Spatial space-time grid chart generation method, system and device, medium and program product

Abstract

The invention relates to a space domain space-time grid chart generation method, system and device, a medium and a program product. The method comprises the steps that the element type, size information and speed information of each space domain element in a target space domain are acquired; according to the speed information and the element type of each airspace element, determining the size of the airspace element in the time dimension and the airspace occupation duration; according to the size information of each spatial domain element, determining a geometric model corresponding to the spatial domain element and the sizes of the geometric model in three dimensions of latitude, longitude and height; generating a space-time grid corresponding to each spatial domain element according to the size of each spatial domain element in each dimension, the corresponding geometric model and the spatial domain occupation duration; and combining the space-time grids corresponding to all the spatial domain elements to obtain a spatial domain space-time grid chart. According to the method, the resolution capability of the airspace graph in the time dimension and the timeliness of data expression are improved, the problem of excessive coverage of full-path space occupied in the whole time period in a static modeling mode is avoided, and the expression precision of the low-altitude airspace graph is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of low-altitude airspace and time domain collaborative management, in particular to an airspace space-time grid map generation method, system, device, medium and program product. BACKGROUND

[0002] In the scenarios of low-altitude airspace management, air traffic dispatching and unmanned aerial vehicle supervision, a low-altitude airspace map, as an important carrier for digital expression of airspace resources and their dynamic characteristics in a three-dimensional space, plays a crucial role. The low-altitude airspace map can not only intuitively present the spatial distribution, boundary form and use rules of various airspace elements, but also reflect the time sequence evolution process of aircraft operation, airspace structure change and environmental factors. With the development of urban air traffic low-altitude economy, the dynamic elements in the low-altitude airspace present the characteristics of high density, high frequency and strong time variation. The traditional two-dimensional or three-dimensional static airspace map has been difficult to meet the fine expression needs of dynamic airspace environment. Therefore, constructing a low-altitude airspace map supporting unified expression of space and time dimensions has become one of the key technical means to improve the fine management capability of airspace and the level of flight safety guarantee.

[0003] In the existing method, the generation of the low-altitude airspace map mainly adopts a spatial discrete modeling method, that is, the structural airspace, aircraft path, obstacles and other elements are geometrically modeled and spatially grid-divided in a three-dimensional space, so as to obtain the spatial expression of the airspace map. However, this method usually ignores the change characteristics of the airspace elements in the time dimension, especially in the expression of dynamic elements such as aircraft paths and temporary flight restricted areas. A static spatial coverage method is often used to handle it, that is, it is assumed that the dynamic elements continuously occupy all the spatial grids where their paths or regions are located in the entire task period, which easily leads to waste of grid resources and reduces the timeliness and accuracy of the airspace map expression. SUMMARY

[0004] To this end, the present application provides an airspace space-time grid map generation method, system, device, medium and program product to at least partially solve the above technical problems.

[0005] The present application provides an airspace space-time grid map generation method, comprising the following method steps: obtaining the element type, size information and speed information of each airspace element in a target airspace; determining the size in the time dimension and the airspace occupation duration of each airspace element according to the speed information and the element type of the airspace element; determining the corresponding geometric model and the size in the latitude, longitude and height dimensions of each airspace element according to the size information of the airspace element; generating the space-time grid corresponding to each airspace element according to the size of each airspace element in each dimension, the corresponding geometric model and the airspace occupation duration. combining all the space-time grids corresponding to the airspace elements to obtain a space-time grid map of the airspace.

[0006] Further, the element types include: structured airspace elements, aircraft elements, and environmental elements.

[0007] Further, when the element type is a structured airspace element, the step of determining the size of the airspace element in the time dimension and the airspace occupation duration according to the speed information and the element type of each airspace element includes: obtaining a risk level of the airspace element; determining the size of the airspace element in the time dimension and the airspace occupation duration according to the risk level.

[0008] Further, the step of determining the size of each airspace element in the latitude, longitude, and height dimensions includes: obtaining all hierarchical sizes of each dimension; wherein the hierarchical size is obtained by progressively dividing the total length of each dimension into multiple levels; for each dimension: obtaining a dimension size corresponding to the dimension in the size information; calculating the product of the dimension size and a preset ratio to obtain a boundary size; filtering all hierarchical sizes smaller than the boundary size among all hierarchical sizes of the dimension to obtain preselected sizes; finding the hierarchical size with the largest size from the preselected sizes as the size of the airspace element in the dimension.

[0009] Further, when the element type is an aircraft element, the step of calculating the product of the dimension size and a preset ratio to obtain a boundary size includes: calculating a moving distance of the airspace element within the size of the time dimension according to the speed information and the size of the airspace element in the time dimension to obtain a first size; calculating the product of the dimension size and a preset ratio to obtain a second size; comparing the first size and the second size, and taking the smaller one as the boundary size.

[0010] Further, the step of generating the space-time grid corresponding to each airspace element according to the size of each airspace element in each dimension, the corresponding geometric model, and the airspace occupation duration includes: performing four-dimensional grid division on the target airspace within a target duration based on the size of each airspace element in the latitude, longitude, height, and time dimensions to obtain a four-dimensional space-time grid structure; wherein the target duration spans the airspace occupation durations of all airspace elements. determine a position range of each airspace element in three spatial dimensions of latitude, longitude and altitude according to its geometric model; determine a position range of each airspace element in time dimension according to its airspace occupation duration; extract four-dimensional grid cells intersecting with the spatial dimension position range and the time dimension position range in the four-dimensional space-time grid structure; set the intersecting four-dimensional grid cell set as the space-time grid corresponding to the airspace element.

[0011] Another aspect of the present application also provides an airspace space-time grid map generation system, comprising: an acquisition module configured to acquire element type, size information and speed information of each airspace element in a target airspace; a first determination module configured to determine size in time dimension and airspace occupation duration of each airspace element according to its speed information and element type; a second determination module configured to determine its corresponding geometric model and size in three spatial dimensions of latitude, longitude and altitude according to size information of each airspace element; a generation module configured to generate space-time grid corresponding to each airspace element according to its size in each dimension, its corresponding geometric model and airspace occupation duration; a combination module configured to combine space-time grids corresponding to all airspace elements to obtain an airspace space-time grid map.

[0012] Another aspect of the present application also provides an electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the airspace space-time grid map generation method as described above.

[0013] Another aspect of the present application provides a computer readable storage medium having stored thereon computer program instructions executable by a processor to implement the airspace space-time grid map generation method as described above.

[0014] Another aspect of the present application provides a computer program product comprising a computer program executable by a processor to implement the airspace space-time grid map generation method as described above.

[0015] The application introduces a space-time integrated grid division mechanism, generates accurate corresponding space-time grid cells based on scale information and dynamic characteristics of space elements in latitude, longitude, height and time dimensions, thereby improving the resolution capability of the space dimension graph in the time dimension and the timeliness of data expression, avoiding the problem of excessive coverage of full-time period occupying full-path space in the static modeling mode, and thus effectively improving the expression accuracy of the low-altitude airspace graph. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 is a space-time grid graph generation method flowchart provided by an embodiment of the present application; Figure 2 is a three-dimensional space-time grid graph and a four-dimensional space-time grid graph of an aircraft provided by an embodiment of the present application; Figure 3 is a space-time grid graph of low-altitude airspace including multiple space elements at different times provided by an embodiment of the present application; Figure 4 is a structure diagram of a space-time grid graph generation system provided by an embodiment of the present application; Figure 5 is a structure diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0019] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, not to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, or product including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed or can optionally include other steps or units inherent to the process, method, device, or product.

[0020] Reference to“an embodiment” or“the embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase“in one embodiment” or“in at least one embodiment” in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all directed to the same embodiment, or to a single alternative embodiment. One of ordinary skill in the art will readily recognize from the disclosure herein, that the embodiments described herein can be combined with embodiments not expressly described so as to realize additional embodiments.

[0021] Referring to Figure 1 as shown, Figure 1 is a flow diagram of a method for generating a space-time grid graph according to an embodiment of the application. As Figure 1 shown, the method for generating a space-time grid graph can include the following operations: S101, obtaining element type, size information and speed information of each airspace element in a target airspace; In an optional embodiment, the size information refers to the geometric scale attribute of the airspace element in the spatial dimension, which is used to describe its spatial coverage range in the latitude, longitude and height directions. The size information can be in the form of the edge length of the airspace body, the width of the flight path, the thickness of the height level, etc., quantified in meters or latitude and longitude angle units. Taking the no-fly zone as an example, its size information can include a coverage area with a longitude span of 0.01°, a latitude span of 0.015°, and a height range of 60 meters.

[0022] The speed information refers to the dynamic motion rate parameter related to the airspace element, especially the aircraft element, reflecting its ability to move in space within a certain time. The speed information includes the horizontal speed of the aircraft, the vertical climbing / descending rate, etc., which is used to calculate its occupancy range in the time dimension. For example, an unmanned aerial vehicle flies at a speed of 10 m / s, and if its mission duration is 60 seconds, its spatial path length can be estimated to be 600 meters; for example, some dynamic environmental elements, such as radar scanning areas, can also have a rotating or expanding speed. By introducing the speed information, dynamic coupling modeling in the space-time dimension can be achieved, so as to more accurately reflect the actual occupancy status of the element in the four-dimensional space.

[0023] The element type refers to the classification identifier of the information unit constituting the target airspace, which is used to distinguish airspace elements of different properties and functions.

[0024] In an optional embodiment, the element type includes: a structured airspace element, an aircraft element, an environmental element.

[0025] In this optional embodiment, the structured airspace element as a spatial carrier provides traffic support for various types of aircraft and their preset routes within a certain period of time, and is one of the basic links of air traffic control. The core lies in the reasonable planning and management of airspace structure.

[0026] In this optional embodiment, the structured airspace element refers to the airspace unit pre-established by the air traffic control department or relevant airspace management agency, which has stable boundaries, fixed rules and clear use attributes, is used to regulate flight activities and use methods of airspace resources in a specific area, has a relatively static and regular spatial form, such as no-fly zone, limited flight zone, suitable flight zone, route corridor, temporary airspace, etc. Its spatial range is described in the form of polygon, cube or column, which is an important part of the basic airspace structure.

[0027] The aircraft element refers to various types of aircraft and their flight information that exist in the airspace or are about to enter the running state, which has a clear spatial position, geometric size, speed attribute and task time window. It usually includes unmanned aerial vehicles, manned helicopters, fixed-wing aircraft and other types, and is one of the most dynamic and time-effective elements in low-altitude airspace.

[0028] The environmental element refers to natural or artificial environmental factors that have a direct or indirect impact on airspace flight safety, airspace resource availability or flight capacity, which usually has uncertainty and dynamic change characteristics. Its influence range can expand, shrink or move with time and space changes. Common environmental elements include wind field, rainfall area, low-visibility area, communication blind area, electromagnetic interference area, etc. For example, a strong convective weather area formed in a certain period of time may cause unmanned aerial vehicles to be unable to fly stably in the area, so it needs to be expressed and avoided in the space-time graph.

[0029] Figure 2 A comparison of the occupation effect of low-altitude airspace by an aircraft using three-dimensional and four-dimensional space-time grid graphs respectively is shown, Figure 2 The height dimension is not shown in, Figure 2 The left part of corresponds to the three-dimensional space-time grid graph, and the right part corresponds to the four-dimensional space-time grid graph. The grids on both sides represent the occupation of low-altitude airspace by the aircraft, and the dimension sizes of the grids on both sides are the same in each dimension. Each grid represents the position of the aircraft in space within the time period corresponding to the grid. By comparison, the number of grids in the three-dimensional space-time grid graph is 18, while the number of grids in the four-dimensional space-time grid graph is only 6. Twelve space grids under three time grids can be released to achieve efficient use of airspace. Taking the unmanned aerial vehicle cluster scenario as an example, the traditional static grid generates 1200 units. Through dynamic constraints (preset proportion value 05) and risk classification (no-fly zone time dimension value 1 minute), the number of grids is reduced to 400, and the conflict detection efficiency is improved by 40%.

[0030] S102, determine the size of the airspace element in the time dimension and the airspace occupation duration according to the speed information and the element type of each airspace element; In an optional embodiment, when the element type is a structured airspace element, the step of determining the size of the airspace element in the time dimension and the airspace occupation duration according to the speed information and the element type of each airspace element comprises: obtaining the risk level of the airspace element; determining the size of the airspace element in the time dimension and the airspace occupation duration according to the risk level.

[0031] In this optional embodiment, the risk level is calculated according to the airspace accident rate and the regulatory level weighting; the airspace occupation duration refers to the difference between the activation time and the invalidation time of the airspace element. According to the flight risk level, the structured airspace element can be divided into a flightable area, a restricted flight area, and a no-fly area, and the risk levels of the three types of structured airspace are low risk, medium risk, and high risk, respectively. Among them, the restricted flight area and the no-fly area can be modeled by a polygonal column or a cylindrical area to ensure effective control of flight activities; the flightable area and the navigation corridor are usually represented by a strip area or a pipe structure to optimize airspace utilization efficiency. The time-varying of the no-fly area or the restricted flight area is strong, for example, the effective time of a no-fly area is from 24:00 on January 1, 2025 to 24:00 on January 3, 2025, and the airspace occupation duration is 3 days; the effective time of a restricted flight area is from 0:00 on January 1, 2025 to 3:00 on January 1, 2025, and the airspace occupation duration is 3 hours. According to the airspace occupation duration, the size of the corresponding time dimension is determined, for example, the size of the time dimension of the high-risk no-fly area is set to 1 minute, and the size of the time dimension of the low-risk flightable area is set to 10 minutes. The size of the time dimension can also be set to not more than 1 / 8 of the airspace occupation duration. The unit of the size of the time dimension can be hour / cell, minute / cell, second / cell, or millisecond / cell.

[0032] As can be seen, the method of determining the time dimension occupation of the structured airspace element based on the risk level can effectively improve the time expression accuracy of the airspace model for static airspace elements. This embodiment converts the time effectiveness of airspace use restrictions into a quantifiable time dimension size through the semantic parameter of risk level, thereby realizing fine modeling of structured airspace on the time axis. Compared with the situation that the structured airspace is set to long-term or full-time occupation by default in the traditional method, leading to excessive conservatism in time expression, this embodiment can flexibly set the occupation duration according to different risk levels, thereby improving the time resolution and actual applicability of the airspace-time grid graph in structured area modeling.

[0033] S103. Based on the size information of each spatial element, determine its corresponding geometric model and its dimensions in the three spatial dimensions of latitude, longitude, and altitude. In an optional embodiment, the step of determining the size of each spatial element in the three spatial dimensions of latitude, longitude, and altitude based on its size information includes: Obtain all hierarchical dimensions for each dimension; wherein, the hierarchical dimensions are obtained by progressively dividing the total length of each dimension into multiple hierarchical levels; For each dimension: Obtain the dimension corresponding to the given dimension from the size information; The boundary dimensions are obtained by multiplying the dimensional dimension by a preset ratio. Among all hierarchical dimensions in this dimension, filter to obtain all hierarchical dimensions smaller than the boundary dimension to obtain the pre-selected dimensions; Find the largest hierarchical size from the pre-selected sizes and use it as the size of the spatial element in that dimension.

[0034] In this optional embodiment, the occupancy of low-altitude airspace is described using four dimensions: latitude, longitude, altitude, and time. Each dimension is progressively divided, with the level size being the standard grid size obtained by exponentially progressively dividing the total length of the dimensions. For example, the 0th level of longitude represents the Earth's surface longitude. The longitude range, the first level divides the 0th level into 90 equal parts, each level corresponding to The longitude range, and the second level corresponds to each level 1. The longitude range is divided into 15 parts, with each second level corresponding to The longitude range, and the third level corresponds to each of the second levels. The longitude range is divided into two equal parts, and each subsequent level is further divided by dividing the longitude range of the previous level into two equal parts, until the 15th level. In this example, the level size of the 0th level of longitude is... The layer size of the first layer is The layer size of the second layer is The hierarchy size for each level thereafter is: ; in, For the first Layer hierarchy dimensions, .

[0035] It can be seen that the optional embodiment introduces a hierarchical size+boundary scaling spatial representation strategy, so that the size of the spatial element in each dimension can be automatically aligned to the system preset standard grid hierarchy under the premise of maintaining a certain spatial precision. By multiplying the original size by the scaling factor to obtain a boundary size, and then selecting the maximum hierarchical size in the standard hierarchy that is closest to but does not exceed the value, the expression precision of the original spatial scale is preserved, and the problem of generating too many fragmented grids is avoided. Unlike the traditional method of directly using the original size to divide or manually setting the grid boundary, the embodiment can improve the automation degree and structural consistency of grid division, thereby improving the efficiency of airspace graph generation and enhancing the spatial alignment capability of multi-source element fusion.

[0036] In an optional embodiment, when the element type is an aircraft element, the step of calculating the product of the dimension size and the preset scaling factor to obtain a boundary size includes: According to the speed information and the size of the airspace element in the time dimension, calculate the moving distance of the airspace element within the size in the time dimension to obtain a first size; Calculate the product of the dimension size and the preset scaling factor to obtain a second size; Compare the first size and the second size, and take the smaller value as the boundary size.

[0037] In this optional embodiment, when the element type is an aircraft element, its size in the spatial dimension depends not only on its structural parameters, but also on its dynamic movement behavior in the time dimension, i.e., its moving distance is the product of its moving speed and the size of the time dimension. Therefore, when calculating its boundary size in a certain spatial dimension, not only is the product of its static dimension size and the preset scaling factor used, but also a dynamic factor, i.e., the movement distance of the aircraft within a time dimension unit, is introduced. To avoid overestimation or omission of the space that the aircraft may occupy, the system compares the first size with the second size and selects the smaller value as the final boundary size, ensuring that the actual movement range of the aircraft is covered and that the grid division efficiency is not reduced due to redundant expansion. The preset scaling factor is in the range of 0.3-0.7, and in this embodiment it is set to 0.5 to balance grid precision and calculation efficiency.

[0038] It can be seen that the optional embodiment introduces a dynamic motion distance constraint mechanism, so that when determining the spatial boundary size of the aircraft element, it no longer simply relies on the static size and the scaling expansion result, but also considers the actual movement ability of the aircraft in the time dimension, achieving dynamic control of spatial size, effectively improving the expression precision and compactness of the space-time grid for aircraft elements, avoiding inefficient large grid coverage, improving the utilization rate of airspace resources, and also providing a more detailed spatial basis for subsequent path conflict detection and airspace capacity assessment.

[0039] S104, generating a space-time grid corresponding to each airspace element according to the size of each airspace element in each dimension, its corresponding geometric model and airspace occupation duration; In an optional embodiment, the step of generating a space-time grid corresponding to each airspace element according to the size of each airspace element in each dimension, its corresponding geometric model and airspace occupation duration comprises: Based on the size of each airspace element in latitude, longitude, altitude and time dimensions, the target airspace is divided into a four-dimensional grid structure within a target time duration, wherein the target time duration spans the airspace occupation duration of all airspace elements; According to the geometric model of each airspace element, determine its position range in latitude, longitude and altitude three spatial dimensions; According to the airspace occupation duration of the airspace element, determine its position range in the time dimension; In the four-dimensional space-time grid structure, extract the four-dimensional grid cells intersecting with the spatial dimension position range and the time dimension position range; The intersection of the four-dimensional grid cell set is taken as the space-time grid corresponding to the airspace element.

[0040] In this optional embodiment, in order to uniformly model and express the occupation of different airspace elements in four-dimensional space, first, based on the maximum occupation range of all airspace elements in four dimensions, the entire target airspace is four-dimensionally gridded within a target time duration, and a unified four-dimensional space-time grid structure is constructed. The target time duration is set to cover the maximum airspace occupation duration of all airspace elements, ensuring complete time dimension expression of each element. Subsequently, according to the geometric model of each airspace element, combined with its size information in latitude, longitude and altitude three spatial dimensions, the position range of the element in three-dimensional geographic space is determined, for example, the spatial range of a certain aircraft element can be expressed as expanding a certain boundary size from a certain longitude and latitude point to form a column or cube region. At the same time, according to the airspace occupation duration of the element, the position range of the element in the time axis is determined, i.e. the time period spanned by the element in the four-dimensional grid structure. Joint the above three-dimensional space range and time range to form a four-dimensional cubic occupation area, and extract all grid cells intersecting with the area in the four-dimensional space-time grid structure, and finally define the grid cell set as the space-time grid corresponding to the airspace element, realizing the conversion from physical element to standard grid expression.

[0041] It can be seen that the optional embodiment realizes the unified, discrete and computable expression of any type of airspace elements by uniformly mapping the geometric information and time information of the airspace elements into a standardized four-dimensional grid structure. The principle is based on the division idea of four-dimensional Cartesian space, which converts the continuous space-time entity into a set of grid cells that can be operated and compared, effectively solving the problems of inconsistent representation and difficult data fusion in traditional airspace modeling due to the diversity of element types and inconsistent space-time ranges. By extracting the grid cells intersected with the element occupied range, the system can accurately locate the actual influence area of each element in the space-time domain, significantly improving the computational efficiency and logical consistency of subsequent applications such as airspace layer overlay, conflict detection, path planning, etc., and also providing a standardized basic expression framework for building low-altitude airspace digital twin models and conducting airspace intelligent scheduling.

[0042] S105, combining the space-time grids corresponding to all airspace elements to obtain an airspace space-time grid map.

[0043] Figure 3 Two space-time grid maps of a low-altitude airspace including five airspace elements at time t1 and time t2 are shown, and the five airspace elements are: aircraft, building, weather field, no-fly zone, and mountain. The aircraft corresponds to the aircraft element, the no-fly zone corresponds to the structured airspace element, and the building, weather field, and mountain correspond to the environmental element. Figure 3 It can be seen that the aircraft and the weather field have changed in the spatial dimension.

[0044] It can be seen that the optional embodiment generates accurate corresponding space-time grid cells based on the scale information and dynamic characteristics of the airspace elements in the latitude, longitude, height and time dimensions, thereby improving the resolution capability of the airspace map in the time dimension and the timeliness of data expression, avoiding the problem of excessive coverage of the full-time period occupying the full-path space in the static modeling method, and thus effectively improving the expression accuracy of the low-altitude airspace map.

[0045] Referring to Figure 4 , Figure 4 is a structural schematic diagram of an airspace space-time grid map generation system disclosed by the embodiment of the present application. As Figure 4 shown, the system comprises: The acquisition module 401 is configured to acquire the element type, size information and speed information of each airspace element in the target airspace. The first determination module 402 is configured to determine the size in the time dimension and the airspace occupation duration of each airspace element according to the speed information and the element type of the airspace element. The second determination module 403 is configured to determine the corresponding geometric model and the size in the latitude, longitude and height dimensions of each airspace element according to the size information of the airspace element. The generating module 404 is configured to generate a space-time grid corresponding to each space element according to the size of each space element in each dimension, the corresponding geometric model, and the space occupation duration. The combining module 405 is configured to combine the space-time grids corresponding to all space elements to obtain a space-time grid map.

[0046] The specific limitations of the space-time grid map generation system can refer to the limitations of the space-time grid map generation method described above, and will not be repeated here. The modules in the above space-time grid map generation system can be realized by software, hardware, and combinations thereof, in whole or in part. The above modules can be embedded in or independent of the processor in the electronic device in hardware format, or can be stored in the memory in the electronic device in software format, so that the processor calls the operations corresponding to the above modules.

[0047] It should be noted that, in order to highlight the innovative part of the present application, modules not closely related to solving the technical problems proposed in the present application are not introduced in the embodiment, but this does not mean that there are no other modules in the embodiment.

[0048] As shown in Figure 5 The electronic device 1 provided by the present application can include a memory 12, a processor 13, and a bus, and can also include a computer program stored in the memory 12 and executable on the processor 13, such as a space-time grid map generation program.

[0049] The memory 12 includes at least one type of readable storage medium, including flash memory, mobile hard disk, multimedia card, card-type memory (such as SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. The memory 12 can be an internal storage unit of the electronic device 1 in some embodiments, such as the mobile hard disk of the electronic device 1. The memory 12 can also be an external storage device of the electronic device 1 in other embodiments, such as the plug-in mobile hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on the electronic device 1. Further, the memory 12 can include both the internal storage unit and the external storage device of the electronic device 1. The memory 12 can be used not only to store application software and various data installed on the electronic device 1, such as space-time grid map generation code, etc., but also to temporarily store data that has been output or will be output.

[0050] The processor 13 may, in some embodiments, be composed of integrated circuits, for example, may be composed of a single packaged integrated circuit, or may be composed of a plurality of packaged integrated circuits of the same function or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, combinations of various control chips, etc. The processor 13 is a control core (Control Unit) of the electronic device 1, connects various components of the entire electronic device 1 through various interfaces and lines, and executes programs or modules (for example, an airspace space-time grid map generation program, etc.) stored in the memory 12 and data stored in the memory 12 to perform various functions and process data of the electronic device 1 by running or executing.

[0051] The processor 13 executes an operating system of the electronic device 1 and various installed application programs. The processor 13 executes the application programs to implement the steps in the above airspace space-time grid map generation method.

[0052] For example, the computer program can be divided into one or more modules, which are stored in the memory 12 and executed by the processor 13 to complete the present application. The one or more modules can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the electronic device 1. For example, the computer program can be divided into an acquisition module 401, a first determination module 402, a second determination module 403, a generation module 404, and a combination module 405.

[0053] The integrated units implemented in the form of software functional modules described above can be stored in a computer readable storage medium, which can be nonvolatile or volatile. The software functional modules described above are stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a computer device, or a network device, etc.) or a processor to execute part of the airspace space-time grid map generation method described in various embodiments of the present application.

[0054] Embodiments of the present application also provide a computer program product, and the computer program product includes a computer program, which, when executed by a processor, implements the steps in any of the above airspace space-time grid map generation method embodiments.

[0055] To sum up, the airspace space-time grid generation method, system, device and medium disclosed by the application introduce a space-time integrated grid division mechanism, generate accurate corresponding space-time grid units based on the scale information and dynamic characteristics of the spatial elements in the latitude, longitude, height and time dimensions, thereby improving the resolution capability of the airspace graph in the time dimension and the timeliness of the data expression, avoiding the excessive coverage problem of the full-time period occupying the full-path space in the static modeling mode, and thus effectively improving the expression accuracy of the low-altitude airspace graph. Therefore, the application effectively overcomes various shortcomings in the prior art and has a high industrial utilization value.

[0056] The above embodiments only exemplarily illustrate the principles and effects of the application, and are not used to limit the application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical idea disclosed by the application should be covered by the claims of the application.

Claims

1. A method for generating a spatial-temporal grid map, characterized in that, The method comprises the following steps: obtaining element types, size information and speed information of each airspace element in a target airspace; determining the size of each airspace element in the time dimension and the airspace occupation duration according to the speed information and the element type of each airspace element; determining the corresponding geometric model and the size of each airspace element in the latitude, longitude and height three spatial dimensions according to the size information of each airspace element; generating the space-time grid corresponding to each airspace element according to the size of each airspace element in each dimension, the corresponding geometric model and the airspace occupation duration; combining the space-time grid corresponding to all airspace elements to obtain the space-time grid graph of the airspace.

2. The method of claim 1, wherein, The element types include: structured airspace elements, aircraft elements and environmental elements.

3. The method of claim 2, wherein, When the element type is a structured airspace element, the step of determining the size of each airspace element in the time dimension and the airspace occupation duration according to the speed information and the element type of each airspace element comprises: obtaining the risk level of the airspace element; determining the size of each airspace element in the time dimension and the airspace occupation duration according to the risk level.

4. The method of claim 1, wherein, The step of determining the size of each airspace element in the latitude, longitude and height three spatial dimensions according to the size information of each airspace element comprises: obtaining all hierarchical sizes of each dimension; wherein the hierarchical size is obtained by progressively dividing the total length of each dimension into multiple levels; for each dimension: obtaining the dimension size corresponding to the dimension in the size information; calculating the product of the dimension size and a preset ratio to obtain a boundary size; filtering all hierarchical sizes smaller than the boundary size among all hierarchical sizes of the dimension to obtain a preselected size; finding the largest hierarchical size from the preselected size as the size of the airspace element in the dimension.

5. The method of claim 4, wherein, When the element type is an aircraft element, the step of calculating the product of the dimension size and a preset ratio to obtain a boundary size comprises: calculating the moving distance of the airspace element within the size of the time dimension according to the speed information and the size of the airspace element in the time dimension to obtain a first size; calculating the product of the dimension size and a preset ratio to obtain a second size; comparing the first size and the second size, and taking the smaller one as the boundary size.

6. The method of claim 1-5, wherein, The step of generating the space-time grid corresponding to each airspace element according to the size of each airspace element in each dimension, the corresponding geometric model and the airspace occupation duration comprises: performing four-dimensional grid division on the target airspace within a target duration based on the size of each airspace element in the latitude, longitude, height and time four dimensions to obtain a four-dimensional space-time grid structure; wherein the target duration spans the airspace occupation duration corresponding to all airspace elements; determining the position range of each airspace element in the latitude, longitude and height three spatial dimensions according to the geometric model of each airspace element; determining the position range of each airspace element in the time dimension according to the airspace occupation duration of the airspace element; extracting the four-dimensional grid cells intersecting with the spatial dimension position range and the time dimension position range in the four-dimensional space-time grid structure; taking the intersecting four-dimensional grid cell set as the space-time grid corresponding to the airspace element.

7. A spatial space-time trellis map generation system characterized by, The method comprises: An acquisition module is configured to acquire element types, size information and speed information of each airspace element in a target airspace; A first determination module is configured to determine a size in a time dimension and an airspace occupation duration of each airspace element according to the speed information and the element type of the airspace element; A second determination module is configured to determine a corresponding geometric model and sizes in latitude, longitude and height dimensions of each airspace element according to the size information of the airspace element; A generation module is configured to generate a space-time grid corresponding to each airspace element according to the sizes of each airspace element in each dimension, the corresponding geometric model and the airspace occupation duration; A combination module is configured to combine the space-time grids corresponding to all airspace elements to obtain an airspace space-time grid map. 8.An electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the airspace space-time grid map generation method of any one of claims 1-6. 9.A computer readable medium having stored thereon computer program instructions executable by a processor to implement the airspace space-time grid map generation method of any one of claims 1-6. 10.A computer program product comprising a computer program which, when executed by a processor, implements the airspace space-time grid map generation method of any one of claims 1-6.

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