Low-altitude airspace planning method and system based on micro-terminal area

Abstract

The invention discloses a low-altitude airspace planning method and system based on a micro-terminal area, and relates to the field of low-altitude airspace planning, and the method comprises the steps: generating a corresponding take-off and landing area for a low-altitude take-off and landing point or a take-off and landing field, and generating a take-off and landing hub area for an adjacent take-off and landing point or a take-off and landing field, so as to construct the micro-terminal area of the low-altitude airspace; constructing a risk area, and forming a restricted area of the low-altitude airline network together with the control area and the no-fly area; on the basis of the restricted area, generating alternative intermediate points connected with the take-off and landing points or the take-off and landing fields; based on the data of the alternative intermediate points and the data of the micro-terminal area, constructing an initial low-altitude airline network connected with all the points; calculating a weight corresponding to each side line in the initial low-altitude airline network, and optimizing the initial low-altitude airline network based on a weighted network; and removing redundant intermediate points based on the optimized network, constructing access points of the airline network and each micro-terminal area, and generating a final low-altitude airline network. According to the invention, a more reliable technical basis is provided for low-altitude route network planning.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of low-altitude airspace planning, in particular to a low-altitude airspace planning method and system based on micro terminal area. BACKGROUND

[0002] The increase in the scale of unmanned aerial vehicles and the rapid growth of unmanned aerial vehicle traffic will generate demand for air traffic services. The low-altitude air route network is a high-speed traffic network in low-altitude airspace, and is the basis for the construction of low-altitude business scenarios and the development of low-altitude economy. In low-altitude operation control, it is necessary to reduce the intervention in unmanned aerial vehicle flight, and it is necessary to avoid the influence of surrounding environmental risks and restricted airspace as much as possible in low-altitude air route network planning. The construction of the air route network is closely related to the airspace environment, the city geographical environment, and the distribution of take-off and landing points. The efficiency of on-site investigation and planning by artificial means is low and the update iteration is slow, and it is difficult to meet the demand for the rapid development of low-altitude economy. It is necessary to provide an efficient low-altitude airspace planning method to provide a basis for the rapid construction and update of the low-altitude air route network to meet the demand for the iterative update of the airspace structure under the current and future low-altitude economic development.

[0003] Existing research has proposed some low-altitude airspace planning methods, but these existing technologies have the following shortcomings:

[0004] (1) The potential flight risks brought by city environmental factors such as noise acceptance and human flow density are not considered;

[0005] (2) Most of them plan the air route between two points one by one, and do not consider the global low-altitude air route network planning;

[0006] (3) The boundary of the intelligent connection of the air route network to the take-off and landing point / airfield control area in actual operation is not considered, and different take-off and landing areas have their own take-off and landing procedures and airspace structures. SUMMARY

[0007] In order to solve the problems existing in the prior art, the present application proposes a low-altitude airspace planning method and system based on micro terminal area, which constructs the micro terminal area range for the take-off and landing point / airfield / take-off and landing hub as the airspace basis for air route network planning; generates the restricted airspace structure by comprehensively considering the acceptance of residents, potential operation risks, and environmental reliability; and realizes the comprehensive planning of the low-altitude air route network between all take-off and landing points under various airspace environments.

[0008] The present application is implemented by the following technical solutions:

[0009] A low-altitude airspace planning method based on micro terminal area, comprising:

[0010] Generating a corresponding take-off and landing area for a low-altitude take-off and landing point or airfield, and generating a take-off and landing hub area for adjacent take-off and landing points or airfields to construct a micro terminal area of low-altitude airspace;

[0011] By grid management area feasibility, a low feasibility area is constructed as a risk area, and together with a control area and a no-fly area, forms a restricted area of the low-altitude air route network; the restricted area is an airspace range that the low-altitude air route network should not pass through;

[0012] Based on the position relationship and shape of the restricted area, an optional intermediate point connecting each take-off and landing point or take-off and landing field is generated;

[0013] Based on the data of the optional intermediate point and the data of the micro terminal area, an initial low-altitude air route network connecting all points is constructed;

[0014] The corresponding weight of each edge in the initial low-altitude air route network is calculated, and the initial low-altitude air route network is optimized based on the weighted network;

[0015] Based on the optimized network, redundant intermediate points are removed, the entry and exit points of the air route network and each micro terminal area are constructed, and a final low-altitude air route network is generated.

[0016] In some embodiments, the construction process of the micro terminal area includes:

[0017] A take-off and landing area corresponding to each take-off and landing point or take-off and landing field is constructed, the area is a circular area with the center point of the take-off and landing point / field as the center, and the radius of the area is calculated according to the number of parking spaces in the take-off and landing point / field, the maximum aircraft size supported, and the navigation positioning accuracy;

[0018] All take-off and landing points or take-off and landing fields are hierarchically clustered according to the distance threshold value with the center point coordinates as the value, until clustering cannot continue, then each take-off and landing point or take-off and landing field with a cluster greater than 1 constitutes a take-off and landing hub;

[0019] For the take-off and landing hub, the distance from the virtual center point to the farthest boundary point of the original area of all take-off and landing points or take-off and landing fields is taken as the radius of the area, and a hub terminal area is constructed; at the same time, the original area data of each take-off and landing point / field in the take-off and landing hub is removed;

[0020] The area data of the independent take-off and landing point or take-off and landing field and the area data of the take-off and landing hub together constitute the micro terminal area of the low-altitude airspace.

[0021] In some embodiments, the hierarchical clustering according to the distance threshold value includes:

[0022] All take-off and landing points or take-off and landing fields are added to the set as separate nodes;

[0023] The calculation step: calculate the distance between all nodes in the set, find the two nodes with the closest distance, if the distance between the two nodes with the closest distance is less than or equal to the distance threshold value, then enter the merging step, otherwise enter the detection step;

[0024] Merging step: merging the two nearest nodes into one node, taking the geometric center point of all the takeoff and landing points or takeoff and landing fields in the two nearest nodes as the center point of the merged node, adding the merged node to the set, removing the original two nodes from the set, and returning to the calculating step;

[0025] Detection step: detecting the number of takeoff and landing points or takeoff and landing fields in each node in the set, outputting the node with a number greater than 1 as a takeoff and landing hub, and taking the center point of the node as the virtual center point of the takeoff and landing hub.

[0026] In some embodiments, the generation process of the restricted area includes:

[0027] According to the required accuracy, follow the corresponding standard specification of civil aviation area digitization, and grid the low-altitude area to be planned;

[0028] Calculate the feasibility of all grids, including three dimensions of operation safety, operation reliability and public acceptability;

[0029] According to the feasibility threshold, detect the feasibility of all grids, and construct a grid set of all grids that meet the feasibility threshold;

[0030] Construct a polygon object for each grid in the grid set, and add all polygon objects to a polygon set;

[0031] Calculate the buffer zone of the polygon set to obtain a result polygon set, and each polygon in the result polygon set represents an un-flyable area that does not meet the feasibility requirement, i.e. a risk area;

[0032] The risk area and the published control area and no-fly area together constitute the restricted area of the low-altitude air route network.

[0033] In some embodiments, the generation process of the alternative intermediate point includes:

[0034] Obtain the vertices of all restricted areas;

[0035] Establish a connection line between all vertices, retain the established connection line, and construct a full vertex connection;

[0036] Simplify the full vertex connection to remove the intersection of connection lines and construct a simplified connection;

[0037] Calculate the corresponding center point of all connection lines in the simplified connection;

[0038] Remove all connection lines in the simplified connection, and record all center points as alternative intermediate points of the planned route.

[0039] In some embodiments, the construction process of the initial low-altitude air route network comprises:

[0040] adding all the candidate intermediate point coordinates and micro-terminal area terminal coordinates to a point set;

[0041] an edge line construction step: calculating the distance between all unassociated points in the point set; finding the two closest points and connecting them to form the first edge line, adding the first edge line to the network edge line set and marking the two points as associated edge lines, and adding the first edge line to the to-be-detected edge line set;

[0042] an edge line detection step: selecting an edge line from the to-be-detected edge line set, calculating the distance between all points in the point set and the selected edge line, selecting the closest point and constructing two new edge lines from the selected edge line to the two vertices of the selected edge line, and removing the selected edge line from the to-be-detected edge line set; detecting the two new edge lines respectively, and adding new edge lines that do not exist in the network edge line set and meet the non-intersection with the restricted area and the existing edge line to the network edge line set and the to-be-detected edge line set; any one of the two new edge lines will mark the closest point as an associated edge line after detection;

[0043] determining whether the to-be-detected edge line set is empty, if not, returning to the edge line detection step for the next round of edge line detection, if empty, proceeding to the next step;

[0044] determining whether all points in the point set have been associated with edge lines, if yes, proceeding to the next step, otherwise, returning to the edge line construction step for the next round of edge line construction;

[0045] outputting all edge lines in the network edge line set to form an initial low-altitude air route network connecting the candidate intermediate points and the micro-terminal area.

[0046] In some embodiments, the optimization of the initial low-altitude air route network comprises:

[0047] associating all edge lines in the initial low-altitude air route network with the grid generated in the restricted area generation step, to obtain a set of all grid associated with edge lines in the horizontal plane;

[0048] calculating the kurtosis coefficient of the elevation according to the elevation value of each grid, the average elevation and the standard deviation obtained by statistics;

[0049] calculating the available height coefficient according to the maximum height along the line, the height safety interval standard and the planned maximum flight height;

[0050] calculating the edge line length based on the latitude and longitude coordinates of the two end points of the edge line and the radius of the earth;

[0051] Based on the calculated feasibility, the median feasibility value of each grid is statistically analyzed;

[0052] The edge weight is calculated based on the elevation kurtosis coefficient, available height coefficient, edge length, and median feasibility value.

[0053] The weighted network is obtained by assigning weights to all edges of the initial low-altitude flight path network based on the calculated edge weights.

[0054] Based on the weighted network, the initial low-altitude flight path network is optimized.

[0055] In some implementations, optimizing the initial low-altitude flight path network based on the weighted network includes:

[0056] Add all micro-terminal areas and their center points to the terminal set, and assign them processing sequence numbers. ;in, Indicates the number of micro-terminal areas in the terminal set;

[0057] Take the first one from the set of terminals. Each micro-terminal area, and the processing sequence number. ;

[0058] Take the first one from the set of terminals. Individual micro-terminal areas;

[0059] Search for the connection from the initial low-altitude route network. The first micro-terminal area and the first The optimal path for each micro-terminal area is marked.

[0060] The connection from the initial low-altitude route network will be... The first micro-terminal area and the first Set the edges of other micro-terminal zones outside the current micro-terminal zone to unavailable, and re-find the connection. The first micro-terminal area and the first The optimal path for each micro-terminal area is marked with the edges it passes through.

[0061] Judgment and processing sequence number Is it If yes, proceed to the next step; otherwise... Return the first terminal from the set of terminals. The steps for each micro-terminal area;

[0062] Judgment and processing sequence number Is it If yes, proceed to the next step; otherwise... Return the first terminal from the set of terminals. selecting one unprocessed micro terminal area;

[0063] removing all unmarked edges in the initial low-altitude route network, outputting the remaining edges and associated intermediate points to obtain an optimized network.

[0064] In some embodiments, the generation process of the final low-altitude route network includes:

[0065] According to the optimized network, remove all points of unassociated edges from the point set to obtain a final intermediate point set;

[0066] Select one unprocessed micro terminal area, convert the center point coordinates to coordinates in the ground coordinate system according to the standard formula to obtain the micro terminal area equation;

[0067] Obtain the associated edges of the micro terminal area and the corresponding intermediate point coordinates to obtain the edge equation;

[0068] Solve the equation set composed of the micro terminal area equation and the edge equation in the corresponding range to obtain the intersection point;

[0069] Change the corresponding edge from the intermediate point to the micro terminal area center point to the intermediate point to the corresponding intersection point and take the intersection point as the access point of the current micro terminal area;

[0070] Determine whether there are any unprocessed micro terminal areas, if so, return to the step of selecting one unprocessed micro terminal area for the next micro terminal area processing, otherwise proceed to the next step;

[0071] Output the updated edge set, intermediate point set, micro terminal area, and corresponding access point of the micro terminal area to form the final low-altitude route network.

[0072] On the other hand, the application proposes a low-altitude airspace planning system based on micro terminal areas, comprising:

[0073] A micro terminal area construction unit is configured to generate a corresponding take-off and landing area for a low-altitude take-off and landing point or field, and generate a take-off and landing hub area for adjacent take-off and landing points or fields to construct a micro terminal area of low-altitude airspace.

[0074] A restricted area generation unit is configured to construct a risk area from a low feasibility area through grid-based management area feasibility, and jointly form a restricted area of a low-altitude route network with a control area and a no-fly area.

[0075] An intermediate point generation unit is configured to generate candidate intermediate points connecting various take-off and landing points or fields based on the positional relationship and shape of the restricted area.

[0076] An initial network construction unit is configured to construct an initial low-altitude route network connecting all points based on the data of the candidate intermediate points and the data of the micro terminal area.

[0077] The network weighting optimization unit is used to calculate the weights corresponding to each edge line in the initial low-altitude flight path network, and optimize the initial low-altitude flight path network based on the weighted network.

[0078] And, finally, the network generation unit is used to remove redundant intermediate points based on the optimized network, construct the route network and the entry and exit points of each micro-terminal area, and generate the final low-altitude route network.

[0079] This application proposes a low-altitude airspace planning method based on micro-terminal areas, which constructs micro-terminal areas for take-off and landing points / fields as the airspace basis for route network planning; and generates a restricted airspace structure by comprehensively considering public acceptance, potential operational risks, and environmental reliability; based on this, it realizes the comprehensive planning of low-altitude route networks between all take-off and landing points under various airspace environments, providing a more reliable technical basis for low-altitude route network planning.

[0080] Correspondingly, the low-altitude airspace planning system based on micro-terminal areas proposed in this application also possesses the same technical effects as described above. Attached Figure Description

[0081] The accompanying drawings, which are included to provide a further understanding of the embodiments of this application and form part of this application, do not constitute a limitation on the embodiments of this application. In the drawings:

[0082] Figure 1 This is a flowchart of the low-altitude airspace planning method proposed in the embodiments of this application;

[0083] Figure 2 This is a schematic diagram of full vertex connectivity generated for an embodiment of this application;

[0084] Figure 3 A simplified connection diagram generated for an embodiment of this application;

[0085] Figure 4 This is a schematic diagram of the initial low-altitude flight path network generated in an embodiment of this application;

[0086] Figure 5 For the purposes of this application's embodiments Figure 4 The diagram shows the optimized low-altitude flight path network after the initial network was established.

[0087] Figure 6 A schematic diagram of the final low-altitude flight path network generated for an embodiment of this application;

[0088] Figure 7 This is a block diagram illustrating the principle of the low-altitude airspace planning system proposed in this application embodiment;

[0089] Figure 8 This is a schematic diagram of the electronic device proposed in the embodiments of this application;

[0090] Figure 9 The computer readable storage medium for the embodiments of the present application is shown in the following figure;

[0091] Reference signs and corresponding names of parts:

[0092] 100 - low airspace planning system, 101 - micro terminal area construction unit, 102 - restricted area generation unit, 103 - intermediate point generation unit, 104 - initial network construction unit, 105 - network weighting optimization unit, 106 - final network generation unit, 200 - electronic device, 210 - memory, 220 - processor, 211 - computer program A, 300 - computer readable storage medium, 311 - computer program B. DETAILED DESCRIPTION

[0093] Hereinafter, the term "include" or "may include" used in various embodiments of the present application indicates the existence of the invented function, operation, or element, and does not limit addition of one or more functions, operations, or elements. Also, as used in various embodiments of the present application, the terms "include", "have", and their conjugates merely indicate that specific features, numbers, steps, operations, elements, components, or combinations thereof are present, and do not exclude the existence or addition of one or more other features, numbers, steps, operations, elements, components, or combinations thereof.

[0094] In various embodiments of the present application, the expression "or" or "at least one of A or / and B" includes any combination of the listed terms or all combinations thereof. For example, the expression "A or B" or "at least one of A or / and B" can include A, can include B, or can include both A and B.

[0095] The expressions (such as "first", "second", etc.) used in various embodiments of the present application can modify various constituent elements in various embodiments, but can not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are used only for the purpose of distinguishing one element from other elements. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, the first element can be called the second element, and likewise, the second element can be called the first element without departing from the scope of various embodiments of the present application.

[0096] It should be noted that if a description connects one component element to another component element, the first component element can be directly connected to the second component element, and a third component element can be "connected" between the first component element and the second component element. Conversely, when one component element is "directly connected" to another component element, it can be understood that there is no third component element between the first component element and the second component element.

[0097] The terms used in the various embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the various embodiments of the present application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present application belong. The terms (such as terms defined in a generally used dictionary) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the present application.

[0098] In order to make the purposes, technical solutions and advantages of the present application clearer, further detailed description of the present application is made below in combination with embodiments and drawings, the illustrative embodiments of the present application and their descriptions are only for the purpose of explaining the present application and do not limit the present application.

[0099] As shown in Figure 1 The embodiment of the present application proposes a low-altitude airspace planning method based on micro terminal area, which comprises the following steps:

[0100] Step 1, generating corresponding take-off and landing areas for low-altitude take-off and landing points / fields, and generating take-off and landing hub areas for adjacent take-off and landing points / fields, to construct a micro terminal area of low-altitude airspace;

[0101] Step 2, constructing a risk area from a low feasibility area through grid management area feasibility, and constituting a restriction area of low-altitude air route network together with a control area and a no-fly area; the restriction area is an airspace range that the low-altitude air route network should not pass through;

[0102] Step 3, generating candidate intermediate points connecting various take-off and landing points / fields based on the positional relationship and shape of the restriction area;

[0103] Step 4, constructing an initial low-altitude air route network connecting all points based on the data of the candidate intermediate points and the data of the micro terminal area;

[0104] Step 5, calculating the corresponding weight values of each edge line in the initial low-altitude air route network, and optimizing the initial low-altitude air route network based on the weighted network;

[0105] Step 6, based on the optimized network, remove the redundant intermediate points, build the route network and the access points of each micro terminal area, and generate the final low-altitude route network.

[0106] Further, in step 1 of the embodiments of the present application, one takeoff / landing point / airfield includes the center point coordinates (lat, lon, alt), the number of parking spaces , and the maximum supported aircraft size (the length and width of the aircraft). To avoid takeoff / landing conflicts, adjacent takeoff / landing points / airfields should be uniformly scheduled for takeoff / landing to form a takeoff / landing hub. The construction process of the micro terminal area includes:

[0107] Construction of each takeoff / landing point / airfield area: under the condition of circular area construction, the area is a circular area with the takeoff / landing point / airfield center point as the center and a radius . Let represent the navigation positioning accuracy in the vicinity of the takeoff / landing point / airfield, then the radius is calculated as follows:

[0108]

[0109] wherein is the maximum value function, and the calculation result value needs to be rounded up according to the calculation accuracy.

[0110] Takeoff / landing hub discovery: all takeoff / landing points / airfields are taken as values with the center point coordinates, and hierarchical clustering is performed according to the distance threshold until clustering cannot continue, then each takeoff / landing point / airfield cluster with more than 1 forms a takeoff / landing hub. The clustering process is as follows: (a) all takeoff / landing points / airfields are taken as separate nodes and added to the set; (b) the distances between all nodes in the set are calculated, the two nodes A and B with the closest distance are found, and the distance is represented as , if , go to (c), otherwise go to (d); (c) combine the two nodes A and B into one node, and take the geometric center point of all takeoff / landing points / airfields in A and B as the center point of the node, add the combined node to the set, remove the original A and B nodes from the set, and return to step (b); (d) detect the number of takeoff / landing points / airfields in each node in the set, and output the nodes with more than 1 as takeoff / landing hubs, and take the node center point as the virtual center point of the takeoff / landing hub.

[0111] Hub area construction: for the takeoff / landing hub, take the virtual center point as the center, and the distance to the farthest boundary point of the original area of all takeoff / landing points / airfields as the area radius, to construct the hub terminal area; at the same time, the original area data of each takeoff / landing point / airfield in the takeoff / landing hub needs to be removed.

[0112] After the construction, the area data of the independent landing point / airfield and the area data of the landing hub together constitute the micro terminal area set of the low-altitude airspace, such as Figures 2 to 6 The micro terminal area set composed of the hub terminal area and the independent landing point is shown in FIG. 2.

[0113] Further, in step 2 of the embodiment of the present application, the generation process of the restricted area includes:

[0114] Airspace two-dimensional gridding: according to the required accuracy, follow the corresponding standard specification of civil aviation airspace digitization, grid the low-altitude area to be planned, such as the nearest standard of 1-meter accuracy is the fifteenth level grid, the size is , which is approximately equal to 0.97m x 0.97m at the equator.

[0115] Feasibility calculation based on investigation data: the feasibility contains three dimensions of operation safety , operation reliability and public acceptability , according to the civil aviation evaluation standard:

[0116]

[0117] Among them, is the ground personnel safety feasibility, is the ground facility safety feasibility, is the difficulty of searching after the unmanned aerial vehicle accident, is the risk of injury after the unmanned aerial vehicle accident, the corresponding values can be obtained according to the civil aviation operation safety evaluation method.

[0118]

[0119] Among them, is the environmental reliability value (evaluated according to the civil aviation evaluation method, including meteorological environment, electromagnetic environment and obstacle environment), is the technical reliability value (evaluated according to the civil aviation evaluation method, including navigation ability, communication ability and monitoring ability).

[0120]

[0121] Among them, is the privacy protection demand evaluation value, is the operation noise influence evaluation value, the corresponding values can be obtained according to the civil aviation public acceptability evaluation method.

[0122]

[0123] The evaluation carried out according to the civil aviation related evaluation method is generally of regional nature, and after the evaluation result is obtained, the region can be associated with the grid, and then the feasibility of the grid is valued.

[0124] Risk area extraction: according to the feasibility threshold , the feasibility of all grid regions is detected, and all grids that meet constitute a grid set; for each grid, a polygon object is constructed with its four vertices, and all polygon objects are added to a polygon set ; buffer calculation is performed on the polygon set to obtain a result polygon set :

[0125]

[0126] wherein, wherein, is a buffer calculation with a value of 0, and adjacent polygons in the set are merged into a new polygon, and each polygon in the result polygon set represents an un-flyable region that does not meet the feasibility requirement.

[0127] Limit area generation: obtain the low-altitude control area, no-fly area, and risk area data published by the local government, civil aviation, and military aviation, and combine them to form a low-altitude flight restriction area set.

[0128] The restriction area is an airspace that is not allowed to be entered by low-altitude aircraft under normal circumstances, and should not be crossed or too close when planning a low-altitude route network.

[0129] Further, in step 3 of the embodiments of the present application, the alternative intermediate points are selected according to the principle of being located in the middle of different restriction areas, so as to ensure that the subsequent planned routes will not be too close to the restriction areas. The generation process of the alternative intermediate points is as follows:

[0130] Obtain the vertex coordinates of all restriction areas, and for circular and elliptical regions, select the corresponding points on the edges as vertices according to a certain precision;

[0131] Connect all the vertices to form a full vertex connection as shown in Figure 2 ; wherein, the prerequisite for the connection line to be established is that the line connecting the two points excluding the vertex does not intersect with all the restriction areas (i.e., the connection line cannot cross the restriction area), that is, for any restriction area and connection line :

[0132]

[0133] wherein, is the count of points in the set, and when there is a line or area, the point count is ∞.

[0134] Simplify the full vertex connection, remove the intersection of the connection line, and construct a simplified connection as shown in Figure 3 The logic for selecting the deleted line is:

[0135]

[0136] For all connection lines in the simplified connection, the corresponding center point is calculated. To ensure accuracy, the latitude and longitude coordinates need to be converted into a spherical coordinate system such as ECEF coordinates according to the standard conversion algorithm. The two vertex coordinates of the connection line are converted and represented as and , and the corresponding center point is:

[0137]

[0138] Remove all connection lines in the simplified connection and record all center points as alternative intermediate points for the planned route.

[0139] In step 3 of the embodiments of the present application, the midpoint selection can not be considered in the initial low-altitude route network construction process, but different restricted areas are regarded as force fields, and an artificial potential field algorithm is used to simulate the flight of the unmanned aerial vehicle in different micro-terminal areas in the airspace to obtain all possible flight trajectories. Adjacent trajectory segments are merged, and intersection points of intersecting trajectories are calculated to obtain an initial low-altitude route network containing all possible routes.

[0140] Further, in step 4 of the embodiments of the present application, the construction process of the initial low-altitude route network is as follows:

[0141] Add the coordinates of the alternative intermediate points and the terminal coordinates of the micro-terminal area to the point set .

[0142] Calculate the distance between all unassociated edge points in the point set . Find the two closest points and connect them to construct the first edge line (if the edge line intersects any restricted area, select the two points that are closest after removing the edge line to form the first edge line). Add the edge line to the network edge line set , mark the two points as having associated lines, and add the edge line to the to-be-detected edge line set . The alternative intermediate points in the initial low-altitude route network are far away from the restricted areas, so the intersection criterion at this time is that the line does not have any common points with the restricted area, i.e., for any restricted area and the connection line​​​​ have:

[0143]

[0144] From the set of edges to be detected Select a border Calculate the point set All points (excluding those forming the boundary lines) (two points) to the edge line Choose the point closest to the given distance. Constructing the edge line From two vertices to the point The two sides and At the same time, the edge line From the set of edges to be detected Remove from;

[0145] The two newly constructed edges are tested separately, and the network edge set is then compiled. It does not exist in ( And edges that do not intersect with the restricted area and existing edges are added to the network edge set E and the edge set to be detected F; if either edge passes the detection, the point is added to the network edge set E and the edge set to be detected F. Mark as an existing related line;

[0146] Determine if the set of edges to be detected, F, is empty. If it is not empty, return to the step of selecting an edge from the set of edges to be detected, F, and proceed to the next round of detection. If it is empty, proceed to the next step.

[0147] Determine whether all points in point set D have associated lines. If so, proceed to the next step; otherwise, return to the step of calculating the distance between all unassociated points in point set D and construct the next round of edges.

[0148] Output all edges in the network edge set E to form the initial low-altitude flight path network connecting the candidate intermediate points and micro-terminal areas, such as... Figure 4 As shown.

[0149] Furthermore, in step 5 of this embodiment, the process of optimizing the initial low-altitude flight path network first requires assigning weights to each edge of the initial low-altitude flight path network, involving data such as elevation, feasibility, and distance. The weighting calculation for a single edge is as follows:

[0150] Associating the edge lines with the meshes generated during the restriction zone generation yields a set of all meshes associated with the edge lines on the horizontal plane.

[0151] Calculate the elevation kurtosis coefficient: Based on the elevation data of the grid-connected region, obtain the elevation value for each grid, and statistically calculate the statistical average elevation of the elevation distribution along the grid lines. , standard deviation , with denotes the number of grids, then the kurtosis coefficient is:

[0152]

[0153] wherein, is the elevation value of the th grid, The greater the value, the smaller the height change along the line, the more conducive to uniform flight height along the line and avoid flight risk along the line.

[0154] Calculate the available height coefficient: according to the obstacle avoidance principle, the maximum height along the line , the height safety interval standard , the planned maximum flight height is , then the available height coefficient along the line is:

[0155]

[0156] The greater the available height coefficient , the more unmanned aerial vehicles can be accommodated in the same length of route when running in sub-height, and the lower the running risk.

[0157] Calculate the edge length: based on the latitude and longitude coordinates of the two endpoints of the edge , and the radius of the earth , the edge length can be calculated:

[0158]

[0159] To ensure the consistency of the edge length in the final weighting coefficient range, the preset reference value M can be used for equal proportion reduction: , the longer the distance, the greater the cost of unmanned aerial vehicle flight.

[0160] Calculate the feasibility coefficient: based on the feasibility calculated in the restricted area generation, count the median feasibility value in each grid feasibility , The greater the running risk is lower.

[0161] Calculate the edge weight: the edge weight : .

[0162] After weighting all the edges of the initial low-altitude air route network, the weighted network is obtained. From the initial low-altitude air route network, the optimized network is generated, and the specific process is as follows:

[0163] Retrieve all micro-terminal areas, add all micro-terminal areas and their center points to a set, and let the number of micro-terminal areas be q; let the processing sequence number... ;

[0164] Take the first element from the set. Each micro-terminal area, and assigns a subsequent processing sequence number. ;

[0165] Take the first element from the set. Individual micro-terminal areas;

[0166] Find the connection from the initial low-altitude route network. The first micro-terminal area and the first The optimal path for each micro-terminal area (i.e., the path with the maximum cumulative weight) can be adopted. Algorithm (or Dijkstra's algorithm), marking the edges traversed;

[0167] The initial low-altitude route network will connect the first The first micro-terminal area and the first Set the edges of other micro-terminal zones outside the current micro-terminal zone to unavailable, and re-find the connection. The first micro-terminal area and the first The optimal path for each micro-terminal area is determined, and the traversed edges are marked. This operation is to ensure that the optimal path is found in the first micro-terminal area. The first micro-terminal area and the first When flying between micro-terminal areas, they can avoid passing over other terminal areas, reducing the impact on takeoff and landing;

[0168] judge Is it If yes, proceed to the next step; otherwise... Returns the first element retrieved from the set. The steps for each micro-terminal area;

[0169] judge Is it If yes, proceed to the next step; otherwise... Returns the first element retrieved from the set. The steps for each micro-terminal area;

[0170] Remove all unmarked edges from the initial low-altitude flight path network, output the remaining edges and associated intermediate points to obtain the optimized network, such as... Figure 5 As shown.

[0171] Furthermore, in step 6 of this embodiment, the final low-altitude flight path network generation process is as follows:

[0172] Intermediate point generation: Based on the optimized network, from the point set... Remove all points that are not associated with the edges to obtain the final set of intermediate points;

[0173] Calculate the micro-terminal area access point: select an unprocessed micro-terminal area, convert the center point coordinates to the ground coordinate system according to the standard formula, and record it as , and the radius of the micro-terminal area is The micro-terminal area can be expressed as:

[0174]

[0175] Get the associated edge line, and the corresponding intermediate point coordinates are , and the edge line can be expressed as:

[0176]

[0177] Solve the equation set composed of the above micro-terminal area equation and edge line equation in the corresponding range, that is, the intersection point , and several corresponding intersection points can be obtained;

[0178] Update the edge line: according to the intersection point coordinates, change the corresponding edge line from the intermediate point to the micro-terminal area center point to the intersection point, and take the intersection point as the access point of the current micro-terminal area;

[0179] Determine whether there is still an unprocessed micro-terminal area, if yes, return to the step of calculating the micro-terminal area access point to process the next micro-terminal area, otherwise, proceed to the next step;

[0180] Output the updated edge line set, intermediate point set, micro-terminal area and micro-terminal area corresponding access point to form the final low-altitude air route network, as shown in Figure 6 .

[0181] The low-altitude airspace planning method proposed in the embodiments of the present application can directly perform height layering, perform route planning in different layers through steps 1 to 6, and then combine the route planning in different layers to consider the influence of different obstacles on different height flights, and construct a route network that is flexible and adaptive to different route heights.

[0182] The low-altitude airspace planning method proposed in the embodiments of the present application constructs a micro-terminal area for the take-off and landing point / airfield as the airspace basis for route network planning; and generates a restricted airspace structure by comprehensively considering the acceptance of residents, potential operation risks and environmental reliability; and realizes comprehensive planning of low-altitude air routes between all take-off and landing points in various airspace environments, thereby providing a more reliable technical basis for low-altitude route network planning.

[0183] Based on the same technical concept, the embodiments of the present application also propose a low-altitude airspace planning system based on a micro-terminal area, as shown in Figure 7 , which includes:

[0184] The micro-terminal area construction unit 101 is configured to generate corresponding take-off and landing areas for low-altitude take-off and landing points / fields, and generate take-off and landing hub areas for adjacent take-off and landing points / fields, so as to construct a micro-terminal area of the low-altitude airspace. The specific micro-terminal area construction process is described in the above step 1, and thus will not be repeated here.

[0185] The restricted area generation unit 102 is configured to construct a risk area from a low feasibility area by grid-based management area feasibility, and jointly form a restricted area of the low-altitude air route network together with the control area and the no-fly area. The specific restricted area generation process is described in the above step 2, and thus will not be repeated here.

[0186] The intermediate point generation unit 103 is configured to generate candidate intermediate points connecting the take-off and landing points / fields based on the positional relationship and shape of the restricted area. The specific intermediate point generation process is described in the above step 3, and thus will not be repeated here.

[0187] The initial network construction unit 104 is configured to construct an initial low-altitude air route network connecting all the points based on the data of the candidate intermediate points and the data of the micro-terminal area. The specific initial low-altitude air route network construction process is described in the above step 4, and thus will not be repeated here.

[0188] The network weighting optimization unit 105 is configured to calculate the corresponding weight values of the edges in the initial low-altitude air route network, and optimize the initial low-altitude air route network based on the weighted network. The specific network optimization process is described in the above step 5, and thus will not be repeated here.

[0189] In addition, the final network generation unit 106 is configured to remove the redundant intermediate points based on the optimized network, construct the entry and exit points of the air route network and the micro-terminal area, and generate a final low-altitude air route network. The specific final low-altitude air route network generation process is described in the above step 6, and thus will not be repeated here.

[0190] Based on the same technical concept, the embodiments of the present application also propose an electronic device, as shown in the figure, the electronic device 200 comprises a memory 210, a processor 220, and a computer program A 211 stored in the memory 210 and executable on the processor 220, and the processor 220 implements the following steps when executing the computer program A 211: Figure 8

[0191] generate corresponding take-off and landing areas for low-altitude take-off and landing points / fields, and generate take-off and landing hub areas for adjacent take-off and landing points / fields, so as to construct a micro-terminal area of the low-altitude airspace;

[0192] construct a risk area from a low feasibility area by grid-based management area feasibility, and jointly form a restricted area of the low-altitude air route network together with the control area and the no-fly area;

[0193] ​generate candidate intermediate points connecting each take-off and landing point / airfield based on the position relationship and shape of the restricted area;

[0194] construct an initial low-altitude air route network connecting all points based on the data of the candidate intermediate points and the data of the micro terminal area;

[0195] calculate the corresponding weight values of each edge in the initial low-altitude air route network, and optimize the initial low-altitude air route network based on the weighted network;

[0196] based on the optimized network, remove redundant intermediate points, construct the entry and exit points of the air route network and each micro terminal area, and generate a final low-altitude air route network.

[0197] Optionally, when the processor 220 executes the computer program A211, any of the embodiments in the corresponding embodiments of the above low-altitude airspace planning method can be implemented.

[0198] It should be noted that the electronic device proposed in the embodiments of the present application is a device used to implement the above low-altitude airspace planning method, and therefore based on the above low-altitude airspace planning method proposed in the embodiments of the present application, those skilled in the art can understand the specific implementation of the electronic device of the embodiments of the present application and its various forms, and therefore the specific implementation of the electronic device for implementing the above low-altitude airspace planning method will not be described in detail here, as long as those skilled in the art implement the electronic device used to implement the above low-altitude airspace planning method, it belongs to the scope of protection of the present application.

[0199] Based on the same technical concept, the embodiments of the present application also propose a computer readable storage medium, as shown in Figure 9 The computer readable storage medium 300 stores a computer program B311, and the computer program B311 is executed by a processor to implement the following steps:

[0200] generate a corresponding take-off and landing area for the low-altitude take-off and landing point / airfield, and generate a take-off and landing hub area for adjacent take-off and landing points / airfields, to construct a micro terminal area of the low-altitude airspace;

[0201] construct a risk area from the low feasibility area through grid management area feasibility, and together with the control area and the no-fly area to form a restricted area of the low-altitude air route network;

[0202] generate candidate intermediate points connecting each take-off and landing point / airfield based on the position relationship and shape of the restricted area;

[0203] construct an initial low-altitude air route network connecting all points based on the data of the candidate intermediate points and the data of the micro terminal area;

[0204] calculate the corresponding weight values of each edge in the initial low-altitude air route network, and optimize the initial low-altitude air route network based on the weighted network;

[0205] Based on the optimized network, removing the redundant intermediate points, constructing the route network and the access points of each micro terminal area, and generating the final low-altitude route network.

[0206] Optionally, the computer program B311, when executed by the processor, can implement any of the embodiments of the above low-altitude airspace planning method.

[0207] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0208] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0209] The present application is described with reference to flowcharts and / or block diagrams according to the methods, devices (systems), and computer program products of the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The devices that implement the functions specified in one or more flows and / or blocks.

[0210] These computer program instructions can also be stored in a computer-readable memory that can guide the computer or other programmable data processing devices to work in a specific way, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction devices that implement the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The devices that implement the functions specified in one or more flows and / or blocks.

[0211] These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operation steps are performed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide a process for implementing the functions specified in the flowcharts and / or block diagrams.Figure 1 steps of a function specified in one or more flows and / or blocks. Figure 1 steps of a function specified in one or more flows and / or blocks.

[0212] The above detailed description merely explains the application of the application, the technical solutions and beneficial effects, and it should be understood that the above description is only a specific embodiment of the application and is not used to limit the protection scope of the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A low-altitude airspace planning method based on micro-terminal areas, characterized in that, include: Generate corresponding take-off and landing areas for low-altitude take-off and landing points or take-off and landing fields, and generate take-off and landing hub areas for adjacent take-off and landing points or take-off and landing fields, so as to construct micro-terminal areas of low-altitude airspace. By managing the feasibility of areas through a grid system, low-feasibility areas are designated as risk zones, which, together with controlled areas and no-fly zones, constitute the restricted areas of the low-altitude flight network; the restricted areas are the airspace ranges that the low-altitude flight network should not pass through. Based on the positional relationship and shape of the restricted area, alternative intermediate points connecting each take-off and landing point or take-off and landing field are generated; Based on the data from the candidate intermediate points and the data from the micro-terminal area, an initial low-altitude flight path network connecting all points is constructed. Calculate the weights corresponding to each edge line in the initial low-altitude flight path network, and optimize the initial low-altitude flight path network based on the weighted network. Based on the optimized network, redundant intermediate points are removed, and a route network and entry / exit points for each micro-terminal area are constructed to generate the final low-altitude route network.

2. The low-altitude airspace planning method based on a micro-terminal area according to claim 1, characterized in that, The construction process of the micro-terminal area includes: Construct take-off and landing areas corresponding to each take-off and landing point or take-off and landing field. The area is a circular area centered on the center point of the take-off and landing point / take-off and landing field. The radius of the area is calculated based on the number of parking positions in the take-off and landing point / take-off and landing field, the maximum supported aircraft size, and the navigation and positioning accuracy. All take-off and landing points or take-off and landing fields are hierarchically clustered according to the center point coordinates and distance thresholds until no further clustering is possible. Each cluster of take-off and landing points or take-off and landing fields with a value greater than 1 constitutes a take-off and landing hub. For the aforementioned take-off and landing hub, a hub terminal area is constructed with the virtual center point as the center and the distance to the farthest boundary point of the original area of ​​all take-off and landing points or take-off and landing fields as the area radius; at the same time, the original area data of each take-off and landing point / take-off and landing field in the take-off and landing hub are removed. Regional data from independent take-off and landing points or fields, together with regional data from take-off and landing hubs, constitute the micro-terminal area of ​​low-altitude airspace.

3. The low-altitude airspace planning method based on a micro-terminal area according to claim 2, characterized in that, The hierarchical clustering based on a distance threshold includes: Add all take-off and landing points or take-off and landing fields as separate nodes to the set; Calculation steps: Calculate the distance between all nodes in the set, find the two closest nodes, and if the distance between the two closest nodes is less than or equal to the distance threshold, proceed to the merging step; otherwise, proceed to the detection step. Merging step: Merge the two closest nodes into one node, and take the geometric center of all take-off and landing points or take-off and landing fields of the two closest nodes as the center point of the merged node. Add the merged node to the set, remove the original two nodes from the set, and return to the calculation step. Detection steps: Detect the number of take-off and landing points or take-off and landing fields in each node of the set, output the nodes with a number greater than 1 as take-off and landing hubs, and use the center point of the node as the virtual center point of the take-off and landing hub.

4. The low-altitude airspace planning method based on a micro-terminal area according to claim 1, characterized in that, The process of generating the restricted area includes: According to the required accuracy and in accordance with the standards and specifications for digitalization of civil aviation airspace, the low-altitude area to be planned is gridded. Feasibility calculations were performed on all grids, and the feasibility calculations included three dimensions: operational safety, operational reliability, and public acceptability. Based on the feasibility threshold, the feasibility of all grids is checked, and all grids that meet the feasibility threshold are formed into a grid set. For each grid in the grid set, construct a polygon object and add all polygon objects to the polygon set; A buffer calculation is performed on the polygon set to obtain a result polygon set. Each polygon in the result polygon set represents a non-flyable area that does not meet the feasibility requirements, i.e., a risk area. The aforementioned risk areas, together with the issued control areas and no-fly zones, constitute the restricted areas of the low-altitude air route network.

5. The low-altitude airspace planning method based on a micro-terminal area according to claim 1, characterized in that, The process of generating the alternative intermediate points includes: Obtain the vertices of all restricted areas; Establish connections between all vertices, retaining valid connections to form a full vertex connection; The full vertex connection is simplified by removing the intersections of the connecting lines to form a simplified connection; For all connecting lines in the simplified connection, calculate their corresponding center points; Remove all connecting lines from the simplified connection and record all center points as alternative intermediate points for the planned route.

6. A low-altitude airspace planning method based on a micro-terminal area according to any one of claims 1-5, characterized in that, The process of constructing the initial low-altitude route network includes: Add all the candidate intermediate point coordinates and micro-terminal area terminal coordinates to the point set; Edge construction steps: Calculate the distance between all unassociated edges in the point set; find the two closest points and connect them to form the first edge; add the first edge to the network edge set and mark the two points as associated edges; at the same time, add the first edge to the edge set to be detected. Edge detection steps: Select an edge from the set of edges to be detected; calculate the distance from all points in the point set to the selected edge; select the closest point and construct two new edges from that point to the two vertices of the selected edge; simultaneously remove the selected edge from the set of edges to be detected; detect the two new edges separately; add any new edge that does not exist in the set of network edges and satisfies the condition of not intersecting with restricted areas or existing edges to both the set of network edges and the set of edges to be detected; if either of the two new edges passes the detection, mark the closest point as an associated edge; Determine whether the set of edges to be detected is empty. If it is not empty, return to the edge detection step to perform the next round of edge detection. If it is empty, proceed to the next step. Determine whether all points in the point set have been associated with edges. If so, proceed to the next step; otherwise, return to the edge construction step to perform the next round of edge construction. Output all the edges in the network edge set to form an initial low-altitude flight path network connecting the candidate intermediate points and the micro-terminal area.

7. The low-altitude airspace planning method based on a micro-terminal area according to claim 6, characterized in that, The optimization of the initial low-altitude flight path network includes: Associate all the edge lines in the initial low-altitude flight path network with the grids divided in the restricted area generation to obtain a set of all grids associated with the edge lines on the horizontal plane; Calculate the elevation kurtosis coefficient based on the elevation values ​​of each grid and the statistically obtained average elevation and standard deviation; Calculate the available altitude coefficient based on the maximum altitude along the route, the altitude safety separation standard, and the planned maximum flight altitude; Calculate the length of the edge line based on the latitude and longitude coordinates of the two endpoints of the edge line and the radius of the Earth; Based on the calculated feasibility, the median feasibility value of each grid is statistically analyzed; The edge weight is calculated based on the elevation kurtosis coefficient, available height coefficient, edge length, and median feasibility value. The weighted network is obtained by assigning weights to all edges of the initial low-altitude flight path network based on the calculated edge weights. Based on the weighted network, the initial low-altitude flight path network is optimized.

8. The low-altitude airspace planning method based on a micro-terminal area according to claim 7, characterized in that, The optimization of the initial low-altitude flight path network based on the weighted network includes: Add all micro-terminal areas and their center points to the terminal set, and assign them processing sequence numbers. ;in, Indicates the number of micro-terminal areas in the terminal set; Take the first one from the set of terminals. Each micro-terminal area, and the processing sequence number. ; Take the first one from the set of terminals. Individual micro-terminal areas; Search for the connection from the initial low-altitude route network. The first micro-terminal area and the first The optimal path for each micro-terminal area is marked. The first connection will be made from the initial low-altitude route network. The first micro-terminal area and the first Set the edges of other micro-terminal zones outside the current micro-terminal zone to unavailable, and re-find the connection. The first micro-terminal area and the first The optimal path for each micro-terminal area is marked with the edges it passes through. Judgment and processing sequence number Is it If yes, proceed to the next step; otherwise... Return the first terminal from the set of terminals. The steps for each micro-terminal area; Judgment and processing sequence number Is it If yes, proceed to the next step; otherwise... Return the first terminal from the set of terminals. The steps for each micro-terminal area; Remove all unmarked edges from the initial low-altitude flight path network, output the remaining edges and associated intermediate points to obtain the optimized network.

9. A low-altitude airspace planning method based on a micro-terminal area according to claim 6, characterized in that, The process of generating the final low-altitude route network includes: Based on the optimized network, remove all points with unconnected edges from the point set to obtain the final intermediate point set; Select an unprocessed micro-terminal area, convert the center point coordinates to coordinates in the Earth's surface coordinate system according to the standard formula, and obtain the micro-terminal area equation; Obtain the edge lines associated with the micro-terminal area and the coordinates of the corresponding intermediate points to obtain the edge line equations; Solve the system of equations consisting of the micro-terminal area equation and the edge line equation within the corresponding range to obtain the intersection point; Change the corresponding edge line from the midpoint to the center point of the micro-terminal area to the midpoint to the corresponding intersection point, and use the intersection point as the entry and exit point of the current micro-terminal area; Determine if there are any unprocessed micro-terminal areas. If so, return to the step of selecting an unprocessed micro-terminal area and proceed to the next micro-terminal area for processing; otherwise, proceed to the next step. The updated edge set, intermediate point set, micro-terminal area, and corresponding entry and exit points of the micro-terminal area are output to form the final low-altitude flight path network.

10. A low-altitude airspace planning system based on a micro-terminal area, characterized in that, include: The micro-terminal area construction unit is used to generate corresponding take-off and landing areas for low-altitude take-off and landing points or take-off and landing fields, and to generate take-off and landing hub areas for adjacent take-off and landing points or take-off and landing fields, so as to construct micro-terminal areas in low-altitude airspace. The restricted area generation unit is used to manage the feasibility of the area through grid-based management, transforming low-feasibility areas into risk areas, which together with the control area and no-fly zone constitute the restricted area of ​​the low-altitude route network; The intermediate point generation unit is used to generate alternative intermediate points connecting each take-off and landing point or take-off and landing field based on the positional relationship and shape of the restricted area. An initial network construction unit is used to construct an initial low-altitude flight path network connecting all points based on the data of the candidate intermediate points and the data of the micro-terminal area. The network weighting optimization unit is used to calculate the weights corresponding to each edge line in the initial low-altitude flight path network, and optimize the initial low-altitude flight path network based on the weighted network. And, finally, the network generation unit is used to remove redundant intermediate points based on the optimized network, construct the route network and the entry and exit points of each micro-terminal area, and generate the final low-altitude route network.

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