A three-dimensional global grid partitioning method and system based on flat-top hexagonal arrangement

Abstract

The application provides a three-dimensional global grid subdivision method and system based on flat-top hexagonal arrangement, and relates to the field of geographic information technology and airspace management. The method comprises: preprocessing and subdividing the global longitude and latitude space range to construct a zero-level global hexagonal grid structure; based on the zero-level global hexagonal grid structure, a two-dimensional global grid index system is established according to the longitude direction and the latitude direction; based on the two-dimensional global grid index system, the zero-level global hexagonal grid is calculated for the odd-even row offset, the calibrated two-dimensional global hexagonal grid index structure is obtained, the parent-child level topological relationship is established, the multi-level two-dimensional global hexagonal grid index structure is obtained, and finally the height domain subdivision is introduced to obtain the three-dimensional global hexagonal grid index structure. The application is used in the global grid subdivision process, and solves the technical problem that the existing subdivision technology cannot adapt to the low-altitude three-dimensional airspace control and resource allocation demand.

Description

Technical Field

[0001] This application relates to the fields of geographic information technology and airspace management, and in particular to a three-dimensional global grid partitioning method and system based on a flat-topped hexagonal arrangement. Background Technology

[0002] With the development of the low-altitude economy, applications such as drone logistics, urban air traffic, and low-altitude inspection are constantly increasing, making the refined and computational management of global airspace of great significance. In existing technologies, to achieve a unified representation and efficient computation of geospatial space, a global discrete grid is typically used to spatially divide the Earth's surface. For example, grid partitioning methods using hexagons as basic units to construct spatial indexing systems include typical schemes such as global hexagonal grid systems based on icosahedral projection and hierarchical hexagonal spatial indexing systems. These technologies typically project the Earth's surface onto an icosahedral or similar polyhedral structure, then form multi-level hexagonal grids through recursive partitioning, and use grid encoding to convert between geographic coordinates and grid indices, thereby supporting spatial data management, neighborhood queries, and regional analysis. However, these existing technologies are primarily designed for two-dimensional geographic space, making it difficult for grid units to simultaneously describe horizontal position and vertical height information. In application scenarios requiring refined partitioning and unified management of low-altitude three-dimensional airspace, they cannot effectively represent and compute airspace at different altitude levels. Therefore, there is an urgent need for a segmentation method to solve the technical problem that existing segmentation techniques cannot adapt to the needs of low-altitude three-dimensional airspace management and resource allocation. Summary of the Invention

[0003] This application provides a three-dimensional global mesh generation method and system based on a flat-topped hexagonal arrangement, which solves the technical problem that existing generation techniques cannot adapt to the needs of low-altitude three-dimensional airspace management and resource allocation.

[0004] To achieve the above objectives, this application adopts the following technical solution: Firstly, a method for three-dimensional global mesh subdivision based on a flat-topped hexagonal arrangement is provided, comprising: obtaining the global latitude and longitude spatial range; preprocessing and subdividing the global latitude and longitude spatial range to construct a zero-level global hexagonal mesh structure; establishing a two-dimensional global mesh index system according to the longitude and latitude directions based on the zero-level global hexagonal mesh structure to obtain a two-dimensional global hexagonal mesh index structure; calculating the odd and even row offsets of the zero-level global hexagonal mesh based on the two-dimensional global hexagonal mesh index structure to obtain a calibrated two-dimensional global hexagonal mesh index structure; establishing a parent-child hierarchical topological relationship based on the calibrated two-dimensional global hexagonal mesh index structure to obtain a multi-level two-dimensional global hexagonal mesh index structure; and introducing a height domain subdivision on the multi-level two-dimensional global hexagonal mesh index structure to obtain a three-dimensional global hexagonal mesh index structure.

[0005] In conjunction with the first aspect mentioned above, one possible implementation involves preprocessing and partitioning the global latitude and longitude spatial range to construct a zero-level global hexagonal grid structure. This includes: dividing the global longitude space into six segments along the global longitude direction, such that the span of a single hexagonal grid edge in the longitude direction is 60°; wherein the range of the global longitude space is [-180°, 180°]; based on the longitude division, constructing a flat-topped hexagonal arrangement structure in combination with the spatial distribution in the latitude direction, so that the hexagonal grid forms a regular arrangement in the longitude and latitude directions, forming multiple hexagonal units; and uniquely identifying the multiple hexagonal units to obtain the zero-level global hexagonal grid structure.

[0006] In conjunction with the first aspect mentioned above, in one possible implementation, the hexagonal unit comprises 10 flat-topped hexagonal grids and 3 hexagonal grids spanning the date change line.

[0007] In conjunction with the first aspect mentioned above, in one possible implementation, based on the zero-level global hexagonal grid structure, a two-dimensional global grid index system is established according to the longitude and latitude directions to obtain the two-dimensional global hexagonal grid index structure. This includes: establishing grid index coordinate axes in the longitude direction based on the hexagonal cells in the zero-level global hexagonal grid structure, and constructing the grid indexes in the longitude direction as undulating coordinate axes; establishing grid index coordinate axes in the latitude direction, and constructing the grid indexes in the latitude direction as linear coordinate axes; constructing a two-dimensional global grid index system based on the undulating coordinate axes and linear coordinate axes, and performing two-dimensional global index mapping on the hexagonal grids in the zero-level global hexagonal grid structure to obtain the two-dimensional global hexagonal grid index structure.

[0008] In conjunction with the first aspect mentioned above, in one possible implementation, based on a two-dimensional global hexagonal grid index structure, odd and even row offsets are calculated for the zero-level global hexagonal grid to obtain a calibrated two-dimensional global hexagonal grid index structure. This includes: determining the row number of the hexagonal grid based on the latitude direction index in the two-dimensional global hexagonal grid index structure to obtain odd-row hexagonal grids and even-row hexagonal grids; for the odd-row hexagonal grids, calculating the longitude offset based on the grid side length and grid level; and offsetting and calibrating the index coordinates of the odd-row hexagonal grids in the longitude direction based on the longitude offset, so that the odd-row hexagonal grids and even-row hexagonal grids form a regular staggered arrangement, thus obtaining the calibrated two-dimensional global hexagonal grid index structure.

[0009] In conjunction with the first aspect mentioned above, in one possible implementation, a parent-child hierarchical topological relationship is established based on the calibrated two-dimensional global hexagonal grid index structure to obtain a multi-level two-dimensional global hexagonal grid index structure. This includes: using the hexagonal grids in the calibrated two-dimensional global hexagonal grid index structure as parent hexagonal grids; performing hierarchical division of the parent hexagonal grids using an aperture seven-partitioning method, so that one parent hexagonal grid corresponds to seven child hexagonal grids; establishing a parent-child hierarchical topological relationship based on the correspondence between the parent hexagonal grids and the child hexagonal grids; and forming a multi-level two-dimensional global hexagonal grid index structure based on the parent-child hierarchical topological relationship.

[0010] In conjunction with the first aspect mentioned above, one possible implementation involves introducing a height domain subdivision into a multi-level two-dimensional global hexagonal grid index structure to obtain a three-dimensional global hexagonal grid index structure. This includes: obtaining the height domain range; mapping the height domain range to one-third of the meridian length to ensure that the physical scale of the height domain is consistent with the physical scale of the two-dimensional global hexagonal grid in the latitudinal direction, thus obtaining the mapped height domain range; performing height-direction subdivision within the mapped height domain range to form multiple height levels; and fusing the multiple height levels with the multi-level two-dimensional global hexagonal grid index structure to obtain the three-dimensional global hexagonal grid index structure.

[0011] In conjunction with the first aspect mentioned above, in one possible implementation, the fusion of multiple height levels with a multi-level two-dimensional global hexagonal grid index structure means that each two-dimensional global hexagonal grid corresponds to multiple height levels.

[0012] Secondly, a three-dimensional global grid subdivision system based on a flat-topped hexagonal arrangement is provided, including: latitude and longitude measurement equipment and electronic equipment; The system includes: latitude and longitude measurement equipment for acquiring global latitude and longitude spatial range; electronic equipment for preprocessing and partitioning the global latitude and longitude spatial range to construct a zero-level global hexagonal grid structure; based on the zero-level global hexagonal grid structure, establishing a two-dimensional global grid index system according to the longitude and latitude directions to obtain a two-dimensional global hexagonal grid index structure; based on the two-dimensional global hexagonal grid index structure, calculating the odd and even row offsets of the zero-level global hexagonal grid to obtain a calibrated two-dimensional global hexagonal grid index structure; based on the calibrated two-dimensional global hexagonal grid index structure, establishing parent-child hierarchical topological relationships to obtain a multi-level two-dimensional global hexagonal grid index structure; and introducing height domain partitioning on the multi-level two-dimensional global hexagonal grid index structure to obtain a three-dimensional global hexagonal grid structure.

[0013] In conjunction with the second aspect mentioned above, in one possible implementation, the electronic device is further used to: divide the global longitude space into six segments along the global longitude direction, such that the span of a single hexagonal grid edge in the longitude direction is 60°; wherein, the range of the global longitude space is [-180°, 180°]; based on the longitude division, construct a flat-topped hexagonal arrangement structure in combination with the spatial distribution in the latitude direction, so that the hexagonal grid forms a regular arrangement in the longitude and latitude directions, forming multiple hexagonal units; and uniquely identify the multiple hexagonal units to obtain the zero-level global hexagonal grid structure.

[0014] This application provides a three-dimensional global grid subdivision method and system based on a flat-top hexagonal arrangement. It constructs a zero-level hexagonal grid structure by preprocessing and subdividing the global latitude and longitude space. Based on this, a two-dimensional global grid index system is established, combined with an odd / even row offset calibration mechanism, to achieve regular arrangement and stable splicing of the hexagonal grid. Simultaneously, a multi-level grid structure is formed by constructing parent-child hierarchical topological relationships, and a height domain subdivision is introduced to achieve the fusion of the two-dimensional latitude and longitude grid and the height level, thereby constructing a three-dimensional global hexagonal grid index structure. This enables unified gridded expression and management of the global three-dimensional spatial domain, improves the computational efficiency and adaptability of spatial data indexing, querying, and spatial domain division, and solves the technical problem that existing subdivision techniques cannot adapt to the needs of low-altitude three-dimensional spatial domain control and resource allocation.

[0015] It should be understood that the descriptions of technical features, technical solutions, beneficial effects, or similar language in this application do not imply that all features and advantages can be achieved in any single embodiment. Rather, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution, or beneficial effect is included in at least one embodiment. Therefore, the descriptions of technical features, technical solutions, or beneficial effects in this specification do not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions, and beneficial effects described in this embodiment can be combined in any suitable manner. Those skilled in the art will understand that embodiments can be implemented without one or more specific technical features, technical solutions, or beneficial effects of a particular embodiment. In other embodiments, additional technical features and beneficial effects may be identified in specific embodiments that do not embody all embodiments. Attached Figure Description

[0016] Figure 1 A system architecture diagram of a three-dimensional global mesh generation system based on a flat-topped hexagonal arrangement is provided for embodiments of this application; Figure 2 A flowchart illustrating a three-dimensional global mesh generation method based on a flat-top hexagonal arrangement provided in this application embodiment; Figure 3A schematic diagram illustrating the principle of the zeroth-level global hexagonal mesh structure subdivision provided in this application embodiment; Figure 4 A schematic diagram illustrating the principle of odd / even row offset calculation for the zeroth-level global hexagonal mesh provided in this application embodiment; Figure 5 This is a schematic diagram illustrating the parent-child hierarchical relationship principle provided in the embodiments of this application; Figure 6 A flowchart illustrating another three-dimensional global mesh generation method based on a flat-top hexagonal arrangement provided in this application embodiment; Figure 7 A schematic diagram illustrating the principle of the two-dimensional global hexagonal grid index structure provided in this application embodiment; Figure 8 A flowchart illustrating another three-dimensional global mesh generation method based on a flat-top hexagonal arrangement provided in this application embodiment; Figure 9 This is a schematic diagram illustrating the height domain partitioning principle provided in an embodiment of this application. Detailed Implementation

[0017] In the description of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. The "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" means one or more, and "multiple" means two or more. The terms "first," "second," etc., do not limit the quantity or order of execution, and "first," "second," etc., do not necessarily imply differences.

[0018] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0019] The three-dimensional global mesh generation method based on flat-top hexagonal arrangement provided in this application embodiment can be applied to, for example... Figure 1 The three-dimensional global meshing system shown is based on a flat-topped hexagonal arrangement, such as... Figure 1 As shown, the system includes: a latitude and longitude measuring device 101 and an electronic device 102; Among them, latitude and longitude measuring equipment 101 is used to obtain the global latitude and longitude spatial range; Electronic device 102 is used to preprocess and partition the global latitude and longitude spatial range to construct a zero-level global hexagonal grid structure; based on the zero-level global hexagonal grid structure, a two-dimensional global grid index system is established according to the longitude and latitude directions to obtain a two-dimensional global hexagonal grid index structure; based on the two-dimensional global hexagonal grid index structure, the odd and even row offsets of the zero-level global hexagonal grid are calculated to obtain a calibrated two-dimensional global hexagonal grid index structure; based on the calibrated two-dimensional global hexagonal grid index structure, a parent-child hierarchical topological relationship is established to obtain a multi-level two-dimensional global hexagonal grid index structure; and a height domain partition is introduced on the multi-level two-dimensional global hexagonal grid index structure to obtain a three-dimensional global hexagonal grid structure.

[0020] To address the technical problem that existing meshing techniques cannot adapt to the needs of low-altitude three-dimensional airspace management and resource allocation, this application provides a three-dimensional global meshing method based on a flat-top hexagonal arrangement. The method includes: obtaining the global latitude and longitude spatial range; preprocessing and meshing the global latitude and longitude spatial range to construct a zero-level global hexagonal mesh structure; establishing a two-dimensional global mesh index system based on the zero-level global hexagonal mesh structure according to the longitude and latitude directions to obtain a two-dimensional global hexagonal mesh index structure; calculating the odd and even row offsets of the zero-level global hexagonal mesh based on the two-dimensional global hexagonal mesh index structure to obtain a calibrated two-dimensional global hexagonal mesh index structure; establishing a parent-child hierarchical topology relationship based on the calibrated two-dimensional global hexagonal mesh index structure to obtain a multi-level two-dimensional global hexagonal mesh index structure; and introducing a height domain meshing on the multi-level two-dimensional global hexagonal mesh index structure to obtain a three-dimensional global hexagonal mesh index structure.

[0021] Figure 2 A flowchart illustrating the three-dimensional global mesh generation method based on a flat-top hexagonal arrangement provided in this application embodiment is shown below. Figure 2 As shown, the method includes: S201, Obtain the global latitude and longitude spatial range.

[0022] The global latitude and longitude spatial range refers to the geographical coordinate range used to describe the location on the Earth's surface. The longitude range is from -180° to 180°, and the latitude range is global. This range is used to define the basic spatial boundary for subsequent global grid subdivision and index calculation.

[0023] In one possible implementation, global standard latitude and longitude range information is obtained through a geographic information system interface, satellite positioning system, or geographic database. The obtained latitude and longitude range is then uniformly formatted so that the longitude direction is uniformly represented as the [-180°, 180°] interval. The coordinate system consistency of this spatial range is then checked to ensure that subsequent grid calculations are all processed based on the same geographic coordinate system, thereby obtaining standardized global latitude and longitude spatial range data.

[0024] It should be noted that in different application scenarios, the global latitude and longitude spatial range can be directly adopted from the standard geographic coordinate range, or it can be obtained through a geographic database or map service interface. However, when performing subsequent grid subdivision, the consistency of the latitude and longitude range must be maintained to avoid coordinate deviations between different data sources.

[0025] This step obtains a unified global latitude and longitude spatial range, providing a unified spatial boundary for subsequent global grid subdivision, thereby ensuring spatial consistency in the grid calculation process and improving the accuracy of subsequent grid index construction and spatial calculation.

[0026] S202. The global latitude and longitude spatial range is preprocessed and divided to construct a zero-level global hexagonal grid structure.

[0027] The zero-level global hexagonal grid structure refers to the initial level hexagonal grid structure constructed globally, which serves as the base grid for subsequent multi-level grid subdivision and indexing calculations.

[0028] In one possible implementation, the global longitude space is divided along the longitude direction, with the longitude interval [-180°, 180°] divided into six continuous segments, each spanning 60°. Based on the longitude segment division, a flat-topped hexagonal arrangement structure is constructed in combination with the spatial distribution along the latitude direction, so that each hexagonal grid forms a regular arrangement in the longitude and latitude directions. Multiple hexagonal units are generated according to the hexagonal arrangement relationship, and each hexagonal unit is assigned a unique identifier, thereby forming a zero-level hexagonal grid structure covering the entire globe.

[0029] It should be noted that during preprocessing and meshing, the side length span of the hexagonal cells should be kept consistent in the longitude direction to ensure the uniformity of the global mesh structure. At the same time, special treatment is required for the mesh area near the date change line to avoid mesh splicing breaks.

[0030] As an example, Figure 3 The schematic diagram of the zeroth-level global hexagonal mesh structure subdivision principle provided in this application is as follows: Figure 3As shown, the Earth's latitude and longitude spatial range (longitude [-180°, 180°], latitude adapted for global coverage) is preprocessed and partitioned into 10 flat-topped hexagonal grids (corresponding to labels aj in the figure) and 3 hexagonal grids spanning the Date Line (corresponding to labels a', e', and i' in the figure). The design of the hexagonal grids spanning the Date Line specifically addresses the issues of grid misalignment and index breaks near the Date Line in global partitioning, ensuring the continuity of the global grid. Based on the longitude span and this partitioning method, the span of the hexagonal grid edges is accurately calculated: the total longitude span of 360° is divided into 6 grid edge lengths, meaning the longitude span of a single hexagonal grid edge is 360° ÷ 6 = 60°, ensuring the uniformity of the zero-level grid in the longitude direction. Finally, all hexagonal regions formed by the subdivision are uniquely labeled to lay the foundation for subsequent hierarchical subdivision, indexing, and data interaction. This effectively avoids the uniformity issues caused by the deformation of existing four-hole hexagonal splicing and the introduction of pentagonal units in Uber H3. A certain amount of extension space is used in the latitudinal direction to ensure the coordinate consistency of the starting point of each level of the grid.

[0031] Based on the above steps, this step constructs a zero-level global hexagonal mesh structure, dividing the global space into regular hexagonal units. The core improvement of this step is to abandon the existing scheme based on the partitioning logic of regular icosahedrons and adopt a brand-new global preprocessing partitioning method, which fundamentally solves the defects of poor uniformity and geometric distortion of the existing mesh, improves the uniformity of global space partitioning, and reduces the complexity of subsequent mesh index calculation.

[0032] S203. Based on the zero-level global hexagonal grid structure, a two-dimensional global grid index system is established according to the longitude and latitude directions to obtain the two-dimensional global hexagonal grid index structure.

[0033] In one possible implementation, hexagonal cells in the zero-level global hexagonal grid structure are used as the basic grid cells. A grid index coordinate axis is established in the longitude direction, and the index coordinate axis in the longitude direction is constructed as an undulating coordinate axis according to the hexagonal arrangement characteristics, so that the indices between different hexagonal regions can be continuously connected. A linear grid index coordinate axis is established in the latitude direction to represent the arrangement order of the hexagonal grid in the latitude direction. A two-dimensional grid index system is constructed based on the undulating coordinate axis in the longitude direction and the linear coordinate axis in the latitude direction, and the zero-level hexagonal grid is mapped to the corresponding two-dimensional index coordinates, thereby forming a two-dimensional global hexagonal grid index structure.

[0034] It should be noted that when constructing a two-dimensional grid index system, it is necessary to ensure the continuity of index coordinates and the connection between regions in order to avoid index jumps between different hexagonal regions.

[0035] Based on the above steps, this step constructs a two-dimensional global grid index system, enabling hexagonal grids to be uniformly identified through two-dimensional index coordinates, thereby improving the efficiency of spatial grid query and data mapping.

[0036] S204. Based on the two-dimensional global hexagonal grid index structure, the odd and even row offsets of the zero-level global hexagonal grid are calculated to obtain the calibrated two-dimensional global hexagonal grid index structure.

[0037] In one possible implementation, based on the latitudinal index in the two-dimensional global hexagonal grid index structure, the row number of the hexagonal grid is determined to obtain odd-row hexagonal grids and even-row hexagonal grids. For the odd-row hexagonal grids, the longitude offset is calculated according to the grid side length and grid level. The longitude offset is used to offset and calibrate the index coordinates of the odd-row hexagonal grids in the longitude direction, so that the odd-row hexagonal grids and even-row hexagonal grids form a regular staggered arrangement, resulting in the calibrated two-dimensional global hexagonal grid index structure.

[0038] It should be noted that when calculating the offset, the offset should be kept in a proportional relationship with the side length of the hexagonal grid to avoid misalignment or overlap between different grids.

[0039] As an example, Figure 4 A schematic diagram illustrating the principle of odd / even row offset calculation for the zero-level global hexagonal mesh provided in this application embodiment is shown below. Figure 4 As shown, based on Figure 4 The abstracted undulating x-axis (longitude) and linear y-axis (latitude) are used to design a specific offset calculation logic for odd-numbered rows. This logic combines the undulating characteristics of the x-axis with the distribution patterns of odd and even rows and columns. A precise offset calculation formula (dynamically adjusted based on mesh side length and layer precision) is used to offset and calibrate the x-axis coordinates of odd-numbered rows, ensuring seamless splicing between odd and even rows. This avoids geometric deformation problems such as boundary misalignment and stretching that occur during splicing in existing four-hole hexagonal schemes. This offset calculation design ensures that meshes in different rows and columns maintain geometric regularity after splicing, further improving the accuracy and stability of mesh mapping and providing technical support for accuracy adaptation in low-altitude multi-scene scenarios.

[0040] As an example, in a two-dimensional indexing system, when a certain row of grids is determined to be an odd row, all hexagonal grids in that row can be shifted to the right by half a grid width in the longitude direction, thus forming a typical hexagonal staggered arrangement structure.

[0041] Based on the above steps, this step, through odd and even row offset calibration, makes the hexagonal mesh more regularly arranged in two-dimensional space. It is a further optimization of the two-dimensional indexing mechanism. The core purpose is to solve the problems of misalignment and accuracy fluctuation that occur during mesh splicing, improve the geometric regularity and mapping accuracy of the mesh, make up for the defects of splicing deformation and mapping deviation in the existing scheme, and improve the geometric stability and spatial calculation accuracy of the mesh structure.

[0042] S205. Based on the calibrated two-dimensional global hexagonal grid index structure, establish parent-child hierarchical topological relationships to obtain a multi-level two-dimensional global hexagonal grid index structure.

[0043] The parent-child hierarchical topology refers to the correspondence between different grid levels, where the upper-level grid is the parent grid and the lower-level grid is the child grid.

[0044] In one possible implementation, each hexagonal grid in the calibrated two-dimensional global hexagonal grid index structure is used as a parent hexagonal grid; each parent hexagonal grid is hierarchically divided using an aperture seven-part subdivision method, so that one parent hexagonal grid is divided into seven child hexagonal grids; a hierarchical mapping relationship is established based on the spatial correspondence between the parent and child grids, and this mapping relationship is recorded in the grid index structure, thereby forming a multi-level two-dimensional global hexagonal grid index structure.

[0045] It should be noted that when performing hierarchical partitioning, it is necessary to ensure that the spatial correspondence between child grids and parent grids remains consistent, so as to enable grid querying and conversion between different levels.

[0046] As an example, Figure 5 This is a schematic diagram illustrating the parent-child hierarchical relationship principle provided in the embodiments of this application, such as... Figure 5 As shown, the parent-child hierarchical topology proposed in this application adopts a seven-aperture partitioning method, which breaks the limitation of the fixed recursive partitioning rules of the existing schemes. It partitions a parent-level flat-top hexagonal mesh into seven complete child-level hexagonal meshes, while retaining 6 vertices sharing a hexagonal mesh (i.e., the vertex regions shared by adjacent parent meshes are separately partitioned and managed).

[0047] Based on the above steps, this step establishes a parent-child hierarchical topology relationship. Addressing the shortcomings of existing solutions such as insufficient utilization of hexagonal topology, complex hierarchical mapping, and low efficiency in collaborative queries, this step innovatively designs a parent-child hierarchical topology structure with an aperture of seven. This enhances the regularity and efficiency of the topology relationship, adapting to the needs of low-altitude collaborative management. The core advantage of this design lies in ensuring both the self-similarity and uniformity of the parent-child hierarchical meshes and achieving seamless connection between adjacent mesh levels. This solves the problems of inconsistent four-aperture hexagonal topology relationships and the disruption of topology regularity in Uber H3. Furthermore, this parent-child hierarchical topology structure allows for flexible resolution adjustment—dynamically controlling the hierarchical subdivision based on different low-altitude scenarios (such as high-precision requirements in the take-off and landing area and low-precision requirements in the cruise area) to achieve dynamic matching of accuracy and scenario. Simultaneously, the regular parent-child hierarchical relationship significantly simplifies the logic of adjacent mesh queries and cross-level data interaction, improving collaborative query efficiency and providing efficient topology support for functions such as path optimization and collaborative obstacle avoidance in UAV flight path planning.

[0048] S206. A height domain subdivision is introduced into the multi-level two-dimensional global hexagonal mesh index structure to obtain a three-dimensional global hexagonal mesh index structure.

[0049] Among them, the height domain refers to the vertical spatial dimension used to represent the range of spatial height above the Earth's surface, and is used to divide the airspace into height layers.

[0050] In one possible implementation, the required height domain range is obtained and mapped to one-third of the meridian length according to a preset ratio, so that the physical scale in the height direction is consistent with the physical scale of the two-dimensional grid in the latitude direction; the height domain range is divided in the height direction according to a preset height interval to form multiple height levels; then each height level is fused with a multi-level two-dimensional global hexagonal grid index structure, so that each two-dimensional hexagonal grid corresponds to multiple height levels in the height direction, thereby forming a three-dimensional global hexagonal grid index structure.

[0051] It should be noted that when performing altitude domain subdivision, the granularity of altitude level division should be set according to the specific application scenario to adapt to airspace management scenarios with different precision requirements.

[0052] Based on the above steps, this step introduces a height domain subdivision into the two-dimensional mesh structure, enabling the mesh system to simultaneously represent horizontal position and vertical height information, thereby realizing a three-dimensional spatial mesh representation and improving the ability to represent spatial space and spatial computing capabilities.

[0053] This application acquires the global latitude and longitude spatial range and constructs a zero-level global hexagonal grid structure. Based on this, a two-dimensional global grid index system is established, combined with an odd-even row offset calibration mechanism, to achieve the regular arrangement and stable splicing of the hexagonal grid. Simultaneously, a multi-level grid structure is formed by constructing parent-child hierarchical topological relationships, and height domain subdivision is introduced on this basis to merge the two-dimensional hexagonal grid with the height level, thereby forming a three-dimensional global hexagonal grid index structure. This enables a three-dimensional gridded representation of global space, improves the efficiency of spatial grid indexing and data query, and enhances the adaptability of the grid structure to three-dimensional airspace management and spatial computing scenarios. It solves the technical problem that existing subdivision techniques cannot adapt to the needs of low-altitude three-dimensional airspace control and resource allocation.

[0054] In one possible implementation of the embodiments of this application, combined with Figure 2 ,like Figure 6 As shown, the above S203 can be implemented through the following S601, S602 and S603, which are explained in detail below: S601. Based on the hexagonal cells in the zero-level global hexagonal grid structure, establish grid index coordinate axes in the longitude direction, and construct the grid index in the longitude direction as undulating coordinate axes.

[0055] Among them, the undulating coordinate axis refers to the non-completely linear index coordinate axis formed by the spatial arrangement of hexagonal grids in the longitude direction. This coordinate axis can reflect the staggered arrangement characteristics of hexagonal units in the longitude direction, thereby realizing the continuous indexing of hexagonal grids in different regions.

[0056] In one possible implementation, the spatial distribution information of all hexagonal cells in the zero-level global hexagonal grid structure is read, and the cells are sorted according to the longitude coordinates of their center points. A basic index sequence is established according to the longitude arrangement order, and the hexagonal grids in adjacent rows are staggered according to the flat-top hexagonal arrangement characteristics, so that adjacent hexagonal cells form a periodic undulating relationship in the longitude direction. Then, the grid index coordinate axis in the longitude direction is constructed based on this staggered arrangement relationship, and a corresponding longitude index value is assigned to each hexagonal cell, thereby obtaining the undulating coordinate axis structure in the longitude direction.

[0057] It should be noted that when constructing the undulating coordinate axis, the indexing order of the hexagonal cells in the longitude direction should be kept consistent with their actual spatial distribution. At the same time, the continuity of hexagonal cells that cross the date change line region needs to be processed to avoid the longitude index from breaking or jumping.

[0058] Based on the above steps, this step establishes an undulating coordinate axis in the longitude direction, enabling the hexagonal grid to be indexed according to its spatial arrangement, thereby improving the index continuity of the hexagonal grid across different regions and reducing the index conversion complexity when querying across regions.

[0059] S602. Establish grid index coordinate axes in the latitude direction and construct linear coordinate axes from the grid indexes in the latitude direction.

[0060] In one possible implementation, the latitude coordinates of the center points of each hexagonal cell in the zero-level global hexagonal grid structure are obtained and sorted from south to north according to the latitude values. Based on the arrangement of the hexagonal grids in the latitudinal direction, hexagonal cells in the same or adjacent latitude zones are divided into the same row of grids. Then, a unique row index number is assigned to each row of grids and numbered sequentially in ascending order of latitude, thereby constructing a linear grid index coordinate axis in the latitudinal direction.

[0061] It should be noted that when establishing the latitudinal index, the index value should be consistent with the actual spatial distribution of the latitudinal direction. At the same time, it should be avoided that grids within the same latitudinal zone are divided into different index rows due to differences in local grid morphology.

[0062] Based on the above steps, this step improves the stability of the grid index structure in spatial query and data management by constructing linear coordinate axes in the latitudinal direction, enabling the hexagonal grid to be indexed in a fixed order in the latitudinal direction.

[0063] S603. Construct a two-dimensional global grid index system based on undulating coordinate axes and linear coordinate axes, and perform two-dimensional global index mapping on the hexagonal grids in the zero-level global hexagonal grid structure to obtain a two-dimensional global hexagonal grid index structure.

[0064] In one possible implementation, the undulating coordinate axis in the longitude direction is combined with the linear coordinate axis in the latitude direction to form a two-dimensional grid index coordinate system, where the longitude index serves as the horizontal index and the latitude index serves as the vertical index. All hexagonal cells in the zero-level global hexagonal grid structure are traversed, and the corresponding index value on the undulating and linear coordinate axes is calculated based on the longitude and latitude coordinates of the center point of each hexagonal cell. The calculated longitude and latitude indices are combined to form a two-dimensional index coordinate system, and this two-dimensional index coordinate system is bound to the corresponding hexagonal cell, thus completing the two-dimensional index mapping of the hexagonal grid. Finally, the two-dimensional index information of all hexagonal cells is stored uniformly to obtain the two-dimensional global hexagonal grid index structure.

[0065] As an example, Figure 7This is a schematic diagram illustrating the principle of the two-dimensional global hexagonal grid index structure provided in the embodiments of this application, as shown below. Figure 7 As shown, the horizontal axis represents the undulating coordinate axis established along the longitude direction, and the vertical axis represents the linear coordinate axis established along the latitude direction. Because adjacent rows of the flat-topped hexagons are staggered in space, the longitude indices are not perfectly aligned straight lines, but rather exhibit an alternating, undulating structure. The blue-marked indices (such as (0,0), (2,0), (4,0), etc.) indicate that the hexagonal cells in even-numbered rows are numbered at fixed intervals along the longitude direction, while the hexagonal cells in odd-numbered rows are offset horizontally relative to the previous row, thus forming the staggered structure unique to the hexagonal grid. The latitude indices are numbered consecutively from top to bottom or bottom to top; for example, the second coordinate value 0, 1, 2, 3 in the figure represents the row number of different latitude layers. Since the hexagonal grid is arranged row by row along the latitude direction, continuously increasing integers can be used to identify each row, thus forming a stable linear index structure. By combining the undulating coordinate axis in the longitude direction with the linear coordinate axis in the latitude direction, a unique two-dimensional index coordinate is assigned to each hexagonal grid cell. For example, the coordinates (x, y) marked inside each hexagon in the figure represent the position of that hexagonal cell in the two-dimensional grid index system, where x represents the undulating index value in the longitude direction and y represents the linear index value in the latitude direction. Blue coordinates represent even-numbered row grid indices, and red coordinates represent odd-numbered row grid indices. In this way, the entire hexagonal grid structure can be completely mapped to a two-dimensional index, thus obtaining a unified two-dimensional global hexagonal grid index structure.

[0066] Based on the above steps, this step constructs a two-dimensional global grid index system and completes the two-dimensional index mapping of hexagonal grids, enabling hexagonal grids worldwide to be expressed through a unified two-dimensional index, thereby improving the efficiency of spatial data retrieval, neighborhood query, and grid positioning calculation.

[0067] This application addresses the shortcomings of existing grid mapping solutions, such as insufficient adaptability and discontinuous indexing, by designing a two-dimensional indexing mechanism that balances continuity and adaptability. This ensures high-precision interaction and sharing of massive amounts of low-altitude flight data and airspace status data. Through an undulating x-axis design, it adapts to the distribution of hexagonal regions after the zero-level partitioning, achieving seamless connection between grid indexes in different regions and avoiding index gaps caused by region division. Simultaneously, the linear y-axis design ensures the stability of the latitudinal index, providing a reliable indexing foundation for subsequent grid mapping and cross-regional data retrieval. Compared to the shortcomings of existing simple Uber H3 mapping and unstable accuracy of four-hole hexagonal mapping, this significantly improves the adaptability and accuracy of grid mapping.

[0068] In one possible implementation of the embodiments of this application, combined with Figure 2 ,like Figure 8 As shown, the above S206 can be specifically implemented through the following S801 to S804, which are explained in detail below: S801, Get the height domain range.

[0069] The altitude range refers to the height interval used to describe the vertical spatial range in three-dimensional space. This altitude interval is usually defined based on the mean sea level of the Earth, and its range can be set according to specific application scenarios, such as low-altitude airspace management, drone flight activity space, or near-Earth space activity area.

[0070] In one possible implementation, the required three-dimensional spatial domain range is determined based on the spatial management needs of the application system, with the Earth's mean sea level as the height reference benchmark. The maximum and minimum height values ​​involved in the application scenario are obtained, and the height range is uniformly converted to units, such as meters or kilometers. Then, the maximum and minimum height values ​​are combined to form a complete height domain range data structure, thereby obtaining the height domain range used for three-dimensional mesh partitioning.

[0071] Based on the above steps, this step obtains a uniformly defined height domain range, giving the vertical direction in three-dimensional space a clear spatial expression range, thereby providing a unified spatial scale basis for subsequent mesh subdivision in the height direction.

[0072] S802. Map the height domain range to one-third of the meridian length to make the physical scale of the height domain consistent with the physical scale of the two-dimensional global hexagonal grid in the latitudinal direction, thus obtaining the mapped height domain range.

[0073] The one-third meridian length refers to one-third of the total length of the meridians from the Earth's South Pole to the North Pole. This length is usually used to construct a reference scale that matches the global latitudinal grid scale.

[0074] In one possible implementation, the total length parameter of the Earth's meridians is obtained, and one-third of its length is calculated as a standard reference scale in the height direction; the actual height span is calculated based on the maximum and minimum height values ​​of the height domain range, and this height span is mapped proportionally to the aforementioned one-third meridian length range; a linear scale transformation is performed on the height domain range according to the mapping ratio, so that the spatial scale in the height direction is consistent with the scale of the two-dimensional hexagonal grid in the latitudinal direction, thereby obtaining the mapped height domain range.

[0075] Based on the above steps, this step improves the scale consistency of the three-dimensional mesh structure in spatial representation and calculation by performing scale mapping on the height domain range, so that the spatial scale in the height direction is consistent with that of the two-dimensional mesh system in the latitudinal direction.

[0076] S803. Perform height-direction subdivision within the mapped height domain to form multiple height levels.

[0077] In one possible implementation, a height partitioning rule is determined based on a preset height resolution or the number of height levels; the mapped height interval is partitioned equally or hierarchically according to the partitioning rule, dividing the entire height interval into multiple consecutive height levels; a unique height level number is assigned to each height level, and the height range corresponding to each level is recorded, thereby forming a complete height level set structure.

[0078] As an example, after the height domain is mapped, the entire height range can be divided according to fixed height intervals, such as dividing a height level into 500 meters or 1000 meters, thereby forming multiple continuous height layer structures.

[0079] Based on the above steps, this step divides the height domain into layers, so that the three-dimensional space forms a discretized height hierarchy structure in the vertical direction, which facilitates a unified spatial index expression for different height regions.

[0080] S804. Merge multiple height levels with a multi-level two-dimensional global hexagonal grid index structure to obtain a three-dimensional global hexagonal grid index structure.

[0081] In one possible implementation, firstly, all two-dimensional grid index information in the multi-level two-dimensional global hexagonal grid index structure is read, and the longitude and latitude index values ​​corresponding to each two-dimensional grid cell are obtained; then, the set of height levels is traversed, and each height level is combined and mapped with the two-dimensional grid cells, so that each two-dimensional hexagonal grid forms a corresponding three-dimensional grid cell at different height levels; next, a three-dimensional index code containing the longitude index, latitude index, and height level number is assigned to each three-dimensional grid cell, thereby forming a complete three-dimensional grid index structure; finally, the index information of all three-dimensional grid cells is stored uniformly to obtain the three-dimensional global hexagonal grid index structure.

[0082] As an example, Figure 9 This is a schematic diagram of the height domain subdivision principle provided in an embodiment of this application, such as... Figure 9As shown, to ensure the compatibility between the height domain subdivision and the two-dimensional latitude and longitude subdivision, and to maintain the consistency between the height domain span and the side length span of the preprocessed hexagonal grid, this embodiment maps the height domain span range [0°, 60°] to one-third of the meridian length. Through this mapping relationship, the physical height dimension of each level grid is kept consistent with the physical dimension in the latitude direction, thereby achieving accurate matching and collaborative management of the two-dimensional latitude and longitude grid and the three-dimensional height domain grid.

[0083] Based on the above steps, this step integrates the height hierarchy with the two-dimensional hexagonal grid index structure, expanding the two-dimensional spatial grid into a three-dimensional grid structure, thereby realizing a unified gridded index representation of global three-dimensional space and improving the efficiency of three-dimensional spatial data management and query calculation.

[0084] This application addresses the core deficiency of existing solutions in failing to handle the altitude domain by deeply integrating the altitude domain with two-dimensional latitude and longitude subdivisions to construct a three-dimensional integrated grid system, adapting to the needs of low-altitude three-dimensional airspace management and resource allocation. Through this altitude domain subdivision design, grid cells can not only represent planar position information but also carry altitude-related airspace parameters (such as flight altitude restrictions and altitude layer occupancy rates), enabling precise division of airspace ranges at different altitude layers. This completely solves the shortcomings of existing solutions that can only achieve two-dimensional grid subdivision and cannot adapt to three-dimensional low-altitude scenarios, providing core technical support for low-altitude three-dimensional airspace management and three-dimensional UAV flight path planning.

[0085] Preferably, in practical applications, this application integrates altitude domain and two-dimensional latitude and longitude subdivision, breaking through the limitations of two-dimensional control and achieving integrated control. The altitude layer division accuracy is improved from 50m to 10m, parameter query response time is ≤8ms, and statistical error is reduced to ≤4%. Through bitmask positioning, the mapping relationship between grid encoding and latitude, longitude, and altitude indexes is clear. Based on the integer index, it can be quickly mapped to latitude, longitude, and altitude coordinates. The altitude level switching response time reaches the microsecond level, and the response time for the parent grid to obtain the sub-grid index of the region is reduced from 120ms to 20ms. The existing four-hole hexagonal scheme has a grid cell area deviation of ≥20%, and the Uber H3 scheme has a deviation of ≥15%. This application achieves a global grid cell area deviation of ≤5% by optimizing the subdivision logic, completely solving the problems of splicing deformation and geometric distortion. The spatial statistical error is reduced from ≥12% to ≤3%. The existing scheme has 20 levels, and the physical size covers one-third of the meridian length to 1.2 mm. Covering 1.2 mm to one-third of the meridian length, the level span is more reasonable, taking into account the needs of wide-area cruise and high-precision control. To address the issue of index breakage near the date change line, this application employs a specially designed and optimized index to achieve a 99.9% success rate for cross-regional data retrieval with a latency of ≤18ms, enabling seamless global data sharing.

[0086] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, disclosure, and appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple instances. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0087] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of this application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from the spirit and scope of this application. Thus, if such modifications and modifications of this application fall within the scope of the claims of this application and their equivalents, this application is also intended to include such modifications and modifications.

Claims

1. A three-dimensional global mesh generation method based on a flat-topped hexagonal arrangement, characterized in that, include: Obtain global latitude and longitude spatial range; The global latitude and longitude spatial range is preprocessed and divided to construct a zero-level global hexagonal grid structure; Based on the zeroth-level global hexagonal grid structure, a two-dimensional global grid index system is established according to the longitude and latitude directions to obtain the two-dimensional global hexagonal grid index structure; Based on the two-dimensional global hexagonal grid index structure, the odd and even row offsets of the zero-level global hexagonal grid are calculated to obtain the calibrated two-dimensional global hexagonal grid index structure. Based on the calibrated two-dimensional global hexagonal grid index structure, a parent-child hierarchical topological relationship is established to obtain a multi-level two-dimensional global hexagonal grid index structure. A height domain subdivision is introduced into the multi-level two-dimensional global hexagonal grid index structure to obtain a three-dimensional global hexagonal grid index structure.

2. The method according to claim 1, characterized in that, The preprocessing and partitioning of the global latitude and longitude spatial range to construct a zero-level global hexagonal grid structure includes: The global longitude space is divided into six segments along the global longitude direction, so that the side of a single hexagonal grid spans 60° in the longitude direction; the range of the global longitude space is [-180°, 180°]; Based on the division along the longitude direction, a flat-topped hexagonal arrangement structure is constructed by combining the spatial distribution along the latitude direction, so that the hexagonal grid is arranged regularly in the longitude and latitude directions, forming multiple hexagonal units; The multiple hexagonal units are uniquely identified to obtain the zero-level global hexagonal mesh structure.

3. The method according to claim 2, characterized in that, The hexagonal unit comprises 10 flat-topped hexagonal grids and 3 hexagonal grids spanning the date change line.

4. The method according to claim 1, characterized in that, The two-dimensional global grid index system, established based on the zero-level global hexagonal grid structure and according to the longitude and latitude directions, yields a two-dimensional global hexagonal grid index structure, including: Based on the hexagonal cells in the zero-level global hexagonal grid structure, a grid index coordinate axis is established in the longitude direction, and the grid index in the longitude direction is constructed as an undulating coordinate axis; Establish a grid-indexed coordinate axis in the latitudinal direction, and construct a linear coordinate axis from the grid index in the latitudinal direction; A two-dimensional global grid index system is constructed based on the undulating coordinate axis and the linear coordinate axis, and a two-dimensional global index mapping is performed on the hexagonal grid in the zero-level global hexagonal grid structure to obtain the two-dimensional global hexagonal grid index structure.

5. The method according to claim 1, characterized in that, The step of calculating the odd / even row offset of the zeroth-level global hexagonal grid based on the two-dimensional global hexagonal grid index structure to obtain the calibrated two-dimensional global hexagonal grid index structure includes: Based on the latitudinal direction index in the two-dimensional global hexagonal grid index structure, the row number of the hexagonal grid is determined to obtain odd-row hexagonal grids and even-row hexagonal grids; For the odd-numbered row hexagonal grid, the offset in the longitude direction is calculated based on the grid side length and grid level; The index coordinates of the odd-numbered row hexagonal grids in the longitude direction are offset and calibrated according to the longitude offset, so that the odd-numbered row hexagonal grids and the even-numbered row hexagonal grids form a regular staggered arrangement, resulting in a calibrated two-dimensional global hexagonal grid index structure.

6. The method according to claim 1, characterized in that, Based on the calibrated two-dimensional global hexagonal grid index structure, a parent-child hierarchical topological relationship is established to obtain a multi-level two-dimensional global hexagonal grid index structure, including: The hexagonal grid in the calibrated two-dimensional global hexagonal grid index structure is used as the parent hexagonal grid; The parent hexagonal mesh is hierarchically divided using a seven-aperture subdivision method, so that one parent hexagonal mesh corresponds to seven child hexagonal meshes; Establish a parent-child hierarchical topology based on the correspondence between the parent hexagonal mesh and the child hexagonal mesh; A multi-level two-dimensional global hexagonal grid index structure is formed based on the parent-child hierarchical topological relationship.

7. The method according to claim 1, characterized in that, The process of introducing height domain subdivision into the multi-level two-dimensional global hexagonal mesh index structure to obtain a three-dimensional global hexagonal mesh index structure includes: Get the height range; The height domain range is mapped to one-third of the meridian length so that the physical scale of the height domain is consistent with the physical scale of the two-dimensional global hexagonal grid in the latitudinal direction, thus obtaining the mapped height domain range. Within the mapped height domain, height direction subdivision is performed to form multiple height levels; By fusing the multiple height levels with the multi-level two-dimensional global hexagonal grid index structure, a three-dimensional global hexagonal grid index structure is obtained.

8. The method according to claim 7, characterized in that, The phrase "integrating the multiple height levels with the multi-level two-dimensional global hexagonal grid index structure" means that each two-dimensional global hexagonal grid corresponds to multiple height levels.

9. A three-dimensional global mesh generation system based on a flat-topped hexagonal arrangement, characterized in that, include: Latitude and longitude measuring equipment and electronic equipment; Among them, latitude and longitude measurement equipment is used to obtain the global latitude and longitude spatial range; An electronic device is used to preprocess and partition the global latitude and longitude spatial range to construct a zero-level global hexagonal grid structure; based on the zero-level global hexagonal grid structure, a two-dimensional global grid index system is established according to the longitude and latitude directions to obtain a two-dimensional global hexagonal grid index structure; based on the two-dimensional global hexagonal grid index structure, odd and even row offsets are calculated on the zero-level global hexagonal grid to obtain a calibrated two-dimensional global hexagonal grid index structure; based on the calibrated two-dimensional global hexagonal grid index structure, a parent-child hierarchical topological relationship is established to obtain a multi-level two-dimensional global hexagonal grid index structure; and a height domain partition is introduced on the multi-level two-dimensional global hexagonal grid index structure to obtain a three-dimensional global hexagonal grid structure.

10. The system according to claim 9, characterized in that, The electronic device is also used for: The global longitude space is divided into six segments along the global longitude direction, so that the side of a single hexagonal grid spans 60° in the longitude direction; the range of the global longitude space is [-180°, 180°]; Based on the division along the longitude direction, a flat-topped hexagonal arrangement structure is constructed by combining the spatial distribution along the latitude direction, so that the hexagonal grid is arranged regularly in the longitude and latitude directions, forming multiple hexagonal units; The multiple hexagonal units are uniquely identified to obtain the zero-level global hexagonal mesh structure.

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