Airspace gridding method, device, equipment and medium

Abstract

The invention provides an airspace gridding method and device, equipment and a medium, and the method comprises the steps: collecting an airspace boundary geographic data set, taking a horizontal plane at the lowest altitude of a to-be-gridded region as a base surface, determining an airspace boundary based on a boundary contour point geographic coordinate sequence, and carrying out the upward filling of grids based on the base surface, obtaining a gridded three-dimensional airspace and a two-dimensional projection thereof; respectively determining the maximum value point and the minimum value point of the longitude and the latitude to construct a first plane; carrying out gridding on the first plane; and if a plurality of different height values exist, determining the maximum height point, subdividing the airspace between the minimum height point and the maximum height point to obtain second space grids and codes, and screening the second space grids contained in the three-dimensional polygonal region or intersected with the three-dimensional polygonal region. According to the method and the device, the grids and codes of the height dimension between the area bottom plane grids and the boundary contour points are determined, so that the spatial domain is expanded from 2D to 3D grids, and accurate three-dimensional spatial domain gridding is closed.

Description

Technical Field

[0001] This invention relates to the field of airspace management technology, and in particular to an airspace gridding method, apparatus, equipment and medium. Background Technology

[0002] Low-altitude airspace grid planning is an airspace management method that has emerged in recent years. It divides low-altitude airspace into regular grids and assigns specific flight rules and restrictions to each grid, with airspace grid planning providing the foundation for this.

[0003] Airspace gridding, a core component of modern airspace management systems, aims to achieve precise description and efficient management of airspace resources by dividing a continuous three-dimensional space into discrete, regular small grids. This method can significantly improve airspace utilization, enhance air traffic flow management capabilities, and support more accurate flight planning and conflict detection.

[0004] However, existing spatial meshing methods are excellent for modeling spatial domains with regular shapes. But in most cases, the spatial domain shape is a three-dimensional space of solid polygons. Current spatial meshing methods cannot well represent the three-dimensional spatial domain of solid polygons. Therefore, a refined and scientific three-dimensional spatial meshing method is needed. Summary of the Invention

[0005] To overcome the problems existing in the related technologies, this disclosure provides a spatial gridding method, apparatus, device and medium to solve the above-mentioned technical problems in the related technologies.

[0006] This specification provides one or more embodiments of a spatial meshing method, including the following steps:

[0007] Obtain the set of geographic data of the airspace boundary of the area to be gridded; the set of geographic data of the airspace boundary includes the geographic coordinate sequence of the boundary outline points of the area to be gridded, and the geographic coordinates of the boundary outline points are a spatial three-dimensional geographic coordinate sequence including longitude, latitude and altitude;

[0008] Using the horizontal plane at the lowest elevation of the area to be gridded as the base plane, the spatial boundary is determined based on the geographic coordinate sequence of the boundary contour points, and the grid is filled upward based on the base plane to obtain the gridded three-dimensional spatial domain. The three-dimensional spatial domain is then vertically projected onto the ground to obtain the two-dimensional projection area.

[0009] Based on the geographic coordinate sequence of boundary contour points, the maximum and minimum points of longitude and latitude are determined respectively, and the first plane is constructed through the four points;

[0010] The first plane is meshed, and then, using any plane mesh as a seed point, all plane meshes are traversed through the flood fill algorithm to determine the plane meshes that intersect with or are contained in the projected area, determine their coordinates and perform mesh encoding, thereby obtaining the bottom plane mesh of the area.

[0011] Based on the geographic coordinate sequence of boundary contour points, the minimum height point is determined. The spatial domain between the minimum height point and the obtained bottom plane grid height is divided using a 3D grid subdivision and coding model to obtain the first spatial grid and coding.

[0012] If multiple different height values ​​exist based on the geographic coordinate sequence of the boundary contour points, determine the maximum height point, and then use a 3D mesh subdivision and coding model to subdivide the spatial domain between the minimum and maximum height points to obtain a second spatial mesh and code, and proceed to the next step; if the height values ​​are consistent, the process ends.

[0013] Based on the boundary contour points, a three-dimensional polygonal region between the minimum and maximum height points is determined. A second spatial mesh containing or intersecting the three-dimensional polygonal region is then selected to obtain a spatial mesh model of the region.

[0014] Furthermore, the airspace boundary geographic data set includes attribute information, which includes the airspace geometric data type and the lowest altitude of the area to be gridded.

[0015] Furthermore, the specific steps of meshing the first plane include:

[0016] Determine the size of the projection area;

[0017] The corresponding meshing level is determined based on the area of ​​the projection region, and the first plane is meshed using the mesh size corresponding to the meshing level. The area of ​​the projection region is negatively correlated with the meshing level, and the size of the meshing level is negatively correlated with the mesh size.

[0018] Furthermore, the step of using any planar grid as a seed point, determining each planar grid that intersects with or is contained within the projected area through a flood fill algorithm, and then performing grid encoding, specifically includes the following steps:

[0019] 1) Determine the plane grid with the smallest latitude and longitude point in the first plane as the grid seed point;

[0020] 2) Determine whether the planar grid intersects with or is contained within the projection area. If it intersects with or is contained within the area, retain the grid and encode it according to the latitude and longitude values ​​of the planar grid to obtain the grid code.

[0021] 3) Using the seed point as the center, recursively call the flood fill algorithm in the four or eight neighborhoods of the seed point and execute the judgment in step 2) until the judgment of all planar meshes in the first plane is completed.

[0022] Furthermore, it also includes the following steps:

[0023] The bottom plane boundary grid is discretized into individual grid points at certain distance intervals, and each grid point is gridded and encoded, wherein the distance interval is set in accordance with the selected gridding level.

[0024] Furthermore, the spatial domain between the minimum elevation point and the lowest altitude is subdivided using a 3D mesh subdivision and coding model to obtain the first spatial mesh and coding. Specific steps include:

[0025] The height of the bottom plane grid is used as the height reference value and the starting point of the height gridding. The minimum height value in the geographic coordinates of the boundary contour point is used as the boundary value and the ending point of the height gridding.

[0026] A 3D mesh partitioning and coding model is used to mesh the spatial domain between the minimum height point and the bottom plane mesh height. The height value corresponding to each spatial domain mesh is determined according to the size of the mesh rectangle. Based on the size of the mesh rectangle, the geographic coordinates of the four-neighbor or eight-neighbor meshes of the current spatial domain mesh are calculated using a mesh displacement algorithm.

[0027] The latitude and longitude values ​​of each spatial grid are hashed to obtain a binary encoded sequence, and the altitude values ​​are hashed to obtain an altitude encoded sequence. The two sets of encoded sequences are then combined to obtain a unique encoded value for each spatial grid.

[0028] This specification provides one or more embodiments of a spatial gridding device, including...

[0029] The data input module is used to input the set of geographic data of the airspace boundary of the area to be gridded; the set of geographic data of the airspace boundary includes the geographic coordinate sequence of the boundary outline points of the area to be gridded, and the geographic coordinates of the boundary outline points are a spatial three-dimensional geographic coordinate sequence including longitude, latitude and altitude;

[0030] The first processing module is used to determine the spatial boundary based on the geographic coordinate sequence of the boundary contour points, using the horizontal plane at the lowest elevation of the area to be gridded as the base plane, and fill the grid upwards based on the base plane to obtain the gridded three-dimensional spatial domain. The three-dimensional spatial domain is then vertically projected onto the ground to obtain the two-dimensional projection area.

[0031] The baseline plane construction module is used to determine the maximum and minimum points of longitude and latitude based on the geographic coordinate sequence of boundary contour points, and to construct the first plane using four points.

[0032] The bottom plane grid determination module is used to grid the first plane, and then, using any plane grid as a seed point, traverse all plane grids through the flood filling algorithm to determine the plane grids that intersect with or are contained in the projection area, determine their coordinates and perform grid encoding, thereby obtaining the bottom plane grid of the region.

[0033] The first spatial grid establishment module is used to determine the minimum height point based on the geographic coordinate sequence of boundary contour points, and to divide the spatial domain between the minimum height point and the lowest altitude using a 3D grid subdivision and coding model to obtain the first spatial grid and its coding.

[0034] The judgment module is used to determine whether there are multiple different height values ​​based on the geographic coordinate sequence of the boundary contour points. If so, it calls the second spatial grid establishment module and the grid boundary determination module. If the height values ​​are consistent, the execution ends.

[0035] The second spatial grid creation module is used to determine the maximum height point. The spatial domain between the minimum height point and the maximum height point is divided using a 3D grid subdivision and coding model to obtain the second spatial grid and its coding.

[0036] The mesh boundary determination module is used to determine the three-dimensional polygonal region between the minimum and maximum height points based on the boundary contour points, and to filter the second spatial mesh contained in or intersecting with the three-dimensional polygonal region, thereby obtaining the spatial mesh model of the region.

[0037] Furthermore, the bottom plane mesh determination module includes an area determination submodule and a planar meshing submodule;

[0038] The area determination submodule is used to determine the size of the projected area;

[0039] The planar meshing submodule is used to determine the corresponding meshing level based on the area of ​​the projection region, and to mesh the first plane using the mesh size corresponding to the meshing level. The area of ​​the projection region is negatively correlated with the meshing level, and the size of the meshing level is negatively correlated with the mesh size.

[0040] This specification provides a computer device according to one or more embodiments, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the spatial meshing method as described in any of the preceding embodiments.

[0041] This specification provides one or more embodiments of a computer-readable storage medium storing a computer program that, when executed by a processor, implements the spatial meshing method as described in any of the above embodiments.

[0042] The spatial gridding method, apparatus, device, and medium disclosed herein have the advantage of using the local lowest elevation as the lowest altitude, the horizontal plane at the lowest elevation as the base plane, and then determining the spatial boundary based on the geographic coordinate sequence of the boundary contour points and filling the grid upwards to obtain a gridded three-dimensional spatial domain. The three-dimensional spatial domain is then vertically projected onto the ground to obtain a two-dimensional projection area. A plane S is formed by the maximum and minimum points of longitude and latitude. Based on the flood filling algorithm, the plane grids of plane S intersect with or are contained within the projection area to obtain the bottom plane grid of the region. The height dimension grid and encoding between the bottom plane grid and the boundary contour points are then determined, thereby realizing the expansion of the spatial domain from 2D to 3D grid and achieving closed and accurate three-dimensional spatial gridding. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in one or more embodiments of this specification or in the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A flowchart illustrating a spatial meshing method provided for one or more embodiments of this specification;

[0045] Figure 2 A block diagram of a spatial gridding device provided for one or more embodiments of this specification;

[0046] Figure 3 This is a schematic diagram of the structure of a computer device provided for one or more embodiments of this specification. Detailed Implementation

[0047] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this invention.

[0048] The present invention will now be described in detail with reference to specific embodiments and accompanying drawings.

[0049] Method Implementation Examples

[0050] According to embodiments of the present invention, a spatial meshing method is provided, such as... Figure 1 The diagram shown is a flowchart of the spatial meshing method provided in this embodiment. The spatial meshing method according to this embodiment includes:

[0051] Step S1: Obtain the set of geographic data of the airspace boundary of the area to be gridded; the set of geographic data of the airspace boundary includes the geographic coordinate sequence of the boundary outline points of the area to be gridded and attribute information. The geographic coordinate sequence of the boundary outline points is used to delineate the airspace boundary of the area to be gridded.

[0052] In this embodiment, the geographic coordinates of the boundary contour points are a spatial three-dimensional geographic coordinate sequence including longitude, latitude, and altitude. This boundary contour point geographic coordinate sequence includes the three-dimensional geographic coordinates of the starting point, intermediate point, and closing point, which can be connected in sequence to form a closed shape, including polygons, cylinders, spheres, etc.; the attribute information may include the spatial geometric data type of the area to be meshed, the lowest altitude, geographic feature information, etc.

[0053] In this embodiment, the set of geographic data of the airspace boundary of the area to be gridded can be geographic data in a preset GeoJSON format.

[0054] In this embodiment, the airspace boundary geographic data set can be sent to the target MQTT server in GeoJSON data format via MQTT. An example of an airspace boundary geographic data set format is shown below.

[0055] {"features":[{"geometry":{"type":"MultiPolygon","coordinates":[[[[116.023953,38.968612,100],[116.025248,38.952787, 100],[116.035194,38.937655,108],[116.047136,38.931981,150],[116.059143,38.933498,180],[116.062211,38.924627,250],… …,[116.016109,38.951988,160],[116.019809,38.969032,103],[116.023953,38.968612,100]]]},"type":"Feature","propertie s":{"name":"Anxin County","gb":"156130632","height":100}}],"type":"FeatureCollection","crs":{"type":"name","properties":{"na me":"urn:ogc:def:crs:EPSG::4490"}}};

[0056] The above set provides the region name, administrative division code, and airspace geometric data type (MultiPolygon). A series of discrete points with latitude and longitude coordinates are connected in sequence to form a closed polygon. It can be seen that the point 116.023953, 38.968612, 100 is both the starting point and the ending point. Each coordinate point delineates the administrative boundary and airspace boundary of Anxin County. In addition, "height": 100 gives the lowest altitude of the corresponding region.

[0057] Step S2: Using the horizontal plane at the lowest elevation of the area to be gridded as the base plane, determine the spatial boundary based on the geographic coordinate sequence of the boundary contour points, and fill the grid upwards based on the base plane to obtain the gridded three-dimensional spatial domain. The three-dimensional spatial domain is then vertically projected onto the ground to obtain the two-dimensional projection area X.

[0058] In this embodiment, the lowest elevation of the region can be given by the attribute information in step S1, or the lowest elevation of the corresponding region can be extracted based on the DEM data.

[0059] In some embodiments, the geographic data set of the airspace boundary of a region is generally the top coordinate data of the gridded airspace, without the coordinate data of the bottom reference surface. Therefore, it is impossible to determine the closed area. In this embodiment, the local lowest elevation value is used as the lowest height (Z-axis starting point) as the base surface. The spatial boundary is determined by the geographic coordinate sequence of the boundary contour points. The grid is filled upward from the bottom base surface at fixed height intervals (such as 10 meters) to form a multi-layer grid and obtain a gridded airspace. This forms a multi-faceted closed area, and then the closed area is subjected to airspace gridding processing.

[0060] Step S3: Based on the geographic coordinate sequence of the boundary contour points, determine the maximum and minimum points of longitude and latitude respectively, and construct plane S through the four points.

[0061] This step determines the latitude and longitude range of the airspace in the horizontal plane, providing a planar boundary for grid division.

[0062] Step S4: Mesh the plane S, then use any plane grid s as a seed point, and traverse all plane grids s using the flood fill algorithm to determine the plane grids s that intersect with or are contained in the projected region X, determine their coordinates and perform grid encoding, thereby obtaining the bottom plane grid of the region.

[0063] In this embodiment, the plane S is gridded, and the intersection of each grid with the projection area X and / or the grid being contained within the projection area X are determined to decide whether to retain the corresponding grid. This is because the plane S is a regular planar graphic, which is conducive to gridding, and data is less likely to be missed or lost during gridding.

[0064] In this embodiment, the specific steps for meshing the plane S are as follows:

[0065] Step S410: Determine the size of the projection region X;

[0066] Step S411: Determine the corresponding meshing level based on the area of ​​the projection region X, and mesh the plane S using a mesh of the corresponding size. The area of ​​the projection region X is negatively correlated with the meshing level, and the size of the meshing level is negatively correlated with the mesh size. That is, the larger the area of ​​the projection region X, the lower the meshing level is selected, and the larger the mesh size is, i.e., the mesh resolution is different. In this embodiment, the grid precision is dynamically adjusted according to the area size. The size of the projected area X determines the scale of the grid rectangle, which means that it can adaptively divide the appropriate grid and quickly calculate the corresponding grid data. For example, when the projected area X is greater than 10 square kilometers, the grid corresponding to level 9 is too small and the gridded data is too large. In this case, the system will select level 8 grid to grid the plane S, because the number of grids is proportional to the storage space. If the projected area X is the entire province, a coarse-grained grid (such as 1km×1km) is selected; if it is a county, a fine-grained grid (such as 100m×100m) is selected. The advantage of this design is that it adaptively selects the corresponding level of grid resolution based on the area size of the plane to be gridded to ensure that key areas (such as the area around the airport or busy air routes) have higher grid resolution, while low-density airspace maintains a lower grid resolution to save computing resources and storage space.

[0067] In step S4 of this embodiment, using any planar grid s as a seed point, the planar grids s intersecting with the projection region X are determined by the flood fill algorithm, and the grid encoding is performed. The specific steps are as follows:

[0068] Step S420: Determine the plane grid with the minimum latitude and longitude point in plane S as the grid seed point; In this embodiment, the minimum latitude and longitude point is the starting grid and the corresponding grid is used to determine the intersection traversal, thus avoiding data omission and loss of grid points.

[0069] Step S421: Determine whether the grid intersects with the projection area X. If it intersects, retain the grid and encode it according to the grid's latitude and longitude values ​​to obtain the grid code.

[0070] Step S422: Centered on the seed point, the flood fill algorithm is recursively called in the four-neighbor or eight-neighbor domains of the seed point to perform the judgment in step S421, until the judgment of all planar grids s within plane S is completed, and all planar grids that meet the conditions are identified and their codes are saved. In another embodiment, based on the known grid geographic coordinates (grid seed point), the four-neighbor or eight-neighbor grid geographic coordinates of the current grid can be calculated using the grid displacement algorithm and the grid size corresponding to the gridding level. In this embodiment, traversing all grids within plane S using the flood fill algorithm is a technique easily obtained by those skilled in the art, and will not be elaborated here.

[0071] In this embodiment, determining the coordinates of the selected planar grid and performing grid encoding specifically involves:

[0072] The GeoHash algorithm determines the corresponding code based on the longitude and latitude values ​​of the planar grid. In the application of the GeoHash algorithm, the process mainly consists of four steps: encoding, code grouping, Base32 encoding, and precision control.

[0073] Specifically, based on the longitude and latitude values ​​corresponding to the planar grid, the GeoHash algorithm is used to encode them respectively, resulting in a longitude binary encoding sequence and a latitude binary encoding sequence. According to the preset hash encoding rules, a longitude and latitude binary encoding sequence is generated based on the longitude and latitude binary encoding sequences. In this sequence, the even-numbered bits represent the longitude binary encoding sequence, and the odd-numbered bits represent the latitude binary encoding sequence. For the specific implementation process, please refer to paragraphs

[0039] -

[0041] and

[0064] -

[0077] of the specification of Chinese Patent CN 119251429 A, which will not be described in detail here.

[0074] In this embodiment, the boundary mesh set is generated from line features and polygon features formed by boundary contour points. The GeoHash algorithm, as a geocoding system, was initially designed to convert two-dimensional geographic coordinates into short strings for easy storage and retrieval of geographic location information. However, the GeoHash algorithm is primarily suitable for ground applications and has certain limitations. Due to insufficient data selection precision, intermediate data may be missed, such as discontinuities in encoding between adjacent meshes. Furthermore, the processing of two-dimensional planar boundaries is not detailed enough, resulting in uncoded points on the boundaries. There is also no suitable method to encode arbitrary spatial shapes. To address this issue, this embodiment also includes optimizing the bottom plane mesh boundary obtained in step S4. The specific steps are as follows:

[0075] Step S41 involves discretizing the bottom plane boundary grid into individual grid points at certain distance intervals, and then performing grid encoding on each grid point. The certain distance interval corresponds to the grid level selected in step S411. For example, when the grid level is 9, the corresponding distance interval is 0.1m, meaning one grid point is taken every 0.1m along the X-boundary of the polygon and grid encoded. When the grid level is 8, the corresponding distance interval is 0.2m. The distance interval is determined based on the grid resolution; the larger the grid used during gridding, the larger the distance interval will be.

[0076] This embodiment addresses the problem of discontinuous mesh boundaries that may be caused by traditional GeoHash. It samples and encodes the obtained bottom plane mesh boundaries at certain distance intervals, thus ensuring continuous mesh encoding of the bottom plane mesh boundaries, making the transition between meshes smoother, and reducing errors caused by mesh boundaries.

[0077] Step S5: Based on the geographic coordinate sequence of boundary contour points, determine the minimum height point, and use a 3D mesh subdivision and coding model to subdivide the spatial domain between the minimum height point and the bottom plane mesh height obtained in step S4 to obtain the first spatial mesh and coding.

[0078] This embodiment improves the classic GeoHash algorithm by adding height information. Specifically, step S5 includes the following steps:

[0079] Step S51: Take the lowest height of the bottom plane grid as the height reference value (i.e., H_Min = 0) and the starting point of height gridding, and the minimum height value in the geographic coordinates of the boundary contour point as the high boundary value (i.e., H_Max = a) and the ending point of height gridding.

[0080] Step S52: The spatial domain between the minimum height point and the bottom plane grid is meshed using a 3D mesh subdivision coding model. The height value corresponding to each spatial domain grid is determined according to the grid resolution or grid rectangle size. The geographic coordinates of the four-neighbor or eight-neighbor grids of the current spatial domain grid can be calculated using a grid displacement algorithm and the grid rectangle size.

[0081] Step S53 involves calculating the latitude and longitude values ​​of each airspace grid using the GeoHash algorithm, performing hash encoding to obtain a binary encoded sequence, and performing hash encoding on the altitude values ​​to obtain an altitude encoded sequence. These two encoded sequences are then combined to obtain a unique encoded value for each airspace grid. This means the airspace grid can be used to represent the spatial grid location of the target aircraft. Therefore, based on the unique encoded value and map information, the position of an object within the spatial grid can be displayed in real time; thus solving the problem of geographic location-based aircraft spatial position description methods in related technologies.

[0082] In this embodiment, the height value can be encoded by directly encoding the height value (such as meters or feet) as an integer or floating-point number; or the height range can be divided into several intervals, and each interval can be assigned a unique code. This method can reduce the use of storage space.

[0083] Step S6: If there are multiple different height values ​​based on the geographic coordinate sequence of the boundary contour points, determine the maximum height point. Then, use a 3D mesh subdivision and coding model to subdivide the spatial domain between the minimum and maximum height points to obtain the second spatial mesh and coding. Then, proceed to the next step S7. If the height values ​​are consistent, the process ends.

[0084] Step S7: Determine the three-dimensional polygonal region between the minimum height point and the maximum height point based on the boundary contour points, and filter the second spatial mesh contained in or intersecting with the three-dimensional polygonal region to obtain the spatial mesh model of the region.

[0085] In this embodiment, a spatial grid model of the corresponding region is established based on the bottom plane grid and code obtained in step S4, the first spatial grid and code obtained in step S5, and the second spatial grid and code selected in step S7.

[0086] In this embodiment, since the shape of the airspace can be a regular shape such as a cube, cuboid, cylinder, or sphere, as well as an irregular polygon, not only are the horizontal boundaries irregular, but the top surface may also be irregular. Therefore, step S6 is needed to compare the height values ​​at each boundary contour point. If multiple different height values ​​exist, it indicates that the top surface of the airspace is irregular. Alternatively, based on the geometric data type given in the airspace boundary geographic data set, it can be indicated that there is an airspace above the minimum height point that needs to be gridded. Therefore, step S6 is needed to perform gridding on the airspace between the minimum and maximum height points. The 3D mesh subdivision and coding model is subdivided to obtain a second spatial mesh and a combined code. Here, the combined code is still implemented through steps S51-S53. However, since the top surface is an irregular surface, there are meshes in the second spatial mesh that extend beyond the top surface boundary. Therefore, it is necessary to go through step S7 to determine the three-dimensional polygonal region between the minimum height point and the maximum height point through the boundary contour points, and perform intersection calculation with the second spatial mesh. The spatial mesh and code that intersect with the three-dimensional polygonal region are retained. In this way, the entire region is divided into regular meshes, which supports spatial query and management, and accelerates the location retrieval through mesh coding.

[0087] The airspace gridding method provided in this embodiment, because the geographic coordinates of the boundary contour points are spatial three-dimensional geographic coordinates including longitude, latitude, and altitude, are all boundary point data and do not form geographic data that constitutes the bottom surface. This results in the airspace space not being able to form a closed area, and a true airspace gridding is not formed. In this embodiment, the lowest local altitude is used as the lowest altitude, because below this altitude is ground and does not need to be gridded. The horizontal plane at the lowest altitude is used as the base plane, and the airspace boundary is determined based on the geographic coordinate sequence of the boundary contour points. The grid is then filled upward to obtain a gridded three-dimensional airspace. The three-dimensional airspace is vertically projected onto the ground to obtain a two-dimensional projection area X. The plane S is formed by the maximum and minimum points of longitude and latitude. The plane grids of plane S intersect with the projection area X based on the flood filling algorithm, thereby obtaining the bottom plane grid of the area. Then, the grid and encoding of the height dimension between the bottom plane grid and the boundary contour points are determined, thereby realizing the expansion of the airspace from 2D to 3D grid, and a closed and accurate three-dimensional airspace gridding.

[0088] Device Examples

[0089] According to embodiments of the present invention, a spatial gridding device is provided, such as... Figure 2The diagram shown is a block diagram of the spatial gridding device provided in this embodiment. According to an embodiment of the present invention, the spatial gridding device includes:

[0090] The data input module 10 is used to input the set of spatial boundary geographic data of the area to be gridded. The set of spatial boundary geographic data includes the geographic coordinate sequence of the boundary outline points of the area to be gridded and attribute information. The geographic coordinates of the boundary outline points are a spatial three-dimensional geographic coordinate sequence including longitude, latitude, and altitude. The attribute information may include the spatial geometric data type of the area to be gridded, the lowest altitude, geographic feature information, etc.

[0091] The first processing module 20 is used to determine the spatial boundary based on the geographic coordinate sequence of the boundary contour points, using the horizontal plane at the lowest elevation of the area to be gridded as the base plane, and fill the grid upwards based on the base plane to obtain the gridded three-dimensional spatial domain. The three-dimensional spatial domain is then vertically projected onto the ground to obtain the two-dimensional projection area X.

[0092] The reference plane construction module 30 is used to determine the maximum and minimum points of longitude and latitude based on the geographic coordinate sequence of boundary contour points, and to construct plane S through the four points.

[0093] The bottom plane grid determination module 40 is used to grid the plane S, and then use any plane grid s as a seed point, and traverse all plane grids s through the flood filling algorithm to determine the plane grids s that intersect with or are contained in the projection region X, and determine their coordinates and perform grid encoding, thereby obtaining the bottom plane grid of the region.

[0094] The first spatial grid establishment module 50 is used to determine the minimum height point based on the geographic coordinate sequence of the boundary contour points, and to divide the spatial domain between the minimum height point and the bottom plane grid using a 3D grid subdivision and coding model to obtain the first spatial grid and its coding.

[0095] The judgment module 60 is used to determine whether there are multiple different height values ​​based on the geographic coordinate sequence of the boundary contour points. If so, it calls the second spatial grid establishment module 60 and the grid boundary determination module 80. If the height values ​​are consistent, the execution ends.

[0096] The second spatial grid establishment module 70 is used to determine the maximum height point, and to divide the spatial domain between the minimum height point and the maximum height point using a 3D grid subdivision and coding model to obtain the second spatial grid and coding.

[0097] The mesh boundary determination module 80 is used to determine the three-dimensional polygonal region between the minimum height point and the maximum height point based on the boundary contour points, and to filter the second spatial mesh contained in or intersecting with the three-dimensional polygonal region, thereby obtaining the spatial mesh model of the region.

[0098] In this embodiment, the set of geographic data for airspace boundaries can be geographic data in a preset GeoJSON format, and the required gridded airspace information can be sent to the target address MQTT server in GeoJSON data format via MQTT.

[0099] In this embodiment, the bottom plane mesh determination module 40 further includes an area determination submodule and a planar meshing submodule.

[0100] The area determination submodule is used to determine the size of the projected region X;

[0101] The planar meshing submodule is used to determine the corresponding meshing level based on the area of ​​the projection region X, and to mesh the plane S with a mesh of the corresponding size. The area of ​​the projection region X is negatively correlated with the meshing level, and the size of the meshing level is negatively correlated with the mesh size. That is, the larger the area of ​​the projection region X, the lower the meshing level is selected, and the larger the mesh size is, i.e., the different mesh resolutions.

[0102] In this embodiment, the bottom plane mesh determination module 40 further includes a seed point determination submodule, a judgment submodule, and a traversal submodule;

[0103] The seed point determination submodule is used to determine the minimum latitude and longitude point in plane S as the corresponding plane grid seed point.

[0104] The judgment submodule is used to determine whether the grid intersects with or is contained within the projection area X. If it intersects with or is contained within the area X, the grid is preserved and encoded according to the grid's latitude and longitude to obtain the grid code.

[0105] The traversal submodule is used to recursively call the flood fill algorithm to determine intersection or containment in the four or eight neighborhoods of the seed point, centered on the seed point, until all planar grids in plane S are determined, and all planar grids that meet the conditions and their codes are identified and saved.

[0106] In this embodiment, a boundary mesh optimization module is also included to optimize the boundary of the bottom plane mesh obtained by the bottom plane mesh determination module 40. Specifically, this module is configured to:

[0107] The bottom plane grid boundary is discretized into individual grid points at certain distance intervals, and each grid point is gridded and encoded; wherein, the certain distance interval is set to correspond to the gridding level selected by the planar gridding submodule.

[0108] In this embodiment, the first spatial grid establishment module 50 includes a height interval determination submodule, a spatial gridding submodule, and an encoding submodule;

[0109] The height interval determination submodule is used to take the lowest height of the bottom plane grid as the height reference value (i.e., H_Min=0) and the starting point of height gridding, and the minimum height value in the geographic coordinates of the boundary contour point as the high boundary value (i.e., H_Max=a) and the ending point of height gridding.

[0110] The spatial gridding submodule is used to grid the spatial area between the minimum height point and the bottom plane grid using a 3D grid subdivision coding model. It determines the height value corresponding to each spatial grid according to the grid resolution or grid rectangle size, and calculates the geographic coordinates of the four-neighbor or eight-neighbor grids of the current grid using a grid displacement algorithm and grid size.

[0111] The encoding submodule is used to calculate the latitude and longitude values ​​of each spatial grid using the GeoHash algorithm, perform hash encoding to obtain a binary encoding sequence, and perform hash encoding on the height values ​​to obtain a height encoding sequence. The two sets of encoding sequences are then combined to obtain a unique encoding value for each spatial grid.

[0112] The embodiments of the present invention are device embodiments corresponding to the above method embodiments. The specific operations of each module processing step can be understood with reference to the description of the method embodiments, and will not be repeated here.

[0113] like Figure 3 As shown, the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the spatial meshing method described in the above embodiments.

[0114] The present invention also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it implements the spatial meshing method described in the above embodiments. When the computer program is executed by the processor, it implements the following method steps:

[0115] Step S1: Obtain the set of geographic data of the airspace boundary of the area to be gridded, and determine the shape of the airspace to be gridded; the set of geographic data of the airspace boundary includes the geographic coordinate sequence of the boundary outline points of the area to be gridded and attribute information. The geographic coordinates of the boundary outline points are a spatial three-dimensional geographic coordinate sequence including longitude, latitude and altitude. The attribute information may include the airspace geometric data type of the area to be gridded and the lowest altitude.

[0116] Step S2: Using the horizontal plane at the lowest elevation of the area to be gridded as the base plane, determine the spatial boundary based on the geographic coordinate sequence of the boundary contour points, and fill the grid upwards based on the base plane to obtain the gridded three-dimensional spatial domain. The three-dimensional spatial domain is then vertically projected onto the ground to obtain the two-dimensional projection area X.

[0117] Step S3: Based on the geographic coordinate sequence of the boundary contour points, determine the maximum and minimum points of longitude and latitude respectively, and construct plane S through the four points.

[0118] This step determines the latitude and longitude range of the airspace in the horizontal plane, providing a planar boundary for grid division.

[0119] Step S4: Mesh the plane S, then use any plane grid s as a seed point, and traverse all plane grids s using the flood fill algorithm to determine the plane grids s that intersect with or are contained in the projected region X, determine their coordinates and perform grid encoding, thereby obtaining the bottom plane grid of the region.

[0120] Step S5: Based on the geographic coordinate sequence of boundary contour points, determine the minimum height point, and use a 3D mesh subdivision and coding model to subdivide the spatial domain between the minimum height point and the bottom plane grid height to obtain the first spatial grid and coding.

[0121] Step S6: If there are multiple different height values ​​based on the geographic coordinate sequence of the boundary contour points, determine the maximum height point. Then, use a 3D mesh subdivision and coding model to subdivide the spatial domain between the minimum and maximum height points to obtain the second spatial mesh and coding. Then, proceed to the next step S7. If the height values ​​are consistent, the process ends.

[0122] Step S7: Determine the three-dimensional polygonal region between the minimum height point and the maximum height point based on the boundary contour points, and filter the second spatial mesh contained in or intersecting with the three-dimensional polygonal region to obtain the spatial mesh model of the region.

[0123] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0124] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for apparatus or system embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The apparatus and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and the contents not described in detail in the specification of the present invention are well known to those skilled in the art.

Claims

1. A spatial gridding method, characterized in that, Including the following steps: Obtain the set of geographic data of the airspace boundary of the area to be gridded; the set of geographic data of the airspace boundary includes the geographic coordinate sequence of the boundary outline points of the area to be gridded, and the geographic coordinates of the boundary outline points are a spatial three-dimensional geographic coordinate sequence including longitude, latitude and altitude; Using the horizontal plane at the lowest elevation of the area to be gridded as the base plane, the spatial boundary is determined based on the geographic coordinate sequence of the boundary contour points, and the grid is filled upward based on the base plane to obtain the gridded three-dimensional spatial domain. The three-dimensional spatial domain is then vertically projected onto the ground to obtain the two-dimensional projection area. Based on the geographic coordinate sequence of boundary contour points, the maximum and minimum points of longitude and latitude are determined respectively, and the first plane is constructed through the four points; The first plane is meshed, and then, using any plane mesh as a seed point, all plane meshes are traversed through the flood fill algorithm to determine the plane meshes that intersect with or are contained in the projected area, determine their coordinates and perform mesh encoding, thereby obtaining the bottom plane mesh of the area. Based on the geographic coordinate sequence of boundary contour points, the minimum height point is determined. The spatial domain between the minimum height point and the bottom plane grid height is divided using a 3D grid subdivision and coding model to obtain the first spatial grid and coding. If multiple different height values ​​exist based on the geographic coordinate sequence of the boundary contour points, determine the maximum height point, and then use a 3D mesh subdivision and coding model to subdivide the spatial domain between the minimum and maximum height points to obtain a second spatial mesh and code, and proceed to the next step; if the height values ​​are consistent, the process ends. Based on the boundary contour points, a three-dimensional polygonal region between the minimum and maximum height points is determined. A second spatial mesh containing or intersecting the three-dimensional polygonal region is then selected to obtain a spatial mesh model of the region.

2. The spatial gridding method as described in claim 1, characterized in that, The geographic data set of the airspace boundary includes attribute information, which includes the airspace geometric data type and the minimum altitude of the area to be gridded.

3. The spatial gridding method as described in claim 1, characterized in that, The specific steps for meshing the first plane include: Determine the size of the projection area; The corresponding meshing level is determined based on the area of ​​the projection region, and the first plane is meshed using the mesh size corresponding to the meshing level. The area of ​​the projection region is negatively correlated with the meshing level, and the size of the meshing level is negatively correlated with the mesh size.

4. The spatial gridding method as described in claim 1, characterized in that, The process of using any planar grid as a seed point, determining each planar grid that intersects with or is contained within the projected area through a flood filling algorithm, and then performing grid encoding includes the following steps: 1) Determine the plane grid with the smallest latitude and longitude point in the first plane as the grid seed point; 2) Determine whether the planar grid intersects with or is contained within the projection area. If it intersects with or is contained within the area, retain the grid and encode it according to the latitude and longitude values ​​of the planar grid to obtain the grid code. 3) Using the seed point as the center, recursively call the flood fill algorithm in the four or eight neighborhoods of the seed point and execute the judgment in step 2) until the judgment of all planar meshes in the first plane is completed.

5. The spatial gridding method as described in claim 3, characterized in that, It also includes the following steps: The bottom plane boundary grid is discretized into individual grid points at certain distance intervals, and each grid point is gridded and encoded, wherein the distance interval is set in accordance with the selected gridding level.

6. The spatial gridding method as described in claim 1, characterized in that, The spatial domain between the minimum elevation point and the lowest altitude is divided using a 3D mesh partitioning and coding model to obtain the first spatial mesh and code. The specific steps include: The height of the bottom plane grid is used as the height reference value and the starting point of the height gridding. The minimum height value in the geographic coordinates of the boundary contour point is used as the boundary value and the ending point of the height gridding. A 3D mesh partitioning and coding model is used to mesh the spatial domain between the minimum height point and the bottom plane mesh height. The height value corresponding to each spatial domain mesh is determined according to the size of the mesh rectangle. Based on the size of the mesh rectangle, the geographic coordinates of the four-neighbor or eight-neighbor meshes of the current spatial domain mesh are calculated using a mesh displacement algorithm. The latitude and longitude values ​​of each spatial grid are hashed to obtain a binary encoded sequence, and the altitude values ​​are hashed to obtain an altitude encoded sequence. The two sets of encoded sequences are then combined to obtain a unique encoded value for each spatial grid.

7. A spatial gridding device, characterized in that, include: The data input module is used to input the set of geographic data of the airspace boundary of the area to be gridded; the set of geographic data of the airspace boundary includes the geographic coordinate sequence of the boundary outline points of the area to be gridded, and the geographic coordinates of the boundary outline points are a spatial three-dimensional geographic coordinate sequence including longitude, latitude and altitude; The first processing module is used to determine the spatial boundary based on the geographic coordinate sequence of the boundary contour points, using the horizontal plane at the lowest elevation of the area to be gridded as the base plane, and fill the grid upwards based on the base plane to obtain the gridded three-dimensional spatial domain. The three-dimensional spatial domain is then vertically projected onto the ground to obtain the two-dimensional projection area. The baseline plane construction module is used to determine the maximum and minimum points of longitude and latitude based on the geographic coordinate sequence of boundary contour points, and to construct the first plane using four points. The bottom plane grid determination module is used to grid the first plane, and then, using any plane grid as a seed point, traverse all plane grids through the flood filling algorithm to determine the plane grids that intersect with or are contained in the projection area, determine their coordinates and perform grid encoding, thereby obtaining the bottom plane grid of the region. The first spatial grid establishment module is used to determine the minimum height point based on the geographic coordinate sequence of boundary contour points, and to divide the spatial domain between the minimum height point and the lowest altitude using a 3D grid subdivision and coding model to obtain the first spatial grid and its coding. The judgment module is used to determine whether there are multiple different height values ​​based on the geographic coordinate sequence of the boundary contour points. If so, it calls the second spatial grid establishment module and the grid boundary determination module. If the height values ​​are consistent, the execution ends. The second spatial grid creation module is used to determine the maximum height point. The spatial domain between the minimum height point and the maximum height point is divided using a 3D grid subdivision and coding model to obtain the second spatial grid and its coding. The mesh boundary determination module is used to determine the three-dimensional polygonal region between the minimum and maximum height points based on the boundary contour points, and to filter the second spatial mesh contained in or intersecting with the three-dimensional polygonal region, thereby obtaining the spatial mesh model of the region.

8. The spatial gridding device as described in claim 7, characterized in that, The bottom plane grid determination module includes an area determination submodule and a planar gridding submodule; The area determination submodule is used to determine the size of the projected area; The planar meshing submodule is used to determine the corresponding meshing level based on the area of ​​the projection region, and to mesh the first plane using the mesh size corresponding to the meshing level. The area of ​​the projection region is negatively correlated with the meshing level, and the size of the meshing level is negatively correlated with the mesh size.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the spatial meshing method as described in any one of claims 1 to 6.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the spatial meshing method as described in any one of claims 1 to 6.

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