A time window-based double-layer low-altitude air route network flight plan deployment method and system

Abstract

The application discloses a time window-based double-layer low-altitude air route network flight plan deployment method and system, and relates to the low-altitude unmanned aerial vehicle flight field. The application establishes a flight route layered network calculation structure which comprehensively considers time intervals and capacities; establishes a deployment method which does not change flight routes, considers time intervals, simultaneously considers capacity limitations, task priorities, aircraft performance and does not cause new conflicts; and establishes a plan deployment logic based on consideration of plan execution states, so as to support dynamic deployment of flight plans.

Description

Technical Field

[0001] This invention relates to the field of low-altitude unmanned aerial vehicle (UAV) flight, specifically to a method and system for scheduling flight plans for a two-layer low-altitude flight path network based on time windows. Background Technology

[0002] The statements in this section are provided only as background information in connection with this disclosure and may not constitute prior art.

[0003] Consumer-grade drones are widely used in aerial photography and entertainment, while the demand for industrial-grade drones is constantly increasing in industries such as agricultural plant protection, power line inspection, surveying, and logistics. This has led to an increasingly urgent need for drone operation management systems. For example, large-scale plant protection operations in agriculture require efficient task allocation, flight path planning, and monitoring management of multiple drones. In logistics, managing drone flight path planning, cargo loading, and delivery processes improves the efficiency and flexibility of logistics and reduces costs. Relevant departments have successively issued a series of policies and regulations on drone management. The formulation of standards helps to standardize the functional and performance requirements of drone operation management systems, promoting the research and development and application of such systems.

[0004] The increasing scale and rapid growth of drone operations will create demand for air traffic services. Within the integrated low-altitude route network built for fixed tasks such as low-altitude logistics, transportation, and inspection, the mixed operation of drones from different units and of different models is necessary to improve airspace resource utilization and promote the development of the low-altitude economy. Considering the number, type, duration, and flight characteristics of drone systems, and to ensure the safe planning and coordination of the rapidly growing low-altitude drone flight activities, it is essential to provide reliable low-altitude flight planning solutions to facilitate rapid and effective collaboration in flight planning among drone operators.

[0005] In existing technologies, CN118280165A discloses a method and system for conflict-free flight plan allocation of UAVs in structured airspace, mainly allocating UAV flight routes, but does not explain the allocation strategy when the flight route cannot be changed; CN120014888A discloses a tool and method for pre-allocation of UAV flight plans, mainly adjusting the plan time based on delay time constraints, without considering altitude layering and conflicts during flight; CN119762275A discloses a UAV air-ground integrated grid scheduling method, mainly distinguishing the flight routes of UAVs of the same unit and nature in terms of region, but it is not suitable for flight allocation in low-altitude flight route networks. CN119440078A discloses a method and equipment for dynamic allocation of unmanned aerial vehicles (UAVs), which considers allocation from the perspectives of capacity, restricted areas, and conflicts. However, it does not consider that a plan may conflict with different plans at different times, nor does it consider that the priority of plans and the possibility of introducing new conflicts after allocation. CN119992884A discloses a method and system for pre-tactical diversified allocation of low-altitude heterogeneous UAV flight plans, which uniformly allocates all flight plans. However, it does not consider that flight and plan application are continuous in actual low-altitude flight, and that there are plans being executed, plans waiting, and new plan applications at the same time. It cannot arbitrarily adjust all plans, especially those already executed.

[0006] In summary, the shortcomings of existing technologies include:

[0007] 1) The actual flight plan did not take into account the flight altitude layering situation in the flight route planning;

[0008] 2) Failed to simultaneously consider capacity constraints, mission priorities, aircraft performance, and the possibility of not causing new conflicts;

[0009] 3) It does not take into account that actual low-altitude flight and plan declarations are ongoing, with plans being executed, plans being awaited, and new plan applications being submitted simultaneously. Summary of the Invention

[0010] The purpose of this invention is to address the problems existing in the prior art by providing a time-window-based method and system for flight plan allocation in a two-layer low-altitude route network. This method establishes a hierarchical route network calculation structure that comprehensively considers time intervals and capacity; it establishes an allocation method that, without changing flight routes, simultaneously considers capacity limitations, task priorities, aircraft performance, and avoids new conflicts based on time intervals; and it establishes a plan allocation logic based on the plan execution status to support dynamic flight plan allocation. Thus, the aforementioned problems are solved.

[0011] The technical solution of the present invention is as follows:

[0012] A time-window-based method for flight plan allocation in a two-tier low-altitude air route network includes:

[0013] The aircraft performance management procedure is used to manage the flight performance data of different types of unmanned aerial vehicles (UAVs), providing a data foundation for trajectory estimation and conflict coordination; the flight performance data includes at least aircraft type, aircraft model, and maximum flight speed. Cruise flight speed Typical climb rate Typical acceleration and maximum flight range L;

[0014] The spatial structure construction step is used to construct spatial structure data for planning and deployment calculations based on low-altitude flight data, typical flight performance, and preset flight time intervals.

[0015] The planned node maintenance step is used to receive planned trajectory data and flight dynamic data, providing node planned time, execution status and actual flight time, and providing planned-related data for planned conflict detection and reassignment; at the same time, it updates the planned node data after receiving new reassigned plans and planned trajectory data;

[0016] The planned trajectory extrapolation steps involve constructing planned flight space nodes based on aircraft performance and space structure, extrapolating the space structure points to be flown to, and the time to reach each structure point, to provide data for conflict detection.

[0017] The plan conflict detection step is used to calculate the trajectory node information of the new plan and perform conflict detection with the existing plan node information in the plan node maintenance, and identify the conflicting nodes and the plans involved.

[0018] The planning and allocation step is used to identify planning conflicts, make allocation decisions and generate planning and allocation strategies based on task priority, aircraft performance, and the avoidance of new conflicts, so as to eliminate planning conflicts; the allocated plans and trajectories are submitted to the planning node maintenance module for management.

[0019] Furthermore, the spatial structure construction steps include:

[0020] Step A1: Typical flight speed calculation: Obtain the aircraft's cruise flight speed from the aircraft performance database. The minimum speed among all aircraft flight speeds and maximum flight speed The data is divided into M statistical intervals, and the number of aircraft types corresponding to each speed interval is counted. The proportion of N of all aircraft types Let the probability threshold for judgment be K, then it satisfies All intervals are candidate intervals; the statistical interval with the smallest speed value among the candidate intervals is selected as the typical interval, and the average flight speed of all aircraft models in the interval is the typical flight speed V.

[0021] Step A2: Spatial Interval Calculation: Using This indicates the preset flight time interval, then the spatial interval. ;

[0022] Step A3: Structure point calculation: Based on the spatial interval s, add corresponding structure points for each route; starting from the starting point, move along the heading direction according to the spatial interval s, and calculate the position of the point after each move;

[0023] Step A4: Constructing the Two-Layer Structure Points: For each flight path, determine the flight altitude of the two altitude layers of the path. and This maps each point in the spatial structure to a point at the corresponding height layer, forming spatial structure points for each layer.

[0024] Step A5: Layered spatial network construction: For each layer of spatial structure points, construct a one-way connection network according to the defined flight direction; after all routes are constructed, the route links of each layer are connected to each other to form the spatial network of the corresponding layer.

[0025] Step A6: Spatial network connection; Spatial network connection is based on the initial take-off and landing points and waypoints, connecting different levels of networks to form the spatial structure data foundation for computation.

[0026] Furthermore, the planned node maintenance steps include:

[0027] Step B1: Obtain current segment information: Based on the preceding node number, obtain two structure points A and B, and the corresponding path distance is expressed as follows: The heading from A to B is represented as ;

[0028] Step B2: Calculate cumulative flight data: Obtain the position coordinates of the previous flight dynamic data corresponding to the plan. Let S be the cumulative flight distance from the target passing the preceding structure point A to the previous flight dynamic data. Calculate the flight distance between the position coordinates of the previous flight dynamic data and the position coordinates of the current flight dynamic data. ;

[0029] Step B3: Perform a flyby judgment: Based on the current flight segment information and flight data, a flyby judgment is made to determine ① heading difference. satisfy ,in, ② Is the flight distance sufficient to satisfy the angle difference threshold? ③ The distance from the current target position to the next structural point Does it meet the requirements? , To determine the distance threshold for passing through a point; if at least two of the three conditions are met, it is determined to be a flying over a structural point, and proceed to step B4; otherwise, proceed to step B6.

[0030] Step B4: Update node status: Set the sequence number The node is marked as having been flown over, and the flown over time is recorded as the corresponding time in the current flight dynamic data; based on the difference between the actual flown over time and the planned arrival time of the current node, the estimated arrival time of all subsequent nodes is updated;

[0031] Step B5: Update flight data: Change the sequence number in the plan node status to... The node is used as the new predecessor node, that is Calculate the updated path distance Calculate the direction of the flight segment Updated cumulative flight distance as After completion, proceed to step B7;

[0032] Step B6: Cumulative Flight Data: Update the cumulative flight distance to... ;

[0033] Step B7: End the current flight dynamics data processing and read and process the next flight dynamics data.

[0034] Furthermore, the steps for calculating the planned trajectory include:

[0035] Step C1: Obtain plan information: including the plan number, the estimated takeoff and landing times, the ordered set of takeoff and landing points and waypoints along the planned flight path, and the corresponding aircraft type and performance parameters; the performance parameters include: cruise speed. Typical climb rate Typical descent rate Typical acceleration ;

[0036] Step C2: Supplementing planned flight nodes: Based on spatial structure data, from the starting point to the end point of the plan, find the structure points between two take-off and landing points / way points, obtain an ordered sequence of structure points of corresponding levels according to the direction of flight, and use it as the trajectory coordinate sequence;

[0037] Step C3: Supplement takeoff and landing points: Add the takeoff and landing field coordinates corresponding to the starting point as the takeoff point to the beginning of the planned node sequence, and add the takeoff and landing field coordinates corresponding to the ending point as the landing point to the end of the planned node sequence.

[0038] Step C4: Obtain regional weather forecast information: including wind speed within the region during the planned time period. and wind direction ;

[0039] Step C5: Calculate the flight time for each segment: A segment corresponds to two structure points A and B, and the corresponding path distance is expressed as follows: The heading from A to B is represented as The expected flight speed within the flight segment The calculation is as follows:

[0040]

[0041] Therefore, the flight time of the aircraft in this segment is ;

[0042] Step C6: Update the planned arrival time of each node: Set the planned arrival time of the takeoff point to the planned takeoff time T, i.e. The time for each subsequent point is After updating the arrival times of all nodes in the plan in sequence, the plan trajectory is formed, and the trajectory calculation of the current plan is completed.

[0043] Furthermore, the planned conflict detection steps include:

[0044] Step D1: Obtain the current planned flight nodes: Based on the predicted trajectory of the current plan, obtain all the nodes that the flight is expected to pass through, as well as the arrival time of each node;

[0045] Step D2: Obtain the calculation time range and interval: using The preset flight time interval is represented by... If the current plan allows for adjustments within a certain timeframe, then the time window that needs to be calculated is... That is, taking the estimated arrival time of the current plan at the corresponding node as the sequence number 0 window, the corresponding window range is... m takes an integer value;

[0046] Step D3: Build window usage: In Within the range, for any time window with sequence number m, its time range is:

[0047]

[0048] Based on the time range and the corresponding structural point name of the node, obtain the time of other plans at the corresponding node from the plan node maintenance function, and include it in the corresponding time window according to the range of each time window; after the construction is completed, store the situation of other flight plans occupying each time window of each node corresponding to the current plan, including the node name, window number m, number of plans used f, and the corresponding plan number.

[0049] Step D4: Detect Time Window Conflicts: For each node corresponding to the current plan, detect whether the time serial port with sequence number 0 of each node is occupied by other plans based on the window usage. For the i-th node, when the number of plans corresponding to window number 0... If , it means that there is a conflict in the time window of the i-th node; after completing the conflict detection of all trajectory nodes in the current plan, the node numbers of the conflicting nodes constitute the set of conflicting nodes;

[0050] Step D5: If the current set of conflicting nodes is not empty, output the conflict information;

[0051] Step D6: End conflict detection for the current plan.

[0052] Furthermore, the planned allocation steps include:

[0053] Step E1: Determine the type: if the starting point or ending point is in conflict, proceed to step E2; if there is a single point conflict in the middle of the path, proceed to step E3; if there are multiple points in conflict, proceed to step E4.

[0054] Step E2: Start and end point conflict allocation: If the allocation is successful, proceed to step E5; if the allocation fails, proceed to step E6 for full-plan allocation.

[0055] Step E3: Intermediate single-point conflict allocation: If the allocation is successful, proceed to step E5; if the allocation fails, proceed to step E4 for full-plan allocation.

[0056] Step E4: Multi-point full-plan allocation: If allocation is successful, proceed to step E5; if allocation fails, proceed to step E6.

[0057] Step E5: Update plan information: Update the current plan trajectory according to the allocation strategy, mainly the time of each node and the corresponding take-off and landing time.

[0058] Step E6: Output allocation information: Submit the allocated plan trajectory to the plan node management for maintenance, or output the information of allocation failure to support the replanning of the plan.

[0059] Furthermore, the start and end point conflict allocation in step E2 includes:

[0060] Step E21: Calculate the adjustable range: Based on the first segment after entering the route or the last segment before leaving the route, calculate the range using aircraft performance parameters. The segment distance is represented by l, and the cruising speed is... Maximum flight speed is Minimum flight speed is Following the method in step C5, calculate the flight speed at the corresponding wind speed. Maximum flight speed is Minimum flight speed is Then the time range can be adjusted. for:

[0061]

[0062] These are the differences between the time taken to fly the corresponding segment at the minimum and maximum flight speeds and the time taken at typical cruise speed;

[0063] Step E22: Find the available time window: that is, for the current point, at most the time window can be found in advance. Time arrives, maximum delay Once the time arrives, it ensures that the arrival times of other nodes remain unchanged; based on the time interval and the time window defined in conflict detection, the maximum time window that the current node can advance forward is:

[0064]

[0065] The maximum time window for delay is:

[0066]

[0067] In the usage data for the corresponding node time window, starting from the sequence number... arrive Within the time window, find the unoccupied time window and record the corresponding window number;

[0068] Step E23: If no time window exists, return to perform full-plan node allocation; if a time window exists, proceed to the next step.

[0069] Step E24: Generate allocation strategy: Based on the principle of minimum change, select the time window with the smallest absolute value m from the unoccupied time window, and update the arrival time of the current node. If the node is a takeoff point, the planned takeoff time needs to be updated. .

[0070] Further, step E3 includes:

[0071] Step E31: Calculate the adjustable range: If the segment number before the node is i, then the segment distance before the node is expressed as... The distance of the flight segment after the node is cruising speed Maximum flight speed is Minimum flight speed is Following the method in step C5, the flight speeds, maximum speeds, and minimum speeds of the preceding and subsequent segments under the corresponding wind speeds can be calculated. Furthermore, the adjustable time range for the preceding segment can be calculated. And the time range can be adjusted in subsequent flight segments. The adjustable range of the current node is:

[0072]

[0073] This refers to the maximum lead time to reach the current node when accelerating in the preceding segment and decelerating in the subsequent segment. This represents the maximum delay required to reach the current node when the speed is reduced in the preceding segment and increased in the subsequent segment.

[0074] Step E32: Find the available time window: that is, for the current point, at most the time window can be advanced. Time arrives, maximum delay Once the time arrives, it ensures that the arrival times of other nodes remain unchanged; based on the time interval and the time window defined in conflict detection, the maximum time window that the current node can advance forward is:

[0075]

[0076] The maximum time window for delay is:

[0077]

[0078] In the usage data for the corresponding node time window, starting from the sequence number... arrive Within the time window, find the unoccupied time window and record the corresponding window number;

[0079] Step E33: If no time window exists, return to perform full-plan node allocation; if a time window exists, proceed to the next step.

[0080] Step E34: Generate allocation strategy: Based on the principle of minimizing changes, select the time window with the smallest absolute value m from the unoccupied time window, and update the arrival time of the current node to... .

[0081] Further, step E4 includes:

[0082] Step E41: Find the selectable window for each node: Based on the time interval and the time window defined in the collision detection, the maximum time window that the planned trajectory node i can advance is:

[0083]

[0084] The maximum time window for delay is:

[0085]

[0086] In the usage data for each corresponding time window, starting from the sequence number... arrive Within a given time window, find unoccupied time windows and record their corresponding window numbers; the set of all available window numbers for the i-th node is represented as... ,but:

[0087]

[0088] Step E42: Calculate the overall available time window: For all valid nodes of the planned trajectory, the consistency of time adjustment for each node must be maintained during the overall adjustment. That is, the set C of the overall available time window indices is the intersection of the available time window indices for each node. Let I represent the total number of planned nodes.

[0089]

[0090] If no time window exists (i.e., set C is empty), the allocation plan fails, and the allocation failure message is output; if a time window exists, proceed to the next step.

[0091] Step E43: Generate the allocation strategy: Based on the principle of minimizing changes, select the time window number m with the smallest absolute value from the time windows in set C, and update the arrival time of all nodes to... Meanwhile, the planned departure time has been updated to... .

[0092] This invention also proposes a time-window-based two-layer low-altitude route network flight plan allocation system, comprising:

[0093] The aircraft performance management module manages flight performance data for different types of UAVs, providing a data foundation for trajectory estimation and conflict coordination. The flight performance data includes at least aircraft type, aircraft model, and maximum flight speed. Cruise flight speed Typical climb rate Typical acceleration and maximum flight range L;

[0094] The spatial structure construction module is used to construct spatial structure data for planning and dispatch calculations based on low-altitude flight data, typical flight performance, and preset flight time intervals.

[0095] The planning node maintenance module receives planning trajectory data and flight dynamic data, providing node planning time, execution status, and actual flight time, and provides planning-related data for planning conflict detection and reassignment; at the same time, it updates the planning node data after receiving new reassigned plans and planning trajectory data.

[0096] The planned trajectory estimation module constructs planned flight space nodes based on aircraft performance and space structure, estimates the space structure points to be flown to, and the time to reach each structure point, providing data for conflict detection.

[0097] The plan conflict detection module is used to calculate the trajectory node information of the new plan and perform conflict detection with the existing plan node information in the plan node maintenance, and identify the conflicting nodes and the plans involved.

[0098] The planning and allocation module is used to identify planning conflicts, make allocation decisions and generate planning and allocation strategies based on task priority, aircraft performance, and the avoidance of new conflicts, so as to eliminate planning conflicts; the allocated plans and trajectories are submitted to the planning node maintenance module for management.

[0099] Compared with existing technologies, the advantages of this invention are:

[0100] 1. After the implementation of the technical solution of the present invention, following the same rules, it can be converted from two-level routes to two-level routes, or expanded to multiple-level routes, to meet the planning and allocation needs of different airspace conditions and different operating rules.

[0101] 2. After the technical solution of the present invention is implemented, the spatial structure can be constructed to adapt to the needs of different air routes and flight intervals, and ensure that the allocation results meet the capacity and interval constraints as much as possible.

[0102] 3. After the implementation of the solution according to the present invention, a flight plan allocation method based on time intervals can be realized by constructing the space structure, making allocation decisions and generating allocation schemes, while taking into account capacity constraints, mission priorities and aircraft performance. Since the plan is allocated to a time window when no other plans are used, it will not cause new flight conflicts.

[0103] 4. According to the present invention, based on the ability to maintain the plan nodes, the dynamic flight status of each plan can be integrated to support the allocation of dynamically added plans during flight. Attached Figure Description

[0104] Figure 1 A schematic diagram of a time-window-based two-layer low-altitude route network flight plan allocation system;

[0105] Figure 2 A flowchart of a time-window-based two-layer low-altitude route network flight plan allocation method;

[0106] Figure 3 Example of constructing a spatial structure;

[0107] Figure 4 The status update process for planned node maintenance;

[0108] Figure 5 This is an execution process for calculating the planned trajectory.

[0109] Figure 6 Execution process for planned conflict detection;

[0110] Figure 7 To coordinate and execute the plan;

[0111] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0112] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0113] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0114] Example 1

[0115] Please see Figure 1 A time-window-based two-tier low-altitude route network flight plan allocation system, specifically including the following modules:

[0116] The aircraft performance management module manages flight performance data for different types of UAVs, providing a data foundation for trajectory estimation and conflict coordination. The flight performance data includes at least aircraft type, aircraft model, and maximum flight speed. Cruise flight speed Typical climb rate Typical acceleration and maximum flight range L;

[0117] The spatial structure construction module is used to construct spatial structure data for planning and dispatch calculations based on low-altitude flight data, typical flight performance, and preset flight time intervals.

[0118] The planning node maintenance module receives planning trajectory data and flight dynamic data, providing node planning time, execution status, and actual flight time, and provides planning-related data for planning conflict detection and reassignment; at the same time, it updates the planning node data after receiving new reassigned plans and planning trajectory data.

[0119] The planned trajectory estimation module constructs planned flight space nodes based on aircraft performance and space structure, estimates the space structure points to be flown to, and the time to reach each structure point, providing data for conflict detection.

[0120] The plan conflict detection module is used to calculate the trajectory node information of the new plan and perform conflict detection with the existing plan node information in the plan node maintenance, and identify the conflicting nodes and the plans involved.

[0121] The planning and allocation module is used to identify planning conflicts, make allocation decisions and generate planning and allocation strategies based on task priority, aircraft performance, and the avoidance of new conflicts, so as to eliminate planning conflicts; the allocated plans and trajectories are submitted to the planning node maintenance module for management.

[0122] Above airspace structure construction and aircraft performance management, the main operational flow of the above system is as follows:

[0123] (1) New plan processing: Combine airspace structure and aircraft performance to calculate the flight trajectory of the new plan;

[0124] (2) Plan conflict detection: Combine information on the new plan trajectory and plan node maintenance to detect potential conflicts in the new plan during flight;

[0125] (3) Planned allocation: If there is a conflict, an allocation strategy is generated by combining aircraft performance and plan node information;

[0126] (4) Plan node update: The trajectory prediction of the new plan after adjustment according to the allocation strategy will be updated and added or updated to the plan node maintenance.

[0127] Please see Figure 2 In this embodiment, specifically, based on the aforementioned time-window-based two-layer low-altitude route network flight plan allocation system, this embodiment also proposes a time-window-based two-layer low-altitude route network flight plan allocation method, which specifically includes the following steps:

[0128] Aircraft performance management procedures are used to manage flight performance data of different types of unmanned aerial vehicles (UAVs), providing a data foundation for trajectory estimation and conflict coordination; the flight performance data includes at least aircraft type, aircraft model, and maximum flight speed. Cruise flight speed Typical climb rate Typical acceleration And maximum flight range L, etc.;

[0129] The spatial structure construction step involves building spatial structure data for planned deployment calculations based on data such as low-altitude flight path data, typical flight performance, and preset flight time intervals. Figure 3 As shown. Interval-based node information is used to ensure that subsequent flight plan scheduling meets the basic constraints of time intervals; low-altitude route data includes two types: take-off and landing points and transit points. A low-altitude route refers to a route that starts from a take-off and landing point, passes through multiple transit points or take-off and landing points, and reaches the target take-off and landing point. It is usually represented by an ordered list of take-off and landing points and transit points. Each point includes its point name, longitude coordinate lon, latitude coordinate lat, altitude alt, point type, and other data.

[0130] The planned node maintenance step is used to receive planned trajectory data and flight dynamic data, and provide records such as node planned time, execution status and actual flight time, providing planned data for planned conflict detection and reassignment; at the same time, it updates the planned node data after receiving new reassigned plans and planned trajectory data;

[0131] The planned trajectory extrapolation steps involve constructing planned flight space nodes based on aircraft performance and space structure, extrapolating the space structure points to be flown to, and the time to reach each structure point, to provide data for conflict detection.

[0132] The plan conflict detection step is used to calculate the trajectory node information of the new plan and perform conflict detection with the existing plan node information in the plan node maintenance, identify the conflicting nodes and the plans involved; and detect the conflict risk of the plan at each flight node by considering the time window for the current plan to arrive at each node.

[0133] The planning and allocation step is used to identify planning conflicts, make allocation decisions and generate planning and allocation strategies based on task priority, aircraft performance, and the avoidance of new conflicts, so as to eliminate planning conflicts; the allocated plans and trajectories are submitted to the planning node maintenance module for management.

[0134] In this embodiment, it should be noted that the aircraft performance management steps support using the aircraft model as a unique ID, support the addition, deletion and modification of aircraft performance data, support obtaining the corresponding aircraft performance data by aircraft model, provide an interface for aircraft performance data management and requests, and provide data support for space structure construction, planned trajectory calculation, flight plan allocation, etc.

[0135] In this embodiment, the specific spatial structure construction steps include:

[0136] Step A1: Typical flight speed calculation: Obtain the aircraft's cruise flight speed from the aircraft performance database. The minimum speed among all aircraft flight speeds and maximum flight speed The data is divided into M statistical intervals, and the number of aircraft types corresponding to each speed interval is counted. The proportion of N of all aircraft types ;

[0137] Let the probability threshold for judgment be K, then it satisfies All intervals are candidate intervals; to reduce the insufficiency of calculation, the statistical interval with the smallest speed value among the candidate intervals is selected as the typical interval, and the average flight speed of all aircraft models in the interval is the typical flight speed V.

[0138] Step A2: Spatial Interval Calculation: Using This indicates the preset flight time interval, then the spatial interval. ;

[0139] Step A3: Structure point calculation: Based on the spatial interval s, add corresponding structure points for each route; starting from the starting point, move along the heading direction according to the spatial interval s, and calculate the position of the point after each move;

[0140] Assume the starting coordinate of the movement is A. The current flight path is The coordinates of the next waypoint are B. The direction of the next flight segment is The distance from the starting point to the next waypoint is Then there are four possible scenarios:

[0141] ① The spatial interval is very close to the distance to the next waypoint, using The distance recognition threshold indicates that the condition is met. At this point, the next route point B is used as the structure point and as the starting point for the next movement calculation.

[0142] ② If ① is not satisfied, the spatial interval s is less than the distance to the next waypoint. ,Right now At this point, along the starting coordinates The point after moving a distance s in the direction is taken as the structural point and as the starting point for the next movement;

[0143] ③ If ① is not satisfied, the spatial interval s is greater than the distance to the next waypoint. ,Right now If the next waypoint B is not the final point of the route, then the coordinates of the next waypoint... along directional movement distance The point that follows is used as the structural point and the starting point for the next movement, while also crossing the points... Also serves as a structural point;

[0144] ④ If ① is not satisfied, the spatial interval s is greater than the distance to the next waypoint. ,Right now If the next route point B is the final point of the route, then use the next route point B as the interval point and end the calculation of the corresponding route.

[0145] Step A4: Constructing the Two-Layer Structure Points: For each flight path, determine the flight altitude of the two altitude layers of the path. and This maps each point in the spatial structure to a point at the corresponding height level, such as point A. , mapped to and This forms spatial structure points corresponding to each layer;

[0146] Step A5: Hierarchical Spatial Network Construction: For each layer of spatial structure points, construct a unidirectional connection network according to the defined flight direction; for the flight path defined by the sequence of structure points A, B, C, and D, the first-layer spatial link is represented as follows: Second-layer space link Once all routes are constructed, the route links at each level are interconnected to form a spatial network at the corresponding level.

[0147] Step A6: Spatial network connections are based on the initial take-off and landing points and waypoints, connecting different levels of the network. Assuming spatial structure point A is a take-off or landing point or a waypoint, the corresponding connection relationship between the first and second layers is constructed as follows: In this way, the two layers of networks are connected to form a single network, creating the spatial structure data foundation for computation.

[0148] Based on the above process, it is equivalent to integrating interval and capacity into the spatial computing network structure, and subsequent calculations based on this implicitly take into account interval and capacity.

[0149] In this embodiment, it should be noted that in the planning node maintenance step, the planning node data includes the structural points that need to be flown over in sequence according to the flight plan route, as well as the planned arrival time, estimated arrival time and actual arrival time of each structural point.

[0150] After receiving a new flight plan and its planned trajectory, the planning node initializes the planned arrival time of each structure point according to the trajectory data, and uses the planned time as the initial estimated arrival time of each structure point.

[0151] Target flight dynamic data typically includes update time ts and position coordinates. Elements such as speed, heading, and corresponding plan ID are included. After receiving flight dynamic data, the plan's node data is associated with the plan ID, and the status of the corresponding node is maintained. The general steps are as follows: Figure 4 As shown, using If the preceding node number is represented, then The sequence number for subsequent nodes is maintained as follows:

[0152] Step B1: Obtain current segment information: Based on the preceding node number, obtain two structure points A and B, and the corresponding path distance is expressed as follows: The heading from A to B is represented as ;

[0153] Step B2: Calculate cumulative flight data: Obtain the position coordinates of the previous flight dynamic data corresponding to the plan. Let S be the cumulative flight distance from the target passing the preceding structure point A to the previous flight dynamic data. Calculate the flight distance between the position coordinates of the previous flight dynamic data and the position coordinates of the current flight dynamic data. ;

[0154] Step B3: Perform a flyby judgment: Based on the current flight segment information and flight data, a flyby judgment is made to determine ① heading difference. satisfy ,in, ② Is the flight distance sufficient to satisfy the angle difference threshold? ③ The distance from the current target position to the next structural point Does it meet the requirements? , To determine the distance threshold for passing through a point; if at least two of the three conditions are met, it is determined to be a flying over a structural point, and proceed to step B4; otherwise, proceed to step B6.

[0155] Step B4: Update node status: Set the sequence number The node is marked as having been flown over, and the flown over time is recorded as the corresponding time in the current flight dynamic data; based on the difference between the actual flown over time and the planned arrival time of the current node, the estimated arrival time of all subsequent nodes is updated;

[0156] Step B5: Update flight data: Change the sequence number in the plan node status to... The node is used as the new predecessor node, that is Calculate the updated path distance Calculate the direction of the flight segment Updated cumulative flight distance as After completion, proceed to step B7;

[0157] Step B6: Cumulative Flight Data: Update the cumulative flight distance to... ;

[0158] Step B7: End the current flight dynamics data processing and read and process the next flight dynamics data;

[0159] When some plans are already in execution, the first flight dynamic data corresponding to the plan is received. It is necessary to determine the segment position corresponding to the current target position. Generally, a comprehensive judgment is made based on the heading difference and the distance between the point and the segment. After finding the corresponding segment, all nodes before the corresponding segment in the plan are marked as having been flown over, and the starting node number of the segment is used as the preceding node. Then, the above flight dynamic data processing flow is executed.

[0160] In this embodiment, for details, please refer to... Figure 5 The steps for calculating the planned trajectory include:

[0161] Step C1: Obtain plan information: including the plan number, the estimated takeoff and landing times, the ordered set of takeoff and landing points and waypoints along the planned flight path, and the corresponding aircraft type and performance parameters; the performance parameters include: cruise speed. Typical climb rate Typical descent rate Typical acceleration ;

[0162] Step C2: Supplementing planned flight nodes: Based on spatial structure data, from the starting point to the end point of the plan, find the structure points between two take-off and landing points / way points, obtain an ordered sequence of structure points of corresponding levels according to the direction of flight, and use it as the trajectory coordinate sequence;

[0163] Step C3: Supplement takeoff and landing points: Add the takeoff and landing field coordinates (longitude, latitude, and altitude) corresponding to the starting point as the takeoff point to the beginning of the planned node sequence, and add the takeoff and landing field coordinates (longitude, latitude, and altitude) corresponding to the ending point as the landing point to the end of the planned node sequence.

[0164] Step C4: Obtain regional weather forecast information: mainly considering the wind speed within the region during the corresponding planned time period. and wind direction ;

[0165] Step C5: Calculate the flight time for each segment: A segment corresponds to two structure points A and B, and the corresponding path distance is expressed as follows: The heading from A to B is represented as The expected flight speed within the flight segment The calculation is as follows:

[0166]

[0167] Therefore, the flight time of the aircraft in this segment is ;

[0168] For the first segment corresponding to takeoff, the flight duration is the ratio of the altitude difference h between the two corresponding points to the climb rate: ;

[0169] For the final segment corresponding to the landing, the flight time is the ratio of the altitude difference h between the two corresponding points to the descent speed: ;

[0170] Step C6: Update the planned arrival time of each node: Set the planned arrival time of the takeoff point to the planned takeoff time T, i.e. The time for each subsequent point is After updating the arrival times of all nodes in the plan in sequence, the plan trajectory is formed, and the trajectory calculation of the current plan is completed.

[0171] In this embodiment, for details, please refer to... Figure 6 The planned conflict detection steps include:

[0172] Step D1: Obtain the current planned flight nodes: Based on the predicted trajectory of the current plan, obtain all the nodes that the flight is expected to pass through, as well as the arrival time of each node;

[0173] Step D2: Obtain the calculation time range and interval: using The preset flight time interval is represented by... This indicates the time range that the current plan can be adjusted (i.e., the maximum time to advance). Departure or delay time (Takeoff), then the time window that needs to be calculated is That is, taking the estimated arrival time of the current plan at the corresponding node as the sequence number 0 window, the corresponding window range is... m takes an integer value;

[0174] Step D3: Build window usage: In Within the range, for any time window with sequence number m, its time range is:

[0175]

[0176] Based on the time range and the corresponding structural point name of the node, obtain the time of other plans at the corresponding node from the plan node maintenance function, and include it in the corresponding time window according to the range of each time window; after the construction is completed, store the situation of other flight plans occupying each time window of each node corresponding to the current plan, including the node name, window number m, number of plans used f, and the corresponding plan number.

[0177] Step D4: Detect Time Window Conflicts: For each node corresponding to the current plan, detect whether the time serial port with sequence number 0 of each node is occupied by other plans based on the window usage. For the i-th node, when the number of plans corresponding to window number 0... If , it means that there is a conflict in the time window of the i-th node; after completing the conflict detection of all trajectory nodes in the current plan, the node numbers of the conflicting nodes constitute the set of conflicting nodes;

[0178] Step D5: If the current set of conflicting nodes is not empty, output the conflict information;

[0179] Step D6: End conflict detection for the current plan;

[0180] When there are multiple input plans, after each input plan has undergone conflict detection with the existing plan according to the above process, a set of conflict nodes for each plan is constructed; at the same time, conflict detection between input plans is also required to construct conflict node information between input plans.

[0181] In this embodiment, it should be noted that the allocation decision mainly determines whether the conflict can be resolved through plan allocation, and which plan(s) to allocate, based on plan conflict information, plan priority, and plan status. When multiple plans are input, a strategy of prioritizing high-priority tasks is adopted, and adjustments are made starting with the lowest-priority plan to minimize changes to high-priority plans. For a single plan, the allocation decision is as follows: Figure 7 As shown, the general process is as follows:

[0182] Step E1: Determine the type: if the starting point or ending point is in conflict, proceed to step E2; if there is a single point conflict in the middle of the path, proceed to step E3; if there are multiple points in conflict, proceed to step E4.

[0183] Step E2: Start and end point conflict allocation: If the allocation is successful, proceed to step E5; if the allocation fails, proceed to step E6 for full-plan allocation.

[0184] Step E3: Intermediate single-point conflict allocation: If the allocation is successful, proceed to step E5; if the allocation fails, proceed to step E4 for full-plan allocation.

[0185] Step E4: Multi-point full-plan allocation: If allocation is successful, proceed to step E5; if allocation fails, proceed to step E6.

[0186] Step E5: Update plan information: Update the current plan trajectory according to the allocation strategy, mainly the time of each node and the corresponding take-off and landing time.

[0187] Step E6: Output allocation information: Submit the allocated plan trajectory to the plan node management for maintenance, or output the information of allocation failure to support the replanning of the plan.

[0188] In this embodiment, specifically, the start-end point conflict allocation in step E2 mainly involves the time of the first or last valid node, i.e., the point at which the aircraft enters the route after vertical takeoff or the point at which it leaves the route before vertical landing. The adjustment strategy generation process is as follows:

[0189] Step E21: Calculate the adjustable range: Based on the first segment after entering the route or the last segment before leaving the route, calculate the range using aircraft performance parameters. The segment distance is represented by l, and the cruising speed is... Maximum flight speed is Minimum flight speed is Following the method in step C5, calculate the flight speed at the corresponding wind speed. Maximum flight speed is Minimum flight speed is Then the time range can be adjusted. for:

[0190]

[0191] These are the differences between the time taken to fly the corresponding segment at the minimum and maximum flight speeds and the time taken at typical cruise speed;

[0192] Step E22: Find the available time window: that is, for the current point, at most the time window can be found in advance. Time arrives, maximum delay Once the time arrives, it ensures that the arrival times of other nodes remain unchanged; based on the time interval and the time window defined in conflict detection, the maximum time window that the current node can advance forward is:

[0193]

[0194] The maximum time window for delay is:

[0195]

[0196] In the usage data for the corresponding node time window, starting from the sequence number... arrive Within the time window, find the unoccupied time window and record the corresponding window number;

[0197] Step E23: If no time window exists, return to perform full-plan node allocation; if a time window exists, proceed to the next step.

[0198] Step E24: Generate allocation strategy: Based on the principle of minimum change, select the time window with the smallest absolute value m from the unoccupied time window, and update the arrival time of the current node. If the node is a takeoff point, the planned takeoff time needs to be updated. .

[0199] In this embodiment, specifically, the intermediate single-point conflict allocation in step E3 refers to the allocation of conflicts at a single node in the route. This is mainly calculated based on the two segments preceding and following the node, and its general process is as follows:

[0200] Step E31: Calculate the adjustable range: If the segment number before the node is i, then the segment distance before the node is expressed as... The distance of the flight segment after the node is cruising speed Maximum flight speed is Minimum flight speed is Following the method in step C5, the flight speeds, maximum speeds, and minimum speeds of the preceding and subsequent segments under the corresponding wind speeds can be calculated. Furthermore, the adjustable time range for the preceding segment can be calculated. And the time range can be adjusted in subsequent flight segments. The adjustable range of the current node is:

[0201]

[0202] This refers to the maximum lead time to reach the current node when accelerating in the preceding segment and decelerating in the subsequent segment. This represents the maximum delay required to reach the current node when the speed is reduced in the preceding segment and increased in the subsequent segment.

[0203] Step E32: Find the available time window: that is, for the current point, at most the time window can be advanced. Time arrives, maximum delay Once the time arrives, it ensures that the arrival times of other nodes remain unchanged; based on the time interval and the time window defined in conflict detection, the maximum time window that the current node can advance forward is:

[0204]

[0205] The maximum time window for delay is:

[0206]

[0207] In the usage data for the corresponding node time window, starting from the sequence number... arrive Within the time window, find the unoccupied time window and record the corresponding window number;

[0208] Step E33: If no time window exists, return to perform full-plan node allocation; if a time window exists, proceed to the next step.

[0209] Step E34: Generate allocation strategy: Based on the principle of minimizing changes, select the time window with the smallest absolute value m from the unoccupied time window, and update the arrival time of the current node to... .

[0210] In this embodiment, specifically, the multi-point full-plan allocation in step E4 involves allocating resources for all conflicting nodes along the route, primarily based on the adjustable time range of the current plan. Calculations can be further broken down into the maximum allowable lead time for the plan. and maximum delay time Calculations are typically performed manually based on flight preparation time requirements and mission arrival deadlines. The general process is as follows:

[0211] Step E41: Find the selectable window for each node: Based on the time interval and the time window defined in the collision detection, the maximum time window that the planned trajectory node i can advance is:

[0212]

[0213] The maximum time window for delay is:

[0214]

[0215] In the usage data for each corresponding time window, starting from the sequence number... arrive Within a given time window, find unoccupied time windows and record their corresponding window numbers; the set of all available window numbers for the i-th node is represented as... ,but:

[0216]

[0217] Step E42: Calculate the overall available time window: For all valid nodes of the planned trajectory, the consistency of time adjustment for each node must be maintained during the overall adjustment. That is, the set C of the overall available time window indices is the intersection of the available time window indices for each node. Let I represent the total number of planned nodes.

[0218]

[0219] If no time window exists (i.e., set C is empty), the relocation plan fails (there is no available time window within the allowed time deviation range), and the relocation failure message is output; if a time window exists, proceed to the next step.

[0220] Step E43: Generate the allocation strategy: Based on the principle of minimizing changes, select the time window number m with the smallest absolute value from the time windows in set C, and update the arrival time of all nodes to... Meanwhile, the planned departure time has been updated to... .

[0221] In this embodiment, it should also be noted that the upper and lower airspace structures can be replaced with the left and right airspace structures, or expanded into a multi-layer flight path structure, or replaced with a grid-based approach to construct spatial structure nodes. In essence, all of these are spatial structure divisions based on intervals and capacity.

[0222] In this embodiment, it should also be noted that, in terms of plan allocation, the search for a single plan based on a time window can be replaced by the optimization of multiple plans based on a time window selection. The concept of optimization replaces the concept of allocation, and in essence, both generate a plan allocation scheme that does not conflict in time.

[0223] Based on the same technical concept, embodiments of the present invention also provide an electronic device that can implement the time-window-based two-layer low-altitude route network flight plan allocation method provided in the above embodiments of the present invention. In one embodiment, the electronic device can be a server, a terminal device, or other electronic equipment. Figure 8 As shown, the electronic device may include:

[0224] At least one processor and a memory connected to the at least one processor. In this embodiment of the invention, the specific connection medium between the processor and the memory is not limited. Figure 8 The example used is the connection between the processor and memory via a bus. The bus... Figure 8 The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. Buses can be divided into address buses, data buses, control buses, etc., but for ease of representation, [the specific bus type is not shown here]. Figure 8 The processor is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, a processor can also be called a controller; there are no restrictions on the name.

[0225] In this embodiment of the invention, the memory stores instructions executable by at least one processor. By executing the instructions stored in the memory, the at least one processor can perform the aforementioned method for scheduling flight plans for a two-tiered low-altitude air route network based on a time window. The processor can implement... Figure 8 The functions of each module in the device shown.

[0226] The processor is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory and calling data stored in memory, it can monitor the device's various functions and process data, thereby enabling overall monitoring of the device.

[0227] In an alternative design, the processor may include one or more processing units. The processor may integrate an application processor and a modem processor, wherein the application processor primarily handles the operating system, user interface, and applications, while the modem processor primarily handles wireless communication. It is understood that the modem processor may also not be integrated into the processor. In some embodiments, the processor and memory may be implemented on the same chip; in some embodiments, they may also be implemented separately on separate chips.

[0228] The processor can be a general-purpose processor, such as a CPU, digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the time-window-based two-layer low-altitude route network flight plan allocation method disclosed in the embodiments of this invention can be directly manifested as execution by a hardware processor, or as execution by a combination of hardware and software modules within the processor.

[0229] Memory, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory can include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic memory, magnetic disk, optical disk, etc. Memory is any other medium capable of carrying or storing desired program code in the form of instructions or data structures, and accessible by a computer, but is not limited thereto. In embodiments of the present invention, memory can also be a circuit or any other device capable of implementing storage functions, used to store program instructions and / or data.

[0230] By designing and programming the processor, the code corresponding to the time-window-based two-layer low-altitude route network flight plan allocation method described in the foregoing embodiments can be embedded into the chip, enabling the chip to execute the steps of the method described in the foregoing embodiments during runtime. How to design and program the processor is a technique well-known to those skilled in the art and will not be elaborated upon here.

[0231] Based on the same inventive concept, embodiments of the present invention also provide a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform a time-window-based two-layer low-altitude route network flight plan allocation method described above.

[0232] In some alternative embodiments, the present invention also provides a method for scheduling flight plans for a two-tier low-altitude air route network based on a time window, which can also be implemented in the form of a program product including program code. When the program product is run on a device, the program code is used to cause the control device to perform the steps in the method for scheduling flight plans for a two-tier low-altitude air route network based on a time window according to various exemplary embodiments of the present invention as described above.

[0233] It should be noted that although several units or sub-units of the apparatus have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of the invention, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units. Furthermore, although the operation of the method of the invention is described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0234] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0235] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a server, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0236] Program code for performing the operations of this invention can be written using any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's 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.

[0237] 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).

[0238] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0239] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0240] The embodiments described above merely illustrate specific implementation methods of this application, and while the descriptions are detailed and specific, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the technical solution of this application, and these modifications and improvements all fall within the scope of protection of this application.

[0241] This background section is provided to generally present the context of the invention. The work of the currently named inventors, the work to the extent described in this background section, and aspects of this section that did not constitute prior art at the time of application are neither expressly nor impliedly acknowledged as prior art to the invention.

Claims

1. A time-window-based method for flight plan allocation in a two-tiered low-altitude air route network, characterized in that, include: The aircraft performance management procedure is used to manage the flight performance data of different types of unmanned aerial vehicles (UAVs), providing a data foundation for trajectory estimation and conflict coordination; the flight performance data includes at least aircraft type, aircraft model, and maximum flight speed. Cruise flight speed Typical climb rate Typical acceleration and maximum flight range L; The spatial structure construction step is used to construct spatial structure data for planning and deployment calculations based on low-altitude flight data, typical flight performance, and preset flight time intervals. The planned node maintenance step is used to receive planned trajectory data and flight dynamic data, providing node planned time, execution status and actual flight time, and providing planned-related data for planned conflict detection and reassignment; at the same time, it updates the planned node data after receiving new reassigned plans and planned trajectory data; The planned trajectory extrapolation steps involve constructing planned flight space nodes based on aircraft performance and space structure, extrapolating the space structure points to be flown to, and the time to reach each structure point, to provide data for conflict detection. The plan conflict detection step is used to calculate the trajectory node information of the new plan and perform conflict detection with the existing plan node information in the plan node maintenance, and identify the conflicting nodes and the plans involved. The planning and allocation steps are used to identify planning conflicts, make allocation decisions and generate planning and allocation strategies based on mission priorities, aircraft performance, and the avoidance of new conflicts, so as to eliminate planning conflicts. The adjusted plan and trajectory are submitted to the plan node maintenance module for management.

2. The method for flight plan allocation in a two-layer low-altitude air route network based on a time window according to claim 1, characterized in that, The steps for constructing a spatial structure include: Step A1: Typical flight speed calculation: Obtain the aircraft's cruise flight speed from the aircraft performance database. The minimum speed among all aircraft flight speeds and maximum flight speed The data is divided into M statistical intervals, and the number of aircraft types corresponding to each speed interval is counted. The proportion of N of all aircraft types Let the probability threshold for judgment be K, then it satisfies All intervals are candidate intervals; the statistical interval with the smallest speed value among the candidate intervals is selected as the typical interval, and the average flight speed of all aircraft models in the interval is the typical flight speed V. Step A2: Spatial Interval Calculation: Using This indicates the preset flight time interval, then the spatial interval. ; Step A3: Structure point calculation: Based on the spatial interval s, add corresponding structure points for each route; starting from the starting point, move along the heading direction according to the spatial interval s, and calculate the position of the point after each move; Step A4: Constructing the Two-Layer Structure Points: For each flight path, determine the flight altitude of the two altitude layers of the path. and This maps each point in the spatial structure to a point at the corresponding height layer, forming spatial structure points for each layer. Step A5: Layered spatial network construction: For each layer of spatial structure points, construct a one-way connection network according to the defined flight direction; after all routes are constructed, the route links of each layer are connected to each other to form the spatial network of the corresponding layer. Step A6: Spatial network connection; Spatial network connection is based on the initial take-off and landing points and waypoints, connecting different levels of networks to form the spatial structure data foundation for computation.

3. The method for flight plan allocation in a two-layer low-altitude air route network based on a time window according to claim 2, characterized in that, The planned node maintenance steps include: Step B1: Obtain current segment information: Based on the preceding node number, obtain two structure points A and B, and the corresponding path distance is expressed as follows: The heading from A to B is represented as ; Step B2: Calculate cumulative flight data: Obtain the position coordinates of the previous flight dynamic data corresponding to the plan. Let S be the cumulative flight distance from the target passing the preceding structure point A to the previous flight dynamic data. Calculate the flight distance between the position coordinates of the previous flight dynamic data and the position coordinates of the current flight dynamic data. ; Step B3: Perform a flyby judgment: Based on the current flight segment information and flight data, a flyby judgment is made to determine ① heading difference. satisfy ,in, ② Is the flight distance sufficient to satisfy the angle difference threshold? ③ The distance from the current target position to the next structural point Does it meet the requirements? , To determine the distance threshold for passing through a point; if at least two of the three conditions are met, it is determined to be a flying over a structural point, and proceed to step B4; otherwise, proceed to step B6. Step B4: Update node status: Set the sequence number The node is marked as having been flown over, and the flown over time is recorded as the corresponding time in the current flight dynamic data; based on the difference between the actual flown over time and the planned arrival time of the current node, the estimated arrival time of all subsequent nodes is updated; Step B5: Update flight data: Change the sequence number in the plan node status to... The node is used as the new predecessor node, that is Calculate the updated path distance Calculate the direction of the flight segment Updated cumulative flight distance as After completion, proceed to step B7; Step B6: Cumulative Flight Data: Update the cumulative flight distance to... ; Step B7: End the current flight dynamics data processing and read and process the next flight dynamics data.

4. The method for flight plan allocation in a two-layer low-altitude air route network based on a time window according to claim 3, characterized in that, The steps for calculating the planned trajectory include: Step C1: Obtain plan information: including the plan number, the estimated takeoff and landing times, the ordered set of takeoff and landing points and waypoints along the planned flight path, and the corresponding aircraft type and performance parameters; the performance parameters include: cruise speed. Typical climb rate Typical descent rate Typical acceleration ; Step C2: Supplementing planned flight nodes: Based on spatial structure data, from the starting point to the end point of the plan, find the structure points between two take-off and landing points / way points, obtain an ordered sequence of structure points of corresponding levels according to the direction of flight, and use it as the trajectory coordinate sequence; Step C3: Supplement takeoff and landing points: Add the takeoff and landing field coordinates corresponding to the starting point as the takeoff point to the beginning of the planned node sequence, and add the takeoff and landing field coordinates corresponding to the ending point as the landing point to the end of the planned node sequence. Step C4: Obtain regional weather forecast information: including wind speed within the region during the planned time period. and wind direction ; Step C5: Calculate the flight time for each segment: A segment corresponds to two structure points A and B, and the corresponding path distance is expressed as follows: The heading from A to B is represented as The expected flight speed within the flight segment The calculation is as follows: Therefore, the flight time of the aircraft in this segment is ; Step C6: Update the planned arrival time of each node: Set the planned arrival time of the takeoff point to the planned takeoff time T, i.e. The time for each subsequent point is After updating the arrival times of all nodes in the plan in sequence, the plan trajectory is formed, and the trajectory calculation of the current plan is completed.

5. The method for flight plan allocation in a two-layer low-altitude air route network based on a time window according to claim 4, characterized in that, The planned conflict detection steps include: Step D1: Obtain the current planned flight nodes: Based on the predicted trajectory of the current plan, obtain all the nodes that the flight is expected to pass through, as well as the arrival time of each node; Step D2: Obtain the calculation time range and interval: using The preset flight time interval is represented by... If the current plan allows for adjustments within a certain timeframe, then the time window that needs to be calculated is... That is, taking the estimated arrival time of the current plan at the corresponding node as the sequence number 0 window, the corresponding window range is... m takes an integer value; Step D3: Build window usage: In Within the range, for any time window with sequence number m, its time range is: Based on the time range and the corresponding structural point name of the node, obtain the time of other plans at the corresponding node from the plan node maintenance function, and include it in the corresponding time window according to the range of each time window; after the construction is completed, store the situation of other flight plans occupying each time window of each node corresponding to the current plan, including the node name, window number m, number of plans used f, and the corresponding plan number. Step D4: Detect Time Window Conflicts: For each node corresponding to the current plan, detect whether the time serial port with sequence number 0 of each node is occupied by other plans based on the window usage. For the i-th node, when the number of plans corresponding to window number 0... If , it means that there is a conflict in the time window of the i-th node; after completing the conflict detection of all trajectory nodes in the current plan, the node numbers of the conflicting nodes constitute the set of conflicting nodes; Step D5: If the current set of conflicting nodes is not empty, output the conflict information; Step D6: End conflict detection for the current plan.

6. The method for flight plan allocation in a two-layer low-altitude air route network based on a time window according to claim 5, characterized in that, The planned allocation steps include: Step E1: Determine the type: if the starting point or ending point is in conflict, proceed to step E2; if there is a single point conflict in the middle of the path, proceed to step E3; if there are multiple points in conflict, proceed to step E4. Step E2: Start and end point conflict allocation: If the allocation is successful, proceed to step E5; if the allocation fails, proceed to step E6 for full-plan allocation. Step E3: Intermediate single-point conflict allocation: If the allocation is successful, proceed to step E5; if the allocation fails, proceed to step E4 for full-plan allocation. Step E4: Multi-point full-plan allocation: If allocation is successful, proceed to step E5; if allocation fails, proceed to step E6. Step E5: Update plan information: Update the current plan trajectory according to the allocation strategy, mainly the time of each node and the corresponding take-off and landing time. Step E6: Output allocation information: Submit the allocated plan trajectory to the plan node management for maintenance, or output the information of allocation failure to support the replanning of the plan.

7. The method for flight plan allocation in a two-layer low-altitude air route network based on a time window according to claim 6, characterized in that, Step E2 involves conflict resolution of start and end points, including: Step E21: Calculate the adjustable range: Based on the first segment after entering the route or the last segment before leaving the route, calculate the range using aircraft performance parameters. The segment distance is represented by l, and the cruising speed is... Maximum flight speed is Minimum flight speed is Following the method in step C5, calculate the flight speed at the corresponding wind speed. Maximum flight speed is Minimum flight speed is Then the time range can be adjusted. for: These are the differences between the time taken to fly the corresponding segment at the minimum and maximum flight speeds and the time taken at typical cruise speed; Step E22: Find the available time window: that is, for the current point, at most the time window can be found in advance. Time arrives, maximum delay Once the time arrives, it ensures that the arrival times of other nodes remain unchanged; based on the time interval and the time window defined in conflict detection, the maximum time window that the current node can advance forward is: The maximum time window for delay is: In the usage data for the corresponding node time window, starting from the sequence number... arrive Within the time window, find the unoccupied time window and record the corresponding window number; Step E23: If no time window exists, return to perform full-plan node allocation; if a time window exists, proceed to the next step. Step E24: Generate allocation strategy: Based on the principle of minimum change, select the time window with the smallest absolute value m from the unoccupied time window, and update the arrival time of the current node. If the node is a takeoff point, the planned takeoff time needs to be updated. .

8. The method for flight plan allocation in a two-layer low-altitude air route network based on a time window according to claim 7, characterized in that, Step E3 includes: Step E31: Calculate the adjustable range: If the segment number before the node is i, then the segment distance before the node is expressed as... The distance of the flight segment after the node is cruising speed Maximum flight speed is Minimum flight speed is Following the method in step C5, the flight speeds, maximum speeds, and minimum speeds of the preceding and subsequent segments under the corresponding wind speeds can be calculated. Furthermore, the adjustable time range for the preceding segment can be calculated. And the time range that can be adjusted in subsequent flight segments. The adjustable range of the current node is: This refers to the maximum lead time to reach the current node when accelerating in the preceding segment and decelerating in the subsequent segment. This represents the maximum delay required to reach the current node when the speed is reduced in the preceding segment and increased in the subsequent segment. Step E32: Find the available time window: that is, for the current point, at most the time window can be advanced. Time arrives, maximum delay Once the time arrives, it ensures that the arrival times of other nodes remain unchanged; based on the time interval and the time window defined in conflict detection, the maximum time window that the current node can advance forward is: The maximum time window for delay is: In the usage data for the corresponding node time window, starting from the sequence number... arrive Within the time window, find the unoccupied time window and record the corresponding window number; Step E33: If no time window exists, return to perform full-plan node allocation; if a time window exists, proceed to the next step. Step E34: Generate allocation strategy: Based on the principle of minimum change, select the time window with the smallest absolute value m from the unoccupied time window, and update the arrival time of the current node to... .

9. A method for flight plan allocation in a two-layer low-altitude air route network based on a time window, as described in claim 8, is characterized in that... Step E4 includes: Step E41: Find the selectable window for each node: Based on the time interval and the time window defined in the collision detection, the maximum time window that the planned trajectory node i can advance is: The maximum time window for delay is: In the usage data for each corresponding time window, starting from the sequence number... arrive Within a given time window, find unoccupied time windows and record their corresponding window numbers; the set of all available window numbers for the i-th node is represented as... ,but: Step E42: Calculate the overall available time window: For all valid nodes of the planned trajectory, the consistency of time adjustment for each node must be maintained during the overall adjustment. That is, the set C of the overall available time window indices is the intersection of the available time window indices for each node. Let I represent the total number of planned nodes. If no time window exists (i.e., set C is empty), the allocation plan fails, and the allocation failure message is output; if a time window exists, proceed to the next step. Step E43: Generate the allocation strategy: Based on the principle of minimizing changes, select the time window number m with the smallest absolute value from the time windows in set C, and update the arrival time of all nodes to... Meanwhile, the planned departure time has been updated to... .

10. A time-window-based dual-layer low-altitude flight plan allocation system, characterized in that, include: The aircraft performance management module manages flight performance data for different types of UAVs, providing a data foundation for trajectory estimation and conflict coordination. The flight performance data includes at least aircraft type, aircraft model, and maximum flight speed. Cruise flight speed Typical climb rate Typical acceleration and maximum flight range L; The spatial structure construction module is used to construct spatial structure data for planning and dispatch calculations based on low-altitude flight data, typical flight performance, and preset flight time intervals. The planning node maintenance module receives planning trajectory data and flight dynamic data, providing node planning time, execution status, and actual flight time, and provides planning-related data for planning conflict detection and reassignment; at the same time, it updates the planning node data after receiving new reassigned plans and planning trajectory data. The planned trajectory estimation module constructs planned flight space nodes based on aircraft performance and space structure, estimates the space structure points to be flown to, and the time to reach each structure point, providing data for conflict detection. The plan conflict detection module is used to calculate the trajectory node information of the new plan and perform conflict detection with the existing plan node information in the plan node maintenance, and identify the conflicting nodes and the plans involved. The planning and allocation module is used to identify planning conflicts, make allocation decisions and generate planning and allocation strategies based on task priority, aircraft performance, and the principle of not causing new conflicts, so as to eliminate planning conflicts. The adjusted plan and trajectory are submitted to the plan node maintenance module for management.

Images