Low-altitude aircraft cross-region flight plan compilation and flight handover control method and system

Abstract

A low-altitude aircraft cross-region flight plan compilation and flight handover control method and system, with a common handover point pair as a connection point, connects multiple cross-region sub-routes into a total cross-region operation route, first compiles a flight plan for a cross-region sub-route controlled by a jurisdictional area serving as a benchmark reference area, and then compiles flight plans for cross-region sub-routes controlled by jurisdictional areas serving as non-benchmark reference areas according to the time when a low-altitude aircraft passes through a handover point pair on a cross-region sub-route controlled by a jurisdictional area serving as a benchmark reference area, ultimately obtaining a flight plan for a total cross-region operation route, thereby breaking through the limitation of compiling a flight plan within a single control system jurisdictional area and improving the safety and reliability of cross-region low-altitude flight. A cross-region handover overlap area is set on both sides of the regional boundary, a handover side control system and a receiving side control system jointly cover the handover overlap area, and data information is shared in real time and synchronously during the handover process, thereby ensuring smooth transition of the handover.

Description

Technical Field

[0001] This invention relates to the field of low-altitude economy, and in particular to a method for developing cross-regional flight plans for low-altitude aircraft, a method for controlling the handover of cross-regional flights of low-altitude aircraft, and a control system for cross-regional flights of low-altitude aircraft. Background Technology

[0002] With the rapid development of the low-altitude economy, low-altitude flight activities are becoming increasingly frequent, and the demand for low-altitude cross-regional operations is also constantly increasing. Low-altitude aircraft have broad application prospects in logistics distribution, emergency rescue, tourism, and urban air traffic. However, low-altitude cross-regional operations currently face many challenges, especially in cross-regional flight planning and handover control.

[0003] Regarding flight planning, existing technical solutions are mostly focused on flight planning within the jurisdiction of a single control system. There is a lack of systematic solutions for flight planning across jurisdictions, which affects the feasibility and safety of cross-regional flight plans. In terms of cross-regional handover control, existing handover processes suffer from poor communication and information sharing, leading to low handover efficiency, potential flight conflicts and safety hazards. Furthermore, the lack of unified handover rules increases the complexity and risk of the handover process.

[0004] The statements herein provide only background information in relation to this invention and do not necessarily constitute prior art. Summary of the Invention

[0005] The purpose of this invention is to provide a method for developing cross-regional flight plans for low-altitude aircraft, a method for controlling the handover of cross-regional flights for low-altitude aircraft, and a system for managing cross-regional flights for low-altitude aircraft. These methods combine offline flight plan development with online cross-regional operation, achieving a closed-loop management and control system for cross-regional operations and improving the safety and reliability of low-altitude cross-regional flights.

[0006] To achieve the above objectives, this invention provides a method for developing cross-regional flight plans for low-altitude aircraft, based on a cross-regional flight control system for low-altitude aircraft. This system comprises multiple regional control systems, each corresponding to a jurisdictional area. The method for developing cross-regional flight plans for low-altitude aircraft includes: Multiple regional control systems jointly designate any one of the multiple jurisdictions as the baseline reference area, and the remaining jurisdictions as non-baseline reference areas; Each of the aforementioned regional control systems determines the cross-regional sub-routes controlled by each jurisdiction. The cross-regional sub-routes include multiple waypoints, and the waypoints include at least one handover waypoint pair. The handover waypoint pair includes a departure handover waypoint and an arrival handover waypoint located in the current jurisdiction and an adjacent jurisdiction, respectively. Multiple regional control systems use a common handover waypoint pair as a connection point to connect the cross-regional sub-routes controlled by each jurisdiction to form a total cross-regional operating route; The regional control system compiles flight plans for cross-regional sub-routes controlled by the jurisdiction area serving as a reference area. The flight plans include the time for low-altitude aircraft to pass through various waypoints on the cross-regional sub-routes. Multiple regional control systems sequentially compile flight plans for cross-regional sub-routes controlled by jurisdictions that serve as reference areas, based on the time when low-altitude aircraft pass through handover waypoint pairs on cross-regional sub-routes controlled by jurisdictions that serve as non-reference areas. This process generates flight plans for cross-regional sub-routes controlled by jurisdictions that serve as non-reference areas, ultimately resulting in a flight plan for the total cross-regional operation routes.

[0007] The departure handover point is the last point within the jurisdiction of the cross-regional sub-line, and the entry handover point is the first point within the next jurisdiction of the cross-regional sub-line. Alternatively, the departure handover point is the last point in the previous jurisdiction where the cross-regional sub-route is located, and the entry handover point is the first point in the current jurisdiction where the cross-regional sub-route is located.

[0008] Multiple regional control systems jointly designate a jurisdiction including the departure airport as a baseline reference area.

[0009] When the jurisdiction includes a departure airport, the starting point of the cross-regional sub-route controlled by the jurisdiction is the departure airport, and the ending point is the entry handover point located in the next jurisdiction. When the jurisdiction includes an arrival airport, the origin of the cross-regional sub-route controlled by the jurisdiction is the departure handover point located in the previous jurisdiction, and the destination is the arrival airport; When the jurisdiction does not include either a departure airport or an arrival airport, the starting point of the cross-regional sub-route controlled by the jurisdiction is the departure handover point located in the previous jurisdiction, and the ending point is the arrival handover point located in the next jurisdiction.

[0010] This invention also provides a method for handover control of low-altitude aircraft inter-regional flights, implemented based on a low-altitude aircraft inter-regional flight control system. This method is used to perform handover control on low-altitude aircraft executing flight plans for inter-regional total operating routes obtained through the aforementioned low-altitude aircraft inter-regional flight plan preparation method. The low-altitude aircraft inter-regional flight control system includes multiple regional control systems, each corresponding to a jurisdictional area. The low-altitude aircraft inter-regional flight handover control method includes: The area where the handover point is located is the handover overlap area; the area between the jurisdiction boundary and the area leaving the handover point is the upstream handover area; and the area between the jurisdiction boundary and the area entering the handover point is the downstream handover area. The regional control system that controls the jurisdiction where the upstream transfer area is located is the transferor control system, and the regional control system that controls the jurisdiction where the downstream transfer area is located is the receiver control system. When a low-altitude aircraft flies along a cross-regional sub-route and its safety protection envelope is completely within the upstream handover area, both the handover control system and the receiving control system communicate with the low-altitude aircraft, and both send flight authorizations to the low-altitude aircraft. The low-altitude aircraft then executes the flight according to the flight authorizations sent by the handover control system. When a low-altitude aircraft crosses the boundary of a jurisdiction, the safety protection envelope of the low-altitude aircraft is partially located in the upstream transfer area and partially located in the downstream transfer area. Both the transferor control system and the receiver control system communicate with the low-altitude aircraft, and both the transferor control system and the receiver control system send flight authorizations to the low-altitude aircraft. The low-altitude aircraft executes the flight according to the flight authorization sent by the transferor control system or the receiver control system. When the safety protection envelope of a low-altitude aircraft is entirely located in the downstream handover area, both the handover control system and the receiving control system communicate with the low-altitude aircraft, and both send flight authorizations to the low-altitude aircraft. The low-altitude aircraft then executes its flight based on the flight authorizations sent by the receiving control system.

[0011] When the safety protection envelope of a low-altitude aircraft crosses the jurisdiction boundary, the low-altitude aircraft shall prioritize flight according to the flight authorization sent by the receiving control system.

[0012] When the safety protection envelope of a low-altitude aircraft is entirely located in the downstream handover area, if the flight authorization sent by the receiving control system is invalid, the low-altitude aircraft shall perform flight according to the flight authorization sent by the handover control system.

[0013] When a low-altitude aircraft flies along a cross-regional sub-route, before the end of the low-altitude aircraft's safety protection envelope enters the upstream handover area, only the handover control system communicates with the low-altitude aircraft. The handover control system sends flight authorization to the low-altitude aircraft, and the low-altitude aircraft executes the flight according to the flight authorization sent by the handover control system. The handover control system sends the low-altitude aircraft's position information to the receiving control system, and the receiving control system waits to send flight authorization to the low-altitude aircraft.

[0014] When a low-altitude aircraft flies along a cross-regional sub-route, after the front end of the low-altitude aircraft's safety protection envelope flies out of the downstream handover area, only the receiving control system communicates with the low-altitude aircraft. The receiving control system sends flight authorization to the low-altitude aircraft, and the low-altitude aircraft executes the flight according to the flight authorization sent by the receiving control system.

[0015] The present invention also provides a low-altitude aircraft cross-regional flight control system for implementing the method for compiling the low-altitude aircraft cross-regional flight plan, comprising multiple regional control systems, each of which controls a jurisdiction area. Multiple regional control systems jointly designate one jurisdiction as the baseline reference area, and the remaining jurisdictions as non-baseline reference areas; Each of the aforementioned area control systems is used to determine the cross-regional sub-routes under its control and to prepare flight plans for the cross-regional sub-routes; Multiple regional control systems synchronize the flight plans of all cross-regional sub-routes and cross-regional sub-routes in real time, and ultimately obtain the total cross-regional operating routes and the flight plans for the total cross-regional operating routes. The low-altitude aircraft cross-regional flight control system is used to implement the aforementioned low-altitude aircraft cross-regional flight handover control method; The regional control system for the jurisdiction where the upstream transfer area is located is the transferor's control system. The regional control system for the jurisdiction where the downstream transfer area is located is the receiving party's control system; The area where the handover point is located is the handover overlap area; the area between the jurisdiction boundary and the area leaving the handover point is the upstream handover area; and the area between the jurisdiction boundary and the area entering the handover point is the downstream handover area. When a low-altitude aircraft flies along a cross-regional sub-route and its safety protection envelope is completely within the upstream handover area, both the handover control system and the receiving control system communicate with the low-altitude aircraft, and both send flight authorizations to the low-altitude aircraft. The low-altitude aircraft then executes the flight according to the flight authorizations sent by the handover control system. When a low-altitude aircraft crosses the boundary of a jurisdiction, the safety protection envelope of the low-altitude aircraft is partially located in the upstream transfer area and partially located in the downstream transfer area. Both the transferor control system and the receiver control system communicate with the low-altitude aircraft, and both the transferor control system and the receiver control system send flight authorizations to the low-altitude aircraft. The low-altitude aircraft executes the flight according to the flight authorization sent by the transferor control system or the receiver control system. When the safety protection envelope of a low-altitude aircraft is entirely located in the downstream handover area, both the handover control system and the receiving control system communicate with the low-altitude aircraft, and both send flight authorizations to the low-altitude aircraft. The low-altitude aircraft then executes its flight based on the flight authorizations sent by the receiving control system.

[0016] When the safety protection envelope of a low-altitude aircraft crosses the jurisdiction boundary, the low-altitude aircraft shall prioritize flight according to the flight authorization sent by the receiving control system.

[0017] When the safety protection envelope of a low-altitude aircraft is entirely located in the downstream handover area, if the flight authorization sent by the receiving control system is invalid, the low-altitude aircraft shall perform flight according to the flight authorization sent by the handover control system.

[0018] When a low-altitude aircraft flies along a cross-regional sub-route, before the end of the low-altitude aircraft's safety protection envelope enters the upstream handover area, only the handover control system communicates with the low-altitude aircraft. The handover control system sends flight authorization to the low-altitude aircraft, and the low-altitude aircraft executes the flight according to the flight authorization sent by the handover control system. The handover control system sends the low-altitude aircraft's position information to the receiving control system, and the receiving control system waits to send flight authorization to the low-altitude aircraft.

[0019] When a low-altitude aircraft flies along a cross-regional sub-route, after the front end of the low-altitude aircraft's safety protection envelope flies out of the downstream handover area, only the receiving control system communicates with the low-altitude aircraft. The receiving control system sends flight authorization to the low-altitude aircraft, and the low-altitude aircraft executes the flight according to the flight authorization sent by the receiving control system.

[0020] This invention manages the cross-regional operation of low-altitude aircraft from two aspects: pre-flight cross-regional flight planning and in-flight cross-regional flight handover control. It combines offline flight planning with online cross-regional operation, realizes a closed loop of cross-regional operation management, and improves the safety and reliability of low-altitude cross-regional flights.

[0021] The method for developing cross-regional flight plans for low-altitude aircraft provided by this invention breaks through the limitation of developing flight plans within the jurisdiction of a single control system, thereby improving the safety and reliability of cross-regional low-altitude flights.

[0022] The low-altitude aircraft cross-regional flight handover control method provided by the present invention sets up a cross-regional handover overlap zone on both sides of the regional boundary. The handover party's control system and the receiving party's control system jointly cover the handover overlap zone, and data information is shared synchronously in real time during the handover process, ensuring a smooth handover transition. Attached Figure Description

[0023] Figure 1 This is a cross-regional flight plan for low-altitude aircraft compiled in one embodiment of the present invention.

[0024] Figure 2 Is the compilation as Figure 1 The flowchart shows the method for the flight plan.

[0025] Figure 3This is a low-altitude aircraft cross-regional flight plan prepared in another embodiment of the present invention.

[0026] Figure 4 This is a flowchart illustrating a low-altitude aircraft cross-regional flight handover control method provided in one embodiment of the present invention. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clearly illustrate the embodiments of the present invention. Please refer to the drawings to make the objectives, features, and advantages of the present invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by the present invention, should still fall within the scope of the technical content disclosed in the present invention.

[0028] This invention provides a method for preparing cross-regional flight plans for low-altitude aircraft, comprising the following steps: Designate any one of the multiple jurisdictions as the base reference area, and the remaining jurisdictions as non-base reference areas; Determine the cross-regional sub-routes controlled by each jurisdiction, wherein the cross-regional sub-routes include multiple waypoints, and the waypoints include at least one handover waypoint pair, wherein the handover waypoint pair includes a departure handover waypoint and an arrival handover waypoint located in the current jurisdiction and an adjacent jurisdiction, respectively. Using common handover point pairs as connection points, the cross-regional sub-routes controlled by each jurisdiction are interconnected to form a total cross-regional operating route; Prepare flight plans for inter-regional sub-routes controlled by the jurisdiction serving as a reference area, the flight plans including the time for low-altitude aircraft to pass through each waypoint on the inter-regional sub-routes; Based on the time when low-altitude aircraft pass through the handover waypoint pairs on the cross-regional sub-routes controlled by the jurisdiction that serves as the reference area, the times when low-altitude aircraft pass through other waypoints on the cross-regional sub-routes controlled by the jurisdiction that serves as the non-reference area, except for the common handover waypoint pairs, are sequentially compiled to form the flight plan for the cross-regional sub-routes controlled by the jurisdiction that serves as the non-reference area, and finally obtain the flight plan for the total cross-regional operation route.

[0029] In one embodiment of the present invention, such as Figure 1As shown, a low-altitude aircraft needs to fly from airport A in the first jurisdiction to airport B in the second jurisdiction. The first jurisdiction is controlled by the first area control system, and the second jurisdiction is controlled by the second area control system. Therefore, a cross-regional flight plan needs to be prepared from the originating airport A to the destination airport B.

[0030] like Figure 2 As shown, the compilation method specifically includes the following steps: Step S1: Define the cross-regional flight plan preparation parameters, including handover waypoint pairs and handover waypoints. Each handover waypoint pair includes a departure handover waypoint located in the current jurisdiction and an arrival handover waypoint located in an adjacent jurisdiction. The departure handover waypoint is the last waypoint of the cross-regional sub-route within the current jurisdiction, and the arrival handover waypoint is the first waypoint of the cross-regional sub-route within the next jurisdiction; or, the departure handover waypoint is the last waypoint of the cross-regional sub-route within the previous jurisdiction, and the arrival handover waypoint is the first waypoint of the cross-regional sub-route within the current jurisdiction.

[0031] like Figure 1 As shown, during cross-regional flights of low-altitude aircraft, a low-altitude aircraft can fly from waypoint d in the first jurisdiction to waypoint e in another second jurisdiction. If there are only these two waypoints on the cross-regional flight route, then waypoints d and e form a handover waypoint pair, with the direction from d to e. The two waypoints in the handover waypoint pair are handover waypoints in each other's jurisdictions.

[0032] In this embodiment, waypoint d is the departure waypoint, waypoint e is the entry waypoint, waypoint d is the handover waypoint of the second jurisdiction, and waypoint e is the handover waypoint of the first jurisdiction.

[0033] Step S2: Define cross-regional sub-routes and cross-regional overall routes. Each of the two regions that need to operate across regions defines its own cross-regional sub-routes; cross-regional sub-routes must include handover points, with the handover point as the origin or destination point, and must contain at least one pair of handover points; the cross-regional overall route is formed by connecting cross-regional sub-routes from two adjacent regions that share a common pair of handover points.

[0034] like Figure 1 As shown, in this embodiment, the first area control system of the first jurisdiction defines the first cross-regional sub-route L1, which includes waypoints a to e. The starting point of the first cross-regional sub-route L1 is the departure airport A, and the terminal is the entry handover waypoint e. The first cross-regional sub-route L1 includes a handover waypoint pair consisting of a departure handover waypoint d and an entry handover waypoint e.

[0035] The second area control system of the second jurisdiction defines the second cross-regional sub-route L2, which includes waypoints d to h. The starting point of the second cross-regional sub-route L2 is the departure handover waypoint d, and the terminal is the arrival airport B. The second cross-regional sub-route L2 includes a handover waypoint pair consisting of the departure handover waypoint d and the arrival handover waypoint e.

[0036] The first cross-regional sub-route L1 of the first jurisdiction and the second cross-regional sub-route L2 of the second jurisdiction are connected by a common pair of handover points (i.e., a pair of handover points consisting of a departure handover point d and an arrival handover point e), forming the overall cross-regional operating route.

[0037] Step S3: Compile flight plans for the reference area. Designate one of the first and second jurisdictions as the reference reference area for compiling inter-regional flight plans, and the other as a non-reference reference area. When compiling inter-regional flight plans, first compile flight plans for the jurisdiction designated as the reference reference area, and then use these reference area flight plans as a basis for compiling flight plans for the non-reference area.

[0038] Prepare flight plans for the reference area, specifying the time for low-altitude aircraft to pass through each waypoint on the cross-regional sub-route within the reference area, including the departure and arrival times of the handover waypoints on the cross-regional sub-route.

[0039] like Figure 1 As shown, in this embodiment, the first area control system and the second area control system designate the first jurisdiction as the reference area, and the second jurisdiction is a non-reference area. When preparing a cross-regional flight plan, the flight plan for the cross-regional sub-route within the first jurisdiction is first prepared as the basis for preparing the flight plan for the cross-regional sub-route within the second jurisdiction. The cross-regional flight plan for the first cross-regional sub-route L1 in the first jurisdiction is prepared, and the time for the low-altitude aircraft to pass through each waypoint on the first cross-regional sub-route L1 in the first jurisdiction is calculated and determined, including the time of departure from handover waypoint d and arrival at handover waypoint e.

[0040] Step S4: Export the planned time information for cross-regional flight plans in the reference area at the handover waypoint pairs. For example... Figure 1 In this embodiment, the first area control system exports the planned time information of the departure handover point d and the entry handover point e on the first cross-regional sub-route L1 of the first jurisdiction for low-altitude aircraft. The first area control system then synchronizes the planned time information of the handover point pairs with the second area control system.

[0041] Step S5: Compile flight plans for non-reference areas. Based on the planned time information of low-altitude aircraft at handover waypoint pairs derived from the reference area, compile flight plans for cross-area sub-routes within the non-reference area, specifying the time for low-altitude aircraft to pass through each waypoint on the cross-area sub-routes in the non-reference area.

[0042] like Figure 1 As shown in this embodiment, when the second area control system compiles the flight plan for the second cross-area sub-route L2 of the second jurisdiction, it uses the planned time information of the handover waypoint pair (i.e., the handover waypoint pair consisting of the departure handover waypoint d and the entry handover waypoint e) on the first cross-area sub-route L1 of the first jurisdiction as a reference to calculate and determine the time for the low-altitude aircraft to pass through other waypoints on the second cross-area sub-route L2 of the second jurisdiction.

[0043] The first regional control system and the second regional control system synchronize the flight plans of the first cross-regional sub-route L1 and the second cross-regional sub-route L2 in real time to obtain the flight plan of the total cross-regional operation route.

[0044] In another embodiment of the invention, such as Figure 3 As shown, a low-altitude aircraft needs to fly from airport a in jurisdiction A through jurisdiction B to airport c in jurisdiction C. Jurisdiction A is controlled by the first area control system, jurisdiction B is controlled by the second area control system, and jurisdiction C is controlled by the third area control system. A cross-regional flight plan needs to be prepared from the departure airport a to the arrival airport c.

[0045] The first area control system of jurisdiction A defines the first cross-regional sub-route L1, which includes waypoint 1 and waypoint 2. The origin of the first cross-regional sub-route L1 is the departure airport a, and the terminal is the entry handover waypoint 2. The first cross-regional sub-route L1 includes the first handover waypoint pair consisting of the departure handover waypoint 1 and the entry handover waypoint 2.

[0046] The second area control system of jurisdiction B defines the second cross-regional sub-route L2 as including waypoints 1 to 4. The starting point of the second cross-regional sub-route L2 is the departure handover waypoint 1, and the ending point is the arrival handover waypoint 4. The second cross-regional sub-route L2 includes a first handover waypoint pair consisting of departure handover waypoint 1 and arrival handover waypoint 2, and also includes a second handover waypoint pair consisting of departure handover waypoint 3 and arrival handover waypoint 4.

[0047] The third area control system of jurisdiction C defines the third cross-regional sub-route L3, which includes waypoint 3 and waypoint 4. The origin of the third cross-regional sub-route L3 is the departure handover waypoint 3, and the terminal is the arrival airport C. The third cross-regional sub-route L3 includes a second handover waypoint pair consisting of the departure handover waypoint 3 and the arrival handover waypoint 4.

[0048] The first inter-regional sub-route L1 of jurisdiction A and the second inter-regional sub-route L2 of jurisdiction B are connected by a common first handover point pair (i.e., a handover point pair consisting of departure handover point 1 and arrival handover point 2). Similarly, the second inter-regional sub-route L2 of jurisdiction B and the third inter-regional sub-route L3 of jurisdiction C are connected by a common second handover point pair (i.e., a handover point pair consisting of departure handover point 3 and arrival handover point 4). These connections ultimately form the overall inter-regional operating route. The method for compiling the overall inter-regional operating route is similar to... Figure 1 The compilation method of the illustrated embodiments is similar and will not be repeated here.

[0049] Generally, any jurisdiction can be designated as the base reference area, and the remaining jurisdictions can be designated as non-base reference areas. Ideally, the jurisdiction that includes the departure airport can be designated as the base reference area. In this way, the flight plan for subsequent waypoints can be compiled in chronological order from the departure time, which is the most efficient and concise approach.

[0050] The present invention provides a method for compiling cross-regional flight plans for low-altitude aircraft, which breaks through the limitation of compiling flight plans within the jurisdiction of a single control system and improves the safety and reliability of cross-regional low-altitude flights.

[0051] In one embodiment of the present invention, a method for handover control of low-altitude aircraft flying across regions is also provided, such as... Figure 4 As shown, the handover control method specifically includes the following steps: Step S0: Define the area where the handover waypoints are located as the handover overlap area, the area between the jurisdiction boundary and the departure handover waypoint as the upstream handover area, and the area between the jurisdiction boundary and the entry handover waypoint as the downstream handover area; define the regional control system that controls the jurisdiction where the upstream handover area is located as the handover party control system, and the regional control system that controls the jurisdiction where the downstream handover area is located as the receiving party control system.

[0052] When a low-altitude aircraft needs to cross a region's jurisdiction boundary according to a cross-regional flight plan, the adjacent area control system will trigger a transfer of control over the low-altitude aircraft. An overlapping zone is established at the boundary of the adjacent area control systems' jurisdictions to ensure the continuity and safety of the low-altitude aircraft transfer process. The length of the overlapping zone is set according to the low-altitude aircraft's flight characteristics to ensure that the low-altitude aircraft can complete the transfer of control without deceleration. While the low-altitude aircraft is flying within the overlapping zone, the transferring and receiving control systems synchronize control data in real time.

[0053] Step S1: The low-altitude aircraft flies along the cross-regional sub-route. Before the end of the low-altitude aircraft's safety protection envelope 101 enters the upstream handover area, only the handover party's control system communicates with the low-altitude aircraft. The handover party's control system sends a flight authorization to the low-altitude aircraft, and the low-altitude aircraft executes the flight according to the flight authorization sent by the handover party's control system. The handover party's control system sends the low-altitude aircraft's position information to the receiving party's control system. At this time, the receiving party's control system is in a monitoring state according to the cross-regional operation flight plan. The monitoring state includes two parts: (1) receiving the data synchronized by the handover party's control system, and can grasp the working status of the handover party's control system and the aircraft's position data through the synchronized data. (2) monitoring and judging whether it is necessary to establish communication with the low-altitude aircraft. The receiving party's control system waits to send a flight authorization to the low-altitude aircraft.

[0054] Step S2: When the low-altitude aircraft flies along the cross-regional sub-flight route and its safety protection envelope 101 is completely within the upstream handover area, both the handover control system and the receiving control system communicate with the low-altitude aircraft and send flight authorizations to it. The low-altitude aircraft executes its flight according to the flight authorization sent by the handover control system. Although the low-altitude aircraft does not use the flight authorization sent by the receiving control system at this time, the receiving control system has established communication with the low-altitude aircraft, preparing for the transition of handover control.

[0055] Step S3: When the low-altitude aircraft crosses the jurisdictional boundary, its safety protection envelope 101 is partially located in the upstream handover area and partially in the downstream handover area. Both the handover control system and the receiving control system communicate with the low-altitude aircraft and send flight authorizations to it. The low-altitude aircraft executes its flight according to the flight authorization sent by either the handover control system or the receiving control system, but it prioritizes the flight authorization sent by the receiving control system. At this time, both the handover control system and the receiving control system's flight authorizations are usable, ensuring the stability of the handover process.

[0056] In step S4, when the safety protection envelope 101 of the low-altitude aircraft is entirely within the downstream handover area, both the transferring and receiving control systems communicate with the low-altitude aircraft and send flight authorizations to it. The low-altitude aircraft executes its flight according to the flight authorization sent by the receiving control system. If the flight authorization sent by the receiving control system is invalid, the low-altitude aircraft executes its flight according to the flight authorization sent by the transferring control system. In this case, the flight authorization sent by the receiving control system is primary, and the flight authorization sent by the transferring control system is secondary.

[0057] Step S5: The low-altitude aircraft flies along the cross-regional sub-flight route. After the leading edge of the low-altitude aircraft's safety protection envelope 101 flies out of the downstream handover area, only the receiving control system communicates with the low-altitude aircraft. The receiving control system sends a flight authorization to the low-altitude aircraft, and the low-altitude aircraft executes the flight according to the flight authorization sent by the receiving control system. At this point, the cross-regional handover is completed, and the handover control system no longer monitors and controls the low-altitude aircraft.

[0058] The present invention provides a method for the handover control of low-altitude aircraft flying across regions. A handover overlap zone is set on both sides of the regional boundary. The handover control system and the receiving control system jointly cover the handover overlap zone. Data information is shared synchronously in real time during the handover process to ensure a smooth handover transition.

[0059] The present invention also provides a low-altitude aircraft cross-regional flight control system for implementing the method for compiling the low-altitude aircraft cross-regional flight plan. The control system includes multiple regional control systems, each of which controls a jurisdiction. Multiple regional control systems jointly designate one jurisdiction as the baseline reference area, and the remaining jurisdictions as non-baseline reference areas; Each of the aforementioned area control systems is used to determine the cross-regional sub-routes under its control and to prepare flight plans for the cross-regional sub-routes; Multiple regional control systems synchronize the flight plans of all cross-regional sub-routes and cross-regional sub-routes in real time, and finally obtain the flight plans of the total cross-regional operation routes and the total cross-regional operation routes.

[0060] The low-altitude aircraft cross-regional flight control system is used to implement the low-altitude aircraft cross-regional flight handover control method. The regional control system for the jurisdiction where the upstream transfer area is located is the transferor's control system. The regional control system for the jurisdiction where the downstream transfer area is located is the receiving party's control system; The area where the handover point is located is the handover overlap area; the area between the jurisdiction boundary and the area leaving the handover point is the upstream handover area; and the area between the jurisdiction boundary and the area entering the handover point is the downstream handover area. When a low-altitude aircraft flies along a cross-regional sub-route and its safety protection envelope is completely within the upstream handover area, both the handover control system and the receiving control system communicate with the low-altitude aircraft, and both send flight authorizations to the low-altitude aircraft. The low-altitude aircraft then executes the flight according to the flight authorizations sent by the handover control system. When a low-altitude aircraft crosses the boundary of a jurisdiction, the safety protection envelope of the low-altitude aircraft is partially located in the upstream transfer area and partially located in the downstream transfer area. Both the transferor control system and the receiver control system communicate with the low-altitude aircraft, and both the transferor control system and the receiver control system send flight authorizations to the low-altitude aircraft. The low-altitude aircraft executes the flight according to the flight authorization sent by the transferor control system or the receiver control system. When the safety protection envelope of a low-altitude aircraft is entirely located in the downstream handover area, both the handover control system and the receiving control system communicate with the low-altitude aircraft, and both send flight authorizations to the low-altitude aircraft. The low-altitude aircraft then executes its flight based on the flight authorizations sent by the receiving control system.

[0061] When the safety protection envelope of a low-altitude aircraft crosses the jurisdiction boundary, the low-altitude aircraft shall prioritize flight according to the flight authorization sent by the receiving control system.

[0062] When the safety protection envelope of a low-altitude aircraft is entirely located in the downstream handover area, if the flight authorization sent by the receiving control system is invalid, the low-altitude aircraft shall perform flight according to the flight authorization sent by the handover control system.

[0063] When a low-altitude aircraft flies along a cross-regional sub-route, before the end of the low-altitude aircraft's safety protection envelope enters the upstream handover area, only the handover control system communicates with the low-altitude aircraft. The handover control system sends flight authorization to the low-altitude aircraft, and the low-altitude aircraft executes the flight according to the flight authorization sent by the handover control system. The handover control system sends the low-altitude aircraft's position information to the receiving control system, and the receiving control system waits to send flight authorization to the low-altitude aircraft.

[0064] When a low-altitude aircraft flies along a cross-regional sub-route, after the front end of the low-altitude aircraft's safety protection envelope flies out of the downstream handover area, only the receiving control system communicates with the low-altitude aircraft. The receiving control system sends flight authorization to the low-altitude aircraft, and the low-altitude aircraft executes the flight according to the flight authorization sent by the receiving control system.

[0065] This invention manages the cross-regional operation of low-altitude aircraft from two aspects: pre-flight cross-regional flight planning and in-flight cross-regional flight handover control. It combines offline flight planning with online cross-regional operation, realizes a closed loop of cross-regional operation management, and improves the safety and reliability of low-altitude cross-regional flights.

[0066] The method for developing cross-regional flight plans for low-altitude aircraft provided by this invention breaks through the limitation of developing flight plans within the jurisdiction of a single control system, thereby improving the safety and reliability of cross-regional low-altitude flights.

[0067] The low-altitude aircraft cross-regional flight handover control method provided by the present invention sets up a cross-regional handover overlap zone on both sides of the regional boundary. The handover party's control system and the receiving party's control system jointly cover the handover overlap zone, and data information is shared synchronously in real time during the handover process, ensuring a smooth handover transition.

[0068] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0069] In the description of this invention, it should be understood that the terms "center," "height," "thickness," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0070] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0071] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0072] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A method for developing cross-regional flight plans for low-altitude aircraft, implemented based on a cross-regional flight control system for low-altitude aircraft, wherein the cross-regional flight control system for low-altitude aircraft comprises multiple regional control systems, each of which controls a jurisdictional area, characterized in that, The method for preparing cross-regional flight plans for low-altitude aircraft includes: Multiple regional control systems jointly designate any one of the multiple jurisdictions as the baseline reference area, and the remaining jurisdictions as non-baseline reference areas; Each of the aforementioned regional control systems determines the cross-regional sub-routes controlled by each jurisdiction. The cross-regional sub-routes include multiple waypoints, and the waypoints include at least one handover waypoint pair. The handover waypoint pair includes a departure handover waypoint and an arrival handover waypoint located in the current jurisdiction and an adjacent jurisdiction, respectively. Multiple regional control systems use a common handover waypoint pair as a connection point to connect the cross-regional sub-routes controlled by each jurisdiction to form a total cross-regional operating route; The regional control system compiles flight plans for cross-regional sub-routes controlled by the jurisdiction area serving as a reference area. The flight plans include the time for low-altitude aircraft to pass through various waypoints on the cross-regional sub-routes. Multiple regional control systems sequentially compile flight plans for cross-regional sub-routes controlled by jurisdictions that serve as reference areas, based on the time when low-altitude aircraft pass through handover waypoint pairs on cross-regional sub-routes controlled by jurisdictions that serve as non-reference areas. This process generates flight plans for cross-regional sub-routes controlled by jurisdictions that serve as non-reference areas, ultimately resulting in a flight plan for the total cross-regional operation routes.

2. The method for preparing cross-regional flight plans for low-altitude aircraft as described in claim 1, characterized in that, The departure handover point is the last point within the jurisdiction of the cross-regional sub-line, and the entry handover point is the first point within the next jurisdiction of the cross-regional sub-line. Alternatively, the departure handover point is the last point in the previous jurisdiction where the cross-regional sub-route is located, and the entry handover point is the first point in the current jurisdiction where the cross-regional sub-route is located.

3. The method for preparing cross-regional flight plans for low-altitude aircraft as described in claim 1, characterized in that, Multiple regional control systems jointly designate a jurisdiction including the departure airport as a baseline reference area.

4. The method for preparing cross-regional flight plans for low-altitude aircraft as described in claim 2, characterized in that, When the jurisdiction includes a departure airport, the starting point of the cross-regional sub-route controlled by the jurisdiction is the departure airport, and the ending point is the entry handover point located in the next jurisdiction. When the jurisdiction includes an arrival airport, the origin of the cross-regional sub-route controlled by the jurisdiction is the departure handover point located in the previous jurisdiction, and the destination is the arrival airport; When the jurisdiction does not include either a departure airport or an arrival airport, the starting point of the cross-regional sub-route controlled by the jurisdiction is the departure handover point located in the previous jurisdiction, and the ending point is the arrival handover point located in the next jurisdiction.

5. A method for handover control of low-altitude aircraft inter-regional flights, implemented based on a low-altitude aircraft inter-regional flight control system, used to perform handover control on low-altitude aircraft executing flight plans of inter-regional total operating routes obtained by the low-altitude aircraft inter-regional flight plan preparation method as described in any one of claims 1-4, wherein the low-altitude aircraft inter-regional flight control system comprises multiple regional control systems, each of which controls a jurisdiction, characterized in that... The method for handover control of low-altitude aircraft inter-regional flights includes: The area where the handover point is located is the handover overlap area; the area between the jurisdiction boundary and the area leaving the handover point is the upstream handover area; and the area between the jurisdiction boundary and the area entering the handover point is the downstream handover area. The regional control system that controls the jurisdiction where the upstream transfer area is located is the transferor control system, and the regional control system that controls the jurisdiction where the downstream transfer area is located is the receiver control system. When a low-altitude aircraft flies along a cross-regional sub-route and its safety protection envelope is completely within the upstream handover area, both the handover control system and the receiving control system communicate with the low-altitude aircraft, and both send flight authorizations to the low-altitude aircraft. The low-altitude aircraft then executes the flight according to the flight authorizations sent by the handover control system. When a low-altitude aircraft crosses the boundary of a jurisdiction, the safety protection envelope of the low-altitude aircraft is partially located in the upstream transfer area and partially located in the downstream transfer area. Both the transferor control system and the receiver control system communicate with the low-altitude aircraft, and both the transferor control system and the receiver control system send flight authorizations to the low-altitude aircraft. The low-altitude aircraft executes the flight according to the flight authorization sent by the transferor control system or the receiver control system. When the safety protection envelope of a low-altitude aircraft is entirely located in the downstream handover area, both the handover control system and the receiving control system communicate with the low-altitude aircraft, and both send flight authorizations to the low-altitude aircraft. The low-altitude aircraft then executes its flight based on the flight authorizations sent by the receiving control system.

6. The low-altitude aircraft cross-regional flight handover control method as described in claim 5, characterized in that, When the safety protection envelope of a low-altitude aircraft crosses the jurisdiction boundary, the low-altitude aircraft shall prioritize flight according to the flight authorization sent by the receiving control system.

7. The low-altitude aircraft cross-regional flight handover control method as described in claim 5, characterized in that, When the safety protection envelope of a low-altitude aircraft is entirely located in the downstream handover area, if the flight authorization sent by the receiving control system is invalid, the low-altitude aircraft shall perform flight according to the flight authorization sent by the handover control system.

8. The low-altitude aircraft cross-regional flight handover control method as described in claim 5, characterized in that, When a low-altitude aircraft flies along a cross-regional sub-route, before the end of the low-altitude aircraft's safety protection envelope enters the upstream handover area, only the handover control system communicates with the low-altitude aircraft. The handover control system sends flight authorization to the low-altitude aircraft, and the low-altitude aircraft executes the flight according to the flight authorization sent by the handover control system. The handover control system sends the low-altitude aircraft's position information to the receiving control system, and the receiving control system waits to send flight authorization to the low-altitude aircraft.

9. The low-altitude aircraft cross-regional flight handover control method as described in claim 5, characterized in that, When a low-altitude aircraft flies along a cross-regional sub-route, after the front end of the low-altitude aircraft's safety protection envelope flies out of the downstream handover area, only the receiving control system communicates with the low-altitude aircraft. The receiving control system sends flight authorization to the low-altitude aircraft, and the low-altitude aircraft executes the flight according to the flight authorization sent by the receiving control system.

10. A low-altitude aircraft cross-regional flight control system, characterized in that, To implement the method for developing a cross-regional flight plan for low-altitude aircraft as described in any one of claims 1-4, the cross-regional flight control system for low-altitude aircraft includes multiple regional control systems, each of which controls a jurisdiction. Multiple regional control systems jointly designate one jurisdiction as the baseline reference area, and the remaining jurisdictions as non-baseline reference areas; Each of the aforementioned area control systems is used to determine the cross-regional sub-routes under its control and to prepare flight plans for the cross-regional sub-routes; Multiple regional control systems synchronize the flight plans of all cross-regional sub-routes and cross-regional sub-routes in real time, and finally obtain the flight plans of the total cross-regional operation routes and the total cross-regional operation routes.

11. The low-altitude aircraft cross-regional flight control system as described in claim 10, characterized in that, Used to implement the low-altitude aircraft cross-regional flight handover control method as described in any one of claims 5-9; The regional control system for the jurisdiction where the upstream transfer area is located is the transferor's control system. The regional control system for the jurisdiction where the downstream transfer area is located is the receiving party's control system; The area where the handover point is located is the handover overlap area; the area between the jurisdiction boundary and the area leaving the handover point is the upstream handover area; and the area between the jurisdiction boundary and the area entering the handover point is the downstream handover area. When a low-altitude aircraft flies along a cross-regional sub-route and its safety protection envelope is completely within the upstream handover area, both the handover control system and the receiving control system communicate with the low-altitude aircraft, and both send flight authorizations to the low-altitude aircraft. The low-altitude aircraft then executes the flight according to the flight authorizations sent by the handover control system. When a low-altitude aircraft crosses the boundary of a jurisdiction, the safety protection envelope of the low-altitude aircraft is partially located in the upstream transfer area and partially located in the downstream transfer area. Both the transferor control system and the receiver control system communicate with the low-altitude aircraft, and both the transferor control system and the receiver control system send flight authorizations to the low-altitude aircraft. The low-altitude aircraft executes the flight according to the flight authorization sent by the transferor control system or the receiver control system. When the safety protection envelope of a low-altitude aircraft is entirely located in the downstream handover area, both the handover control system and the receiving control system communicate with the low-altitude aircraft, and both send flight authorizations to the low-altitude aircraft. The low-altitude aircraft then executes its flight based on the flight authorizations sent by the receiving control system.

12. The low-altitude aircraft cross-regional flight control system as described in claim 11, characterized in that, When the safety protection envelope of a low-altitude aircraft crosses the jurisdiction boundary, the low-altitude aircraft shall prioritize flight according to the flight authorization sent by the receiving control system.

13. The low-altitude aircraft cross-regional flight control system as described in claim 11, characterized in that, When the safety protection envelope of a low-altitude aircraft is entirely located in the downstream handover area, if the flight authorization sent by the receiving control system is invalid, the low-altitude aircraft shall perform flight according to the flight authorization sent by the handover control system.

14. The low-altitude aircraft cross-regional flight control system as described in claim 11, characterized in that, When a low-altitude aircraft flies along a cross-regional sub-route, before the end of the low-altitude aircraft's safety protection envelope enters the upstream handover area, only the handover control system communicates with the low-altitude aircraft. The handover control system sends flight authorization to the low-altitude aircraft, and the low-altitude aircraft executes the flight according to the flight authorization sent by the handover control system. The handover control system sends the low-altitude aircraft's position information to the receiving control system, and the receiving control system waits to send flight authorization to the low-altitude aircraft.

15. The low-altitude aircraft cross-regional flight control system as described in claim 11, characterized in that, When a low-altitude aircraft flies along a cross-regional sub-route, after the front end of the low-altitude aircraft's safety protection envelope flies out of the downstream handover area, only the receiving control system communicates with the low-altitude aircraft. The receiving control system sends flight authorization to the low-altitude aircraft, and the low-altitude aircraft executes the flight according to the flight authorization sent by the receiving control system.

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