Communication scheduling method and system

Abstract

The invention relates to a communication scheduling method and system. The communication scheduling method comprises the following steps: acquiring a satellite clock signal; calculating the phase difference between the satellite clock signal and the local clock signal; obtaining a high-precision clock reference based on the phase difference and a Kalman filtering algorithm; obtaining a time slot distribution matrix and aircraft position-time slot associated data based on the high-precision clock reference; constructing a three-dimensional grid model based on the high-precision clock reference; obtaining a predicted trajectory of the aircraft based on the three-dimensional grid model and the aircraft position-time slot associated data; and obtaining an optimal resource pre-allocation scheme based on the three-dimensional grid model, the prediction trajectory and the time slot allocation matrix. When the scheme is applied to a dense airspace aircraft communication scene, the communication conflict is low, the resource utilization rate is high, the synchronization stability is good, and large-scale aircraft conflict-free efficient communication scheduling can be supported.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication scheduling, and particularly relates to a communication scheduling method and system. BACKGROUND

[0002] In the communication scenario of dense airspace vehicles (such as unmanned aerial vehicles, low-altitude flying vehicles), the existing technology is difficult to meet the four core requirements of “time synchronization accuracy, spatial resource adaptation, time-space collaborative scheduling, and environmental interference resistance” at the same time, resulting in high communication conflict rate, low resource utilization rate, poor synchronization stability, and being unable to support large-scale vehicle conflict-free and efficient communication scheduling. SUMMARY

[0003] Therefore, it is necessary to provide a communication scheduling method and system in view of the problems in the prior art.

[0004] In order to achieve the above-mentioned purpose, in a first aspect, the present application provides a communication scheduling method, which comprises the following steps:

[0005] obtaining a satellite clock signal;

[0006] calculating the phase difference between the satellite clock signal and a local clock signal;

[0007] obtaining a high-precision clock reference based on the phase difference and a Kalman filtering algorithm;

[0008] obtaining a time slot allocation matrix and vehicle position-time slot association data based on the high-precision clock reference;

[0009] constructing a three-dimensional grid model based on the high-precision clock reference;

[0010] obtaining a predicted trajectory of a vehicle based on the three-dimensional grid model and the vehicle position-time slot association data;

[0011] obtaining an optimal resource pre-allocation scheme based on the three-dimensional grid model, the predicted trajectory and the time slot allocation matrix.

[0012] The communication scheduling method comprises the following steps: acquiring a satellite clock signal; calculating a phase difference between the satellite clock signal and a local clock signal; obtaining a high-precision clock reference based on the phase difference and a Kalman filtering algorithm; obtaining a time slot allocation matrix and aircraft position-time slot association data based on the high-precision clock reference; constructing a three-dimensional grid model based on the high-precision clock reference; obtaining a predicted trajectory of an aircraft based on the three-dimensional grid model and the aircraft position-time slot association data; and obtaining an optimal resource pre-allocation scheme based on the three-dimensional grid model, the predicted trajectory and the time slot allocation matrix. When applied to a dense airspace aircraft communication scenario, the scheme has low communication conflict, high resource utilization and good synchronization stability, and can support large-scale aircraft conflict-free and efficient communication scheduling.

[0013] In some embodiments, the acquiring of the satellite clock signal comprises the following steps:

[0014] Acquiring a satellite atomic clock time signal;

[0015] Performing ionospheric delay error elimination processing on the satellite atomic clock time signal by using a carrier phase measurement technology to obtain a satellite clock signal.

[0016] In some embodiments, the obtaining of the high-precision clock reference based on the phase difference and the Kalman filtering algorithm comprises the following steps:

[0017] Gradually adjusting a clock frequency of the local clock based on the phase difference by using a digital phase-locked loop;

[0018] Evaluating a drift rate of the local clock and a clock deviation between the local clock and the satellite atomic clock by using a Kalman filtering algorithm;

[0019] Eliminating an influence of an ambient temperature on a crystal oscillator frequency of a crystal oscillator in the local clock by using a temperature compensation circuit;

[0020] Continuously iterating the above steps for several times until the phase difference between the satellite clock signal and the local clock signal converges to a preset threshold, and a high-precision clock reference is obtained.

[0021] In some embodiments, the obtaining of the time slot allocation matrix and the aircraft position-time slot association data based on the high-precision clock reference comprises the following steps:

[0022] Sending, by a current aircraft, a time slot use request to a radar system based on the high-precision clock reference;

[0023] Searching for and acquiring, by the radar system, a currently allocable time slot resource;

[0024] Judging whether a time slot allocation of the searched and acquired time slot resource conflicts with a time slot allocation of another aircraft;

[0025] When there is no conflict, the radar system provides a time slot allocation scheme to the current aircraft;

[0026] The current aircraft provides confirmation feedback to the time slot allocation scheme;

[0027] After receiving the confirmation feedback, the radar system obtains a time slot allocation matrix and aircraft position-time slot association data based on the time slot allocation scheme.

[0028] In some embodiments, the three-dimensional grid model is constructed based on the high-precision clock reference, including: dividing the three-dimensional space using an adaptive octree structure to construct a three-dimensional grid model.

[0029] In some embodiments, the formula for the grid side length L in the three-dimensional grid model is:

[0030]

[0031] where, is the maximum flight speed of the aircraft in the current airspace; is the minimum grid side length; is the update period; is the safety factor.

[0032] In some embodiments, the predicted trajectory of the aircraft is obtained based on the three-dimensional grid model and the aircraft position-time slot association data, including:

[0033] The historical position-time slot sequence of the aircraft is obtained based on the three-dimensional grid model and the aircraft position-time slot association data;

[0034] The historical position-time slot sequence is input into an improved LSTM-TCN hybrid neural network model for prediction to obtain the predicted trajectory.

[0035] In some embodiments, the optimal resource pre-allocation scheme is obtained based on the three-dimensional grid model, the predicted trajectory, and the time slot allocation matrix, including:

[0036] An improved MOEA / D multi-objective algorithm is used to solve it to obtain the optimal resource pre-allocation scheme.

[0037] In some embodiments of the improved MOEA / D multi-objective algorithm, the minimum interference and maximum resource utilization are targeted, and the objective function is ≥ and ≥ is the constraint; where, is the communication frequency point interval between grids in the three-dimensional grid model; is the minimum allowed interval; is a gap offset interval between grids in a three-dimensional grid model; is a protection time slot.

[0038] In a second aspect, the application further provides a communication scheduling system, comprising:

[0039] a synchronization signal triggering module, configured to acquire a satellite clock signal, calculate a phase difference between the satellite clock signal and a local clock signal, and obtain a high-precision clock reference based on the phase difference and a Kalman filtering algorithm;

[0040] a time division multiple access communication scheduling module, configured to obtain a time slot allocation matrix and aircraft position-time slot association data based on the high-precision clock reference;

[0041] a three-dimensional space partition management module, configured to construct a three-dimensional grid model based on the high-precision clock reference, obtain a predicted trajectory of an aircraft based on the three-dimensional grid model and the aircraft position-time slot association data, and obtain an optimal resource pre-allocation scheme based on the three-dimensional grid model, the predicted trajectory, and the time slot allocation matrix.

[0042] The communication scheduling system described above, by setting the synchronization signal triggering module, the time division multiple access communication scheduling module, and the three-dimensional space partition management module, when applied to a dense airspace aircraft communication scenario, has low communication conflicts, high resource utilization, and good synchronization stability, and can support large-scale aircraft conflict-free and efficient communication scheduling. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0044] Figure 1 is a flowchart of the communication scheduling system provided in an embodiment of the present application;

[0045] Figure 2 is a structural block diagram of the communication scheduling method provided in another embodiment of the present application.

[0046] Legend of reference numerals: 10, synchronization signal triggering module; 20, time division multiple access communication scheduling module; 30, three-dimensional space partition management module. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0048] In one embodiment, see Figure 1 This application also provides a communication scheduling method, which may include the following steps: S10~S70.

[0049] S10: Acquire satellite clock signal.

[0050] S20: Calculate the phase difference between the satellite clock signal and the local clock signal.

[0051] S30: A high-precision clock reference is obtained based on the phase difference and Kalman filtering algorithm.

[0052] S40: Obtain the time slot allocation matrix and the aircraft position-time slot correlation data based on the high-precision clock reference.

[0053] S50: Construct a three-dimensional mesh model based on the high-precision clock reference.

[0054] S60: The predicted trajectory of the aircraft is obtained based on the three-dimensional mesh model and the aircraft position-time slot correlation data.

[0055] S70: Based on the three-dimensional mesh model, the predicted trajectory, and the time slot allocation matrix, the optimal resource pre-allocation scheme is obtained.

[0056] The communication scheduling method in this embodiment, when applied to dense airspace aircraft communication scenarios, exhibits low communication conflicts, high resource utilization, and good synchronization stability, and can support conflict-free and efficient communication scheduling for large-scale aircraft.

[0057] As an example, step S10, obtaining the satellite clock signal, may include the following steps: S101~S102.

[0058] S101: Acquire satellite atomic clock time signal.

[0059] As an example, satellite atomic clock time signals can be obtained through a dual-frequency GPS / BeiDou receiver.

[0060] S102: The satellite atomic clock time signal is processed to eliminate ionospheric delay error using carrier phase measurement technology to obtain the satellite clock signal.

[0061] As an example, the obtained satellite clock signal may include a 1PPS synchronization pulse, a UTC time code, and a 10MHz reference clock.

[0062] As an example, in step S20, a local rubidium atomic oscillator (rubidium atomic clock) is used as the reference clock source, and its daily stability is better than 1×10⁻⁶. -12 This allows for short-term time accuracy to be maintained even when the satellite clock signal is lost. Specifically, the phase difference between the local clock of the local rubidium atomic oscillator and the satellite clock signal can be measured using a phase comparator.

[0063] As an example, step S30, obtaining a high-precision clock reference based on the phase difference and the Kalman filter algorithm, may include the following steps:

[0064] S301: The local clock frequency is gradually adjusted by the digital phase-locked loop based on the phase difference.

[0065] As an example, the digital phase-locked loop gradually adjusts the output frequency of the rubidium atomic clock according to the phase difference.

[0066] S302: Evaluate the drift rate of the local clock and the clock deviation between the local clock and the satellite atomic clock using the Kalman filter algorithm.

[0067] As an example, the Kalman filter algorithm compares the drift rate of the local clock and the real-time deviation between the local clock and the satellite atomic clock to estimate the constant deviation.

[0068] S303: A temperature compensation circuit is used to eliminate the influence of ambient temperature on the crystal frequency of the crystal oscillator in the local clock.

[0069] As an example, the temperature compensation circuit monitors the ambient temperature, dynamically adjusts the crystal oscillator parameters to offset the temperature effect, and feeds back the correction command to the rubidium atomic clock to eliminate the influence of ambient temperature on the crystal oscillator frequency in the local clock.

[0070] S304: Continue iterating the above steps several times until the phase difference between the satellite clock signal and the local clock signal converges to a preset threshold, thus obtaining a high-precision clock reference.

[0071] As an example, step S40, which involves obtaining the time slot allocation matrix and the aircraft position-time slot association data based on the high-precision clock reference, may include the following steps: S401~S406.

[0072] S401: The current aircraft sends a time slot usage request to the radar system based on the high-precision clock reference.

[0073] As an example, the time slot usage request is a time slot usage request with a synchronized UTC timestamp and a corrected time, which includes the current aircraft's ID, location, and communication requirements.

[0074] S402: The radar system searches for and acquires currently available time slot resources.

[0075] As an example, the time slot allocation matrix can be queried using the synchronous UTC timestamp as an index to filter for available time slots in the current / future frames; an improved Hungarian algorithm is used, calculated based on the following cost function formula, to filter out currently allocable time slot resources:

[0076]

[0077] Where C is the comprehensive optimization objective value; For aircraft weighting coefficients; The communication distance of aircraft i; This is the time slot lifetime weighting coefficient; Let j be the remaining lifetime of time slot j; These are the interference factor weighting coefficients; It is an interference factor.

[0078] As an example, the currently available time slot resources obtained through filtering are several optimal candidate time slot resources selected from the idle time slots.

[0079] S403: Determine whether the time slot resources obtained through the search conflict with the time slot allocation of other aircraft.

[0080] As an example, a collision detection window Wc = 3 consecutive time slots can be established, and collisions can be identified using the following criteria:

[0081]

[0082] in, For received power; Power threshold; Let i be the arrival time; Let j be the arrival time; The cyclic redundancy check result is incorrect; To protect time; For logical AND.

[0083] Specifically, If the received power is greater than the power threshold, it indicates that valid signal energy has been detected. The cyclic redundancy check result is incorrect, indicating that there is data distortion during signal transmission; If the absolute value of the difference between the arrival times of the two signals is less than the protection time, it indicates that the two signals overlap in time; the above three conditions are met. A connection is defined as follows: the condition is true only if the received power is greater than the power threshold, the cyclic redundancy check result is incorrect, and the two signals overlap. In other words, a conflict is determined at this time.

[0084] S404: When there is no conflict, the radar system provides a time slot allocation scheme to the current aircraft.

[0085] As an example, when there is no conflict, the radar system can lock the optimal time slot resource and generate an allocation intention; use a synchronized UTC timestamp to determine when the locked optimal time slot resource is effective to ensure consistency with the time reference of the current aircraft; and after determination, provide a time slot allocation scheme to the current aircraft.

[0086] S405: The current aircraft confirms the time slot allocation scheme.

[0087] As an example, the effective time of the time slot in the time slot allocation scheme provided by the current aircraft verification is aligned with its own time; if yes, a confirmation signal is fed back; if no, a signal indicating that adjustment is needed is fed back.

[0088] S406: After receiving the confirmation feedback, the radar system obtains the time slot allocation matrix and the aircraft position-time slot correlation data based on the time slot allocation scheme.

[0089] As an example, the effective period of a time slot can be locked based on the synchronized UTC timestamp; a formal time slot allocation instruction can be generated, which clearly indicates information such as "aircraft ID, time slot number, effective UTC timestamp, and end UTC timestamp"; using the effective UTC timestamp in the formal time slot allocation instruction as an index, the corresponding "frame-time slot" position in the matrix can be found; the element at this position can be updated with the corresponding aircraft ID to complete the matrix update, and finally, the time slot allocation matrix and the aircraft position-time slot association data can be obtained.

[0090] As an example, in step S50, the construction of a three-dimensional mesh model based on the high-precision clock reference may include: using an adaptive octree structure to divide the three-dimensional spatial domain in order to construct a three-dimensional mesh model.

[0091] Specifically, in the aforementioned three-dimensional mesh model, the formula for calculating the mesh side length L can be as follows:

[0092]

[0093] in, This is the maximum flight speed in the current airspace; Minimum grid side length; This refers to the system update cycle; For safety reasons, the default value can be 0.3.

[0094] As an example, the mesh attributes in the three-dimensional mesh model may include communication frequency points. Time slot offset and power reference .

[0095] In scenarios where an adaptive octree partitions a 3D airspace, the dynamic calculation of the mesh side length L ensures that the mesh size can adapt to the flight state within the airspace (such as the maximum speed v). max (While meeting both safety and minimum accuracy requirements) And grid properties (communication frequency points) Time slot offset and power reference The purpose of this is to achieve communication coordination and resource management within and between grids. These grid attributes bind the dynamically divided spatial grids with communication resources (frequency, time, and power) to achieve coordination of "spatial partitioning - resource allocation - secure communication": the grid side length L ensures the rationality of spatial partitioning (adapting to speed, security, and accuracy); communication frequency and time slot offsets solve the interference problem of multi-grid communication; and the power reference balances communication quality and system efficiency based on grid size and dynamic characteristics.

[0096] As an example, in step S60, the predicted trajectory of the aircraft is obtained based on the three-dimensional mesh model and the aircraft position-time slot correlation data, which may include the following steps: S601~S602.

[0097] S601: Based on the three-dimensional mesh model and the aircraft position-time slot correlation data, obtain the historical position-time slot sequence of the aircraft.

[0098] S602: Input the historical location-time slot sequence into the improved LSTM-TCN hybrid neural network model for prediction to obtain the predicted trajectory.

[0099] As an example, the formula for the improved LSTM-TCN hybrid neural network model can be as follows:

[0100]

[0101] in, The predicted output of the improved LSTM-TCN hybrid neural network model at time t+1; This is a nonlinear mapping function for temporal convolutional networks, used to extract local spatiotemporal features of the input sequence; These are the convolution weight parameters in a temporal convolutional network, used to perform convolution operations on the input sequence; The input sequence is the historical sequence from time tn to time t. It is a non-linear mapping function for long short-term memory networks, used to capture long-term dependencies in sequences; These are the recurrent weight parameters in a Long Short-Term Memory (LSTM) network, used to handle the propagation of historical hidden states. This represents the hidden state of the Long Short-Term Memory network at time t-1.

[0102] As an example, in step S70, obtaining the optimal resource pre-allocation scheme based on the three-dimensional mesh model, the predicted trajectory, and the time slot allocation matrix may include the following: using an improved MOEA / D multi-objective algorithm to solve the problem and obtain the optimal resource pre-allocation scheme.

[0103] As an example, in the improved MOEA / D multi-objective algorithm, the objectives are minimum disturbance and maximum resource utilization. ≥ and ≥ For constraints; where, This refers to the communication frequency interval between meshes in a 3D mesh model. Minimum allowable interval; This refers to the spacing and offset between meshes in a 3D mesh model. To protect time slots, the corresponding formula can be as follows:

[0104]

[0105] in, The first optimization objective; Let N be the communication interference power of the i-th grid; N is the total number of grids. The second optimization objective; Let M be the utilization rate of the j-th communication resource; M is the total number of communication resources. These are constraints; This refers to the communication frequency interval between meshes in a 3D mesh model. Minimum allowable interval; This refers to the spacing and offset between meshes in a 3D mesh model. To protect the time slots.

[0106] It should be understood that, although Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0107] In another embodiment, please refer to Figure 1 SeeFigure 2 This application also provides a communication scheduling system, which can be used to perform tasks such as... Figure 1 The communication scheduling system described in the corresponding embodiments includes the following components: a synchronization signal triggering module 10, a time-division multiple access communication scheduling module 20, and a three-dimensional airspace partitioning management module 30. The synchronization signal triggering module 10 acquires a satellite clock signal, calculates the phase difference between the satellite clock signal and the local clock signal, and obtains a high-precision clock reference based on the phase difference and a Kalman filter algorithm. The time-division multiple access communication scheduling module 20 obtains a time slot allocation matrix and aircraft position-time slot correlation data based on the high-precision clock reference. The three-dimensional airspace partitioning management module 30 constructs a three-dimensional mesh model based on the high-precision clock reference, obtains the predicted trajectory of the aircraft based on the three-dimensional mesh model and the aircraft position-time slot correlation data, and obtains the optimal resource pre-allocation scheme based on the three-dimensional mesh model, the predicted trajectory, and the time slot allocation matrix.

[0108] The aforementioned communication scheduling system, by setting up a synchronization signal triggering module 10, a time-division multiple access communication scheduling module 20, and a three-dimensional airspace partition management module 30, can support conflict-free and efficient communication scheduling of large-scale aircraft when applied to dense airspace aircraft communication scenarios, with low communication conflicts, high resource utilization, and good synchronization stability.

[0109] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features of the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method of communication scheduling, characterized by, The method comprises: acquiring a satellite clock signal; calculating a phase difference between the satellite clock signal and a local clock signal; obtaining a high-precision clock reference based on the phase difference and a Kalman filtering algorithm; obtaining a time slot allocation matrix and aircraft position-time slot association data based on the high-precision clock reference; constructing a three-dimensional grid model based on the high-precision clock reference; obtaining a predicted trajectory of an aircraft based on the three-dimensional grid model and the aircraft position-time slot association data; obtaining an optimal resource pre-allocation scheme based on the three-dimensional grid model, the predicted trajectory and the time slot allocation matrix.

2. The method of claim 1, wherein, The method of acquiring a satellite clock signal comprises: acquiring a satellite atomic clock time signal; using a carrier phase measurement technology to eliminate ionospheric delay error processing on the satellite atomic clock time signal to obtain a satellite clock signal.

3. The method of claim 2, wherein, The method of obtaining a high-precision clock reference based on the phase difference and a Kalman filtering algorithm comprises: gradually adjusting the clock frequency of the local clock based on the phase difference by a digital phase-locked loop; evaluating the drift rate of the local clock, the clock deviation between the local clock and the satellite atomic clock by a Kalman filtering algorithm; using a temperature compensation circuit to eliminate the influence of environmental temperature on the crystal frequency of the crystal oscillator in the local clock; iterating the above steps for several times until the phase difference between the satellite clock signal and the local clock signal converges to a preset threshold, i.e. obtaining a high-precision clock reference.

4. The method of claim 1, wherein, The method of obtaining a time slot allocation matrix and aircraft position-time slot association data based on the high-precision clock reference comprises: the current aircraft sends a time slot usage request to a radar system based on the high-precision clock reference; the radar system searches for and obtains currently allocable time slot resources; judging whether the searched time slot resources conflict with the time slot allocation of other aircrafts; when there is no conflict, the radar system provides a time slot allocation scheme to the current aircraft; the current aircraft confirms and feeds back the time slot allocation scheme; after receiving the confirmation feedback, the radar system obtains a time slot allocation matrix and aircraft position-time slot association data based on the time slot allocation scheme.

5. The method of claim 1, wherein, The method of constructing a three-dimensional grid model based on the high-precision clock reference comprises: dividing a three-dimensional space using an adaptive octree structure to construct a three-dimensional grid model.

6. The method of claim 5, wherein, The formula of the grid length L in the three-dimensional grid model is: wherein, Vmax is the maximum flight speed of the aircraft in the current airspace; Lmin is the minimum grid side length; T is the update period; Ks is the safety factor.

7. The method of claim 1, wherein, The method of obtaining a predicted trajectory of an aircraft based on the three-dimensional grid model and the aircraft position-time slot association data comprises: obtaining a historical position-time slot sequence of the aircraft based on the three-dimensional grid model and the aircraft position-time slot association data; inputting the historical position-time slot sequence into an improved LSTM-TCN hybrid neural network model for prediction to obtain the predicted trajectory.

8. The method of claim 1, wherein, The method of obtaining an optimal resource pre-allocation scheme based on the three-dimensional grid model, the predicted trajectory and the time slot allocation matrix comprises: solving by using an improved MOEA / D multi-objective algorithm to obtain an optimal resource pre-allocation scheme.

9. The method of claim 8, wherein, In the improved MOEA / D multi-objective algorithm, the minimum interference and the maximum resource utilization are taken as the objectives, and the following constraints are taken is the communication frequency point interval between grids in the three-dimensional grid model; is the minimum allowed interval; is the gap offset interval between grids in the three-dimensional grid model; is the guard time slot.​​​​ 10. A communication scheduling system characterized by, The communication scheduling system comprises: A synchronization signal triggering module is configured to acquire a satellite clock signal, calculate a phase difference between the satellite clock signal and a local clock signal, and obtain a high-precision clock reference based on the phase difference and a Kalman filtering algorithm. A time-division multiple access communication scheduling module is configured to obtain a time slot allocation matrix and aircraft position-time slot association data based on the high-precision clock reference. A three-dimensional space partition management module is configured to construct a three-dimensional grid model based on the high-precision clock reference, obtain a predicted trajectory of an aircraft based on the three-dimensional grid model and the aircraft position-time slot association data, and obtain an optimal resource pre-allocation scheme based on the three-dimensional grid model, the predicted trajectory, and the time slot allocation matrix.

Images