Space grid low-altitude logistics route dynamic evaluation system fusing multi-source perception

Abstract

This invention discloses a multi-source sensing-integrated airspace gridded low-altitude logistics route dynamic assessment system, belonging to the field of low-altitude route assessment systems. The system includes a sensing system module for sensing various route data, including communication, navigation, meteorology, surveillance, electromagnetic environment, noise, and countermeasures systems. By deploying multi-layered, high-density, and multi-category sensing devices, the system successfully constructs a technologically advanced, fully functional, and rapidly responsive low-altitude sensing and monitoring system. All sensing devices do not operate in isolation but are deeply integrated through deployed industrial-grade edge servers. Edge nodes undertake the tasks of real-time data cleaning, time synchronization, and coordinate unification, running a fusion algorithm to ultimately generate a unified, comprehensive situational awareness map that can serve for dynamic route assessment and risk warning. The edge computing architecture significantly improves data processing speed and system responsiveness; it provides safe, reliable, and traceable flight monitoring support.

Description

Technical Field

[0001] This invention relates to a low-altitude flight path assessment system, and more particularly to a dynamic assessment system for low-altitude logistics routes based on airspace gridding that integrates multi-source sensing. Background Technology

[0002] Urban low-altitude logistics, as an efficient and agile mode of transportation, is experiencing rapid development. The hospital emergency supplies transport route project is an important practice in response to this trend and in serving the city's people. Within this route network, its safety and efficiency are of strategic importance to ensuring the reliability of the entire medical logistics system.

[0003] The occurrence of drone flight anomalies and even accidents in low-altitude airspace has exposed the complex challenges faced by the low-altitude flight environment: First, the urban underlying surface environment is complex, with buildings, water bodies and local meteorological disturbances intertwined, posing a challenge to traditional route planning models; Second, intangible environmental factors such as communication, navigation and electromagnetic fields are dynamically changing, making it difficult for traditional static planning to avoid risks in real time. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to provide a dynamic evaluation system for low-altitude logistics routes based on airspace gridding that integrates multi-source perception, in order to solve the problem that current virtual tour guide service systems cannot optimize tour guide strategies in real time.

[0005] Technical solution: A dynamic assessment system for low-altitude logistics routes based on airspace gridding, integrating multi-source sensing, including: Sensing system module: used to sense various data of the flight path, including communication, navigation, weather, surveillance, electromagnetic environment, noise, and countermeasures systems; Information acquisition module: configured to integrate airborne meteorological and flight attitude information acquisition with the flight control system, with a sampling frequency of 1Hz; Edge processing module: This includes two industrial-grade edge node servers for real-time data cleaning, data fusion, and intelligent edge early warning. Resilient Network and Security Module: Used to ensure the reliable and secure transmission of critical data in complex electromagnetic environments and under network threats.

[0006] Preferably, the communication integration consists of 5 5G-A micro base stations with an average signal strength better than -85dBm, which can uniformly cover the flight path; the navigation integration consists of 3 BeiDou differential reference stations.

[0007] Preferably, the meteorological system consists of one millimeter-wave radar and four Remote ID receiving terminals, which can achieve full coverage of the flight path area.

[0008] Preferably, the countermeasure system is equipped with a drone intrusion detection and countermeasure early warning system, which is connected to the control center and its noise level must meet the flight noise control standards.

[0009] Preferably, the edge processing module integrates data processing functions, and its main process is data acquisition, cleaning and formatting, fusion calculation, edge judgment, and uploading to the low-altitude control center.

[0010] Preferably, the resilient network and security module is configured to integrate multi-link management functions, automatically managing and switching between various communication links such as satellite communication, line-of-sight data link, and terrestrial network.

[0011] Preferably, the resilient network and security module is configured to integrate adaptive anti-interference function, sense the electromagnetic environment in real time, and automatically hop frequency or adjust communication strategy when interfered with.

[0012] Preferably, the resilient network and security module is configured to integrate network security protection functions, encrypt input and output data, perform identity authentication and intrusion detection, and prevent data tampering and theft. Beneficial effects

[0013] This system successfully constructs a technologically advanced, fully functional, and rapidly responsive low-altitude perception and surveillance system by deploying multi-layered, high-density, and multi-category sensing devices. All sensing devices do not operate in isolation but are deeply integrated through deployed industrial-grade edge servers. Edge nodes undertake the tasks of real-time data cleaning, time synchronization, and coordinate unification, and run fusion algorithms to ultimately generate a unified, comprehensive situational awareness map that can serve for dynamic flight path assessment and risk warning. The regional airspace topography and terrain are clearly defined, and obstacle distribution is clearly indicated, meeting airworthiness requirements. Communication, navigation, meteorology, and surveillance systems constitute a complete multi-source fusion network. The edge computing architecture significantly improves data processing speed and system responsiveness, providing safe, reliable, and traceable flight monitoring support. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the system architecture of the present invention; Figure 2 This is a summary diagram of the equipment layout of the present invention; Figure 3 This is a diagram showing the location distribution of the receiver in this invention; Figure 4 This is a monitoring example data graph of the present invention; Figure 5 This is the RID information diagram of the present invention; Figure 6 This is an information diagram of the unmanned aerial vehicle (UAV) of the present invention; Figure 7 This is a distribution diagram of the communication equipment of the present invention; Figure 8 This is a weather station distribution map of the present invention; Figure 9This is a meteorological data chart of the present invention; Figure 10 This is an indicator information diagram of the present invention; Figure 11 This is a radar monitoring data diagram of the present invention. Detailed Implementation

[0015] To make the technical solution of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] I. Deployment of Airspace Sensing Equipment at a Certain University The airspace of a certain university serves as a core channel for the low-altitude logistics route of a municipal hospital and a typical example of urban low-altitude operations, making its operational safety paramount. To elevate this airspace from "flyable" to "safe, controllable, and efficient," and to achieve thorough perception and precise control of the complex operating environment, the university has systematically deployed a comprehensive low-altitude perception and monitoring system.

[0017] 1.1 Background and Strategic Considerations for Deployment The deployment of sensing equipment in this area is primarily based on two core considerations: First, the urgent need to ensure critical flight routes. This airspace carries the vital supplies for the municipal hospital, and any communication interruption, navigation drift, or sudden weather changes could have serious consequences. Multi-dimensional real-time monitoring is essential to provide a transparent and safe corridor for drones. Second, it is a necessary choice to construct a typical demonstration scenario. This university area is a miniature model of the city's low-altitude environment. Deploying a complete sensing system here aims to create a replicable and scalable technology verification platform. Its successful experience can provide detailed data support and model references for the planning of low-altitude infrastructure throughout the city and even a wider area. Based on this, the university has constructed a comprehensive and integrated ground-air joint sensing system around seven dimensions: underlying surface, communication quality, navigation quality, meteorological environment, electromagnetic environment, noise, and countermeasures.

[0018] 1.2 A complete low-altitude sensing system Through meticulous planning and construction, a comprehensive, multi-layered low-altitude sensing network has been established over the entire university area. To clearly and systematically present the complete structure of this system, a summary of each sensing level and its corresponding equipment deployment is attached. Figure 2 It comprehensively demonstrates the material and technological foundation for ensuring safe low-altitude operations; To explain in detail the specific implementation of this sensing system, the following section will describe the performance parameters of the core equipment, their precise deployment locations, and their strategic considerations within the airspace grid.

[0019] (1) RemoteID system Equipment Information: 4 receivers, supporting dual-band identification of 2.4GHz / 5.8GHz. The Remote ID detectors deployed on the university campus have a detection range of approximately 2-3 kilometers. The power supply voltage is 48V, the power supply current is 0.5A, the power consumption is approximately 24W, the theoretical latency is 100-200 milliseconds, and the actual latency is 1-2 seconds. See the attached document for details on the specific location distribution. Figure 3 Please see the attached monitoring instance data. Figure 4 Please see the attached document for examples of RID system data collection elements. Figure 5 : UAV ID: SZ-LC001; Real-time location: 121.1126420°, 31.5166770°, Altitude: 515.66 meters; Speed: 29.42 km / h; Status: In flight. See attached file for more details. Figure 6 .

[0020] (2) 5G-A communication system Equipment Information: Detection range 1.5km, detection height 600m, detection accuracy: horizontal error <4m, vertical error <2m, direction finding accuracy <0.2°, detection information update frequency ≤1 second, alarm delay <2 seconds, target RCS 0.01㎡. See attached map for detailed distribution information. Figure 7 .

[0021] Based on the principle of continuous coverage along the flight path, nine 5G base stations are evenly distributed in the main areas on both sides of the river, forming a linear coverage band with extremely strong signal, providing uninterrupted and highly reliable communication and sensing services for drones flying along the river.

[0022] Performance example: The coverage range of 5G-A base stations is affected by factors such as frequency band, scenario, and equipment technology, and is usually between 100-500 meters, but can reach more than 1 kilometer in some open areas.

[0023] (3) Ground micro-weather stations Deployment location: as attached Figure 8 As shown, the school uses three equidistant points along the "North-South" flight path, positioned at the northern / middle / southern ends of the flight path, or at locations with significant changes in wind path between bridges, open areas, and underlying surfaces. This ensures that any 50 m grid can be represented by the nearest station or obtained through spatial interpolation. Priority is given to locations that are unobstructed, at least 10 m from the edge of buildings, and avoid heat sources / strong reflective surfaces. Locations are also prioritized on open platforms or installed to minimize interference from terrain and underlying surfaces.

[0024] Monitoring Elements: The micro-weather station is a highly integrated, modular, and intelligent lightweight and easy-to-use automatic meteorological observation device, serving as an important supplement to low-altitude flight path meteorological observation. The micro-weather station performs all-weather, on-site, precise measurements of meteorological elements such as wind direction, wind speed, rainfall, temperature, humidity, and atmospheric pressure, achieving refined meteorological data collection at a smaller grid dimension, providing accurate and real-time meteorological data. Detailed data can be found in the appendix. Figure 9 .

[0025] Monitoring Example: Taking September 29, 2025, the monitoring results were collected in the northern area of ​​the university during two time periods: 7:00-9:00 AM and 5:00-7:00 PM. Relevant indicators are attached. Figure 10 .

[0026] (4) Millimeter-wave radar Deployment Location: Millimeter-wave radar undertakes core surveillance tasks such as airspace occupancy and intrusion warnings, tracking of relatively moving targets, and multi-source verification through visual / long-range identification. This study prioritizes high-point platforms with a wide field of view in the geometric midpoint of the flight path, ensuring that the 1 km coverage area covers the core risk sections of the flight path and major take-off and landing nodes as much as possible; and avoids obstructions from tall buildings, tree canopies, and metal structures.

[0027] Equipment Information: Three-parameter measurement of distance, velocity, and angle; detection range of 1–2000 m; distance accuracy of ±0.25 m; velocity accuracy of ±0.2 m / s; real-time tracking of up to 64 targets; data update every 100 ms; TCP output; 24 / 7 operation. Detailed data is attached. Figure 11 .

[0028] (5) Airspace airworthiness information collection equipment Equipment Information: Integrated with airborne meteorological and flight attitude information acquisition and flight control system, with a sampling frequency of 1Hz.

[0029] Monitoring Example: The image below shows the monitoring results of the equipment on October 10, 2025, regarding the municipal hospital's transport route passing through the university area. In gridded route planning, the pitch, roll, and relative altitude values ​​provided by this 1 Hz airborne attitude / meteorological integrated equipment can be directly used as the "flyable / restricted / no-fly" thresholds for each grid.

[0030] (6) Regional edge server Equipment information: 2 industrial-grade edge node servers.

[0031] Deployment locations: South District Information Center computer room, North District Laboratory Building.

[0032] Functions: Real-time data cleaning (outlier removal, time synchronization, coordinate alignment); data fusion (RemoteID + radar + meteorological multi-source fusion); edge intelligent early warning (early warnings of flight deviation, low signal, and sudden weather changes are pushed to the control center). Data processing flow: Acquisition → Cleaning and formatting → Fusion calculation → Edge judgment → Upload to the low-altitude control center.

[0033] 1.3 System Integration and Data Fusion All sensing devices do not operate in isolation, but are deeply integrated through industrial-grade edge servers deployed in the South Information Center and the North Laboratory Building. The edge nodes are responsible for real-time data cleaning, time synchronization, and coordinate unification, and run fusion algorithms to ultimately generate a unified, comprehensive situational awareness map that can be used for dynamic flight path assessment and risk warning.

[0034] By deploying the aforementioned multi-layered, high-density, and multi-category sensing equipment in the university's airspace, we have successfully constructed a technologically advanced, fully functional, and rapidly responsive low-altitude sensing and surveillance system. This system not only provides a solid guarantee for the safe operation of the current municipal hospital flight route, but its construction model, equipment selection, and data standards will also provide a standardized model, proven in practice, for the large-scale construction of future urban low-altitude sensing networks.

[0035] The embodiments described above are merely illustrative of implementation methods of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A dynamic evaluation system for low-altitude logistics routes based on airspace gridding, integrating multi-source sensing, characterized in that: include: Sensing system module: used to sense various data of the flight path, including communication, navigation, weather, surveillance, electromagnetic environment, noise, and countermeasures systems; Information acquisition module: configured to integrate airborne meteorological and flight attitude information acquisition with the flight control system, with a sampling frequency of 1Hz; Edge processing module: This includes two industrial-grade edge node servers for real-time data cleaning, data fusion, and intelligent edge early warning. Resilient Network and Security Module: Used to ensure the reliable and secure transmission of critical data in complex electromagnetic environments and under network threats.

2. The airspace gridded low-altitude logistics route dynamic evaluation system integrating multi-source sensing as described in claim 1, characterized in that, Communication integration includes: 5 5G-A micro base stations with an average signal strength better than -85dBm, providing uniform coverage of the flight path; navigation integration includes: There are 3 BeiDou differential reference stations.

3. The airspace gridded low-altitude logistics route dynamic evaluation system integrating multi-source sensing as described in claim 1, characterized in that, The meteorological system is integrated with one millimeter-wave radar and four Remote ID receiving terminals, enabling full coverage of the flight path area.

4. The airspace gridded low-altitude logistics route dynamic evaluation system integrating multi-source sensing as described in claim 1, characterized in that, The countermeasure system is equipped with a drone intrusion detection and countermeasure early warning system, which is connected to the control center and its noise level must meet the flight noise control standards.

5. The airspace gridded low-altitude logistics route dynamic evaluation system integrating multi-source sensing according to claim 1, characterized in that, The edge processing module integrates data processing functions. Its main process includes data acquisition, cleaning and formatting, fusion calculation, edge judgment, and uploading to the low-altitude control center.

6. The airspace gridded low-altitude logistics route dynamic evaluation system integrating multi-source sensing according to claim 1, characterized in that, The resilient network and security module is configured to integrate multi-link management functions, automatically managing and switching between various communication links such as satellite communication, line-of-sight data links, and terrestrial networks.

7. The airspace gridded low-altitude logistics route dynamic evaluation system integrating multi-source sensing according to claim 1, characterized in that, The resilient network and security module is configured to integrate adaptive anti-interference function, sense the electromagnetic environment in real time, and automatically hop frequency or adjust communication strategy when interfered with.

8. The airspace gridded low-altitude logistics route dynamic evaluation system integrating multi-source sensing according to claim 1, characterized in that, The Resilient Network and Security Module is configured to integrate network security protection functions, encrypt input and output data, perform authentication and intrusion detection, and prevent data tampering and theft.

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