Low-altitude take-off and landing facility planning method based on maximum coverage range and minimum resistance

Abstract

The invention relates to the technical field of infrastructure planning, and provides a low-altitude take-off and landing facility planning method based on maximum coverage and minimum resistance, and the method comprises the steps: S1, obtaining a plot center point of each low-altitude take-off and landing facility standard plot according to low-altitude take-off and landing facility plots in a designated region range; s2, constructing a low-altitude take-off and landing facility optimization model objective function for determining a low-altitude take-off and landing facility; s3, constructing low-altitude take-off and landing facility optimization model constraint conditions, wherein the low-altitude take-off and landing facility optimization model constraint conditions comprise low-altitude take-off and landing facility coverage radius constraint, unique service demand constraint, low-altitude take-off and landing facility service capability constraint and decision variable constraint; and S4, solving the low-altitude take-off and landing facility optimization model by using a genetic algorithm to obtain the low-altitude take-off and landing facility According to the method, a space-time coupling-based coverage-efficiency dual-objective optimization algorithm is established, dynamic matching of facility space layout and traffic demands is realized on the premise of guaranteeing basic services, and a low-altitude take-off and landing facility planning result is obtained.

Description

Technical Field

[0001] The present invention relates to the field of infrastructure planning, and particularly to a method for planning low-altitude takeoff and landing facilities based on the maximum coverage range and minimum resistance. Background Art

[0002] As a supplement to the new generation of transportation infrastructure system, low-altitude takeoff and landing facilities adopt the driving mode of air transportation. By vertically utilizing space stratification, they significantly reduce the impact of terrain and landforms on traffic accessibility and greatly expand the effective coverage radius of traditional ground facilities. Its technical paradigm is essentially different from that of traditional ground traffic facilities. The core operation logic breaks through the physical constraints of two-dimensional plane traffic networks and constructs multi-dimensional traffic corridors through three-dimensional low-altitude space development to form a coordinated three-dimensional service network. Low-altitude takeoff and landing facilities have both the public welfare characteristics of infrastructure and the commercial characteristics of operation. The core objectives of optimized layout are, firstly, to broaden the service scope to give full play to the public characteristics of infrastructure and serve more people; secondly, to maximize the use efficiency of facilities, that is, the shortest comprehensive time, so as to ensure the high-frequency use of low-altitude takeoff and landing facilities and avoid waste of resources.

[0003] At present, the siting of low-altitude takeoff and landing facilities is relatively arbitrary, resulting in poor overall coordination and cooperation in the siting of low-altitude takeoff and landing facilities and unable to play the maximum role. In terms of usage efficiency, some sitings are too scattered to meet the needs, some sitings are too close, resulting in waste of resources, and even affecting each other, making the low-altitude takeoff and landing facilities unable to be used normally; in terms of overall regional planning, arbitrary siting cannot give play to the public characteristics of infrastructure and meet the needs of public services. Therefore, a method for reasonably siting and layout of low-altitude takeoff and landing facilities is needed, aiming to achieve a balance between usage efficiency and public services. Summary of the Invention

[0004] To solve the above deficiencies of the prior art, the present invention provides a method for planning low-altitude takeoff and landing facilities based on the maximum coverage range and minimum resistance. By establishing a coverage-efficiency dual-objective optimization algorithm based on spatio-temporal coupling, on the premise of ensuring basic services, the dynamic matching of facility spatial layout and traffic demand is realized, and the planning results of low-altitude takeoff and landing facilities are obtained to ensure that each service demand is matched to the required service. It includes the following steps:

[0005] S1: Obtain the plot center point of each standard plot of low-altitude takeoff and landing facilities according to the plots of low-altitude takeoff and landing facilities within the specified area range;

[0006] S2: Construct an objective function of a low-altitude takeoff and landing facility optimization model for determining low-altitude takeoff and landing facilities;

[0007] The objective function of the low-altitude takeoff and landing facility optimization model is:

[0008] ;

[0009] Among them, is the minimum value function; is the total number of standard construction plots; is the total number of standard service demand plots; is the decision variable of the service relationship between the standard construction plot and the standard service demand plot; is the th standard construction plot and the th standard service demand plot; is the standard construction plot number; is the standard service demand plot number; is the layout strategy preference coverage range weight; is the layout strategy preference efficiency weight, ;

[0010] S3: Construct the constraint conditions of the low-altitude takeoff and landing facility optimization model, including: constraining the coverage radius of the low-altitude takeoff and landing facility, constraining the unique service demand, the service capacity constraint of the low-altitude takeoff and landing facility, and the decision variable constraint;

[0011] S4: Use the genetic algorithm to solve the low-altitude takeoff and landing facility optimization model to obtain the set of standard construction plots selected as low-altitude takeoff and landing facilities.

[0012] Preferably, step S3 specifically includes:

[0013] S31: Constraining the coverage radius of the low-altitude takeoff and landing facility: When the decision variable between two plots is 1, the converted distance between the two plots is less than or equal to the coverage radius of the low-altitude takeoff and landing facility, and the low-altitude takeoff and landing facility can cover the service demand plot , that is, ;

[0014] S32: Constraining the unique service demand: Each service demand plot corresponds to one low-altitude takeoff and landing facility service, that is, ;

[0015] S33: Service capacity constraint of the low-altitude takeoff and landing facility: The number of service demand plots that a low-altitude takeoff and landing facility can serve is less than or equal to , that is, ; Among them, is the service capacity limit of the low-altitude takeoff and landing facility;

[0016] S34: Decision variable constraint: The decision variable takes values 0 or 1, that is, .

[0017] Preferably, step S2 specifically includes:

[0018] S21: Construct a maximum coverage range model: ;

[0019] S22: Obtain the conversion distance between the standard construction plot and the standard service demand plot ;

[0020] S23: Construct a minimum resistance model: ;

[0021] S24: Construct the objective function of the low-altitude takeoff and landing facility optimization model: Construct the objective function of the low-altitude takeoff and landing facility optimization model for selecting the standard construction plot as the low-altitude takeoff and landing facility according to the maximum coverage range model and the minimum resistance model.

[0022] Preferably, step S22 specifically includes:

[0023] Standard construction plot and standard service demand plot The conversion distance between the two plots is:

[0024] ;

[0025] where is the conversion distance between the two plots; is the straight-line distance between the two plots; is the elevation difference between the two plots; is the aircraft climbing endurance loss multiple; is the standard construction plot number; is the standard service demand plot number.

[0026] Preferably, step S1 specifically includes:

[0027] S11: Obtain the initial low-altitude takeoff and landing facility plot set according to the specified area range;

[0028] S12: Adjust the initial low-altitude takeoff and landing facility plots through segmentation to obtain the low-altitude takeoff and landing facility standard plot set;

[0029] S13: Calculate the plot center point of each low-altitude takeoff and landing facility standard plot using the centroid method.

[0030] Preferably, step S11 specifically includes:

[0031] The initial low-altitude takeoff and landing facility plot is obtained through the marked plot tags. The plot tags include three types: construction plot tags, service demand plot tags, and empty tags. The same plot can have both construction plot tags and service demand plot tags simultaneously. The initial low-altitude takeoff and landing facility plot set , where is the initial construction plot set with construction plot tags, is the initial service demand plot set with service demand plot tags.

[0032] Preferably, step S12 specifically includes: judging whether the area of each initial low-altitude takeoff and landing facility plot is greater than or equal to the specified area. If it is greater than or equal to the specified area, the initial low-altitude takeoff and landing facility plot needs to be divided. The divided plots all inherit the plot tags of the original plot until the area of each low-altitude takeoff and landing facility plot after division is less than the specified area, obtaining the low-altitude takeoff and landing facility standard plot set , , , where is the standard construction plot set, is the standard service demand plot set, and the area of each plot in it is less than the specified area.

[0033] Preferably, the centroid method in step S13 is as follows: For each plot, it contains vertices, and the vertex coordinates are respectively Then the center point The calculation result is:

[0034] ;

[0035] where is the abscissa of the center point of the low-altitude takeoff and landing facility standard plot; is the ordinate of the center point of the low-altitude takeoff and landing facility standard plot; is the abscissa of the vertex of the th low-altitude takeoff and landing facility standard plot; is the ordinate of the vertex of the th low-altitude takeoff and landing facility standard plot; is the number of vertices of each low-altitude takeoff and landing facility standard plot; is the vertex number of each low-altitude takeoff and landing facility standard plot.

[0036] Preferably, step S4 is specifically:

[0037] Each individual in the initial population is composed of the standard construction plot set. The value of each standard construction plot is 0 or 1. 1 means selected as a low-altitude takeoff and landing facility, and 0 means not selected as a low-altitude takeoff and landing facility. The genetic algorithm is used to obtain the optimal solution The set of For the value of 1, count , obtain the standard construction plot number, and the set of standard construction plots selected as low-altitude takeoff and landing facilities is:

[0038] ;

[0039] Among them, is the plot center point of the th standard construction plot; is the set of plot center points of the standard construction plots.

[0040] Preferably, in step S2, when the layout strategy tends to increase the coverage range weight , it is preferred to ensure that remote areas are served first; when the layout strategy tends to increase the efficiency weight , it is preferred to reduce the flight distance.

[0041] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0042] (1) The present invention can break through the path dependence of the ground traffic network topology structure, establish a dynamic service domain model based on the three-dimensional space distance matrix, expand the traditional two-dimensional site selection problem into a combinatorial optimization problem considering the height dimension, and enable the low-altitude takeoff and landing facilities to exert the maximum service capacity.

[0043] (2) The present invention introduces the operating characteristic parameters of low-altitude aircraft, constructs a multi-constraint condition system including flight path planning and linear service efficiency, forms a closed-loop feedback between the site selection decision and the operating efficiency, and obtains the optimal planning result of the low-altitude takeoff and landing facilities.

[0044] (3) The present invention is based on a spatio-temporal coupling coverage-efficiency dual-objective optimization algorithm. On the premise of ensuring the basic service fairness, through iterative optimization, it realizes the dynamic matching of the facility spatial layout and the traffic demand, and ensures that each service demand can obtain the required service. Brief Description of the Drawings

[0045] Figure 1 is the flow chart of the low-altitude takeoff and landing facility planning method based on the maximum coverage range and the minimum resistance of the present invention;

[0046] Figure 2 is the specific implementation route map of the embodiment of the present invention;

[0047] Figure 3 is the construction plot optimization result diagram of the low-altitude takeoff and landing facilities. Detailed Embodiment

[0048] An embodiment of the present invention proposes a method for planning low-altitude takeoff and landing facilities based on the maximum coverage range and minimum resistance. The embodiments of the present invention will be described below with reference to the accompanying drawings. As Figure 1 shown, determine the construction plots and service demand plots of low-altitude takeoff and landing facilities, and obtain the plot center points of the standard plots of low-altitude takeoff and landing facilities; construct an objective function for the optimization model of low-altitude takeoff and landing facilities to determine low-altitude takeoff and landing facilities; construct constraint conditions for the optimization model of low-altitude takeoff and landing facilities; use the genetic algorithm to solve the optimization model of low-altitude takeoff and landing facilities to obtain the location of low-altitude takeoff and landing facilities; specifically include the following steps:

[0049] S1: Obtain the plot center point of each standard plot of low-altitude takeoff and landing facilities according to the plots of low-altitude takeoff and landing facilities within the specified area range.

[0050] S11: Obtain the initial plots of low-altitude takeoff and landing facilities according to the specified area range.

[0051] The initial plots of low-altitude takeoff and landing facilities include the initial construction plots and initial service demand plots of low-altitude takeoff and landing facilities. The plots of low-altitude takeoff and landing facilities can be directly obtained through the marked plot labels. The plot labels include three types: construction plot labels, service demand plot labels, and empty labels. The plot labels can be automatically generated according to conditions such as the geographical environment of the plot, the built view, airspace conditions, the size of the open space resources, the planned use of the national land space, and the plot use scenario, and confirmed by manual modification. The same plot can have both a construction plot label and a service demand plot label.

[0052] In this embodiment, the set of initial plots of low-altitude takeoff and landing facilities where is the set of initial construction plots with construction plot labels, is the set of initial service demand plots with service demand plot labels.

[0053] S12: Adjust the initial plots of low-altitude takeoff and landing facilities through segmentation to obtain the set of standard plots of low-altitude takeoff and landing facilities.

[0054] Judge whether the area of each initial plot of low-altitude takeoff and landing facilities is greater than or equal to the specified area. If it is greater than or equal to the specified area, the initial plot of low-altitude takeoff and landing facilities needs to be segmented. The segmented plots all inherit the plot labels of the original plot until the area of each plot of low-altitude takeoff and landing facilities after segmentation is less than the specified area. After segmenting the plots of low-altitude takeoff and landing facilities, obtain the set of standard plots of low-altitude takeoff and landing facilities , , , where is the set of standard construction plots, and each standard construction plot has a standard construction plot number. The standard construction plot numbers are 1, 2…, , is a set of standard service demand plots, each with a standard service demand plot number, and the standard service demand plot numbers are 1, 2, …, , where the area of each plot is less than the specified area.

[0055] In this embodiment, the specified area is set to 1 square kilometer. After dividing the low-altitude takeoff and landing facility plots, a new set of low-altitude takeoff and landing facility standard plots is obtained. At this time, in the set of low-altitude takeoff and landing facility standard plots the area of each plot is less than 1 square kilometer. The reason for dividing the original low-altitude takeoff and landing facility plots here is that in the subsequent selection of construction plots using the center position of the plots, if some plots are too large, the center position of the plot cannot well represent the position of the entire plot.

[0056] S13: Calculate the plot center point of the low-altitude takeoff and landing facility standard plot using the centroid method.

[0057] For each plot in the set of low-altitude takeoff and landing facility standard plots , use the centroid method to calculate the plot center point of each plot, and obtain the set of plot center points of the low-altitude takeoff and landing facility standard plots , where is the set of plot center points of the standard construction plots, is the set of plot center points of the standard service demand plots; each plot center point consists of two-dimensional coordinates. The centroid method is as follows:

[0058] For each plot, it contains vertices, and the vertex coordinates are respectively Then the center point of this plot has the calculation result of:

[0059] ;

[0060] where is the abscissa of the low-altitude takeoff and landing facility standard plot center point; is the ordinate of the low-altitude takeoff and landing facility standard plot center point; is the abscissa of the vertex of the th low-altitude takeoff and landing facility standard plot; is the ordinate of the vertex of the th low-altitude takeoff and landing facility standard plot; is the number of vertices of each low-altitude takeoff and landing facility standard plot; is the vertex number of each low-altitude takeoff and landing facility standard plot.

[0061] S2: Construct the objective function of the low-altitude takeoff and landing facility optimization model for determining low-altitude takeoff and landing facilities, as Figure 2 shown.

[0062] S21: Construct the maximum coverage model.

[0063] The maximum coverage model is that the standard construction plots that are expected to be low-altitude takeoff and landing facilities can cover the standard service demand plots to the maximum extent. Set the decision variable , if the standard construction plot with the center point covers the standard service demand plot with the center point , then ; otherwise ; The maximum coverage model is established as:

[0064] ;

[0065] Among them, is the maximum value function; is the total number of standard construction plots; is the total number of standard service demand plots; is the decision variable of the service relationship between the standard construction plot and the standard service demand plot; is the standard construction plot number; is the standard service demand plot number.

[0066] S22: Obtain the conversion distance between the standard construction plot and the standard service demand plot.

[0067] For the standard construction plot with the center point of and the standard service demand plot with the center point of and , the straight-line distance between the two plots is , the elevation difference between the two plots is , the flight vehicle climbing endurance loss multiple is , the conversion distance between the two plots is obtained as: is:

[0068] ;

[0069] Among them, is the conversion distance between the two plots; is the straight-line distance between the two plots; is the elevation difference between the two plots; is the flight vehicle climbing endurance loss multiple.

[0070] S23: Construct the minimum resistance model.

[0071] The minimum impedance model aims to minimize the distance sum between all standard construction plots serving as low-altitude takeoff and landing facilities and the associated standard service demand plots. Specifically:

[0072] ;

[0073] Among them, is the minimum value function; is the converted distance between two plots; is the decision variable of the service relationship between the standard construction plot and the standard service demand plot.

[0074] S24: Construct the objective function of the low-altitude takeoff and landing facility optimization model.

[0075] According to the maximum coverage model and the minimum impedance model, construct the objective function of the low-altitude takeoff and landing facility optimization model for selecting standard construction plots as low-altitude takeoff and landing facilities. The low-altitude takeoff and landing facility optimization model is a multi-objective optimization model. The specific objective function of the low-altitude takeoff and landing facility optimization model is:

[0076] ;

[0077] Among them, is the weight of the layout strategy's tendency to coverage; is the weight of the layout strategy's tendency to efficiency, where .

[0078] Weight and The specific values need to be determined according to the layout strategy's tendency. In the general case without a special tendency, = = 0.5. When the weight of the layout strategy's tendency to coverage increases, priority is given to ensuring that remote areas are served. For example, low-altitude takeoff and landing facilities are mainly of public welfare type and undertake first aid and emergency services. When the weight of the layout strategy's tendency to efficiency increases, priority is given to reducing the flight distance. For example, low-altitude takeoff and landing facilities are mainly used for high-timeliness logistics distribution.

[0079] The maximum coverage model solves for the maximum value and must be a positive number. The minimum impedance model solves for the minimum value. After taking the negative value of the maximum coverage model, the two are combined to obtain the above objective function of the low-altitude takeoff and landing facility optimization model.

[0080] S3: Construct the constraint conditions of the low-altitude takeoff and landing facility optimization model.

[0081] S31: Constrain the coverage radius of the low-altitude takeoff and landing facility.

[0082] When the decision variable between two plots is 1, the converted distance between the two plots is less than or equal to the coverage radius of the low-altitude takeoff and landing facility , and the low-altitude takeoff and landing facility can cover and serve the demand plot , that is: .

[0083] S32: Constrain the unique service demand. Each service demand plot can only be served by one low-altitude takeoff and landing facility. Specifically:

[0084] .

[0085] When a certain service demand plot in the embodiment can be covered by three low-altitude takeoff and landing facilities at the same time , that is, three low-altitude takeoff and landing facilities can all provide services for the service demand plot , then the constraint requires: , if , then , that is, the service demand plot can only be served by one low-altitude takeoff and landing facility.

[0086] S33: Constraint on the service capacity of low-altitude takeoff and landing facilities. The number of service demand plots that a low-altitude takeoff and landing facility can serve does not exceed . Specifically:

[0087] ;

[0088] Among them, is the limit of the service capacity of the low-altitude takeoff and landing facility.

[0089] S34: Constraint on decision variables. The decision variable can only take values 0 or 1, that is . If the standard construction plot centered on covers the standard service demand plot centered on , then ; otherwise .

[0090] S4: Use the genetic algorithm to solve the low-altitude takeoff and landing facility optimization model to obtain the location of the low-altitude takeoff and landing facility.

[0091] Using the genetic algorithm, each individual in the initial population is composed of a set of standard construction plots. The value of each standard construction plot is 0 or 1. 1 means selected as a low-altitude takeoff and landing facility, and 0 means not selected as a low-altitude takeoff and landing facility. The optimization variable is a set of, and the optimal solution is obtained using the genetic algorithm A collection of In the collection The value is 1, the statistics , get the standard construction plot numbers, these numbered standard construction plots are selected as low-altitude take-off and landing facilities, output the site selection and layout results of low-altitude take-off and landing facilities, the set of standard construction plots selected as low-altitude take-off and landing facilities is:

[0092] ;

[0093] in, A collection of standard construction plots selected for low altitude takeoff and landing facilities; For the The center point of a standard construction plot; It is the set of center points of standard construction plots.

[0094] like Figure 3 The figure shows the optimization result of the construction plot of the low-altitude take-off and landing facility. The dark circles in the figure are the service demand plots of the standard plots of the low-altitude take-off and landing facility, the light squares are the construction plots of the standard plots of the low-altitude take-off and landing facility, and the light squares with small black dots in the middle are the construction plot sets of the standard plots of the low-altitude take-off and landing facility determined in step S4. ,All the service demand plots are served by the construction plots concentrated by the line segments, and the light-colored squares not pointed to by the line segments are the construction plots of the low-altitude take-off and landing facilities that are not selected as services.

[0095] The beneficial effects of the present invention are as follows: the present invention can break through the path dependence of the topological structure of the ground transportation network, establish a dynamic service domain model based on the three-dimensional space distance matrix, expand the traditional two-dimensional site selection problem into a combinatorial optimization problem considering the height dimension, so that low-altitude take-off and landing facilities can play the maximum service capacity; introduce low-altitude aircraft operation characteristic parameters, and construct a multi-constraint condition system including trajectory planning and linear service efficiency, so that the site selection decision and operation efficiency form a closed-loop feedback, and obtain the optimal planning result of the low-altitude take-off and landing facilities; based on the dual-objective optimization algorithm of coverage-efficiency coupled with time and space, on the premise of ensuring the fairness of basic services, the dynamic matching of the facility space layout and the traffic demand is realized through the iterative optimization of the genetic algorithm, ensuring that each service demand can get the required service, and the analysis of actual cases proves that the use effect of the present invention is good and meets the actual application needs.

[0096] The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A method for planning low altitude take-off and landing facilities based on maximum coverage and minimum resistance, characterized in that: It includes: S1: Obtain the center point of each low-altitude take-off and landing facility standard plot according to the low-altitude take-off and landing facility plots within the specified area; S2: Constructing the objective function of the low-altitude take-off and landing facility optimization model for determining the low-altitude take-off and landing facilities; The objective function of the optimization model of low-altitude take-off and landing facilities is: ； in, is the minimum value function; is the total number of standard construction plots; The total number of plots required for standard services; is the decision variable of the service relationship between the standard construction plot and the standard service demand plot; For the Standard construction plots and The converted distance between the standard service demand plots; Numbering of standard construction plots; Number the parcels for standard service requirements; Favor coverage weights for placement strategies; The layout strategy tends to weight efficiency. ; S3: Construct the constraints of the optimization model of low-altitude take-off and landing facilities, including: constraining the coverage radius of low-altitude take-off and landing facilities, constraining the unique service demand, constraining the service capacity of low-altitude take-off and landing facilities, and constraining the decision variables; S4: Use genetic algorithm to solve the optimization model of low-altitude take-off and landing facilities to obtain a set of standard construction plots selected as low-altitude take-off and landing facilities.

2. The method for planning low-altitude take-off and landing facilities based on maximum coverage and minimum impedance according to claim 1 is characterized in that: Step S3 specifically includes: S31: Constraining the coverage radius of low-altitude take-off and landing facilities: When the decision variables between two plots When it is 1, the converted distance between the two plots Less than or equal to the coverage radius of low altitude take-off and landing facilities , low altitude take-off and landing facilities Able to cover service demand areas ,Right now ; S32: Constrained unique service demand: Each service demand plot corresponds to a low-altitude take-off and landing facility service, that is ; S33: Low-altitude take-off and landing facility service capacity constraint: The number of service demand plots that a low-altitude take-off and landing facility can serve is less than or equal to ,Right now ;in, The service capacity limit of low altitude take-off and landing facilities; S34: Decision variable constraints: Decision variables The value is 0 or 1, that is .

3. The method for planning low-altitude take-off and landing facilities based on maximum coverage and minimum impedance according to claim 1 is characterized in that: Step S2 specifically includes: S21: Constructing a model to maximize coverage: ; S22: Get the converted distance between the standard construction plot and the standard service demand plot ; S23: Constructing a model to minimize impedance: ; S24: Constructing the objective function of the low-altitude take-off and landing facility optimization model: constructing the objective function of the low-altitude take-off and landing facility optimization model for selecting standard construction plots as low-altitude take-off and landing facilities based on the maximization coverage model and the minimization resistance model.

4. The method for planning low-altitude take-off and landing facilities based on maximum coverage and minimum impedance according to claim 3 is characterized in that: Step S22 specifically includes: Standard construction plot and standard service demand plots The converted distance between two plots for: ； in, is the converted distance between the two plots; is the straight-line distance between the two plots; is the elevation difference between the two plots; The aircraft's climbing endurance loss multiple; Numbering of standard construction plots; Number the parcel for standard service requirements.

5. The method for planning low altitude take-off and landing facilities based on maximum coverage and minimum impedance according to claim 1 is characterized in that: Step S1 specifically includes: S11: Obtaining an initial low-altitude take-off and landing facility plot set according to the specified area range; S12: adjusting the initial low-altitude take-off and landing facility plots by segmentation to obtain a set of low-altitude take-off and landing facility standard plots; S13: Use the centroid method to calculate the plot center point of each low-altitude take-off and landing facility standard plot.

6. The method for planning low altitude take-off and landing facilities based on maximum coverage and minimum impedance according to claim 5 is characterized in that: Step S11 specifically includes: The initial low-altitude take-off and landing facility plots are obtained through the marked plot labels. The plot labels include construction plot labels, service demand plot labels and empty labels. The same plot can have both construction plot labels and service demand plot labels. The initial low-altitude take-off and landing facility plot set ,in is the initial set of construction plots with construction plot labels, is an initial set of service demand parcels with service demand parcel labels.

7. The method for planning low altitude take-off and landing facilities based on maximum coverage and minimum impedance according to claim 5 is characterized in that: Step S12 specifically includes: determining whether the area of ​​each initial low-altitude take-off and landing facility plot is greater than or equal to the specified area; if it is greater than or equal to the specified area, the initial low-altitude take-off and landing facility plot needs to be segmented, and the segmented plots all inherit the plot labels of the original plots, until the area of ​​each segmented low-altitude take-off and landing facility plot is less than the specified area, and a set of low-altitude take-off and landing facility standard plots is obtained. , , ,in, A collection of standard construction plots. A collection of plots for standard service requirements. The area of ​​each plot in is smaller than the specified area.

8. The method for planning low altitude take-off and landing facilities based on maximum coverage and minimum resistance according to claim 5 is characterized in that: The centroid method in step S13 is as follows: for each plot, it contains vertices, and their coordinates are The center point of the plot The calculation results are: ； in, The horizontal coordinate of the center point of the standard plot of low-altitude take-off and landing facilities; The vertical coordinate of the center point of the standard plot of low-altitude take-off and landing facilities; For the The horizontal coordinate of the vertex of a standard plot of low-altitude take-off and landing facilities; For the The vertical coordinate of the vertex of a standard plot of low-altitude take-off and landing facilities; The number of vertices for each standard plot of low altitude take-off and landing facilities; Number the vertices of each low altitude take-off and landing facility standard plot.

9. The method for planning low altitude take-off and landing facilities based on maximum coverage and minimum impedance according to claim 1 is characterized in that: Step S4 is as follows: each individual in the initial population is composed of a set of standard construction plots, and the value of each standard construction plot is 0 or 1, 1 indicates that it is selected as a low-altitude take-off and landing facility, and 0 indicates that it is not selected as a low-altitude take-off and landing facility. The optimal solution is obtained using a genetic algorithm. A collection of The value is 1, the statistics , get the standard construction plot number, and be selected as the standard construction plot set for low-altitude take-off and landing facilities for: ； in, For the The center point of a standard construction plot; It is the set of center points of standard construction plots.

10. The method for planning low altitude take-off and landing facilities based on maximum coverage and minimum impedance according to claim 1, characterized in that: In step S2, when the layout strategy tends to cover the weight When the increase is made, priority is given to ensuring that remote areas are served; when the layout strategy tends to weight efficiency When increasing, priority is given to reducing the flight distance.

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