Three-dimensional space tile indexing method and system

Abstract

The invention provides a three-dimensional space tile indexing method and system, and the method comprises the steps: generating a topological complementary code according to a preset topological complementary coding rule based on a topological relation between a reference position determined for a geometric object and a three-dimensional space tile when a tile index is established for the geometric object in a three-dimensional space, the topological complementary coding is based on a reference position, and represents a spatial intersection relationship between a geometric object and the interior and each boundary surface of the tile; according to the method, a unique main index tile is determined for a geometric object based on topological complementary coding and an index judgment rule, and the index judgment rule ensures that the geometric object in a public boundary area of adjacent tiles is identified as the main index tile by only one tile by analyzing information about a complementary direction boundary in the topological complementary coding, so that repeated indexing is avoided; establishing and maintaining index mapping between the geometric object and the main index tile; and in response to a spatial data subscription / query request, retrieving and returning matched geometric object data based on the indicated tile set and topology conditions.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of unmanned vehicle airspace cooperation and three-dimensional space indexing, and particularly relates to a three-dimensional space tiling indexing method and system. BACKGROUND

[0002] With the rapid development of emerging scenarios such as low-altitude economy, urban air traffic, cluster logistics and emergency rescue, unmanned systems have made unprecedented requirements for the real-time, dynamic and collaborative nature of three-dimensional space data. Traditional three-dimensional tiling indexing technologies, such as OGC 3D Tiles, OGC TMS, S3M, I3S, etc., are mainly designed for visualization and cloud analysis tasks in static, large-scale and ground broadband network environments. These technologies usually pre-subdivide massive data such as city-level building information models, oblique photography, terrain and point cloud into regular grids or octree tiles, and offline generate multi-level detail models, which are streamed to terminals for rendering on demand through HTTP protocol. This technical paradigm has achieved remarkable results in Web three-dimensional display and post-analysis, but its architectural assumptions are not suitable for the real-time analysis requirements of emerging unmanned systems.

[0003] In low-altitude dynamic scenarios, unmanned vehicles need to achieve real-time "perception-decision-control" closed loop in complex airspace, and respond to dynamic elements such as surrounding obstacles, no-fly zones and temporary airspace structures. However, when traditional static tile indexing is directly migrated to airborne terminals or lightweight collaborative service centers, its inherent limitations are exposed. First, traditional indexing usually only considers the spatial division of geometric data when tiling, without formulating clear arbitration rules for the attribution of geometric objects at tile boundaries, resulting in the same obstacle or no-fly zone that crosses the boundary may be repeatedly indexed in adjacent tiles. In the cluster cooperation scenario, multiple unmanned vehicles may subscribe to data copies from different tiles that are geometrically identical, not only wasting limited communication bandwidth, but also introducing redundant processing burden on the airborne terminal.

[0004] Secondly, the on-board computing resources are extremely limited, and the computing power needs to be prioritized to guarantee the real-time positioning and map building, real-time obstacle avoidance, flight control and other key tasks. Under the traditional index, the on-board terminal often needs to perform additional geometric deduplication and data fusion operations locally after receiving tile data that may have overlaps, which occupies the already tight computing resources and may affect the real-time performance and reliability of key tasks. In addition, the traditional tile data is usually a static dataset generated and released as a whole, and the update mechanism usually relies on full replacement or periodic incremental release, which is difficult to support dynamic threats with second-level or even sub-second-level updates, such as sudden intrusions into airspace, temporary balloons, and collapsed buildings in disasters. The information of these dynamic objects needs to be inserted into the index almost in real time and distributed to the unmanned devices in the relevant airspace in real time, while the traditional index system based on static preprocessing and caching lacks native support for such high-frequency and fine-grained updates.

[0005] Therefore, the existing technical system faces multiple challenges in dealing with low-altitude dynamic coordination scenarios, such as communication and computing overhead caused by index redundancy, dynamic update delay, and insufficient on-board lightweight adaptation. The industry urgently needs a new three-dimensional spatial data organization and retrieval method that can balance index determinacy, update real-time performance, and computing lightness to support efficient and reliable collaborative work of unmanned systems in complex dynamic environments. SUMMARY

[0006] In view of the defects and deficiencies of the prior art, the present application provides a three-dimensional spatial tiling index method and system, aiming to solve the problems of communication redundancy caused by repeated indexing of geometric objects at tile boundaries, excessive on-board deduplication computing burden, and inability to support second-level dynamic updates in dynamic coordination scenarios of traditional static tile indexes. The core of the present application is to determine a unique primary index tile for any geometric object (such as obstacles, no-fly zones, etc.) in three-dimensional space, thereby achieving a non-overlapping deterministic index at the data level.

[0007] Specifically, the method first generates a topological complementary code based on the reference position (such as the center point) of the geometric object. The code is composed of an orientation type code representing the spatial distribution of the object and a tile identifier calculated based on the reference position. Through a set of preset judgment coding rules, the system arbitrates a unique tile as the primary index tile of the object from multiple candidate tiles covered by the object. This set of rules ensures that even if an object crosses multiple tile boundaries, it is only represented by a determined tile in the entire index system. Subsequently, the index mapping relationship between the geometric object and its primary index tile is established and maintained. When receiving a spatial data query request, the system directly returns the geometric object data intersecting the query region according to the mapping relationship, thereby avoiding data redundancy at the source.

[0008] The application concretizes the above method into a system composed of an index generation module, a storage module and a query response module. The index generation module is configured to perform the key step of determining the main index tile. In a preferred embodiment, the system is applied to a UAV cooperative scenario, the geometric object includes dynamically updated obstacles and airspace structures, the main index tile adopts Beidou grid subdivision, and efficient and deterministic data synchronization is performed between the data cooperative service center and the multiple UAV on-board ends. Through the above deterministic indexing mechanism of "one object one main tile", the application significantly reduces the communication and calculation overhead in multi-machine cooperation, and naturally supports real-time indexing and distribution of dynamically added threats, thereby providing a lightweight and efficient data organization basis for dynamic three-dimensional applications with high real-time requirements such as low-altitude economy.

[0009] The technical solution adopted by the application to solve the technical problem is: A three-dimensional space tiling indexing method, comprising: When establishing a tiling index for a geometric object in a three-dimensional space, a minimum axis-aligned bounding box center point of the geometric object is taken as a reference position, a topological complementary code is generated based on a topological relationship between the reference position and a three-dimensional space tile according to a preset topological complementary coding rule, the topological complementary code is based on the reference position and represents a spatial intersection relationship between the geometric object and the tile interior and each boundary surface; A unique main index tile is determined for the geometric object based on the topological complementary code and an index determination rule, the index determination rule analyzes information about complementary direction boundaries in the topological complementary code to ensure that geometric objects in a common boundary area of adjacent tiles are only identified as main index tiles by one tile, so as to avoid repeated indexing; An index mapping between the geometric object and the main index tile is established and maintained, and in response to a spatial data subscription / query request, matching geometric object data is retrieved and returned based on the index mapping, a tile set and topological conditions indicated by the subscription / query request.

[0010] Further, in the process of generating the topological complementary code, only the positional relationship between the reference position and the interval defined by each boundary surface of the tile in each direction axis is judged, and the intersection between the complete geometric shape of the geometric object and the tile does not need to be calculated.

[0011] Further, the topological complementary code is a 7-bit binary number, each digit corresponds to whether the intersection between the reference position and the tile interior, the north boundary, the south boundary, the east boundary, the west boundary, the upper boundary and the lower boundary is empty, and 0 corresponds to an empty intersection and 1 corresponds to a non-empty intersection.

[0012] Furthermore, a three-dimensional orientation type code composed of NSEWUD is defined, where NSEWUD corresponds to the north, south, east, west, upper, and lower boundary directions respectively. The three-dimensional orientation type code is a preset combination of direction codes selected from {N, S, E, W, U, D} that have a common intersection point, and its complementary direction is the direction opposite to these three directions. If the bit inside the tile in the topological complementary code is 1, or if the code at the corresponding position of the three-dimensional orientation type code has at least one 1 and the three codes corresponding to the complementary direction are all 0, then the tile is determined to be the main index tile of the geometric object.

[0013] Furthermore, it also includes a cross-tile geometry object processing step: for a geometry object that spans multiple tiles, in addition to the determined main index tile, the other tiles it spans are calculated based on the minimum axis alignment bounding box of the geometry object, the association relationship between the geometry object identifier and the identifiers of the other tiles it spans is recorded and stored in the index mapping.

[0014] Furthermore, the dynamic update of the index mapping is triggered by listening to attribute changes, spatial position movements, or lifecycle state changes including additions and deletions of three-dimensional spatial geometric objects. During the update, only the index association between the changed geometric objects and the corresponding tiles is synchronized, without performing a full index reconstruction, to ensure the real-time nature of the update response.

[0015] Furthermore, the geometric objects are collected or received in real time by the UAV's onboard terminal, the index mapping and geometric object data are pushed to the data collaboration service center for storage and maintenance, and the spatial data query request is initiated by the UAV's trusted client.

[0016] Furthermore, the index mapping adopts an incremental recording structure, which dynamically updates the index mapping by real-time monitoring of the addition, deletion or modification operations of three-dimensional spatial geometric objects, supporting the insertion or deletion of geometric object indexes at the second level.

[0017] And, a three-dimensional spatial tiled indexing system, comprising: The index generation module is used to obtain three-dimensional spatial geometric objects, generate topological complementary codes according to preset topological complementary coding rules based on the reference position of the geometric objects and the topological relationship between the three-dimensional spatial tiles, and determine a unique master index tile for the geometric objects through index determination rules. The storage module is used to establish and maintain the index mapping between geometric objects and the main index tiles, store 3D spatial geometric object data and index mapping data, and support dynamic updates of geometric object indexes; The subscription / query response module is used to receive spatial data subscription / query requests, retrieve data from the storage module based on the tile set corresponding to the subscription / query area and the three-dimensional orientation type code used as topological conditions, and return the matching geometric object data.

[0018] And a computer device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method described above.

[0019] A non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described above.

[0020] Compared to existing technologies, this invention and its preferred embodiment eliminate the problem of duplicate indexing caused by objects crossing tile boundaries in traditional tiled indexing by determining a unique master index tile for each geometric object through arbitration and establishing and maintaining an index mapping between objects and master tiles. This fundamental improvement enables the system to directly return non-redundant data based on this deterministic mapping when responding to spatial queries, thereby significantly reducing the amount of network transmission data in multi-terminal collaborative scenarios, avoiding the additional computational overhead incurred by the receiving end for data deduplication, and reserving more valuable onboard computing resources for core tasks such as real-time perception, localization, and decision-making.

[0021] Meanwhile, since the index mapping is dynamically generated based on the objects themselves, rather than relying on a pre-generated static tile dataset, this invention naturally supports rapid index insertion and updates for newly added or changed geometric objects (such as suddenly appearing dynamic threats). This lightweight dynamic update mechanism enables the entire indexing system to adapt to application scenarios with extremely high real-time requirements, such as low-altitude collaboration, achieving instant synchronization and distribution of spatial information that changes on a second-by-second basis. Furthermore, by decoupling the core index arbitration logic from specific application scenarios, this invention provides a general spatial data organization method. Its preferred scheme can be further combined with standard spatial partitioning frameworks such as the BeiDou grid and applied to specific fields such as unmanned aerial vehicle (UAV) collaboration, improving the reliability and practicality of the entire system while ensuring global index consistency and query efficiency. Attached Figure Description

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: Figure 1 This is a schematic diagram of the systematic implementation framework based on unmanned vehicles in an embodiment of the present invention. Detailed Implementation

[0023] To make the features and advantages of the present invention more apparent and understandable, specific embodiments are described below in detail: It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0024] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0025] This invention provides a detailed description of the implementation process of the above-mentioned solution, using unmanned aerial vehicles (UAVs) as the construction object. It aims to address the challenges of traditional 3D tile indexing applied to UAVs, such as boundary repetition indexing, high computational consumption, and lack of support for dynamic updates. This significantly improves the closed-loop efficiency of UAVs' "perception-subscription-decision" process in complex airspace. Its core innovation is achieved through three key technologies: a) designing topological complementary coding and corresponding tileization rules to achieve "non-repeating boundary" indexing of 3D spatial geometric objects; b) using lightweight tileization operations to replace precise intersection calculations, significantly reducing the topology determination time for single object-tile operations; and c) constructing an incremental index record structure to support second-level insertion and deletion operations of geometric objects on the airborne end.

[0026] This method and system uses point-like, line-like, area-like, and volumetric 3D spatial geometric objects (including obstacles, flight paths, trajectories, no-fly zones, and threat zones) perceived / planned in real time by unmanned aerial vehicles (UAVs) as indexing targets. It achieves efficient management of airspace geometric objects through tile-based methods. The core logic and process are as follows: A lightweight tile-based acquisition module runs on the UAV's onboard terminal. After real-time acquisition or reception of the aforementioned 3D spatial geometric objects, it calls a tile-based rule module based on topological complementarity coding to calculate the topological complementarity code between the tiles and the geometric objects to determine topological relationships. It then indexes and stores geometric objects that meet the conditions and pushes them to the data collaboration service center. The tile topology aggregation module on the data collaboration service center stores the received topology index records. The topology index library stores geometric objects in a 3D spatial geometric object storage system. Based on the minimum axis alignment bounding box of the geometric objects, it calculates the indexable relationship between cross-tile geometric objects and corresponding tiles, and records the topology index containing the geometric object identifier and the tile identifier it crosses to the topology index library. The trusted client of the unmanned vehicle sends the tiled subscription area and the corresponding subscription topology conditions (based on the three-dimensional orientation type code) to the data collaboration service center. After receiving the data, the demand proxy module of the data collaboration service center accesses the topology aggregation module in combination with the subscription conditions to define the subscription area tiles, and then obtains the corresponding geometric object identifier through the geometry access module of the 3D spatial geometric object storage system. Finally, it pushes the 3D spatial geometric object data corresponding to the tile index to the unmanned vehicle.

[0027] The core components of this system include: a lightweight tile-based data acquisition module and a tile-based rule module on the UAV's airborne terminal; a tile topology aggregation module, a topology index library, a 3D spatial geometric object storage system, a demand proxy module, and a trusted UAV client in the data collaboration service center. Through the above design, this invention enables arbitrary splicing of tile indexes, effectively avoiding repeated indexing of geometric objects in tile boundary regions, reducing redundant data transmission and computational consumption for tile region fusion, and significantly improving the access efficiency of UAVs in complex spaces.

[0028] In the implementation process of the embodiments of the present invention: For the topological relationship between tiles and three-dimensional spatial geometric objects, topological complementary coding and corresponding tile-ization rules are set for tile-ization management and indexing of three-dimensional spatial geometric object identifiers, and the generated tile-ization index is calibrated; three-dimensional spatial geometric objects such as obstacles, flight paths, trajectories, no-fly zones, and threat zones (points, lines, surfaces, volumes) are indexed according to the corresponding tile-ization rules based on topological complementary coding, generating a tile-ization topological index and storing the corresponding three-dimensional spatial geometric objects, which are then pushed to the data collaboration service center; the tile topology aggregation module mounted in the data collaboration service center aggregates the received topology... Index records are stored in a topology index library. 3D spatial geometric objects are stored in a 3D spatial geometric object storage system. For all geometric objects spanning tiles, the indexability relationship between the geometric object and the tiles it spans is calculated using the minimum axis-aligned bounding box of the 3D spatial geometric object. A topology index containing the identifier of the geometric object and the identifier of the tiles it spans is recorded in the topology index library. The data collaboration service center obtains the tiled subscription area published by the trusted client of the unmanned vehicle, combines the corresponding subscription topology conditions, obtains the tile index of the subscription area, and pushes the 3D spatial geometric object data of the tile index to improve the access efficiency of the unmanned vehicle in complex spaces.

[0029] As a preferred embodiment, the above topological complementarity coding and corresponding tileization rules are as follows: Each topological complementarity code consists of 7 binary bits. Each bit represents whether the intersection of the geometric representation point with the tile interior, north boundary, south boundary, east boundary, west boundary, top boundary, and bottom boundary is empty. Empty is 0, and non-empty is 1. The corresponding tile is a standardized three-dimensional space divided by horizontal and vertical coordinates and elevation. The corresponding tileization rule is as follows: a three-bit orientation type code is defined, where NSEWUD represents the direction code for north, south, east, west, top, and bottom, respectively. The three-bit orientation type code is the direction code for the three directions of the boundary surface with a common intersection point, and its complementary direction is the direction opposite to these three directions. The smallest axis of the geometry is aligned with the center point of the bounding box as the representative point (i.e., as the reference position). The intersection of the representative point with the tile interior, north boundary, south boundary, east boundary, west boundary, top boundary, and bottom boundary is calculated to obtain the 7-bit topological complementarity code. If the first bit is 1, or if at least one of the three orientation type codes is 1 and all three codes corresponding to the complementary directions are 0, then the geometric object can be indexed by the tile, recording the tile identifier, the three-dimensional spatial geometric object identifier, and the corresponding three-bit orientation type code. The tile stores the corresponding three-dimensional spatial geometric object.

[0030] Preferably, the indexable relationship between the geometric object spanning the tiles and the tiles is specifically defined as the tiles obtained through topological complementary coding and the corresponding tileization rules, and the other tiles spanned by the minimum axis-aligned bounding box of the three-dimensional spatial geometric object.

[0031] Preferably, the above tiled subscription area and corresponding subscription topology conditions are as follows: the tiled subscription area contains tiles within the subscription area, and the subscription topology conditions are based on the three-dimensional orientation type code of the tiled rules.

[0032] The systematic implementation of the above methods includes: A lightweight tile-based acquisition module runs on the UAV's onboard terminal to collect or receive 3D spatial geometric objects (obstacles, flight paths, trajectories, no-fly zones, threat zones, etc.) in real time. It then calls a tile-based rule module based on topological complementarity coding, sets a three-dimensional orientation type code, calculates the topological complementarity coding of tiles and 3D spatial geometric objects, determines topological relationships, indexes and stores 3D spatial geometric objects whose tiles meet the conditions, and pushes the index records and 3D spatial geometric objects to the data collaboration service center. A tile topology aggregation module, mounted on the data collaboration service center, stores the received topology index records in a topology index library and stores the 3D spatial geometric objects in a 3D spatial geometric object storage system. For all geometric objects spanning multiple tiles, the indexable relationship between the geometric object and the tiles it spans is calculated using the minimum axis-aligned bounding box of its 3D spatial geometry. A topological index containing the geometric object's identifier and the tile's identifier is recorded in the topological index library. The demand broker module, mounted in the data collaboration service center, accepts tiled subscription regions from trusted clients such as different unmanned aerial vehicles (UAVs). It then accesses the topological aggregation module based on the corresponding subscription topological conditions, defining the subscription region tiles according to the tiled subscription region and the corresponding subscription topological conditions. The geometry access module, mounted in the 3D spatial geometry object storage system of the data collaboration service center, obtains the subscription region geometry index from the topological complementary index table based on the subscription region tiles and pushes the 3D spatial geometry object data of the tile index to the UAV. The index records adopt an incremental structure design, supporting second-level insertion and deletion operations of 3D spatial geometry objects on the airborne end. Compared to existing technologies, this invention provides an efficient indexing and access scheme for the real-time acquisition, reception, and access of 3D spatial geometric objects by unmanned vehicles (UAVs). It can flexibly stitch together tile indexes according to actual needs, avoiding repeated indexing of 3D spatial geometric objects in tile boundary regions, reducing the transmission of redundant 3D spatial geometric object data and the consumption of corresponding tile region fusion computing power, and improving the access efficiency of UAVs in complex spaces.

[0033] like Figure 1As shown, a lightweight tiled acquisition module, mounted on the UAV's onboard terminal, collects or receives 3D spatial geometric objects (obstacles, flight paths, trajectories, no-fly zones, threat zones, etc.) in real time. It then calls a tiled rule module based on topological complementary coding to calculate the topological complementary coding between tiles and 3D spatial geometric objects, determines topological relationships, indexes and stores 3D spatial geometric objects that meet the tile's conditions, and pushes them to the data collaboration service center. The tile topology aggregation module, mounted on the data collaboration service center, stores the received topology index records in a topology index library, stores the 3D spatial geometric objects in a 3D spatial geometric object storage system, and calculates all cross-tile geometric objects based on the minimum axis-aligned bounding box of the 3D spatial geometric objects. The indexable relationship with tiles is recorded in the topology index library, which contains the identifier of the geometric object and the identifier of the tiles it spans. The trusted client equipped with the UAV sends the tiled subscription area and the corresponding subscription topology conditions. The demand broker module equipped in the data collaboration service center receives the tiled subscription areas from trusted clients such as different UAVs, accesses the topology aggregation module in combination with the corresponding subscription topology conditions, defines the subscription area tiles according to the tiled subscription area and the corresponding subscription topology conditions, and the geometry access module equipped in the three-dimensional spatial geometric object storage system of the data collaboration service center obtains the subscription area geometry identifier according to the subscription area tiles, pushes the three-dimensional spatial geometric object data of the tile index to the UAV, and completes the access.

[0034] The following provides a more specific implementation example to further demonstrate and introduce the concrete implementation of the solution of this invention: The implementation process of this invention includes: An unmanned aerial vehicle (UAV) onboard terminal runs a lightweight tiled acquisition module to collect or receive three-dimensional spatial geometric objects (obstacles, flight paths, trajectories, no-fly zones, threat zones, etc.) in real time; it calls a tiled rule module based on topological complementarity coding to calculate the topological complementarity coding of tiles and three-dimensional spatial geometric objects, completes topological relationship determination, indexes and stores three-dimensional spatial geometric objects whose tiles meet the conditions, and pushes them to the data collaboration service center; a tile topology aggregation module mounted on the data collaboration service center stores the received topology index records in a topology index library, stores the three-dimensional spatial geometric objects in a three-dimensional spatial geometric object storage system, and aligns and encloses the three-dimensional spatial geometric objects according to their minimum axis. The box calculates the indexable relationship between all cross-tile geometric objects and tiles, and records the topology index containing the geometric object identifier and the tile identifier it crosses in the topology index library. The demand broker module, which is mounted on the data collaboration service center, accepts tiled subscription areas from trusted clients such as different UAVs. It accesses the topology aggregation module in combination with the corresponding subscription topology conditions. According to the tiled subscription area and the corresponding subscription topology conditions, it defines the subscription area tiles. The geometry access module, which is mounted on the three-dimensional spatial geometric object storage system of the data collaboration service center, obtains the subscription area geometry identifier based on the subscription area tiles and pushes the three-dimensional spatial geometric object data of the tile index to the UAV to improve the access efficiency of the UAV in complex spaces.

[0035] This embodiment also provides a topological complementary coding and corresponding tiled example. The tile is a regular BeiDou grid tile divided according to GB / T 39409-2020. It is identified by the BeiDou three-dimensional grid position code. Let the three-dimensional azimuth type code be NEU, representing the three directions of northeast, east and west. The topological complementary coding is {1000000, 0100000, 0001000, 0000010, 0101000, 0100010, 0001010, 0101010}, which respectively represent the intersection of the geometric object representative point inside the tile, the north boundary surface, the east boundary surface, the upper boundary surface, the lower boundary surface, the northeast boundary surface, the upper north boundary surface, the upper east boundary surface, and the upper northeast boundary surface. The corresponding geometric object is indexed by the tile, and the tile identifier, the three-dimensional spatial geometric object identifier, and the corresponding three-dimensional azimuth type code are recorded. For geometries spanning tiles, calculate and index the other tiles spanned by the minimum axis-aligned bounding box of the 3D spatial geometry.

[0036] This embodiment also provides a specific implementation example of a three-dimensional spatial geometry object storage system. The three-dimensional spatial geometry object storage system adopts a MongoDB-based key-value pair structure, where the key is ID and the value is a geometry object (containing the geometry object identifier). obj_idAttributes such as minimum axis alignment bounding box. System functional modules include geometry object addition (receiving geometry object data in real time, calculating its cross-tile relationships, and updating the key-value pair table and topological index), and geometry object query (using tile identifiers). tile_id Quickly locate geometric objects, supporting filtering by subscription region and topology conditions.

[0037] This embodiment also provides a specific implementation example of a topology index library, which uses nested dictionaries (… tile_ id ->[ obj_id 1, obj_id 2, ...) Stores the topological relationships between tiles and geometric objects. The topological relationships of geometric objects across multiple tiles are calculated and recorded based on the minimum axis-aligned bounding box of the geometric objects. Real-time monitoring of geometric object changes is achieved through MongoDB Change Streams, dynamically updating the topological index to ensure consistency between the index data and the actual data.

[0038] This embodiment also provides an example of a tiled subscription area and corresponding subscription topology conditions. The request includes a subscription area defined by the BeiDou 3D grid location code and a 3D orientation type code NEU as the subscription topology conditions.

[0039] The demand broker module, mounted on the data collaboration service center, receives a subscription request initiated by the UAV trusted client, accesses the topology aggregation module, determines and defines the three-dimensional BeiDou grid tiles of the subscription area according to the tiled subscription area and the corresponding subscription topology conditions NEU, obtains the geometric identifier of the subscription area in the topology index library, and sends it to the three-dimensional spatial geometric object storage system to obtain the three-dimensional spatial geometric object data, and then forwards it to the UAV trusted client through the demand broker module.

[0040] The system implementation scheme of this invention includes: a lightweight tiled acquisition module running on the airborne end of the unmanned vehicle to collect or receive three-dimensional spatial geometric objects (obstacles, flight paths, trajectories, no-fly zones, threat zones, etc.) in real time; calling a tiled rule module based on topological complementary coding to calculate the topological complementary coding of tiles and three-dimensional spatial geometric objects, completing the topological relationship determination; indexing and storing three-dimensional spatial geometric objects that meet the conditions of the tiles; and pushing them to the data collaboration service center; and a tile topology aggregation module mounted on the data collaboration service center to store the received topology index records in a topology index database based on MongoDB, store the three-dimensional spatial geometric objects in a three-dimensional spatial geometric object storage system based on MongoDB, and, according to the three-dimensional spatial geometry... The minimum axis-aligned bounding box of each object calculates the indexable relationship between all cross-tile geometric objects and tiles, and records the topology index containing the identifier of the geometric object and the identifier of the tile it crosses in the topology index library. The demand broker module, which is mounted on the data collaboration service center, accepts tiled subscription areas from trusted clients such as different unmanned vehicles. It accesses the topology aggregation module in combination with the corresponding subscription topology conditions. According to the tiled subscription area and the corresponding subscription topology conditions, it defines the subscription area tiles. The geometry access module, which is mounted on the three-dimensional spatial geometric object storage system of the data collaboration service center, obtains the subscription area geometry identifier based on the subscription area tiles and pushes the three-dimensional spatial geometric object data of the tile index to the unmanned vehicle to improve the access efficiency of the unmanned vehicle in complex spaces.

[0041] This invention utilizes tiled rules based on topological complementary coding to index and store 3D spatial geometric object data such as obstacles, flight paths, trajectories, no-fly zones, and threat zones. It determines suitable tiled subscription areas and corresponding subscription topology conditions, defines the subscription area tiles, and accesses the relevant 3D spatial geometric object data of the required cubic tiles. This avoids repeated indexing of 3D spatial geometric objects in the tile boundary areas, reduces the transmission of redundant 3D spatial geometric object data and the consumption of corresponding tile area fusion computing power, improves the access efficiency of unmanned vehicles in complex spaces, and can significantly improve performance.

[0042] Based on the same inventive concept, this invention also provides a computer device, comprising: one or more processors, and a memory for storing one or more computer programs; the programs include program instructions, and the processor executes the program instructions stored in the memory. The processor may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing and control core of the terminal, used to implement one or more instructions, specifically for loading and executing one or more instructions stored in a computer storage medium to implement the above-described method.

[0043] It should be further explained that, based on the same inventive concept, the present invention also provides a computer storage medium storing a computer program, which, when executed by a processor, performs the above-described method. This storage medium can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0044] It should be noted that, unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0045] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

[0046] This invention is not limited to the preferred embodiment described above. Anyone inspired by this invention can derive other forms of three-dimensional spatial tile indexing methods and systems. All equivalent variations and modifications made within the scope of the claims of this invention shall fall within the scope of this invention.

Claims

1. A three-dimensional spatial tiled indexing method, characterized in that, include: When creating a tiled index for a geometric object in three-dimensional space, the center point of the bounding box aligned with the minimum axis of the geometric object is used as the reference position. Based on the topological relationship between the reference position and the three-dimensional tiles, a topological complementary code is generated according to a preset topological complementary coding rule. The topological complementary code is based on the reference position and characterizes the spatial intersection relationship between the geometric object and the interior of the tile and each boundary surface. Based on the aforementioned topological complementary coding and index determination rules, a unique primary index tile is determined for each geometric object. The index determination rules ensure that geometric objects within the common boundary area of ​​adjacent tiles are identified as primary index tiles by only one tile by parsing the information about complementary direction boundaries in the topological complementary coding, thereby avoiding duplicate indexing. Establish and maintain the index mapping between geometric objects and the main index tile; In addition, in response to a spatial data query request, matching geometric object data is retrieved and returned based on the index mapping, the tile set indicated by the query request, and the topological conditions.

2. The three-dimensional spatial tile indexing method according to claim 1, characterized in that: The process of generating the topological complementary code is completed by simply determining the positional relationship between the reference position and the intervals defined by each boundary surface of the tile on each directional axis, without needing to calculate the intersection of the complete geometric shape of the geometric object and the tile.

3. The three-dimensional spatial tile indexing method according to claim 1, characterized in that: The topological complementarity code is a 7-bit binary number. Each bit corresponds to whether the intersection of the reference position with the tile interior, the north boundary, the south boundary, the east boundary, the west boundary, the top boundary, and the bottom boundary is empty. When the intersection is empty, the corresponding bit is 0, and when the intersection is not empty, the corresponding bit is 1.

4. The three-dimensional spatial tile indexing method according to claim 1, characterized in that: The index determination rule includes: setting a three-dimensional orientation type code composed of NSEWUD, where NSEWUD corresponds to the north, south, east, west, upper and lower boundary directions respectively. The three-dimensional orientation type code is a preset combination of direction codes selected from {N, S, E, W, U, D} that have a common intersection point, and its complementary direction is the direction opposite to these three directions. If the bit inside the tile in the topological complementary code is 1, or if the code at the corresponding position of the three-dimensional orientation type code has at least one 1 and the three codes corresponding to the complementary direction are all 0, then the tile is determined to be the main index tile of the geometric object.

5. A three-dimensional spatial tiled indexing method according to claim 1, characterized in that: It also includes a cross-tile geometry object processing step: For a geometry object that spans multiple tiles, in addition to the determined main index tile, the other tiles it spans are calculated based on the minimum axis alignment bounding box of the geometry object, the association between the geometry object identifier and the identifiers of the other tiles it spans is recorded and stored in the index mapping.

6. The three-dimensional spatial tiled indexing method according to claim 1, characterized in that: The dynamic update of the index mapping is triggered by listening for attribute changes, spatial position movements, or lifecycle state changes including additions and deletions of three-dimensional spatial geometric objects. During the update, only the index association between the changed geometric objects and the corresponding tiles is synchronized, and a full index reconstruction is not performed to ensure the real-time nature of the update response.

7. A three-dimensional spatial tiled indexing method according to claim 1, characterized in that: The geometric objects are collected or received in real time by the UAV's onboard terminal. The index mapping and geometric object data are pushed to the data collaboration service center for storage and maintenance. The spatial data query request is initiated by the UAV's trusted client.

8. A three-dimensional spatial tiled indexing method according to claim 1, characterized in that: The index mapping adopts an incremental recording structure, which dynamically updates the index mapping by real-time monitoring of the addition, deletion or modification operations of three-dimensional spatial geometric objects, supporting the insertion or deletion of geometric object indexes at the second level.

9. A three-dimensional spatial tiled indexing system, characterized in that, include: The index generation module is used to obtain three-dimensional spatial geometric objects, generate topological complementary codes according to preset topological complementary coding rules based on the reference position of the geometric objects and the topological relationship between the three-dimensional spatial tiles, and determine a unique master index tile for the geometric objects through index determination rules. The storage module is used to establish and maintain the index mapping between geometric objects and the main index tiles, store 3D spatial geometric object data and index mapping data, and support dynamic updates of geometric object indexes; The subscription / query response module receives spatial data subscription / query requests, retrieves data from the storage module based on the tile set corresponding to the subscription / query area and the three-dimensional orientation type code used as topological conditions, and returns the matching geometric object data.

10. A non-transitory computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the method of any one of claims 1-8.

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