Relationship calculation method, system and equipment of space-time grid and medium
By using a binary encoding method based on a space-time grid to uniformly process the calculation of the relationship between spatial and temporal dimensions, the problem of low collaborative efficiency in low-altitude airspace management is solved, and efficient airspace resource scheduling and real-time conflict detection are achieved.
Patent Information
- Application Number
- CN202511072160.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-31
- Publication Date
- 2025-11-07
AI Technical Summary
Existing technologies for managing low-altitude airspace suffer from fragmented spatial and temporal calculations, resulting in low coordination efficiency and difficulty in meeting the dynamic coordinated scheduling needs of multiple aircraft.
By acquiring the binary codes of the spatiotemporal grid in the longitude, latitude, altitude, and time dimensions, and comparing the effective length and bit value relationship of the four-dimensional codes in a unified calculation process, the inclusion, neighborhood, and displacement relationships of the spatiotemporal grid can be directly determined, eliminating the data conversion steps between the spatial and temporal dimensions.
It has significantly improved the efficiency of airspace resource scheduling, enhanced the real-time performance of conflict detection and the reliability of aircraft collaborative scheduling, and solved the problem of low collaborative efficiency caused by dimensional fragmentation.
Smart Images
Figure CN120912823A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of low-altitude airspace and time domain collaborative management, in particular to a space-time grid relationship calculation method, system, device and medium. BACKGROUND
[0002] As a three-dimensional space for carrying dynamic economic activities such as unmanned aerial vehicle logistics and general aviation, the core management problem of low-altitude airspace is the spatio-temporal position coupling of airspace elements, such as the change of aircraft trajectory with time, the migration of obstacle distribution with space, and the adjustment of control rules with time zone. This spatio-temporal dynamics requires the abstraction of airspace into discrete units for modeling, and the relationship determination of discrete units directly determines the effectiveness of the management system: including the analysis accuracy of relationship influence multi-scale data, the real-time conflict warning reliability of adjacent relationship, and the calculation basis of displacement relationship for path optimization. If these relationships cannot be accurately defined, it will lead to systematic failures such as inaccurate airspace resource scheduling and increased safety risks.
[0003] The existing method has an essential coordination defect in processing the relationship of discrete units: the spatial and temporal dimensions are calculated separately, for example, the spatial grid relationship uses vector geometry operation, and the temporal relationship relies on independent time axis comparison, and the two lack a unified coding algebraic framework. This separation leads to cross-dimension coordination failure - when the spatio-temporal neighborhood needs to be judged simultaneously, the system needs to call the spatial calculation module and the time calculation module respectively, and then splice the results through additional logic, ultimately leading to the difficulty of low-altitude airspace management in coping with multi-aircraft dynamic collaborative scheduling requirements. SUMMARY
[0004] To this end, the present application provides a space-time grid relationship calculation method, system, device and medium to at least partially solve the above technical problems.
[0005] The present application provides a space-time grid relationship calculation method, comprising the following method steps: Obtaining the binary coding of the first space-time grid and the second space-time grid in the longitude, latitude, height and time dimensions; wherein the binary coding of each dimension includes hierarchical position information and a preset fixed length, and the length of the hierarchical position information is the coding effective length; Performing the following operations on the four dimension codes of the two space-time grids in turn: If the coding effective lengths of the two grids in a certain dimension differ by 1, then determine whether the two grids have a containing relationship according to the first N bits of the coding, N being the shorter coding effective length; If the coding effective lengths of the two grids in a certain dimension are equal, then determine whether the two grids are adjacent grids according to the difference between the coding effective lengths of the two grids; If the other three-dimensional encodings of the two grids are the same, then whether the two grids are displacement grids is determined according to the ratio of the encoding difference in the current dimension to the scale unit.
[0006] Further, if the encoding effective lengths of the two grids in a certain dimension differ by 1, then whether the two grids have a containing relationship is determined according to the first N-bit encodings. For each of the dimensions: The encoding effective lengths of the first space-time grid and the second space-time grid in the dimension are obtained respectively to obtain a first length and a second length; It is determined whether the difference between the first length and the second length is 1: If yes, the first N-bit binary encodings of the first space-time grid and the second space-time grid in the dimension are obtained respectively to obtain a first effective encoding and a second effective encoding, where N is the second length; It is determined whether the first effective encoding is equal to the second effective encoding: If yes, the second space-time grid contains the first space-time grid in the dimension.
[0007] Further, the space-time grid relationship calculation method further includes: It is determined whether the second space-time grid contains the first space-time grid in each dimension: If yes, the second space-time grid is a parent grid of the first space-time grid.
[0008] Further, if the encoding effective lengths of the two grids in a certain dimension are equal, then whether the two grids are neighbor grids is determined according to the difference between the encoding effective lengths corresponding to the encodings of the two grids. For any dimension: The binary encodings of the first space-time grid and the second space-time grid in the dimension are obtained respectively to obtain a first encoding and a second encoding; The difference between the first encoding and the second encoding is calculated to obtain a first encoding difference; It is determined whether the first encoding difference is 1: If the determination result is yes, the second space-time grid is a neighbor grid of the first space-time grid in the dimension.
[0009] Further, the step of calculating the difference between the first encoding and the second encoding includes: It is determined whether the encoding effective lengths of the first encoding and the second encoding in the dimension are equal: If not, the binary code with shorter effective length is padded with 0s to the longer one, and the difference between the first and second codes is calculated.
[0010] Further, if the two grids have the same encoding in other three dimensions, the step of judging whether the two grids are displacement grids according to the ratio of the current dimension encoding difference to the scale unit includes: For any dimension: The binary codes of the first and second space-time grids in the dimension are obtained respectively to obtain third and fourth codes; The difference between the third and fourth codes is calculated to obtain a second encoding difference; The ratio of the second encoding difference to the scale unit is calculated to obtain a difference ratio; wherein, is the fixed length, is the effective length of the first space-time grid in the dimension; It is judged whether the binary codes of the first and second space-time grids in other three dimensions are equal, and whether the difference ratio is a non-zero integer: If the results of the judgments are all yes, the second space-time grid is a displacement grid of the first space-time grid.
[0011] Further, the space-time grid relationship calculation method further includes: In each dimension, different numerical values are used to represent the inclusion relationship or adjacent relationship of the two space-time grids in the dimension to generate the topological encoding of the two space-time grids.
[0012] Another aspect of the present application also provides a space-time grid relationship calculation system, comprising: An acquisition module is configured to acquire the binary codes of a first space-time grid and a second space-time grid in longitude, latitude, altitude, and time dimensions; wherein the binary code of each dimension includes hierarchical position information and a preset fixed length, and the length of the hierarchical position information is an effective length of the code; A comparison module is configured to sequentially perform the following operations on the four dimension codes of the two space-time grids: If the effective lengths of the codes of the two grids in a certain dimension differ by 1, it is judged according to the first N bits of the codes whether the two grids have an inclusion relationship, N being the shorter effective length of the code; If the effective lengths of the codes of the two grids in a certain dimension are equal, it is judged according to the difference between the codes corresponding to the effective lengths of the codes whether the two grids are adjacent grids; If the two grids have the same encoding in other three dimensions, it is judged according to the ratio of the current dimension encoding difference to the scale unit whether the two grids are displacement grids.
[0013] 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 relationship calculation method of the space-time grid as described above.
[0014] 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 relationship calculation method of the space-time grid as described above.
[0015] The present application eliminates the data conversion link between the space and time dimension calculation modules by simultaneously acquiring the binary encoding of the two space-time grids in the longitude, latitude, height and time dimensions, and directly comparing the effective length and bit value relationship of the four-dimensional encoding in a unified calculation process. Further, by comparing the hierarchical consistency, displacement difference and inclusion relationship of the encoding in each dimension, the time-space relationship verification that originally needs to be performed in steps is combined into a single encoding analysis operation, thereby realizing one-step collaborative judgment of the spatial obstacle position and the time flight-prohibited section in the airspace conflict detection scenario, and achieving a substantial improvement in airspace resource scheduling efficiency. 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 as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.
[0017] Figure 1 is a space-time grid relationship calculation method flowchart provided by an embodiment of the present application; Figure 2 is a different relationship diagram of two space-time grids provided by an embodiment of the present application; Figure 3 is an adjacent relationship diagram of two space-time grids provided by an embodiment of the present application; Figure 4 is a structure diagram of a space-time grid relationship calculation 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 the following, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application, so that those skilled in the art can better understand the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.
[0019] The terms "first", "second", and the like in the description and claims of the present application and the above drawings are used to distinguish different objects, and are not used to describe a particular 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 that includes a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed or can optionally include other steps or units inherent to the process, method, device, or product.
[0020] Reference herein to "embodiments" means that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0021] Please refer to Figure 1 , Figure 1 is a flowchart of a space-time grid relationship calculation method disclosed by an embodiment of the present application. As Figure 1 shown, the space-time grid relationship calculation method can include the following operations: S101, obtaining binary encoding of a first space-time grid and a second space-time grid in longitude, latitude, height, and time dimensions; wherein the binary encoding of each dimension includes hierarchical position information and a preset fixed length, and the length of the hierarchical position information is the encoding effective length; In an optional embodiment, the spatiotemporal coordinates of the spatiotemporal grid are: longitude minutes / seconds / subseconds, latitude minutes / seconds / subseconds, altitude in metric units, and time in hours / minutes / seconds. Each dimension is divided into 15 levels, and the spatiotemporal coordinates are encoded according to the level of their dimension. Longitude and latitude are encoded using recursive binary partitioning to generate bitwise operations, altitude is encoded using exponential scaling, and time is encoded using unit recursive binary partitioning to generate bitwise operations. For example, the 0th level of the altitude dimension is an altitude of 0-4095 meters, and its binary code is [0]100000000000000. Divide the 0th layer into two equal parts to obtain two 1st layer grids. The grid with an altitude of 0-2047 meters has a corresponding binary code of
[00] 100000000000000, and the grid with an altitude of 2048-4095 meters has a corresponding binary code of
[01] 100000000000000. Divide the 1st layer grid corresponding to the altitude of 0-2047 meters into two equal parts to obtain two 2nd layer grids. The grid with an altitude of 0-1023 meters has a corresponding binary code of
[000] 10000000000000, and the grid with an altitude of 1024-2047 meters has a corresponding binary code of
[001] 10000000000000. In the above examples, the binary codes are all 16 bits, that is, the fixed length is 16. The code in square brackets [] represents the encoding of the layer position information. The length of the code in square brackets [] is the effective length of the code. Square brackets [] are only added to distinguish the effective length of the code and do not exist in the binary code. The effective length of the encoding is less than or equal to the fixed length. The corresponding encoding represents the grid level and fineness / size. The binary encoding after the effective length has no practical meaning.
[0022] S102. Perform the following operations sequentially to encode the four dimensions of the two space-time grids: If the effective lengths of the codes of two grids differ by 1 in a certain dimension, then the first N bits of the code are used to determine whether the two grids have an inclusion relationship, where N is the effective length of the shorter code. If two grids have the same effective coding length in a certain dimension, then the difference between their effective coding lengths is used to determine whether they are neighboring grids. If two meshes have the same encoding in other 3D dimensions, then the ratio of the encoding difference in the current dimension to the scale unit is used to determine whether they are displacement meshes.
[0023] In this optional embodiment, the neighboring grid refers to the spatiotemporal grid that is adjacent to the current spatiotemporal grid in any of the dimensions of longitude, latitude, altitude, and time.
[0024] In an optional embodiment, if the effective lengths of the codes of two grids in a certain dimension differ by 1, the step of determining whether the two grids have an inclusion relationship based on the first N bits of the code includes: For each of the aforementioned dimensions: obtain a first length and a second length by respectively acquiring the encoded effective length of the first space-time grid and the second space-time grid in the dimension; determine whether the difference between the first length and the second length is 1: if yes, obtain a first effective code and a second effective code by respectively acquiring the first N bits of the binary code of the first space-time grid and the second space-time grid in the dimension, where N is the second length; determine whether the first effective code and the second effective code are equal: if equal, the second space-time grid includes the first space-time grid in the dimension.
[0025] Figure 2 The parent grid in the parent-child grid pair includes the child grid in each dimension. The parent-child grid pair is formed due to the multi-scale characteristics of the space-time grid partitioning framework. The parent grid of a child grid is the grid at the previous level of the child grid. The child grid is completely included in its parent grid in each dimension, and the child grid inherits the encoding identifier of the parent grid. A space-time grid has 16 child grids in four dimensions. The calculation of the parent-child grid pair plays a key role in the application of grid aggregation. For example, the encoding of a space-time grid in the height dimension is
[001] 1000000000000, and the encoding of its parent grid in the height dimension is
[00] 10000000000000.
[0026] It can be seen that the optional embodiment directly utilizes the hierarchical structure characteristics of the binary code, avoiding the redundant operations of recalculating the grid position or calling an independent space analysis module in the traditional method. Since the hierarchical difference judgment and partial code comparison are completed in a single process through bit operations (such as bit shift or truncation), the mechanism reduces the iteration times of data processing steps, thereby significantly reducing the computational overhead including relationship judgment, while ensuring the accuracy of the relationship in a multi-dimensional heterogeneous environment, effectively solving the problem of low coordination efficiency caused by the split processing of space and time dimensions in the prior art.
[0027] In an optional embodiment, the relationship calculation method of the space-time grid further includes: determine whether the second space-time grid includes the first space-time grid in each dimension: if yes, the second space-time grid is the parent grid of the first space-time grid.
[0028] Figure 2A parent grid and its corresponding child grid are shown. According to this embodiment, it can be determined that the second space-time grid is the parent grid of the first space-time grid, and those skilled in the art can understand that the first space-time grid can also be inferred as the child grid of the first space-time grid. Those skilled in the art can further deduce that after obtaining the binary encoding of a space-time grid in each dimension, the binary encoding of a child grid of the space-time grid can be deduced, that is, after increasing 0 or 1 to the effective encoding length of the binary encoding in any dimension of the space-time grid, the fixed length remains unchanged. For example, the encoding of a space-time grid in the height dimension is
[00] 10000000000000, and the binary encoding of the height dimension is changed to
[000] 1000000000000 or
[001] 1000000000000, and the same modification is made to other dimensions, and a child grid of the space-time grid is obtained.
[0029] Those skilled in the art can understand that if a space-time grid is the lowest level in a certain dimension, the space-time grid has no corresponding child grid. Similarly, if a space-time grid is the highest level (i.e., the 0th level) in a certain dimension, the space-time grid has no corresponding parent grid.
[0030] It can be seen that the optional embodiment eliminates the intermediate link in the prior art that requires separate aggregation of spatial levels and temporal levels and then splicing the results by checking the consistency of the logical level difference of all dimensions. This unified judgment mechanism in all dimensions directly suppresses the error accumulation risk introduced by multi-step operations in the grid aggregation or data downscaling scenario, making the conversion process of high-level grids to low-level grids more smooth, thereby improving the overall efficiency of multi-source data collaborative analysis, and accurately corresponding to the response delay defect caused by independent modules in the multi-scale integration of existing methods.
[0031] In an optional embodiment, if the effective lengths of the binary encodings of the two grids in a certain dimension are equal, the step of determining whether the two grids are adjacent grids according to the difference between the binary encodings corresponding to the effective lengths of the binary encodings of the two grids comprises: For any dimension: obtain the binary encodings of the first space-time grid and the second space-time grid in the dimension, respectively, to obtain a first encoding and a second encoding; calculate the difference between the first encoding and the second encoding to obtain a first encoding difference; determine whether the first encoding difference is 1: If the determination result is yes, the second space-time grid is the adjacent grid of the first space-time grid in the dimension.
[0032] In the optional embodiment, when the effective coding lengths of the two space-time grids are equal, the two space-time grids are in the same level of adjacent relationship, and when the effective coding lengths of the two space-time grids are not equal, the two space-time grids are in different levels of adjacent relationship, as shown in Figure 3 As shown in the upper picture, when the two space-time grids are adjacent in one dimension, they are one-dimensional adjacent, and when the two space-time grids are adjacent in two dimensions, they are two-dimensional adjacent, and similarly, three-dimensional adjacent and four-dimensional adjacent can be deduced, Figure 3 The height dimension is not shown in the middle.
[0033] For example, the coding of the first space-time grid in the height dimension is
[00] 10000000000000, and the coding of the second space-time grid in the height dimension is
[01] 10000000000000, and the two space-time grids are in the same level of one-dimensional adjacent relationship. The coding of the first space-time grid in the height dimension is
[00] 10000000000000, and the coding of the second space-time grid in the longitude dimension is
[0011] 100000000000, and the two space-time grids are in the same level of two-dimensional adjacent relationship.
[0034] It can be seen that the optional embodiment judges the adjacent relationship by calculating the coding difference of a specific dimension, encodes the space-time adjacent relationship (such as spatial displacement or time advancement) into a mathematical difference, and directly generates a relationship marker by using bit subtraction operation; Since this process synchronously processes the spatial and temporal dimension encodings at the binary level, it does not need to rely on external geometric models or independent time axis comparison modules, and its unified algebraic framework simplifies the adjacent detection process and greatly compresses the calculation delay of real-time conflict warning, thereby solving the coordination failure problem caused by the split calculation of spatial adjacent and temporal adjacent in the prior art, and enhancing the reliability of low-altitude airspace dynamic scheduling.
[0035] In one optional embodiment, the step of calculating the difference between the first coding and the second coding comprises: determining whether the effective coding lengths of the first coding and the second coding in the dimension are equal: If not, the binary coding with the shorter effective coding length is padded with 0 to the longer effective coding length, and then the difference between the first coding and the second coding is calculated.
[0036] As Figure 3 As shown in the lower picture, grids in different levels can be adjacent in one dimension or multiple dimensions, Figure 3 The height dimension is not shown in the middle.
[0037] In the optional embodiment, the binary code with short coding effective length is padded with 0 at low bits to long coding effective length, specifically, taking the long coding effective length as the target length among the two coding effective lengths, padding the binary code with short coding effective length with 0 after coding corresponding to the coding effective length until the modified coding effective length is equal to the target length, and keeping the length of the binary code as a fixed length. For example, the coding of the first space-time grid in the height dimension is
[011] 1000000000000, the coding effective length is 3, the coding of the second space-time grid in the height dimension is
[01] 10000000000000, the coding effective length is 2, and the coding of the second space-time grid in the height dimension is increased by padding 0 at low bits to increase the coding effective length, and the modified coding is
[010] 10000000000000, the effective bit is increased to 3, and the two space-time grids are adjacent in one dimension of different levels.
[0038] It can be seen that the optional embodiment introduces a low-bit zero padding mechanism to unify the coding length for the inconsistent level scene before calculating the difference, which dynamically adjusts the coding resolution to ensure the comparability of the neighborhood relationship between grids with different levels of detail; this adaptive processing avoids the additional steps of explicitly downgrading or upgrading the grid in the prior art, reduces the resource consumption caused by level conversion, and maintains the efficiency of bit operation; by seamlessly integrating level unification and difference calculation, this method improves the robustness of neighborhood judgment in complex spatial environments, directly making up for the slow response defect of existing methods in cross-resolution collaboration.
[0039] In an optional embodiment, if the two grids have the same coding in other three dimensions, the step of determining whether the two grids are displacement grids according to the ratio of the coding difference in the current dimension to the scale unit includes: For any dimension: Respectively obtaining the binary coding of the first space-time grid and the second space-time grid in the dimension to obtain third coding and fourth coding; Calculating the difference between the third coding and the fourth coding to obtain a second coding difference; Calculating the ratio of the second coding difference to the scale unit to obtain a difference ratio; wherein, is the fixed length, is the coding effective length of the first space-time grid in the dimension; Determining whether the binary coding of the first space-time grid and the second space-time grid in the other three dimensions is equal, and determining whether the difference ratio is a non-zero integer: If the determination results are both yes, the second space-time grid is a displacement grid of the first space-time grid.
[0040] In the optional embodiment, the displacement grid of a space-time grid refers to a new space-time grid obtained by moving the space-time grid along the longitude, latitude, height or time dimension by an integer multiple of the current dimension level scale. It should be noted that there is only a forward direction in the time dimension, and the space dimension can be forward or backward. For example, the binary encoding of the first space-time grid in the height dimension is
[1011] 10, and the binary encoding of the height dimension of the second space-time grid is
[1111] 10, and the rest of the three-dimensional encoding is exactly the same; the second encoding difference is |62-46|=16, and the difference ratio 16 / 4=4 is a non-zero integer, so the second space-time grid has 4 displacement steps relative to the first space-time grid in the height axis.
[0041] It can be seen that the optional embodiment determines the displacement relationship by calculating the ratio of the encoding difference to the scale unit and verifying that it is a non-zero integer, quantifies the grid movement as an algebraic ratio, and directly outputs the displacement feature using division or shift operation. Since the scale unit is dynamically calculated based on the level and integrated with the space-time dimension, this mechanism does not require a separate space displacement module or time advance algorithm, and its integrated design simplifies the position update process in path planning. The ratio verification is efficiently implemented through bit operation, which significantly reduces the computational burden of dynamic trajectory simulation, thereby optimizing the real-time performance of aircraft cooperative scheduling and effectively addressing the optimization lag problem caused by fragmented displacement calculation in the prior art.
[0042] In a low-altitude environment, certain elements such as obstacles, structured airspace, etc. are discretized into corresponding space-time grid sets according to requirements for expression; if space-time interaction judgment is required for these elements, the corresponding space-time grid set operations can be performed, which involves set operations of the grid at this time. Based on the above embodiments, one skilled in the art can understand that the union, intersection, and difference set of two space-time grid sets can be determined. To determine whether two space-time grids in a set are the same, it can be determined whether the binary encoding of the two space-time grids in the four dimensions is the same, or whether the two space-time grids are parent-child grids. When the binary encoding of the four dimensions is the same, or the two space-time grids are parent-child grids, the two space-time grids are determined to be the same.
[0043] In an optional embodiment, the space-time grid relationship calculation method further comprises: In each dimension, a different numerical value is used to represent the inclusion relationship or adjacent relationship of the two space-time grids in that dimension, and the topological encoding of the two space-time grids is generated.
[0044] For example, the inclusion relationship of two space-time grids is expressed by using three different encoding values -1, 0, 1 for each dimension respectively: 0 represents that the two space-time grids are irrelevant in the dimension, 1 represents that the space-time grid 1 includes the space-time grid 2 in the current dimension, and -1 represents that the space-time grid 2 includes the space-time grid 1 in the current dimension, as shown in Table 1: Table 1 Space-time inclusion relationship of two space-time grids
[0045] The second row 1, 1, 1, 0 in Table 1 indicates that the space-time grid 1 contains the space-time grid 2 in longitude, latitude, and height, and the two space-time grids have no relationship in the time dimension; the fifth row -1, -1, -1, 1 indicates that the space-time grid 2 contains the space-time grid 1 in longitude, latitude, and height, and the space-time grid 1 contains the space-time grid 2 in the time dimension.
[0046] For another example, the adjacency relationship of two space-time grids is expressed by using two different encoding values 0, 1 for each dimension respectively: 0 represents that the two space-time grids are apart, and 1 represents that the two space-time grids are adjacent, as shown in Table 2: Table 2 Space-time adjacency relationship of two space-time grids
[0047] The four encodings in Table 2 correspond to whether the two space-time grids are adjacent in longitude, latitude, height, and time respectively, for example, the last encoding 0, 0, 0, 1 represents that the two space-time grids are adjacent only in the time dimension.
[0048] It can be seen that the optional embodiment quantifies the inclusion or adjacency relationship between space-time grids by assigning specific values to each dimension in longitude, latitude, height, and time, abstracting the complex interaction of multi-dimensional space and time into a unified binary or integer encoding sequence; this abstraction process avoids the redundant step of independently processing the relationship of each dimension and then logically integrating in the prior art, thereby reducing data conversion and storage overhead; at the same time, as a compact data structure, the topology encoding can be seamlessly integrated into the airspace conflict detection or multi-aircraft path planning algorithm, and by directly comparing the encoding values rather than recalculating the geometric or temporal relationship, the real-time response capability and decision accuracy of the low-altitude airspace management system are significantly improved, and the collaborative efficiency bottleneck caused by the dimension fragmentation of the existing method is effectively overcome.
[0049] Referring to Figure 4 , a structure schematic diagram of a space-time grid relationship calculation system disclosed by an embodiment of the present application is shown. Figure 4 As shown in Figure 4 , the system comprises: The acquisition module 401 is configured to acquire binary encoding of the first space-time grid and the second space-time grid in longitude, latitude, height and time dimensions; wherein the binary encoding of each dimension contains hierarchical position information and a preset fixed length, and the length of the hierarchical position information is an encoding effective length; The comparison module 402 is configured to sequentially perform the following operations on the four-dimensional encoding of the two space-time grids: If the encoding effective lengths of the two grids in a certain dimension are different by 1, it is determined whether the two grids have a containing relationship according to the first N bits of the encoding, where N is the shorter encoding effective length; If the encoding effective lengths of the two grids in a certain dimension are equal, it is determined whether the two grids are adjacent grids according to the difference between the encoding effective lengths of the two grids; If the encoding of the two grids in other three dimensions is the same, it is determined whether the two grids are displacement grids according to the ratio of the difference in the current dimension to the scale unit.
[0050] The specific limitations of the space-time grid relationship calculation system can refer to the limitations of the space-time grid relationship calculation method in the above, and will not be repeated here. Each module in the above space-time grid relationship calculation 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 can call the operations of the above modules.
[0051] 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 present embodiment, but this does not mean that there are no other modules in the present embodiment.
[0052] 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 relationship calculation program.
[0053] The memory 12 includes at least one type of readable storage medium, such as a flash memory, a mobile hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. The memory 12 can be an internal storage unit of the electronic device 1 in some embodiments, such as a 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 a plug-in mobile hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 1. Further, the memory 12 can include both an internal storage unit and an external storage device of the electronic device 1. The memory 12 can be used to store application software installed on the electronic device 1 and various data, such as code for space-time grid relationship calculation, and can also be used to temporarily store data that has been output or will be output.
[0054] The processor 13 can be composed of an integrated circuit in some embodiments, such as a single packaged integrated circuit or a plurality of packaged integrated circuits with the same or different functions, including one or more combinations of a central processing unit (CPU), a microprocessor, a digital processing chip, a graphics processor, and various control chips, etc. The processor 13 is a control unit of the electronic device 1, which connects various components of the entire electronic device 1 through various interfaces and lines, and executes various functions and processes data of the electronic device 1 by running or executing programs or modules (such as a space-time grid relationship calculation program) stored in the memory 12 and calling data stored in the memory 12.
[0055] The processor 13 executes an operating system and various application programs installed on the electronic device 1. The processor 13 executes the application programs to implement the steps in the space-time grid relationship calculation method described above.
[0056] For example, the computer program can be divided into one or more modules 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 and a comparison module 402.
[0057] The integrated unit implemented in the form of the software function module can be stored in a computer readable storage medium, which can be nonvolatile or volatile. The software function module is stored in a storage medium and includes instructions for enabling 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 function of the space-time grid relationship calculation method.
[0058] In summary, the space-time grid relationship calculation method, system, device, and medium disclosed by the present application can simultaneously obtain the binary codes of the two space-time grids in the longitude, latitude, height, and time dimensions, and directly compare the effective lengths and bit value relationships of the four-dimensional codes in a unified calculation process, thereby eliminating the data conversion link between the space and time dimension calculation modules. Further, by comparing the hierarchical consistency, displacement difference, and inclusion relationship of the codes in each dimension, the space-time relationship verification, which was originally performed in steps, is combined into a single code analysis operation, thereby achieving one-step collaborative judgment of the spatial obstacle position and the time flight-prohibited section in the airspace conflict detection scenario, and greatly improving the efficiency of airspace resource scheduling. Therefore, the present application effectively overcomes the various shortcomings of the prior art and has high industrial utilization value.
[0059] The above embodiments only exemplarily illustrate the principles and effects of the present application and are not intended to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical thought of the present application should be covered by the claims of the present application.
Claims
1. A method for calculating a relationship of a space-time trellis, characterized by, The method comprises the following steps: obtaining binary codes of the first space-time grid and the second space-time grid in longitude, latitude, height and time dimensions; wherein the binary code of each dimension comprises hierarchical position information and a preset fixed length, and the length of the hierarchical position information is the effective code length; performing the following operations on the four dimension codes of the two space-time grids in turn: if the effective code lengths of the two grids in a certain dimension differ by 1, determining whether the two grids have a containing relationship according to the first N-bit codes, N being the shorter effective code length; if the effective code lengths of the two grids in a certain dimension are equal, determining whether the two grids are neighbor grids according to the difference between the codes corresponding to the effective code lengths; if the codes of the two grids in the other three dimensions are the same, determining whether the two grids are displacement grids according to the ratio of the code difference in the current dimension to the scale unit.
2. The method of claim 1, wherein, The step of determining whether the two grids have a containing relationship according to the first N-bit codes if the effective code lengths of the two grids in a certain dimension differ by 1 comprises: for each dimension: obtaining the effective code lengths of the first space-time grid and the second space-time grid in the dimension respectively to obtain a first length and a second length; determining whether the difference between the first length and the second length is 1: if yes, obtaining the first N-bit codes of the binary codes of the first space-time grid and the second space-time grid in the dimension respectively to obtain a first effective code and a second effective code, wherein N is the second length; determining whether the first effective code is equal to the second effective code: if yes, the second space-time grid contains the first space-time grid in the dimension.
3. The method of claim 1, wherein, The space-time grid relationship calculation method further comprises: determining whether the second space-time grid contains the first space-time grid in each dimension: if yes, the second space-time grid is the parent grid of the first space-time grid.
4. The method of claim 1, wherein, The step of determining whether the two grids are neighbor grids according to the difference between the codes corresponding to the effective code lengths if the effective code lengths of the two grids in a certain dimension are equal comprises: for any dimension: obtaining the binary codes of the first space-time grid and the second space-time grid in the dimension respectively to obtain a first code and a second code; calculating the difference between the first code and the second code to obtain a first code difference; determining whether the first code difference is 1: if the determination result is yes, the second space-time grid is the neighbor grid of the first space-time grid in the dimension.
5. The method of claim 4, wherein, The step of calculating the difference between the first code and the second code comprises: determining whether the effective code lengths of the first code and the second code in the dimension are equal: if not, the binary code with the shorter effective code length is padded with 0 to the longer effective code length, and then the difference between the first code and the second code is calculated.
6. The method of claim 1, wherein, The step of determining whether the two grids are displacement grids according to the ratio of the code difference in the current dimension to the scale unit if the codes of the two grids in the other three dimensions are the same comprises: for any dimension: obtaining the binary codes of the first space-time grid and the second space-time grid in the dimension respectively to obtain a third code and a fourth code; calculating the difference between the third code and the fourth code to obtain a second code difference; computing a ratio of the second encoding difference to a unit of scale , resulting in a difference ratio; wherein, is the fixed length, is the encoding effective length of the first space-time trellis in that dimension; determining whether the binary encodings of the first space-time grid and the second space-time grid in the other three dimensions are equal, and determining whether the ratio of the difference is a non-zero integer: if the determination results are all yes, the second space-time grid is a displacement grid of the first space-time grid.
7. The method of claim 1, wherein, The space-time grid relationship calculation method further comprises: In each dimension, using different numerical values to represent the inclusion relationship or the adjacent relationship of the two space-time grids in the dimension, a topological encoding of the two space-time grids is generated.
8. A space-time trellis relationship calculation system characterized by comprising: Including: An acquisition module is configured to acquire binary encodings of a first space-time grid and a second space-time grid in longitude, latitude, height, and time dimensions; wherein the binary encoding of each dimension contains hierarchical position information and a preset fixed length, and the length of the hierarchical position information is the effective length of the encoding; A comparison module is configured to sequentially perform the following operations on the four-dimensional encodings of the two space-time grids: If the effective length of the encoding of the two grids in a certain dimension differs by 1, then according to the first N bits of the encoding, it is determined whether the two grids have an inclusion relationship, N being the shorter effective length of the encoding; If the effective length of the encoding of the two grids in a certain dimension is equal, then according to the difference between the effective lengths of the encoding of the two grids, it is determined whether the two grids are adjacent grids; If the encodings of the two grids in the other three dimensions are the same, then according to the ratio of the difference in the current dimension to the scale unit, it is determined whether the two grids are displacement grids.
9. An electronic device, comprising: at least one processor; and a memory connected in communication with the at least one processor; 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 space-time grid relationship calculation method of any one of claims 1-6.
10. A computer readable medium having stored thereon computer program instructions executable by a processor to implement the space-time grid relationship calculation method of any one of claims 1-6.