Method and device for evaluating airspace division result, electronic equipment and medium

Abstract

The application relates to the technical field of flight management, and proposes a method and device for evaluating airspace division results, electronic equipment and a computer readable storage medium. The method comprises the following steps: based on the airspace division results, determining evaluation indexes participating in the evaluation of the airspace division results according to the purpose of airspace use; calculating an index evaluation value corresponding to each evaluation index; and evaluating the airspace division results according to the index evaluation value and a preset weight value corresponding to each evaluation index. According to the example embodiments of the application, the airspace division results are comprehensively and objectively evaluated by comprehensively considering multiple evaluation indexes, thereby providing a basis for optimization and decision-making, improving the scientificity and correctness of airspace division, and reducing flight safety risks.

Description

Technical Field

[0001] This application relates to the field of flight management technology, and more specifically, to a method, apparatus, electronic device, and computer-readable storage medium for evaluating airspace delineation results. Background Technology

[0002] Currently, low-altitude airspace holds vast applications and promising prospects. With the booming development of the low-altitude economy, primarily driven by consumer drones, industrial drones, urban air mobility, and general aviation helicopters, new challenges are being posed to traffic management and planning in low-altitude airspace.

[0003] The ongoing urbanization process has led to increasingly congested urban airspace, with low-altitude areas becoming increasingly crowded and obstructed by buildings, no-fly zones, and other obstacles. Furthermore, different urban areas possess distinct characteristics; for instance, densely populated areas are more sensitive to aircraft noise, while areas with high pedestrian traffic place extremely high demands on aircraft safety. Therefore, the precise and rational delineation of airspace must consider urban environmental information and its dynamic changes to ensure the coordinated operation of drones with other urban elements.

[0004] With the rapid development of drone technology, the applications of drones in urban environments are constantly increasing, including logistics, inspection, and performances. Simultaneously, with the increase in urban population, traffic and transportation demands are constantly growing. As an emerging mode of transportation, drones need to operate in an orderly manner within urban airspace. Therefore, the necessity of low-altitude airspace delineation is influenced by traffic and transportation development. Furthermore, after obtaining the airspace delineation results, how to select the optimal delineation scheme to cope with changes in traffic flow in the delineated airspace, and to address the waste or congestion of airspace resources, has become an urgent problem to be solved. Summary of the Invention

[0005] This application proposes a method, apparatus, electronic device, and computer-readable storage medium for evaluating airspace delineation results, in order to solve the problem in the prior art that it is necessary to evaluate the delineation results of low-altitude airspace.

[0006] According to one aspect of this application, a method for evaluating airspace allocation results is proposed, comprising: based on the airspace allocation results, determining evaluation indicators participating in the airspace allocation results according to the purpose of airspace use; calculating the evaluation value of each evaluation indicator; and evaluating the airspace allocation results according to the evaluation value of the indicator and the preset weight value corresponding to each evaluation indicator.

[0007] According to some embodiments, the spatial domain division result includes the three-dimensional geometric shape corresponding to the spatial domain.

[0008] According to some embodiments, the evaluation index includes a flyability measure assessment, and the calculation of the index evaluation value corresponding to each evaluation index includes: calculating the index evaluation value based on the flyability measure of the coordinate position corresponding to each three-dimensional geometric shape in the airspace division result.

[0009] According to some embodiments, the metric evaluation value includes a statistical value of the flyability measure, which includes the mean and / or the root mean square deviation of the flyability measure.

[0010] According to some embodiments, the evaluation index includes compliance evaluation of multiple rules, and the calculation of the index evaluation value corresponding to each evaluation index includes: calculating the rule violation penalty score corresponding to the airspace based on the preset violation penalty score of each rule; and calculating the index evaluation value based on the rule violation penalty score.

[0011] According to some embodiments, the rule violation penalty score corresponding to the spatial domain is calculated based on the violation penalty score of each preset rule, including: determining the geometric unit violation penalty score corresponding to each three-dimensional geometric shape in the spatial domain partitioning result based on the violation penalty score of each preset rule; and calculating the rule violation penalty score corresponding to the spatial domain based on the geometric unit violation penalty score.

[0012] According to some embodiments, calculating the indicator evaluation value based on the rule violation penalty score includes: calculating the rule statistics value corresponding to the airspace based on the rule violation penalty score; and calculating the indicator evaluation value based on the rule statistics value.

[0013] According to some embodiments, the evaluation index includes preference evaluation, and calculating the index evaluation value corresponding to each evaluation index includes: performing multiple preference evaluations based on the spatial domain corresponding to each three-dimensional geometric shape in the spatial domain division result to obtain multiple preference evaluation values; and calculating the index evaluation value using the multiple preference evaluation values ​​based on the preference weight value corresponding to each preference evaluation.

[0014] According to some embodiments, the indicator evaluation value is calculated using the multiple preference evaluation values ​​based on the preference weight value corresponding to each preference evaluation in the multiple preference evaluations, including:

[0015] Based on the preference weight value corresponding to each preference assessment in the plurality of preference assessments, a preference statistical value is calculated using a preset preference weight; and the indicator assessment value is calculated using the preference statistical value.

[0016] According to some embodiments, the plurality of preference assessments includes a space utilization assessment, calculated by the following formula:

[0017] ,

[0018] Wherein, U represents the space utilization rate. The spatial volume corresponding to the three-dimensional geometric shape in the spatial domain partitioning result. This represents the total volume of the airspace corresponding to the stated airspace.

[0019] According to some embodiments, the evaluation metrics include flyability measurement, compliance with multiple rules, and / or multiple preference assessments, and the calculation of a metric evaluation value corresponding to each of the evaluation metrics includes: calculating a first evaluation value based on the flyability measurement of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace partitioning result; calculating a second evaluation value based on the compliance with multiple rules of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace partitioning result; calculating a third evaluation value based on the multiple preference assessments of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace partitioning result; and calculating the metric evaluation value based on the first evaluation value, the second evaluation value, and / or the third evaluation value.

[0020] According to one aspect of this application, an apparatus for evaluating airspace partitioning results is proposed, comprising: an evaluation index determination unit, used to determine evaluation indexes participating in the airspace partitioning results based on the airspace partitioning results; an index evaluation value calculation unit, used to calculate an index evaluation value corresponding to each evaluation index; and an airspace partitioning result evaluation unit, used to evaluate the airspace partitioning results according to the index evaluation values ​​and a preset weight value corresponding to each evaluation index.

[0021] According to one aspect of this application, an electronic device is provided, characterized in that it includes: a processor; a memory for storing a computer program; and when the computer program is executed by the processor, causing the processor to perform the method as described in any of the preceding embodiments.

[0022] According to one aspect of this application, a non-transitory computer-readable storage medium is provided, having stored thereon computer-readable instructions that, when executed by a processor, cause the processor to perform the method as described in any of the preceding embodiments.

[0023] According to the example embodiments of this application, by comprehensively considering multiple evaluation indicators, the airspace allocation results are comprehensively and objectively evaluated, thereby providing a basis for airspace optimization and management decisions, improving the scientificity and correctness of airspace allocation, and reducing flight safety risks. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0025] Figure 1 A flowchart illustrating a method for evaluating airspace partitioning results according to an example embodiment of this application is shown.

[0026] Figure 2 A flowchart of a method for evaluating flyability according to an example embodiment of this application is shown.

[0027] Figure 3 A flowchart illustrating a rule compliance assessment method according to an example embodiment of this application is shown.

[0028] Figure 4 A flowchart of a preference evaluation method according to an example embodiment of this application is shown.

[0029] Figure 5 A flowchart of an evaluation method for airspace partitioning results according to an example embodiment of this application is provided.

[0030] Figure 6 A block diagram of an apparatus for evaluating airspace partitioning results according to an example embodiment of this application is shown.

[0031] Figure 7 An electronic device is shown according to an exemplary embodiment of this application. Detailed Implementation

[0032] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0033] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of these specific details, or other methods, components, materials, apparatus, or operations may be employed. In these cases, well-known structures, methods, apparatuses, implementations, materials, or operations will not be shown or described in detail.

[0034] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0035] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0036] Upper-altitude airspace management typically employs a rigid airspace delineation method, dividing airspace into different zones vertically and horizontally. Unlike upper-altitude airspace, urban airspace is significantly influenced by ground environmental factors, requiring careful consideration of varying conditions at different times and in different areas, including airspace conditions, building density, and ground pedestrian flow. Furthermore, rigid delineation methods cannot flexibly adapt to traffic changes, especially during periods of rapid increases or decreases in traffic volume. The inability to dynamically adjust airspace delineation structures in real time can lead to low airspace utilization efficiency. To overcome these shortcomings, future air traffic management systems may require more flexible and intelligent airspace delineation and management methods to adapt to the ever-changing aviation environment.

[0037] The inventors of this application have discovered that, since the low-altitude airspace environment is more complex than the high-altitude airspace management, it is necessary to evaluate the division results in order to determine whether the division results meet the low-altitude management requirements and business needs, thereby providing a basis for optimization and decision-making.

[0038] According to the embodiments of this application, a comprehensive and objective evaluation of the airspace allocation results is carried out by taking into account multiple evaluation indicators, thereby providing a basis for optimization and decision-making, improving the scientificity and correctness of airspace allocation, and reducing flight safety risks.

[0039] It should be noted that the embodiments of this application are applicable to the evaluation of high-altitude airspace delineation results, as well as low-altitude airspace delineation results, and marine space delineation results. However, since low-altitude airspace involves more complex terrain and requires more space, the embodiments of this application are particularly suitable for evaluating low-altitude airspace delineation results. For simplicity, the specific embodiments according to this application will be described in detail below with reference to the accompanying drawings, taking the evaluation of low-altitude airspace delineation results as an example.

[0040] Figure 1 A flowchart illustrating a method for evaluating airspace partitioning results according to an example embodiment of this application is shown, such as... Figure 1 The method shown includes steps S101, S103, and S105. The following will use... Figure 1Taking an example, a method for evaluating airspace partitioning results according to an example embodiment of this application will be described in detail.

[0041] In step S101, based on the airspace allocation results, the evaluation indicators for the airspace allocation results are determined according to the purpose of airspace use.

[0042] In specific embodiments, airspace use purposes include logistics, tourism, and emergency rescue. The priority of evaluation indicators differs depending on the airspace use purpose. For example, for logistics services, transportation efficiency and cargo safety are paramount; for tourism purposes, scenic areas and visitor safety must be considered.

[0043] According to embodiments of this application, the evaluation metrics include, but are not limited to, flyability evaluation, compliance evaluation of multiple rules, and / or preference evaluation.

[0044] In step S103, the evaluation value of each evaluation indicator is calculated.

[0045] According to embodiments of this application, the spatial domain partitioning result includes the three-dimensional solid geometry corresponding to the spatial domain and / or the relationships between the three-dimensional solid geometry included in the partitioned spatial domain. In specific embodiments, the three-dimensional solid geometry includes typical three-dimensional solid geometry shapes and combinations of these three-dimensional solid geometry shapes. The relationships between the three-dimensional solid geometry shapes are used to represent the positional relationships between multiple three-dimensional solid geometry shapes. These positional relationships include, but are not limited to, inclusion relationships, adjacency relationships, and / or connectivity relationships.

[0046] In some embodiments, a typical three-dimensional solid geometry is a three-dimensional solid geometry that can be represented by a geometric expression in a specified coordinate system, such as a sphere, cylinder, cone, frustum, cube, ellipsoid, and / or various polyhedra.

[0047] It should be noted that the spatial domain partitioning result can include the complete three-dimensional geometric shape, or it can include a part of the three-dimensional geometric shape.

[0048] According to an embodiment of this application, when the evaluation index is a flyability measure evaluation, the flyability measure of the corresponding position of each three-dimensional geometric shape included in the airspace division result is first calculated, and then the statistical values ​​of multiple three-dimensional geometric shapes are calculated to obtain the index evaluation value.

[0049] In specific embodiments, the flyability metric assessment includes multiple sub-indicators, such as whether the airspace is occupied, the distance between the airspace and the nearest obstacle, and / or the communication coverage or strength of the airspace.

[0050] According to other embodiments, when the evaluation index is a compliance evaluation of multiple rules, for example, when the set rule is a no-fly zone rule, firstly, according to the preset no-fly zone rule, the penalty score of each rule included in each three-dimensional geometry is determined; then, according to the determined penalty score, the statistical value of the penalty score is calculated to obtain the evaluation value of the index.

[0051] According to other embodiments, when the evaluation index is a preference evaluation, firstly, multiple preference evaluations are performed based on the spatial domain corresponding to each three-dimensional geometric shape in the spatial domain division result to obtain multiple preference evaluation values; then, based on the preference weight value corresponding to each preference evaluation in the multiple preference evaluations, the index evaluation value is calculated using the multiple preference evaluation values.

[0052] According to embodiments of this application, multiple preference assessments include space utilization assessment, flight conflict frequency assessment, and / or flight smoothness assessment.

[0053] In step S105, the spatial domain division results are evaluated based on the index evaluation values ​​and the preset weight values ​​corresponding to each evaluation index.

[0054] According to an embodiment of this application, multiple index evaluation values ​​are used to comprehensively evaluate the airspace partitioning results.

[0055] In a specific embodiment, different weight values ​​are assigned to different evaluation indicators using the method shown in formula (1) in order to highlight the importance of different evaluation indicators.

[0056] For example, suppose the evaluation indicators include flightability assessment, compliance assessment of multiple rules and preference assessment, and the weight values ​​corresponding to these evaluation indicators are a, b and c respectively, and satisfy a+b+c=1. The comprehensive evaluation value is shown in formula (1).

[0057] E=aM fly -bS rule +cS pref (1)

[0058] Among them, the larger the E value, the better the spatial domain partitioning result; M fly For flightability measurement assessment, S rule For compliance assessment of multiple rules, S pref For preference assessment.

[0059] according to Figure 1 The illustrated embodiment comprehensively and objectively evaluates the airspace allocation results by taking into account multiple assessment indicators, thereby providing a basis for optimization and decision-making, improving the scientificity and correctness of airspace allocation, and reducing flight safety risks.

[0060] When the evaluation metric is a flyability measure evaluation, according to the embodiments of this application, the evaluation value of the metric is calculated based on the flyability measure of the coordinate position corresponding to each three-dimensional geometric shape in the airspace division result. Figure 2 A flowchart illustrating a method for evaluating flyability according to an example embodiment of this application is shown, such as... Figure 2 The method shown includes steps S201 and S203.

[0061] In step S201, the flyability measurability of the corresponding position of each three-dimensional geometric shape included in the spatial domain division result is calculated.

[0062] In a specific embodiment, the spatial domain partitioning result is represented using the four-dimensional digital base as described in application number 202410781151.9. The four-dimensional digital base takes standardized four-dimensional spatial domain data as input, and uses different function calculation functions to describe the specified functional information on the four-dimensional spatial-temporal coordinates depending on the required functional category. Based on the input four-dimensional spatial-temporal coordinates and the calculation results of the specified functions, it outputs the fusion information corresponding to the four-dimensional spatial-temporal coordinate position to generate the four-dimensional digital base.

[0063] In some embodiments, the function calculation function is expressed using the f_{function}(x, y, z, t) method. At each four-dimensional spatial-temporal coordinate position (x, y, z, t), various specified function information for that four-dimensional spatial-temporal coordinate position is represented by multiple types of function calculation functions f_{function}(x, y, z, t) to achieve fusion calculation of the four-dimensional spatial data. The four-dimensional spatial-temporal coordinate position (x, y, z, t) can be represented using a discretized method or a continuous coordinate representation method.

[0064] For example, when the specified function is to describe the flightability measure assessment of the aircraft in the four-dimensional coordinates, the index assessment value is calculated based on the flightability measure of the coordinate position corresponding to each three-dimensional geometric shape in the airspace division result.

[0065] In specific embodiments, the flyability metric assessment includes multiple sub-indicators, such as whether the airspace is occupied, the distance between the airspace and the nearest obstacle, and / or the communication coverage or strength of the airspace.

[0066] The function for calculating the function at the coordinate position is shown in formula (2).

[0067] f{Flyability measure}(x, y, z, t)=(1−f{occupancy}(x, y, z, t))×normalized(W1⋅f{SDF}(x, y, z, t)+W2⋅f{communication}(x, y, z, t)+…+WN⋅f{N}(x, y, z, t)) (2);

[0068] Where f{occupancy}(x, y, z, t) indicates whether the airspace is occupied at time t, f{SDF}(x, y, z, t) indicates the distance between the airspace and the nearest obstacle at time t, f{communication}(x, y, z, t) indicates the communication coverage or strength of the airspace at time t, WN⋅f{N}(x, y, z, t) is the Nth flyability measure evaluation index, W1, W2, ..., WN represent the weights corresponding to each flyability measure evaluation index, and (x, y, z, t) are the spatial and temporal coordinate positions of the airspace at time t. f{flyability measure}(x, y, z, t) represents the flyability measure function calculation function at the coordinate position at time t. normalized represents the normalization function.

[0069] In step S203, statistical values ​​of multiple three-dimensional geometric shapes are calculated to obtain index evaluation values.

[0070] According to an embodiment of this application, after obtaining the flyability measurability of the coordinate positions corresponding to each three-dimensional geometric shape, it is also necessary to calculate the statistical values ​​of the multiple three-dimensional geometric shapes included in the region to obtain the index evaluation value. The index evaluation value includes the statistical value of the flyability measurability, wherein the statistical value includes the average value and / or the root mean square deviation of the flyability measurability. However, it should be noted that the statistical value includes, but is not limited to, the average value and / or root mean square deviation of multiple three-dimensional geometric shapes, and other statistical value calculation methods can also be used.

[0071] For example, suppose the region includes n three-dimensional geometric shapes, whose corresponding coordinate positions are (x, y, z). i y i , z i , t i ), i==1,2,…,n, the flyability measure function is f{flyability measure}(x,y,z,t), and the average value of the flyability measure corresponding to the coordinate positions of n three-dimensional geometric shapes is used as the index evaluation value, as shown in formula (3).

[0072] (3);

[0073] Among them, M fly The value is the indicator evaluation value. The closer it is to 1, the higher the overall flight suitability of the airspace allocation results.

[0074] according to Figure 2 The embodiment shown assesses whether the airspace is occupied, the distance between the airspace and the nearest obstacle, and / or the communication coverage or strength of the airspace by performing a flyability measurement evaluation on the partitioning results.

[0075] When the evaluation metric is the compliance assessment of multiple rules, firstly, the rule violation penalty score corresponding to the airspace is calculated based on the preset violation penalty score of each rule; then, the metric evaluation value is calculated based on the rule violation penalty score. Figure 3 A flowchart illustrating a rule compliance evaluation method according to an example embodiment of this application is shown, such as... Figure 3 The method shown includes steps S301 and S303.

[0076] In step S301, the violation penalty score of the rule corresponding to the airspace is calculated based on the preset violation penalty score of each rule;

[0077] As mentioned earlier, the spatial domain partitioning results include multiple three-dimensional geometric shapes, and the spatial domain partitioning results are represented by a four-dimensional digital base.

[0078] According to an embodiment of this application, in step S301, firstly, based on the preset violation penalty score of each rule, the violation penalty score of the geometric unit corresponding to each three-dimensional geometric shape in the spatial domain partitioning result is determined; then, based on the violation penalty score of the geometric unit, the violation penalty score of the rule corresponding to the spatial domain is calculated.

[0079] For example, assuming the preset rule is a no-fly zone rule, the violation penalty scores of the geometric units corresponding to the m three-dimensional geometric shapes in the airspace division result are Pnofly1, Pnofly2, ..., Pnoflym, respectively. Based on the violation penalty score of each preset rule, the violation penalty scores of the geometric units corresponding to the m three-dimensional geometric shapes are determined.

[0080] In step S303, the indicator evaluation value is calculated based on the rule violation penalty score.

[0081] After obtaining the rule violation penalty score for each rule in the airspace partitioning results, according to the embodiments of this application, it is also necessary to calculate the rule statistics value corresponding to the airspace based on the rule violation penalty score; and calculate the indicator evaluation value based on the rule statistics value.

[0082] For example, assuming the preset rule is the no-fly zone rule, the violation penalty scores of the geometric units corresponding to the m three-dimensional geometric shapes in the airspace division result are Pnofly1, Pnofly2, ..., Pnoflym, respectively. The violation penalty scores of the geometric units corresponding to the m three-dimensional geometric shapes are summed as the rule statistics corresponding to the airspace, as shown in formula (4).

[0083] (4);

[0084] in, The calculated rule statistics are m, where m is a positive integer greater than or equal to 1.

[0085] When the corresponding spatial domain partitioning result contains multiple preset rules, the indicator evaluation value also needs to be calculated based on the statistical values ​​of multiple rules.

[0086] For example, assuming that the preset rules include altitude rules in addition to no-fly zone rules, in a specific embodiment, the sum of the rule statistics corresponding to the no-fly zone rules and altitude rules is used as the indicator evaluation value, as shown in formula (5).

[0087] Srule = Snofly+Sheight(5);

[0088] Where Srule is the calculated indicator evaluation value, Snofly is the statistical value of the no-fly zone rule, and Sheight is the statistical value of the altitude rule.

[0089] according to Figure 3 The embodiment shown evaluates the degree of violation of the spatial domain partitioning method by determining the violation penalty score of the geometric unit corresponding to each three-dimensional solid geometry.

[0090] Figure 4 A flowchart of a preference evaluation method according to an example embodiment of this application is shown, such as Figure 4 The method shown includes steps S401 and S403.

[0091] As mentioned earlier, the spatial domain partitioning results include multiple three-dimensional geometric shapes, and the spatial domain partitioning results are represented by a four-dimensional digital base.

[0092] In step S401, multiple preference evaluations are performed on the spatial domain corresponding to each three-dimensional geometric shape in the spatial domain division results to obtain multiple preference evaluation values.

[0093] According to embodiments of this application, multiple preference assessments include space utilization assessment, flight conflict frequency assessment, and / or flight smoothness assessment. Specifically, space utilization assessment evaluates the utilization rate of airspace, flight conflict frequency assessment evaluates the number of flight conflicts occurring in the airspace, and flight smoothness assessment evaluates the smoothness of flight in the airspace.

[0094] In step S403, the index evaluation value is calculated using the multiple preference evaluation values ​​based on the preference weight value corresponding to each preference evaluation in the multiple preference evaluations.

[0095] According to an embodiment of this application, in step S403, firstly, based on the preference weight value corresponding to each preference assessment in the multiple preference assessments, a preference statistical value is calculated using a preset preference weight.

[0096] For example, for space utilization assessment, the preference assessment value is calculated using formula (6).

[0097] (6);

[0098] Where U represents space utilization rate; a higher U indicates better alignment with design preferences and thus better space utilization. The volume of the spatial domain corresponding to the three-dimensional geometric shape in the spatial domain partitioning result. This represents the total volume of the airspace corresponding to the airspace.

[0099] After obtaining the preference statistics, it is also necessary to use the preference statistics to calculate the indicator evaluation value.

[0100] For example, suppose there are multiple preference evaluation sets {I1, I2, ..., I...} k}, where k is the number of preference evaluations, and the corresponding weights are {w1, w2, w3, ..., w k The calculated evaluation values ​​of the indicators are shown in formula (7).

[0101] (7);

[0102] Spref is the calculated evaluation value of the indicator.

[0103] according to Figure 4 The illustrated embodiment evaluates the degree to which the spatial domain partitioning results meet the partitioning requirements by performing a preference assessment on the partitioning results.

[0104] Figure 5 A flowchart of an evaluation method for airspace partitioning results according to an example embodiment of this application is shown, as follows: Figure 5 The method shown includes steps S501, S503, S505 and S507.

[0105] According to embodiments of this application, the evaluation metrics include flyability assessment, compliance assessment of multiple rules, and assessment of multiple preferences.

[0106] like Figure 5 As shown, in step S501, the first evaluation value is calculated based on the flyability measure of the coordinate position corresponding to each three-dimensional geometric shape in the airspace partitioning result.

[0107] Because step S501 calculates the first evaluation value and Figure 2 The method for calculating the flyability metric assessment is the same, and will not be repeated here.

[0108] In step S503, a second evaluation value is calculated based on the compliance evaluation of multiple rules at the coordinate positions corresponding to each three-dimensional geometric shape in the spatial domain partitioning result.

[0109] Because step S501 calculates the second evaluation value and Figure 3 The calculation rules follow the same evaluation method, so they will not be repeated here.

[0110] In step S505, a third evaluation value is calculated based on multiple preference evaluations of the coordinate positions corresponding to each three-dimensional geometric shape in the spatial domain partitioning results.

[0111] Because step S503 calculates the third evaluation value and Figure 4 The method for calculating preference assessment is the same and will not be repeated here.

[0112] In step S507, the index evaluation value is calculated based on the first evaluation value, the second evaluation value, and / or the third evaluation value.

[0113] It should be noted that, in specific embodiments, one, two, or three of the first evaluation value, the second evaluation value, and the third evaluation value can be selected to evaluate the airspace partitioning result. When the first evaluation value, the second evaluation value, and the third evaluation value are selected to evaluate the airspace partitioning result, step S507 uses formula (1) to calculate the index evaluation value.

[0114] The above description primarily focuses on the methodological aspects of the embodiments of this application. Those skilled in the art should readily recognize that, based on the operations or steps described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Those skilled in the art can implement the described functionality in different ways for each specific operation or method, and such implementations should not be considered beyond the scope of this application.

[0115] The apparatus embodiments of this application are described below. For details not described in the apparatus embodiments of this application, please refer to the method embodiments of this application.

[0116] Figure 6 A block diagram of an apparatus for evaluating spatial domain partitioning results according to an example embodiment of this application is shown, such as... Figure 6 The apparatus shown includes an evaluation index determination unit 601, an index evaluation value calculation unit 603, and a spatial domain division result evaluation unit 605. The evaluation index determination unit 601 determines the evaluation indexes participating in the spatial domain division result based on the spatial domain division result; the index evaluation value calculation unit 603 calculates the index evaluation value corresponding to each evaluation index; and the spatial domain division result evaluation unit 605 evaluates the spatial domain division result according to the index evaluation values ​​and a preset weight value corresponding to each evaluation index.

[0117] Figure 7 An electronic device according to an exemplary embodiment of this application is shown. Reference is made below. Figure 7 To describe an electronic device 200 according to this embodiment of the present application. Figure 7The electronic device 200 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0118] like Figure 7 As shown, the electronic device 200 is presented in the form of a general-purpose computing device. The components of the electronic device 200 may include, but are not limited to: at least one processing unit 210, at least one storage unit 220, a bus 230 connecting different system components (including storage unit 220 and processing unit 210), a display unit 240, etc.

[0119] The storage unit stores program code that can be executed by the processing unit 210, causing the processing unit 210 to perform the methods described in this specification according to various exemplary embodiments of this application. For example, the processing unit 210 can perform the methods described above.

[0120] Storage unit 220 may include readable media in the form of volatile storage units, such as random access memory (RAM) 2201 and / or cache 2202, and may further include read-only memory (ROM) 2203.

[0121] Storage unit 220 may also include a program / utility 2204 having a set (at least one) program module 2205, such program module 2205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0122] Bus 230 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0123] Electronic device 200 can also communicate with one or more external devices 300 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 200, and / or with any device that enables electronic device 200 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 250. Furthermore, electronic device 200 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 260. Network adapter 260 can communicate with other modules of electronic device 200 via bus 230. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0124] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. The technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, or network device, etc.) to execute the methods described above according to the embodiments of this application.

[0125] Software products may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0126] A computer-readable storage medium may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code (including computer-readable instructions stored thereon). When one or more of the aforementioned programs are executed by a device, the computer-readable storage medium causes the aforementioned functions to be performed. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium, capable of transmitting, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0127] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0128] The aforementioned computer-readable medium carries one or more programs, which, when executed by a device, cause the computer-readable medium to perform the aforementioned functions.

[0129] Those skilled in the art will understand that the above modules can be distributed in the device as described in the embodiments, or they can be modified accordingly and placed in one or more devices that are unique to this embodiment. The modules in the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0130] According to an embodiment of this application, a computer program is proposed, including a computer program or instructions, which, when executed by a processor, can perform the methods described above.

[0131] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. Furthermore, any changes or modifications made by those skilled in the art based on the ideas of this application, and on the specific implementation methods and application scope of this application, are all within the scope of protection of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0132] Those skilled in the art will understand that the above modules can be distributed in the device as described in the embodiments, or they can be modified accordingly and placed in one or more devices that are unique to this embodiment. The modules in the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0133] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. Furthermore, any changes or modifications made by those skilled in the art based on the ideas of this application, and on the specific implementation methods and application scope of this application, are all within the scope of protection of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for evaluating the results of airspace partitioning, characterized in that, The method for evaluating airspace delineation results is applicable to low-altitude airspace, including: Based on the airspace delineation results, evaluation indicators for the airspace delineation results are determined according to the purpose of airspace use, wherein the priority of the evaluation indicators is different for different purposes of airspace use. Calculate the evaluation value for each of the evaluation indicators; The spatial domain division result is evaluated based on the evaluation value of the indicator and the preset weight value corresponding to each evaluation indicator; The spatial domain division result includes the three-dimensional solid geometry corresponding to the spatial domain and the relationship between the three-dimensional solid geometry included in the divided spatial domain. The relationship between the three-dimensional solid geometry is used to represent the positional relationship between multiple three-dimensional solid geometry, and the positional relationship includes inclusion relationship, adjacency relationship and / or connectivity relationship. The evaluation metrics include flyability measurement, compliance with multiple rules, and / or multiple preference assessments. The calculation of an evaluation value for each metric includes: calculating a first evaluation value based on the flyability measurement of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace partitioning result; calculating a second evaluation value based on the compliance with multiple rules of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace partitioning result; calculating a third evaluation value based on the multiple preference assessments of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace partitioning result; and calculating the metric evaluation value based on the first evaluation value, the second evaluation value, and / or the third evaluation value.

2. The method according to claim 1, characterized in that, The evaluation metrics include flyability assessment, and the evaluation value for each metric is calculated, including: The evaluation value of the index is calculated based on the flyability of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace partitioning results.

3. The method according to claim 2, characterized in that, The evaluation value of the indicator includes the statistical value of the flyability measure, which includes the mean and / or the mean square deviation of the flyability measure.

4. The method according to claim 1, characterized in that, The evaluation indicators include compliance assessments of multiple rules, and the evaluation value for each evaluation indicator is calculated, including: Calculate the rule violation penalty score corresponding to the spatial domain based on the preset violation penalty score for each rule; The evaluation value of the indicator is calculated based on the violation penalty score of the rules.

5. The method according to claim 4, characterized in that, Based on the pre-set violation penalty score for each rule, calculate the rule violation penalty score corresponding to the spatial domain, including: Based on the pre-set penalty score for each rule, determine the penalty score for each geometric unit corresponding to each three-dimensional geometric shape in the spatial domain partitioning result. Calculate the rule violation penalty score corresponding to the spatial domain based on the violation penalty score of the geometric unit.

6. The method according to claim 5, characterized in that, The evaluation value of the indicator is calculated based on the violation penalty score of the aforementioned rules, including: Calculate the rule statistics value corresponding to the airspace based on the rule violation penalty score; The evaluation value of the indicator is calculated based on the statistical values ​​of the rules.

7. The method according to claim 1, characterized in that, The evaluation indicators include preference evaluation, and the evaluation value for each evaluation indicator is calculated, including: Based on the spatial domain corresponding to each three-dimensional geometric shape in the spatial domain partitioning result, multiple preference evaluations are performed to obtain multiple preference evaluation values; The indicator evaluation value is calculated using the preference weight value corresponding to each of the multiple preference evaluations.

8. The method according to claim 7, characterized in that, Based on the preference weight value corresponding to each of the multiple preference assessments, the indicator assessment value is calculated using the multiple preference assessment values, including: Based on the preference weight value corresponding to each preference assessment in the multiple preference assessments, the preference statistics are calculated using the preset preference weights; The evaluation value of the indicator is calculated using the preference statistics.

9. The method according to claim 7, characterized in that, The multiple preference assessments include a space utilization assessment, calculated using the following formula: ， Wherein, U represents the space utilization rate. The spatial volume corresponding to the three-dimensional geometric shape in the spatial domain partitioning result. This represents the total volume of the airspace corresponding to the stated airspace.

10. An apparatus for evaluating the results of airspace partitioning, characterized in that, The apparatus for evaluating airspace delineation results is applicable to low-altitude airspace and includes: An evaluation index determination unit is used to determine the evaluation indexes participating in the airspace division results based on the airspace use purpose, wherein the evaluation indexes have different priorities for different airspace use purposes; the airspace division results include the three-dimensional solid geometry corresponding to the airspace and the relationship between the three-dimensional solid geometry included in the divided airspace, the relationship between the three-dimensional solid geometry is used to represent the positional relationship between multiple three-dimensional solid geometry, the positional relationship includes inclusion relationship, adjacency relationship and / or connectivity relationship; An indicator evaluation value calculation unit is used to calculate the indicator evaluation value corresponding to each of the evaluation indicators; wherein, the evaluation indicators include flight measurability evaluation, compliance evaluation of multiple rules, and / or multiple preference evaluations, and the calculation of the indicator evaluation value corresponding to each of the evaluation indicators includes: calculating a first evaluation value based on the flight measurability of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace partitioning result; calculating a second evaluation value based on the compliance evaluation of multiple rules corresponding to the coordinate positions corresponding to each three-dimensional geometric shape in the airspace partitioning result; calculating a third evaluation value based on the multiple preference evaluations of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace partitioning result; and calculating the indicator evaluation value based on the first evaluation value, the second evaluation value, and / or the third evaluation value. The airspace partitioning result evaluation unit is used to evaluate the airspace partitioning result based on the evaluation value of the indicator and the preset weight value corresponding to each evaluation indicator.

11. An electronic device, characterized in that, include: processor; Memory, used to store computer programs; When the computer program is executed by the processor, the processor causes the processor to implement the method as described in any one of claims 1 to 9.

12. A computer-readable storage medium having stored thereon computer-readable instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1 to 9.

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