A method and system for low-altitude airspace planning based on micro-terminal areas

Abstract

This application discloses a low-altitude airspace planning method and system based on micro-terminal areas, relating to the field of low-altitude airspace planning. The method includes: generating corresponding take-off and landing areas for low-altitude take-off and landing points or fields, and generating take-off and landing hub areas for adjacent take-off and landing points or fields to construct micro-terminal areas of the low-altitude airspace; constructing risk areas, which, together with control areas and no-fly zones, constitute the restricted areas of the low-altitude flight path network; generating alternative intermediate points connecting each take-off and landing point or field based on the restricted areas; constructing an initial low-altitude flight path network connecting all points based on the data of the alternative intermediate points and the data of the micro-terminal areas; calculating the corresponding weights of each edge line in the initial low-altitude flight path network, and optimizing the initial low-altitude flight path network based on the weighted network; and removing redundant intermediate points based on the optimized network, constructing the flight path network and the entry and exit points of each micro-terminal area to generate the final low-altitude flight path network. This application provides a more reliable technical basis for low-altitude flight path network planning.

Description

Technical Field

[0001] This application relates to the field of low-altitude airspace planning, specifically to a low-altitude airspace planning method and system based on micro-terminal areas. Background Technology

[0002] The increasing scale and rapid growth of drone operations will create demand for air traffic services. Low-altitude air route networks are high-speed air traffic networks at low altitudes, forming the foundation for low-altitude business scenarios and the development of the low-altitude economy. To minimize intervention in drone flights during low-altitude operations control, it is necessary to avoid environmental risks and the impact of restricted airspace in the planning of low-altitude air route networks. The construction of air route networks is closely related to the airspace environment, urban geography, and the distribution of take-off and landing points. Manual on-site surveys and planning are inefficient and slow to update, making it difficult to meet the needs of the rapidly developing low-altitude economy. It is necessary to provide efficient low-altitude airspace planning methods to provide a foundation for the rapid construction and updating of low-altitude air route networks, thereby meeting the iterative updating needs of airspace structure under the current and future development of the low-altitude economy.

[0003] Existing research has proposed several methods for low-altitude airspace planning; however, these existing technologies have the following drawbacks:

[0004] (1) The potential flight risks caused by urban environmental factors such as noise tolerance and population density were not considered;

[0005] (2) Most of them plan the routes between two points one by one without considering the overall low-altitude route network planning;

[0006] (3) It does not take into account that the route network is intelligently connected to the boundary of the take-off and landing point / take-off and landing field control area in actual operation, and different take-off and landing areas have their own take-off and landing procedures and airspace structure. Summary of the Invention

[0007] To address the problems existing in the prior art, this application proposes a low-altitude airspace planning method and system based on micro-terminal areas. This application constructs the scope of micro-terminal areas for take-off and landing points / take-off and landing fields / take-off and landing hubs as the airspace basis for route network planning; generates a restricted airspace structure by comprehensively considering public acceptance, potential operational risks, and environmental reliability; and realizes comprehensive planning of low-altitude route networks between all take-off and landing points under various airspace environments.

[0008] This application is achieved through the following technical solution:

[0009] A low-altitude airspace planning method based on micro-terminal areas includes:

[0010] 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.

[0011] 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.

[0012] 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;

[0013] 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.

[0014] 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.

[0015] 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.

[0016] In some implementations, the process of constructing the micro-terminal area includes:

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] In some implementations, the hierarchical clustering based on a distance threshold includes:

[0022] Add all take-off and landing points or take-off and landing fields as separate nodes to the set;

[0023] 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.

[0024] 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.

[0025] 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.

[0026] In some implementations, the process of generating the restricted area includes:

[0027] 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.

[0028] Feasibility calculations were performed on all grids, and the feasibility calculations included three dimensions: operational safety, operational reliability, and public acceptability.

[0029] 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.

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

[0031] 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.

[0032] 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.

[0033] In some implementations, the process of generating the alternative intermediate points includes:

[0034] Get all vertices in the restricted area;

[0035] Establish connections between all vertices, retaining valid connections to form a full vertex connection;

[0036] The full vertex connection is simplified by removing the intersections of the connecting lines to form a simplified connection;

[0037] For all connecting lines in the simplified connection, calculate their corresponding center points;

[0038] Remove all connecting lines from the simplified connection and record all center points as alternative intermediate points for the planned route.

[0039] In some implementations, the process of constructing the initial low-altitude route network includes:

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

[0041] 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.

[0042] 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;

[0043] 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.

[0044] 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.

[0045] 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.

[0046] In some embodiments, optimizing the initial low-altitude flight path network includes:

[0047] 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;

[0048] Calculate the elevation kurtosis coefficient based on the elevation values ​​of each grid and the statistically obtained average elevation and standard deviation;

[0049] Calculate the available altitude coefficient based on the maximum altitude along the route, the altitude safety separation standard, and the planned maximum flight altitude;

[0050] 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;

[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. The steps for each micro-terminal area;

[0063] 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.

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

[0065] Based on the optimized network, remove all points with unconnected edges from the point set to obtain the final intermediate point set;

[0066] 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;

[0067] Obtain the edge lines associated with the micro-terminal area and the coordinates of the corresponding intermediate points to obtain the edge line equations;

[0068] 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;

[0069] 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;

[0070] 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.

[0071] 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.

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

[0073] 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.

[0074] 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;

[0075] 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.

[0076] 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.

[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 This is a schematic diagram of a computer-readable storage medium proposed in an embodiment of this application;

[0091] Figure reference numerals and corresponding component names:

[0092] 100-Low-altitude 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 and 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 Implementation

[0093] In the following, the terms “comprising” or “may include” as used in the various embodiments of this application indicate the presence of a function, operation, or element of the invention and do not limit the addition of one or more functions, operations, or elements. Furthermore, as used in the various embodiments of this application, the terms “comprising,” “having,” and their cognates are intended only to indicate a specific feature, number, step, operation, element, component, or combination of the foregoing and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing, or adding one or more combinations of the foregoing.

[0094] In various embodiments of this application, the expression "or" or "at least one of A and / or B" includes any combination or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A and / or B" may include A, may include B, or may include both A and B.

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

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

[0097] The terminology used in the various embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments of this 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 used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. The terms (such as those defined in a generally used dictionary) are to be interpreted as having the same meaning as in the context of the relevant technical field and are not to be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0098] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this application are only for explaining this application and are not intended to limit this application.

[0099] like Figure 1 As shown in the figure, this application proposes a low-altitude airspace planning method based on a micro-terminal area, which includes the following steps:

[0100] Step 1: 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 to construct micro-terminal areas of low-altitude airspace.

[0101] Step 2: By managing the feasibility of the area through a grid system, low-feasibility areas are designated as risk zones, which, together with control zones and no-fly zones, constitute the restricted area of ​​the low-altitude flight route network; this restricted area is the airspace that the low-altitude flight route network should not pass through.

[0102] Step 3: Based on the positional relationship and shape of the restricted area, generate alternative intermediate points connecting each take-off and landing point / take-off and landing field;

[0103] Step 4: Based on the data from the candidate intermediate points and the data from the micro-terminal area, construct an initial low-altitude flight path network connecting all points;

[0104] Step 5: Calculate the weights of 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.

[0105] Step 6: Based on the optimized network, remove redundant intermediate points, construct the route network and the entry and exit points of each micro-terminal area, and generate the final low-altitude route network.

[0106] Furthermore, in step 1 of this application embodiment, a takeoff and landing point / field includes the center point coordinates (lat, lon, alt) and the number of parking positions. And the maximum supported aircraft size (aircraft length) Hekuan To avoid takeoff and landing conflicts, adjacent takeoff and landing points / fields should be subject to unified takeoff and landing scheduling to form a takeoff and landing hub. The construction process of the micro-terminal area includes:

[0107] Construction of each takeoff and landing point / takeoff and landing field area: Under the condition of constructing a circular area, the area is centered on the center point of the takeoff and landing point / takeoff and landing field, with a radius of... A circular area. (Using...) This indicates the navigation and positioning accuracy near the takeoff and landing point / field, where the radius is... The calculation formula is as follows:

[0108]

[0109] in, To find the maximum value function, the calculation result is... The value needs to be rounded up to the nearest integer according to the calculation precision.

[0110] Takeoff and landing hub detection: All takeoff and landing points / fields are determined by using the center point coordinates and categorizing them according to distance thresholds. Hierarchical clustering is performed until no further clustering is possible. Each cluster with a value greater than 1 for a takeoff / landing point / field constitutes a takeoff / landing hub. The clustering process is as follows: (a) all takeoff / landing points / fields are added to a set as individual nodes; (b) the distances between all nodes in the set are calculated, and the two closest nodes A and B are found. The distance is expressed as... ,if If the condition is met, proceed to (c); otherwise, proceed to (d). (c) Merge nodes A and B into one node, and use the geometric center of all take-off and landing points / take-off and landing fields in A and B as the center point of the node. Add the merged node to the set, remove the original nodes A and B from the set, and return to step (b). (d) Detect the number of take-off and landing points / take-off and landing fields in each node in 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.

[0111] Hub area construction: For take-off and landing hubs, the 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 / 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 need to be removed.

[0112] Once constructed, the regional data of independent take-off and landing points / fields and the regional data of take-off and landing hubs together constitute a set of micro-terminal areas for low-altitude airspace, such as... Figures 2 to 6 The diagram shows a set of micro-terminal areas consisting of hub terminal areas and independent take-off and landing points.

[0113] Furthermore, in step 2 of this application embodiment, the process of generating the restricted area includes:

[0114] Two-dimensional airspace gridding: Based on the required accuracy and following the standards and specifications for digital airspace mapping in civil aviation, the low-altitude area to be planned is gridded. For example, the closest standard to 1-meter accuracy is the fifteenth-level grid, with a size of [missing information]. It is approximately equal to 0.97m × 0.97m at the equator.

[0115] Feasibility calculation based on survey data: Feasibility Includes runtime security Operational reliability and public acceptability Three dimensions, based on civil aviation evaluation standards:

[0116]

[0117] in, For the safety and feasibility of ground personnel, For the safety and feasibility of ground facilities, The difficulty of searching for drones after a crash The risk of injury following a drone crash can be determined using civil aviation operational safety assessment methods.

[0118]

[0119] in, This is the environmental reliability value (assessed based on a comprehensive evaluation of meteorological, electromagnetic, and obstacle environments according to civil aviation assessment methods). This is the technical reliability value (obtained by comprehensively evaluating navigation, communication, and surveillance capabilities using civil aviation assessment methods).

[0120]

[0121] in, This is a value used to assess privacy protection needs. The value is the assessment value for the impact of operational noise. The corresponding value can be obtained according to the assessment method for public acceptability of civil aviation.

[0122]

[0123] Assessments conducted in accordance with civil aviation-related assessment methods are generally regional in nature. After obtaining the assessment results, the region can be associated with a grid, and then the feasibility of the grid can be assigned a value.

[0124] Risk zone extraction: based on feasibility threshold Feasibility was tested for all grid areas to ensure compliance. All the meshes constitute a mesh set; for each mesh, construct a polygon object with its four vertices, and add all polygon objects to the polygon set. In the middle; perform buffer calculations on the polygon set to obtain the resulting polygon set. :

[0125]

[0126] Among them, among them, For a buffer with a value of 0, the calculation merges adjacent polygons in the set into a new polygon, resulting in a polygon set. Each polygon in the diagram represents a non-flyable area that does not meet the feasibility requirements.

[0127] Restricted Area Generation: The number of low-altitude control areas, no-fly zones, and restricted areas issued by local governments, civil aviation, and military aviation authorities, together with risk area data, constitute a set of low-altitude flight restricted areas.

[0128] Restricted areas are airspaces that are not permitted for low-altitude aircraft under normal circumstances, and should not be crossed or approached too closely when planning low-altitude route networks.

[0129] Furthermore, in step 3 of this embodiment, the candidate intermediate points are selected according to the principle of being located in the middle of different restricted areas, so as to ensure that the subsequently planned routes will not be too close to the restricted areas. The process for generating candidate intermediate points is as follows:

[0130] Obtain the vertex coordinates of all restricted areas. For circular and elliptical regions, select the corresponding points on the edges as vertices with a certain precision.

[0131] Establish connecting lines between all vertices, retaining valid connecting lines, to form a structure like... Figure 2 The diagram shows a full vertex connection; the prerequisite for the connection to hold is that the line connecting any two points other than the vertices does not intersect any restricted region (i.e., the connection cannot cross any restricted region). and connecting wires have:

[0132]

[0133] in, The number of points in the set is ∞ when there are lines or regions.

[0134] Simplify the connection of all vertices by removing the intersections of the connecting lines, resulting in a structure like... Figure 3 The simplified connection shown applies to two intersecting connecting lines. and The corresponding connecting line length is and The logic for selecting lines to delete is as follows:

[0135]

[0136] For all connecting lines in the simplified connection, calculate their corresponding center points. To ensure accuracy, the latitude and longitude coordinates need to be converted to a spherical coordinate system such as ECEF coordinates using a standard transformation algorithm. The coordinates of the two vertices after transformation are represented as: and The corresponding center point is:

[0137]

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

[0139] In step 3 of this application embodiment, the midpoint selection can be disregarded during the initial low-altitude flight path network construction process. Instead, different restricted areas are treated as force fields, and an artificial potential field algorithm is used to simulate the flight of the UAV in different micro-terminal intervals within the airspace. All possible flight trajectories are obtained, and adjacent trajectory segments are merged. Intersection points of intersecting trajectories are calculated to obtain an initial low-altitude flight path network containing all possible routes.

[0140] Furthermore, in step 4 of this embodiment, the process of constructing the initial low-altitude flight path network is as follows:

[0141] Add all candidate intermediate point coordinates and micro-terminal area terminal coordinates to the point set. middle;

[0142] Compute point set Calculate the distance between all points in the network that are not associated with any edge (initially, the number of edge lines is 0, and all points are not associated with any edge lines). Find the two closest points and connect them to construct the first edge line (if this edge line intersects any restricted area, select the two points with the shortest distance after removing this edge line to form the first edge line). Add the edge line to the network edge line set. In the process, two points are marked as existing related lines, and the edges are added to the set of edges to be detected. In the initial low-altitude flight path network, all candidate intermediate points are far from the restricted area. Therefore, the criterion for determining intersection is that the connecting line has no common point with the restricted area; that is, for any restricted area... and connecting wires 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 ,use The kurtosis coefficient represents the number of grid cells. for:

[0152]

[0153] in, For the first Elevation values ​​of each grid cell. The larger the value, the smaller the altitude variation along the route, which is more conducive to unifying the flight altitude along the route and avoiding flight risks along the route.

[0154] Calculate the usable height coefficient: based on obstacle avoidance principles, the maximum height along the route. High safety separation standard The planned maximum flight altitude is Then the height coefficient can be used along the line. for:

[0155]

[0156] Available height coefficient The larger the altitude, the more drones can be accommodated on the same length of flight path during operation, and the lower the operational risk.

[0157] Calculate the length of the edge: based on the latitude and longitude coordinates of the two endpoints of the edge. and the radius of the Earth It can calculate the length of the edge line. :

[0158]

[0159] To ensure consistency in the coefficient range of the edge length during final weighting, it can be scaled down proportionally according to a preset reference value M: The longer the distance, the greater the cost for the drone to fly over.

[0160] Feasibility coefficient calculation: Based on the feasibility calculated during the generation of the restricted area, the median feasibility value of each grid is statistically analyzed. , The larger the size, the lower the operational risk.

[0161] Calculate the edge weights: Edge weights : .

[0162] After assigning weights to all edges of the initial low-altitude flight path network, a weighted network is obtained. The optimized network is then generated from the initial low-altitude flight path network, following this process:

[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 entry and exit points of the micro-terminal area: Select an unprocessed micro-terminal area, convert the center point coordinates to the ground coordinate system according to the standard formula, and record them as follows. Then the radius is The micro-terminal area can be represented as:

[0174]

[0175] Obtain its associated edges and the coordinates of its corresponding midpoints. The edge line can be represented as:

[0176]

[0177] Solving the system of equations consisting of the micro-terminal region equation and the edge line equation within the corresponding range will yield the intersection point. The number of intersection points can be obtained by counting the number of associated edges.

[0178] Update the edge line: Based on the intersection coordinates, change the 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;

[0179] Determine if there are still unprocessed micro-terminal areas. If so, return to the step of calculating the entry and exit points of micro-terminal areas to process the next micro-terminal area; otherwise, proceed to the next step.

[0180] 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, such as... Figure 6 As shown.

[0181] The low-altitude airspace planning method proposed in this application can directly perform altitude layering. Through steps 1 to 6 above, route planning is carried out at different levels, and then the route planning of different levels is merged. Taking into account the impact of different obstacles on flight at different altitudes, a route network that can flexibly adapt to different route altitudes is constructed.

[0182] The low-altitude airspace planning method proposed in this application 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 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.

[0183] Based on the same technical concept described above, this application also proposes a low-altitude airspace planning system based on a micro-terminal area, such as... Figure 7 As shown, the low-altitude airspace planning system 100 includes:

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

[0185] The restricted area generation unit 102 is used to manage regional feasibility through a grid system, constructing risk zones from low-feasibility areas, and forming restricted areas of the low-altitude flight path network together with controlled areas and no-fly zones. The specific restricted area generation process is as described in step 2 above, and will not be repeated here.

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

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

[0188] The network weighting optimization unit 105 is used to calculate the weights of 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. The specific network optimization process is as described in step 5 above, and will not be repeated here.

[0189] Furthermore, the final network generation unit 106 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. The specific process of generating the final low-altitude route network is as described in step 6 above, and will not be repeated here.

[0190] Based on the same technical concept described above, this application also proposes an electronic device, such as... Figure 8 As shown, the electronic device 200 includes: a memory 210, a processor 220, and a computer program A211 stored in the memory 210 and executable on the processor 220. When the processor 220 executes the computer program A211, it performs the following steps:

[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, in order to construct micro-terminal areas of low-altitude airspace;

[0192] By managing the feasibility of the area through a grid system, low-feasibility areas are designated as risk zones, which, together with control zones and no-fly zones, constitute the restricted areas of the low-altitude air route network.

[0193] Based on the location and shape of the restricted areas, generate alternative intermediate points to connect the various take-off and landing points / take-off and landing fields;

[0194] Based on data from candidate intermediate points and data from the micro-terminal area, an initial low-altitude flight path network connecting all points is constructed.

[0195] Calculate the weights of each edge in the initial low-altitude flight path network, and optimize the initial low-altitude flight path network based on the weighted network.

[0196] 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.

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

[0198] It should be noted that the electronic device proposed in this application embodiment is a device used to implement the above-mentioned low-altitude airspace planning method. Therefore, based on the above-mentioned low-altitude airspace planning method proposed in this application embodiment, those skilled in the art can understand the specific implementation method and various variations of the electronic device in this application embodiment. Therefore, how the electronic device specifically implements the above-mentioned low-altitude airspace planning method will not be described in detail here. Any electronic device used by those skilled in the art to implement the above-mentioned low-altitude airspace planning method falls within the scope of protection of this application.

[0199] Based on the same technical concept described above, embodiments of this application also propose a computer-readable storage medium, such as... Figure 9 As shown, the computer-readable storage medium 300 stores a computer program B311, which, when executed by a processor, performs the following steps:

[0200] 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, in order to construct micro-terminal areas of low-altitude airspace;

[0201] By managing the feasibility of the area through a grid system, low-feasibility areas are designated as risk zones, which, together with control zones and no-fly zones, constitute the restricted areas of the low-altitude air route network.

[0202] Based on the location and shape of the restricted areas, generate alternative intermediate points to connect the various take-off and landing points / take-off and landing fields;

[0203] Based on data from candidate intermediate points and data from the micro-terminal area, an initial low-altitude flight path network connecting all points is constructed.

[0204] Calculate the weights of each edge in the initial low-altitude flight path network, and optimize the initial low-altitude flight path network based on the weighted network.

[0205] 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.

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

[0207] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0208] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0209] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0210] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0211] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0212] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above description is only a specific embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for low-altitude airspace planning based on micro-terminal area, characterized in that, Comprise: Generate corresponding landing area for low altitude take-off point or landing field, generate landing hub area for adjacent take-off point or landing field, to build micro terminal area of low altitude airspace; Through grid management area feasibility, build risk area for low feasibility area, and together with control area and no-fly area constitute the restriction area of low altitude air route network; the restriction area is the airspace range that low altitude air route network should not pass through; Based on the position relationship and shape of the restriction area, generate the alternative intermediate point connecting each landing point or landing field; Based on the data of the alternative intermediate point and the data of the micro terminal area, build the initial low altitude air route network connecting all points; Calculate the weight value of each edge line in the initial low altitude air route network, and optimize the initial low altitude air route network based on the weighted network; Based on the optimized network, remove the redundant intermediate points, build the entry and exit points of the air route network and each micro terminal area: determine the intersection of each micro terminal area and the associated edge line, change the associated edge line of each micro terminal area from the intermediate point to the center point of the micro terminal area to the associated edge line from the intermediate point to the corresponding intersection point and take the intersection point as the entry and exit point of the micro terminal area, and generate the final low altitude air route network; The construction process of the micro terminal area comprises: Build the corresponding landing area of each landing point or landing field, which is a circular area with the center point of the landing point / landing field as the center, and the radius of the area is calculated according to the number of parking spaces in the landing point / landing field, the maximum aircraft size supported and the navigation positioning accuracy; Cluster all landing points or landing fields according to the distance threshold value with the center point coordinates as the value until clustering cannot continue, then each landing point or landing field with a cluster greater than 1 constitutes a landing hub; For the landing hub, the distance from the virtual center point to the farthest boundary point of the original area of all landing points or landing fields is the radius of the area, and the hub terminal area is constructed; at the same time, the original area data of each landing point / landing field in the landing hub is removed; The area data of the independent landing point or landing field and the area data of the landing hub together constitute the micro terminal area of the low altitude airspace; The generation process of the restriction area comprises: According to the required accuracy, follow the corresponding standard specification of civil aviation airspace digitalization, grid the low altitude area to be planned; Calculate the feasibility of all grids, including three dimensions of operation safety, operation reliability and public acceptability; According to the feasibility threshold, detect the feasibility of all grids, and construct a grid set of all grids that meet the requirement of feasibility less than or equal to the feasibility threshold; Construct a polygon object for each grid in the grid set, and add all polygon objects to a polygon set; Calculate the buffer area of the polygon set to obtain a result polygon set, each polygon in the result polygon set represents an un-flyable area that does not meet the feasibility requirement, i.e. a risk area; Together with the published control area and no-fly area, the risk area constitutes the restriction area of the low altitude air route network; The generation process of the alternative intermediate point comprises: Get the vertices of all restriction areas; Connecting lines are established between all vertices, and the connecting lines that are established are kept to form full vertex connections; the connecting lines are established on the premise that the connecting lines cannot pass through the restricted area; The full vertex connections are simplified to remove the intersection of the connecting lines to form simplified connections; The center points corresponding to all the connecting lines in the simplified connections are calculated; All the connecting lines in the simplified connections are removed, and all the center points are recorded as alternative intermediate points for the planned air route; The optimization of the initial low-altitude air route network comprises: All the edges in the initial low-altitude air route network are associated with the grids divided in the restricted area to obtain a set of all the grids associated with the edges in the horizontal plane; The kurtosis coefficient of the height is calculated according to the height value of each grid, the average height and the standard deviation obtained by statistics; The available height coefficient is calculated according to the maximum height along the line, the height safety interval standard and the planned maximum flight height; The edge length is calculated based on the latitude and longitude coordinates of the two end points of the edge and the radius of the earth; The median feasibility value in each grid is counted based on the calculated feasibility; The edge weight is calculated according to the kurtosis coefficient of the height, the available height coefficient, the edge length and the median feasibility value; The edge weight is calculated according to the calculated edge weight of the initial low-altitude air route network to obtain a weighted network; The initial low-altitude air route network is optimized based on the weighted network.

2. The method of claim 1, wherein, The hierarchical clustering according to the distance threshold comprises: All the takeoff and landing points or takeoff and landing fields are added to the set as separate nodes; The calculation step: the distance between all the nodes in the set is calculated, and the two nodes closest in distance are found; if the distance between the two nodes closest in distance is less than or equal to the distance threshold, the merging step is entered, otherwise the detection step is entered; The merging step: the two nodes closest in distance are merged into one node, and the geometric center point of all the takeoff and landing points or takeoff and landing fields in the two nodes closest in distance is taken as the center point of the merged node; the merged node is added to the set, and the original two nodes are removed from the set, and the calculation step is returned; The detection step: the number of takeoff and landing points or takeoff and landing fields in each node in the set is detected, and the nodes with a number greater than 1 are output as takeoff and landing hubs, and the center point of the node is taken as the virtual center point of the takeoff and landing hub.

3. The method of claim 1 or 2, wherein, The construction process of the initial low-altitude air route network comprises: The coordinates of the alternative intermediate points and the coordinates of the micro-terminal area terminals are all added to the point set; The edge construction step: the distance between all the points in the point set that are not associated with edges is calculated; the two points closest in distance are found and connected to form a first edge; the first edge is added to the network edge set and the two points are marked as associated with edges; meanwhile, the first edge is added to the set of edges to be detected; The edge line detection step comprises: selecting an edge line from the set of edge lines to be detected, calculating the distances of all points in the point set to the selected edge line, selecting the closest point and constructing two new edge lines from the closest point to the two vertices of the selected edge line, and removing the selected edge line from the set of edge lines to be detected; detecting the two new edge lines respectively, and adding new edge lines that do not exist in the set of network edge lines and satisfy the non-intersection with the limit area and the existing edge line to the set of network edge lines and the set of edge lines to be detected; and marking the closest point as an associated edge line through detection of any one of the two new edge lines; It is judged whether the set of edge lines to be detected is empty, and if not, the edge line detection step is returned for the next round of edge line detection, and if empty, the next step is entered; It is judged whether all points in the point set have been associated with edge lines, and if so, the next step is entered, otherwise the edge line construction step is returned for the next round of edge line construction; All edge lines in the set of network edge lines are outputted to form an initial low-altitude air route network connecting the candidate intermediate points and the micro terminal areas.

4. The method of claim 3, wherein, The initial low-altitude air route network is optimized based on the weighted network, comprising: add all micro-terminal zones and their center points to the terminal set and let the processing sequence number ; wherein denotes the number of micro-terminal zones in the terminal set; Take the first micro-terminal area from the terminal set and let the processing serial number ; taking a first micro-terminal area from the set of terminals ​ Search for the connection from the initial low-altitude route network. The 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 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 micro-terminal area and the first The optimal path for each micro-terminal area is marked with the edges it passes through. determination processing sequence whether or not if yes, then go to the next step, otherwise , return to the step of taking the micro-terminal area from the terminal set determination processing sequence whether or not if yes, then go to the next step, otherwise , return to the step of taking the micro-terminal area from the terminal set All unmarked edge lines in the initial low-altitude air route network are removed, and the remaining edge lines and associated intermediate points are outputted to obtain an optimized network.

5. The method of claim 3, wherein, The generation process of the final low-altitude air route network comprises: According to the optimized network, all points not associated with edge lines in the point set are removed to obtain a final intermediate point set; A micro terminal area is selected, the center point coordinates are converted into coordinates in the ground coordinate system according to a standard formula to obtain a micro terminal area equation; The edge line associated with the micro terminal area and the corresponding intermediate point coordinates are obtained to obtain an edge line equation; The solutions of the equation set composed of the micro terminal area equation and the edge line equation in the corresponding range are solved to obtain intersection points; The corresponding edge line is changed from the intermediate point to the micro terminal area center point to the intermediate point to the corresponding intersection point, and the intersection point is taken as the access point of the current micro terminal area; It is judged whether there are still unprocessed micro terminal areas, and if so, the step of selecting an unprocessed micro terminal area is returned for the next micro terminal area processing, otherwise the next step is entered; The updated edge line set, intermediate point set, micro terminal area and access point corresponding to the micro terminal area are outputted to form a final low-altitude air route network.

6. A low-altitude airspace planning system based on micro-terminal zones, characterized in that, It comprises: A micro terminal area construction unit is configured to generate a corresponding landing area for a low-altitude landing point or landing field, and generate a landing hub area for adjacent landing points or landing fields to construct a micro terminal area of a low-altitude airspace; A limit area generation unit is configured to construct a risk area from a low feasibility area through grid management area feasibility, and combine the risk area with a control area and a no-fly area to form a limit area of a low-altitude air route network; An intermediate point generation unit is configured to generate candidate intermediate points connecting various landing points or landing fields based on the positional relationship and shape of the limit area; An initial network construction unit is configured to 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. A network weighting optimization unit is configured to calculate weights corresponding to each edge in the initial low-altitude air route network and optimize the initial low-altitude air route network based on the weighted network. A final network generation unit is configured to remove redundant intermediate points based on the optimized network and construct an air route network and access points of each micro terminal area, determine intersection points of each micro terminal area and associated edges, change the associated edges of each micro terminal area from an intermediate point to a micro terminal area center point to an associated edge from an intermediate point to a corresponding intersection point and take the intersection point as an access point of the micro terminal area, and generate a final low-altitude air route network. The construction process of the micro terminal area includes: A take-off and landing area corresponding to each take-off and landing point or take-off and landing field is constructed, the area being a circular area with the center point of the take-off and landing point / field as the center, and the radius of the area being 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; All take-off and landing points or take-off and landing fields are hierarchically clustered with the center point coordinates as values and according to a distance threshold until clustering cannot continue, and then each take-off and landing point or take-off and landing field with a cluster greater than 1 forms a take-off and landing hub. The hub terminal area is constructed with the virtual center point as the center and the distance from the hub terminal area 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, and the original area data of the take-off and landing points / fields in the hub is removed. The area data of the independent take-off and landing points or take-off and landing fields and the area data of the take-off and landing hub together constitute the micro terminal area of the low-altitude airspace. The generation process of the restricted area includes: According to the required accuracy, the low-altitude area to be planned is gridded in accordance with the corresponding standard specification of civil aviation airspace digitization; The feasibility of all grids is calculated, including three dimensions of operation safety, operation reliability and public acceptability; According to the feasibility threshold, the feasibility of all grids is detected, and all grids that meet the feasibility threshold are constructed into a grid set; A polygon object is constructed for each grid in the grid set, and all polygon objects are added to a polygon set; The polygon set is subjected to buffer zone calculation 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 requirements, i.e. a risk area; The risk area and the published control area and no-fly area together constitute the restricted area of the low-altitude air route network; The generation process of the alternative intermediate point includes: All vertices of the restricted area are obtained; Connection lines are established between all vertices, and the connection lines that are established are retained to form full vertex connections, and the premise for the establishment of the connection lines is that the connection lines cannot pass through the restricted area; The full vertex connections are simplified to remove the intersection of the connection lines and form simplified connections; The center points corresponding to all connection lines in the simplified connections are calculated; All connection lines in the simplified connections are removed, and all center points are recorded as alternative intermediate points of the planned route; The optimization of the initial low-altitude air route network includes: Correlate all edges in the initial low-altitude air route network with the grids divided in the restricted area generation, to obtain a set of all grids associated with edges in the horizontal plane; Calculate the kurtosis coefficient of height according to the height value of each grid, the average height and the standard deviation obtained by statistics; Calculate the available height coefficient according to the maximum height along the line, the height safety interval standard and the planned maximum flight height; Calculate the edge length based on the latitude and longitude coordinates of the two endpoints of the edge and the radius of the earth; Based on the calculated feasibility, the median feasibility value in each grid is counted; Calculate the edge weight according to the kurtosis coefficient of height, the available height coefficient, the edge length and the median feasibility value; According to the calculated edge weight, all edges of the initial low-altitude air route network are weighted to obtain a weighted network; Based on the weighted network, the initial low-altitude air route network is optimized.

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