Multi-agent collaborative driving low-altitude airspace auditing system

Abstract

The application discloses a kind of low airspace auditing systems of multi-agent collaborative driving, comprising: operation person management platform, for storing and maintaining operation person basic information and carrying out airspace application;Local low altitude management platform, for receiving airspace application information, and pre-trial is carried out to airspace application;Air traffic management agency low altitude platform, for receiving airspace pre-trial information sent by local low altitude management platform, and final approval is carried out to airspace application;Multi-agent collaborative platform receives the airspace application information submitted by operation person management platform, constructs approval procedure, and carries out space calculation;In combination with approval procedure and calculation result, airspace application information is sent to local low altitude management platform and pre-trial is carried out.The application realizes low airspace unified application, step-by-step approval, and shields complex approval relationship for low altitude user, and low altitude user only needs to submit airspace application to local low altitude management platform through operation person management platform, without considering the specific jurisdiction involved in applying airspace.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of low-altitude airspace review, and particularly relates to a low-altitude airspace review system driven by multiple subjects in cooperation. BACKGROUND

[0002] With the gradual promotion of low-altitude airspace reform in China, the vigorous development of low-altitude application scenarios and industries, and the commercialization and civil use of low-altitude manned aircraft and low-altitude unmanned aircraft, the potential market demand for unmanned aircraft flight is increasing, which puts forward higher requirements for low-altitude flight airspace and activity supervision.

[0003] Low-altitude airspace operation includes the flight of manned aircraft and unmanned aircraft. At present, in the field of low-altitude flight of manned aircraft, users need to submit applications for airspace use and flight activities through flight service stations in their respective regions. These applications are first preliminarily reviewed by the navigation flight service station, and then judged by the staff of the flight service station to be transferred to the corresponding department of the air traffic management agency for final approval. In the field of low-altitude flight of unmanned aircraft, users need to use the UOM (civil unmanned aircraft comprehensive management platform) to submit application information for their flight activities and airspace use.

[0004] In the aspect of manned aircraft, due to the difficulties in the docking between the air traffic management agency system and the navigation flight service stations in various regions, the approval process often relies on traditional communication methods such as telephone and fax, which is not only inefficient but also prone to errors. In addition, there is a lack of effective coordination mechanism between A-type and B-type flight service stations, making it difficult to realize unified management and transfer of declaration information, increasing the pressure of approval work. Especially in the case of cross-provincial or cross-city airspace or without the establishment of city-level platforms, operating units often do not know to which department to submit the application. As for unmanned aircraft, although there is a unified UOM management platform for low-altitude flight approval, when facing a large number of applications nationwide, the UOM cannot handle these applications at the same time, resulting in the inability to timely and effectively approve. SUMMARY

[0005] In view of the above deficiencies of the prior art, the purpose of the present application is to provide a low-altitude airspace review system driven by multiple subjects in cooperation, to solve the problems of complex low-altitude flight airspace application and approval relationship, high pressure of air traffic management agency approval, great difficulty in low-altitude flight supervision, and complex flight service.

[0006] To achieve the above purpose, the technical solution adopted by the present application is as follows:

[0007] The application discloses a low-altitude airspace auditing system based on multi-subject cooperative driving, which comprises an operator management platform, a local low-altitude management platform, an air traffic management organization low-altitude platform and a multi-subject cooperative platform.

[0008] The operator management platform is used for storing and maintaining the basic information of the operators and applying for the airspace.

[0009] The local low-altitude management platform is used for receiving the airspace application information and pre-auditing the airspace application.

[0010] The air traffic management organization low-altitude platform is used for receiving the airspace pre-auditing information sent by the local low-altitude management platform and finally approving the airspace application.

[0011] The multi-subject cooperative platform receives the airspace application information submitted by the operator management platform, constructs an approval process and performs space calculation, and sends the airspace application information to the local low-altitude management platform and the air traffic management organization low-altitude platform for approval in combination with the approval process and the calculation result.

[0012] Further, the operator management platform comprises an operator basic data management module and an airspace application module.

[0013] The operator basic data management module is used for storing and maintaining the basic information of the operators and the qualification information of the operators.

[0014] The basic information of the operators comprises the name of the operating company, the type of the operating company, the unified social credit code, the company address, the postal code, the mailbox, the contact method, the fax and the like.

[0015] The qualification information of the operators comprises the business license and the business license qualification, and the specific information comprises the name of the operating company, the unified social credit code, the company qualification type, the qualification number, the qualification validity period, the qualification file and the like.

[0016] The airspace application module is used for filling in the airspace application information and submitting the airspace application, and comprises an airspace application information base and an airspace geographic information structure base.

[0017] The airspace application information base is used for storing the airspace application information submitted by the operators, and the airspace application information comprises the name of the airspace, the type of the airspace, the use time, the applicant information, the contact person, the contact number, the approval state and the approval opinion.

[0018] The airspace geographic information structure base is used for storing the airspace geographic space information of the airspace applied by the operators, and the airspace geographic space information comprises the name of the airspace, the shape of the airspace, the longitude set of the airspace, the latitude set of the airspace and the height range of the airspace.

[0019] Further, the local low-altitude management platform comprises a local municipal platform, a local provincial platform and an airspace audit library.

[0020] The local municipal platform is configured to receive airspace application information and pre-audit the airspace application information to generate a pre-audit opinion.

[0021] The local provincial platform is configured to receive the pre-audited airspace application information sent by the local municipal platform and pre-audit the airspace application information and the pre-audit opinion of the local municipal platform to generate an audit result.

[0022] The airspace audit library is configured to store the airspace application and corresponding audit opinions and audit results, and specific information includes airspace name, approval status, approval opinion, approver and approval time.

[0023] Further, the low-altitude platform of the air traffic management agency comprises a regional bureau management platform, a civil aviation airport management platform and a civil aviation flight plan library.

[0024] The regional bureau management platform is configured to receive the airspace pre-audit information sent by the local provincial platform and perform final approval on the airspace application according to the civil aviation flight plan information stored in the civil aviation flight plan library.

[0025] The civil aviation airport management platform is configured to store the airspace application approval result of the regional bureau management platform.

[0026] The civil aviation flight plan library is configured to store civil aviation flight plan information, including flight number, execution date, planned takeoff time, planned landing time, actual takeoff time, actual landing time, takeoff airport, landing airport, aircraft number, aircraft type and task nature.

[0027] Further, the multi-subject collaborative platform comprises an approval database, an approval process module, an approval relationship calculation module, an auxiliary approval module and a distribution and circulation module.

[0028] The approval database is configured to store the basic data required for collaborative approval, including a jurisdiction information library, a multi-level relationship library, a blacklist library and an operator company qualification library.

[0029] The jurisdiction information library is configured to store and maintain basic information and geographic spatial information of the jurisdiction.

[0030] The multi-level relationship library is configured to store the level relationship between units in each jurisdiction.

[0031] The blacklist library is configured to store the operator information listed in the blacklist due to various violations during low-altitude operation, including company name, unified social credit code, reason for being listed in the blacklist and time for being listed in the blacklist.

[0032] The operator company qualification library is used for synchronizing company qualification information in the operator basic data management module;

[0033] The approval flow module is used for constructing an approval relationship model, generating approval nodes at various levels and a topological relationship network between the approval nodes at various levels;

[0034] The approval relationship calculation module is used for calculating jurisdictional areas involved in the airspace application, corresponding approval nodes at various levels and approval relationships between the approval nodes;

[0035] The auxiliary approval module is used for auxiliary pre-approval of the airspace application submitted by the operator to obtain an auxiliary pre-approval result;

[0036] The distribution flow module is used for distributing airspace application information and the pre-approval result output by the auxiliary approval module to a next-level approval node according to the topological relationship network between the approval nodes.

[0037] Further, the multi-agent collaborative platform receives airspace application information submitted by the operator management platform, constructs an approval flow through the approval flow module, and performs spatial calculation based on geographic spatial information in the airspace application information through the approval relationship calculation module to determine situations of cross-city, cross-province and jurisdictional units involved in the application airspace; in combination with the approval flow and the calculation result, the airspace application information is sent to the local low-altitude management platform and the air traffic management agency low-altitude platform for approval.

[0038] Further, after each approval node in the local low-altitude management platform completes the approval, the airspace application and the approval information are sent to the multi-agent collaborative platform, and based on the approval flow constructed by the approval flow module and the approval relationship calculated by the approval relationship calculation module, the multi-agent collaborative platform further distributes the flow to send the airspace application and the approval information to each approval node of the air traffic management agency low-altitude platform for approval.

[0039] Further, after each approval node of the air traffic management agency low-altitude platform completes the approval, the reply result of the air traffic management agency low-altitude platform is forwarded to the operator management platform through the multi-agent collaborative platform, so that the operator can check the reply situation of the applied airspace.

[0040] Further, the jurisdictional information library is a data table (Table), the attributes of which are a total set of all jurisdictional information involved in the multi-agent collaborative platform, the jurisdictional unique ID is taken as a primary key (Primary Key), the jurisdictional name, jurisdictional type, jurisdictional geographic spatial information and jurisdictional information update time are taken as data columns (Data Column), in the construction of the approval flow, the jurisdictional type field in the data table is used to divide the jurisdictional units at the approval level, and the approval flow is established through other data in the data table.

[0041] Further, the multi-level relationship database is a data table, the attribute of which is a relationship set between all jurisdictions involved in the multi-subject collaborative platform, the data table classifies and associates each jurisdiction in the jurisdiction information database in terms of level, clearly defines the level grade of each jurisdiction, and takes jurisdiction name, belonging level, parent level, parent jurisdiction ID, and update time as data columns; when calculating the approval relationship, the level relationship of the jurisdiction is determined through the data table.

[0042] Further, the approval process module submits an application by an operator, performs pre-examination by a local city-level platform and a local province-level platform, and performs final examination by a low-altitude platform of the air traffic management agency, as the main process, to build an approval process; the jurisdiction basic information and geographic spatial information are obtained from the jurisdiction information database, the jurisdiction unit is taken as a single node, and each approval node is generated; according to different jurisdiction types, a multi-level approval network is built, and the same jurisdiction type is taken as a same-level approval node; according to the actual approval process of the user and the user demand, the transfer order and transfer relationship between nodes are determined, the multi-level approval nodes are connected, a topological relationship network of the approval nodes is built, and the construction of the approval relationship model B is completed; the expression is as follows:

[0043] B={W,G};

[0044] W={W1,W2,W3};

[0045] G={g1,g2};

[0046] W i ={w1,w2,...,w k};

[0047] Among them, W is an approval level set, G is an approval relationship type, W i is an approval node set of the i-th approval level, i=1, 2, 3; g1 is an approval relationship between W1 and W2, g2 is an approval relationship between W2 and W3; w k is the k-th approval node, and k is the number of nodes in the current approval level.

[0048] Further, the approval relationship calculation module performs spatial calculation on the geographic information of the application airspace based on the airspace application information; the latest geographic spatial information of the jurisdiction range of each jurisdiction in the current level approval network is obtained from the jurisdiction information database, the geographic information of the application airspace is compared with the jurisdiction range geographic spatial information, the spatial position relative relationship between the application airspace range and the jurisdiction range of each jurisdiction is calculated, the jurisdiction information involved in the application airspace is determined, the approval relationship matrix C is obtained; the jurisdiction information involved in the application airspace is compared with the approval node topological relationship network built by the approval process module, and the specific approval person of the application airspace is determined; the expression of the approval relationship matrix C is as follows:

[0049] C = {c1, c2, ..., c} m};

[0050]

[0051] Among them, c m This indicates whether the requested airspace involves the m-th jurisdiction; 1 indicates involvement, and 0 indicates non-involvement.

[0052] Further, the steps for calculating the approval relationship matrix are as follows: Obtain the geographic information A of the applied airspace and the latest geospatial information R of each jurisdiction's area of ​​responsibility; determine the relative positional relationship between the geographic information of the applied airspace and the geospatial information of each jurisdiction's area of ​​responsibility, i.e., determine whether each boundary point in A is in R or whether each boundary point in R is in A, to obtain the relative positional relationship matrix L; transform the relative positional relationship matrix L to obtain the approval relationship matrix C, as follows:

[0053] A = (a1, a2, ..., a x );

[0054] a x =(lon) x ,lat x );

[0055] R = (R1, R2, ..., R m );

[0056]

[0057] L = (AR, RA);

[0058]

[0059] Among them, a x This represents the x-th location point in the requested airspace geographic information, lon. x lat represents the longitude of the x-th point. x R represents the latitude of the x-th point; m This represents the geographical information of the jurisdiction of the m-th district. Let a represent the y-th location point of the geographic information within the jurisdiction of the m-th jurisdiction; AR represents the relative positional relationship between the location point of the requested airspace geographic information and the jurisdiction of each jurisdiction, a x R m This indicates whether the x-th location point of the requested airspace geographic information is within the jurisdiction of the m-th jurisdiction; RA represents the relative positional relationship between the location points within each jurisdiction and the requested airspace geographic information. This indicates whether the y-th location point in the m-th jurisdiction is within the requested airspace geographic information.

[0060] Further, the auxiliary approval module obtains the relevant information of the operating company from the airspace application information, and queries the corresponding qualification information of the operating company in the operating person basic data management module, compares the compliance of the qualification and the validity period information of the qualification; at the same time, the operating company information is searched in the blacklist library to identify whether the operating company is listed in the blacklist.

[0061] Further, the distribution and circulation module receives the auxiliary pre-examination information sent by the auxiliary approval module, and receives the approval relationship matrix C calculated by the approval relationship calculation module, judges the approval relationship and the circulation order according to the approval relationship model B constructed by the approval process module, combines the relationship between the jurisdictions at all levels in the multi-level relationship table library, identifies the distribution and circulation relationship in the approval network of each level, and distributes and circulates the application information and the approval information according to the approval relationship, and sends it to each approval node in the approval network of the current level, according to the multi-level relationship, distributes it to the local municipal platform or the local provincial platform (the flight within the city is distributed to the municipal platform, the flight across the city but not across the province, and the flight across the province is distributed to the provincial platform), and finally distributes the application information and the approval information to the specific jurisdiction unit for approval.

[0062] Further, after the approval node completes the approval, the distribution and circulation module distributes the next step according to the approval node topology relationship network constructed by the approval process module and the approval relationship matrix calculated by the approval relationship calculation module, which specifically includes the forwarding of the nodes at the same level and the distribution and circulation of the next node.

[0063] The beneficial effects of the present application are as follows:

[0064] 1. The present application realizes unified application and step-by-step approval of low-altitude airspace, and shields the complex approval relationship for low-altitude users. The low-altitude user only needs to submit an airspace application to the local low-altitude management platform through the operator management platform, without considering the specific jurisdiction involved in the application of airspace, and the problem of who to apply to.

[0065] 2. The present application designs an approval relationship model in combination with spatial calculation, can perform directional distribution and circulation of the approval process, realizes multi-level collaborative pre-examination of provincial and municipal air traffic management agencies, and supports subordinate municipal and county level low-altitude standardized operation. BRIEF DESCRIPTION OF DRAWINGS

[0066] Figure 1 The present application is a principle block diagram of the system. DETAILED DESCRIPTION

[0067] In order to facilitate the understanding of those skilled in the art, the present application will be further described below in combination with embodiments and drawings. The content mentioned in the embodiments is not a limitation of the present application.

[0068] REFERENCE Figure 1As shown, the low-altitude airspace auditing system of the multi-agent collaborative driving of the application comprises an operator management platform, a local low-altitude management platform, an air traffic management agency low-altitude platform and a multi-agent collaborative platform.

[0069] The operator management platform is used for storing and maintaining the basic information of the operator and applying for the airspace.

[0070] The operator management platform comprises an operator basic data management module and an airspace application module.

[0071] The operator basic data management module is used for storing and maintaining the basic information of the operator and the qualification information of the operator.

[0072] The basic information of the operator comprises the name of the operating company, the type of the operating company, the unified social credit code, the company address, the postal code, the mailbox, the contact information, the fax and the like.

[0073] The qualification information of the operator comprises the business license and the business license qualification, and the specific information thereof comprises the name of the operating company, the unified social credit code, the company qualification type, the qualification number, the qualification validity period, the qualification file and the like.

[0074] The airspace application module is used for filling in the airspace application information and submitting the airspace application, and comprises an airspace application information base and an airspace geographic information structure base.

[0075] The airspace application information base is used for storing the airspace application information submitted by the operator, and the airspace application information comprises the name of the airspace, the type of the airspace, the use time, the applicant information, the contact person, the contact telephone number, the approval state and the approval opinion.

[0076] The airspace geographic information structure base is used for storing the airspace geographic spatial information of the operator applying for the airspace, and the airspace geographic spatial information comprises the name of the airspace, the shape of the airspace, the longitude set of the airspace, the latitude set of the airspace and the height range of the airspace.

[0077] The local low-altitude management platform is used for receiving the airspace application information and pre-auditing the airspace application.

[0078] The local low-altitude management platform comprises a local municipal platform, a local provincial platform and an airspace auditing base.

[0079] The local municipal platform is used for receiving the airspace application information and pre-auditing the information of the airspace application to generate a pre-audit opinion.

[0080] The local provincial platform is used for receiving the pre-audited airspace application information sent by the local municipal platform and pre-auditing the information of the airspace application and the pre-audit opinion of the local municipal platform to generate an auditing result.

[0081] airspace audit library, for storing airspace application and its corresponding audit opinion and audit result, specific information includes: airspace name, approval state, approval opinion, approver and approval time.

[0082] low-altitude platform of air traffic management agency, for receiving airspace pre-audit information sent by local low-altitude management platform, and performing final approval on airspace application;

[0083] The low-altitude platform of air traffic management agency comprises: a regional bureau management platform, a civil aviation airport management platform and a civil aviation flight plan library.

[0084] The regional bureau management platform is configured to receive airspace pre-audit information sent by a local provincial platform, and perform final approval on airspace application according to civil aviation flight plan information stored in the civil aviation flight plan library.

[0085] The civil aviation airport management platform is configured to store airspace application approval results of the regional bureau management platform.

[0086] The civil aviation flight plan library is configured to store civil aviation flight plan information, including: flight number, execution date, planned takeoff time, planned landing time, actual takeoff time, actual landing time, takeoff airport, landing airport, aircraft number, aircraft type and task nature.

[0087] The multi-agent collaborative platform receives airspace application information submitted by the operator management platform, constructs an approval process, and performs spatial calculation; in combination with the approval process and the calculation result, the airspace application information is sent to the local low-altitude management platform and the low-altitude platform of air traffic management agency for approval.

[0088] The multi-agent collaborative platform comprises: an approval database, an approval process module, an approval relationship calculation module, an auxiliary approval module and a distribution and circulation module.

[0089] The approval database is configured to store basic data required for collaborative approval, including: a jurisdiction information library, a multi-level relationship library, a blacklist library and an operator company qualification library.

[0090] The jurisdiction information library is configured to store and maintain basic information and geographic spatial information of the jurisdiction.

[0091] The multi-level relationship library is configured to store the level relationship between units in each jurisdiction.

[0092] The blacklist library is configured to store operator information of operators who are listed in the blacklist due to various irregular behaviors in the low-altitude operation process, including: company name, unified social credit code, reason for being listed in the blacklist, and time for being listed in the blacklist.

[0093] The operator company qualification library is configured to synchronize company qualification information in the operator basic data management module.

[0094] an approval flow module, configured to build an approval relationship model, generate approval nodes at different levels and a topological relationship network between the approval nodes at different levels;

[0095] an approval relationship calculation module, configured to calculate jurisdictional areas involved in the airspace application, corresponding approval nodes at different levels and approval relationships between the approval nodes at different levels;

[0096] an auxiliary approval module, configured to perform auxiliary pre-examination on the airspace application submitted by the operator to obtain an auxiliary pre-examination result;

[0097] a distribution and circulation module, configured to distribute the airspace application information and the pre-examination result output by the auxiliary approval module to a next level of approval nodes according to the topological relationship network between the approval nodes.

[0098] Specifically, the multi-agent collaborative platform receives airspace application information submitted by the operator management platform, builds an approval flow through the approval flow module, and performs spatial calculation based on geographic spatial information in the airspace application information through the approval relationship calculation module to determine the situation of the application airspace across cities, provinces and units in each jurisdictional area. The airspace application information is sent to local low-altitude management platforms and air traffic management agency low-altitude platforms for approval in combination with the approval flow and the calculation result.

[0099] Specifically, each approval node in the local low-altitude management platform sends the airspace application and approval information to the multi-agent collaborative platform after completing the approval. The multi-agent collaborative platform further distributes the flow based on the approval flow built by the approval flow module and the approval relationship calculated by the approval relationship calculation module, and sends the airspace application and approval information to each approval node of the air traffic management agency low-altitude platform for approval.

[0100] Specifically, each approval node of the air traffic management agency low-altitude platform sends the reply result of the air traffic management agency low-altitude platform to the operator management platform through the multi-agent collaborative platform for the operator to check the reply situation of the application airspace.

[0101] Specifically, the jurisdictional information database is a data table (Table), the attributes of which are a total set of all jurisdictional information involved in the multi-agent collaborative platform, the jurisdictional unique ID is taken as a primary key (Primary Key), the jurisdictional name, jurisdictional type, jurisdictional geographic spatial information and jurisdictional information update time are taken as data columns (Data Column). When building the approval flow, the jurisdictional type field in the data table is used to divide each jurisdictional unit by approval level, and the approval flow is established through other data in the data table.

[0102] Specifically, the multi-level relationship database is a data table, the attribute of which is a set of relationships between all jurisdictions involved in the multi-subject collaborative platform, the data table classifies and associates the jurisdictions in the jurisdiction information database in terms of levels, and clearly defines the level of each jurisdiction, taking the jurisdiction name, the level to which it belongs, the parent level, the parent jurisdiction ID, and the update time as data columns; when calculating the approval relationship, the level relationship of the jurisdiction is determined through the data table.

[0103] Specifically, the approval process module constructs an approval process with the operation person submitting an application, the local city-level platform and the local province-level platform conducting pre-examination, and the air traffic management agency low-altitude platform conducting final examination as the main process; the jurisdiction basic information and the geographic spatial information are obtained from the jurisdiction information database, the jurisdiction unit is taken as a single node, and each approval node is generated; according to different jurisdiction types, a multi-level approval network is built, and the same jurisdiction type is taken as a same-level approval node; according to the actual approval process of the user and the user demand, the transfer order and the transfer relationship between the nodes are determined, the multi-level approval nodes are connected, and a topological relationship network of the approval nodes is constructed to complete the construction of the approval relationship model B; the expression is as follows:

[0104] B={W,G};

[0105] W={W1,W2,W3};

[0106] G={g1,g2};

[0107] W i ={w1,w2,...,w k};

[0108] Wherein, W is a set of approval levels, G is an approval relationship type, and W i is a set of approval nodes of the i-th approval level, i=1, 2, 3; g1 is the approval relationship between W1 and W2, g2 is the approval relationship between W2 and W3; w k is the k-th approval node, and k is the number of nodes in the current approval level.

[0109] Specifically, the approval relationship calculation module performs spatial calculation on the geographic information of the application airspace based on the airspace application information; the latest geographic spatial information of the jurisdiction range of each jurisdiction in the current level approval network is obtained from the jurisdiction information database, the geographic information of the application airspace is compared with the jurisdiction range geographic spatial information, the spatial position relative relationship between the application airspace range and the jurisdiction range of each jurisdiction is calculated, the jurisdiction information involved in the application airspace is determined, and an approval relationship matrix C is obtained; the jurisdiction information involved in the application airspace is compared with the approval node topological relationship network constructed by the approval process module, and the specific approval person of the application airspace is determined; the expression of the approval relationship matrix C is as follows:

[0110] C = {c1, c2, ..., c} m};

[0111]

[0112] Among them, c m This indicates whether the requested airspace involves the m-th jurisdiction; 1 indicates involvement, and 0 indicates non-involvement.

[0113] Specifically, the steps for calculating the approval relationship matrix are as follows: Obtain the geographic information A of the applied airspace and the latest geospatial information R of each jurisdiction's area of ​​jurisdiction; determine the relative positional relationship between the geographic information of the applied airspace and the geospatial information of each jurisdiction's area of ​​jurisdiction, i.e., determine whether each boundary point in A is in R or whether each boundary point in R is in A, to obtain the relative positional relationship matrix L; transform the relative positional relationship matrix L to obtain the approval relationship matrix C, as follows:

[0114] A = (a1, a2, ..., a x );

[0115] a x =(lon) x ,lat x );

[0116] R = (R1, R2, ..., R m );

[0117]

[0118] L = (AR, RA);

[0119]

[0120] Among them, a x This represents the x-th location point in the requested airspace geographic information, lon. x lat represents the longitude of the x-th point. x R represents the latitude of the x-th point; m This represents the geographical information of the jurisdiction of the m-th district. Let a represent the y-th location point of the geographic information within the jurisdiction of the m-th jurisdiction; AR represents the relative positional relationship between the location point of the requested airspace geographic information and the jurisdiction of each jurisdiction, a x R m This indicates whether the x-th location point of the requested airspace geographic information is within the jurisdiction of the m-th jurisdiction; RA represents the relative positional relationship between the location points within each jurisdiction and the requested airspace geographic information. This indicates whether the y-th location point in the m-th jurisdiction is within the requested airspace geographic information.

[0121] Specifically, the auxiliary approval module obtains the relevant information of the operating company from the airspace application information, and queries the corresponding qualification information of the operating company in the operating person basic data management module, compares the compliance of the qualification and the validity period information of the qualification; at the same time, the operating company information is searched in the blacklist library to identify whether the operating company is listed in the blacklist.

[0122] Specifically, the distribution flow module receives the auxiliary pre-examination information sent by the auxiliary approval module, and receives the approval relationship matrix C calculated by the approval relationship calculation module, judges the approval relationship and the flow sequence according to the approval relationship model B constructed by the approval process module, identifies the distribution flow relationship in the approval network of each level, and distributes the application information and the approval information according to the approval relationship, and sends it to each approval node in the approval network of the current level, and distributes it to the local municipal platform or the local provincial platform according to the multi-level relationship (intra-city flight is distributed to the municipal platform, cross-city but not cross-province, cross-province flight is distributed to the provincial platform), and finally the application information and the approval information are distributed to the specific jurisdiction unit for approval.

[0123] Specifically, after the approval node completes the approval, the distribution flow module distributes the next step according to the approval node topology relationship network constructed by the approval process module and the approval relationship matrix calculated by the approval relationship calculation module, and specifically includes the forwarding of the same level node and the distribution flow of the next node (such as intra-city flight, after the approval of the local municipal platform is completed, it is summarized to the local provincial platform for examination; after the approval of the local provincial platform is completed, it will be copied to the local municipal platform for reference; after the approval of the local low-altitude management platform is completed, it will be distributed to the air traffic management agency low-altitude platform for further approval).

[0124] The application has many specific application ways, and the above description is only the preferred embodiment of the application, and it should be pointed out that for ordinary skilled personnel in the technical field, some improvements can be made without departing from the principles of the application, and these improvements should also be regarded as the protection scope of the application.

Claims

1. A multi-agent collaborative driving low-altitude airspace review system, characterized in that, The application comprises: An operator management platform, a local low-altitude management platform, a low-altitude platform of an air traffic management institution and a multi-subject coordination platform; The operator management platform is used for storing and maintaining basic information of operators and applying for airspace; The local low-altitude management platform is used for receiving airspace application information and pre-examining the airspace application; The low-altitude platform of the air traffic management institution is used for receiving airspace pre-examination information sent by the local low-altitude management platform and finally examining the airspace application; The multi-subject coordination platform receives airspace application information submitted by the operator management platform, constructs an examination and approval process and performs spatial calculation, sends the airspace application information to the local low-altitude management platform and the low-altitude platform of the air traffic management institution for examination and approval in combination with the examination and approval process and the calculation result; The examination and approval process module takes the application submitted by the operator, the pre-examination by the local municipal platform and the local provincial platform and the final examination by the low-altitude platform of the air traffic management institution as the main process to construct the examination and approval process; The basic information and geographical spatial information of the jurisdiction are obtained from the jurisdiction information database, the jurisdiction unit is taken as a single node, and each examination and approval node is generated; different jurisdiction types are used to build examination and approval networks at different levels, and the same jurisdiction type is used as a same-level examination and approval node; The transfer order and transfer relationship between the nodes are determined according to the actual examination and approval process of the user and the user demand, the examination and approval nodes at different levels are connected, the examination and approval node topology relationship network is constructed, and the construction of the examination and approval relationship model B is completed; the expression is as follows: B={W, G}; W={W1, W2, W3}; G={g1, g2}; W i = {w1, w2,..., w k}; Wherein, W is a set of approval levels, G is an approval relationship type, W i is a set of approval nodes of the i-th approval level, i = 1, 2, 3; g1 is an approval relationship between W1 and W2, g2 is an approval relationship between W2 and W3; w k is the k-th approval node, and k is the number of nodes in the current approval level; The examination and approval relationship calculation module performs spatial calculation on the geographical information of the applied airspace based on the airspace application information, obtains the latest geographical spatial information of the jurisdiction range in the current level examination and approval network from the jurisdiction information database, compares the geographical information of the applied airspace with the geographical spatial information of the jurisdiction range, calculates the spatial position relative relationship between the spatial range of the applied airspace and the jurisdiction range, determines the jurisdiction information involved in the applied airspace, obtains the examination and approval relationship matrix C, compares the jurisdiction information involved in the applied airspace with the examination and approval node topology relationship network constructed by the examination and approval process module, and determines the specific examination and approval person of the applied airspace; the expression of the examination and approval relationship matrix C is as follows: C = {c1, c2,..., c m}; wherein c m represents whether the application airspace involves the mth jurisdiction, 1 for involving and 0 for not involving; The calculation steps of the examination and approval relationship matrix are as follows: the geographical information A of the applied airspace is obtained, and the latest geographical spatial information R of the jurisdiction range is obtained; the relative position relationship between the geographical information of the applied airspace and the geographical spatial information of the jurisdiction range is judged, that is, whether each boundary point in A is in R or each boundary point in R is in A is judged, a relative position relationship matrix L is obtained, the relative position relationship matrix L is converted, and an examination and approval relationship matrix C is obtained, as follows: A = (a1, a2,..., a x ); a x = (lon x , lat x ); R = (R1, R2,..., R m ); L=(AR, RA); wherein a x represents the xth position point of the application airspace geographic information, lon x represents the longitude of the xth point, lat x represents the latitude of the xth point; R m represents the geographic information of the jurisdictional range of the mth jurisdictional area, represents the yth position point of the geographic information of the jurisdictional range of the mth jurisdictional area; AR represents the relative position relationship between the position points of the application airspace geographic information and the jurisdictional range of each jurisdictional area, a x R m represents whether the xth position point of the application airspace geographic information is within the jurisdictional range of the mth jurisdictional area; RA represents the relative position relationship between the position points of the jurisdictional range of each jurisdictional area and the application airspace geographic information, represents whether the yth position point of the mth jurisdictional area is within the application airspace geographic information.

2. The multi-agent synergistically driven low-altitude airspace auditing system according to claim 1, wherein, The operator management platform comprises an operator basic data management module and an airspace application module; The operator basic data management module is used for storing and maintaining basic information of operators and qualification information of the operators; The basic information of the operators comprises the name of an operating company, the type of the operating company, a unified social credit code, a company address, a postal code, a mailbox, a contact method and a fax. The qualification information of the operator includes an operating license and a business license, and specific information thereof includes an operating company name, a unified social credit code, a company qualification type, a qualification number, a qualification validity period, and a qualification file; The airspace application module is configured to fill in airspace application information and submit an airspace application, and includes an airspace application information base and an airspace geographic information structure base; The airspace application information base is configured to store airspace application information submitted by an operator, and the airspace application information includes an airspace name, an airspace type, a use time, applicant information, a contact person, a contact phone number, an approval status, and an approval opinion; The airspace geographic information structure base is configured to store airspace geographic spatial information of an airspace applied for by an operator, and the airspace geographic spatial information includes an airspace name, an airspace shape, an airspace longitude set, an airspace latitude set, and an airspace height range.

3. The multi-agent synergistically driven low-altitude airspace auditing system according to claim 1, wherein, The local low-altitude management platform includes a local municipal platform, a local provincial platform, and an airspace audit base; The local municipal platform is configured to receive airspace application information and pre-audit the airspace application information to generate a pre-audit opinion; The local provincial platform is configured to receive the pre-audited airspace application information sent by the local municipal platform, and pre-audit the airspace application information and the pre-audit opinion of the local municipal platform to generate an audit result; The airspace audit base is configured to store airspace applications and corresponding audit opinions and audit results, and specific information includes an airspace name, an approval status, an approval opinion, an approval person, and an approval time.

4. The multi-agent synergistically driven low-altitude airspace auditing system according to claim 1, wherein, The air traffic management agency low-altitude platform includes a regional bureau management platform, a civil aviation airport management platform, and a civil aviation flight plan base; The regional bureau management platform is configured to receive airspace pre-audit information sent by the local provincial platform, and perform final approval of the airspace application according to civil aviation flight plan information stored in the civil aviation flight plan base; The civil aviation airport management platform is configured to store airspace application approval results of the regional bureau management platform; The civil aviation flight plan base is configured to store civil aviation flight plan information, and specific information includes a flight number, an execution date, a planned takeoff time, a planned landing time, an actual takeoff time, an actual landing time, a takeoff airport, a landing airport, an aircraft number, an aircraft type, and a task nature.

5. The multi-agent synergistically driven low-altitude airspace auditing system according to claim 1, wherein, The multi-agent collaborative platform includes an approval database, an approval process module, an approval relationship calculation module, an auxiliary approval module, and a distribution and circulation module; The approval database is configured to store basic data required for collaborative approval, including a jurisdiction information base, a multi-level relationship base, a blacklist base, and an operator company qualification base; The jurisdiction information base is configured to store basic information and geographic spatial information of a jurisdiction; The multi-level relationship base is configured to store level relationships between units in each jurisdiction; The blacklist base is configured to store operator information of an operator listed in a blacklist due to various irregular behaviors in low-altitude operation, and specific information includes a company name, a unified social credit code, a reason for being listed in the blacklist, and a time for being listed in the blacklist; The operator company qualification base is configured to synchronize company qualification information in the operator basic data management module; The approval process module is configured to build an approval relationship model, generate approval nodes at various levels, and generate a topological relationship network between the approval nodes at various levels; The approval relationship calculation module is configured to calculate the jurisdictional regions involved in the airspace application, corresponding approval nodes at different levels, and approval relationships between the approval nodes; The auxiliary approval module is configured to perform auxiliary pre-approval on the airspace application submitted by the operator, and obtain an auxiliary pre-approval result; The distribution and circulation module is configured to distribute the airspace application information and the pre-approval result output by the auxiliary approval module to the next level of approval nodes according to the topological relationship network between the approval nodes.

6. The multi-agent synergistically driven low-altitude airspace auditing system according to claim 5, wherein, The multi-agent collaborative platform receives the airspace application information submitted by the operator management platform, constructs an approval process through the approval process module, and performs spatial calculation based on the geographic spatial information in the airspace application information through the approval relationship calculation module to determine the situation of the application airspace across cities and provinces and the units involved in each jurisdictional region. The airspace application information is sent to the local low-altitude management platform and the air traffic management agency low-altitude platform for approval in combination with the approval process and the calculation result. After each approval node in the local low-altitude management platform completes the approval, the airspace application and the approval information are sent to the multi-agent collaborative platform. Based on the approval process constructed by the approval process module and the approval relationship calculated by the approval relationship calculation module, the multi-agent collaborative platform further distributes the process, and sends the airspace application and the approval information to each approval node of the air traffic management agency low-altitude platform for approval. After each approval node of the air traffic management agency low-altitude platform completes the approval, the reply result of the air traffic management agency low-altitude platform is forwarded to the operator management platform through the multi-agent collaborative platform, so that the operator can check the reply situation of the applied airspace.

7. The multi-agent synergistically driven low-altitude airspace auditing system according to claim 6, wherein, The jurisdictional information database is a data table, the attributes of which are the total set of all jurisdictional information involved in the multi-agent collaborative platform, the unique ID of the jurisdictional region is taken as the primary key, and the jurisdictional region name, jurisdictional region type, jurisdictional region geographic spatial information, and jurisdictional region information update time are taken as data columns. When constructing the approval process, the jurisdictional region type field in the data table is used to divide the jurisdictional units at the approval level, and the approval process is established through other data in the data table. The multi-level relationship database is a data table, the attributes of which are the relationship set between all jurisdictional regions involved in the multi-agent collaborative platform. The data table classifies and correlates each jurisdictional region at the level in the jurisdictional information database, clearly defines the level of each jurisdictional region, and takes the jurisdictional region name, belonging level, parent level, parent jurisdictional region ID, and update time as data columns. When calculating the approval relationship, the level relationship of the jurisdictional region is determined through the data table.

8. The multi-agent synergistically driven low-altitude airspace auditing system of claim 5, wherein, The distribution and circulation module receives the auxiliary pre-approval information sent by the auxiliary approval module, and receives the approval relationship matrix C calculated by the approval relationship calculation module. According to the approval relationship model B constructed by the approval process module and the relationship between the jurisdictional regions at different levels in the multi-level relationship table database, the approval relationship and the circulation order are determined, the distribution and circulation relationship in the approval network at each level is identified, the application information and the approval information are distributed and circulated according to the approval relationship, and are sent to each approval node in the approval network at the current level. According to the multi-level relationship, the application information and the approval information are distributed to the local city-level platform or the local province-level platform, and finally are distributed to the specific jurisdictional units for approval.

Images