Tool and method for pre-deploying flight plan of unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle flight plan pre-allocation tool and method, and the tool comprises an information input module, a target constraint generation module, an allocation model building module, an allocation scheme generation module, and an allocation scheme release module. The unmanned aerial vehicle flight plan pre-allocation method is realized by using the tool, and comprises the following steps: step 1, receiving various types of information; 2, generating a pre-deployed target constraint of the flight plan of the unmanned aerial vehicle; 3, establishing a pre-deployed target planning model of the flight plan of the unmanned aerial vehicle; 4, solving and generating an unmanned aerial vehicle flight plan pre-allocation scheme; and step 5, issuing a scheme, and completing pre-deployment of the flight plan of the unmanned aerial vehicle. According to the invention, an implementation tool and a technical basis are provided for low-altitude flight service, urban air traffic management and unmanned aerial vehicle command and control.

Description

Technical Field

[0001] The present invention belongs to the field of air traffic management, and relates to a flight plan allocation tool and method, in particular to a flight plan pre-allocation tool and method for unmanned aerial vehicles. Background Art

[0002] This section merely provides background information related to the present disclosure and is not necessarily prior art.

[0003] Pre-allocation of UAV flight plans is an effective means to scientifically plan UAV flight schedules and resolve airspace use conflicts in the planning stage. It is one of the key technologies for air traffic management, low-altitude flight services, and command and control. Common flight plan allocation methods include first-come-first-served, allocation by task priority, and minimum total delay. Some technologies take the lowest flight plan cost as the allocation target, establish a UAV flight plan pre-allocation model, and generate a conflict-free schedule; some technologies associate the flight operation area or flight route in the flight plan with the airspace grid, determine the comprehensive priority of the flight plan, and establish a low-altitude airspace allocation model based on comprehensive priority under the gridded airspace to achieve flight plan pre-allocation. UAV flight missions are diversified, flight requirements are diversified, and different scenarios such as air logistics and emergency rescue have differentiated flight plan allocation requirements; the existing technology has fewer allocation targets, and less consideration is given to the different flight interval requirements between UAVs belonging to different operators. At present, there is still a lack of a simple method suitable for the planning stage to achieve rapid pre-allocation of UAV flight plans according to diversified allocation targets.

[0004] In terms of system tools, the existing drone operation management system or low-altitude flight service system and other related system tools have certain functions such as flight plan application and approval, information services, and drone mission planning. However, they are insufficient in the pre-allocation of drone flight plans, and it is difficult to meet the air traffic control support needs of large-volume and high-density drone flights and drone public route operation management. At present, there is still a lack of a drone flight plan pre-allocation tool that is versatile, portable, and embeddable.

[0005] The overall level of technology and equipment in low-altitude air traffic management and drone traffic management is in the initial development stage. Facing the development needs of drone public route networks and drone traffic systems, there is still great research and application potential. Therefore, a new technical solution is needed to solve the above technical problems.

[0006] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0007] Purpose of the invention: The technical problem to be solved by the present invention is to provide a tool and method for pre-allocation of UAV flight plans in view of the shortcomings of the prior art.

[0008] In order to solve the above technical problems, the present invention discloses a tool and method for pre-allocation of UAV flight plans, wherein the tool comprises:

[0009] Information input module, target constraint generation module, deployment model establishment module, deployment plan generation module and deployment plan release module; among them,

[0010] The information input module is used to receive various types of information, including: the route, take-off and landing points, flight plan, flight interval and target requirements pre-allocated in the UAV flight plan;

[0011] The target constraint generation module is used to generate target constraints pre-allocated for the UAV flight plan based on various types of information received by the information input module;

[0012] The deployment model establishment module is used to establish a target planning model for pre-deployment of the UAV flight plan according to the target constraints for pre-deployment of the UAV flight plan generated by the target constraint generation module;

[0013] The deployment plan generation module is used to solve the target planning model for pre-deployment of the UAV flight plan established by the deployment model establishment module, and generate a pre-deployment plan for the UAV flight plan;

[0014] The deployment plan publishing module is used to publish the UAV flight plan pre-deployment plan generated by the deployment plan generating module.

[0015] Furthermore, the tool also includes: a server, a workstation, and a comprehensive information access device; wherein,

[0016] The server is used to calculate, store and manage the various types of information;

[0017] The workstation is used for performing graphic image processing, data calculation and human-computer interaction;

[0018] The comprehensive information access device serves as the information input interface of the tool.

[0019] The present invention also proposes a method for pre-allocation of a UAV flight plan, which is implemented using the above-mentioned tool and includes the following steps:

[0020] Step 1, receiving various information, including: the route, take-off and landing points, flight plan, flight interval and target requirements pre-allocated in the UAV flight plan; wherein the target requirements pre-allocated in the UAV flight plan include target content and target priority;

[0021] Step 2, generating target constraints pre-allocated for the UAV flight plan based on the various information received in step 1;

[0022] Step 3, establishing a target planning model for pre-allocation of the UAV flight plan according to the target constraints for pre-allocation of the UAV flight plan generated in step 2;

[0023] Step 4, solving the target planning model for pre-allocation of the UAV flight plan established in step 3, and generating a pre-allocation plan for the UAV flight plan;

[0024] Step 5, publish the drone flight plan pre-allocation plan generated in step 4 to complete the drone flight plan pre-allocation.

[0025] Furthermore, the generation of the pre-allocated target constraints for the UAV flight plan described in step 2 specifically includes the following steps:

[0026] Step 2-1, extracting the priority of each target according to the various types of information received in step 1;

[0027] Step 2-2: According to the priorities extracted in step 2-1, sort the targets in descending order of priority as follows:

[0028] P1>>P2>>…P u …>>P U

[0029] Among them, P u is the priority of target u (u=1,2,…,U), U is the total number of targets, >> means the priority of the target on the left side of the symbol is greater than the priority of the target on the right side;

[0030] Step 2-3, according to the order in step 2-2, generate a target constraint or an absolute constraint for each target in turn.

[0031] Furthermore, the target constraints described in step 2-3 are generated for each target, which are expressed as follows:

[0032]

[0033] i=1,2,…,I

[0034] u=1,2,…,U

[0035] m=1,2,…,M

[0036]

[0037] The target constraint represents the target value to be achieved. The flight delay in the UAV flight plan i is allowed to have a positive or negative deviation, where I is the total number of UAV flight plans, and are the positive deviation variable and negative deviation variable of target u respectively, U represents the total number of targets, represents the time after deployment when the UAV passes through waypoint m in flight plan i, It represents the planned time when the UAV passes through waypoint m in flight plan i, where the take-off and landing points are merged into waypoints, and the time when the waypoint is passed is the take-off time or landing time. M is the sum of the number of waypoints after the merger and the number of take-off and landing points. It represents the delay coefficient of the UAV passing through waypoint m in flight plan i under target u.

[0038] Furthermore, the delay coefficient of the UAV passing through waypoint m in flight plan i under target u described in step 2-3 is expressed as:

[0039]

[0040] Furthermore, the absolute constraints described in step 2-3 are generated for each target, which are expressed as follows:

[0041]

[0042] i=1,2,…,I

[0043] u=1,2,…,U

[0044] The absolute constraint means that the target value t iu 0 The flight delay requirements that the drone flight plan must meet.

[0045] Furthermore, the mathematical model for pre-allocation of the UAV flight plan in step 3 specifically includes the following steps:

[0046] Step 3-1, establishing an objective function for pre-allocation of the UAV flight plan according to the objective constraints for pre-allocation of the UAV flight plan generated in step 2;

[0047] Step 3-2, according to the objective function established in step 3-1, establish constraints, the constraints include: target constraints, absolute constraints and flight interval constraints, wherein the flight interval constraints are expressed as follows:

[0048]

[0049] m=1,2,…,M

[0050] The flight interval constraint means that the flight interval requirement is met between two UAVs that pass any waypoint or take off from the same landing point or land from the same landing point, and S represents the time interval between the two UAVs;

[0051] Step 3-3, based on the objective function established in step 3-1 and the constraints established in step 3.2, establish a target planning model for pre-allocation of UAV flight plans.

[0052] Furthermore, the objective function described in step 3-1 is expressed as follows:

[0053]

[0054] in, Indicates that the deviation between the UAV flight delay and the target requirement is minimized.

[0055] Furthermore, the target planning model for pre-allocation of the UAV flight plan described in step 3-3 is expressed as follows:

[0056]

[0057] st

[0058]

[0059] i,j=1,2,…,I

[0060] m=1,2,…,M

[0061] u=1,2,…,U

[0062] .

[0064] Beneficial effects:

[0065] 1. The present invention provides an implementation tool for low-altitude flight services, urban air traffic management, and UAV command and control, which is easy to embed into air traffic control systems, low-altitude flight service systems, and UAV-related command and control systems, and provides technical support for the development and upgrading of air traffic control systems, low-altitude flight service systems, and UAV-related command and control systems;

[0066] 2. The present invention provides a technical basis for UAV flight plan management, flight time management and public route management, and the implementation method is simple, fast and easy to operate;

[0067] 3. The present invention provides a technical basis for low-altitude air traffic management and UAV traffic management. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more clear.

[0069] Figure 1 The software module composition and internal information relationship diagram of the UAV flight plan pre-allocation tool of the present invention.

[0070] Figure 2 The present invention is a flowchart of the method for pre-allocating the flight plan of a UAV.

[0071] Figure 3 Flow chart of the method for generating target constraints pre-allocated for the UAV flight plan of the present invention.

[0072] Figure 4 A flow chart of a method for establishing a mathematical model for pre-allocating a UAV flight plan of the present invention.

[0073] Figure 5 The figure is a schematic diagram of a UAV route network in a specific embodiment. DETAILED DESCRIPTION

[0074] This invention proposes a tool and method for pre-allocation of UAV flight plans. Based on the information of the UAV's route, take-off and landing points, flight plan, flight interval and target requirements of the pre-allocation of the UAV flight plan, the time for each UAV to pass through the waypoint is optimized on the basis of ensuring the flight interval between the UAVs, and a satisfactory plan for pre-allocation of the flight plan is proposed for each allocation target.

[0075] The tool and method proposed in the present invention optimizes the time for each UAV to pass through the waypoints based on information such as the UAV's route, take-off and landing points, flight plan, flight interval, and target requirements for pre-allocation of the UAV flight plan, while ensuring the flight interval between UAVs, and proposes a satisfactory flight plan pre-allocation solution for each allocation target.

[0076] The specific technical solutions of the present invention are as follows:

[0077] A tool for pre-allocation of unmanned aerial vehicle flight plans comprises an information input module, a target constraint generation module, a deployment model establishment module, a deployment plan generation module, a deployment plan publishing module, a server, a workstation, and a comprehensive information access device; the information input module is used to receive information such as the route, take-off and landing points, flight plan, flight interval, and target requirements for pre-allocation of the unmanned aerial vehicle flight plan; the target constraint generation module is used to generate target constraints for pre-allocation of the unmanned aerial vehicle flight plan according to the information such as the route, take-off and landing points, flight plan, flight interval, and target requirements for pre-allocation of the unmanned aerial vehicle flight plan received by the information input module; the deployment model establishment module is used to establish a target planning model for pre-allocation of the unmanned aerial vehicle flight plan according to the target constraints for pre-allocation of the unmanned aerial vehicle flight plan generated by the target constraint generation module; the deployment plan generation module is used to solve the target planning model for pre-allocation of the unmanned aerial vehicle flight plan established by the deployment model establishment module, and generate a pre-allocation plan for the unmanned aerial vehicle flight plan; the deployment plan publishing module is used to publish the pre-allocation plan for the unmanned aerial vehicle flight plan generated by the deployment plan generation module.

[0078] The server is used to calculate, store and manage various types of information of a drone flight plan pre-deployment tool, and complete the functional response of each software module; the workstation is used for various types of graphic image processing, data calculation and human-computer interaction of a drone flight plan pre-deployment tool; the comprehensive information access device is used as an interface for information input of a drone flight plan pre-deployment tool.

[0079] The present invention also proposes a method for pre-allocation of a UAV flight plan, comprising the following steps:

[0080] Step 1: Receive information such as the route, take-off and landing points, flight plan, flight interval, and target requirements for pre-allocation of the UAV flight plan. The flight plan generally includes but is not limited to information such as take-off time, take-off and landing points, landing time, longitude and latitude of waypoints, etc. The flight interval is generally set according to conditions such as airspace capacity and low-altitude flight services. The target requirements for pre-allocation of the UAV flight plan are generally requirements for the timeliness of the flight plan, delay time, number of delayed sorties, etc.;

[0081] Step 2: Generate the target constraints for the pre-allocated UAV flight plan based on the UAV route, take-off and landing points, flight plan, flight interval, and target requirements (including target content and target priority) pre-allocated in the UAV flight plan received in step 1;

[0082] Step 3: Based on the target constraints of the UAV flight plan pre-allocation generated in step 2, a target planning model for the UAV flight plan pre-allocation is established;

[0083] Step 4: Use a sequential algorithm or other method to solve the target planning model for pre-allocation of the UAV flight plan established in step 3, and generate a pre-allocation plan for the UAV flight plan, which generally includes but is not limited to information such as the take-off time, landing time, and waypoint time of each UAV;

[0084] Step 5: Publish the drone flight plan pre-deployment plan generated in step 4. The target audience is generally air traffic control agencies, low-altitude flight service agencies, drone operators and other relevant parties.

[0085] Preferably, the method for generating target constraints for pre-allocation of the UAV flight plan in step 2 comprises the following steps:

[0086] Step 2.1: Extract the priority of each target (referring to the target pre-allocated in the UAV flight plan) according to the information of the UAV route, take-off and landing point, flight plan, flight interval and target requirements pre-allocated in the UAV flight plan received in step 1;

[0087] Step 2.2: According to the priorities extracted in step 2.1, sort the targets from high to low according to their priorities, satisfying P1>>P2>>…>>P U , P u is the priority of target u (u=1,2,…,U, U is the total number of targets);

[0088] Step 2.3: According to the target order arranged in step 2.2, generate target constraints or absolute constraints for each target in turn, as shown below:

[0089]

[0090] i=1,2,…,I

[0091] u=1,2,…,U

[0092] m=1,2,…,M

[0093]

[0094] The target constraint represents the target value The flight delay in the UAV flight plan i is allowed to have a positive or negative deviation, where I is the total number of UAV flight plans, and are the positive deviation variable and negative deviation variable of target u respectively, represents the time after deployment when the UAV passes through waypoint m in flight plan i, It represents the planned time when the UAV passes through waypoint m in flight plan i, where the take-off and landing points are merged into waypoints, and the time when the waypoint is passed is the take-off time or landing time. M is the sum of the number of waypoints after the merger and the number of take-off and landing points. It represents the delay coefficient of the UAV passing through waypoint m in flight plan i under target u, which is expressed as:

[0095]

[0096] An absolute constraint is expressed as:

[0097]

[0098] i=1,2,…,I

[0099] u=1,2,…,U

[0100] The absolute constraint means that the target value t iu 0 The flight delay requirements that the drone flight plan must meet.

[0101] Preferably, the method for establishing a mathematical model for pre-allocation of the UAV flight plan in step 3 comprises the following steps:

[0102] Step 3.1: According to the objective constraints of the UAV flight plan pre-allocation generated in step 2, the objective function of the UAV flight plan pre-allocation is established, which is expressed as:

[0103]

[0104] Step 3.2: According to the objective function established in step 3.1, establish constraint conditions, which include: target constraint, absolute constraint and flight interval constraint, wherein the flight interval constraint is expressed as follows:

[0105]

[0106] i,j=1,2,…,I

[0107] m=1,2,…,M

[0108] The flight interval constraint means that the flight interval requirement is met between two UAVs that pass any waypoint or take off from the same landing point or land from the same landing point, and S represents the time interval between the two UAVs;

[0109] Step 3.3: According to the objective function of the UAV flight plan pre-allocation established in step 3.1 and the constraints established in step 3.2, the objective planning model of the UAV flight plan pre-allocation is established, which is expressed as:

[0110]

[0111] i,j=1,2,…,I

[0112] m=1,2,…,M

[0113] u=1,2,…,U

[0114]

[0115] Embodiment 1:

[0116] like Figure 1 As shown, in a specific embodiment of the present invention, a UAV flight plan pre-allocation tool includes an information input module, a target constraint generation module, a deployment model establishment module, a deployment plan generation module, a deployment plan publishing module, a server, a workstation, and an integrated information access device; the information input module is used to receive information such as the route, take-off and landing points, flight plan, flight interval, and target requirements for pre-allocation of the UAV flight plan; the target constraint generation module is used to generate the target constraints for pre-allocation of the UAV flight plan according to the information such as the route, take-off and landing points, flight plan, flight interval, and target requirements for pre-allocation of the UAV flight plan received by the information input module; the deployment model establishment module is used to establish a target planning model for pre-allocation of the UAV flight plan according to the target constraints for pre-allocation of the UAV flight plan generated by the target constraint generation module; the deployment plan generation module is used to solve the target planning model for pre-allocation of the UAV flight plan established by the deployment model establishment module to generate a pre-allocation plan for the UAV flight plan; the deployment plan publishing module is used to publish the pre-allocation plan for the UAV flight plan generated by the deployment plan generation module.

[0117] The server is used to calculate, store and manage various types of information of a drone flight plan pre-deployment tool, and complete the functional response of each software module; the workstation is used for various types of graphic image processing, data calculation and human-computer interaction of a drone flight plan pre-deployment tool; the comprehensive information access device is used as an interface for information input of a drone flight plan pre-deployment tool.

[0118] like Figure 2 As shown, a method for pre-allocation of a UAV flight plan comprises the following steps:

[0119] Step 1: Receive information such as the route, take-off and landing points, flight plan, flight interval, and target requirements pre-allocated in the UAV flight plan, among which the flight interval is generally set as the time interval;

[0120] Step 2: Generate the target constraints for the pre-allocation of the UAV flight plan based on the information such as the route, take-off and landing points, flight plan, flight interval of the UAV received in step 1, and the target requirements for the pre-allocation of the UAV flight plan;

[0121] Step 3: Based on the target constraints of the UAV flight plan pre-allocation generated in step 2, a target planning model for the UAV flight plan pre-allocation is established;

[0122] Step 4: Solve the target planning model for pre-allocation of the UAV flight plan established in step 3 to generate a pre-allocation plan for the UAV flight plan;

[0123] Step 5: Publish the drone flight plan pre-deployment plan generated in step 4.

[0124] like Figure 3 As shown, the step 2 of the method for pre-allocating a UAV flight plan disclosed in the present invention proposes a method for generating target constraints for pre-allocating a UAV flight plan, including the following steps:

[0125] Step 2.1: Extract the priority of each target based on the route, take-off and landing point, flight plan, flight interval and target requirements pre-allocated in the UAV flight plan of the UAV received in step 1;

[0126] Step 2.2: According to the priorities extracted in step 2.1, sort the targets from high to low according to their priorities, satisfying P1>>P2>>…>>P U , P u is the priority of target u (u=1,2,…,U, U is the total number of targets);

[0127] Step 2.3: According to the target order arranged in step 2.2, generate target constraints or absolute constraints for each target in turn, as shown below:

[0128]

[0129] i=1,2,…,I

[0130] u=1,2,…,U

[0131] m=1,2,…,M

[0132]

[0133] The target constraint represents the target value to be achieved. The flight delay in the UAV flight plan i is allowed to have a positive or negative deviation, where I is the total number of UAV flight plans, and are the positive deviation variable and negative deviation variable of target u respectively, represents the time after deployment when the UAV passes through waypoint m in flight plan i, It represents the planned time when the UAV passes through waypoint m in flight plan i, where the take-off and landing points are merged into waypoints, and the time when the waypoint is passed is the take-off time or landing time. M is the sum of the number of waypoints after the merger and the number of take-off and landing points. It represents the delay coefficient of the UAV passing through waypoint m in flight plan i under target u, which is expressed as:

[0134]

[0135] An absolute constraint is expressed as:

[0136]

[0137] i=1,2,…,I

[0138] u=1,2,…,U

[0139] The absolute constraint means that the target value t iu 0 The flight delay requirements that the drone flight plan must meet.

[0140] like Figure 4 As shown, the step 3 of the method for pre-allocation of a UAV flight plan disclosed in the present invention proposes a method for establishing a mathematical model for pre-allocation of a UAV flight plan, including the following steps:

[0141] Step 3.1: According to the objective constraints of the UAV flight plan pre-allocation generated in step 2, the objective function of the UAV flight plan pre-allocation is established, which is expressed as:

[0142]

[0143] Step 3.2: According to the objective function established in step 3.1, establish constraints.

[0144] The constraints include: target constraints, absolute constraints and flight interval constraints, wherein the flight interval constraints are expressed as follows:

[0145]

[0146] i,j=1,2,…,I

[0147] m=1,2,…,M

[0148] u=1,2,…,U

[0149] The flight interval constraint indicates that the flight interval requirement is met between two UAVs that pass through any waypoint or take off from the same landing point or land from the same landing point, and S represents the time interval between the two UAVs.

[0150] Step 3.3: According to the objective function of the UAV flight plan pre-allocation established in step 3.1 and the constraints established in step 3.2, the objective planning model of the UAV flight plan pre-allocation is established, which is expressed as:

[0151]

[0152] st

[0153]

[0154] i,j=1,2,…,I

[0155] m=1,2,…,M

[0156] u=1,2,…,U

[0157]

[0158] Embodiment 2:

[0159] Take the flight simulation data of a certain UAV flight airspace as an example. Figure 5 This is a schematic diagram of the route of the drone's flight airspace. There are multiple route intersections and different types of drones. According to drone flight experience, the average cruising speeds of small, medium and large drones are set to 50km / h, 80km / h and 100km / h respectively.

[0160] Step 1, receiving the UAV's route, take-off and landing points, flight plan, flight interval, and target requirements pre-allocated in the UAV flight plan, as shown in Tables 1 to 3, respectively. The flight interval between the two UAVs is 5 minutes.

[0161] Table 1 UAV route information

[0162]

[0163]

[0164] Table 2 UAV flight plan

[0165]

[0166] Table 3 Target requirement information pre-allocated for UAV flight plan

[0167]

[0168]

[0169] Step 2: Generate target constraints for the pre-allocated UAV flight plan based on the UAV's route, take-off and landing points, flight plan, flight interval, and target requirements for the pre-allocated UAV flight plan received in step 1.

[0170] Sort the goals in descending order according to their priority, as shown in Table 4.

[0171] Table 4 Target ranking pre-allocated in UAV flight plan

[0172] Serial number Target content Priority 1 The mission of Flight Plan 5 is important and cannot be delayed. <![CDATA[P1]]> 2 The takeoff delay time at takeoff and landing point 2 can exceed 5 minutes, but try to control <![CDATA[P2]]> 3 The mission of flight plan 3 is more important, try to minimize the delay <![CDATA[P3]]> 4 The total delay of all flight plans is as short as possible <![CDATA[P4]]>

[0173] The planned time for the drone to pass a waypoint in the flight plan is calculated based on the planned take-off time, planned landing time, and the distance between the two waypoints in the drone flight plan received in step 1 divided by the average cruising speed of the drone, as shown in Table 5.

[0174] Table 5 Planned time for drones to pass waypoints

[0175]

[0176]

[0177] In this embodiment, the targets are all for the delay time, so the delay coefficients are all 1. According to the target sequence shown in Table 4, target constraints or absolute constraints are generated for each target in turn.

[0178] Objective 1: The mission of flight plan 5 is important and cannot be delayed. An absolute constraint is generated, which is expressed as:

[0179]

[0180] Goal 2: The takeoff delay time of take-off and landing point 2 can exceed 5 minutes, but it should be controlled as much as possible. The goal constraint is generated as follows:

[0181]

[0182] Goal 3, the mission of flight plan 3 is more important, try to minimize the delay time, generate the goal constraint, expressed as:

[0183]

[0184] Objective 4: The total delay time of all flight plans is as small as possible. Generate objective constraints, expressed as:

[0185]

[0186] Step 3: Establish a target planning model for pre-allocation of UAV flight plans, expressed as:

[0187]

[0188]

[0189] Step 4, using a sequential algorithm or other methods to solve the target planning model for the pre-allocation of the UAV flight plan established in step 3, and generate the pre-allocation scheme for the UAV flight plan shown in Table 6.

[0190] Table 6 UAV flight plan pre-allocation plan

[0191]

[0192]

[0193] Step 5: Release the drone flight plan pre-deployment plan generated in step 4 to the air traffic control agency, low-altitude flight service agency, drone operators involved in the flight plan and other relevant parties in the drone flight airspace.

[0194] In a specific implementation, the present application provides a computer storage medium and a corresponding data processing unit, wherein the computer storage medium can store a computer program, and when the computer program is executed by the data processing unit, the invention content of a tool and method for pre-allocation of a UAV flight plan provided by the present invention and some or all steps in each embodiment can be executed. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0195] Those skilled in the art can clearly understand that the technical solutions in the embodiments of the present invention can be implemented by means of computer programs and their corresponding general hardware platforms. Based on such an understanding, the technical solutions in the embodiments of the present invention can be essentially or partly contributed to the prior art in the form of computer programs, i.e., software products, which can be stored in a storage medium and include several instructions for enabling a device including a data processing unit (which can be a personal computer, a server, a single-chip microcomputer, an MCU or a network device, etc.) to execute the methods described in various embodiments of the present invention or certain parts of the embodiments.

[0196] The present invention provides a tool and method for pre-allocation of UAV flight plans. There are many methods and ways to implement the technical solution. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention. All components not specified in this embodiment can be implemented by existing technologies.

Claims

1. A drone flight plan pre-deployment tool, characterized in that: include: Information input module, target constraint generation module, deployment model establishment module, deployment plan generation module and deployment plan release module; among them, The information input module is used to receive various types of information, including: the route, take-off and landing points, flight plan, flight interval and target requirements pre-allocated in the UAV flight plan; The target constraint generation module is used to generate target constraints pre-allocated for the UAV flight plan based on various types of information received by the information input module; The deployment model establishment module is used to establish a target planning model for pre-deployment of the UAV flight plan according to the target constraints for pre-deployment of the UAV flight plan generated by the target constraint generation module; The deployment plan generation module is used to solve the target planning model for pre-deployment of the UAV flight plan established by the deployment model establishment module, and generate a pre-deployment plan for the UAV flight plan; The deployment plan publishing module is used to publish the UAV flight plan pre-deployment plan generated by the deployment plan generating module.

2. A UAV flight plan pre-deployment tool according to claim 1, characterized in that: The tools also include: servers, workstations, and integrated information access equipment; The server is used to calculate, store and manage the various types of information; The workstation is used for performing graphic image processing, data calculation and human-computer interaction; The comprehensive information access device serves as the information input interface of the tool.

3. A method for pre-allocation of a UAV flight plan, characterized in that: Using any one of the tools in claim 1 or 2 to achieve, including the following steps: Step 1, receiving various information, including: the route, take-off and landing points, flight plan, flight interval and target requirements pre-allocated in the UAV flight plan; wherein the target requirements pre-allocated in the UAV flight plan include target content and target priority; Step 2, generating target constraints pre-allocated for the UAV flight plan based on the various information received in step 1; Step 3, establishing a target planning model for pre-allocation of the UAV flight plan according to the target constraints for pre-allocation of the UAV flight plan generated in step 2; Step 4, solving the target planning model for pre-allocation of the UAV flight plan established in step 3, and generating a pre-allocation plan for the UAV flight plan; Step 5, publish the drone flight plan pre-allocation plan generated in step 4 to complete the drone flight plan pre-allocation.

4. A method for pre-allocation of UAV flight plan according to claim 3, characterized in that: The step 2 of generating the pre-allocated target constraints for the UAV flight plan specifically includes the following steps: Step 2-1, extracting the priority of each target according to the various types of information received in step 1; Step 2-2: According to the priorities extracted in step 2-1, sort the targets in descending order of priority as follows: P1>>P2>>…P u …>>P U Among them, P u is the priority of target u (u=1,2,…,U), U is the total number of targets, >> means the priority of the target on the left side of the symbol is greater than the priority of the target on the right side; Step 2-3, according to the order in step 2-2, generate a target constraint or an absolute constraint for each target in turn.

5. A method for pre-allocating a UAV flight plan according to claim 4, characterized in that: The target constraints for each target described in step 2-3 are generated as follows: i=1,2,…,I u=1,2,…,U m=1,2,…,M The target constraint represents the target value The flight delay in the UAV flight plan i is allowed to have a positive or negative deviation, where I is the total number of UAV flight plans, and are the positive deviation variable and negative deviation variable of target u respectively, U represents the total number of targets, represents the time after deployment when the UAV passes through waypoint m in flight plan i, It represents the planned time when the UAV passes through waypoint m in flight plan i, where the take-off and landing points are merged into waypoints, and the time when the waypoint is passed is the take-off time or landing time. M is the sum of the number of waypoints after the merger and the number of take-off and landing points. It represents the delay coefficient of the UAV passing through waypoint m in flight plan u under target u.

6. A method for pre-allocation of UAV flight plans according to claim 5, characterized in that: The delay coefficient of the UAV passing through waypoint m in flight plan i under target u described in step 2-3 is expressed as:

7. A method for pre-allocation of UAV flight plan according to claim 6, characterized in that: Step 2-3 generates an absolute constraint for each target, expressed as follows: i=1,2,…,I u=1,2,…,U The absolute constraint means that the target value t iu 0 The flight delay requirements that the drone flight plan must meet.

8. A method for pre-allocating a UAV flight plan according to claim 7, characterized in that: The mathematical model for pre-allocation of the UAV flight plan described in step 3 specifically includes the following steps: Step 3-1, establishing an objective function for pre-allocation of the UAV flight plan according to the objective constraints for pre-allocation of the UAV flight plan generated in step 2; Step 3-2, according to the objective function established in step 3-1, establish constraints, the constraints include: target constraints, absolute constraints and flight interval constraints, wherein the flight interval constraints are expressed as follows: i,j=1,2,…,I m=1,2,…,M The flight interval constraint means that the flight interval requirement is met between two UAVs that pass any waypoint or take off from the same landing point or land from the same landing point, and S represents the time interval between the two UAVs; Step 3-3, based on the objective function established in step 3-1 and the constraints established in step 3.2, establish a target planning model for pre-allocation of UAV flight plans.

9. A method for pre-allocating a UAV flight plan according to claim 8, characterized in that: The objective function described in step 3-1 is expressed as follows: in, Indicates that the deviation between the UAV flight delay and the target requirement is minimized.

10. A method for pre-allocating a UAV flight plan according to claim 9, characterized in that: The target planning model for the pre-allocation of the UAV flight plan described in step 3-3 is expressed as follows: i,j=1,2,…,Im=1,2,…,Mu=1,2,…,U

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