Low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversified deployment method and system

Abstract

The application provides a low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversified deployment method and system, belongs to the field of air traffic management and flight supervision information technology, and comprises the following steps: single-machine initial flight plan generation and deduction of process flight path; multi-machine flight path conflict detection and identification of static and dynamic flight conflicts; development of heterogeneous unmanned aerial vehicle multi-factor priority evaluation to determine the time and space resource use sequence of the unmanned aerial vehicle; design of diversified strategies such as flight route, take-off time and flight speed to realize optimal solution; and the like. The application realizes optimal conflict resolution of low-altitude airspace heterogeneous unmanned aerial vehicles in the pre-tactical stage, effectively avoids the conflict of multiple unmanned aerial vehicles in the use of limited airspace time and space, and meets the reasonable use and continuous safety demand of low-altitude airspace resources.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of air traffic management and flight regulation information, in particular to a low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversification deployment method and system. BACKGROUND

[0002] In recent years, as a new user of low-altitude airspace, the flight demand of civil unmanned aerial vehicles has shown a rapid growth trend, and has been widely used in logistics, emergency rescue, agriculture, forestry, animal husbandry and fishery, etc. However, the introduction of a large number of unmanned aerial vehicles also brings a series of safety problems. When multiple unmanned aerial vehicles operate together, it is easy to cause temporal and spatial cluster flight conflicts, especially when unmanned aerial vehicles gradually integrate into the entire national airspace system, their operation will also affect traditional airspace users such as public transport aviation and military aviation, which has become the focus of attention in the aviation industry at home and abroad.

[0003] Traditional manned aviation adopts a phased management method: the strategic phase, usually in the months before operation; the pre-tactical phase, usually carried out the day before operation; the tactical phase, usually carried out on the day of operation. However, unmanned aerial vehicle flight plans have strong temporality, and are usually submitted for activities the day before flight, so the strategic management of several months in advance is no longer applicable, and the pre-tactical phase conflict management needs to ensure that the temporal and spatial flight paths of a large number of unmanned aerial vehicles do not interfere with each other within a limited time range, which puts high requirements on the performance of flight plan deployment methods. In addition, as a space for activities of multiple types of airspace users such as logistics transportation and emergency rescue, the characteristics of individualized flight tasks and differentiated flight performance further increase the difficulty of flight plan coordination. How to quickly identify the flight conflicts of heterogeneous unmanned aerial vehicles with different task types and flight performance in dense airspace, reasonably deploy the flight routes and process times in the flight plan, and ensure that the temporal and spatial flight paths of multiple vehicles do not interfere with each other, thereby reducing the collision avoidance maneuvers in the actual operation process, is a research difficulty in the field of air traffic management. SUMMARY

[0004] The present application aims to provide a low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversification deployment method and system which can effectively realize the diversification resolution of flight conflicts of low-altitude heterogeneous unmanned aerial vehicles in the pre-tactical phase, and ensure the continuous safety and stability of low-altitude airspace, so as to solve at least one technical problem in the background.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversification deployment method, comprising:

[0007] According to the respective flight tasks of each unmanned aerial vehicle, an individual-oriented initial flight plan is generated; and according to the initial flight plan, the passing time and passing speed of the unmanned aerial vehicle at the flight path waypoints are determined;

[0008] According to the speed information provided by the flight plans of the multiple unmanned aerial vehicles, the passing time of the unmanned aerial vehicles at the key waypoints is predicted, and it is judged whether there is a static or dynamic flight conflict between the unmanned aerial vehicles and the avoidance area or between the unmanned aerial vehicles;

[0009] According to the flight plan submission sequence, the flight task type, the flight performance and the user demand level of the unmanned aerial vehicles, the CRITIC objective weighting method is used to determine the time-space resource use sequence of the heterogeneous unmanned aerial vehicles;

[0010] According to the time-space resource use sequence of the heterogeneous unmanned aerial vehicles, the flight route, the take-off time and the flight speed in the flight plan of the conflict unmanned aerial vehicle are adjusted.

[0011] As a further limitation of the first aspect of the application, according to the speed information provided by the flight plans of the multiple unmanned aerial vehicles, the passing time of the unmanned aerial vehicles at the key waypoints is predicted, and it is judged whether there is a static or dynamic flight conflict between the unmanned aerial vehicles and the avoidance area or between the unmanned aerial vehicles; comprising:

[0012] It is judged whether the waypoint in the flight plan of the unmanned aerial vehicle passes through a low-altitude static environmental target, and if it does, it is considered that there is a static flight conflict;

[0013] For the waypoint that does not exist a static flight conflict, further judgment is made by introducing other initial flight plans of the unmanned aerial vehicles, and it is judged whether the waypoint is shared with other unmanned aerial vehicles, such as the passing time difference of two or more unmanned aerial vehicles being less than a preset minimum time interval, and it is considered that there is a dynamic flight conflict; continue to the next waypoint until all the waypoints in the flight plan of the unmanned aerial vehicle are traversed.

[0014] As a further limitation of the first aspect of the application, according to the flight plan submission sequence, the flight task type, the flight performance and the user demand level of the unmanned aerial vehicles, the CRITIC objective weighting method is used to determine the time-space resource use sequence of the heterogeneous unmanned aerial vehicles; comprising:

[0015] The flight plan submission sequence of the unmanned aerial vehicle is taken as an evaluation index 1, and the unmanned aerial vehicle score of each unmanned aerial vehicle submitting a flight plan is determined;

[0016] According to the common flight activity type of the unmanned aerial vehicle, the flight task of the unmanned aerial vehicle is taken as an evaluation index 2, and the corresponding score of the unmanned aerial vehicle of each type of flight task is determined;

[0017] According to the flight capability such as the endurance time of the unmanned aerial vehicle, the flight performance is taken as an evaluation index 3, and the corresponding score of the unmanned aerial vehicle of each type of flight performance is determined;

[0018] According to the urgency of the unmanned aerial vehicle user demand, the user demand level is taken as an evaluation index 4, and the corresponding score of the unmanned aerial vehicle of each demand level is determined;

[0019] The evaluation index 1, the evaluation index 2, the evaluation index 3 and the evaluation index 4 are comprehensively evaluated, the evaluation index of all unmanned aerial vehicles is valued, and average normalization processing is performed thereon;

[0020] According to the average normalization processing, the value difference fluctuation of different indexes and the correlation between the indexes are calculated;

[0021] According to the value difference fluctuation and the correlation between the indexes, the relative importance of each index is calculated, and the objective weight is determined;

[0022] According to the objective weight, the index value of each unmanned aerial vehicle after the average normalization processing is combined to obtain the composite superposition of the heterogeneous unmanned aerial vehicle multi-factor priority value.

[0023] As a further limitation of the first aspect of the application, according to the time and space resource use sequence of the heterogeneous unmanned aerial vehicle, the flight route, take-off time and flight speed in the conflict unmanned aerial vehicle flight plan are adjusted; including:

[0024] It is judged whether there is a static flight conflict in the unmanned aerial vehicle flight plan, and if there is, the flight path is changed, and other paths are randomly selected from the alternative path set;

[0025] It is judged whether the number of dynamic conflicts in the unmanned aerial vehicle flight plan is greater than a preset threshold, if it is greater than the preset threshold, the take-off time is delayed according to a certain time interval, and the speed in the flight plan is updated, if it is less than the preset threshold, the speed of the unmanned aerial vehicle passing through the conflict waypoint is adjusted according to a certain speed interval, so as to increase the interval between the passing time of the unmanned aerial vehicle and the passing time of the high-priority unmanned aerial vehicle;

[0026] It is judged whether the adjusted unmanned aerial vehicle flight plan has flight conflict, if it exists, the adjustment is continued until all unmanned aerial vehicle flight plans have no conflict.

[0027] As a further limitation of the first aspect of the application, the four evaluation indexes j = 1,..., 4 are comprehensively evaluated, the evaluation index of all unmanned aerial vehicles i = 1,... N is valued x ij , and the average normalization processing is performed thereon:

[0028]

[0029] Wherein, is the average value of the index j;

[0030] The value difference fluctuation of different indexes is calculated, and the standard deviation S jThe larger the value, the greater the difference in the UAV flight plan values ​​of indicator j, and the stronger the evaluation strength of the indicator itself:

[0031]

[0032] Calculate the correlation between different indicators j and other indicators k. The larger the correlation coefficient, the stronger the correlation between the indicator and other indicators, which weakens the evaluation strength of the indicator to a certain extent:

[0033]

[0034] Calculate the information content of indicator j. The greater the information content of the indicator, the greater the relative importance of the indicator:

[0035]

[0036] The objective weight w of the final indicator j j for:

[0037]

[0038] Obtain the numerical score of the multi-factor priority of heterogeneous UAVs after composite superposition i for:

[0039] Score i =w1×x i1 +w2×x i2 +w3×x i3 +w4×x i4 .

[0040] As a further limitation of the first aspect of the present invention, another path is randomly selected from the set of candidate paths, and the selection probability prob of the i-th path is i and its path length i Inversely proportional; determine whether the number of dynamic conflicts in the UAV flight plan is greater than the preset threshold. If it is greater than the preset threshold, the take-off time is delayed by 2 minutes and the take-off time t in the flight plan is changed to orig Update to the adjusted speed t new :

[0041] t new =t orig +2min,t orig ←t new ;

[0042] If it is less than the preset threshold, the speed of the UAV passing the conflicting waypoint is adjusted by 0.1km / min intervals to increase the UAV passing time t and the time interval between the passing time of the high-priority UAV:

[0043]

[0044] wherein, t j is the passing time of the high-priority unmanned aerial vehicle.

[0045] In a second aspect, the present application provides a low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversification deployment system, comprising:

[0046] a flight plan initialization module, configured to generate an individual-oriented initial flight plan according to a respective independent flight task of each unmanned aerial vehicle, and determine a passing time and a passing speed of the unmanned aerial vehicle passing through a waypoint of a flight path of the unmanned aerial vehicle according to the initial flight plan;

[0047] a conflict identification module, configured to predict a passing time of the unmanned aerial vehicle passing through a key waypoint according to speed information provided by the flight plan of the plurality of unmanned aerial vehicles, and determine whether there is a static or dynamic flight conflict between the unmanned aerial vehicle and an avoidance area or between the unmanned aerial vehicles;

[0048] a priority evaluation module, configured to determine a time-space resource use order of the heterogeneous unmanned aerial vehicles by using a CRITIC objective weighting method according to a flight plan submission order, a flight task type, a flight performance, and a user demand level of the unmanned aerial vehicles;

[0049] a diversification deployment module, configured to adjust a flight route, a takeoff time, and a flight speed in a conflict unmanned aerial vehicle flight plan according to the time-space resource use order of the heterogeneous unmanned aerial vehicles.

[0050] In a third aspect, the present application provides a non-transitory computer readable storage medium for storing computer instructions, wherein the computer instructions are executed by a processor to implement the low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversification deployment method of the first aspect.

[0051] In a fourth aspect, the present application provides a computer device comprising a memory and a processor, wherein the processor and the memory are in communication with each other, the memory stores program instructions executable by the processor, and the processor invokes the program instructions to execute the low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversification deployment method of the first aspect.

[0052] In a fifth aspect, the present application provides an electronic device comprising a processor, a memory, and a computer program, wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to execute instructions for implementing the low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversification deployment method of the first aspect.

[0053] The application has the advantages that optimal conflict resolution of low-altitude airspace heterogeneous unmanned aerial vehicles in a pre-tactical stage is realized, conflicts of multiple unmanned aerial vehicles in time and space use of limited airspace are effectively avoided, and reasonable use and continuous safety requirements of low-altitude airspace resources are met.

[0054] The advantages of the additional aspects of the application will be more apparent from the following description section or be understood through the practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0056] Figure 1 The low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversification deployment method flow chart described in the embodiments of the application.

[0057] Figure 2 The unmanned aerial vehicle static and dynamic flight conflict identification method flow chart described in the embodiments of the application.

[0058] Figure 3 The heterogeneous unmanned aerial vehicle multi-factor priority calculation method flow chart based on CRITIC described in the embodiments of the application.

[0059] Figure 4 The unmanned aerial vehicle diversification flight plan adjustment flow chart described in the embodiments of the application.

[0060] Figure 5 The low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversification deployment system functional principle block diagram described in the embodiments of the application. DETAILED DESCRIPTION

[0061] The embodiments of the application will be described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below through the drawings are exemplary and are only used to explain the application, and cannot be interpreted as a limitation on the application.

[0062] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the field to which the application belongs.

[0063] It should also be understood that terms such as those defined in a general dictionary are to be interpreted in a context consistent with the present technology and not in an idealized or overly formal sense unless expressly so defined herein.

[0064] Those skilled in the art can understand that, unless specifically stated, the singular forms "a," "an," and "the" as used herein include plural referents. It should be further understood that the word "comprising" as used in the specification herein is to be interpreted as meaning that the features, integers, steps, operations, elements, and / or components described are present, but not excluding the presence or addition of one or more other features, integers, steps, operations, elements, and / or groups thereof.

[0065] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. Those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0066] In order to facilitate the understanding of the present application, the present application will be further explained and described in specific embodiments in connection with the accompanying drawings, and the specific embodiments do not constitute a limitation on the embodiments of the present application.

[0067] Those skilled in the art should understand that the drawings are only schematic of the embodiments, and the components in the drawings are not necessarily essential for the implementation of the present application.

[0068] The pre-tactical phase heterogeneous unmanned aerial vehicle flight plan adaptive deployment refers to the adjustment of the flight route and process time in the flight plan based on the flight plan submitted by the heterogeneous unmanned aerial vehicle with different task types and flight performance before the unmanned aerial vehicle performs the flight activity, to realize the pre-dissipation of flight conflicts. The low-altitude unmanned aerial vehicle pre-tactical phase flight plan deployment is an important guarantee means to ensure the continuous safety and stability of the low-altitude airspace. The low-altitude heterogeneous unmanned aerial vehicle can effectively avoid the overlap of the time and space use of the limited airspace by the multi-airspace users by adjusting the flight plan. The present application provides a low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversified deployment method, which is based on the flight task application submitted by the unmanned aerial vehicle, uses the idea of pre-tactical unmanned aerial vehicle flight plan diversified deployment, carries out multi-factor priority evaluation of heterogeneous unmanned aerial vehicles, adjusts the flight route, takeoff time and flight speed in the flight plan, realizes optimal conflict dissipation of multiple machines, and guarantees the safe and efficient operation of low-altitude.

[0069] Embodiment 1

[0070] In this embodiment 1, a low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical multi-element deployment method is provided. In this method, first, according to the independent flight task of each unmanned aerial vehicle, an initial flight plan for the individual is generated; according to the initial flight plan, the overpass time and overpass speed of the unmanned aerial vehicle through the flight path waypoint are determined. Then, according to the speed information provided by the flight plan of multiple unmanned aerial vehicles, the overpass time of the unmanned aerial vehicle through the key waypoint is predicted, and whether there is a static or dynamic flight conflict between the unmanned aerial vehicle and the avoidance area, and between the unmanned aerial vehicles is judged. Then, according to the flight plan submission order, the flight task type, the flight performance and the user demand level, the CRITIC objective weighting method is used to determine the time and space resource use order of heterogeneous unmanned aerial vehicles. Finally, according to the time and space resource use order of heterogeneous unmanned aerial vehicles, the flight route, take-off time and flight speed in the flight plan of the conflicting unmanned aerial vehicles are adjusted.

[0071] As shown in Figure 1 , the above low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical multi-element deployment method specifically includes the following process steps:

[0072] Step 101, single machine initial flight plan generation and deduction of its process track.

[0073] According to the independent flight task of each unmanned aerial vehicle, an initial flight plan for the individual is generated. The initial flight plan specifically includes flight task nature, expected flight start and end time, flight path. In order to reduce the flight cost as much as possible, the flight path in the initial flight plan is usually the shortest distance path. According to the initial flight plan, the overpass time and overpass speed of the unmanned aerial vehicle through the flight path waypoint are deduced. In order to reduce the calculation complexity, the deduction process is usually linear extrapolation, that is, it is assumed that the unmanned aerial vehicle moves at a constant speed in a straight line.

[0074] Step 102, multi-machine track conflict detection, identify static and dynamic flight conflicts.

[0075] As shown in Figure 2 , whether there is a static or dynamic flight conflict between the unmanned aerial vehicle and the avoidance area, and between the unmanned aerial vehicles is judged, specifically including the following steps:

[0076] (1) Determine whether the waypoint in the unmanned aerial vehicle flight plan passes through a low-altitude static environmental target. The static environmental target includes low-altitude obstacles, no-fly zones, etc. If it does, it is considered that there is a static flight conflict;

[0077] (2) Further judgment is made on the waypoint where there is no static flight conflict. By introducing the initial flight plan of other UAVs, it is judged whether the waypoint is shared by other UAVs. If the time difference of two or more UAVs passing through the waypoint is less than the preset minimum time interval, it is considered that there is a dynamic flight conflict. The specific UAV passing point time calculation formula is as follows. The passing point time calculation in the cruising stage refers to formula (1), the passing point time calculation in the climbing and descending stage refers to formula (2), and the calculation process refers to formula (3);

[0078]

[0079] In the formula, (a1, b1) and (a2, b2) are the coordinates of two adjacent waypoints, v gs is the cruising speed of the UAV. T is the thrust of the UAV, f is the air resistance, m is the mass of the UAV, H is the height of the UAV, i is the number of the corresponding flight segment, and g is the gravity acceleration.

[0080] (3) Continue to the next waypoint until all waypoints in the flight plan of the UAV are traversed.

[0081] Step 103, multi-factor priority evaluation of heterogeneous UAVs is carried out to determine the order of use of time and space resources of the UAVs.

[0082] According to the factors such as the order of UAV plan submission, flight task type, flight performance, user demand level, etc., the CRITIC objective weighting method is used to evaluate the multi-factor priority order of heterogeneous UAVs, and the specific process is shown in Figure 3 .

[0083] Referring to the International Civil Aviation Organization traffic management document Doc 4444 Annex 11, the use of airspace by UAVs follows the principle of "first come, first served", that is, the order of flight plan submission is given priority processing to reduce potential unfair treatment. In this regard, the order of UAV plan submission is taken as evaluation index 1, and the score of the i-th UAV submitting the plan is calculated as follows:

[0084]

[0085] According to the common flight activity types of UAVs, the UAV flight task is taken as evaluation index 2, which is divided into 6 categories, and the corresponding score of the i-th type of flight task is as follows: I type of aerial survey, score x i2 = 1; II type of entertainment and leisure, score x i2 = 2; III type of flight training, score x i2 = 3; IV type of aerial surveillance, score x i2 = 4; V type of transportation and other public services, score x i2 = 5; VI type of search and rescue and other emergency services, score x i2 = 6.

[0086] According to the flight capabilities such as endurance time of the UAV, flight performance is taken as evaluation index 3, which is divided into 3 categories, then the corresponding score of the UAV of the ith category of flight performance is as follows: I category of long endurance time, score x i3 = 1; II category of medium endurance time, score x i3 = 2; III category of short endurance time, score x i3 = 5.

[0087] According to the urgency of the user demand of the UAV, the user demand level is taken as evaluation index 4, then the corresponding score of the UAV of the ith category of user demand level is as follows: I category of user time insensitivity, score x i4 = 1; II category of user time sensitivity, score x i4 = 10.

[0088] The above four evaluation indexes j = 1,..., 4 are comprehensively evaluated for all UAVs i = 1,..., N, and the evaluation index value x ij is assigned, and the average normalization processing is performed:

[0089]

[0090] In the formula, is the average value of index j.

[0091] The value difference fluctuation of different indexes is calculated, and the standard deviation S j is larger, indicating that the UAV flight plan value difference of the index j is larger, and the evaluation strength of the index itself is also stronger:

[0092]

[0093] The correlation between different indexes j and indexes k is calculated, and the larger the correlation coefficient is, the stronger the correlation between the index and other indexes is, which also weakens the evaluation strength of the index to a certain extent:

[0094]

[0095] The information amount of index j is calculated, and the larger the information amount of the index is, the greater the relative importance of the index is:

[0096]

[0097] The objective weight w j of the final index j is calculated, and the calculation formula is as follows:

[0098]

[0099] The composite superimposed heterogeneous UAV multi-factor priority value Score i is obtained:

[0100] Score i = w1 x x i1 + w2 x x i2 + w3 x x i3 + w4 x x i4 (10)

[0101] Step 104, design flight route, take-off time, flight speed and other diversified strategies to achieve the optimal solution.

[0102] After determining the priority order of heterogeneous UAVs, adjust the flight route, take-off time, flight speed and other parameters in the conflict UAV flight plan, the specific process is shown in Figure 4

[0103] (1) Determine whether there is a static flight conflict in the UAV flight plan. If there is, change the flight path, randomly select other paths from the set of alternative paths, and the selection probability of the i-th path prob i is inversely proportional to the path length length i ;

[0104]

[0105] (2) Determine whether the number of dynamic conflicts in the UAV flight plan is greater than the preset threshold. If it is greater, delay the take-off time by 2 min, and update the take-off time t orig in the flight plan to the adjusted speed t new :

[0106] t new = t orig + 2min, t orig ← t new (12)

[0107] If it is less, adjust the speed of the UAV passing through the conflict waypoint by 0.1 km / min to increase the interval between the passing time t of the UAV and the passing time of the high-priority UAV:

[0108]

[0109] where t j is the passing time of the high-priority UAV.

[0110] (3) Determine whether the adjusted UAV flight plan has a flight conflict. If there is, continue to adjust until all UAV flight plans are conflict-free.

[0111] ​In summary, the pre-tactical, diversified deployment method for low-altitude, heterogeneous UAV flight plans provided in this embodiment first initializes a single-aircraft flight plan and deduces its process trajectory. It then uses multi-aircraft flight plans to identify static and dynamic conflicts between UAVs and avoidance zones and other UAVs. Furthermore, conflicting UAVs undergo a CRITIC multi-factor priority assessment, encompassing factors such as plan submission order, mission type, flight performance, and user demand level. Finally, adjustments are made to the flight plan's flight path, takeoff time, flight speed, and other factors in a diversified manner based on priority. This effectively mitigates potential flight conflicts among heterogeneous UAV flight plans, ensuring the continued safety and stability of low-altitude airspace.

[0112] Example 2

[0113] like Figure 5 As shown, this embodiment 2 provides a pre-tactical diversified deployment system for low-altitude heterogeneous UAV flight plans, which can specifically include a flight plan initialization module 1, a conflict identification module 2, a priority assessment module 3, and a diversified deployment module 4. The flight plan initialization module 1 is used to generate an initial flight plan for a single UAV and deduce its trajectory; the conflict identification module 2 is used to identify static conflicts between UAVs and avoidance zones and dynamic conflicts between UAVs; the priority assessment module 3 is used to implement a priority order setting based on multiple factors for heterogeneous UAVs; and the diversified deployment module 4 is used to adjust strategies such as flight routes, takeoff times, and flight speeds in the UAV flight plan.

[0114] The flight plan initialization module 1 may include an initial flight plan generation module 11 and a process trajectory deduction module 12. The initial flight plan generation module 11 is used to determine the nature of the flight mission, the estimated flight start and end times, and the flight path, while the process trajectory deduction module 12 is used to determine the time and speed of the drone passing through the waypoints on its flight path.

[0115] The conflict identification module 2 may include a static conflict identification module 21 and a dynamic conflict identification module 22. The static conflict identification module 21 is used to determine whether a waypoint in the UAV flight plan passes through low-altitude static environmental targets such as low-altitude obstacles and no-fly zones, while the dynamic conflict identification module 22 is used to determine whether a waypoint in the UAV flight plan is shared with other UAVs and whether the time difference between the waypoints is less than the minimum time interval.

[0116] The priority evaluation module 3 can include a multi-factor assignment module 31, a CRITIC objective weighting module 32, and a priority value calculation module 33. The multi-factor assignment module 31 is configured to calculate scores of different evaluation indexes, such as the order of submission of the unmanned aerial vehicle plan, the type of flight task, the flight performance, and the user demand level. The objective weighting module 32 is configured to set objective weights of different information quantity indexes. The priority value calculation module 33 is configured to determine the priority order of the unmanned aerial vehicle after superposition.

[0117] Specifically, the multi-element deployment module 4 can include a strategy selection module 41 and a cycle judgment module 42. The strategy selection module 41 is configured to provide flight suggestions, such as flight route adjustment, take-off time adjustment, and flight speed adjustment, to the conflict unmanned aerial vehicle. The cycle judgment module 42 is configured to realize conflict resolution of all unmanned aerial vehicle flight plans.

[0118] The low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical multi-element deployment system provided in this embodiment 2 is used to implement the low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical multi-element deployment method described in embodiment 1. The specific implementation process can refer to embodiment 1, and will not be described here.

[0119] In summary, the system described in this embodiment 2 sets a flight plan initialization module, a conflict identification module, a priority evaluation module, and a multi-element deployment module. The process track of a single unmanned aerial vehicle is deduced according to the generated initial flight plan of the unmanned aerial vehicle. Static conflicts between the unmanned aerial vehicle and the avoidance area and dynamic conflicts between the unmanned aerial vehicles are identified. The priority order of the heterogeneous unmanned aerial vehicle flight activities is determined by comprehensively considering multiple evaluation indexes. Finally, the flight route, take-off time, flight speed, and the like in the flight plan of the conflict unmanned aerial vehicle are adjusted according to the priority order, so as to realize the resolution of potential flight conflicts of the heterogeneous unmanned aerial vehicle flight plan in the pre-tactical stage, and ensure the continuous safety and stability of the low-altitude airspace.

[0120] Embodiment 3

[0121] This embodiment 3 provides a non-transitory computer readable storage medium for storing computer instructions. When the computer instructions are executed by a processor, the low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical multi-element deployment method described above is implemented. The method includes:

[0122] According to the respective independent flight tasks of each unmanned aerial vehicle, an initial flight plan for an individual is generated. According to the initial flight plan, the overpass time and overpass speed of the unmanned aerial vehicle passing through the flight path waypoint are determined.

[0123] According to the speed information provided by the flight plans of multiple unmanned aerial vehicles, the overpass time of the unmanned aerial vehicle passing through the key waypoint is predicted, and it is judged whether there is a static or dynamic flight conflict between the unmanned aerial vehicle and the avoidance area or between the unmanned aerial vehicles.

[0124] According to the flight plan submission sequence, flight task type, flight performance, and user demand level of the heterogeneous unmanned aerial vehicles, a CRITIC objective weighting method is used to determine the time-space resource use sequence of the heterogeneous unmanned aerial vehicles.

[0125] According to the time-space resource use sequence of the heterogeneous unmanned aerial vehicles, the flight route, takeoff time, and flight speed in the conflict unmanned aerial vehicle flight plan are adjusted.

[0126] Embodiment 4

[0127] The embodiment 4 provides a computer device, comprising a memory and a processor, the processor and the memory are in communication with each other, the memory stores program instructions executable by the processor, and the processor invokes the program instructions to execute the low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversification deployment method as described above, which comprises:

[0128] According to the respective independent flight tasks of each unmanned aerial vehicle, an individual-oriented initial flight plan is generated; and according to the initial flight plan, the passing time and passing speed of the unmanned aerial vehicle passing through the flight path waypoints are determined.

[0129] According to the speed information provided by the flight plans of the multiple unmanned aerial vehicles, the passing time of the unmanned aerial vehicle passing through the key waypoints is predicted, and it is judged whether there is a static or dynamic flight conflict between the unmanned aerial vehicle and the avoidance area, or between the unmanned aerial vehicles.

[0130] According to the flight plan submission sequence, flight task type, flight performance, and user demand level of the heterogeneous unmanned aerial vehicles, a CRITIC objective weighting method is used to determine the time-space resource use sequence of the heterogeneous unmanned aerial vehicles.

[0131] According to the time-space resource use sequence of the heterogeneous unmanned aerial vehicles, the flight route, takeoff time, and flight speed in the conflict unmanned aerial vehicle flight plan are adjusted.

[0132] Embodiment 5

[0133] The embodiment 5 provides an electronic device, comprising a processor, a memory, and a computer program; wherein the processor is connected with the memory, and the computer program is stored in the memory; when the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the instructions for realizing the low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversification deployment method as described above, which comprises:

[0134] According to the respective independent flight tasks of each unmanned aerial vehicle, an individual-oriented initial flight plan is generated; and according to the initial flight plan, the passing time and passing speed of the unmanned aerial vehicle passing through the flight path waypoints are determined.

[0135] According to speed information provided by flight plans of multiple unmanned aerial vehicles, a passing time of the unmanned aerial vehicle passing a key waypoint is predicted, and whether a static or dynamic flight conflict exists between the unmanned aerial vehicle and an avoidance area, or between the unmanned aerial vehicle and another unmanned aerial vehicle is judged;

[0136] According to a submission sequence of the unmanned aerial vehicle flight plan, a flight task type, flight performance, and a user demand level, a CRITIC objective weighting method is used to determine a time-space resource use sequence of heterogeneous unmanned aerial vehicles.

[0137] According to the time-space resource use sequence of the heterogeneous unmanned aerial vehicles, flight routes, takeoff times, and flight speeds in the flight plans of the conflict unmanned aerial vehicles are adjusted.

[0138] In summary, the low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversified deployment method described in the embodiments of the present application initializes a single flight plan, generates an initial flight plan of the unmanned aerial vehicle and deduces a process track thereof, and then on the basis of multiple flight plans, uses the predicted passing time information of the unmanned aerial vehicle passing a key waypoint to effectively identify static and dynamic conflicts between the unmanned aerial vehicle and an avoidance area or another unmanned aerial vehicle. For the conflict unmanned aerial vehicle, a heterogeneous unmanned aerial vehicle multi-factor priority evaluation mechanism is established, including factors such as a plan submission sequence, a flight task type, flight performance, and a user demand level, and flight routes, takeoff times, flight speeds, etc. in the flight plan are diversified adjusted according to the priority order. The present application realizes optimal conflict resolution of low-altitude airspace heterogeneous unmanned aerial vehicles in the pre-tactical stage, effectively avoids conflicts in the use of time and space of limited airspace by multiple unmanned aerial vehicles, and meets the requirements of rational use and continuous safety of low-altitude airspace resources.

[0139] Those skilled in the art will understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0140] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce a device that implements the flowcharts and / or block diagrams. Figure 1 one flow or multiple flows and / or blocksFigure 1 means for performing the function specified in the block or blocks.

[0141] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flow Figure 1 flow or flows and / or blocks Figure 1 means for performing the function specified in the block or blocks.

[0142] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 flow or flows and / or blocks Figure 1 steps for performing the function specified in the block or blocks.

[0143] The above description is only a specific implementation of the present application, and is not intended to limit the protection scope of the present application. It should be understood by those skilled in the art that various modifications or changes can be made to the disclosed technical solutions without inventive labor, and all these modifications or changes should be covered within the protection scope of the present application.

Claims

1. A low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversification deployment method, characterized in that, The application comprises the following steps: generating individual-oriented initial flight plans according to respective flight tasks of each unmanned aerial vehicle (UAV); determining the time and speed of each UAV passing through the flight path waypoints according to the initial flight plans; predicting the time of each UAV passing through the critical waypoints according to the speed information provided by the flight plans of the plurality of UAVs, and determining whether there is a static or dynamic flight conflict between the UAVs and the avoidance area or between the UAVs; determining the time-space resource use order of the heterogeneous UAVs by using the CRITIC objective weighting method according to the submission order of the UAV flight plans, the flight task types, the flight performance, and the user demand level, wherein the user demand level is the urgency of the user demand of the UAVs; adjusting the flight route, takeoff time, and flight speed in the flight plans of the conflict UAVs according to the time-space resource use order of the heterogeneous UAVs, including: determining whether there is a static flight conflict in the UAV flight plans, and if so, changing the flight path and randomly selecting other paths from the set of alternative paths; determining whether the number of dynamic conflicts in the UAV flight plans is greater than a preset threshold, and if so, delaying the takeoff time at a certain time interval and updating the takeoff time in the flight plans; if not, adjusting the speed of the UAV passing through the conflict waypoints at a certain speed interval to increase the interval between the passing time of the UAV and the passing time of the high-priority UAV; determining whether there is a flight conflict in the adjusted UAV flight plans, and if so, continuing to adjust until all UAV flight plans are conflict-free.

2. The low altitude heterogeneous unmanned vehicle flight plan pre-tactical multi-verse deployment method of claim 1, wherein, predicting the time of each UAV passing through the critical waypoints according to the speed information provided by the flight plans of the plurality of UAVs, and determining whether there is a static or dynamic flight conflict between the UAVs and the avoidance area or between the UAVs; including: determining whether the waypoints in the UAV flight plans pass through low-altitude static environmental targets, and if so, considering that there is a static flight conflict; further determining the waypoints that do not have a static flight conflict, judging whether the waypoints are shared with other UAVs by introducing other UAV initial flight plans, and if the time difference between the passing times of two or more UAVs is less than a preset minimum time interval, considering that there is a dynamic flight conflict; continuing to the next waypoint until all waypoints in the UAV flight plans are traversed.

3. The low altitude heterogeneous unmanned vehicle flight plan pre-tactical multi-verse orchestration method of claim 1, wherein, determining the time-space resource use order of the heterogeneous UAVs by using the CRITIC objective weighting method according to the submission order of the UAV flight plans, the flight task types, the flight performance, and the user demand level; including: taking the submission order of the UAV flight plans as evaluation index 1 to determine the UAV score of each UAV submitting a flight plan; taking the UAV flight task as evaluation index 2 to determine the corresponding UAV score of each type of flight task according to common UAV flight activity types; taking the flight performance as evaluation index 3 to determine the corresponding UAV score of each type of flight performance according to the endurance time flight capability of the UAV; taking the user demand level as evaluation index 4 to determine the corresponding UAV score of each type of demand level according to the urgency of the user demand of the UAV. The comprehensive evaluation index 1, the evaluation index 2, the evaluation index 3 and the evaluation index 4 are used to evaluate the index value of all unmanned aerial vehicles, and the average normalization processing is performed thereon; According to the average normalization processing, the value difference fluctuation of different indexes and the correlation between the indexes are calculated; According to the value difference fluctuation and the correlation between the indexes, the relative importance of each index is calculated to determine the objective weight thereof; According to the objective weight, the index value of the composite superposition of the heterogeneous unmanned aerial vehicles is obtained by combining the index value of each unmanned aerial vehicle after the average normalization processing.

4. The low altitude heterogeneous unmanned vehicle flight plan pre-tactical multi-verse deployment method of claim 3, wherein, The evaluation index j = 1,...,4 is assigned to all unmanned aerial vehicles i = 1,...N ij and is normalized by averaging as wherein, is the average value for index j; The value difference fluctuation of different indexes is calculated, and the standard deviation S j The greater the value, the greater the difference in the UAV flight plan of the index j, and the stronger the evaluation strength of the index itself: The correlation between different indexes j and other indexes k is calculated, and the larger the correlation coefficient is, the stronger the correlation between the index and other indexes is, which to some extent weakens the evaluation strength of the index: The information amount of the index j is calculated, and the larger the information amount of the index is, the greater the relative importance of the index is: Objective weight w of final index j j is: A composite, stacked, heterogeneous drone multi-factor priority numerical score is obtained i is: Score i = w1 x x i1 + w2 x x i2 + w3 x x i3 + w4 x x i4 .

5. The low altitude heterogeneous unmanned vehicle flight plan pre-tactical multi-verse orchestration method of claim 1, wherein, Randomly select other paths from the set of alternative paths, the selection probability of the ith path prob i Inversely proportional to its path length length i ; determine whether the number of dynamic conflicts in the flight plan of the unmanned aerial vehicle is greater than a preset threshold value, and if greater than the preset threshold value, delay the takeoff time by 2 min intervals and update the takeoff time t orig in the flight plan to the adjusted takeoff time t new : t new = t orig + 2 min, t orig ← t new ; If it is less than the preset threshold, the speed of the unmanned aerial vehicle passing through the conflict waypoint is adjusted at intervals of 0.1 km / min to increase the time interval between the passing time t of the unmanned aerial vehicle and the passing time of the high-priority unmanned aerial vehicle: wherein t j is the transit time for a high-priority drone.

6. A low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversification deployment system based on the deployment method of any one of claims 1-5, characterized in that, It includes: A flight plan initialization module is configured to generate an initial flight plan for each unmanned aerial vehicle according to its respective independent flight task; According to the initial flight plan, the passing time and speed of the unmanned aerial vehicle passing through the flight path waypoint are determined; A conflict identification module is configured to predict the passing time of the unmanned aerial vehicle passing through the key waypoint according to the speed information provided by the flight plan of the unmanned aerial vehicle, and to determine whether there is a static or dynamic flight conflict between the unmanned aerial vehicle and the avoidance area, or between the unmanned aerial vehicles; A priority evaluation module is configured to determine the time and space resource use order of the heterogeneous unmanned aerial vehicles by using the CRITIC objective weighting method according to the flight plan submission order, flight task type, flight performance and user demand level of the unmanned aerial vehicles, wherein the user demand level is the urgency of the user demand of the unmanned aerial vehicle; A diversified deployment module is configured to adjust the flight route, takeoff time and flight speed in the flight plan of the conflict unmanned aerial vehicle according to the time and space resource use order of the heterogeneous unmanned aerial vehicles.

7. A non-transitory computer-readable storage medium, comprising: The non-transitory computer readable storage medium is used to store computer instructions, which are executed by the processor to implement the low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversified deployment method of any one of claims 1-5.

8. A computer device, comprising: The processor and the memory are in communication with each other, and the memory stores program instructions executable by the processor, and the processor invokes the program instructions to execute the low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversified deployment method of any one of claims 1-5.

9. An electronic device, comprising: It includes: A processor, a memory and a computer program; wherein the processor is connected with the memory, and the computer program is stored in the memory; when the electronic device is running, the processor executes the computer program stored in the memory to make the electronic device execute the instructions for implementing the low-altitude heterogeneous unmanned aerial vehicle flight plan pre-tactical diversified deployment method of any one of claims 1-5.

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