A low-altitude environment evaluation method, device and equipment based on multi-source fusion and a storage medium

Abstract

The application provides a low-altitude environment evaluation method and device based on multi-source fusion, equipment and a storage medium. The environment measurement data is determined, a sky image is obtained through a fisheye lens, and sol vertical distribution information and a low-altitude wind field are obtained through a laser wind measuring radar. The environment measurement data includes at least one of temperature and humidity data and precipitation intensity. Dynamic fusion analysis is performed according to the sky image and the sol vertical distribution information, the low-altitude cloud condition and the intensity level corresponding to the low-altitude cloud condition are determined, the intensity level corresponding to the low-altitude wind field is determined according to the low-altitude wind field, the intensity level corresponding to the environment measurement data is determined according to the environment measurement data, the intensity levels are analyzed based on multi-source data, the intensity level corresponding to the low-altitude cloud condition, the intensity level corresponding to the low-altitude wind field and the intensity level corresponding to the environment measurement data are determined, and the low-altitude environment evaluation result is comprehensively determined, which is beneficial to improving the accuracy.

Description

Technical Field

[0001] This application relates to the field of low-altitude airspace, and more particularly to a method, apparatus, equipment, and storage medium for low-altitude environmental assessment based on multi-source fusion. Background Technology

[0002] With the rapid development of the low-altitude economy, low-altitude drones are increasingly used in logistics, urban patrol, emergency rescue, and air traffic. Low-altitude airspace (typically referring to the range of 0–1000 meters above the ground) is characterized by complex terrain, dense buildings, rapid weather changes, and strong locality. Traditional ground-based meteorological observation systems and upper-air meteorological detection equipment are insufficient to meet the demand for refined meteorological support for low-altitude flights. For example, they primarily consider wind speed, lacking analysis of factors highly sensitive to low-altitude flight, such as precipitation and low-altitude cloud conditions. The analysis dimensions are limited, and multi-source fusion analysis and evaluation capabilities are lacking. Summary of the Invention

[0003] This application provides a method, apparatus, device, and storage medium for low-altitude environment assessment based on multi-source fusion, to solve at least one problem existing in related technologies. The technical solution is as follows:

[0004] In a first aspect, embodiments of this application provide a method for low-altitude environment assessment based on multi-source fusion, including:

[0005] The environmental measurement data is determined, and sky images are acquired through a fisheye lens and aerosol vertical distribution information and low-level wind field are acquired through a laser wind radar. The environmental measurement data includes at least one of temperature and humidity data and precipitation intensity.

[0006] Dynamic fusion analysis is performed based on the sky image and the vertical distribution information of aerosols to determine the low-altitude cloud conditions and the intensity level corresponding to the low-altitude cloud conditions.

[0007] Based on the low-altitude wind field, determine the intensity level corresponding to the low-altitude wind field, and based on the environmental measurement data, determine the intensity level corresponding to the environmental measurement data;

[0008] The low-altitude environmental assessment result is determined by comprehensively considering the intensity level corresponding to the low-altitude cloud conditions, the intensity level corresponding to the low-altitude wind field, and the intensity level corresponding to the environmental measurement data.

[0009] In one embodiment, the step of performing dynamic fusion analysis based on the sky image and the aerosol vertical distribution information to determine the low-altitude cloud conditions and the corresponding intensity level of the low-altitude cloud conditions includes:

[0010] The sky image is analyzed using an image analysis algorithm to determine the first cloud base height and total cloud cover, and the vertical distribution information of aerosols is analyzed to determine the second cloud base height.

[0011] Based on the visual quality of the sky image and the signal quality of the laser wind measuring radar, a first dynamic weight for the first cloud base height and a second dynamic weight for the second cloud base height are determined.

[0012] The fused cloud base height is determined based on the first cloud base height, the first dynamic weight, the second cloud base height, and the second dynamic weight; the low-altitude cloud conditions include the total cloud cover and the fused cloud base height.

[0013] The intensity level corresponding to the low-altitude cloud condition is determined based on the total cloud cover and the merged cloud base height.

[0014] In one embodiment, determining the first dynamic weight of the first cloud base height and the second dynamic weight of the second cloud base height based on the visual quality of the sky image and the signal quality of the laser wind-measuring radar includes:

[0015] If the visual quality of the sky image is that the sky background and clouds are clear during the day, and the signal quality of the laser wind radar is lower than the quality threshold, then the first dynamic weight is determined to be the first value and the second dynamic weight is determined to be the second value.

[0016] If the visual quality of the sky image is that the sky background is unclear or the clouds are unclear during the day, and the signal quality of the laser wind radar is higher than or equal to the quality threshold, then the first dynamic weight is determined to be the second value and the second dynamic weight is determined to be the first value.

[0017] If the visual quality of the sky image is that the sky background and clouds are clear during the day, and the signal quality of the laser wind measuring radar is higher than or equal to the quality threshold, or if the visual quality of the sky image is that the sky background or clouds are unclear during the day, and the signal quality of the laser wind measuring radar is lower than the quality threshold, then the first dynamic weight and the second dynamic weight are determined to be a third value, wherein the first value is greater than the second value, and the third value is located between the first value and the second value.

[0018] In one implementation, determining the intensity level corresponding to the low-altitude cloud condition based on the total cloud cover and the merged cloud base height includes:

[0019] When the fused cloud base height is greater than or equal to the first height threshold, the intensity level corresponding to the low-altitude cloud condition is determined to be low.

[0020] When the fused cloud base height is less than the first height threshold, greater than or equal to the second height threshold, and the total cloud cover is less than the cloud cover threshold, the intensity level corresponding to the low-altitude cloud condition is determined to be medium.

[0021] When the fused cloud base height is less than the second height threshold or the total cloud cover is greater than or equal to the cloud cover threshold, the intensity level corresponding to the low-altitude cloud condition is determined to be high.

[0022] In one embodiment, determining the intensity level corresponding to the low-altitude wind field based on the low-altitude wind field, and determining the intensity level corresponding to the environmental measurement data based on the environmental measurement data, includes:

[0023] Based on the low-altitude wind field, candidate wind speeds corresponding to at least one altitude that continuously exceeds the candidate wind speed threshold within a preset time period are determined; alternatively, a new low-altitude wind field is obtained by fusing the low-altitude wind field and the wind speed data included in the environmental measurement data, and candidate wind speeds corresponding to at least one altitude that continuously exceeds the candidate wind speed threshold within a preset time period are determined based on the new low-altitude wind field. When the maximum target candidate wind speed is less than or equal to the first wind speed threshold, the intensity level corresponding to the low-altitude wind field is determined to be low; when the maximum target candidate wind speed is greater than the first wind speed threshold and less than or equal to the second wind speed threshold, the intensity level corresponding to the low-altitude wind field is determined to be medium; when the maximum target candidate wind speed is greater than the second wind speed threshold, the intensity level corresponding to the low-altitude wind field is determined to be high.

[0024] If the environmental measurement data includes temperature and humidity data, when the temperature is less than or equal to the temperature threshold, the intensity level corresponding to the environmental measurement data is determined to be low; when the temperature is greater than the temperature threshold and the humidity is greater than the first humidity threshold and less than the second humidity threshold, the intensity level corresponding to the environmental measurement data is determined to be medium; when the temperature is greater than the temperature threshold and the humidity is greater than or equal to the second humidity threshold, the intensity level corresponding to the environmental measurement data is determined to be high.

[0025] If the environmental measurement data includes precipitation intensity, when the precipitation intensity is less than a first intensity threshold, the intensity level corresponding to the environmental measurement data is determined to be low; when the precipitation intensity is greater than or equal to the first intensity threshold and less than a second intensity threshold, the intensity level corresponding to the environmental measurement data is determined to be medium; when the precipitation intensity is greater than or equal to the second intensity threshold, the intensity level corresponding to the environmental measurement data is determined to be high.

[0026] If the environmental measurement data includes temperature and humidity data and precipitation intensity, the highest intensity level among the intensity levels corresponding to the environmental measurement data determined based on temperature and humidity data and the intensity levels corresponding to the environmental measurement data determined based on precipitation intensity will be used as the final intensity level corresponding to the environmental measurement data.

[0027] In one embodiment, determining the low-altitude environmental assessment result based on the intensity level corresponding to the low-altitude cloud conditions, the intensity level corresponding to the low-altitude wind field, and the intensity level corresponding to the environmental measurement data includes:

[0028] If any of the intensity levels corresponding to the low-altitude cloud conditions, the low-altitude wind fields, and the environmental measurement data are of a high level, the low-altitude environmental assessment result is determined to be high-risk.

[0029] If there is no high-level among the intensity levels of the low-altitude cloud conditions, the low-altitude wind fields, and the environmental measurement data, but there is a medium-level, the low-altitude environmental assessment result is determined to be medium-risk.

[0030] If there is no high-level and no medium-level intensity among the intensity levels corresponding to the low-altitude cloud conditions, the low-altitude wind field, and the environmental measurement data, the low-altitude environmental assessment result is determined to be low-risk.

[0031] In one embodiment, the method further includes:

[0032] When the low-altitude environment assessment result is low risk, a signal for normal flight is sent to the control station of the low-altitude UAV.

[0033] When the low-altitude environment assessment result is medium risk, a signal of cautious flight is sent to the control station of the low-altitude UAV, and at least one of the following suggestions is sent: flight altitude adjustment suggestion to avoid the altitude corresponding to the highest target candidate wind speed, suggestion to shorten the flight mission duration, and suggestion to strengthen battery heat dissipation management.

[0034] When the low-altitude environment assessment result is high risk, a signal to suspend flight or return to home is sent to the control station of the low-altitude UAV. When the low-altitude UAV is on the return route, if the intensity of the low-altitude cloud condition is high, a flight altitude adjustment suggestion is sent that the flight altitude is lower than the fused cloud base height, and a suggestion to suspend the ongoing mission is sent. If the intensity level of the low-altitude wind field is high, a flight altitude adjustment suggestion is sent that avoids the altitude corresponding to the highest target candidate wind speed. If the intensity level of the environmental measurement data is high, at least one of the following is sent: a suggestion to strengthen battery heat dissipation management, a take-off and landing suggestion based on precipitation intensity and fused cloud base height, and a visual distance assessment result.

[0035] Secondly, embodiments of this application provide a low-altitude environment assessment device based on multi-source fusion, comprising:

[0036] The first determining module is used to determine environmental measurement data, and to acquire sky images through a fisheye lens and to acquire aerosol vertical distribution information and low-altitude wind field through a laser wind radar. The environmental measurement data includes at least one of temperature and humidity data and precipitation intensity.

[0037] The second determining module is used to perform dynamic fusion analysis based on the sky image and the vertical distribution information of aerosols to determine the low-altitude cloud conditions and the intensity level corresponding to the low-altitude cloud conditions.

[0038] The third determining module is used to determine the intensity level corresponding to the low-altitude wind field based on the low-altitude wind field, and to determine the intensity level corresponding to the environmental measurement data based on the environmental measurement data.

[0039] The fourth determining module is used to comprehensively determine the low-altitude environmental assessment result based on the intensity level corresponding to the low-altitude cloud conditions, the intensity level corresponding to the low-altitude wind field, and the intensity level corresponding to the environmental measurement data.

[0040] In one implementation, the fourth determining module is further configured to:

[0041] When the low-altitude environment assessment result is low risk, a signal for normal flight is sent to the control station of the low-altitude UAV.

[0042] When the low-altitude environment assessment result is medium risk, a signal of cautious flight is sent to the control station of the low-altitude UAV, and at least one of the following suggestions is sent: flight altitude adjustment suggestion to avoid the altitude corresponding to the highest target candidate wind speed, suggestion to shorten the flight mission duration, and suggestion to strengthen battery heat dissipation management.

[0043] When the low-altitude environment assessment result is high risk, a signal to suspend flight or return to home is sent to the control station of the low-altitude UAV. If the low-altitude UAV is on the return route, and if the intensity of the low-altitude cloud condition is high, a flight altitude adjustment suggestion is sent that the flight altitude is lower than the fused cloud base height, as well as a suggestion to suspend the ongoing mission. If the intensity level of the low-altitude wind field is high, a flight altitude adjustment suggestion is sent that avoids the altitude corresponding to the highest target candidate wind speed. If the intensity level of the environmental measurement data is high, at least one of the following is sent: a suggestion to strengthen battery heat dissipation management, a take-off and landing suggestion based on precipitation intensity and fused cloud base height, and a visual distance assessment result.

[0044] Thirdly, embodiments of this application provide an electronic device, including: a processor and a memory, wherein the memory stores instructions that are loaded and executed by the processor to implement the methods in any of the above-described embodiments.

[0045] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed, implements the methods in any of the above-described embodiments.

[0046] The beneficial effects of the above technical solution include at least the following:

[0047] By determining environmental measurement data, acquiring sky images through a fisheye lens, and obtaining aerosol vertical distribution information and low-altitude wind fields through laser wind radar, the environmental measurement data includes at least one of temperature, humidity, and precipitation intensity. Dynamic fusion analysis is performed based on sky images and aerosol vertical distribution information to determine low-altitude cloud conditions and their corresponding intensity levels. The intensity levels of low-altitude wind fields are also determined based on the environmental measurement data. Intensity level analysis is performed based on multi-source data. Finally, a comprehensive assessment of the low-altitude environment is determined based on the intensity levels corresponding to low-altitude cloud conditions, low-altitude wind fields, and environmental measurement data, which helps improve accuracy.

[0048] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, these aspects, embodiments, and features will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0049] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0050] Figure 1 This is a schematic flowchart illustrating the steps of a low-altitude environment assessment method based on multi-source fusion according to an embodiment of this application;

[0051] Figure 2 This is a structural block diagram of a low-altitude environment assessment device based on multi-source fusion according to an embodiment of this application;

[0052] Figure 3 This is a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0053] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0054] Reference Figure 1 The flowchart illustrates a low-altitude environment assessment method based on multi-source fusion according to an embodiment of this application. This method may include at least steps S100-S400:

[0055] S100. Determine environmental measurement data, and acquire sky images through a fisheye lens and acquire aerosol vertical distribution information and low-altitude wind field through a laser wind radar. The environmental measurement data includes at least one of temperature and humidity data and precipitation intensity.

[0056] S200. Based on the sky image and aerosol vertical distribution information, a dynamic fusion analysis is performed to determine the low-altitude cloud conditions and the corresponding intensity levels.

[0057] S300. Based on the low-altitude wind field, determine the intensity level corresponding to the low-altitude wind field, and based on the environmental measurement data, determine the intensity level corresponding to the environmental measurement data.

[0058] S400. The low-altitude environmental assessment results are determined by comprehensively considering the intensity levels of low-altitude cloud conditions, low-altitude wind fields, and environmental measurement data.

[0059] The technical solution of this application embodiment determines environmental measurement data, acquires sky images through a fisheye lens, and obtains aerosol vertical distribution information and low-altitude wind field through a laser wind radar. The environmental measurement data includes at least one of temperature and humidity data and precipitation intensity. Based on the sky images and aerosol vertical distribution information, dynamic fusion analysis is performed to determine low-altitude cloud conditions and their corresponding intensity levels. Based on the low-altitude wind field, the intensity level corresponding to the low-altitude wind field is determined, and based on the environmental measurement data, the intensity level corresponding to the environmental measurement data is determined. The intensity level is analyzed based on multi-source data. Based on the intensity level corresponding to the low-altitude cloud conditions, the intensity level corresponding to the low-altitude wind field, and the intensity level corresponding to the environmental measurement data, the low-altitude environmental assessment result is comprehensively determined, which helps to improve accuracy.

[0060] Reference Figure 2 The diagram illustrates a structural block diagram of a low-altitude environment assessment device based on multi-source fusion according to an embodiment of this application. The device may include:

[0061] The first determining module is used to determine environmental measurement data, and to acquire sky images through a fisheye lens and aerosol vertical distribution information and low-altitude wind field through a laser wind radar. The environmental measurement data includes at least one of temperature and humidity data and precipitation intensity.

[0062] The second determination module is used to perform dynamic fusion analysis based on sky images and aerosol vertical distribution information to determine low-altitude cloud conditions and their corresponding intensity levels.

[0063] The third determining module is used to determine the intensity level of the low-altitude wind field based on the low-altitude wind field, and to determine the intensity level of the environmental measurement data based on the environmental measurement data.

[0064] The fourth determination module is used to comprehensively determine the low-altitude environmental assessment results based on the intensity level corresponding to the low-altitude cloud conditions, the intensity level corresponding to the low-altitude wind field, and the intensity level corresponding to the environmental measurement data.

[0065] In one implementation, the fourth determining module is further configured to:

[0066] When the low-altitude environment assessment result is low risk, a signal for normal flight is sent to the control station of the low-altitude UAV.

[0067] When the low-altitude environment assessment result is medium risk, a signal of caution for flight is sent to the control station of the low-altitude UAV, and at least one of the following suggestions is sent: flight altitude adjustment suggestion to avoid the altitude corresponding to the highest target candidate wind speed, suggestion to shorten the flight mission duration, and suggestion to strengthen battery heat dissipation management.

[0068] When the low-altitude environment assessment result is high risk, a signal to suspend flight or return to home is sent to the control station of the low-altitude UAV. If the low-altitude UAV is on the return route, and the intensity of the low-altitude cloud conditions is high, a flight altitude adjustment suggestion is sent if the flight altitude is lower than the fused cloud base height, and a suggestion to suspend the mission being performed is sent. If the intensity level of the low-altitude wind field is high, a flight altitude adjustment suggestion is sent to avoid the altitude corresponding to the highest target candidate wind speed. If the intensity level corresponding to the environmental measurement data is high, at least one of the following is sent: a suggestion to strengthen battery heat dissipation management, a take-off and landing suggestion based on precipitation intensity and fused cloud base height, and a visual distance assessment result.

[0069] In one implementation, the low-altitude environment assessment device based on multi-source fusion can be a low-altitude meteorological sensing station, and the first determining module includes, but is not limited to, a micro precipitation monitoring module, a cloud information observation module, a laser wind radar module, and a conventional element micro meteorological station module.

[0070] In this embodiment, environmental measurement data including temperature and humidity data, precipitation intensity and wind speed data are used as examples. Other embodiments may include one or two of these data.

[0071] In one implementation, the micro precipitation monitoring module integrates a camera to capture low-altitude video. Then, using its own video image recognition algorithm or a video image recognition algorithm in the electronic control module (such as a pre-trained convolutional neural network (CNN) model), it extracts keyframes from the low-altitude video sequence for feature extraction and classification. The CNN model automatically learns the spatial characteristics of precipitation particles through its multiple convolutional and pooling layers, qualitatively and quantitatively identifying the presence, intensity, and type of precipitation (e.g., light rain, moderate rain, heavy rain, torrential rain, extremely heavy rain, etc.), and outputs a probabilistic recognition result. Simultaneously, verification and decision-making can be performed by introducing rain-sensing data from a conventional micro-weather station module as a key verification condition. For example, when the rain-sensing data shows no rain, even if the video analysis indicates precipitation, the system will prioritize classifying it as "no precipitation" and mark any misjudgments that may be caused by fog, haze, or lens wetness. This mechanism significantly improves the accuracy and anti-interference capability of precipitation identification. The precipitation intensity R can be the amount of precipitation per unit time, such as the amount of precipitation per minute, in mm.

[0072] In one implementation, the cloud information observation module integrates a fisheye lens to acquire sky images, providing a near 180-degree hemispherical sky view, ensuring that the sky image can capture cloud condition information of most of the zenith area at once.

[0073] In one embodiment, the laser wind radar module employs Doppler lidar technology. By emitting a laser beam into the atmosphere and measuring the frequency change of the laser beam scattered back by aerosol particles due to the Doppler effect, it determines the vertical distribution information of aerosols and the low-altitude wind field (wind speed and direction at different low altitudes). At the same time, to achieve "miniaturization", the laser wind radar module uses core components such as fiber lasers, compact optical antennas, and high-sensitivity detectors.

[0074] In one implementation, the conventional micro-weather station module integrates various types of sensors, including but not limited to temperature and humidity sensors, such as capacitive polymer humidity sensors and platinum resistance or semiconductor temperature sensors, to determine temperature and humidity data. It may also include: a pressure sensor (such as a MEMS piezoresistive or capacitive pressure sensor); a wind speed / direction sensor: using an ultrasonic wind speed and direction sensor to acquire wind speed data, this sensor calculates wind speed and direction by measuring the difference in the speed of ultrasonic waves propagating in the air, has no moving parts, and has advantages such as fast response, good durability, and low start-up wind speed; and a rain sensor: based on photoelectric sensing, it can qualitatively determine whether there is rain.

[0075] In one embodiment, the low-altitude environment assessment device based on multi-source fusion includes an electronic control module for processing data acquired by a first determining module. The electronic control module includes a second determining module, a third determining module, a fourth determining module, and a communication unit. Data processing may include preprocessing such as filtering, outlier removal, and data completion, as well as subsequent processing by the second, third, and fourth determining modules. The electronic control module can be an embedded industrial computer or a high-performance microcontroller core board, with its data processing unit equipped with an ARM or x86 architecture processor. The communication unit can be a 4G / 5G wireless communication module, an Ethernet interface, etc., responsible for data interaction with external platforms (such as the control station of a low-altitude UAV or the low-altitude UAV itself).

[0076] In one implementation, step S200 includes steps S210-S240:

[0077] S210. Analyze the sky image using an image analysis algorithm to determine the first cloud base height and total cloud cover, and analyze the vertical distribution information of aerosols to determine the second cloud base height.

[0078] Optionally, the sky image is analyzed using an image analysis algorithm (such as a pre-trained convolutional neural network CNN) in the electronic control module to determine information such as the first cloud base height H_img (which can be obtained by averaging the cloud base heights of a single sky image or multiple sky images), total cloud cover, and cloud type. Furthermore, the vertical distribution information of aerosols is analyzed to determine the second cloud base height H_lidar. This can be done, for example, based on gradient or threshold methods. Gradient method: calculates the first derivative (or rate of change) of the vertical distribution information of aerosols with height; the position of the maximum positive gradient corresponds to the starting point of the rapid rise in signal strength, i.e., the second cloud base height. Threshold method: sets a signal strength threshold (usually based on the statistical characteristics of clear-sky background noise), and determines the height that first exceeds this threshold as the second cloud base height, without specific limitations.

[0079] S220. Based on the visual quality of the sky image and the signal quality of the laser wind radar, determine the first dynamic weight of the first cloud base height and the second dynamic weight of the second cloud base height.

[0080] Optionally, S2201-S2203 are included:

[0081] S2201. If the visual quality of the sky image is that the sky background and clouds are clear during the day, and the signal quality of the laser wind radar is lower than the quality threshold, determine the first dynamic weight as the first value and the second dynamic weight as the second value.

[0082] Optionally, the electronic control module can perform visual quality analysis based on the sky image, such as whether the sky background is clear during the day and whether the clouds are clear. For example, it can analyze whether the grayscale standard deviation of the sky portion is less than a first threshold. If so, it indicates that the sky background is clear during the day; otherwise, the sky background is unclear (or it is not daytime). It can also analyze whether the average gradient value of the gradient magnitude of all cloud boundary pixels is greater than a second threshold. If so, it indicates that the clouds are clear; otherwise, it indicates that the clouds are unclear. Furthermore, the signal quality of the laser wind-measuring radar includes, but is not limited to, signal-to-noise ratio and signal strength. In this embodiment, signal quality is used as an example of signal-to-noise ratio. If the signal quality is higher than or equal to a quality threshold (e.g., -32 dB), the signal quality is considered good; otherwise, it is considered poor. Therefore, when the visual quality of the sky image is that the sky background is clear during the day and the clouds are clear, and the signal quality of the laser wind-measuring radar is lower than the quality threshold, the first dynamic weight W1 is determined to be a first value (exemplarily 1) and the second dynamic weight W2 is determined to be a second value (exemplarily 0). It is necessary to ensure that the first value is greater than the second value.

[0083] S2202. If the visual quality of the sky image is that the sky background is unclear or the clouds are unclear during the day, and the signal quality of the laser wind radar is higher than or equal to the quality threshold, determine that the first dynamic weight is the second value and the second dynamic weight is the first value.

[0084] Similarly, if the visual quality of the sky image is poor (i.e., the sky background is unclear or the clouds are unclear during the day), and the signal quality of the laser wind radar is higher than or equal to the quality threshold (i.e., the signal quality is good), then the first dynamic weight W1 is determined to be the second value (e.g., 0) and the second dynamic weight W2 is determined to be the first value (e.g., 1).

[0085] S2203. If the visual quality of the sky image is that the sky background and clouds are clear during the day, and the signal quality of the laser wind measuring radar is higher than or equal to the quality threshold, or if the visual quality of the sky image is that the sky background or clouds are unclear during the day, and the signal quality of the laser wind measuring radar is lower than the quality threshold, determine the first dynamic weight and the second dynamic weight as the third value.

[0086] It should be noted that if the visual quality of the sky image is that the sky background and clouds are clear during the day, and the signal quality of the laser wind measuring radar is higher than or equal to the quality threshold, that is, both the visual quality and the signal quality are good; or if the visual quality of the sky image is that the sky background or clouds are unclear during the day, and the signal quality of the laser wind measuring radar is lower than the quality threshold, that is, both the visual quality and the signal quality are poor, then the first dynamic weight and the second dynamic weight are determined to be a third value located between the first value and the second value. For example, the first dynamic weight W1 and the second dynamic weight W2 can both be the third value, such as 0.5.

[0087] S230. Determine the fused cloud base height based on the first cloud base height, the first dynamic weight, the second cloud base height, and the second dynamic weight.

[0088] Optionally, low-altitude cloud conditions include, but are not limited to, total cloud cover, fused cloud base height, low cloud cover, and cloud types such as cumulus and stratus. Specifically, the formula for the fused cloud base height H_fused is:

[0089] H_fused = W1×H_img + W2×H_lidar

[0090] This technique, which uses a first cloud base height estimated by fusing sky images from a fisheye wide-angle camera with a second cloud base height calculated from aerosol vertical distribution information, collaboratively determines cloud base height, improving the accuracy of cloud height measurement, especially its reliability under complex weather conditions such as thin clouds.

[0091] S240. Determine the intensity level of low-altitude cloud conditions based on the total cloud cover and the merged cloud base height.

[0092] Optionally, steps S2401-S2403 are included:

[0093] S2401. When the fused cloud base height is greater than or equal to the first height threshold, the intensity level corresponding to the low-altitude cloud condition is determined to be low.

[0094] For example, the first altitude threshold is 300m, the second altitude threshold is 100m, and the cloud cover threshold is 80%. When the fused cloud base height H_fused is greater than or equal to the first altitude threshold of 300m, the intensity level corresponding to the low-altitude cloud condition is determined to be low.

[0095] S2402. When the fused cloud base height is less than the first height threshold, greater than or equal to the second height threshold, and the total cloud cover is less than the cloud cover threshold, the intensity level corresponding to the low-altitude cloud condition is determined to be medium.

[0096] Optionally, when the cloud base height is less than the first height threshold of 300m, greater than or equal to the second height threshold of 100m, and the total cloud cover is less than 80%, the intensity level corresponding to the low-altitude cloud condition is determined to be medium.

[0097] S2403. When the fused cloud base height is less than the second height threshold or the total cloud cover is greater than or equal to the cloud cover threshold, the intensity level corresponding to the low-altitude cloud condition is determined to be high.

[0098] Optionally, when the fused cloud base height is less than the second height threshold of 100m or the total cloud cover is greater than or equal to 80%, the intensity level corresponding to the low-altitude cloud condition is determined to be high.

[0099] Understandably, the lowest level is considered safe, the middle level is relatively safe, and the highest level is unsafe, with the degree of danger increasing progressively.

[0100] In one implementation, step S300 includes steps S310-S340:

[0101] S310. Based on the low-altitude wind field, determine the candidate wind speed corresponding to at least one altitude that continuously exceeds the candidate wind speed threshold within a preset time period; or, fuse the low-altitude wind field and wind speed data included in the environmental measurement data to obtain a new low-altitude wind field. Based on the new low-altitude wind field, determine the candidate wind speed corresponding to at least one altitude that continuously exceeds the candidate wind speed threshold within a preset time period. When the maximum target candidate wind speed is less than or equal to the first wind speed threshold, determine the intensity level of the low-altitude wind field as low. When the maximum target candidate wind speed is greater than the first wind speed threshold and less than or equal to the second wind speed threshold, determine the intensity level of the low-altitude wind field as medium. When the maximum target candidate wind speed is greater than the second wind speed threshold, determine the intensity level of the low-altitude wind field as high.

[0102] For example, the candidate wind speed threshold can be 8 m / s, the first wind speed threshold is 12 m / s, the second wind speed threshold is 15 m / s, and the preset time length is 1 minute. In one embodiment, the low-altitude wind field can be directly used to determine the candidate wind speed corresponding to at least one altitude that continuously exceeds 8 m / s within 1 minute (determining the presence of a low-altitude jet stream). For example, within 1 minute, the wind speed at altitude A is 15 m / s, the wind speed at altitude B is 18 m / s, and the wind speed at altitude C is 12 m / s. Then, the wind speeds at altitudes A, B, and C are all candidate wind speeds. The maximum candidate wind speed is then determined to be 18 m / s, and this altitude is the core altitude. Then, when the maximum target candidate wind speed is less than or equal to the first wind speed threshold, the intensity level of the low-level wind field is determined to be low; when the maximum target candidate wind speed is greater than the first wind speed threshold and less than or equal to the second wind speed threshold, the intensity level of the low-level wind field is determined to be medium; and when the maximum target candidate wind speed is greater than the second wind speed threshold, the intensity level of the low-level wind field is determined to be high.

[0103] In another implementation, a new low-altitude wind field can be obtained by fusing low-altitude wind field data with wind speed data included in environmental measurements. This new low-altitude wind field then determines the maximum candidate wind speed based on the aforementioned principles, thus establishing the corresponding intensity level. It should be noted that during fusion, ultrasonic anemometers provide precise ground wind speed and direction data, while miniature laser wind radar modules provide vertical wind field profile data from the ground to hundreds of meters in altitude. Using the ground wind data as a benchmark, the low-level wind profile of the laser radar is calibrated to construct a continuous and reliable vertical structure of the low-altitude wind field, resulting in the new low-altitude wind field. Based on this vertical structure, intelligent algorithms can identify dangerous phenomena crucial for low-altitude flight safety, such as low-altitude wind shear and turbulence zones. Therefore, through this fusion, the final new low-altitude wind field provides a vertical profile of wind speed and direction from the ground to the low altitude, representing wind field information at different altitudes, such as 0, 30, 60, 90, 150 m…

[0104] S320. If the environmental measurement data includes temperature and humidity data, when the temperature is less than or equal to the temperature threshold, the intensity level corresponding to the environmental measurement data is determined to be low; when the temperature is greater than the temperature threshold and the humidity is greater than the first humidity threshold and less than the second humidity threshold, the intensity level corresponding to the environmental measurement data is determined to be medium; when the temperature is greater than the temperature threshold and the humidity is greater than or equal to the second humidity threshold, the intensity level corresponding to the environmental measurement data is determined to be high.

[0105] Optionally, if the environmental measurement data includes temperature and humidity data, i.e., includes both temperature and humidity, for example, the temperature threshold is 35°C, the first humidity threshold is 90%, and the second humidity threshold is 95%. Specifically, when the temperature is less than or equal to 35°C, the intensity level corresponding to the environmental measurement data is determined to be low; when the temperature is greater than 35°C and the humidity is greater than the first humidity threshold of 90% and less than the second humidity threshold of 95%, the intensity level corresponding to the environmental measurement data is determined to be medium; when the temperature is greater than 35°C and the humidity is greater than or equal to the second humidity threshold of 95%, the intensity level corresponding to the environmental measurement data is determined to be high.

[0106] S330. If the environmental measurement data includes precipitation intensity, when the precipitation intensity is less than the first intensity threshold, the intensity level corresponding to the environmental measurement data is determined to be low; when the precipitation intensity is greater than or equal to the first intensity threshold and less than the second intensity threshold, the intensity level corresponding to the environmental measurement data is determined to be medium; when the precipitation intensity is greater than or equal to the second intensity threshold, the intensity level corresponding to the environmental measurement data is determined to be high.

[0107] For example, the first intensity threshold is 0.05 mm, and the second intensity threshold is 0.1 mm. Specifically, if the environmental measurement data includes precipitation intensity R, when the precipitation intensity R is less than the first intensity threshold of 0.05 mm (indicating no rain), the intensity level corresponding to the environmental measurement data is determined to be low; when the precipitation intensity is greater than or equal to the first intensity threshold of 0.05 mm and less than the second intensity threshold of 0.1 mm (indicating light rain), the intensity level corresponding to the environmental measurement data is determined to be medium; when the precipitation intensity is greater than or equal to the second intensity threshold of 0.1 mm (indicating at least moderate rain), the intensity level corresponding to the environmental measurement data is determined to be high.

[0108] S340. If the environmental measurement data includes temperature and humidity data and precipitation intensity, the highest intensity level between the intensity level of the environmental measurement data determined based on the temperature and humidity data and the intensity level of the environmental measurement data determined based on the precipitation intensity shall be taken as the final intensity level of the environmental measurement data.

[0109] Optionally, if the environmental measurement data includes temperature and humidity data as well as precipitation intensity, the highest intensity level among the intensity levels corresponding to the environmental measurement data determined based on S320 and S330 above is determined, and then this highest intensity level is used as the final intensity level corresponding to the environmental measurement data. For example, if the intensity level corresponding to the environmental measurement data determined based on temperature and humidity data is medium, and the intensity level corresponding to the environmental measurement data determined based on precipitation intensity is high, and high level is higher than medium level, then high level is used as the final intensity level corresponding to the environmental measurement data.

[0110] In one implementation, step S400 includes steps S410-S430:

[0111] S410. If there is a high level among the intensity levels of low-altitude cloud conditions, low-altitude wind fields, and environmental measurement data, the low-altitude environmental assessment result is determined to be high risk.

[0112] Optionally, if there is a high level among the intensity levels of the low-altitude cloud conditions, the low-altitude wind field, and the environmental measurement data, that is, if at least one of the intensity levels of the low-altitude cloud conditions, the low-altitude wind field, and the environmental measurement data is high, the highest level shall be selected for safety considerations, and the low-altitude environmental assessment result shall be determined as high risk.

[0113] S420. If there is no high-level intensity among the intensity levels of low-altitude cloud conditions, low-altitude wind fields, and environmental measurement data, but there is a medium-level intensity, the low-altitude environmental assessment result is determined to be medium-risk.

[0114] Optionally, if there is no high-level intensity among the intensity levels corresponding to low-altitude cloud conditions, low-altitude wind fields, and environmental measurement data, but there is a medium-level intensity, then for safety reasons, the highest current level (i.e., medium-level) is taken first, and the low-altitude environmental assessment result is determined to be medium risk.

[0115] S430. If there is no high-level and no medium-level intensity among the intensity levels corresponding to low-altitude cloud conditions, low-altitude wind fields, and environmental measurement data, the low-altitude environmental assessment result is determined to be low-risk.

[0116] Optionally, if there are no high-level and no medium-level intensity levels among the intensity levels corresponding to low-altitude cloud conditions, low-altitude wind fields, and environmental measurement data, i.e., all are low-level, then the low-altitude environmental assessment result can be determined to be low-risk.

[0117] In one embodiment, the low-altitude environment assessment method based on multi-source fusion of this application may further include steps S510-S530:

[0118] S510: When the low-altitude environment assessment result is low risk, send a signal for normal flight to the control station of the low-altitude UAV.

[0119] It should be noted that for low-altitude drones, "low" indicates that it is safe to fly, "medium" indicates that caution is required, and "low" indicates that flight should be suspended or the drone should be returned to base immediately.

[0120] Optionally, when the low-altitude environment assessment result is low risk, the electronic control module sends a normal flight signal to the control station of the low-altitude UAV through the communication unit, so that the control station can understand the safety situation.

[0121] S520: When the low-altitude environment assessment result is medium risk, send a signal to the control station of the low-altitude UAV to fly cautiously, and send at least one of the following suggestions: flight altitude adjustment suggestion to avoid the altitude corresponding to the highest target candidate wind speed, suggestion to shorten the flight mission duration, and suggestion to strengthen battery heat dissipation management.

[0122] Optionally, when the low-altitude environment assessment result is medium risk, a signal of caution for flight is sent to the control station of the low-altitude UAV to remind the control station to pay attention. In one embodiment, guidance suggestions can also be provided to the control station, such as including but not limited to: (1) sending flight altitude adjustment suggestions to avoid the altitude corresponding to the highest target candidate wind speed, reminding the control station to avoid low-altitude jet streams and modify the flight path; (2) suggestions to shorten the flight mission duration, for example, the low-altitude UAV may be performing high-precision GNSS or visual navigation operations (such as surveying and inspection), it is recommended to shorten the flight mission duration to prioritize safety, and when the intensity level of low-altitude cloud conditions is medium, it will also affect the accuracy of surveying and inspection, and it is also beneficial to avoid obtaining invalid data; (3) if the intensity level corresponding to the environmental measurement data is medium, there may be certain high temperature and humidity conditions, generate suggestions to strengthen battery heat dissipation management to avoid damage to the low-altitude UAV.

[0123] S530. When the low-altitude environment assessment result is high risk, send a signal to the control station of the low-altitude UAV to suspend flight or return to home. If the low-altitude UAV is on the return route, if the intensity of the low-altitude cloud condition is high, send a flight altitude adjustment suggestion that the flight altitude is lower than the fused cloud base height and a suggestion to suspend the mission in progress. If the intensity level of the low-altitude wind field is high, send a flight altitude adjustment suggestion that avoids the altitude corresponding to the highest target candidate wind speed. If the intensity level of the environmental measurement data is high, send at least one of the following: a suggestion to strengthen battery heat dissipation management, a take-off and landing suggestion based on precipitation intensity and fused cloud base height, and a visual distance assessment result.

[0124] Optionally, when the low-altitude environment assessment result is high risk, a signal is sent to the control station of the low-altitude drone to suspend flight or return to base (if the low-altitude drone has already departed). In one implementation, (1) if the low-altitude UAV is on its return route and the intensity of the low-altitude cloud conditions is high, it can send a flight altitude adjustment suggestion to the control station that the flight altitude is lower than the fused cloud base height and a suggestion to suspend the ongoing task. For example, if the fused cloud base height is 150m, it can suggest that the flight altitude not exceed 100m to ensure sufficient vertical visibility margin. At the same time, it can issue a suggestion to avoid performing flight tasks such as surveying and inspection. It is recommended to take off and land and operate during periods when the fused cloud base height is high and the lighting conditions are good. In addition, if the fused cloud base height is lower than the legal safety value such as 60m, it can issue a signal to immediately suspend flight or prohibit flight; (2) if the intensity level of the low-altitude wind field is high, it can send a flight altitude adjustment suggestion to avoid the height corresponding to the highest target candidate wind speed to avoid the height of the highest wind speed and ensure safety; (3) if the intensity level corresponding to the environmental measurement data is high, such as high determined based on temperature and humidity data, it can send a suggestion to strengthen battery heat dissipation management. If the advanced method is determined based on precipitation intensity, takeoff and landing recommendations are generated based on precipitation intensity and fused cloud base height, such as whether it is suitable for takeoff and landing and visual distance assessment results, to provide operational window recommendations for the control station of low-altitude UAVs.

[0125] This application's embodiments collaboratively observe meteorological elements such as precipitation intensity, low-altitude cloud conditions, low-altitude wind fields, temperature, and humidity—parameters crucial for low-altitude flight safety—forming a complete low-altitude meteorological perception solution that provides effective protection for low-altitude flights. Simultaneously, it generates targeted flight recommendations, achieving a closed loop from "meteorological perception" to "flight decision-making," significantly enhancing the intelligence level and practical value of low-altitude meteorological support.

[0126] Through the embodiments of this application, by fusing multi-source data such as temperature and humidity data, precipitation, low-altitude wind fields, and images, and combining intelligent data processing and algorithm analysis, high-precision, low-cost, and intelligent perception of the low-altitude meteorological environment is achieved, providing reliable meteorological support for low-altitude flight safety. The low-altitude environment assessment device based on multi-source fusion is miniaturized, low-power, and low-cost, suitable for large-scale deployment, and its modular design facilitates maintenance and expansion. The use of intelligent algorithms / neural networks in the data processing process helps to improve the automation and accuracy of low-altitude meteorological risk identification, making it suitable for complex urban low-altitude environments and showing good application prospects.

[0127] Reference Figure 3The diagram illustrates a structural block diagram of an electronic device according to an embodiment of this application. The electronic device includes a memory 310 and a processor 320. The memory 310 stores instructions that can be executed on the processor 320. The processor 320 loads and executes these instructions to implement the low-altitude environment assessment method based on multi-source fusion described in the above embodiment. The number of memories 310 and processors 320 can be one or more.

[0128] In one embodiment, the electronic device further includes a communication interface 330 for communicating with external devices and exchanging data. If the memory 310, processor 320, and communication interface 330 are implemented independently, they can be interconnected via a bus to communicate with each other. This bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0129] Optionally, in a specific implementation, if the memory 310, processor 320 and communication interface 330 are integrated on a single chip, the memory 310, processor 320 and communication interface 330 can communicate with each other through an internal interface.

[0130] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the low-altitude environment assessment method based on multi-source fusion provided in the above embodiments.

[0131] This application also provides a chip, which includes a processor for calling and executing instructions stored in a memory, causing a communication device on which the chip is installed to perform the method provided in this application.

[0132] This application also provides a chip, including: an input interface, an output interface, a processor, and a memory. The input interface, output interface, processor, and memory are connected through an internal connection path. The processor is used to execute code in the memory. When the code is executed, the processor is used to execute the method provided in the application embodiment.

[0133] It should be understood that the aforementioned processor can 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. General-purpose processors can be microprocessors or any conventional processor. It is worth noting that the processor can be a processor supporting the Advanced Reduced Instruction Set Computing (RISC) machine (ARM) architecture.

[0134] Further, optionally, the aforementioned memory may include read-only memory and random access memory, and may also include non-volatile random access memory. The memory may be volatile or non-volatile, or may include both. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as an external cache. Many forms of RAM are available by way of example, but not limitation. Examples include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0135] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0136] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0137] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0138] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process. Furthermore, the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functionality involved.

[0139] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0140] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware, the program being stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiments.

[0141] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0142] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A low-altitude environment assessment method based on multi-source fusion, characterized in that, include: The environmental measurement data is determined, and sky images are acquired through a fisheye lens and aerosol vertical distribution information and low-level wind field are acquired through a laser wind radar. The environmental measurement data includes at least one of temperature and humidity data and precipitation intensity. Dynamic fusion analysis is performed based on the sky image and the vertical distribution information of aerosols to determine the low-altitude cloud conditions and the intensity level corresponding to the low-altitude cloud conditions. Based on the low-altitude wind field, determine the intensity level corresponding to the low-altitude wind field, and based on the environmental measurement data, determine the intensity level corresponding to the environmental measurement data; The low-altitude environmental assessment result is determined by comprehensively considering the intensity level of the low-altitude cloud conditions, the intensity level of the low-altitude wind field, and the intensity level of the environmental measurement data. The step of dynamically fusing and analyzing the sky image and the vertical distribution information of aerosols to determine the low-altitude cloud conditions and the corresponding intensity levels of the low-altitude cloud conditions includes: The sky image is analyzed using an image analysis algorithm to determine the first cloud base height and total cloud cover, and the vertical distribution information of aerosols is analyzed to determine the second cloud base height. Based on the visual quality of the sky image and the signal quality of the laser wind measuring radar, a first dynamic weight for the first cloud base height and a second dynamic weight for the second cloud base height are determined. The fused cloud base height is determined based on the first cloud base height, the first dynamic weight, the second cloud base height, and the second dynamic weight; the low-altitude cloud conditions include the total cloud cover and the fused cloud base height. The intensity level corresponding to the low-altitude cloud condition is determined based on the total cloud cover and the merged cloud base height.

2. The low-altitude environment assessment method based on multi-source fusion according to claim 1, characterized in that: The step of determining the first dynamic weight of the first cloud base height and the second dynamic weight of the second cloud base height based on the visual quality of the sky image and the signal quality of the laser wind measuring radar includes: If the visual quality of the sky image is that the sky background and clouds are clear during the day, and the signal quality of the laser wind radar is lower than the quality threshold, then the first dynamic weight is determined to be the first value and the second dynamic weight is determined to be the second value. If the visual quality of the sky image is that the sky background is unclear or the clouds are unclear during the day, and the signal quality of the laser wind radar is higher than or equal to the quality threshold, then the first dynamic weight is determined to be the second value and the second dynamic weight is determined to be the first value. If the visual quality of the sky image is that the sky background and clouds are clear during the day, and the signal quality of the laser wind measuring radar is higher than or equal to the quality threshold, or if the visual quality of the sky image is that the sky background or clouds are unclear during the day, and the signal quality of the laser wind measuring radar is lower than the quality threshold, then the first dynamic weight and the second dynamic weight are determined to be a third value, wherein the first value is greater than the second value, and the third value is located between the first value and the second value.

3. The low-altitude environment assessment method based on multi-source fusion according to claim 1, characterized in that: The step of determining the intensity level corresponding to the low-altitude cloud condition based on the total cloud cover and the merged cloud base height includes: When the fused cloud base height is greater than or equal to the first height threshold, the intensity level corresponding to the low-altitude cloud condition is determined to be low. When the fused cloud base height is less than the first height threshold, greater than or equal to the second height threshold, and the total cloud cover is less than the cloud cover threshold, the intensity level corresponding to the low-altitude cloud condition is determined to be medium. When the fused cloud base height is less than the second height threshold or the total cloud cover is greater than or equal to the cloud cover threshold, the intensity level corresponding to the low-altitude cloud condition is determined to be high.

4. The low-altitude environment assessment method based on multi-source fusion according to any one of claims 1-3, characterized in that: The steps of determining the intensity level of the low-altitude wind field based on the low-altitude wind field, and determining the intensity level of the environmental measurement data based on the environmental measurement data, include: Based on the low-altitude wind field, candidate wind speeds corresponding to at least one altitude that continuously exceeds the candidate wind speed threshold within a preset time period are determined; alternatively, a new low-altitude wind field is obtained by fusing the low-altitude wind field and the wind speed data included in the environmental measurement data, and candidate wind speeds corresponding to at least one altitude that continuously exceeds the candidate wind speed threshold within a preset time period are determined based on the new low-altitude wind field. When the maximum target candidate wind speed is less than or equal to the first wind speed threshold, the intensity level corresponding to the low-altitude wind field is determined to be low; when the maximum target candidate wind speed is greater than the first wind speed threshold and less than or equal to the second wind speed threshold, the intensity level corresponding to the low-altitude wind field is determined to be medium; when the maximum target candidate wind speed is greater than the second wind speed threshold, the intensity level corresponding to the low-altitude wind field is determined to be high. If the environmental measurement data includes temperature and humidity data, when the temperature is less than or equal to the temperature threshold, the intensity level corresponding to the environmental measurement data is determined to be low; when the temperature is greater than the temperature threshold and the humidity is greater than the first humidity threshold and less than the second humidity threshold, the intensity level corresponding to the environmental measurement data is determined to be medium; when the temperature is greater than the temperature threshold and the humidity is greater than or equal to the second humidity threshold, the intensity level corresponding to the environmental measurement data is determined to be high. If the environmental measurement data includes precipitation intensity, when the precipitation intensity is less than a first intensity threshold, the intensity level corresponding to the environmental measurement data is determined to be low; when the precipitation intensity is greater than or equal to the first intensity threshold and less than a second intensity threshold, the intensity level corresponding to the environmental measurement data is determined to be medium; when the precipitation intensity is greater than or equal to the second intensity threshold, the intensity level corresponding to the environmental measurement data is determined to be high. If the environmental measurement data includes temperature and humidity data and precipitation intensity, the highest intensity level among the intensity levels corresponding to the environmental measurement data determined based on temperature and humidity data and the intensity levels corresponding to the environmental measurement data determined based on precipitation intensity shall be used as the final intensity level corresponding to the environmental measurement data.

5. The low-altitude environment assessment method based on multi-source fusion according to any one of claims 1-3, characterized in that: The determination of the low-altitude environmental assessment result based on the intensity level corresponding to the low-altitude cloud conditions, the intensity level corresponding to the low-altitude wind field, and the intensity level corresponding to the environmental measurement data includes: If any of the intensity levels corresponding to the low-altitude cloud conditions, the low-altitude wind field, and the environmental measurement data are of a high level, the low-altitude environmental assessment result is determined to be high risk. If there is no high-level among the intensity levels of the low-altitude cloud conditions, the low-altitude wind fields, and the environmental measurement data, but there is a medium-level, the low-altitude environmental assessment result is determined to be medium-risk. If there is no high-level and no medium-level intensity among the intensity levels corresponding to the low-altitude cloud conditions, the low-altitude wind field, and the environmental measurement data, the low-altitude environmental assessment result is determined to be low-risk.

6. The low-altitude environment assessment method based on multi-source fusion according to claim 4, characterized in that: The method further includes: When the low-altitude environment assessment result is low risk, a signal for normal flight is sent to the control station of the low-altitude UAV. When the low-altitude environment assessment result is medium risk, a signal of cautious flight is sent to the control station of the low-altitude UAV, and at least one of the following suggestions is sent: flight altitude adjustment suggestion to avoid the altitude corresponding to the highest target candidate wind speed, suggestion to shorten the flight mission duration, and suggestion to strengthen battery heat dissipation management. When the low-altitude environment assessment result is high risk, a signal to suspend flight or return to home is sent to the control station of the low-altitude UAV. When the low-altitude UAV is on the return route, if the intensity of the low-altitude cloud condition is high, a flight altitude adjustment suggestion is sent that the flight altitude is lower than the fused cloud base height, and a suggestion to suspend the ongoing mission is sent. If the intensity level of the low-altitude wind field is high, a flight altitude adjustment suggestion is sent that avoids the altitude corresponding to the highest target candidate wind speed. If the intensity level of the environmental measurement data is high, at least one of the following is sent: a suggestion to strengthen battery heat dissipation management, a take-off and landing suggestion based on precipitation intensity and fused cloud base height, and a visual distance assessment result.

7. A low-altitude environment assessment device based on multi-source fusion, characterized in that, include: The first determining module is used to determine environmental measurement data, and to acquire sky images through a fisheye lens and to acquire aerosol vertical distribution information and low-altitude wind field through a laser wind radar. The environmental measurement data includes at least one of temperature and humidity data and precipitation intensity. The second determining module is used to perform dynamic fusion analysis based on the sky image and the vertical distribution information of aerosols to determine the low-altitude cloud conditions and the intensity level corresponding to the low-altitude cloud conditions. The third determining module is used to determine the intensity level corresponding to the low-altitude wind field based on the low-altitude wind field, and to determine the intensity level corresponding to the environmental measurement data based on the environmental measurement data. The fourth determining module is used to comprehensively determine the low-altitude environmental assessment result based on the intensity level corresponding to the low-altitude cloud conditions, the intensity level corresponding to the low-altitude wind field, and the intensity level corresponding to the environmental measurement data. The step of dynamically fusing and analyzing the sky image and the vertical distribution information of aerosols to determine the low-altitude cloud conditions and the corresponding intensity levels of the low-altitude cloud conditions includes: The sky image is analyzed using an image analysis algorithm to determine the first cloud base height and total cloud cover, and the vertical distribution information of aerosols is analyzed to determine the second cloud base height. Based on the visual quality of the sky image and the signal quality of the laser wind measuring radar, a first dynamic weight for the first cloud base height and a second dynamic weight for the second cloud base height are determined. The fused cloud base height is determined based on the first cloud base height, the first dynamic weight, the second cloud base height, and the second dynamic weight; the low-altitude cloud conditions include the total cloud cover and the fused cloud base height. The intensity level corresponding to the low-altitude cloud condition is determined based on the total cloud cover and the merged cloud base height.

8. An electronic device, characterized in that, include: A processor and a memory, wherein instructions are stored in the memory and loaded and executed by the processor to implement the method as claimed in any one of claims 1-6.

9. A computer-readable storage medium storing a computer program therein, which, when executed, implements the method as described in any one of claims 1-6.

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