Airspace management method, device and equipment based on flight path of aircraft

Abstract

The invention provides an airspace management method, device and equipment based on a flight path of an aircraft, and relates to the technical field of low-altitude digital airspace management. The airspace management method based on the flight path of the aircraft comprises the following steps: dividing a 4D space-time field corresponding to the current airspace into a plurality of space-time pages; determining a corresponding relationship between the plurality of space-time pages and the flight path of the aircraft; determining respective occupation states of the plurality of space-time pages based on a corresponding relationship between the plurality of space-time pages and the flight path; and performing scheduling processing on the plurality of space-time pages according to the occupancy states. According to the embodiment of the invention, high-precision and low-delay flight conflict prediction and autonomous solution can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of low-altitude digital airspace management, in particular to an airspace management method and device based on flight trajectories of aircrafts. BACKGROUND

[0002] The existing airspace space-time resource allocation scheme for low-altitude scenarios mostly only performs coarse-grained simple partitioning such as partitioning and layering in the spatial dimension of the airspace, without considering the occupancy in the time dimension or the partitioning manner in the refined spatial dimension. Moreover, the representation of the flight task and flight trajectory of the aircraft still stays at giving vague content such as the take-off and landing point and the approximate use of the airspace, which cannot be accurately refined and dynamically coordinated and scheduled in real time, and is not conducive to high-density flight scenarios. The use of the airspace still adopts the mode of isolated flight and dedicated airspace, and the generality of the airspace cannot be achieved. SUMMARY

[0003] According to an aspect of the present application, an airspace management method based on flight trajectories of aircrafts is provided, comprising: dividing a 4D space-time field corresponding to a current airspace into a plurality of space-time pages; determining a corresponding relationship between the plurality of space-time pages and the flight trajectories of the aircrafts; determining an occupancy state of each of the plurality of space-time pages based on the corresponding relationship between the plurality of space-time pages and the flight trajectories; and performing scheduling processing on the plurality of space-time pages according to the occupancy state.

[0004] According to some embodiments, each of the plurality of space-time pages has a unique space-time address identifier; each space-time page includes a spatial dimension and a time dimension; and each space-time page corresponds to different metadata, including an occupancy subject, an occupancy type, a priority, and / or a life cycle.

[0005] According to some embodiments, determining the corresponding relationship between the plurality of space-time pages and the flight trajectories of the aircrafts comprises: obtaining physical performance data and planned trajectory data of the aircrafts; calculating an index address set of the space-time pages occupied by the aircrafts according to the physical performance data and the planned trajectory data; obtaining a preset trajectory process, which corresponds to the flight trajectories one by one; and constructing a mapping table of the index address set of the space-time pages occupied by the aircrafts and the trajectory process, as the corresponding relationship between the plurality of space-time pages and the flight trajectories.

[0006] According to some embodiments, calculating the index address set of the space-time pages occupied by the aircrafts according to the physical performance data and the planned trajectory data comprises: determining a spatial granularity of the space-time pages occupied by the aircrafts according to the physical performance data; determining a time granularity of the space-time pages occupied by the aircrafts according to the planned trajectory data; and calculating an index address of the space-time pages occupied by the aircrafts corresponding to a preset time point according to the spatial granularity and the time granularity, to obtain the index address set of the space-time pages occupied by the aircrafts.

[0007] According to some embodiments, the mapping table of the index address set of the space-time page occupied by the aircraft and the track progress is constructed as the correspondence between the plurality of space-time pages and the flight track, comprising: obtaining the mapping table constructed in a preset structure, and initializing the mapping table; registering the track progress corresponding to the aircraft in the initialized mapping table according to the planned track data; and writing the index address set of the space-time page occupied by the aircraft into the mapping table based on the registered track progress.

[0008] According to some embodiments, the mapping table of the index address set of the space-time page occupied by the aircraft and the track progress is constructed as the correspondence between the plurality of space-time pages and the flight track, comprising: obtaining the mapping table constructed in a preset structure, and initializing the mapping table; registering the track progress corresponding to the aircraft in the initialized mapping table according to the planned track data; and writing the index address set of the space-time page occupied by the aircraft into the mapping table based on the registered track progress.

[0009] According to some embodiments, based on the correspondence between the plurality of space-time pages and the flight track, the occupation state of each of the plurality of space-time pages is determined, comprising: obtaining the reference application of any space-time page contained in the mapping table by the track progress; searching the space-time page contained in the mapping table through the preset space-time joint index according to the reference application; based on the search result, obtaining the number of track processes corresponding to the space-time page contained in the mapping table through the value of the reference counter; and determining the occupation state of the plurality of space-time pages according to the preset threshold and the number of track processes corresponding to each space-time page in the mapping table.

[0010] According to some embodiments, the occupation state includes a conflict state; and according to the occupation state, the plurality of space-time pages are scheduled and processed, comprising: in the case that any space-time page is in a conflict state, obtaining the priority of a plurality of track processes corresponding to any space-time page; according to the priority of the plurality of track processes, the plurality of space-time pages are allocated to the plurality of track processes in a preset order; and according to the allocation result of the plurality of space-time pages, resource management of the plurality of track processes is performed.

[0011] According to some embodiments, according to the allocation result of the plurality of space-time pages, resource management of the plurality of track processes is performed, comprising: constructing a resource allocation graph of the plurality of track processes according to the allocation result of the plurality of space-time pages; determining the circular waiting condition in the plurality of track processes based on the resource allocation graph; and performing resource recycling in the plurality of track processes according to the circular waiting condition in the plurality of track processes.

[0012] According to one aspect of this application, an airspace management device based on the flight trajectory of an aircraft is provided, comprising: a resource partitioning module for dividing the 4D spatiotemporal field corresponding to the current airspace into multiple spatiotemporal pages; a data matching module for determining the correspondence between the multiple spatiotemporal pages and the flight trajectory of the aircraft; a status detection module for determining the occupancy status of each of the multiple spatiotemporal pages based on the correspondence between the multiple spatiotemporal pages and the flight trajectory; and a resource scheduling module for scheduling the multiple spatiotemporal pages according to their occupancy status.

[0013] According to one aspect of this application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs; and, when the one or more programs are executed by the one or more processors, causing the one or more processors to perform the method as described above.

[0014] According to one aspect of this application, a computer-readable storage medium is provided that stores a computer program or instructions thereon, which, when executed by a processor, implement the method as described above.

[0015] According to the embodiments of this application, a correspondence between airspace and aircraft flight trajectory is constructed based on the operating system memory management mechanism. By mapping the spatiotemporal resources in the airspace to the flight trajectory process of the aircraft, high-precision, low-latency prediction of flight conflicts between aircraft is achieved, and autonomous resolution is achieved through the scheduling of spatiotemporal resources.

[0016] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application.

[0018] Figure 1 A flowchart illustrating an airspace management method based on the flight trajectory of an aircraft according to an example embodiment of this application is shown.

[0019] Figure 2 This diagram illustrates an airspace management device based on the flight trajectory of an aircraft according to an example embodiment of this application.

[0020] Figure 3 A block diagram of an electronic device according to an example embodiment of this application is shown. Detailed Implementation

[0021] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0022] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of these specific details, or other methods, components, materials, apparatus, or operations may be employed. In these cases, well-known structures, methods, apparatuses, implementations, materials, or operations will not be shown or described in detail.

[0023] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0024] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0025] This application provides an airspace management method, apparatus, and device based on the flight trajectory of an aircraft. The airspace is regarded as a 4D memory space, and the flight trajectory of the aircraft is regarded as a process in memory and its resource occupation. The detection and resolution of flight conflicts of the aircraft are realized by using the page mapping, reference counting and other mechanisms of the operating system.

[0026] The following will describe in detail, with reference to the accompanying drawings, an airspace management method, apparatus, and device based on the flight trajectory of an aircraft according to embodiments of this application.

[0027] Figure 1 A flowchart illustrating an airspace management method based on the flight trajectory of an aircraft according to an example embodiment of this application is shown.

[0028] like Figure 1As shown, in step S100, the 4D spatiotemporal field corresponding to the current spatial domain is divided into multiple spatiotemporal pages.

[0029] For example, in step S100, the management device divides the 4D spatiotemporal field corresponding to the current airspace into multiple standardized spatiotemporal units, where each standardized spatiotemporal unit is called a spatiotemporal page.

[0030] According to some embodiments, in the multiple spatiotemporal pages corresponding to the current airspace, each spatiotemporal page contains a spatial dimension and a temporal dimension, and has a unique spatiotemporal address identifier.

[0031] The management device uses 2D segmentation technology to slice the 3D space corresponding to the spatiotemporal page into multiple 2D planes along the Z-axis, with each layer having a height of m meters (e.g., 10 meters), in order to set the spatial dimension of the spatiotemporal page.

[0032] Furthermore, the management device divides the time dimension corresponding to the spatiotemporal page into discrete time slices with a granularity of k seconds (e.g., 1 second) to form the 4D address space (X, Y, Z, T) of the spatiotemporal page.

[0033] According to some embodiments, among the multiple spatiotemporal pages corresponding to the current airspace, each spatiotemporal page corresponds to different metadata, including the occupant, occupancy type, priority, and / or lifecycle.

[0034] For example, suppose a spatiotemporal page represents a 10m x 10m x 10m cube located at "November 24, 2025, 10:00:05" with coordinates "Longitude X / Latitude Y / Altitude 100m". The metadata instance corresponding to this spatiotemporal page is as follows: The occupant, PID: 8848, points to the trajectory process ID of the aircraft currently occupying the airspace corresponding to this spatiotemporal page. For example, a delivery drone has a trajectory process ID of PID: 8848.

[0035] The occupancy type, TYPE_DYNAMIC_TRAJ (Dynamic Trajectory), indicates that the occupancy of this spacetime page originates from the aircraft's trajectory. Other types may include TYPE_STATIC_OBSTACLE (such as spacetime pages corresponding to tall buildings) or TYPE_RESTRICTED_ZONE (such as military no-fly zones), etc.

[0036] Priority, 0.3, indicates that the scheduling priority of the task corresponding to this occupier is 0.3 (range 0.0-1.0). Compared to higher priority tasks (such as the "Medical Emergency" task with a priority of 0.9), this spacetime page is more likely to be reclaimed in the event of a conflict.

[0037] Lifetime, TTL (Time To Live): 2000ms, refers to the effective lifespan of the spacetime page's occupancy record. For example, if an aircraft does not update its status or actually fly within a preset time (e.g., 2 seconds), the spacetime page will be released through garbage collection to prevent zombie processes from occupying airspace resources indefinitely.

[0038] In step S200, the correspondence between multiple spatiotemporal pages and the flight trajectory of the aircraft is determined.

[0039] For example, in step S200, the management device obtains the trajectory process corresponding to the flight trajectory of the aircraft and constructs a mapping relationship between multiple spatiotemporal pages and trajectory processes, which serves as the correspondence between multiple spatiotemporal pages and the flight trajectory of the aircraft.

[0040] The management device acquires the aircraft's physical performance data and planned trajectory data.

[0041] According to some embodiments, the physical performance data of an aircraft includes the aircraft's size, speed, and maneuverability.

[0042] Based on the aircraft's physical performance data, the management device determines the spatial granularity of the spatiotemporal page occupied by the aircraft. Furthermore, the management device determines the temporal granularity of the spatiotemporal page occupied by the aircraft based on its planned trajectory data.

[0043] For example, suppose aircraft A has a radius of r = 5 meters and plans to fly from point P1 (0,0,10) to point P2 (0,100,10) at a speed of v = 10 meters / second, with a planned time span of 0 to 10 seconds.

[0044] First, the management device obtains the preset safety margin d for aircraft A. safe Then the actual space tube radius occupied by aircraft A is R = r + d safe The management device uses this to expand the physical space of the aircraft's flight trajectory according to preset rules, in order to set the spatial granularity of the spatiotemporal page occupied by aircraft A. For example, if R = 2 meters, the spatial granularity of the spatiotemporal page occupied by aircraft A is 10 meters * 10 meters * 10 meters.

[0045] Furthermore, the management device calculates each discrete time point t within the planned time span at a preset sampling frequency (e.g., 1 Hz). k The center coordinates P(t) k This is used to perform interpolation calculations of the aircraft's flight trajectory and set the time granularity of the spatiotemporal page occupied by aircraft A. For example, the time granularity of the spatiotemporal page occupied by aircraft A is 1 second.

[0046] Based on the spatial and temporal granularity of the spatiotemporal pages occupied by the aircraft, the management device calculates the index address of the spatiotemporal page occupied by the aircraft at a preset time point to obtain the set of index addresses of the spatiotemporal pages occupied by the aircraft.

[0047] For example, the spatial granularity of the spatiotemporal page occupied by aircraft A is 10 meters * 10 meters * 10 meters, and the time granularity is 1 second. At the preset time point t=5 seconds, aircraft A is at point (0, 50, 10).

[0048] The management device calculates the index address (X, Y, Z, T) of the spatiotemporal page occupied by the aircraft. Where X = 0 / 10 = 0, Y = 50 / 10 = 5, Z = 10 / 10 = 1, and T = 5 / 1 = 5. Therefore, the management device obtains the index address (0, 5, 1, 5) of the spatiotemporal page occupied by the aircraft at a preset time point. Based on this, the management device can obtain the set of index addresses of the spatiotemporal pages occupied by the aircraft within a preset time period.

[0049] According to some embodiments, based on the actual spatial pipe radius occupied by the aircraft, when the aircraft is at the edge of the spatial grid corresponding to the current spatiotemporal page, the aircraft can simultaneously occupy multiple adjacent spatiotemporal pages at a certain point in time, such as spatiotemporal pages (0,5,1,5) and (0,4,1,5).

[0050] The management device acquires a preset trajectory process, wherein each trajectory process corresponds one-to-one with the flight trajectory of the aircraft, and the ID of the trajectory process is PID.

[0051] According to some embodiments, a trajectory process corresponds to a complete flight activity or flight trajectory of an aircraft. It has an independent lifecycle (from takeoff to landing), a unique identifier (PID), and required resources (spacetime pages). When an aircraft performs a flight mission, a corresponding trajectory process is created for it. During the operation of this trajectory process, spacetime pages (spacetime pages are the airspace grids that the aircraft passes through) need to be continuously requested and released.

[0052] Furthermore, the management device obtains a mapping table constructed with a preset structure and initializes the mapping table.

[0053] According to some embodiments, the mapping table constructed with a preset structure is a global hash mapping table or sparse matrix that can record the occupancy status of each spatiotemporal page.

[0054] Based on the aircraft's planned trajectory data, the management device registers the corresponding trajectory process of the aircraft in the initialized mapping table.

[0055] According to some embodiments, based on the planned trajectory data submitted by the aircraft, the management device records the PID of the trajectory process corresponding to the aircraft in a mapping table, and calculates the set of index addresses of the spatiotemporal pages that the aircraft is planned to pass through corresponding to the trajectory process PID.

[0056] The management device sets a mapping table identifier and a reference counter for the spacetime page occupied by the aircraft in the mapping table. The value of the reference counter represents the number of trajectory processes referencing the current spacetime page.

[0057] According to some embodiments, the management device traverses the set of index addresses of the spatiotemporal pages that the spacecraft is scheduled to visit in order to set the mapping table identifier and reference counter corresponding to the spatiotemporal page in the mapping table.

[0058] Furthermore, before writing the set of index addresses of the spacetime pages occupied by the aircraft into the mapping table, the management device determines whether the mapping table already contains the mapping table identifier corresponding to the spacetime page.

[0059] If the mapping table identifier does not exist, the management device sets the mapping table identifier and reference counter corresponding to the spacetime page occupied by the aircraft in the mapping table, and creates a reference relationship between the spacetime page occupied by the aircraft and the trajectory process based on the mapping table identifier, so as to complete the writing of the index address of the spacetime page occupied by the aircraft.

[0060] If the mapping table identifier already exists, the management device adds the reference relationship between the spacetime page occupied by the aircraft and the trajectory process in the mapping table based on the mapping table identifier, and increments the value of the reference counter corresponding to the spacetime page to complete the writing of the index address of the spacetime page occupied by the aircraft.

[0061] For example, assuming the trajectory process PID corresponding to aircraft B is 1001, the management device obtains the index address of the spatiotemporal page it occupies by traversing it as (0,5,1,5), and sets the mapping table identifier corresponding to this spatiotemporal page as Page_ID = (0,5,1,5).

[0062] The management device first determines whether the mapping table identifier Page_ID = (0,5,1,5) corresponding to the spatiotemporal page already exists in the mapping table.

[0063] If it does not exist, the management device sets the entry corresponding to Page_ID = (0,5,1,5) as follows: Key: (0,5,1,5) -> Value: {PID: 1001, Status: Occupied}, to establish the reference relationship between the spacetime page (0,5,1,5) occupied by the spacecraft and the trajectory process PID: 1001. At this time, the reference counter value corresponding to the spacetime page (0,5,1,5) is 1.

[0064] If it exists, the management device adds the reference relationship between the spacetime page (0,5,1,5) occupied by the aircraft and the trajectory process PID: 1001 to the Value list corresponding to Page_ID = (0,5,1,5), and increments the reference counter value corresponding to the spacetime page (0,5,1,5) by, for example, +1.

[0065] In step S300, the occupancy status of each of the multiple spatiotemporal pages is determined based on the correspondence between the multiple spatiotemporal pages and the flight trajectory.

[0066] For example, in step S300, the management device determines the occupancy status of each spatiotemporal page by using the mapping table between the set of index addresses of the spatiotemporal pages occupied by the aircraft and the trajectory process.

[0067] The management device first obtains the trajectory process corresponding to the aircraft's flight trajectory and its reference request for any spatiotemporal page contained in the mapping table.

[0068] According to some embodiments, the management device can query the corresponding spatiotemporal page in the mapping table by using the PID of the trajectory process that submitted the reference application.

[0069] Based on the reference request of the trajectory process, the management device searches the spatiotemporal pages contained in the mapping table through a preset spatiotemporal joint index to determine whether there are cases where different trajectory processes request the same spatiotemporal page.

[0070] According to some embodiments, an R-tree index for spatial dimension retrieval and a B+ tree index for temporal dimension retrieval can be combined to form a spatiotemporal composite index.

[0071] Based on the search results, the management device obtains the number of trajectory processes corresponding to each spatiotemporal page in the mapping table by using the value of the reference counter corresponding to the spatiotemporal page.

[0072] According to some embodiments, the management device records the number of trajectory processes simultaneously requesting the current spatiotemporal page by using the value of the reference counter corresponding to each spatiotemporal page in the mapping table. If the search results indicate that different trajectory processes are requesting the same spatiotemporal page, the management device continues to confirm the occupancy status of that spatiotemporal page.

[0073] Based on preset thresholds and the number of trajectory processes corresponding to each spatiotemporal page in the mapping table, the management device determines the occupancy status of multiple spatiotemporal pages.

[0074] According to some embodiments, the preset threshold can be divided into multiple warning levels. For example, when the reference counter value is 1, it indicates that only one trajectory process requests the current spatiotemporal page at a time, and the occupancy status of the spatiotemporal page is normal. When the reference counter value is 2, it indicates that two trajectory processes request the current spatiotemporal page at a time, and the occupancy status of the spatiotemporal page is warning. When the reference counter value is greater than 2, it indicates that more than two trajectory processes request the current spatiotemporal page at a time, and the occupancy status of the spatiotemporal page is conflicting.

[0075] In step S400, multiple spatiotemporal pages are scheduled according to their occupancy status.

[0076] For example, in step S400, the management device schedules the time-space pages in conflict state according to the occupancy status of multiple time-space pages.

[0077] If any of the multiple spatiotemporal pages is in a conflict state, the management device obtains the priority of the multiple trajectory processes corresponding to any spatiotemporal page, and allocates the multiple spatiotemporal pages to the multiple trajectory processes in a preset order.

[0078] According to some embodiments, the priority of a trajectory process can be preset according to its corresponding flight mission. For example, a priority value of 0.0-1.0 can be set for the trajectory process corresponding to a flight mission in ascending order of the importance of the flight mission.

[0079] According to some embodiments, the management device can assign multiple spatiotemporal pages to corresponding trajectory processes in descending order.

[0080] For example, a trajectory process corresponding to a high-priority flight mission (such as medical emergency) can preempt the spatiotemporal page of a trajectory process corresponding to a low-priority flight mission (such as logistics delivery). The trajectory process whose spatiotemporal page is preempted then enters a suspended state, and the management device allocates a temporary exchange area for it to wait for recovery.

[0081] Based on the allocation results of multiple spatiotemporal pages, the management device constructs a resource allocation map for multiple trajectory processes.

[0082] According to some embodiments, the resource allocation graph of the trajectory process is a directed graph used for real-time monitoring of the occupancy and request status of airspace resources. The contents of the resource allocation graph include the following.

[0083] Nodes are divided into two categories: "process nodes" represent the flight trajectory of an aircraft (such as aircraft A and aircraft B), and "resource nodes" represent 4D spatiotemporal pages.

[0084] Edges are divided into "allocation edges" (resources point to processes, indicating current occupancy) and "request edges" (processes point to resources, indicating the next planned entry).

[0085] Based on the resource allocation map, the management device determines the cyclic waiting situation in multiple trajectory processes.

[0086] For example, suppose that in a narrow, one-way passage (such as a low-altitude corridor between two buildings), aircraft A and aircraft B are traveling towards each other.

[0087] In this scenario, aircraft A (PID 101) is currently occupying spacetime page Page_1 (position X) and requests to enter spacetime page Page_2 (position Y) to continue flying. Aircraft B (PID 102) is currently occupying spacetime page Page_2 (position Y) and requests to enter spacetime page Page_1 (position X) to continue flying. At this point, aircraft A is waiting for aircraft B to vacate its position, while aircraft B is also waiting for aircraft A to vacate its position. Without intervention, neither aircraft can obtain the airspace resources needed for the next step, resulting in a hovering stalemate, which is a circular wait in the trajectory process.

[0088] Based on the cyclic waiting status in multiple trajectory processes, the management device performs resource reclamation in multiple trajectory processes.

[0089] According to some embodiments, when a trajectory process is in a loop of waiting, the management device forcibly reclaims the spatiotemporal pages according to preset rules, in order to reclaim the spatiotemporal pages occupied by trajectory processes with lower priority and higher task completion rates, and allocate the reclaimed spatiotemporal pages to trajectory processes with higher priority and lower task completion rates.

[0090] For example, in the case of a loop waiting for a trajectory process, the management device selects the trajectory process corresponding to the lower-priority aircraft B as the "sacrifice process". The management device forcibly cancels aircraft B's occupation of spacetime page Page_2 (e.g., instructs aircraft B to land or reverse) to break the loop, thereby allowing the higher-priority aircraft A to occupy spacetime page Page_2 and pass through.

[0091] According to the embodiments of this application, high-precision, low-latency prediction of flight conflicts between aircraft is achieved, and autonomous resolution is achieved through the scheduling of spatiotemporal resources.

[0092] Figure 2 This diagram illustrates an airspace management device based on the flight trajectory of an aircraft according to an example embodiment of this application.

[0093] like Figure 2As shown, the management device 100 includes a resource allocation module 110, a data matching module 120, a status detection module 130, and a resource scheduling module 140.

[0094] The resource partitioning module 110 divides the 4D spatiotemporal field corresponding to the current spatial domain into multiple spatiotemporal pages.

[0095] The data matching module 120 acquires the physical performance data and planned trajectory data of the aircraft.

[0096] Based on the physical performance data of the aircraft, the data matching module 120 determines the spatial granularity of the spatiotemporal page occupied by the aircraft.

[0097] The data matching module 120 determines the time granularity of the spatiotemporal page occupied by the aircraft based on the aircraft's planned trajectory data.

[0098] Based on the spatial and temporal granularity of the spatiotemporal pages occupied by the aircraft, the data matching module 120 calculates the index address of the spatiotemporal page occupied by the aircraft at a preset time point to obtain the set of index addresses of the spatiotemporal pages occupied by the aircraft.

[0099] The data matching module 120 acquires a preset trajectory process, wherein the trajectory process corresponds one-to-one with the flight trajectory of the aircraft.

[0100] The data matching module 120 obtains a mapping table constructed with a preset structure and initializes the mapping table.

[0101] Based on the planned trajectory data of the aircraft, the data matching module 120 registers the trajectory process corresponding to the aircraft in the initialized mapping table.

[0102] The data matching module 120 sets the mapping table identifier and reference counter corresponding to the spacetime page occupied by the aircraft in the mapping table. The value of the reference counter represents the number of trajectory processes referencing the current spacetime page.

[0103] Before writing the set of index addresses of the spacetime pages occupied by the aircraft into the mapping table, the data matching module 120 determines whether the mapping table identifier corresponding to the spacetime page already exists in the mapping table.

[0104] If the mapping table identifier does not exist, the data matching module 120 sets the mapping table identifier and reference counter corresponding to the spacetime page occupied by the aircraft in the mapping table, and creates a reference relationship between the spacetime page occupied by the aircraft and the trajectory process based on the mapping table identifier, so as to complete the writing of the index address of the spacetime page occupied by the aircraft.

[0105] If the mapping table identifier already exists, the data matching module 120 adds the reference relationship between the spacetime page occupied by the aircraft and the trajectory process in the mapping table based on the mapping table identifier, and increments the value of the reference counter corresponding to the spacetime page to complete the writing of the index address of the spacetime page occupied by the aircraft.

[0106] The status detection module 130 obtains the trajectory process corresponding to the aircraft's flight trajectory and its reference request to any spatiotemporal page contained in the mapping table.

[0107] Based on the reference request of the trajectory process, the status detection module 130 searches the spatiotemporal pages contained in the mapping table through the preset spatiotemporal joint index to determine whether there are cases where different trajectory processes request the same spatiotemporal page.

[0108] Based on the search results, the state detection module 130 obtains the number of trajectory processes corresponding to each spatiotemporal page in the mapping table by using the value of the reference counter corresponding to the spatiotemporal page.

[0109] Based on the preset threshold and the number of trajectory processes corresponding to each spatiotemporal page in the mapping table, the status detection module 130 determines the occupancy status of multiple spatiotemporal pages.

[0110] If any of the multiple time-space pages is in a conflict state, the resource scheduling module 140 obtains the priority of the multiple trajectory processes corresponding to any time-space page, and allocates the multiple time-space pages to the multiple trajectory processes in a preset order.

[0111] Based on the allocation results of multiple spatiotemporal pages, the resource scheduling module 140 constructs a resource allocation graph for multiple trajectory processes.

[0112] Based on the resource allocation graph, the resource scheduling module 140 determines the cyclic waiting status of multiple trajectory processes.

[0113] Based on the cyclic waiting status in multiple trajectory processes, the resource scheduling module 140 performs resource reclamation in multiple trajectory processes.

[0114] Figure 3 A block diagram of an electronic device according to an example embodiment of this application is shown.

[0115] like Figure 3 As shown, the electronic device 600 is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0116] like Figure 3As shown, the electronic device 600 is manifested in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different system components (including the storage unit 620 and the processing unit 610), a display unit 640, etc. The storage unit stores program code, which can be executed by the processing unit 610, causing the processing unit 610 to perform the methods described in this specification according to the various exemplary embodiments of this application. For example, the processing unit 610 can perform, for example... Figure 1 The method shown.

[0117] Storage unit 620 may include readable media in the form of volatile storage units, such as random access memory (RAM) 6201 and / or cache memory 6202, and may further include read-only memory (ROM) 6203.

[0118] Storage unit 620 may also include a program / utility 6204 having a set (at least one) program module 6205, such program module 6205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0119] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0120] Electronic device 600 can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 600, and / or with any device that enables electronic device 600 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 660. Network adapter 660 can communicate with other modules of electronic device 600 via bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0121] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. The technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of this application.

[0122] Software products may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections with one or more wires, portable disks, hard disks, 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 devices, magnetic storage devices, or any suitable combination thereof.

[0123] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0124] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0125] The aforementioned computer-readable medium carries one or more programs, which, when executed by a device, cause the computer-readable medium to perform the aforementioned functions.

[0126] Those skilled in the art will understand that the above modules can be distributed in the device as described in the embodiments, or they can be modified accordingly and placed in one or more devices that are unique to this embodiment. The modules in the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0127] The embodiments of this application have been described in detail above. These descriptions are solely for the purpose of helping to understand the method and core ideas of this application. Furthermore, any changes or modifications made by those skilled in the art based on the ideas of this application, its specific implementation methods, and its application scope, are all within the scope of protection of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for airspace management based on the flight trajectory of an aircraft, characterized in that, include: Divide the 4D spatiotemporal field corresponding to the current spatial domain into multiple spatiotemporal pages; Determine the correspondence between the multiple spatiotemporal pages and the flight trajectory of the aircraft; Based on the correspondence between the multiple spatiotemporal pages and the flight trajectory, the occupancy status of each of the multiple spatiotemporal pages is determined; Based on the occupancy status, the multiple spatiotemporal pages are scheduled.

2. The method according to claim 1, characterized in that, Determining the correspondence between the multiple spatiotemporal pages and the flight trajectory of the aircraft includes: Acquire the physical performance data and planned trajectory data of the aircraft; Based on the physical performance data and the planned trajectory data, calculate the set of index addresses of the spatiotemporal pages occupied by the aircraft; Obtain a preset trajectory process, wherein the trajectory process corresponds one-to-one with the flight trajectory; A mapping table is constructed between the set of index addresses of the spatiotemporal pages occupied by the aircraft and the trajectory process, so as to serve as the correspondence between the multiple spatiotemporal pages and the flight trajectory.

3. The method according to claim 2, characterized in that, Based on the physical performance data and the planned trajectory data, calculate the set of index addresses for the spatiotemporal pages occupied by the aircraft, including: Based on the physical performance data, determine the spatial granularity of the spatiotemporal page occupied by the aircraft; Based on the planned trajectory data, the temporal granularity of the spatiotemporal page occupied by the aircraft is determined; Based on the spatial granularity and the temporal granularity, the index address of the spatiotemporal page occupied by the aircraft corresponding to the preset time point is calculated to obtain the set of index addresses of the spatiotemporal page occupied by the aircraft.

4. The method according to claim 2, characterized in that, Constructing a mapping table between the set of index addresses of the spatiotemporal pages occupied by the aircraft and the trajectory process, to serve as the correspondence between the multiple spatiotemporal pages and the flight trajectory, including: Obtain a mapping table constructed with a preset structure, and initialize the mapping table; Based on the planned trajectory data, the trajectory process corresponding to the aircraft is registered in the initialized mapping table; Based on the registered trajectory process, the set of index addresses of the spatiotemporal pages occupied by the aircraft is written into the mapping table.

5. The method according to claim 4, characterized in that, Based on the registered trajectory process, the set of index addresses of the spatiotemporal pages occupied by the aircraft is written into the mapping table, including: In the mapping table, a mapping table identifier and a reference counter are set for the spatiotemporal page occupied by the aircraft. The value of the reference counter represents the number of trajectory processes referencing the current spatiotemporal page. Before writing the set of index addresses of the spatiotemporal pages occupied by the aircraft into the mapping table, determine whether the mapping table identifier exists; If the mapping table identifier does not exist, a reference relationship between the spatiotemporal page occupied by the aircraft and the trajectory process is created in the mapping table; If the mapping table identifier already exists, add a reference relationship between the spatiotemporal page occupied by the aircraft and the trajectory process to the mapping table, and increase the value of the reference counter.

6. The method according to claim 5, characterized in that, Based on the correspondence between the multiple spatiotemporal pages and the flight trajectory, the occupancy status of each of the multiple spatiotemporal pages is determined, including: Obtain the reference request of the trajectory process to any spatiotemporal page contained in the mapping table; According to the reference application, the spatiotemporal pages contained in the mapping table are retrieved through a preset spatiotemporal joint index; Based on the search results, the number of trajectory processes corresponding to the spatiotemporal pages contained in the mapping table is obtained by using the value of the reference counter; The occupancy status of the multiple spatiotemporal pages is determined based on a preset threshold and the number of trajectory processes corresponding to each spatiotemporal page in the mapping table.

7. The method according to claim 6, characterized in that, The occupancy status includes conflict status; Based on the occupancy status, the multiple spatiotemporal pages are scheduled, including: If any of the spatiotemporal pages is in the conflict state, obtain the priority of multiple trajectory processes corresponding to the any of the spatiotemporal pages; Based on the priority of the multiple trajectory processes, the multiple spatiotemporal pages are allocated to the multiple trajectory processes in a preset order; Based on the allocation results of the multiple spatiotemporal pages, resource management is performed on the multiple trajectory processes.

8. An airspace management device based on the flight trajectory of an aircraft, characterized in that, include: The resource partitioning module is used to divide the 4D spatiotemporal field corresponding to the current airspace into multiple spatiotemporal pages; The data matching module is used to determine the correspondence between the multiple spatiotemporal pages and the flight trajectory of the aircraft; The status detection module is used to determine the occupancy status of each of the multiple spatiotemporal pages based on the correspondence between the multiple spatiotemporal pages and the flight trajectory; The resource scheduling module is used to schedule the multiple spatiotemporal pages according to the occupancy status.

9. An electronic device, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed by a processor, they implement the method as described in any one of claims 1-7.

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