invention are performed.

[0054] The present invention may be implemented as a computer-readable storage medium having a computer program stored thereon, which causes the steps of the method of an embodiment of the present invention to be executed when executed by a processor. In one embodiment, the computer program is distributed on a plurality of computer devices or processors coupled to a network so that the computer program is stored, accessed and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be performed by one or more computer devices or processors, and one or more other method steps / operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step / operation, or perform two or more method steps / operations.

[0055] It will be appreciated by a person skilled in the art that the method steps of the present invention may be performed by instructing related hardware such as a computer device or a processor through a computer program, and the computer program may be stored in a non-temporary computer-readable storage medium, which causes the steps of the present invention to be performed when the computer program is executed. Depending on the circumstances, any reference to memory, storage, database, or other media herein may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0056] It can be understood that the present invention can quickly grid the low-altitude navigation airspace in any area according to different grid division rules, and unify the factors related to flight in the low-altitude area into grid units, such as impassable areas or restricted flight areas or preset dangerous areas. While improving the efficiency of building a visualization model, it enhances the display effect of each factor, making it convenient for relevant management personnel to quickly observe and locate the areas corresponding to the relevant factors, and provide scientific and efficient data support for regulatory route and domain planning and aircraft activity management.

[0057] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0058] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for quickly constructing a visualized low-altitude navigation airspace, characterized in that: The method comprises: S100, obtaining a geographic coordinate range and a height range of a target area, and establishing a three-dimensional visualization model of the target area according to the geographic coordinate range and the height range of the target area; S200, dividing the three-dimensional visualization model of the target area according to a preset grid division rule and a preset grid division level, and obtaining a first longitude and latitude grid code and a first height domain code of all grids of the three-dimensional visualization model of the target area; S300, determine whether there are inaccessible areas, restricted flight areas, or preset dangerous areas in each grid of the target area, set the grids in the target area where there are no inaccessible areas, restricted flight areas, or preset dangerous areas to a first color, and set the grids in the target area where there are inaccessible areas, restricted flight areas, or preset dangerous areas to a color different from the first color.

2. The method for rapidly constructing a visualized low-altitude navigation airspace according to claim 1, characterized in that: The method further comprises: A grid storage data table is established according to the latitude and longitude grid codes and the height domain codes of all the grids.

3. The method for rapidly constructing a visualized low-altitude navigation airspace according to claim 1, characterized in that: The step of dividing the three-dimensional visualization model of the target area according to a preset grid division rule and a preset grid division level includes: The 3D visualization model of the target area is divided according to the Beidou grid division rules or the GeoSOT grid division rules.

4. The method for rapidly constructing a visualized low-altitude navigation airspace according to claim 2, characterized in that: The step of determining whether there is an inaccessible area, a restricted flight area, or a preset dangerous area in each grid of the target area includes: Obtain the geographic coordinate range and height range of all LOD bounding boxes of the target area, divide all LOD bounding boxes of the target area according to a preset grid division rule and a preset grid division level, and obtain the second longitude and latitude grid codes and the second height domain codes of all target grids corresponding to each LOD bounding box of the target area; Select a second longitude and latitude grid code and a second altitude domain code of a target grid, and determine whether, in the grid storage data table, there is a grid whose first longitude and latitude grid code and first altitude domain code are the same as the second longitude and latitude grid code and the second altitude domain code; If yes, it is determined that the grid has an inaccessible area; if no, it is determined that the grid does not have an inaccessible area.

5. The method for rapidly constructing a visualized low-altitude navigation airspace according to claim 2, characterized in that: The step of determining whether there is an inaccessible area, a restricted flight area, or a preset dangerous area in each grid of the target area includes: Obtaining the geographic coordinate range and altitude range of the restricted flight area in the target area, dividing the restricted flight area of ​​the target area according to a preset grid division rule and a preset grid division level, and obtaining the third longitude and latitude grid codes and the third altitude domain codes of all target grids in the restricted flight area in the target area; Select a third longitude and latitude grid code and a third altitude domain code of a target grid, and determine whether, in the grid storage data table, there is a grid whose first longitude and latitude grid code and first altitude domain code are the same as the third longitude and latitude grid code and the third altitude domain code; If yes, it is determined that the grid has a restricted flight area, and if no, it is determined that the grid does not have a restricted flight area.

6. The method for rapidly constructing a visualized low-altitude navigation airspace according to claim 2, characterized in that: The step of determining whether there is an inaccessible area, a restricted flight area, or a preset dangerous area in each grid of the target area includes: Obtaining the geographic coordinate range and height range of the low-altitude signal blind area that meets the preset conditions in the target area, dividing the low-altitude signal blind area in the target area according to the preset grid division rule and the preset grid division level, and obtaining the fourth longitude and latitude grid codes and the fourth altitude domain codes of all target grids in the low-altitude signal blind area in the target area; Select a fourth longitude and latitude grid code and a fourth altitude domain code of a target grid, and determine whether, in the grid storage data table, there is a grid whose first longitude and latitude grid code and first altitude domain code are the same as the fourth longitude and latitude grid code and fourth altitude domain code; If yes, it is determined that the grid has a preset danger zone, and if no, it is determined that the grid does not have a preset danger zone.

7. The method for rapidly constructing a visualized low-altitude navigation airspace according to claim 1, characterized in that: The step of setting the grids in the target area where there are inaccessible areas, restricted flight areas, or preset dangerous areas to a color different from the first color comprises: The grids with inaccessible areas in the target area are set to a second color; Set the grids in the target area where there is a restricted flight area to a third color; The grids in the target area where there is a preset danger area are set to the fourth color.

8. The method for rapidly constructing a visualized low-altitude navigation airspace according to claim 1, characterized in that: The geographic coordinate range and altitude range of the target area, the range of the impassable area or the restricted flight area or the preset dangerous area are defined and input by the user.

9. A system for quickly constructing a visualized low-altitude navigation airspace, characterized in that: include: An acquisition module is used to obtain the geographic coordinate range and altitude range of the target area; A control module is used to establish a three-dimensional visualization model of the target area according to the geographic coordinate range and height range of the target area; and is used to divide the three-dimensional visualization model of the target area according to a preset grid division rule and a preset grid division level to obtain a first longitude and latitude grid code and a first height domain code of all grids of the three-dimensional visualization model of the target area; Used to determine whether there are inaccessible areas, restricted flight areas, or preset dangerous areas in each grid of the target area, set the grids in the target area where there are no inaccessible areas, restricted flight areas, or preset dangerous areas to the first color, and set the grids in the target area where there are inaccessible areas, restricted flight areas, or preset dangerous areas to a color different from the first color.

10. An electronic device, characterized in that: include: Memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method for rapidly constructing a visualized low-altitude navigation airspace according to any one of claims 1 to 8 is implemented.

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