Construction method, device and equipment of low-airspace public route

Abstract

The invention provides a low-airspace public route construction method, device and equipment, and relates to the technical field of aircraft airspace route planning. The method comprises the following steps: determining a plurality of target candidate nodes corresponding to a city based on ground traffic topological characteristics of the city corresponding to a low airspace and spatial distribution characteristics of low-risk ground features; performing triangulation on the plurality of target candidate nodes to obtain an initial edge set; wherein the initial edge set comprises a plurality of initial edges; performing sparse processing on the plurality of initial edges based on a greedy tensor graph algorithm, and determining a plurality of target edges from the plurality of initial edges; wherein the length of the shortest path between the two nodes of the target edge is greater than the greedy tensor coefficient times of the Euclidean distance between the two nodes; and constructing a low-airspace public route based on the plurality of target edges. By adopting the technical scheme provided by the invention, the utilization efficiency and safety of the low airspace can be effectively improved by constructing the unified low airspace public route.

Description

Technical Field

[0001] This application relates to the field of aircraft airspace route planning technology, and in particular to a method, apparatus and equipment for constructing low-altitude public airways. Background Technology

[0002] The low-altitude airspace where small, slow-moving drones primarily operate is relatively complex and variable, posing a significant challenge to their safe and efficient operation. In complex urban low-altitude environments, pilots use handheld terminals to load 2D electronic maps, manually mark waypoints, and connect them to form flight paths, thereby constructing low-altitude air routes.

[0003] However, due to the lack of shared flight route information among different drone operators, overlapping flight segments and congestion occur during the flight of different drones, resulting in obvious blind spots in safety management and thus low utilization efficiency and safety of low airspace.

[0004] Therefore, in order to regulate flight order in low-altitude airspace, it is urgent to build a unified public airway in low-altitude airspace, so as to effectively improve the utilization efficiency and safety of low-altitude airspace. Summary of the Invention

[0005] This application provides a method, apparatus, and equipment for constructing a unified low-altitude public airway, which can effectively improve the utilization efficiency and safety of low-altitude airspace.

[0006] This application provides a method for constructing low-altitude public airways, including: Based on the ground traffic topology characteristics and spatial distribution characteristics of low-risk ground features of cities corresponding to low airspace, multiple target candidate nodes corresponding to the cities are determined. Triangulation is performed on the plurality of target candidate nodes to obtain an initial edge set; wherein the initial edge set includes a plurality of initial edges; The initial edges are sparsely processed based on the greedy tensor graph algorithm to determine multiple target edges; wherein the shortest path length between two nodes of the target edge is greater than the greedy tensor coefficient of the Euclidean distance between the two nodes. The common air routes in the low-altitude airspace are constructed based on the multiple target edges.

[0007] According to the method for constructing a low-altitude public airway provided in this application, the step of determining multiple target candidate nodes corresponding to the city based on the ground traffic topology characteristics and spatial distribution characteristics of low-risk ground features of the city corresponding to the low-altitude airspace includes: Based on the ground traffic topology characteristics of the city, the first candidate node corresponding to the intersection in the city is determined. Based on the spatial distribution characteristics of the low-risk features, the second candidate node corresponding to the low-risk features is determined; Based on the first candidate node and the second candidate node, the plurality of target candidate nodes are determined.

[0008] According to the method for constructing a low-altitude public airway provided in this application, the step of determining the plurality of target candidate nodes based on the first candidate node and the second candidate node includes: For each candidate node in the first candidate node and the second candidate node, the evaluation index corresponding to the candidate node is determined based on the degree centrality, betweenness centrality, coverage radius and redundancy coefficient of the candidate node; Based on the evaluation index corresponding to each candidate node, the plurality of target candidate nodes are determined from the first candidate node and the second candidate node.

[0009] According to the method for constructing a low-altitude public airway provided in this application, the construction of the low-altitude public airway based on the plurality of target edges includes: Construct the initial common airway in the low-altitude airspace based on the multiple target edges; The initial common air routes are optimized based on the aircraft's model parameters to construct the common air routes in the low-altitude airspace.

[0010] According to the method for constructing a low-altitude public airway provided in this application, the optimization of the initial public airway based on the aircraft's model parameters to construct the low-altitude public airway includes: For each target node in the initial common route, the turning radius of the ingress and egress edges of the target node at its turning point is determined based on the aircraft type parameters of the aircraft; wherein, the target node is the node in the initial common route excluding the first node and the last node; Based on the aforementioned turning angle and turning radius, determine the tangent shift length; Based on the tangent shift length, a smooth circular arc is made to the corner, and the envelope of the turning occupancy area at the target node is constructed. The envelope of the turning occupancy area at each target node is marked to obtain the common airway in the low airspace.

[0011] According to the method for constructing a low-altitude public airway provided in this application, the step of smoothly circularly turning the corner based on the tangent shift length and constructing the turning occupancy envelope at the target node includes: When the tangent shift length meets a preset condition, the incoming edge and the outgoing edge are shifted along the original direction based on the tangent shift length to obtain a first transition node and a second transition node; wherein, the preset condition is determined based on the length of the incoming edge and the length of the outgoing edge of the target node; A circular arc with a central angle and a radius equal to the turning radius is arranged between the first transition node and the second transition node; wherein, the center of the arc is located at the intersection of the perpendicular bisector of the first transition node and the second transition node and the angle bisector of the target node, and the length of the arc is determined based on the turning radius and the central angle; Based on the central angle and the equal-radius arc, construct the envelope of the turning occupancy area at the target node.

[0012] According to the method for constructing a low-altitude public airway provided in this application, the optimization of the initial public airway based on the aircraft's model parameters to construct the low-altitude public airway includes: For each segment of the initial common route, the minimum clearance required by the aircraft is determined based on the maximum physical size of the aircraft, the navigation margin of the aircraft, and the handling and environmental margin of the aircraft. Based on the minimum available airspace width and the minimum passage width of the airway segment, the passage mode corresponding to the airway segment is determined; The initial public airways are marked based on the traffic patterns corresponding to each airway segment to obtain the public airways in the low-altitude airspace.

[0013] According to the method for constructing a low-altitude public airway provided in this application, determining the traffic mode corresponding to the airway segment based on the minimum available airspace width and the minimum passage width of the airway segment includes: If the minimum available clearance width is greater than or equal to a preset multiple of the minimum communication width, the passage mode corresponding to the airway segment is determined to be two-way passage; If the minimum available clearance width is greater than or equal to the minimum communication width, and less than a preset multiple of the minimum communication width, the passage mode corresponding to the airway segment is determined to be one-way passage. If the minimum available clearance width is less than the minimum communication width, the passage mode corresponding to the airway segment is determined to be impassable.

[0014] According to the method for constructing a low-altitude public airway provided in this application, the optimization of the initial public airway based on the aircraft's model parameters to construct the low-altitude public airway includes: Based on the multi-source environmental data of the city, the corresponding low-altitude airspace of the city is three-dimensionally gridded to obtain multiple three-dimensional grid units. Based on the risk values ​​of the risk thermal field corresponding to each of the multiple three-dimensional grid units, the low-altitude domain is layered to obtain multiple target airspace layers. For each node in the initial common airway, a cylindrical channel is established for the node in the vertical direction based on the height of the target airspace layer where the node is located, thus obtaining the common airway in the low airspace.

[0015] According to the method for constructing a low-altitude public airway provided in this application, the low-altitude airspace is layered based on the risk values ​​of the risk thermal field corresponding to each of the plurality of three-dimensional grid cells to obtain multiple target airspace layers, including: The low-altitude domain is averaged and layered to obtain multiple initial airspace layers; For each initial spatial layer, the risk value of the thermal field corresponding to the initial spatial layer is determined based on the risk value of the three-dimensional grid unit included in the initial spatial layer. If the initial spatial layer satisfies the constraints, the initial spatial layer is determined as the target spatial layer. If the initial spatial layer does not meet the constraints, the height of the initial spatial layer is adjusted, and the spatial layer that meets the constraints after adjustment is determined as the target spatial layer.

[0016] According to the method for constructing a low-altitude public airway provided in this application, the determination of the risk value of the risk thermal field corresponding to the three-dimensional mesh cell includes: Determine the meteorological risk value, building and high-risk ground object collision risk value, communication signal risk value, and traffic density risk value corresponding to the three-dimensional grid cell; Based on the meteorological risk value, the collision risk value between the building and high-risk ground features, the communication signal risk value, and the flow density risk value, the risk thermal field risk value corresponding to the three-dimensional network unit is determined.

[0017] This application also provides an apparatus for constructing low-altitude public airways, comprising: The determination unit is used to determine multiple target candidate nodes corresponding to the city based on the ground traffic topology characteristics and spatial distribution characteristics of low-risk ground features of the city corresponding to the low airspace. A triangulation unit is used to perform triangulation on the plurality of target candidate nodes to obtain an initial edge set; wherein the initial edge set includes a plurality of initial edges; The processing unit is configured to perform sparse processing on the plurality of initial edges based on the greedy tensor graph algorithm, and determine a plurality of target edges from the plurality of initial edges; wherein the shortest path length between two nodes of the target edge is greater than the greedy tensor coefficient of the Euclidean distance between the two nodes; A construction unit is used to construct a common airway in the low-altitude airspace based on the multiple target edges.

[0018] This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for constructing low-altitude public airways as described in any of the preceding claims.

[0019] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for constructing low-altitude public airways as described in any of the preceding claims.

[0020] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the method for constructing low-altitude public airways as described in any of the preceding claims.

[0021] The method, apparatus, and equipment for constructing low-altitude public airways provided in this application, when constructing low-altitude public airways, firstly determine multiple target candidate nodes corresponding to the city based on the ground traffic topology characteristics and spatial distribution characteristics of low-risk features of the city corresponding to the low-altitude airspace; then, triangulate the multiple target candidate nodes to obtain an initial edge set, which includes multiple initial edges; then, perform sparsification processing on the multiple initial edges based on a greedy tensor graph algorithm to determine multiple target edges from the multiple initial edges; wherein the shortest path length between two nodes of a target edge is greater than the greedy tensor coefficient of the Euclidean distance between the two nodes; and finally, construct a low-altitude public airway based on the multiple target edges. In this way, by combining the ground traffic topology characteristics and spatial distribution characteristics of low-risk features of the city, multiple high-quality target candidate nodes corresponding to the city are jointly determined; and the initial edges generated based on the high-quality target candidate nodes are sparsified using a greedy tensor graph algorithm; and a unified low-altitude public airway is constructed based on the multiple target edges obtained after sparsification processing. This solves the potential safety hazards caused by insufficient airway spacing in actual operation, thereby effectively improving the utilization efficiency and safety of low-altitude airspace. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart illustrating a method for constructing a low-altitude public airway, as provided in an embodiment of this application.

[0024] Figure 2 This is a schematic diagram illustrating a process for determining multiple target candidate nodes corresponding to a city, as provided in an embodiment of this application.

[0025] Figure 3 This is a schematic diagram illustrating a process for optimizing initial public routes based on aircraft model parameters to construct low-altitude public routes, as provided in an embodiment of this application.

[0026] Figure 4 This is a schematic diagram illustrating another process for optimizing initial public routes based on aircraft model parameters to construct low-altitude public routes, as provided in an embodiment of this application.

[0027] Figure 5 This is a schematic diagram illustrating another process for optimizing initial public routes based on aircraft model parameters to construct low-altitude public routes, as provided in this application embodiment.

[0028] Figure 6 This is a schematic diagram of a device for constructing a low-altitude public airway, provided in an embodiment of this application.

[0029] Figure 7 This is a schematic diagram of the physical structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] In the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0032] In complex urban low-altitude airspace environments, the lack of shared flight path information among different drone operators leads to overlapping flight segments and congestion during the flight of different drones, resulting in obvious blind spots in safety management and thus low utilization efficiency and safety of low-altitude airspace.

[0033] To construct unified low-altitude public air routes and effectively improve the utilization efficiency and safety of low-altitude airspace, this application provides a method for constructing such routes. This method combines the city's ground traffic topology and the spatial distribution characteristics of low-risk features to jointly determine multiple high-quality target candidate nodes corresponding to the city. Furthermore, it uses a greedy tensor graph algorithm to sparsify the initial edges generated from the target candidate nodes, and then constructs unified low-altitude public air routes based on the multiple target edges obtained after sparsification. This addresses potential safety hazards caused by insufficient air route spacing during actual operation, thereby effectively improving the utilization efficiency and safety of low-altitude airspace.

[0034] The method for constructing low-altitude public airways provided in this application will be described in detail below through several specific embodiments. It is understood that these specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0035] It is understood that the execution entity of the method for constructing low-altitude public airways provided in this application can be an electronic device such as a computer, server, or specially set up low-altitude public airway construction equipment, or a low-altitude public airway construction device set in the electronic device. The low-altitude public airway construction device can be implemented by software, hardware, or a combination of both, and can be set according to actual needs.

[0036] Figure 1 A flowchart illustrating a method for constructing a low-altitude public airway provided in this application embodiment is shown below. For example, please refer to... Figure 1 As shown, the method for constructing this low-altitude public airway may include: S101. Based on the ground traffic topology characteristics and spatial distribution characteristics of low-risk ground features of cities corresponding to low-altitude airspace, determine multiple target candidate nodes corresponding to cities.

[0037] For example, in the embodiments of this application, low-risk features can be low-risk airspace areas such as urban parks, green spaces, and bodies of water. Typically, low-risk airspace areas can be considered air resources with priority for flight paths.

[0038] Understandably, the topological characteristics of ground transportation mainly refer to the connectivity and geometric properties of the urban road network in its spatial structure. It describes the connection patterns between nodes (intersections, hubs) and edges (road segments) in the transportation network. The spatial distribution characteristics of low-risk features mainly describe the location, density, and clustering patterns of these low-risk features in urban space.

[0039] In this embodiment, multiple target candidate nodes are determined by combining the topological features of ground traffic with the spatial distribution features of low-risk ground features. This results in the determined target candidate nodes having high connectivity and airspace adaptability, enabling efficient coordination and connection of air-ground traffic, thus providing an important basis for the subsequent construction of public air routes.

[0040] S102. Triangulate multiple target candidate nodes to obtain an initial edge set; wherein, the initial edge set includes multiple initial edges.

[0041] For example, in the embodiments of this application, the Delaunay triangulation method based on constraints can be used to triangulate each target candidate node, or other methods, such as divide-and-conquer algorithms, point-by-point insertion methods, and front-end advancement methods, can be used to triangulate each target candidate node. The specific method can be set according to actual needs.

[0042] Taking the triangulation of a number of target candidate nodes based on the constrained Delaunay triangulation method as an example, firstly, for the multiple determined target candidate nodes, the set of target candidate nodes formed by them can be denoted as... Where n represents the number of target candidate nodes, Indicates the first Target candidate nodes, and Indicates the first Target candidate nodes The two-dimensional coordinates. Secondly, performing Delaunay triangulation on the two-dimensional plane must satisfy the empty circle criterion, given... Satisfying the Delaunay condition and the point to be inspected The determination formula for the circle can be found in Formula 1 below: Formula 1 Combining Formula 1 above, when the vertices of the triangle are arranged counterclockwise, if <0 indicates a point to be inspected. If it is outside the circumcircle, then the Delaunay condition is satisfied; if >0 indicates a point to be inspected. Within the circumcircle, the edges need to be flipped again to optimize the network structure. When the triangles are arranged clockwise, if... >0 indicates a point to be inspected. If it is outside the circumcircle, then the Delaunay condition is satisfied; if <0 indicates a point to be inspected. Within the circumcircle, the edges need to be flipped again to optimize the network structure.

[0043] From a geometrical intuitive perspective, when When a triangle falls inside the circumcircle, the angles of the original triangle become narrow, resulting in a sharp, elongated shape in the triangulation, which is detrimental to the safety of the route network and the practicality of the routes. Furthermore, the constrained Delaunay triangulation method optimizes the geometric quality of the triangulation by maximizing the minimum angles throughout the entire network, resulting in an initial edge set containing multiple initial edges. For example, this initial edge set can be denoted as... This will generate a three-dimensional airway network that is comprehensive, structurally sound, and securely accessible.

[0044] Considering that the number of initial edges generated after triangulation of multiple target candidate nodes is usually large and dense, it is easy to cause excessively high route density and increased risk of flight path conflict. This may lead to insufficient route spacing and potential safety hazards during actual operation of the aircraft. Therefore, in this embodiment of the application, the multiple initial edges generated based on the target candidate nodes can be further sparsified based on the greedy tensor graph algorithm, as shown in S103 below, to improve the utilization efficiency and safety of low airspace.

[0045] S103. Based on the greedy tensor graph algorithm, multiple initial edges are sparsely processed to determine multiple target edges from the multiple initial edges; wherein, the shortest path length between two nodes of the target edge is greater than the greedy tensor coefficient of the Euclidean distance between the two nodes.

[0046] Typically, the greedy tensor coefficients can be denoted as: , The smaller the value, the denser the generated network, the closer the path is to the straight-line distance, and the more edges are involved. The larger the value, the sparser the generated network, the further the paths deviate from straight-line distances, and the fewer the number of edges. For example, in an embodiment of this application, The value can be 1.3, and can be set according to actual needs.

[0047] For example, when performing sparsification on multiple initial edges using a greedy tensor graph algorithm, such as the Greedy t-Spanner adaptive sparsification algorithm, for any initial edge, it can be denoted as: The corresponding node can be denoted as node. and Its Euclidean distance is: When constructing a greedy tensor graph, an empty graph is initially constructed. ; Traverse multiple initial edges, if the node corresponding to the currently traversed initial edge... and Shortest path length between Greater than the Euclidean distance between the two nodes times, that is, satisfying Then the initial edge Add the edge to the greedy tensor graph, otherwise skip it, thus obtaining the updated greedy tensor graph. The multiple initial edges in this greedy tensor graph are the target edges selected after sparse processing. In this way, sparse processing of multiple initial edges based on the greedy tensor graph algorithm can effectively balance path approximation and edge minimization.

[0048] S104. Constructing low-altitude public airways based on multiple target edges.

[0049] As can be seen from the embodiments of this application, when constructing public airways in low-altitude airspace, multiple target candidate nodes corresponding to the city are first determined based on the ground traffic topology features and spatial distribution features of low-risk features of the city corresponding to the low-altitude airspace. Then, triangulation is performed on these multiple target candidate nodes to obtain an initial edge set, which includes multiple initial edges. Next, the multiple initial edges are sparsified using a greedy tensor graph algorithm to determine multiple target edges from these initial edges. The shortest path length between two nodes on a target edge is greater than the greedy tensor coefficient of the Euclidean distance between the two nodes. Public airways in low-altitude airspace are then constructed based on these multiple target edges. This approach, combining the ground traffic topology features and spatial distribution features of low-risk features of the city, jointly determines multiple high-quality target candidate nodes corresponding to the city. The initial edges generated from these high-quality target candidate nodes are then sparsified using a greedy tensor graph algorithm. Finally, a unified public airway in low-altitude airspace is constructed based on the multiple target edges obtained after the sparsification process. This solves the potential safety hazards caused by insufficient airway spacing in actual operation, thereby effectively improving the utilization efficiency and safety of low-altitude airspace.

[0050] Based on the above Figure 1 The illustrated embodiment, for example, describes the specific implementation of determining multiple target candidate nodes corresponding to a city in S101 above, based on the ground traffic topology characteristics and spatial distribution characteristics of low-risk ground features of the city corresponding to the low-altitude airspace. See the following... Figure 2 The example shown.

[0051] Figure 2 This application provides a flowchart illustrating a process for determining multiple target candidate nodes corresponding to a city. For example, please refer to [link to relevant documentation]. Figure 2 As shown, the method may include: S201. Based on the topological characteristics of urban ground traffic, determine the first candidate node corresponding to the intersection in the city.

[0052] For example, when determining the first candidate node corresponding to an intersection in a city based on the city's ground traffic topology features, the city's ground edge set 𝐸 and the intersection can be abstracted as the first candidate node using topology repair and geometric merging methods. , ,and This means that any intersection is the point where two or more edges meet, thus determining the first candidate node corresponding to the intersection.

[0053] S202. Based on the spatial distribution characteristics of low-risk features, determine the second candidate node corresponding to the low-risk features.

[0054] For example, in this embodiment of the application, when determining the second candidate node corresponding to a low-risk feature based on its spatial distribution characteristics, the geometric centroid coordinates of the low-risk feature can be calculated first. See Formula 2 below: Formula 2 In Formula 2, n represents the number of vertices of low-risk features. Indicates the first The vertex coordinates of each vertex.

[0055] For areas smaller than a preset area threshold, such as 0.2 km² 2 For low-risk features, their geometric centroids can be abstracted as the second candidate nodes corresponding to the low-risk features. For low-risk features with an area greater than or equal to a preset area threshold, in order to avoid imbalance in the distribution density of the second candidate nodes, an improved Lloyd algorithm can be used for homogenization, that is, the low-risk features can be abstracted into multiple uniformly distributed second candidate nodes, thereby obtaining the second candidate nodes corresponding to the low-risk features.

[0056] The objective function of the improved Lloyd algorithm can be defined as shown in Equation 3 below: Formula 3 In Formula 3, n represents the number of Voronoi cells, and n is the ratio of the area of ​​low-risk features to a preset area threshold. Indicates the first One Voronoi unit, Indicates the first Voronoi units The coordinates of any point within the space, Indicates the first Voronoi units The corresponding generated point coordinates are iterated until the standard deviation of the distance between generated points is less than a preset standard deviation threshold. The value of the standard deviation threshold can be set according to actual needs.

[0057] Combining S201 and S202 above, after determining the first candidate node corresponding to the intersection in the city and the second candidate node corresponding to the low-risk feature, the following S203 can be executed: S203. Based on the first candidate node and the second candidate node, determine multiple target candidate nodes.

[0058] For example, when determining multiple target candidate nodes based on the first candidate node and the second candidate node, for each candidate node in the first candidate node and the second candidate node, the evaluation index corresponding to the candidate node is determined based on the degree centrality, betweenness centrality, coverage radius and redundancy coefficient of the candidate node; and based on the evaluation index corresponding to each candidate node, multiple target candidate nodes are determined from the first candidate node and the second candidate node.

[0059] To enhance the multi-directional connectivity of the airway network, graph theory feature analysis can be performed on each candidate node in the first and second candidate nodes to calculate the degree centrality, betweenness centrality, coverage radius, and redundancy coefficient of the candidate nodes.

[0060] To compute a candidate node to be computed Taking degree centrality, betweenness centrality, coverage radius, and redundancy coefficient as examples, among which, degree centrality... It is a measure of candidate nodes The number of direct connections with other candidate nodes in the network can be seen in Formula 4 below: Formula 4 Where deg(𝑣) represents the candidate node to be computed. The number of directly connected edges, N 0 This indicates the number of first and second candidate nodes in the initial selection. Typically, candidate nodes with a high center of elevation are located in densely populated local intersection areas.

[0061] Betweenness centrality Equals all candidate node pairs among the first and second candidate nodes In the shortest path between, the candidate nodes to be calculated The sum of the proportions of the number of shortest paths to the total number of shortest paths can be seen in Formula 5 below: Formula 5 in, Represents all candidate nodes right The shortest path between them, This indicates the candidate nodes that are passed through in these shortest paths. The number of items, Represents the maximum possible number of path pairs, ensuring Normalized to [0,1]. Typically, high betweenness nodes are transportation hubs or bridge nodes in airway networks.

[0062] Coverage radius Represents the candidate nodes to be computed. The complement of the ratio of the distance to the nearest take-off and landing point to the maximum distance from all candidate nodes to the nearest take-off and landing point can be found in Formula 6 below: Formula 6 in, Represents the candidate nodes to be computed. The shortest distance to all takeoff and landing sites in the set P of all takeoff and landing sites. This represents the maximum distance from all candidate nodes to their nearest take-off and landing points, used for normalization to ensure... A node with a high coverage radius means it has the lowest ground access cost and is the most efficient "entry" node in the air route network.

[0063] Redundancy coefficient Represents the candidate nodes to be computed. The substitutability of a deleted path is defined as the complement of the ratio of the length of the alternative path to the length of the direct path, as shown in Formula 7 below: Formula 7 in, This indicates that the node contains candidate nodes to be computed. In the original graph, the average reachability length of the edges directly connected to the candidate nodes to be calculated is... This indicates the process of removing candidate nodes to be computed. Then, the average replacement path length is obtained by replacing these directly connected edges with the shortest path. Nodes with high redundancy coefficients are redundant nodes that, if removed, would result in little or no change in the average path length of the network, and are therefore safe to remove.

[0064] Based on the above description, after determining the candidate nodes to be calculated... After calculating the degree centrality, betweenness centrality, coverage radius, and redundancy coefficient, for example, to balance the different dimensions of these metrics, we can first normalize them to obtain normalized degrees centrality, betweenness centrality, coverage radius, and redundancy coefficient. Based on this normalization, we obtain normalized degrees centrality, betweenness centrality, coverage radius, and redundancy coefficient, thus determining the candidate nodes to be calculated. Corresponding evaluation index See Formula 8 below: Formula 8 Among them, weight , Indicates the degree centrality after normalization. Represents the normalized betweenness centrality, This represents the normalized coverage radius. This represents the redundancy coefficient after normalization.

[0065] After determining the evaluation index corresponding to each candidate node, multiple candidate nodes can be screened by combining the preset evaluation index threshold. If the evaluation index corresponding to a candidate node is less than the evaluation index threshold, low-value candidate nodes can be eliminated. If the evaluation index corresponding to a candidate node is greater than or equal to the evaluation index threshold, the candidate node can be determined as the target candidate node. This realizes the dynamic screening of target candidate nodes, which can effectively ensure the connectivity and hub function of the subsequently constructed airway network, while effectively suppressing redundancy expansion and taking into account ground connection efficiency, thus achieving a multi-objective balance of airway network connectivity, security, and redundancy suppression.

[0066] As can be seen from the embodiments of this application, based on the topological characteristics of urban ground traffic, the first candidate node corresponding to the intersection in the city is determined; and based on the spatial distribution characteristics of low-risk features, the second candidate node corresponding to the low-risk features is determined; then, multiple high-quality target candidate nodes are determined from the first and second candidate nodes. Furthermore, when determining multiple high-quality target candidate nodes from the first and second candidate nodes, by introducing an evaluation index determined based on degree centrality, betweenness centrality, coverage radius, and redundancy coefficient, the connectivity and hub function of the subsequently constructed airway network can be effectively guaranteed, while effectively suppressing redundancy expansion and taking into account ground connection efficiency. This achieves a multi-objective balance of airway network connectivity, security, and redundancy suppression, laying a structured and high-quality candidate node foundation for subsequent air-ground collaborative scheduling and capacity assessment, thereby significantly improving the quality of candidate nodes and air-ground collaborative efficiency.

[0067] Based on any of the above embodiments, for example, in S104 above, when constructing a common route in low airspace based on multiple target edges, an initial common route in low airspace can be constructed first based on multiple target edges; and the initial common route can be optimized based on the aircraft type parameters to construct a common route in low airspace, fully taking into account the differences in aircraft type. This can further improve the utilization efficiency and safety of the constructed low airspace, thereby ensuring that aircraft of all types can fly safely and efficiently.

[0068] For example, based on aircraft type, aircraft can be divided into fixed-wing aircraft and multi-rotor aircraft. For each aircraft type, its four-dimensional performance vector relative to any other aircraft type can be obtained. ,in, This indicates the lower limit of the controllable speed of the aircraft. This indicates the recommended cruising speed of the aircraft. This indicates the aircraft's minimum horizontal turning radius. This represents the aircraft's maximum rate of climb or maximum rate of descent. Introducing a four-dimensional performance vector allows fixed-wing aircraft to meet the minimum turning radius requirement, while multi-rotor aircraft retain a straight flight path. Furthermore, it enables the automatic determination of traffic patterns and airspace restrictions corresponding to flight segments, deeply integrating sparse processing with aircraft physical constraints. This significantly reduces the risk of conflict and ensures the efficient operation of heterogeneous fleets.

[0069] For example, in the embodiments of this application, when optimizing the initial public route based on the aircraft's model parameters to construct a low-altitude public route, at least three possible implementation methods can be included: In one possible implementation, the envelope of the turning occupancy area can be labeled based on the aircraft's model parameters to optimize the initial common route. This can effectively solve the problem of horizontal curve curvature. For details on its implementation, please refer to the following... Figure 3 The example shown.

[0070] Figure 3 This application provides a flowchart illustrating the process of optimizing initial common routes based on aircraft model parameters to construct low-altitude common routes. For example, please refer to [link to relevant documentation]. Figure 3 As shown, the method may include: S301. For each target node in the initial common route, determine the turning radius of the inbound and outbound edges of the target node at its corners based on the aircraft type parameters.

[0071] The target node is any node in the initial common route except for the first and last nodes.

[0072] The initial common route is a planar route network where the edges are straight line segments. For any target node, the route is defined by the target node. For example, target node The inbound side and out of the edge Forming sharp corners .

[0073] For multi-rotor aircraft, sharp turns do not affect their flight, but for fixed-wing aircraft, the turns need to be minimized. The polygonal turn is replaced with a Dubins hybrid curve that satisfies the minimum turning radius constraint. For the target node... Corner Turning radius , in, Represents gravitational acceleration. This indicates the maximum permissible roll angle.

[0074] S302. Determine the tangent shift length based on the turning angle and turning radius.

[0075] For example, when determining the tangent shift length based on the turning angle and turning radius, see Formula 9 below: Formula 8 in, Indicates the length of tangent displacement. Indicates a corner. Indicates the turning radius.

[0076] S303. Based on the tangent shift length, perform smooth circular arc turning of the corner and construct the envelope of the turning occupancy area at the target node.

[0077] For example, in this embodiment of the application, when constructing the envelope of the turning occupancy area at the target node by smoothly arcing the corner based on the tangent shift length, if the tangent shift length meets the preset conditions, the incoming edge and outgoing edge are shifted along the original direction based on the tangent shift length to obtain the first transition node and the second transition node; wherein, the preset conditions are determined based on the length of the incoming edge and the length of the outgoing edge of the target node; a central angle and an arc of equal radius with the turning radius are arranged between the first transition node and the second transition node; wherein, the center of the arc is located at the intersection of the perpendicular bisector of the first transition node and the second transition node and the angle bisector of the target node, and the arc length is determined based on the turning radius and the central angle; and the envelope of the turning occupancy area at the target node is constructed based on the central angle and the arc of equal radius.

[0078] For example, the preset conditions are determined based on the lengths of the incoming and outgoing edges of the target node, as shown in Formula 9 below: Formula 9 If the tangent shift length If Formula 9 above is satisfied, then the tangent shift length is determined to meet the preset condition.

[0079] Based on the tangent shift length, the incoming and outgoing edges are shifted along the original direction to obtain the first transition node and the second transition node, wherein the first transition node... Second transition node .in, for The unit direction vector, for The unit direction vector.

[0080] Arrange the central angle between the first transition node and the second transition node. The radius is the turning radius. A circular arc of equal radius. The center of the circle is located at... perpendicular bisector and target node The intersection of the angle bisectors. The arc length is... Thus, based on the central angle and the arc of equal radius, the envelope of the turning occupancy area at the target node is constructed.

[0081] S304. Mark the envelope of the turning occupancy area at each target node to obtain the common air routes in the low airspace.

[0082] For example, when labeling the envelope of the turning occupancy area at the target node, if the envelope of the turning occupancy area at the target node... If the turning area is marked as 0, then the fixed-wing UAV can fly; otherwise, the turning area is marked as 0, then the fixed-wing UAV cannot fly.

[0083] Furthermore, in this embodiment, the envelope of the turning area can also be marked based on the included angle between the adjacent sides at the target node. For example, if the included angle between the adjacent sides at the target node... If the turning area is marked as non-flying for the fixed-wing UAV, then the turning area envelope is marked as flyable for the fixed-wing UAV; otherwise, the turning area envelope is marked as flyable for the fixed-wing UAV.

[0084] As can be seen from the embodiments of this application, for each target node in the initial common route, the turning radius of the ingress and egress edges of the target node at its corner is determined based on the aircraft type parameters; and the tangent shift length is determined based on the corner and the turning radius; a smooth circular arc turn is performed on the corner based on the tangent shift length to construct the turning occupancy envelope at the target node; the turning occupancy envelope at each target node is labeled to obtain the low-altitude common route. This method of labeling the turning occupancy envelope at each target node in conjunction with the aircraft type parameters optimizes the initial common route, fully considering the differences in aircraft types, and effectively solving the problem of horizontal curvature. This further improves the utilization efficiency and safety of the constructed low-altitude space, thereby ensuring that aircraft of all types can fly safely and efficiently.

[0085] In another possible implementation, route segments can be marked based on aircraft type parameters to optimize the initial common route. This effectively solves the route width problem. See below for a detailed implementation. Figure 4 The example shown.

[0086] Figure 4 This application provides another flowchart illustrating the optimization of initial common routes based on aircraft model parameters to construct low-altitude common routes. For example, please refer to [link to relevant documentation]. Figure 4 As shown, the method may include: S401. For each segment of the initial common route, determine the minimum clearance required by the aircraft based on the aircraft's maximum physical dimensions, navigation margin, and control and environmental margin.

[0087] For example, when determining the minimum clearance required for an aircraft based on its maximum physical dimensions, navigation margin, and handling and environmental margins, refer to the following formula 10: Formula 10 in, Indicates the minimum clearance required for the aircraft. Indicates the maximum physical size of the aircraft. This indicates the navigation margin of an aircraft, such as the positioning error of a Global Navigation Satellite System (GNSS). It indicates the aircraft's handling and environmental margins, such as gust interference or control precision.

[0088] S402. Based on the minimum available airspace width and minimum passage width of the airway segment, determine the passage mode corresponding to the airway segment.

[0089] For example, the minimum available clearance width can be denoted as: , is used to characterize the minimum lateral distance from the centerline of the flight path to the nearest obstacle.

[0090] For example, in this embodiment of the application, when determining the passage mode corresponding to an airway segment based on the minimum available airspace width and the minimum passage width of the airway segment, it can be determined whether the minimum available airspace width is greater than or equal to a preset multiple of the minimum communication width. Taking a preset multiple of 2 as an example, if the minimum available airspace width is greater than or equal to a preset multiple of the minimum communication width, that is... The passage mode for the corresponding route segment is determined to be two-way passage; provided that the minimum available airspace width is greater than or equal to the minimum communication width, and less than a preset multiple of the minimum communication width, i.e. The traffic mode for the air route segment is determined to be one-way traffic; this applies when the minimum available airspace width is less than the minimum communication width. The passage mode for the corresponding air route segment was determined to be impassable.

[0091] S403. Mark the initial public airways based on the traffic patterns corresponding to each airway segment to obtain the public airways in the low airspace.

[0092] As can be seen from the embodiments of this application, for each route segment in the initial common airway, the minimum clearance width required by the aircraft is determined based on the maximum physical size of the aircraft, the aircraft's navigation margin, and the aircraft's handling and environmental margin; the passage mode corresponding to the route segment is determined based on the minimum available airspace width and the minimum clearance width of the route segment; the initial common airway is marked based on the passage mode corresponding to each route segment to obtain the low-altitude common airway. This method, combining aircraft type parameters to determine the passage mode corresponding to the route segment and marking the initial common airway based on the passage mode corresponding to each route segment, optimizes the initial common airway and fully considers the differences in aircraft types. It effectively solves the problem of route width, further improving the utilization efficiency and safety of the constructed low-altitude airspace, thereby ensuring that aircraft of all types can fly safely and efficiently.

[0093] In another possible implementation, cylindrical channels can be established for nodes in the vertical direction based on the aircraft's model parameters to optimize the initial common airway. This allows for dynamic adjustment of the airspace layer's altitude boundaries to adapt to constantly changing airspace capacity demands and traffic flow distribution. This effectively solves the aircraft adaptation problem for vertical channel widths. For details on its implementation, please refer to the following... Figure 5 The example shown.

[0094] Figure 5This application provides another flowchart illustrating the process of optimizing initial common routes based on aircraft model parameters to construct low-altitude common routes. For example, please refer to [link to relevant documentation]. Figure 5 As shown, the method may include: S501. Based on the multi-source environmental data of the city, the corresponding low-altitude airspace of the city is three-dimensionally meshed to obtain multiple three-dimensional mesh units.

[0095] For example, in the embodiments of this application, multi-source environmental data may include at least one of the following: ground-based road network data, urban three-dimensional building model, ground point of interest information, population thermal data, network signal data, meteorological data, or aircraft traffic data, which can be specifically set according to actual needs.

[0096] The data includes ground-based road network data, encompassing primary, secondary, and tertiary road networks as well as some internal roads within residential areas. This data assists in flight route planning, ensuring a rational layout and coordination with the ground transportation system. Urban 3D building models provide spatial information about buildings by acquiring their location and elevation data, preventing collisions. Ground points of interest (POIs) determine land use attributes, such as parks, green spaces, and rivers, to assist in assessing the risk levels of different plots and aiding in risk control during flight route planning. Population heatmap data collects population density data from mobile base station usage at different times and in different areas, allowing flights to avoid densely populated areas. Network signal data is collected by sensors and 5G signal receivers on the drone to assess network signal strength, preventing disconnections due to weak signals. Meteorological data integrates meteorological elements output from meteorological stations and high-resolution numerical models, including wind field data (wind speed, direction, shear intensity) and precipitation, used to calculate environmental risks at various altitudes. The aircraft traffic data is based on a 5G-A integrated sensing base station and a ground radar / optoelectronic fusion multimodal sensing network to monitor the past flight trajectories and density of drones in each flight segment in real time.

[0097] Typically, after acquiring multi-source environmental data, spatial calibration and temporal synchronization are required. Then, based on the spatially calibrated and temporally synchronized multi-source environmental data, the corresponding low-altitude airspace of the city is three-dimensionally meshed. Three-dimensional meshing refers to discretizing the low-altitude airspace of the target city into uniform-scale three-dimensional mesh units, resulting in multiple three-dimensional mesh units. Each three-dimensional mesh unit is assigned a globally unique spatial code. Within each three-dimensional mesh unit, multi-dimensional environmental attribute vectors such as building features, Point of Interest (POI) information, signal strength, meteorological data, and UAV traffic are integrated and stored to construct a three-dimensional spatial environment base map that can be efficiently indexed and computed.

[0098] For example, when performing three-dimensional meshing on the low-altitude airspace corresponding to a city, considering the urban building density distribution and the minimum safe distance requirements for air routes, multi-scale three-dimensional meshing can be implemented at different resolution levels such as 8m, 16m and 32m, and multi-source data can be stored as mesh attributes.

[0099] S502. Based on the risk values ​​of the risk thermal field corresponding to each of the multiple three-dimensional grid units, the low-altitude domain is layered to obtain multiple target airspace layers.

[0100] For example, in this embodiment of the application, when the low-altitude domain is layered based on the risk values ​​of the risk thermal field corresponding to each of the multiple three-dimensional mesh units, the low-altitude domain can first be averaged to obtain multiple initial spatial domain layers; for each initial spatial domain layer, the risk value of the risk thermal field corresponding to the initial spatial domain layer is determined based on the risk values ​​of the risk thermal field corresponding to the three-dimensional mesh units included in the initial spatial domain layer; if the initial spatial domain layer meets the constraint conditions, the initial spatial domain layer is determined as the target spatial domain layer; if the initial spatial domain layer does not meet the constraint conditions, the height of the initial spatial domain layer is adjusted, and the spatial domain layer that meets the constraint conditions after adjustment is determined as the target spatial domain layer.

[0101] For example, when dividing the low-altitude airspace into average layers, assuming the low-altitude airspace is divided into N layers, the upper boundary height of the m-th initial airspace layer can be denoted as... The lower boundary height of the m-th initial spatial layer can be denoted as... The thickness of the m-th initial spatial layer can be denoted as: .

[0102] For example, in the embodiments of this application, when determining the risk value of the risk thermal field corresponding to the three-dimensional grid cell, the meteorological risk value, the collision risk value of buildings and high-risk ground features, the communication signal risk value, and the flow density risk value corresponding to the three-dimensional grid cell can be determined first; and based on the meteorological risk value, the collision risk value of buildings and high-risk ground features, the communication signal risk value, and the flow density risk value, the risk thermal field risk value corresponding to the three-dimensional grid cell can be determined, so that the three-dimensional grid cell in the low-altitude domain can be assessed in real time.

[0103] With three-dimensional mesh units For example, based on meteorological risk values, collision risk values ​​of buildings and high-risk features, communication signal risk values, and traffic density risk values, the three-dimensional network unit is determined. Corresponding risk thermal field risk value For the following example, see Formula 11: Formula 11 in, , , and These represent the respective weights of the meteorological risk value, the collision risk value between buildings and high-risk features, the communication signal risk value, and the traffic density risk value. Indicates the meteorological risk value. Among them, wind risk , Wind speed (m / s) This is the wind resistance threshold for drones, which can be set to 12 m / s by default. The wind shear intensity is (m / s / m). Indicates maximum wind shear intensity (m / s / m); precipitation risk , Rainfall intensity (mm / h) The critical precipitation intensity can be assumed to be 2 mm / h. .

[0104] Indicates the risk of collision between buildings and high-risk features. .in, This indicates the horizontal distance from the grid to the nearest building and high-risk features, such as a gas station or chemical plant. This represents the risk diffusion coefficient, which can be defaulted to 8 m.

[0105] Indicates a risk to communication signals. .in, The weighting coefficients represent the balance between signal strength risk and capacity risk. Represents a three-dimensional mesh element The received signal strength (dBm). Represents a three-dimensional mesh element Optimal signal strength near the base station Represents a three-dimensional mesh element The number of drones that require internal communication. Represents a three-dimensional mesh element The maximum number of drones that the base station it relies on can support simultaneously for communication. This ensures that when the number of drones does not exceed the maximum capacity, the capacity risk is 0. When it does exceed the maximum capacity, the proportion of the excess will be considered as capacity risk.

[0106] Indicates traffic density risk. .in, This indicates the real-time drone density (number of drones per cubic kilometer). This indicates the maximum design capacity density (shelves / cubic kilometer). This represents the overload penalty coefficient, which is dimensionless and has a default value of 3.0. The weights are dynamically adjusted by the entropy weighting method, and the sum is 1.

[0107] Using the m-th initial spatial layer, risks can be aggregated along the height axis to determine the risk value of the thermal field corresponding to the m-th initial spatial layer. For example, when determining the risk value of the thermal field corresponding to the m-th initial spatial layer based on the risk values ​​of the three-dimensional mesh elements included in the m-th initial spatial layer, refer to the following formula 12: Formula 12 in, This represents the risk value of the thermal field corresponding to the m-th initial spatial layer. express Number of grid cells in the direction, express The number of grid cells in a direction.

[0108] Objective function: ,in, This indicates the average risk across the entire low-altitude airspace. This represents the average risk of the m-th initial spatial layer. The first term... The primary objective is to balance risks at all levels, preventing any single level from becoming excessively high, or to ensure that risks at all levels are as evenly distributed as possible and below a threshold; the second objective... The secondary objective is to maximize the capacity of each airspace layer.

[0109] Based on the above description, the risk value of the risk thermal field corresponding to the m-th initial spatial layer is determined. Then, the risk value of the thermal field can be determined. Whether the constraints are met; the constraints can be found in Formula 13 below: Formula 13 Among them, (1) is the upper and lower limit constraint of layer thickness to avoid single layer being too thin or too thick; (2) is the layer boundary smoothing constraint to ensure real-time adaptation while preventing the layer interface from changing drastically in an instant; (3) is the layer security risk constraint to avoid the average risk of a single layer being too high; and (4) is the capacity requirement constraint to meet the required target flow. This indicates the lower limit of the single-layer thickness. This indicates the upper limit of the thickness of a single layer. This represents the thickness of the m-th initial spatial layer. This represents the thickness of the m-th initial spatial layer in the t-th iteration. This represents the thickness of the m-th initial spatial layer in the (t-1)-th iteration. The threshold representing the layer boundary smoothing constraint is the maximum allowable variation in layer thickness between adjacent iterations. This represents the threshold for security risk within a layer, where N represents the total number of layers. Indicates the maximum design density. Represents the cross-sectional area of ​​the airspace. This indicates the upper limit of the design density.

[0110] Determine the risk value of the risk thermal field corresponding to the m-th initial spatial layer. Under the condition that the constraints are met, the m-th initial spatial layer is determined as the target spatial layer; the risk value of the risk thermal field corresponding to the m-th initial spatial layer is then determined. If the constraints are not met, the height of the m-th initial spatial layer is adjusted, and the spatial layer that meets the constraints after adjustment is determined as the target spatial layer.

[0111] Based on meteorological risk values, collision risk values ​​of buildings and high-risk features, communication signal risk values, and traffic density risk values, the risk values ​​of the risk thermal field corresponding to the three-dimensional network unit are jointly determined. A dual-objective flexible height stratification model that balances risk and maximizes capacity is proposed. The layer thickness can be adjusted in real time as needed, and upper and lower limits of layer thickness, layer boundary smoothing constraints, intra-layer safety risk constraints, and capacity demand constraints are set. The layer boundary is dynamically updated by iterative solution to achieve dynamic and flexible height stratification. Risk-capacity coupling can be introduced into the design of urban low-altitude stratification, which can significantly improve airspace utilization and safety redundancy. Moreover, it breaks through the limitations of the existing static fixed layer thickness, which can flexibly expand and contract the thickness of each layer according to real-time traffic and environmental changes, avoid local congestion and resource idleness, and significantly improve the utilization rate of low-altitude airspace.

[0112] S503. For each node in the initial common airway, based on the height of the target airspace layer where the node is located, establish a cylindrical channel for the node in the vertical direction to obtain the low-altitude common airway.

[0113] For each node Based on nodes At the target airspace level, a cylindrical channel is established vertically as a node to ensure safe connection between different altitude levels. This allows multirotor aircraft to take off and land vertically using the central airspace of the channel, directly ascending and descending to different altitude levels without intersecting or overlapping with the spiral tracks of peripheral fixed-wing aircraft. Fixed-wing aircraft, unable to climb vertically, must ascend or descend in a spiral path around the perimeter of the channel to enter the target altitude level. The spiral track parameters include the channel radius and turning radius. Maintain consistency, spiral slope The maximum climb / descent rate and cruise speed of the aircraft are jointly determined. , Indicates the maximum climb rate. This indicates the cruising speed. This hybrid traffic coordination scheme significantly improves the efficiency of switching between upper and lower levels on multi-level routes and reduces the probability of conflicts when different aircraft types are vertically mixed.

[0114] As can be seen from the embodiments of this application, based on the multi-source environmental data of the city, the low-altitude airspace corresponding to the city is three-dimensionally meshed to obtain multiple three-dimensional mesh units; based on the risk values ​​of the risk thermal field corresponding to each of the multiple three-dimensional mesh units, the low-altitude airspace is layered to obtain multiple target airspace layers; for each node in the initial common route, based on the height of the target airspace layer where the node is located, a cylindrical channel is established for the node in the vertical direction to obtain the common route of the low-altitude airspace. In this way, combined with the aircraft type parameters, the cylindrical channel is established for the node in the vertical direction to optimize the initial common route. The height boundary of the airspace layer can be dynamically adjusted to adapt to the constantly changing airspace capacity demand and traffic flow distribution. This can effectively solve the problem of aircraft type adaptation for vertical channel route width, further improve the utilization efficiency and safety of the constructed low-altitude airspace, and thus ensure that aircraft of all types can fly safely and efficiently.

[0115] It is understood that, in the embodiments of this application, the above... Figure 3 , Figure 4 and Figure 5 The illustrated embodiments can be executed individually or in combination, depending on actual needs. When executing the above embodiments in combination... Figure 3 , Figure 4 and Figure 5 In the illustrated embodiment, the problems of horizontal curvature, airway width, and vertical channel airway width can be effectively solved based on the aircraft's model parameters. This reduces the risk of conflict and takes into account multi-task collaborative scheduling, thereby improving the utilization efficiency and safety of the constructed low-altitude airspace and ensuring that aircraft of all models can fly safely and efficiently.

[0116] The apparatus for constructing low-altitude public airways provided in this application will be described below. The apparatus for constructing low-altitude public airways described below can be referred to in correspondence with the method for constructing low-altitude public airways described above.

[0117] Figure 6 A schematic diagram of a low-altitude public airway construction apparatus provided in this application embodiment is shown below. For example, please refer to... Figure 6 As shown, the construction apparatus 60 for the low-altitude public airway may include: The determining unit 601 is used to determine multiple target candidate nodes corresponding to the city based on the ground traffic topology characteristics and spatial distribution characteristics of low-risk ground features of the city corresponding to the low airspace. The triangulation unit 602 is used to perform triangulation on the plurality of target candidate nodes to obtain an initial edge set; wherein the initial edge set includes a plurality of initial edges; Processing unit 603 is used to perform sparse processing on the plurality of initial edges based on a greedy tensor graph algorithm, and determine a plurality of target edges from the plurality of initial edges; wherein the shortest path length between two nodes of the target edge is greater than the greedy tensor coefficient of the Euclidean distance between the two nodes; Construction unit 604 is used to construct the common airway in the low airspace based on the multiple target edges.

[0118] For example, in this embodiment of the application, the determining unit 601 is used to determine multiple target candidate nodes corresponding to the city based on the ground traffic topology characteristics and spatial distribution characteristics of low-risk ground features of the city corresponding to the low-altitude airspace, including: Based on the ground traffic topology characteristics of the city, the first candidate node corresponding to the intersection in the city is determined. Based on the spatial distribution characteristics of the low-risk features, the second candidate node corresponding to the low-risk features is determined; Based on the first candidate node and the second candidate node, the plurality of target candidate nodes are determined.

[0119] For example, in an embodiment of this application, the determining unit 601 is configured to determine the plurality of target candidate nodes based on the first candidate node and the second candidate node, including: For each candidate node in the first candidate node and the second candidate node, the evaluation index corresponding to the candidate node is determined based on the degree centrality, betweenness centrality, coverage radius and redundancy coefficient of the candidate node; Based on the evaluation index corresponding to each candidate node, the plurality of target candidate nodes are determined from the first candidate node and the second candidate node.

[0120] For example, in an embodiment of this application, the construction unit 604 is used to construct a common airway in the low-altitude airspace based on the plurality of target edges, including: Construct the initial common airway in the low-altitude airspace based on the multiple target edges; The initial common air routes are optimized based on the aircraft's model parameters to construct the common air routes in the low-altitude airspace.

[0121] For example, in an embodiment of this application, the construction unit 604 is used to optimize the initial common route based on the aircraft type parameters to construct the low-altitude common route, including: For each target node in the initial common route, the turning radius of the ingress and egress edges of the target node at its turning point is determined based on the aircraft type parameters of the aircraft; wherein, the target node is the node in the initial common route excluding the first node and the last node; Based on the aforementioned turning angle and turning radius, determine the tangent shift length; Based on the tangent shift length, a smooth circular arc is made to the corner, and the envelope of the turning occupancy area at the target node is constructed. The envelope of the turning occupancy area at each target node is marked to obtain the common airway in the low airspace.

[0122] For example, in an embodiment of this application, the construction unit 604 is used to perform a smooth circular arc turn on the corner based on the tangent shift length, and construct the turning occupancy envelope at the target node, including: When the tangent shift length meets a preset condition, the incoming edge and the outgoing edge are shifted along the original direction based on the tangent shift length to obtain a first transition node and a second transition node; wherein, the preset condition is determined based on the length of the incoming edge and the length of the outgoing edge of the target node; A circular arc with a central angle and a radius equal to the turning radius is arranged between the first transition node and the second transition node; wherein, the center of the arc is located at the intersection of the perpendicular bisector of the first transition node and the second transition node and the angle bisector of the target node, and the length of the arc is determined based on the turning radius and the central angle; Based on the central angle and the equal-radius arc, construct the envelope of the turning occupancy area at the target node.

[0123] For example, in an embodiment of this application, the construction unit 604 is used to optimize the initial common route based on the aircraft type parameters to construct the low-altitude common route, including: For each segment of the initial common route, the minimum clearance required by the aircraft is determined based on the maximum physical size of the aircraft, the navigation margin of the aircraft, and the handling and environmental margin of the aircraft. Based on the minimum available airspace width and the minimum passage width of the airway segment, the passage mode corresponding to the airway segment is determined; The initial public airways are marked based on the traffic patterns corresponding to each airway segment to obtain the public airways in the low-altitude airspace.

[0124] For example, in an embodiment of this application, the construction unit 604 is used to determine the passage mode corresponding to the airway segment based on the minimum available airspace width and the minimum passage width of the airway segment, including: If the minimum available clearance width is greater than or equal to a preset multiple of the minimum communication width, the passage mode corresponding to the airway segment is determined to be two-way passage; If the minimum available clearance width is greater than or equal to the minimum communication width, and less than a preset multiple of the minimum communication width, the passage mode corresponding to the airway segment is determined to be one-way passage. If the minimum available clearance width is less than the minimum communication width, the passage mode corresponding to the airway segment is determined to be impassable.

[0125] For example, in an embodiment of this application, the construction unit 604 is used to optimize the initial common route based on the aircraft type parameters to construct the low-altitude common route, including: Based on the multi-source environmental data of the city, the corresponding low-altitude airspace of the city is three-dimensionally gridded to obtain multiple three-dimensional grid units. Based on the risk values ​​of the risk thermal field corresponding to each of the multiple three-dimensional grid units, the low-altitude domain is layered to obtain multiple target airspace layers. For each node in the initial common airway, a cylindrical channel is established for the node in the vertical direction based on the height of the target airspace layer where the node is located, thus obtaining the common airway in the low airspace.

[0126] For example, in an embodiment of this application, the construction unit 604 is used to layer the low-altitude domain based on the risk values ​​of the risk thermal field corresponding to each of the plurality of three-dimensional mesh units, to obtain multiple target spatial domain layers, including: The low-altitude domain is averaged and layered to obtain multiple initial airspace layers; For each initial spatial layer, the risk value of the thermal field corresponding to the initial spatial layer is determined based on the risk value of the three-dimensional grid unit included in the initial spatial layer. If the initial spatial layer satisfies the constraints, the initial spatial layer is determined as the target spatial layer. If the initial spatial layer does not meet the constraints, the height of the initial spatial layer is adjusted, and the spatial layer that meets the constraints after adjustment is determined as the target spatial layer.

[0127] For example, in an embodiment of this application, the determination of the risk value of the risk thermal field corresponding to the three-dimensional mesh element includes: Determine the meteorological risk value, building and high-risk ground object collision risk value, communication signal risk value, and traffic density risk value corresponding to the three-dimensional grid cell; Based on the meteorological risk value, the collision risk value between the building and high-risk ground features, the communication signal risk value, and the flow density risk value, the risk thermal field risk value corresponding to the three-dimensional network unit is determined.

[0128] The low-altitude public airway construction apparatus 60 provided in this application embodiment can execute the technical solution of the low-altitude public airway construction method in any of the above embodiments. Its implementation principle and beneficial effects are similar to those of the low-altitude public airway construction method. Please refer to the implementation principle and beneficial effects of the low-altitude public airway construction method. It will not be repeated here.

[0129] Figure 7 This is a schematic diagram of the physical structure of an electronic device provided in an embodiment of this application, such as... Figure 7 As shown, the electronic device may include: a processor 710, a communications interface 720, a memory 730, and a communication bus 740, wherein the processor 710, communications interface 720, and memory 730 communicate with each other through the communication bus 740. The processor 710 can call logical instructions in the memory 730 to execute a method for constructing a low-altitude public airway. This method includes: determining multiple target candidate nodes corresponding to the city based on the ground traffic topology features and spatial distribution features of low-risk features corresponding to the city in the low-altitude airspace; performing triangulation on the multiple target candidate nodes to obtain an initial edge set; wherein the initial edge set includes multiple initial edges; performing sparse processing on the multiple initial edges based on a greedy tensor graph algorithm to determine multiple target edges from the multiple initial edges; wherein the shortest path length between two nodes of the target edge is greater than a multiple of the greedy tensor coefficient of the Euclidean distance between the two nodes; and constructing the low-altitude public airway based on the multiple target edges.

[0130] Furthermore, the logical instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0131] On the other hand, this application also provides a computer program product, which includes a computer program that can be stored on a computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the method for constructing a low-altitude public airway provided by the above methods. The method includes: determining multiple target candidate nodes corresponding to the city based on the ground traffic topology features and spatial distribution features of low-risk features of the city corresponding to the low-altitude airspace; performing triangulation on the multiple target candidate nodes to obtain an initial edge set; wherein the initial edge set includes multiple initial edges; performing sparse processing on the multiple initial edges based on a greedy tensor graph algorithm to determine multiple target edges from the multiple initial edges; wherein the shortest path length between two nodes of the target edge is greater than the greedy tensor coefficient of the Euclidean distance between the two nodes; and constructing the low-altitude public airway based on the multiple target edges.

[0132] In another aspect, this application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, is implemented to perform a method for constructing a low-altitude public airway provided by the methods described above. This method includes: determining multiple target candidate nodes corresponding to the city based on the ground traffic topology features and spatial distribution features of low-risk features of the city corresponding to the low-altitude airspace; performing triangulation on the multiple target candidate nodes to obtain an initial edge set; wherein the initial edge set includes multiple initial edges; performing sparse processing on the multiple initial edges based on a greedy tensor graph algorithm to determine multiple target edges from the multiple initial edges; wherein the shortest path length between two nodes of the target edge is greater than a multiple of the greedy tensor coefficient of the Euclidean distance between the two nodes; and constructing a low-altitude public airway based on the multiple target edges.

[0133] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0134] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for constructing a low-altitude public airway, characterized in that, include: Based on the ground traffic topology characteristics and spatial distribution characteristics of low-risk ground features of cities corresponding to low airspace, multiple target candidate nodes corresponding to the cities are determined. Triangulation is performed on the plurality of target candidate nodes to obtain an initial edge set; wherein the initial edge set includes a plurality of initial edges; The initial edges are sparsely processed based on the greedy tensor graph algorithm to determine multiple target edges; wherein the shortest path length between two nodes of the target edge is greater than the greedy tensor coefficient of the Euclidean distance between the two nodes. The common air routes in the low-altitude airspace are constructed based on the multiple target edges.

2. The method according to claim 1, characterized in that, Based on the ground traffic topology characteristics and spatial distribution characteristics of low-risk ground features of the city corresponding to the low-altitude airspace, multiple target candidate nodes corresponding to the city are determined, including: Based on the ground traffic topology characteristics of the city, the first candidate node corresponding to the intersection in the city is determined. Based on the spatial distribution characteristics of the low-risk features, the second candidate node corresponding to the low-risk features is determined; Based on the first candidate node and the second candidate node, the plurality of target candidate nodes are determined.

3. The method according to claim 2, characterized in that, The step of determining the plurality of target candidate nodes based on the first candidate node and the second candidate node includes: For each candidate node in the first candidate node and the second candidate node, the evaluation index corresponding to the candidate node is determined based on the degree centrality, betweenness centrality, coverage radius and redundancy coefficient of the candidate node; Based on the evaluation index corresponding to each candidate node, the plurality of target candidate nodes are determined from the first candidate node and the second candidate node.

4. The method according to any one of claims 1-3, characterized in that, The construction of the low-altitude public airway based on the multiple target edges includes: Construct the initial common airway in the low-altitude airspace based on the multiple target edges; The initial common air routes are optimized based on the aircraft's model parameters to construct the common air routes in the low-altitude airspace.

5. The method according to claim 4, characterized in that, The optimization of the initial common airway based on the aircraft's model parameters to construct the low-altitude common airway includes: For each target node in the initial common route, the turning radius of the ingress and egress edges of the target node at its turning point is determined based on the aircraft type parameters of the aircraft; wherein, the target node is the node in the initial common route excluding the first node and the last node; Based on the aforementioned turning angle and turning radius, determine the tangent shift length; Based on the tangent shift length, a smooth circular arc is made to the corner, and the envelope of the turning occupancy area at the target node is constructed. The envelope of the turning occupancy area at each target node is marked to obtain the common airway in the low airspace.

6. The method according to claim 5, characterized in that, The step of performing a smooth circular arc turn on the corner based on the tangent shift length, and constructing the turning occupancy envelope at the target node, includes: When the tangent shift length meets a preset condition, the incoming edge and the outgoing edge are shifted along the original direction based on the tangent shift length to obtain a first transition node and a second transition node; wherein, the preset condition is determined based on the length of the incoming edge and the length of the outgoing edge of the target node; A circular arc with a central angle and a radius equal to the turning radius is arranged between the first transition node and the second transition node; wherein, the center of the arc is located at the intersection of the perpendicular bisector of the first transition node and the second transition node and the angle bisector of the target node, and the length of the arc is determined based on the turning radius and the central angle; Based on the central angle and the equal-radius arc, construct the envelope of the turning occupancy area at the target node.

7. The method according to claim 4, characterized in that, The optimization of the initial common airway based on the aircraft's model parameters to construct the low-altitude common airway includes: For each segment of the initial common route, the minimum clearance required by the aircraft is determined based on the maximum physical size of the aircraft, the navigation margin of the aircraft, and the handling and environmental margin of the aircraft. Based on the minimum available airspace width and the minimum passage width of the airway segment, the passage mode corresponding to the airway segment is determined; The initial public airways are marked based on the traffic patterns corresponding to each airway segment to obtain the public airways in the low-altitude airspace.

8. The method according to claim 7, characterized in that, The determination of the passage mode corresponding to the airway segment based on the minimum available airspace width and the minimum passage width of the airway segment includes: If the minimum available clearance width is greater than or equal to a preset multiple of the minimum communication width, the passage mode corresponding to the airway segment is determined to be two-way passage; If the minimum available clearance width is greater than or equal to the minimum communication width, and less than a preset multiple of the minimum communication width, the passage mode corresponding to the airway segment is determined to be one-way passage. If the minimum available clearance width is less than the minimum communication width, the passage mode corresponding to the airway segment is determined to be impassable.

9. The method according to claim 4, characterized in that, The optimization of the initial common airway based on the aircraft's model parameters to construct the low-altitude common airway includes: Based on the multi-source environmental data of the city, the corresponding low-altitude airspace of the city is three-dimensionally gridded to obtain multiple three-dimensional grid units. Based on the risk values ​​of the risk thermal field corresponding to each of the multiple three-dimensional grid units, the low-altitude domain is layered to obtain multiple target airspace layers. For each node in the initial common airway, a cylindrical channel is established for the node in the vertical direction based on the height of the target airspace layer where the node is located, thus obtaining the common airway in the low airspace.

10. The method according to claim 9, characterized in that, The low-altitude domain is layered based on the risk values ​​of the risk thermal fields corresponding to each of the multiple three-dimensional mesh elements to obtain multiple target spatial domain layers, including: The low-altitude domain is averaged and layered to obtain multiple initial airspace layers; For each initial spatial layer, the risk value of the thermal field corresponding to the initial spatial layer is determined based on the risk value of the three-dimensional grid unit included in the initial spatial layer. If the initial spatial layer satisfies the constraints, the initial spatial layer is determined as the target spatial layer. If the initial spatial layer does not meet the constraints, the height of the initial spatial layer is adjusted, and the spatial layer that meets the constraints after adjustment is determined as the target spatial layer.

11. The method according to claim 10, characterized in that, The determination of the risk value of the risk thermal field corresponding to the three-dimensional mesh element includes: Determine the meteorological risk value, building and high-risk ground object collision risk value, communication signal risk value, and traffic density risk value corresponding to the three-dimensional grid cell; Based on the meteorological risk value, the collision risk value between the building and high-risk ground features, the communication signal risk value, and the flow density risk value, the risk thermal field risk value corresponding to the three-dimensional network unit is determined.

12. A device for constructing a low-altitude public airway, characterized in that, include: The determination unit is used to determine multiple target candidate nodes corresponding to the city based on the ground traffic topology characteristics and spatial distribution characteristics of low-risk ground features of the city corresponding to the low airspace. A triangulation unit is used to perform triangulation on the plurality of target candidate nodes to obtain an initial edge set; wherein the initial edge set includes a plurality of initial edges; The processing unit is configured to perform sparse processing on the plurality of initial edges based on the greedy tensor graph algorithm, and determine a plurality of target edges from the plurality of initial edges; wherein the shortest path length between two nodes of the target edge is greater than the greedy tensor coefficient of the Euclidean distance between the two nodes; A construction unit is used to construct a common airway in the low-altitude airspace based on the multiple target edges.

13. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the method for constructing low-altitude public airways as described in any one of claims 1 to 11.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method for constructing low-altitude public airways as described in any one of claims 1 to 11.

15. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method for constructing low-altitude public airways as described in any one of claims 1 to 11.

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