Grid division method and grid division system for low-altitude airspace

Abstract

The invention belongs to the technical field of traffic control systems of aircrafts in a low-altitude airspace, and particularly relates to a grid division method and a grid division system for the low-altitude airspace. Dividing a low-altitude airspace by using grid units of different levels in the grid division method; and when the airspace in the current grid unit meets the splitting condition, splitting the airspace in the grid unit to the next level of grid unit, thereby performing more refined operation management. And when the airspace in the current grid unit meets the merging condition, the grid unit and the adjacent grid units with the same level are merged into the grid unit of the upper level, so that the calculation of the airspace grid is simplified, and the management efficiency is improved. According to the method, elastic features are given to the grids through splitting and merging of the grids, and a grid dynamic recombination mechanism is constructed, so that the refinement degree and the calculation efficiency of airspace management are balanced, the utilization rate of the airspace is improved, and the calculation complexity of conflict warning and conflict resolution strategies is reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of traffic control systems for aircraft in low-altitude airspace, and specifically relates to a gridding method and a gridding system for low-altitude airspace. Background Art

[0002] With the rapid development of the low-altitude economy, traditional static airspace demarcation methods are struggling to meet the dynamic, high-density, and diverse operational needs of aircraft. Existing static airspace demarcation, based on isolated operations, is unable to respond to changes in flight demand in real time, resulting in low airspace utilization and insufficient flexibility. Furthermore, the lack of a dynamic adjustment mechanism in complex low-altitude environments can easily lead to flight conflicts.

[0003] However, most existing dynamic delineation algorithms are quadtree-based dynamic airspace delineation methods, which only support 2^n grid segmentation by dividing grid units through tree structure. They lack flexibility and have high computational complexity, making it difficult to meet real-time requirements. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the present application proposes a grid demarcation method and a grid demarcation system for low-altitude airspace.

[0005] Among them, the grid demarcation method of low-altitude airspace includes:

[0006] S1: Divide the low-altitude airspace using grid cells of different levels;

[0007] S2: Calculate the operational risk value for each grid cell, calculate the aircraft density of each grid cell, and determine whether there are heterogeneous aircraft in each grid cell;

[0008] S3: When the airspace within the current grid cell meets the splitting condition, the airspace within the grid cell is split into the grid cell of the next level; when the airspace within the current grid cell meets the merging condition, the grid cell and the adjacent grid cells of the same level are merged into the grid cell of the previous level;

[0009] Repeat steps S2 to S3.

[0010] In one embodiment, the sizes of grid cells at different levels are different, and the area of the grid cells at the upper level is larger.

[0011] In one embodiment, S1 includes: defining an initial degenerate grid list for the entire airspace.

[0012] In one embodiment, the low-altitude airspace of interest is filled with continuous maximum-level grid cells, and the unfilled portion at the outer edge of the maximum-level grid cell is filled with gradually lower grid cells until the minimum-level cell is used; the positions and levels of all grid cells filling the low-altitude airspace of interest are used as the initial degraded grid list.

[0013] In one embodiment, the influencing factors of the operational risk value include aircraft density, environmental visibility, rainfall, whether there is wind shear, the maximum height of low-altitude obstacles, and obstacle density.

[0014] In one embodiment, the splitting condition includes: an aircraft density greater than or equal to a first threshold, and / or an operation risk value greater than or equal to a second threshold, and / or the presence of heterogeneous aircraft.

[0015] In one embodiment, the merging condition includes: the aircraft density of adjacent grids is less than a third threshold, the operation risk value of adjacent grids is less than a fourth threshold, and there are no heterogeneous aircraft in adjacent grids.

[0016] In one embodiment, the presence of heterogeneous aircraft refers to at least two of unmanned aerial vehicles, helicopter-manned aircraft, and fixed-wing manned aircraft.

[0017] In one embodiment, the metadata of the grid unit includes: grid code, grid size, density of aircraft, operational risk value and sub-grid codes contained therein.

[0018] The low-altitude airspace gridding system includes: a central processing unit, which inputs aircraft density, environmental visibility, rainfall, whether there is wind shear, the maximum height of low-altitude obstacles, and obstacle density into the central processing unit, and the central processing unit executes the low-altitude airspace gridding method described above and then outputs a grid list;

[0019] The metadata of the grid cells in the grid list include: grid code, grid size, density of aircraft, operational risk value and sub-grid codes contained therein.

[0020] In the grid demarcation method for low-altitude airspace provided by the present application, the low-altitude airspace is divided into grid units of different levels; when the airspace within the current grid unit meets the splitting conditions, the airspace within the grid unit is split to the grid unit of the next level, so as to carry out more refined operation management. When the airspace within the current grid unit meets the merging conditions, the grid unit and the adjacent and same-level grid units are merged into the grid unit of the previous level, thereby simplifying the airspace grid calculation and improving management efficiency. The present application gives the grid elastic characteristics through the splitting and merging of the grid, and constructs a grid dynamic reorganization mechanism, thereby balancing the degree of refinement and computational efficiency of airspace management, improving the utilization rate of the airspace, and reducing the computational complexity of the conflict warning and conflict resolution strategies.

[0021] For further clarity of explanation, various aspects and advantages of the embodiments disclosed in the present application will become apparent in the following description or can be understood through the practice of the embodiments disclosed in the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide further understanding of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the invention but do not constitute a limitation to the invention.

[0023] Figure 1 A logic flow chart of the low-altitude airspace gridding method provided in Example 1 of the present application;

[0024] Figure 2 A detailed list of the uniform subdivision of the low-altitude airspace into grid cells of different scales according to the GeoSOT earth subdivision model described in Example 1 of the present application;

[0025] Figure 3 This is a schematic diagram of the low-altitude airspace filled with grids of different levels in Example 1 of the present application. DETAILED DESCRIPTION

[0026] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0027] Currently, dynamic airspace delineation for low-altitude airspace is mostly based on quadtrees, which partition grid cells using a tree structure. However, this quadtree only supports 2^n grid partitions, which is insufficiently flexible. The embodiments provided herein dynamically merge and split grids, providing grid flexibility and establishing a reorganization mechanism for airspace grid delineation, enabling adaptive allocation of airspace resources and efficient conflict resolution.

[0028] Example 1

[0029] Reference Figure 1The gridding method for low-altitude airspace provided in this embodiment includes:

[0030] S1: Divide the low-altitude airspace using grid cells of different levels;

[0031] In this embodiment, the low-altitude airspace is uniformly divided into grid cells of different scales according to the GeoSOT earth segmentation model. In this embodiment, based on the refinement of grid management and the operation interval, the 13-21 level grids (the grid side length of the 13-21 level grids is 7400 meters to 30.9 meters) are selected as the basic airspace grids. The grid cells of the GeoSOT earth segmentation model are as follows: Figure 2 As shown in the table.

[0032] S2: Calculate the operational risk value for each grid cell, calculate the aircraft density of each grid cell, and determine whether there are heterogeneous aircraft in each grid cell;

[0033] In this embodiment, the operational risk of each grid unit is evaluated based on aircraft density, weather conditions, low-altitude obstacles, etc., and an operational risk value is given. The operational risk value is described using a 0-1 range, where 0 is the lowest risk value and 1 is the highest risk value. Each 0.1 represents a risk level, and the risk levels are divided into 0-10 levels.

[0034] The specific evaluation algorithm is as follows:

[0035] An evaluation function for operational risk is set as the operational risk value. The calculation formula for the operational risk value provided in this embodiment is R = α·f(d) + β·f(w) + γ·f(o), where α is the weight value of aircraft density, β is the weight value of weather, and γ is the weight value of obstacles. In the calculation formula for the operational risk value provided in this embodiment, the aircraft density quantization range is 0-1, and the maximum density is 5 aircraft / km. 2 The weather quantification range is 0-1, which is quantified based on the average weight of visibility, rainfall, and whether there is wind shear; the obstacle quantification range is 0-1, which is quantified based on the maximum height of the obstacle, the distribution of obstacles (whether it is an urban obstacle, and the obstacle density).

[0036] In the preferred implementation manner provided by this embodiment, the setting of the above-mentioned weight values can be adjusted according to different regions and operating conditions.

[0037] The parameters of each grid cell include: grid code, grid size, aircraft density (frames / km 2 ), the operational risk value, and the subgrid codes of the subgrids contained in this grid. The subgrid codes are used to describe the current split relationship and can be used to support data visualization and further splitting and merging calculations.

[0038] S3: When the airspace within the current grid cell meets the splitting condition, the airspace within the grid cell is split into the grid cell of the next level; when the airspace within the current grid cell meets the merging condition, the grid cell and the adjacent grid cells of the same level are merged into the grid cell of the previous level;

[0039] Repeat steps S2 to S3 to reconfigure the airspace grid in real time according to the airspace situation.

[0040] The elastic grid is calculated in real time based on the latest aircraft density, operational risk value, etc., and a level grid list is generated. On the one hand, the grid list is published to low-altitude operators through GIS map visualization for them to use in declaring flight activities. On the other hand, it is provided to the airspace management system for calculating airspace conflict warnings and conflict resolution strategies. This embodiment provides a low-altitude airspace dynamic demarcation algorithm based on "elastic grids". By splitting and merging grids, it balances refined airspace management and computational efficiency, improves airspace utilization, and reduces the computational complexity of conflict warnings and conflict resolution strategies.

[0041] Compared to existing low-altitude airspace management technologies that primarily divide airspace into fixed-size grids, the method provided in this embodiment offers flexibility in grid size, adapting to changes in aircraft density. Furthermore, compared to methods that use a uniform, fixed grid for low-altitude airspace demarcation, operational risk assessment methods can only perform traversal calculations. However, the method provided in this embodiment allows for filtering based on the sequence of grid cells' changes or their levels, calculating only the operational risks of grid cells with a certain change history or level, thus saving resources.

[0042] Grid cells at different levels have different sizes. The area of the grid cells at the upper level is larger. Using grids at different levels to demarcate low-altitude airspace can adapt to airspace with different requirements and different weather conditions, aircraft density, and obstacle conditions. Therefore, it has both the safety requirements of low-altitude airspace and the real-time nature of grid calculation.

[0043] In the preferred implementation provided by this embodiment, S1 includes: defining an initial degenerate grid list for the entire airspace. The low-altitude airspace of interest can be filled with continuous maximum-level grid cells, and the unfilled portion is filled with gradually lower-level grid cells at the outer edge of the maximum-level grid cells until the minimum-level cells are used. The filled low-altitude airspace is as follows: Figure 3As shown; the positions and levels of all grid cells in the low-altitude airspace of interest are used as the initial degraded grid list. In this embodiment, the low-altitude airspace is uniformly divided into grid cells of different scales according to the GeoSOT earth segmentation model. Based on the implementation method of selecting 13-21 level grids as the basic airspace grids, the airspace is gridded and segmented from large to small according to the GeoSOT earth segmentation model to define a "degraded grid" list for the entire airspace. First, a 13-grid with a side length of 7,400 meters is used. When exceeding the airspace boundary, the next level of grid is used, until level 21.

[0044] In this embodiment, the splitting conditions are as follows (any condition is met):

[0045] Aircraft density ≥ first threshold;

[0046] Operation risk value ≥ second threshold;

[0047] There is a mix of heterogeneous aircraft (UAVs, helicopter-manned aircraft, fixed-wing manned aircraft, etc.).

[0048] In this embodiment, the merging conditions are as follows (all are met):

[0049] The subgrid density is less than the third threshold;

[0050] The subgrid operation risk values are all < the fourth threshold;

[0051] There is no mixed flight of heterogeneous aircraft (UAVs, helicopters, manned aircraft, fixed-wing manned aircraft, etc.) in any subgrid.

[0052] This embodiment adopts the above-mentioned splitting condition and merging condition to more carefully draw the grid.

[0053] Example 2

[0054] This embodiment provides a low-altitude airspace gridding system, comprising a central processing unit (CPU), which inputs aircraft density, environmental visibility, rainfall, wind shear, maximum height of low-altitude obstacles, and obstacle density. The CPU executes the low-altitude airspace gridding method described in Example 1 and then outputs a grid list.

[0055] The metadata of the grid cells in the grid list include: grid code, grid size, density of aircraft, operational risk value and sub-grid codes contained therein.

[0056] Because the central processor of the grid demarcation system provided in this embodiment executes the low-altitude airspace grid demarcation method provided in Example 1, it has the technical effects that this method brings to the grid planning system, including balancing refined airspace management and computing efficiency, improving airspace utilization, reducing the computational complexity of conflict warning and conflict resolution strategy calculations, and all the technical advances brought about by this method will not be repeated here.

[0057] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present technical solution and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present technical solution.

[0058] In this technical solution, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this technical solution based on specific circumstances.

[0059] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present technical solution. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0060] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for gridding low-altitude airspace, characterized in that: Include: S1: Divide the low-altitude airspace using grid cells of different levels; S2: Calculate the operational risk value for each grid cell, calculate the aircraft density of each grid cell, and determine whether there are heterogeneous aircraft in each grid cell; S3: When the airspace within the current grid cell meets the splitting condition, the airspace within the grid cell is split into the grid cell of the next level; when the airspace within the current grid cell meets the merging condition, the grid cell and the adjacent grid cells of the same level are merged into the grid cell of the previous level; Repeat steps S2 to S3.

2. The gridding method according to claim 1, wherein: The sizes of grid cells at different levels are different, and the area of grid cells at the upper level is larger.

3. The low-altitude airspace gridding method according to claim 2, characterized in that: S1 contains: the initial degenerate grid list that defines the entire airspace.

4. The grid setting method according to claim 3, wherein: The low-altitude airspace of interest is filled with continuous maximum-level grid cells, and the unfilled parts at the outer edge of the maximum-level grid cells are filled with gradually lower grid cells until the minimum-level cells are used; the positions and levels of all grid cells filling the low-altitude airspace of interest are used as the initial test degraded grid list.

5. The grid setting method according to claim 1, wherein: The influencing factors of the operational risk value include aircraft density, environmental visibility, rainfall, whether there is wind shear, the maximum height of low-altitude obstacles, and obstacle density.

6. The gridding method according to claim 1, wherein: The splitting conditions include: the aircraft density is greater than or equal to a first threshold, and / or the operation risk value is greater than or equal to a second threshold, and / or there are heterogeneous aircraft.

7. The gridding method according to claim 1, wherein: The merging conditions include: the aircraft density of adjacent grids is less than a third threshold, the operation risk values of adjacent grids are less than a fourth threshold, and there are no heterogeneous aircraft in adjacent grids.

8. The gridding method according to claim 6 or 7, characterized in that: The presence of heterogeneous aircraft refers to at least two of the following: unmanned aerial vehicles, helicopter-manned aircraft, and fixed-wing manned aircraft.

9. The gridding method according to claim 1, wherein: The metadata of the grid unit includes: grid code, grid size, density of aircraft, operational risk value and sub-grid code contained therein.

10. The grid system for low-altitude airspace is characterized by: The system comprises a central processing unit, wherein aircraft density, environmental visibility, rainfall, whether there is wind shear, maximum height of low-altitude obstacles, and obstacle density are input into the central processing unit, and the central processing unit executes the low-altitude airspace gridding method according to any one of claims 1 to 9 and then outputs a grid list; The metadata of the grid cells in the grid list include: grid code, grid size, density of aircraft, operational risk value and sub-grid codes contained therein.

Images