Low-altitude takeoff and landing facility planning method based on maximum coverage and minimum resistance

Abstract

The present invention relates to the technical field of infrastructure planning, and provides a method for planning low-altitude takeoff and landing facilities based on the maximum coverage range and minimum resistance. The method includes: S1: obtaining 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; S2: constructing an objective function of an optimization model for low-altitude takeoff and landing facilities to determine low-altitude takeoff and landing facilities; S3: constructing constraint conditions for the optimization model of low-altitude takeoff and landing facilities, including: constraining the coverage radius of low-altitude takeoff and landing facilities, constraining the unique service demand, the service capacity constraint of low-altitude takeoff and landing facilities, and the decision variable constraint; S4: using a 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. The present invention establishes a coverage-efficiency dual-objective optimization algorithm based on spatio-temporal coupling, realizes the dynamic matching of the facility spatial layout and traffic demand on the premise of ensuring basic services, and obtains the planning result of low-altitude takeoff and landing facilities.

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 layers, the impact of terrain and landform on traffic accessibility is significantly reduced, and the effective coverage radius of traditional ground facilities is greatly expanded. Its technical paradigm is essentially different from that of traditional ground transportation facilities. The core operation logic breaks through the physical constraints of two-dimensional plane traffic networks, constructs multi-dimensional traffic corridors through three-dimensional low-altitude space development, and forms 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, first, to broaden the service scope to give full play to the public characteristics of infrastructure and serve more people; second, 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 random, resulting in poor overall coordination and cooperation of the siting of low-altitude takeoff and landing facilities and unable to play the maximum role. In terms of use 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, resulting in the abnormal use of low-altitude takeoff and landing facilities; in terms of overall regional planning, random 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 use efficiency and public services. Summary of the Invention

[0004] In order to solve the above-mentioned 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 double-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 result of low-altitude takeoff and landing facilities is 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, the conversion distance between them; is the standard construction plot number; is the standard service demand plot number; is the weight of the coverage range of the layout strategy preference; is the weight of the efficiency of the layout strategy preference, ;

[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 conversion 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 a 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 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 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] Wherein, 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; 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 plots are obtained through the marked plot tags, which include three types: construction plot tags, service demand plot tags, and empty tags. The same plot can have both a construction plot tag and a service demand plot tag 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. 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 map 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 plot and service demand plot of the low-altitude takeoff and landing facilities, and obtain the plot center point of the standard plot of the low-altitude takeoff and landing facilities; construct an objective function for the optimization model of the low-altitude takeoff and landing facilities to determine the low-altitude takeoff and landing facilities; construct the constraint conditions for the optimization model of the low-altitude takeoff and landing facilities; use the genetic algorithm to solve the optimization model of the low-altitude takeoff and landing facilities to obtain the location of the low-altitude takeoff and landing facilities; specifically including the following steps:

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

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

[0051] The initial plot of the low-altitude takeoff and landing facilities includes the initial construction plot and the initial service demand plot of the low-altitude takeoff and landing facilities. The plot of the low-altitude takeoff and landing facilities can be directly obtained through the marked plot labels, and the plot labels include three types: construction plot label, service demand plot label, and empty label. 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 are 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 the 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 the low-altitude takeoff and landing facilities through segmentation to obtain the set of standard plots of the low-altitude takeoff and landing facilities.

[0054] Judge whether the area of each initial plot of the 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 the low-altitude takeoff and landing facilities needs to be segmented, and the plots after segmentation all inherit the plot labels of the original plot until the area of each plot of the low-altitude takeoff and landing facilities after segmentation is less than the specified area. After segmenting the plots of the low-altitude takeoff and landing facilities, obtain the set of standard plots of the 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, and the standard construction plot numbers are successively 1, 2…, , is a set of standard service demand plots, and each standard service demand plot has 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 the low-altitude takeoff and landing facility plots are divided, a new set of low-altitude takeoff and landing facility standard plots is obtained. At this time, the area of each plot in the set of low-altitude takeoff and landing facility standard plots 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 central position of the plots, if some plots are too large, the central 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, [[ID=2S]]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 the plot is calculated as:

[0059] ;

[0060] 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.

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

[0062] S21: Construct the maximum coverage model

[0063] The maximum coverage model aims to maximize the coverage of the standard service demand plots by the standard construction plots that are intended to be low-altitude takeoff and landing facilities. Set the decision variable such that if the standard construction plot centered at covers the standard service demand plot centered at , then ; otherwise . The maximum coverage model is established as:

[0064] ;

[0065] where 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 for 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 converted 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 , and the flight vehicle climb endurance loss multiple is . The converted distance between the two plots is obtained as: as follows:

[0068] ;

[0069] where 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; is the flight vehicle climb endurance loss multiple.

[0070] S23: Construct the minimum resistance model

[0071] The minimum resistance model aims to minimize the sum of the distances between all standard construction plots for 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 reduced 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 resistance 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, and the objective function of the low-altitude takeoff and landing facility optimization model is specifically:

[0076] ;

[0077] Among them, is the coverage range weight of the layout strategy preference; is the efficiency weight of the layout strategy preference, where .

[0078] Weight and The specific values need to be determined according to the layout strategy preference. In the general case without special preference, = = 0.5. When the coverage range weight of the layout strategy preference 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 efficiency weight of the layout strategy preference 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 resistance 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 the service 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 service capacity limit 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 at covers the standard service demand plot centered at , 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 the set of in the set of For the value of 1, count , obtain the standard construction plot numbers. The standard construction plots with these numbers are selected as low-altitude takeoff and landing facilities, output the siting layout result of low-altitude takeoff and landing facilities. The set of standard construction plots selected as low-altitude takeoff and landing facilities is:

[0092] ;

[0093] Among them, is the set of standard construction plots selected as low-altitude takeoff and landing facilities; is the th plot center point of the standard construction plot; is the set of plot center points of the standard construction plots.

[0094] Such as Figure 3 shown in the figure is the construction plot optimization result diagram of the low-altitude takeoff and landing facilities. The dark dots in the figure are the service demand plots of the low-altitude takeoff and landing facility standard plots, the light-colored squares are the construction plots of the low-altitude takeoff and landing facility standard plots, and the light-colored squares with small black dots in the middle are the set of construction plots of the low-altitude takeoff and landing facility standard plots determined in step S4 , all service demand plots are served by the construction plots in the line segment concentration, and the light-colored squares not pointed by the line segments are the construction plots of the low-altitude takeoff and landing facilities 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 ground traffic network topology structure, establish a dynamic service domain model based on the three-dimensional space distance matrix, expand the traditional two-dimensional siting problem into a combinatorial optimization problem considering the height dimension, so that the low-altitude takeoff and landing facilities can exert the maximum service capacity; introduce the operating characteristic parameters of low-altitude aircraft, construct a multi-constraint condition system including flight path planning and linear service efficiency, form a closed-loop feedback between siting decision-making and operating efficiency, and obtain the optimal planning result of low-altitude takeoff and landing facilities; based on the spatio-temporal coupling coverage-efficiency double-objective optimization algorithm, on the premise of ensuring the basic service fairness, through genetic algorithm iterative optimization to realize the dynamic matching of facility spatial layout and traffic demand, ensure that each service demand can obtain the required service, and prove through the analysis of actual cases that the use effect of the present invention is good and meets the actual application requirements.

[0096] The embodiments described above are only descriptions of the preferred implementation manners of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A low-altitude takeoff and landing facility planning method based on maximum coverage and minimum resistance, characterized in that It includes: S1: Obtain the plot center point of each standard plot of low-altitude takeoff and landing facilities according to the low-altitude takeoff and landing facility plots within the specified area range; including: S11: Obtain the initial set of low-altitude takeoff and landing facility plots according to the specified area range; S12: Adjust the initial low-altitude takeoff and landing facility plots through segmentation to obtain the set of standard plots of low-altitude takeoff and landing facilities; S13: Use the centroid method to calculate the plot center point of each standard plot of low-altitude takeoff and landing facilities; S2: Construct the objective function of the low-altitude takeoff and landing facility optimization model for determining low-altitude takeoff and landing facilities; including: S21: Build a maximum coverage range model: ; S22: Obtain the conversion distance between the standard construction plot and the standard service demand plot ; Standard construction plot and standard service demand plot The conversion distance between the two plots is as follows: ； Among them, is the converted distance between two plots; is the straight-line distance between two plots; is the elevation difference between two plots; is the climbing endurance loss multiple of the aircraft; is the standard construction plot number; is the standard service demand plot number; S23: Build a minimized resistance model: ; 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 standard construction plots as low-altitude takeoff and landing facilities according to the maximum coverage range model and the minimum resistance model; The objective function of the low-altitude takeoff and landing facility optimization model is: ； Among them, is the function to take the minimum value; 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; the conversion distance between them; is the standard construction plot number; is the standard service demand plot number; is the weight of the layout strategy's tendency to cover the range; is the weight of the layout strategy's tendency to be efficient, ; S3: Construct the constraint conditions of the low-altitude takeoff and landing facility optimization model, including: Constraining the coverage radius of low-altitude takeoff and landing facilities, constraining the unique service demand, the service capacity constraint of low-altitude takeoff and landing facilities, and the decision variable constraint; 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.

2. The low-altitude takeoff and landing facility planning method based on maximum coverage and minimum resistance according to claim 1, characterized in that: Step S3 specifically includes: S31: Constrain the coverage radius of low-altitude takeoff and landing facilities: 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 facilities so that the low-altitude takeoff and landing facilities can cover the service demand plots ; S32: Constrain the unique service demand: Each service demand plot corresponds to a low-altitude takeoff and landing facility service, that is ; S33: Service capacity constraint of low-altitude takeoff and landing facilities: The number of service demand plots that a low-altitude takeoff and landing facility can serve is less than or equal to , that is ; where is the service capacity limit of low-altitude takeoff and landing facilities; S34: Decision variable constraint: The decision variable takes values 0 or 1, that is .

3. The low-altitude takeoff and landing facility planning method based on maximum coverage and minimum resistance according to claim 1, characterized in that: Step S11 specifically includes: The initial low-altitude takeoff and landing facility plots are obtained through the marked plot tags, which 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 set of initial low-altitude takeoff and landing facility plots , where is the set of initial construction plots with construction plot tags, is the set of initial service demand plots with service demand plot tags.

4. The low-altitude takeoff and landing facility planning method based on the maximum coverage range and minimum resistance according to claim 1, characterized in that: Step S12 specifically includes: determining 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, and the divided plots all inherit the plot label 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 a set of standard plots for low-altitude takeoff and landing facilities , , , where is a set of standard construction plots, is a set of standard service demand plots, and the area of each plot in 5. The low-altitude takeoff and landing facility planning method based on maximum coverage and minimum resistance according to claim 1, wherein: The specific method of 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 of this plot The calculation result is: ； Among them, is the abscissa of the center point of the standard plot of the low-altitude takeoff and landing facility; is the ordinate of the center point of the standard plot of the low-altitude takeoff and landing facility; is the abscissa of the vertex of the th standard plot of the low-altitude takeoff and landing facility; is the number of vertices of each standard plot of the low-altitude takeoff and landing facility; is the numbering of the number of vertices of each standard plot of the low-altitude takeoff and landing facility.

6. The low-altitude takeoff and landing facility planning method based on maximum coverage and minimum resistance according to claim 1, wherein: Step S4 is specifically as follows: 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, where 1 indicates being selected as a low-altitude takeoff and landing facility, and 0 indicates not being selected as a low-altitude takeoff and landing facility. The genetic algorithm is used to obtain the optimal solution set, 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 as follows: ； Among them, is the center point of the th standard construction plot; is the set of center points of the standard construction plots.

7. The low-altitude takeoff and landing facility planning method based on maximum coverage and minimum resistance according to claim 1, characterized in that: In step S2, when the layout strategy favors the coverage weight and it increases, priority is given to ensuring that remote areas are served; when the layout strategy favors the efficiency weight and it increases, priority is given to reducing the flight distance.

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